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检索条件"主题词=filtering algorithms"

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Stable, Safe, and Passive Teleoperation of Multi-Robot Systems

Stable, Safe, and Passive Teleoperation of Multi-Robot Syste...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： Gennaro Notomista Department of Electrical and Computer Engineering University of Waterloo Waterloo Canada

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

In this paper, we present a unified framework to ensure the stability, safety, and passivity of a multi-robot teleoperation system in a holistic fashion. The proposed approach consists of encoding these three properties as constraints in an optimization-based controller using control Lypaunov and (integral) control barrier functions. The result is a stability-safety-passivity (SSP) filter implemented as a convex optimization control policy, which can be efficiently evaluated in an online fashion. The developed filter minimally modifies the teleoperation input in order to ensure that the robotic system remains stable, safe, and passive. The effectiveness of the developed approach is showcased using a team of mobile robots in a human-multi-robot teleoperation scenario.

关键词： Teleoperators Systematics filtering algorithms Convex functions Encoding Safety Behavioral sciences

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Adaptive Fuzzy Prescribed-Time Tracking Control for Nonlinear Systems with Uncertain Leader

Adaptive Fuzzy Prescribed-Time Tracking Control for Nonlinea...

引用

International Conference on Control, Automation, Robotics and Vision (ICARCV)

作者： Lili Zhang Wei-Wei Che Zhongsheng Hou School of Automation Qingdao University Shandong Key Laboratory of Industrial Control Technology Qingdao P. R. China

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

This paper studies the prescribed-time tracking problem for nonlinear systems with an uncertain parameter leader. Due to the important role of leaders in the tracking controller design, a leader dynamic observer with the prescribed-time performance is firstly designed to estimate the uncertain leader system while ensuring that the estimation error can approach the origin in the pre-given finite time. In addition, due to the presence of the uncertain parameter leader dynamics in the virtual controller, the derivative of the virtual controller is unknown, which makes the backstepping technique unusable. Thus, a novel filter is constructed by combining with the prescribed-time function to avoid using the virtual controller derivative in the tracking controller ***, based on the estimated leader dynamics, an adaptive fuzzy prescribed-time tracking control strategy is proposed by using the backstepping approach, which enables the system output signal can track the uncertain leader without errors in the pre-given finite time. Finally, the vitality of the developed controller is checked by an actual example with comparisons.

关键词： Estimation error Backstepping Adaptive systems Automation Machine vision Observers filtering algorithms Control systems Nonlinear dynamical systems Robots

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An Approach with Effective Guided Filter and Lipschitz Constraint Based CLAHE for Improving X-Ray Image Details

An Approach with Effective Guided Filter and Lipschitz Const...

引用

Human-Computer Interaction, Optimization and Robotic Applications (HORA), International Congress on

作者： Emre Kağan Aytekin Mehmet Dikmen Department of Computer Engineering Ankara Bilim University Ankara Türkiye Department of Computer Engineering Başkent University Ankara Türkiye

ISBN: (数字)9798331510886

ISBN: (纸本)9798331510893

This paper presents an approach to improve X-Ray image details. The image with increased contrast, edge enhancement and gradient change stability with this approach is used as input image in CLAHE algorithm. The proposed approach shows that X-Ray image details are significantly improved by enhancing contrast and edge enhancement. Experimental results confirm the effectiveness of the proposed approach.

关键词： Human computer interaction Image edge detection filtering algorithms X-ray imaging Robots Optimization

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Experimental Insights into the Modeling and Control of Heater Systems Using Discrete PID Controllers

Experimental Insights into the Modeling and Control of Heate...

引用

Sustainable Energy Technologies and Computational Intelligence (SETCOM), International Conference on

作者： K. Shah Ankit Markana Anilkumar Hardik R. Patel Instrumenation & Control Engineering Department L. D. College of Engineering Ahmedabad Gujarat India Department of Electrical Engineering Pandit Deendayal Energy University Gandhinagar Gujarat India Instrumenation & Control Engineering Department Government Engineering College Rajkot Gujarat India

ISBN: (数字)9798331520540

ISBN: (纸本)9798331520557

This research presents the real-time implementation of discrete PI and PID control algorithms on a Heater System, with the system model identified through open-loop experiments using the Scilab platform. A First-Order Plus Dead Time model is fitted to the experimental data, and controller parameters are determined using the tuning method. The study investigates the impact of disturbances, modeled by a DC fan, on temperature control and compares the performance of different control strategies. The PID and PID with filter controllers show improved disturbance rejection, faster response, and reduced steady-state error, offering valuable insights for selecting the most effective control algorithm for temperature control in such systems.

关键词： Heating systems Solid modeling PI control filtering algorithms Solids Real-time systems Regulation Steady-state PD control Tuning

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Research on QAR Outliers Processing Based on Kalman filtering and Newton Interpolation algorithms

Research on QAR Outliers Processing Based on Kalman Filterin...

引用

IEEE International Conference on Civil Aviation Safety and Information Technology (ICCASIT)

作者： Lixin Wang Yu Qian Xiguang Chen Flight Technology College Civil Aviation Flight University of China Guanghan China Civil Aviation Administration of China Research Institute of Aero-Engine Beihang University Beijing China

ISBN: (数字)9781728199481

ISBN: (纸本)9781728199498

In order to solve the problem of outliers in QAR data recording, an outliers processing method based on Kalman filtering and Newton interpolation is proposed. Firstly, Kalman filtering is used to reduce the noise of the data, then the outliers are detected by the improved Pauta criterion, and finally the outliers are corrected by Newton interpolation algorithm. Based on the QAR data of Boeing B777-300 aircraft, the effectiveness of the algorithm is verified by simulation. The results show that the method can detect and correct the outliers more effectively than the traditional algorithm, and the reliability of the data is improved.

关键词： Interpolation Data analysis Sensitivity filtering algorithms Safety Kalman filters Reliability

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Outphasing Transmitter Circuit with Switching Generators Direct Summation: Static Mode Analysis

Outphasing Transmitter Circuit with Switching Generators Dir...

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Wave Electronics and its Application in Information and Telecommunication Systems (WECONF)

作者： Quoc Fung Ngo Oleg V. Varlamov Moscow Technical University of Communications and Informatics Moscow Russia

ISBN: (数字)9781665465687

ISBN: (纸本)9781665465694

The paper considers the possibility of implementing a high-efficiency radio-frequency power amplifier (PA) using the outphasing synthetic amplification method with direct summation of switching generators implemented as voltage mode class D with a filter load. It is shown that one of the causes of generated output signal distortions is parasitic amplitude-phase conversion (APC, a type of AM-PM distortions), which occurs when the output stage is excited by pulses with a duration of less than a half-period of the operating frequency. The physical causes of channel signals APC, which include the filter load and field-effect transistors body diode, are revealed. A method for reducing outphasing PA distortions by installing additional correcting inductances in parallel with the channel loads, reducing the deviation of the parasitic APC, is proposed. It is shown that the algorithm for generating outphasing PA channel signals has a significant effect on the correcting channel inductances required value and, accordingly, on the PA efficiency as a whole. The channel signals constant-sign phase modulation algorithm is recommended for practical application.

关键词： Radio frequency Phase modulation Power amplifiers Switches Voltage filtering algorithms Distortion Frequency conversion Generators Transistors

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Combining Interpretability and filtering Algorithm for Sequence Recommendation

Combining Interpretability and Filtering Algorithm for Seque...

引用

International Conference on Computer and Communications (ICCC)

作者： Xu Han Zhaogong Zhang Heilongjiang University School of computer science and technology Heilongjiang China

Sequence recommendation has become more and more important in various online recommendation services. It can obtain the user's dynamic preference characteristics from the user's historical behavior data to predict the next possible interaction item of the user, so as to provide accurate recommendations for the user. Most of the existing models only focus on a single user history interaction sequence, which will lead to the lack of interpretability of the recommendation results. Meanwhile, in the online platform, the recorded user behavior data will inevitably contain noise. In order to solve the above problems, we propose a new method Combining Interpretability and filtering algorithm for Sequence recommendation (CIFA_Rec). Through multi-attribute modeling, the interpretability of the sequence recommendation model is increased. At the same time, we also borrow the idea of filtering algorithm and use the learning filter to adaptively reduce the data noise. A large number of experiments on three real datasets show that our proposed model has good performance in sequence recommendation and interpretability.

关键词： Adaptation models Computational modeling Adaptive filters filtering algorithms Behavioral sciences History

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Research on file filtering driven encryption method for 3D geographic information data

Research on file filtering driven encryption method for 3D g...

引用

Informatics, Networking and Computing (ICINC), International Conference on

作者： Haiyan Xu Anfeng Zhu Hao Zhang Gang Xu Zhejiang College of Security Technology Wenzhou China

The current 3D geographic information data encryption method based on multi-source data achieves the encryption of data by using the existing DEM results as the control base, which leads to a low model embedding rate due to the lack of management of keys. In this regard, the file filtering driven 3D geographic information data encryption method is proposed. The 3D geographic information data is filtered, the data is encrypted by public key cryptographic algorithm, and the key is centrally managed. Combined with the specific cryptographic regime, a 3D vector geographic information data encryption model is designed. In the experiment, the encryption performance of the proposed control method is verified. The analysis of the experimental results shows that the data encryption model constructed by the proposed method has a high embedding rate and its encryption performance is high.

关键词： Solid modeling Three-dimensional displays Computational modeling Information security filtering algorithms Public key cryptography Information filters

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Mittag-Leffler Filter and Its Application in Bio-signals Processing*

Mittag-Leffler Filter and Its Application in Bio-signals Pro...

引用

Signal Processing algorithms, Architectures, Arrangements and Applications (SPA)

作者： Ivo Petráš Faculty of BERG st. Letná 1/9 Technical University of Košice Košice Slovak Republic

ISBN: (数字)9788362065486

ISBN: (纸本)9798350373806

This contribution introduces a novel variant of the well-known low-pass Gaussian filter, the Mittag-Leffler filter, applicable in 1D and 2D contexts. This new filter incorporates a Mittag-Leffler function within its probability density function. It features three tunable parameters that adjust the curve shape and the filter’s forgetting factor. Illustrative examples involving two real ECG signals (one male and one female) and a real MRI image (female) highlight the main advantages of the proposed filter in comparison to the traditional Gaussian filtering (denoising) technique. Implementation details and the Matlab functions for the proposed 1D and 2D filters are provided too.

关键词： filtering Shape Magnetic resonance imaging Noise reduction Low-pass filters Signal processing algorithms filtering algorithms Electrocardiography Probability density function MATLAB

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Online Multilingual Spam Review Detection using Twin Support Vector Machine and Pre-Trained Word Embedding

Online Multilingual Spam Review Detection using Twin Support...

引用

Applied Artificial Intelligence and Computing (ICAAIC), International Conference on

作者： N Giridharan A Arif P Karmeshwaran M N Ranjan Department of Artificial Intelligence and Data Science K.S.Rangasamy College Of Technology Tamilnadu India

ISBN: (数字)9798350375190

ISBN: (纸本)9798350375206

The main technique for binary classification in this suggested spam review detection system, which is tailored for the English language, is the Twin Support Vector Machine (TSVM). By simultaneously taking into account both positive and negative classifications, the TSVM improves its ability to discriminate between reviews that are spam and those that are real. The proposed system uses a metaheuristic optimization strategy to maximize performance, using a proprietary method for optimizing feature weighting for the TSVM and fine-tuning hyper parameters. The system is intended to be both flexible and efficient; it can effectively identify and filter spam reviews from datasets that are in the English language. Thorough experimental assessments regularly reveal that the TSVM-based framework performs better than state-of-the-art algorithms, demonstrating its resilience and efficacy in tackling the problems associated with fraudulent online reviews written in English.

关键词： Support vector machines Accuracy Reviews Metaheuristics Optimization methods filtering algorithms Artificial intelligence

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