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Distributed time-varying formation control with uncertainties based on an event-triggered mechanism

science China(Information sciences) 2021年第3期64卷 167-176页

作者： Xiaoduo LI Yumeng BAI Xiwang DONG Qingdong LI Zhang REN Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical EngineeringBeihang University Department of Electrical and Computer Engineering University of Wisconsin-Madison Beijing Advanced Innovation Center for Big Data and Brain Computing Beihang University

This paper investigates the distributed time-varying formation(TVF) problems for general linear multi-agent systems(MASs) subject to matched bounded uncertainties based on an adaptive event-triggered mechanism. A TVF protocol was designed with an event-triggered mechanism by introducing adaptive weights into the formation control protocol and triggering condition, and the large chattering phenomenon was avoided by the σ-modification adaptive law. According to the Lyapunov stability theory, proof has been established that the MASs in the presence of uncertainties can realize the expected formation that satisfies the given feasible condition. Finally, an example is provided to verify the effectiveness of the proposed algorithm.

关键词： formation control multi-agent systems event-triggered adaptive control

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Multidimensional clinical data denoising via Bayesian CP factorization

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science China(Technological sciences) 2020年第2期63卷 249-254页

作者： CUI GaoChao ZHU Li GUI LiHua ZHAO QiBin ZHANG JianHai CAO JianTing Graduate School of Engineering Saitama Institute of TechnologySaitama 3690293Japan School of Computer Science and Technology Hangzhou Dianzi UniversityHangzhou 310018China Cognitive Science Department School of Information Science and EngineeringXiamen UniversityXiamen 361005China Tensor Learning Unit Center for Advanced Intelligence ProjectRIKENSaitama 1030027Japan School of Automation Guangdong University of TechnologyGuangzhou 510006China

CANDECOMP/PARAFAC(CP) tensor factorization is an efficient technique for incomplete tensor-data processing through capturing the multilinear latent factors. Based on the incorporate a sparsity-inducing prior over multiple latent factors and appropriate hyper-priors over all hyper-parameters, a Bayesian-based hierarchical probabilistic CP factorization model could be formed. By this way, the rank of the incomplete tensor can be determined automatically. In this paper, we explored the tensor completion method in processing incomplete multidimensional electroencephalogram(EEG) and magnetic resonance imaging(MRI) clinical data. The empirical results indicated that the Bayesian CP tensor factorization of incomplete data method can effectively recover EEG signal with missing data and denoised the noisy MRI data.

关键词： electroencephalogram(EEG) magnetic resonance imaging(MRI) Bayesian tensor factorization CANDECOMP/PARAFAC(CP)

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Value Stream Mapping for Smart Pharmaceutical Management in a Thai Hospital

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Procedia computer science 2025年 253卷 495-504页

作者： Ganda Boonsothonsatit Rardchawadee Silapunt Supachai Vongbunyong Kamol Kaemarungsi Wirachchaya Chanpuypetch Nilubon Chonsawat Graduate School of Management and Innovation King Mongkut’s University of technology Thonburi Thailand Electronic and Telecommunication Engineering King Mongkut’s University of Technology Thonburi Thailand Hospital Automation Research Center Institute of Field Robotics King Mongkut’s University of Technology Thonburi Thailand National Electronics and Computer Technology Center National Science and Technology Development Agency Thailand Faculty of Agro-Industry Chiang Mai University Thailand Department of Agricultural Economy and Developement Faculty of Agriculture Chiang Mai University Thailand

The evolution of healthcare systems worldwide necessitates continual improvement in hospital management practices, particularly pharmaceutical management. This paper explores transforming traditional pharmaceutical management systems in large and medium-sized hospitals in Thailand into smart systems using Value Stream Mapping (VSM) as a guiding tool. Traditional systems often face challenges such as inefficiencies and medication errors. VSM, rooted in lean management principles, offers a structured approach to visualize and optimize processes. Additionally, smart technologies like automated inventory systems and electronic health records enhance pharmaceutical management effectiveness. Through a comprehensive research methodology encompassing case studies, data collection, and VSM analysis, this study identifies inefficiencies and proposes evidence-based strategies for improvement. Results from a case study highlight the benefits of VSM implementation in enhancing pharmacy operations, emphasizing improved patient care and operational efficiency. The implementation of a smart medication dispensing system shows promising results in reducing workload and accommodating increased patient arrivals. Continued evaluation and refinement are crucial for maximizing benefits and addressing emerging challenges effectively.

关键词： lean management smart medication dispensing smart pharmaceutical smart technologies Value Stream Mapping

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Gesture Control Method for Oral Blood Mixed Liquid Removal Robot*

Gesture Control Method for Oral Blood Mixed Liquid Removal R...

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WRC Symposium on advanced robotics and automation (WRC SARA)

作者： Xudong Ma Ziao Kuang Han Li Anqi Chen Changsheng Li Wenyong Liu Junchen Wang Yida David Hu Li Gao Bai-Quan Su Medical Robotics Laboratory School of Automation Beijing University of Posts and Tele-communications Beijing China School of Computer Beijing University of Posts and Tele-communications Beijing China School of Mechatronical Engineering Beijing Institute of Technology Beijing China Key Laboratory for Biomechanics and Mechanobiology of Chinese Education Ministry Beijing Advanced Innovation Centre for Biomedical Engineering School of Biological Science and Medical Engineering Beihang University Beijing China School of Mechanical Engineering and Automation Beihang University Beijing China Brigham and Women’s Hospital Harvard Medical School Boston MA USA Department of Periodontology National Stomatological Center Peking University School and Hospital of Stomatology & National Clinical Research Center for Oral Diseases Beijing China

All of oral surgeries are accompanied by bleeding. Manual removal of blood is carried out by a nurse and dozens of repetitive blood suction operations are implemented by the nurse during a single oral surgery. In our previous work, a robot for removal of blood-water mixed liquid is designed. However, the robot requires an initial order to autonomous removal of blood mixed liquid. In this paper, a hand gesture control method for typical operations of the robot is developed. Gesture dataset are developed at first and a deep learning neural network is trained for detection of hand gesture. The gesture control procedures for four typical operations are provided in detail. In a group of experiments, it’s demonstrated that an oral surgeon controls the robot’s motion by presenting prescribed hand gesture. The proposed method could be an alternative manner for blood mixed liquid removal.

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Unprecedented Smart Algorithm for Uninterrupted SDN Services During DDoS Attack

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computers, Materials & Continua 2022年第1期70卷 875-894页

作者： Muhammad Reazul Haque Saw Chin Tan Zulfadzli Yusoff Kashif Nisar Rizaludin Kaspin Iram Haider Sana Nisar J.P.C.Rodrigues Bhawani Shankar Chowdhry Muhammad AslamUqaili Satya Prasad Majumder Danda B.Rawat Richard Etengu Rajkumar Buyya Faculty of Computing&Informatics Multimedia UniversityPersiaranMultimediaCyberjaya63100SelangorMalaysia Faculty of Engineering Multimedia UniversityPersiaran MultimediaCyberjaya63100SelangorMalaysia Faculty of Computing and Informatics University Malaysia SabahJalan UMSKota Kinabalu Sabah88400Malaysia Telekom Malaysia Research&Development TM Innovation Centre63000CyberjayaSelangorMalaysia Federal University of Piauí(UFPI) TeresinaPIBrazil Instituto de Telecomunica珲es 6201-001Covilh?Portugal National Center of Robotics and Automation-Condition Monitoring Systems Lab MUETJamshoroPakistan Department of Electrical and Electronic Engineering BUETDhaka1205Bangladesh Department of Electrical Engineering and Computer Science Data Science and Cybersecurity CenterHoward UniversityWashingtonDCUSA Cloud Computing and Distributed Systems(CLOUDS)Laboratory School of Computing and Information SystemsThe University of MelbourneMelbourneVIC 3053Australia

In the design and planning of next-generation Internet of Things(IoT),telecommunication,and satellite communication systems,controller placement is crucial in software-defined networking(SDN).The programmability of the SDN controller is sophisticated for the centralized control system of the entire ***,it creates a significant loophole for the manifestation of a distributed denial of service(DDoS)attack ***,recently a Distributed Reflected Denial of Service(DRDoS)attack,an unusual DDoS attack,has been ***,minimal deliberation has given to this forthcoming single point of SDN infrastructure failure ***,recently the high frequencies of DDoS attacks have increased *** this paper,a smart algorithm for planning SDN smart backup controllers under DDoS attack scenarios has *** proposed smart algorithm can recommend single or multiple smart backup controllers in the event of DDoS *** obtained simulated results demonstrate that the validation of the proposed algorithm and the performance analysis achieved 99.99%accuracy in placing the smart backup controller under DDoS attacks within 0.125 to 46508.7 s in SDN.

关键词： SDN smart algorithm RTZLK-DAASCP DDoS attack DRDoS

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Hybrid Data-Free Knowledge Distillation 39

Hybrid Data-Free Knowledge Distillation

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39th Annual AAAI Conference on Artificial Intelligence, AAAI 2025

作者： Tang, Jialiang Chen, Shuo Gong, Chen School of Computer Science and Engineering Nanjing University of Science and Technology China Key Laboratory of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education China Jiangsu Key Laboratory of Image and Video Understanding for Social Security China Center for Advanced Intelligence Project RIKEN Japan Department of Automation Institute of Image Processing and Pattern Recognition Shanghai Jiao Tong University China

ISBN: (纸本)157735897X

Data-free knowledge distillation aims to learn a compact student network from a pre-trained large teacher network without using the original training data of the teacher network. Existing collection-based and generation-based methods train student networks by collecting massive real examples and generating synthetic examples, respectively. However, they inevitably become weak in practical scenarios due to the difficulties in gathering or emulating sufficient real-world data. To solve this problem, we propose a novel method called Hybrid Data-Free Distillation (HiDFD), which leverages only a small amount of collected data as well as generates sufficient examples for training student networks. Our HiDFD comprises two primary modules, i.e., the teacher-guided generation and student distillation. The teacher-guided generation module guides a Generative Adversarial Network (GAN) by the teacher network to produce high-quality synthetic examples from very few real-world collected examples. Specifically, we design a feature integration mechanism to prevent the GAN from overfitting and facilitate the reliable representation learning from the teacher network. Meanwhile, we drive a category frequency smoothing technique via the teacher network to balance the generative training of each category. In the student distillation module, we explore a data inflation strategy to properly utilize a blend of real and synthetic data to train the student network via a classifier-sharing-based feature alignment technique. Intensive experiments across multiple benchmarks demonstrate that our HiDFD can achieve state-of-the-art performance using 120 times less collected data than existing methods. Copyright © 2025, Association for the Advancement of Artificia Intelligence (***). All rights reserved.

关键词： Personnel training

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Output consensus control for linear port-Hamiltonian systems

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IFAC-PapersOnLine 2022年第30期55卷 230-235页

作者： Shuai Feng Yu Kawano Michele Cucuzzella Jacquelien M.A. Scherpen School of Automation Nanjing University of Science and Technology Nanjing 210094 China Graduate School of Advanced Science and Engineering Hiroshima University Higashi-Hiroshima 739-8527 Japan Department of Electrical Computer and Biomedical Engineering University of Pavia 27100 Pavia PV Italy Jan C. Willems Center for Systems and Control ENTEG Faculty of Science and Engineering University of Groningen 9747 AG Groningen the Netherlands

In this paper, we study output consensus of coupled linear port-Hamiltonian systems on graphs in the presence of constant disturbances, where couplings are allowed to be both static and dynamic. Utilizing port-Hamiltonian structures, we present dynamic controllers achieving output consensus where the consensus values are determined by the disturbances. Finally, the utility of the proposed controller is illustrated by applying it to current sharing of DC microgrids.

关键词： port-Hamiltonian systems networked systems output consensus

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Evidence-Aware Multi-Modal Data Fusion and its Application to Total Knee Replacement Prediction

Evidence-Aware Multi-Modal Data Fusion and its Application t...

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Proceedings of the Digital Image Computing: Technqiues and Applications (DICTA)

作者： Xinwen Liu Jing Wang S. Kevin Zhou Craig Engstrom Shekhar S. Chandra School of Electrical Engineering and Computer Science The University of Queensland Brisbane Australia The Commonwealth Scientific and Industrial Research Organisation Canberra Australia Center for Medical Imaging Robotics Analytic Computing & Learning (MIRACLE) School of Biomedical Engineering & Suzhou Institute for Advanced Research University of Science and Technology of China Suzhou China Key Laboratory of Intelligent Information Processing of Chinese Academy of Sciences (CAS) Institute of Computing Technology CAS Beijing China School of Human Movement and Nutrition Sciences The University of Queensland Brisbane Australia

ISBN: (数字)9798350379037

ISBN: (纸本)9798350379044

Deep neural networks have been widely studied to predict a medical condition, such as total knee replacement (TKR). It has shown that data of different modalities, such as imaging data, clinical variables, and demographic information, provide complementary information and thus can improve the prediction accuracy together. However, the data sources of various modalities may not always be of high quality, and each modality may have only partial information of medical condition. Thus, predictions from different modalities can be in conflict, and the final prediction may fail in the presence of such a conflict. Therefore, it is important to account for the reliability of each source data and the prediction output when making a final decision. In this paper, we propose an evidence-aware multimodal data fusion framework based on the Dempster-Shafer theory (DST). The backbone models contain an image branch, a non-image branch and a fusion branch. For each branch, there is an evidence network that takes the extracted features as input and outputs an evidence score, which is designed to represent the reliability of the output from the current branch. The output probabilities along with the evidence scores from multiple branches are combined with the Dempster's combination rule to make a final prediction. Experimental results on the public OA initiative (OAI) dataset for the TKR prediction task show that the proposed method has better performance by accounting for conflicts from various modalities.

关键词： Medical conditions Soft sensors Digital images Data integration Imaging Artificial neural networks Reliability theory Feature extraction Reliability engineering Knee replacement

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Hybrid Data-Free Knowledge Distillation

arXiv

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arXiv 2024年

Data-free knowledge distillation aims to learn a compact student network from a pre-trained large teacher network without using the original training data of the teacher network. Existing collection-based and generation-based methods train student networks by collecting massive real examples and generating synthetic examples, respectively. However, they inevitably become weak in practical scenarios due to the difficulties in gathering or emulating sufficient real-world data. To solve this problem, we propose a novel method called Hybrid Data-Free Distillation (HiDFD), which leverages only a small amount of collected data as well as generates sufficient examples for training student networks. Our HiDFD comprises two primary modules, i.e., the teacher-guided generation and student distillation. The teacher-guided generation module guides a Generative Adversarial Network (GAN) by the teacher network to produce high-quality synthetic examples from very few real-world collected examples. Specifically, we design a feature integration mechanism to prevent the GAN from overfitting and facilitate the reliable representation learning from the teacher network. Meanwhile, we drive a category frequency smoothing technique via the teacher network to balance the generative training of each category. In the student distillation module, we explore a data inflation strategy to properly utilize a blend of real and synthetic data to train the student network via a classifier-sharing-based feature alignment technique. Intensive experiments across multiple benchmarks demonstrate that our HiDFD can achieve state-of-the-art performance using 120 times less collected data than existing methods. Code is available at https://***/tangjialiang97/HiDFD. Copyright © 2024, The Authors. All rights reserved.

关键词： Students

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Recent Advances in Triboelectric Nanogenerators: From Technological Progress to Commercial Applications

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ACS Nano 2023年第12期17卷 11087-11219页

作者： Choi, Dongwhi Lee, Younghoon Lin, Zong-Hong Cho, Sumin Kim, Miso Ao, Chi Kit Soh, Siowling Sohn, Changwan Jeong, Chang Kyu Lee, Jeongwan Lee, Minbaek Lee, Seungah Ryu, Jungho Parashar, Parag Cho, Yujang Ahn, Jaewan Kim, Il-Doo Jiang, Feng Lee, Pooi See Khandelwal, Gaurav Kim, Sang-Jae Kim, Hyun Soo Song, Hyun-Cheol Kim, Minje Nah, Junghyo Kim, Wook Menge, Habtamu Gebeyehu Park, Yong Tae Xu, Wei Hao, Jianhua Park, Hyosik Lee, Ju-Hyuck Lee, Dong-Min Kim, Sang-Woo Park, Ji Young Zhang, Haixia Zi, Yunlong Guo, Ru Cheng, Jia Yang, Ze Xie, Yannan Lee, Sangmin Chung, Jihoon Oh, Il-Kwon Kim, Ji-Seok Cheng, Tinghai Gao, Qi Cheng, Gang Gu, Guangqin Shim, Minseob Jung, Jeehoon Yun, Changwoo Zhang, Chi Liu, Guoxu Chen, Yufeng Kim, Suhan Chen, Xiangyu Hu, Jun Pu, Xiong Guo, Zi Hao Wang, Xudong Chen, Jun Xiao, Xiao Xie, Xing Jarin, Mourin Zhang, Hulin Lai, Ying-Chih He, Tianyiyi Kim, Hakjeong Park, Inkyu Ahn, Junseong Huynh, Nghia Dinh Yang, Ya Wang, Zhong Lin Baik, Jeong Min Choi, Dukhyun Kyung Hee University Gyeonggi Yongin17104 Korea Republic of Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology 77 Massachusetts Avenue CambridgeMA02139 United States Department of Mechanical Engineering Soft Robotics Research Center Seoul National University Seoul08826 Korea Republic of Department of Mechanical Engineering Gachon University Seongnam13120 Korea Republic of Department of Biomedical Engineering National Taiwan University Taipei10617 Taiwan Frontier Research Center on Fundamental and Applied Sciences of Matters National Tsing Hua University Hsinchu30013 Taiwan School of Advanced Materials Science & Engineering Sungkyunkwan University Suwon16419 Korea Republic of Sungkyunkwan University 2066 Seobu-ro Gyeonggi Suwon16419 Korea Republic of Department of Chemical and Biomolecular Engineering National University of Singapore 4 Engineering Drive 4 117585 Singapore Division of Advanced Materials Engineering Jeonbuk National University 567 Baekje-daero Jeonbuk Jeonju54896 Korea Republic of Jeonbuk National University 567 Baekje-daero Jeonbuk Jeonju54896 Korea Republic of Department of Physics Inha University 100 Inha-ro Incheon22212 Korea Republic of School of Materials Science & Engineering Yeungnam University Gyeongbuk Gyeongsan38541 Korea Republic of 291 Daehak-ro Daejeon34141 Korea Republic of School of Materials Science and Engineering Nanyang Technological University 50 Nanyang Avenue 639798 Singapore Institute of Flexible Electronics Technology of Tsinghua Zhejiang Jiaxing314000 China Nanomaterials and System Lab Major of Mechatronics Engineering Faculty of Applied Energy System Jeju National University Jeju632-43 Korea Republic of School of Engineering University of Glasgow GlasgowG128QQ United Kingdom Seoul02792 Korea Republic of Department of Physics Inha University Incheon22212 Korea Republic of Suwon16419 Korea Republic of Department of

Serious climate changes and energy-related environmental problems are currently critical issues in the world. In order to reduce carbon emissions and save our environment, renewable energy harvesting technologies will serve as a key solution in the near future. Among them, triboelectric nanogenerators (TENGs), which is one of the most promising mechanical energy harvesters by means of contact electrification phenomenon, are explosively developing due to abundant wasting mechanical energy sources and a number of superior advantages in a wide availability and selection of materials, relatively simple device configurations, and low-cost processing. Significant experimental and theoretical efforts have been achieved toward understanding fundamental behaviors and a wide range of demonstrations since its report in 2012. As a result, considerable technological advancement has been exhibited and it advances the timeline of achievement in the proposed roadmap. Now, the technology has reached the stage of prototype development with verification of performance beyond the lab scale environment toward its commercialization. In this review, distinguished authors in the world worked together to summarize the state of the art in theory, materials, devices, systems, circuits, and applications in TENG fields. The great research achievements of researchers in this field around the world over the past decade are expected to play a major role in coming to fruition of unexpectedly accelerated technological advances over the next decade. © 2023 The Authors. Published by American Chemical Society

关键词： Nanogenerators

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