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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Stylianos Exadaktylos Christian Vitale Panayiotis Kolios Georgios Ellinas Department of Electrical and Computer Engineering and the KIOS Research and Innovation Center of Excellence University of Cyprus

The world’s population in urban areas has been increasing rapidly during the last few decades and is expected to continue to grow over the near future. With this major population increase, traffic congestion is expected to worsen significantly in urban areas, and creative solutions will be required for addressing this problem, which has a considerable environmental, economic, and societal impact on the urban population. Urban air mobility could be such an innovative solution. This work introduces urban air mobility trajectory planning, where classical receding horizon optimizations are extended to satisfy on-demand planning of safe trajectories for the aerial vehicles in large and dense environments. Specifically, for reducing the overall problem complexity, a new parameter, i.e., the safety horizon, is introduced and, to model accurately aerial vehicle location uncertainty, a mixed integer quadratic optimization problem is proposed. Extensive simulations are performed to demonstrate the applicability of the proposed framework for on-demand mobility planning in urban environments.

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Towards efficient traffic state estimation using sparse UAV-based data in urban networks

Towards efficient traffic state estimation using sparse UAV-...

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Mediterranean Conference on Control and Automation (MED)

作者： Kyriacos Theocharides Charalambos Menelaou Yiolanda Englezou Stelios Timotheou Department of Electrical and Computer Engineering KIOS Research and Innovation Center of Excellence University of Cyprus

Traffic state estimation (TSE) is a challenging task due to the collection of sparse and noisy measurements from fixed points in the traffic network. Unmanned Aerial Vehicles (UAVs) have been gaining popularity as traffic sensors due to their ability to monitor a number of important traffic parameters over space and time. In this work, we develop a novel UAV-based sensing architecture which provides sparse, noisy measurements of traffic densities and transfer flows of the traffic network. Assuming free-flow conditions, we construct a Kalman filter approach that utilises knowledge of regional split ratios along with the UAV-based measurements. To avoid the assumption of known split ratios, we further develop a weighted least-squares optimization approach that minimizes measurement and process errors over a moving horizon window subject to linear traffic dynamics to accurately estimate traffic densities. We compare the UAV-based sensing architecture to an all-measurement method where we assume that measurements for all traffic densities and transfer flows are available at every time-step. Results show that the UAV-based sensing architecture compares favourably to the all-measurement scenario and the proposed optimization based estimator achieves similar results to the Kalman filter, even when regional split ratios are unknown.

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Incipient Current and Voltage Sensors Fault Diagnosis Scheme for Grid Side Converters

Incipient Current and Voltage Sensors Fault Diagnosis Scheme...

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Mediterranean Conference on Control and Automation (MED)

作者： Faizan Mehmood Lenos Hadjidemetriou Ioannis Tzortzis Marios M. Polycarpou Department of Electrical and Computer Engineering KIOS Research and Innovation Center of Excellence University of Cyprus

This paper proposes a model-based fault diagnosis scheme for incipient faults in the DC voltage and AC current sensors of the grid-tied converter, considering the coupling phenomena between the two sides of the converter that might cause fault propagation. First, a linear descriptor estimator is designed, based on a linear augmented descriptor model of a nonlinear grid side converter (GSC) system, while considering the effect of sensor noise and modeling uncertainty. Second, a time-varying estimator gain matrix for the design of the descriptor estimator is obtained by minimizing the sum of the variances of the estimation error. Lastly, the diagnosis of incipient sensor faults is designed using the derived analytical redundancy relations, based on the estimations provided by linear descriptor estimator. The results of this work are useful for the early diagnosis of incipient sensor faults, which can improve the safety and reliability of GSCs.

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Dynamically Reconfigurable Broadband SP3T Switch Powered by WPT for Antenna Switching Applications 52

Dynamically Reconfigurable Broadband SP3T Switch Powered by ...

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52nd European Microwave Conference, EuMC 2022

作者： Bilal, Asif Quddious, Abdul Rezaeieh, Sasan Ahdi Iezekiel, Stavros Antoniades, Marco A. Emphasis Research Centre University of Cyprus Cyprus University of Cyprus Department of Electrical and Computer Engineering Cyprus Kios Research Center for Excellence University of Cyprus Cyprus School of Information Technology and Electrical Engineering The University of Queensland Australia Ryerson University Department of Electrical Computer & Biomedical Engineering Canada

ISBN: (数字)9782874870699

ISBN: (纸本)9782874870699

In this work, a broadband single pole triple throw (SP3T) switch that operates between a frequency range of 0.02 - 6 GHz is reconfigured by means of wireless power transfer (WPT) through an energy harvesting (EH) circuit. The WPT is achieved by designing three rectennas working at 2.3 GHz, 2.45 GHz, and 2.6 GHz. Each rectenna consists of a low-power RF rectifier circuit associated with a distinct antenna element and a commercially available e-peas AEM30940 power management unit (PMU) that is able to provide an output of 1.8 V - 4.1 V with cold start-up from 380 mV and 3 μW input power. The PMU also consists of a storage capacitor where the energy from the low power received signal is stored. The three input pins of the SP3T switch require a driving voltage of 1.8 V to actuate its RF port. This voltage is provided by the designed rectennas through the PMU, and we can actuate the switch with a very low power (3 μW) received signal. The rectennas are designed to provide the 380 mV between -12 dBm to -10 dBm received power with a conversion efficiency of approx. 40 %for each rectenna. The proposed method to wirelessly enable the SP3T switch with a low-power RF signal can provide a breakthrough to reconfigure microwave devices and antennas for a broad range of applications, and also paves the way not only for the generation of clean energy, but also for its use as an alternative to batteries. © 2022 European Microwave Association (EuMA).

关键词： Energy harvesting

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Linear Active Disturbance Rejection Control with a Fractional-Order Integral Action

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computers, Materials & Continua 2022年第11期73卷 3057-3079页

作者： Maâmar Bettayeb Rachid Mansouri Ubaid M.Al-Saggaf Abdulrahman U.Alsaggaf Mohammed Moinuddin Electrical Engineering Department University of SharjahUnited Arab Emirates L2CSP Laboratory University Mouloud Mammeri of Tizi-OuzouAlgeria Center of Excellence in Intelligent Engineering Systems(CEIES) King Abdulaziz UniversityJeddahSaudi Arabia Electricaland Computer Engineering Department King Abdulaziz UniversityJeddahSaudi Arabia

Linear active disturbance rejection control(LADRC)is a powerful control structure thanks to its performance in uncertainties,internal and external disturbances estimation and *** extended state observer(ESO)based controller is the key to the LADRC *** this article,the LADRC scheme combined with a fractional-order integral action(FOILADRC)is proposed to improve the robustness of the standard *** the robust closed-loop Bode’s ideal transfer function(BITF),an appropriate pole placement method is proposed to design the set-point tracking controller of the FOI-LADRC *** simulations and experimental results on a cart-pendulum system will illustrate the effectiveness of the proposed FOI-LADRC scheme for the disturbance rejection,the set-point tracking and the improved *** illustrate the LADRC control schemes and to verify the performance of the proposed FOI-LADRC,compared to the standard LADRC and IOI-LADRC structures,two tests will be carried ***,simulation tests on an academic example will be presented to show the effect of the different parameters of the control law on the performance of the closed-loop ***,these three control structures are implemented on an experimental test bench,the cart-pendulum system,to show their efficiency and to show the superiority of the proposed method compared to the two other structures.

关键词： Fractional calculus active disturbance rejection control pole placement cart-pendulum system robust control

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Automated Real-Time Inspection in Indoor and Outdoor 3D Environments with Cooperative Aerial Robots

Automated Real-Time Inspection in Indoor and Outdoor 3D Envi...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Andreas Anastasiou Angelos Zacharia Savvas Papaioannou Panayiotis Kolios Christos G. Panayiotou Marios M. Polycarpou Department of Electrical and Computer Engineering KIOS Research and Innovation Center of Excellence (KIOS CoE) University of Cyprus Nicosia Cyprus

ISBN: (数字)9798350357882

ISBN: (纸本)9798350357899

This work introduces a cooperative inspection system designed to efficiently control and coordinate a team of distributed heterogeneous UAV agents for the inspection of 3D structures in cluttered, unknown spaces. Our proposed approach employs a two-stage innovative methodology. Initially, it leverages the complementary sensing capabilities of the robots to cooperatively map the unknown environment. It then generates optimized, collision-free inspection paths, thereby ensuring comprehensive coverage of the structure's surface area. The effectiveness of our system is demonstrated through qualitative and quantitative results from extensive Gazebo-based simulations that closely replicate real-world inspection scenarios, highlighting its ability to thoroughly inspect real-world-like 3D structures.

关键词： Solid modeling Three-dimensional displays Robot kinematics Inspection Robot sensing systems Autonomous aerial vehicles Control systems

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Enhancing the Safety of Multi-UAS Urban Operations with SORA

Enhancing the Safety of Multi-UAS Urban Operations with SORA

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Yiannis Grigoriou Antonis Savva Panayiotis Kolios Michael Chatzipanagiotis Stelios Timotheou Department of Law KIOS Research and Innovation Center of Excellence and the Department of Electrical and Computer Engineering University of Cyprus Nicosia Cyprus

ISBN: (数字)9798350357882

ISBN: (纸本)9798350357899

Unmanned Aircraft Systems (UAS) play a pivotal role in a variety of modern applications, with traffic monitoring emerging as a critical use case. This study presents the Specific Operations Risk Assessment (SORA) 2.0 framework as applied to UAS operations dedicated for traffic monitoring in urban environments. A comprehensive risk assessment is provided by incorporating real-world scenarios and addressing practical aspects of traffic monitoring missions. A fleet of semi-autonomous drones is employed to safely acquire video footage of traffic for further analysis, based on a detailed elaboration of SORA methodology steps. In this regard, enhancements are proposed for structuring the Air Risk Class assessment and corresponding mitigation measures, as well as recommendations concerning Multi-UAS and autonomous operations, aiming to improve the methodology. As the demand for UAS operations in urban environments, including efficient and secure traffic management solutions, constantly increases, this study aspires to contribute to the UAS operational safety and regulatory framework.

关键词： Urban areas Safety Air traffic control Aircraft Monitoring Drones

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Exploring Improved Asynchronous Federated Learning with Fresh Information in Contested Environment

Exploring Improved Asynchronous Federated Learning with Fres...

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IEEE International Conference on Information Reuse and Integration (IRI)

作者： Danda B. Rawat Dept of Electrical Engineering & Computer Science DoD Center of Excellence in AI/ML Howard University Washington DC USA

ISBN: (数字)9798350351187

ISBN: (纸本)9798350351194

To tackle weaknesses of traditional synchronous federated learning (FL), asynchronous FL has emerged as a solution. However, asynchronous FL also faces challenges, particularly in identifying optimal clients capable of contributing to a global model with minimal latency and loss with high accuracy, while prioritizing information freshness. This paper explores client selection strategies in asynchronous FL that takes account of computing and communication delays, freshness of the data/information being used in generating local models, and the loss while providing the best global model with high efficiency in the contested environment. Furthermore, we present formal mathematical analysis and performance evaluation using numerical results. Results show that the proposed improved asynchronous FL outperforms the other FL approaches.

关键词： Performance evaluation Accuracy Federated learning Computational modeling Data science Numerical models Delays Rough surfaces Faces

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A Distributed Framework for Large-scale Protein-protein Interaction Data Analysis and Prediction Using MapReduce

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IEEE/CAA Journal of Automatica Sinica 2022年第1期9卷 160-172页

作者： Lun Hu Shicheng Yang Xin Luo Huaqiang Yuan Khaled Sedraoui MengChu Zhou School of Computer Science and Technology Dongguan University of TechnologyDongguan 523808China School of Computer Science and Technology Wuhan University of TechnologyWuhan 430070China Chongqing Engineering Research Center of Big Data Application for Smart Cities and Chongqing Key Laboratory of Big Data and Intelligent ComputingChongqing Institute of Green and Intelligent TechnologyChinese Academy of SciencesChongqing 400714China Xinjiang Technical Institute of Physics and Chemistry Chinese Academy of SciencesUrumqi 830000China Center of Research Excellence in Renewable Energy and Power Systems and the Department of Electrical and Computer EngineeringFaculty of EngineeringKing Abdulaziz UniversityJeddah 21589Saudi Arabia Department of Electrical and Computer Engineering New Jersey Institute of TechnologyNewarkNJ 07102 USA

Protein-protein interactions are of great significance for human to understand the functional mechanisms of *** the rapid development of high-throughput genomic technologies,massive protein-protein interaction(PPI)data have been generated,making it very difficult to analyze them *** address this problem,this paper presents a distributed framework by reimplementing one of state-of-the-art algorithms,i.e.,CoFex,using *** do so,an in-depth analysis of its limitations is conducted from the perspectives of efficiency and memory consumption when applying it for large-scale PPI data analysis and *** solutions are then devised to overcome these *** particular,we adopt a novel tree-based data structure to reduce the heavy memory consumption caused by the huge sequence information of *** that,its procedure is modified by following the MapReduce framework to take the prediction task distributively.A series of extensive experiments have been conducted to evaluate the performance of our framework in terms of both efficiency and *** results well demonstrate that the proposed framework can considerably improve its computational efficiency by more than two orders of magnitude while retaining the same high accuracy.

关键词： Distributed computing large-scale prediction machine learning MapReduce protein-protein interaction(PPI)

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Quantum Calculus-Based Two-Dimensional Least Mean Square Algorithm 58

Quantum Calculus-Based Two-Dimensional Least Mean Square Alg...

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58th Asilomar Conference on Signals, Systems and computers, ACSSC 2024

作者： Moinuddin, Muhammad Zerguine, Azzedine Al-Saggaf, Ubaid M. Arif, Muhammad King Abdulaziz University Electrical and Computer Engineering Department The Centre of Excellence in Intelligent Engineering Systems Jeddah Saudi Arabia Kfupm Electrical Engineering Department The Interdisciplinary Research Center for Communication Systems and Sensing Dhahran31261 Saudi Arabia Institute of Networked and Embedded Systems University of Klagenfurt Klagenfurt Austria The Ubiquitous Sensing Systems Lab University of Klagenfurt-Silicon Austria Labs Klagenfurt Austria

ISBN: (纸本)9798350354058

Recent work of the one-dimensional q-LMS algorithm give insight that the Quantum Calculus based gradient called the q-gradient is capable of improving the convergence behavior in contrast to the standard LMS algorithm. The reason for this is the fact that the q-derivative takes larger steps in minimizing a cost function as it evaluates the secant in contrast to the tangent of the cost function. Motivated by this, we propose a two-dimensional version of the q-LMS algorithm. More precisely, we employ Quantum Calculus based q-gradient in steepest descent optimization of mean-square-error (MSE) cost function in 2D adaptive filtering scenario to obtain two-dimensional q-LMS (2D q-LMS) algorithm. A thorough analytical investigation of the proposed 2D q-LMS algorithm in both mean and mean-square sense is provided. Both the transient and steady-state convergence behaviours are examined. Consequently, excess MSE (EMSE) learning curve and its steady-state expression are evaluated in closed form. Simulation results are presented for the application of noise cancelation in images to show the superiority of the proposed 2D q-LMS algorithm. © 2024 IEEE.

关键词： Cost functions

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