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7th International Joint Conference on Computational Intelligence, IJCCI 2015

作者： Kubalìk, Jiřì Alibekov, Eduard Žegklitz, Jan Babuška, Robert Czech Institute of Informatics Robotics and Cybernetics CTU in Prague Prague Czech Republic Department of Cybernetics Faculty of Electrical Engineering CTU in Prague Prague Czech Republic Delft Center for Systems and Control Delft University of Technology Delft Netherlands

ISBN: (纸本)9783662535240

This paper presents a first step of our research on designing an effective and efficient GP-based method for symbolic regression. First, we propose three extensions of the standard Single Node GP, namely (1) a selection strategy for choosing nodes to be mutated based on depth and performance of the nodes, (2) operators for placing a compact version of the best-performing graph to the beginning and to the end of the population, respectively, and (3) a local search strategy with multiple mutations applied in each iteration. All the proposed modifications have been experimentally evaluated on five symbolic regression benchmarks and compared with standard GP and SNGP. The achieved results are promising showing the potential of the proposed modifications to improve the performance of the SNGP algorithm. We then propose two variants of hybrid SNGP utilizing a linear regression technique, LASSO, to improve its performance. The proposed algorithms have been compared to the state-of-the-art symbolic regression methods that also make use of the linear regression techniques on four real-world benchmarks. The results show the hybrid SNGP algorithms are at least competitive with or better than the compared methods. © Springer-Verlag Berlin Heidelberg 2016.

关键词： Genetic programming

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Collective circular motion and cooperative circumnavigation for nonholonomic mobile robots using range-based measurements

Collective circular motion and cooperative circumnavigation ...

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AIAA Guidance, Navigation, and control Conference, 2016

作者： Cao, Yongcan Milutinovic, Dejan Casbeer, David Kingston, Derek Department of Electrical and Computer Engineering University of Texas San AntonioTX78249 United States Department of Computer Engineering University of California Santa CruzCA95064 United States Control Science Center of Excellence Air Force Research Laboratory WPAFB OH45433 United States

ISBN: (数字)9781624103896

ISBN: (纸本)9781624103896

In this paper, we study two typical collective behaviors, namely, collective circular motion and cooperative circumnavigation, for a team of nonholonomic mobile robots when only range-based measurements are available. The main challenge is the development of control algorithms using range measurements rather than position measurements. For the collective circular motion, the goal is to design control algorithms such that a team of robots evenly spreads over the circle of a desired radius, which is centered at a stationary target. For the cooperative circumnavigation motion, the goal is to develop control strategies such that a robot can orbit around a stationary target at a desired distance that is larger than the maximum communication range between the robot and the target. To accomplish this goal, we first let a few other "relay" robots maintain the collective circular motion by using the developed control aglorithm and then compute the distance between the robot and the target using auxilliary range measurements between "relay" robots and the robot (or the target). Finally, the distance between the robot and the target is used to enable the circumnavigation of the robot around the target at the desired radius. To further demonstrate the effectiveness of the developed control algorithms and strategies, simulation examples are provided as a proof of concept. © 2016, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Cooperative communication

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An Adaptive Sliding Mode Observer for Linear Systems under Malicious Attack

An Adaptive Sliding Mode Observer for Linear Systems under M...

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IEEE International Conference on Systems, Man, and Cybernetics

作者： Niloofar Jahanshahi Nader Meskin Farzaneh Abdollahi Wassim M. Haddad Center of Excellence on Control and Robotics Department of Electrical Engineering Amirkabir University of Technology (Tehran Polytechnic) Iran Department of Electrical Engineering Qatar university Doha Qatar Department of Electrical Engineering Amirkabir University of Technology Tehran 15914 Iran Department of Aerospace Engineering Georgia Institute of Technology Atlanta United States

ISBN: (纸本)9781509018987

Recent years have witnessed extensive research activities in the development of control law architectures for cyber-physical systems consisting of sensing, computing and communication modules working together to control physical systems. One of the main challenges in cyber-physical systems is the vulnerability to adversarial attacks. As the important module in cyber physical systems, sensor measurements are prone to malicious attacks due to the use of open computation and communication architectures. This paper proposes an adaptive sliding mode observer for state estimation of systems subjected to adversarial attacks. The novelty of the method considered here lies in the use of the equivalent control concept to explicitly reconstruct attack signals and consequently the system state. A design procedure is described and simulation results are presented to demonstrate the effectiveness of the proposed approach.

关键词： Attack reconstruction Adaptive sliding mode observers Cyber-physical systems Equivalent control

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Effective online trajectory generation of waist and arm for enhancing humanoid robot walking

Effective online trajectory generation of waist and arm for ...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Ren C. Luo Chien-An Chen Anne Spalanzani International Center of Excellence in Intelligent Robotics and Automation Research Electrical Engineering Department National Taiwan University Taipei INRIA Grenoble Rhone Alpes France

ISBN: (纸本)9781509008742

Inspired by the human torso, humanoid robots usually equipped with active waist joints. For arbitrary walking patterns or whole body motions, the well-designed waist trajectories can greatly enhance the motion of robot legs and allow the robot to perform larger walking step length or crossing higher stair gaps. In this paper, we develop an effective online algorithm for generating waist and arm trajectories for humanoid robots having a waist joint. The waist trajectory generation problem is formulated into a Quadratic Programming problem. The Receding Horizon control technique is used to make the algorithm relative faster to integrate it into online control systems and have the ability to confront perturbations. The arm swinging motion is then generated to eliminate the angular momentum generated by the swinging leg and the waist motion. Finally, we apply our algorithm on RENBO, which is the humanoid robot developed in our lab. The experimental result and analysis demonstrate that the algorithm can generate continuous and smooth waist and arm trajectory, making the resulting leg motion much smoother.

关键词： Legged locomotion Trajectory Humanoid robots Hip Generators Torso

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Dynamic coverage control via underactuated autonomous underwater vehicles in unknown 3D environment

Dynamic coverage control via underactuated autonomous underw...

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International Conference on control, Instrumentation, and Automation

作者： Azin Shamshirgaran Farzaneh Abdollahi The Center of Exellence on Control and Robotics Amirkabir University of Thechnology Tehran Iran Department of Electrical and Computmer Engineering Concordia University Montreal Quebec Canada

The dynamic coverage procedure for a group of non-holonomic agents in 3D unknown environment is studied in this paper. First, the chained model of the system is exploited. Then, a cost function which its efficiency is proved by Lyapunov function in order to obtain control inputs is proposed. Besides, the reachable set for each agent is derived according to obtained control inputs and is applied to the group. Finally, the simulation results illustrate the performance of the suggested algorithm.

关键词： Heuristic algorithms Vehicle dynamics Kinematics Vehicles Mathematical model Three-dimensional displays Cost function

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Design and modeling of a compact rotational nonlinear spring

Design and modeling of a compact rotational nonlinear spring

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Hamed Jalaly Bidgoly Majid Nili Ahmadabadi Mohammad Reza Zakerzadeh Cognitive Robotics Laboratory The Control and Intelligent Processing Center of Excellence (CIPCE) School of Electrical and Computer Engineering College of Engineering University of Tehran Iran Dynamic and Vibration Laboratory School of Mechanical Engineering College of Engineering University of Tehran Iran

ISBN: (纸本)9781509037636

In this paper, we propose a new method for implementing a rotational nonlinear spring with user defined profile, based on the combination of a linear spring with a nonlinear transmission mechanism. The proposed structure consists of a non-circular cam, a roller which moves along outer circumference of the cam, and a stretched translational linear spring which is connected between center of the cam and center of the roller. We obtain a set of differential equations to design shape of the cam for any given torque-angle profile. Also, it will be shown that profiles with both positive and negative values can be implemented by the proposed method. At last, the cam of some popular nonlinear springs are designed, including constant, cubic, hyperbolic tangent and sinusoidal springs.

关键词： Computer aided manufacturing Camelopardalis Hookean spring springs Device Spring TRANSFER MECHANISM Modeling nonlinearity Rotational SCROLL Differential equations Spring season

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Dynamic performance of different knee mechanisms with compliant joints

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Scientia Iranica 2016年第3期23卷 1055-1063页

作者： Ghaemi, N. Zohoor, H. Ghaemi, H. Department of Mechanical Engineering Babol Noshirvani University of Technology Babol Iran Center of Excellence in Design Robotics and Automation Sharif University of Technology The Academy of Sciences of IR Iran Department of Electrical and Electronics Engineering Mazandaran Institute of Technology Babol Iran

Loss of lower extremities has been one of the main problems in human life. Although most of the available knee devices are aesthetically acceptable, there is a necessity for lighter and more compact mechanisms, especially for younger amputees. This problem can be solved by the combining compliant mechanism design with traditional mechanism design methods. In this study, one group of the prosthetics that is known as the "compliant knee mechanisms" is evaluated. At first, the different knee mechanisms, such as four- and six-bar knee linkages are investigated to calculate the values of the control moments (actuator torque). Then, the suitable location (where the actuator torque is to be exerted) is determined to reduce the knee control moment. Finally, the compliant joints are employed to provide the improved designs. Furthermore, an optimization method is employed to determine the optimum values of stiffness instead of using an experimental technique. The obtained results show that use of the compliant joints in the knee mechanisms reduces the values of the control moments, signi cantly. In fact, the compliant members decrease the peak torques during the stance phase. Therefore, by applying a compliant joint, a higher energy efficiency and lighter knee mechanism can be achieved for ambulation. © 2016 Sharif University of Technology. All rights reserved.

关键词： Mechanisms

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Identifying the best machine learning algorithms for brain tumor segmentation, progression assessment, and overall survival prediction in the BRATS challenge

arXiv

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arXiv 2018年

作者： Bakas, Spyridon Reyes, Mauricio Jakab, Andras Bauer, Stefan Rempfler, Markus Crimi, Alessandro Shinohara, Russell Takeshi Berger, Christoph Ha, Sung Min Rozycki, Martin Prastawa, Marcel Alberts, Esther Lipkova, Jana Freymann, John Kirby, Justin Bilello, Michel Fathallah-Shaykh, Hassan M. Wiest, Roland Kirschke, Jan Wiestler, Benedikt Colen, Rivka Kotrotsou, Aikaterini Lamontagne, Pamela Marcus, Daniel Milchenko, Mikhail Nazeri, Arash Weber, Marc-Andr Mahajan, Abhishek Baid, Ujjwal Gerstner, Elizabeth Kwon, Dongjin Acharya, Gagan Agarwal, Manu Alam, Mahbubul Albiol, Alberto Albiol, Antonio Albiol, Francisco J. Alex, Varghese Allinson, Nigel Amorim, Pedro H.A. Amrutkar, Abhijit Anand, Ganesh Andermatt, Simon Arbel, Tal Arbelaez, Pablo Avery, Aaron Azmat, Muneeza Pranjal, B. Bai, Wenjia Banerjee, Subhashis Barth, Bill Batchelder, Thomas Batmanghelich, Kayhan Battistella, Enzo Beers, Andrew Belyaev, Mikhail Bendszus, Martin Benson, Eze Bernal, Jose Bharath, Halandur Nagaraja Biros, George Bisdas, Sotirios Brown, James Cabezas, Mariano Cao, Shilei Cardoso, Jorge M. Carver, Eric N. Casamitjana, Adri Castillo, Laura Silvana Cat, Marcel Cattin, Philippe Cérigues, Albert Chagas, Vinicius S. Chandra, Siddhartha Chang, Yi-Ju Chang, Shiyu Chang, Ken Chazalon, Joseph Chen, Shengcong Chen, Wei Chen, Jefferson W. Chen, Zhaolin Cheng, Kun Choudhury, Ahana Roy Chylla, Roger Clrigues, Albert Colleman, Steven Colmeiro, Ramiro German Rodriguez Combalia, Marc Costa, Anthony Cui, Xiaomeng Dai, Zhenzhen Dai, Lutao Daza, Laura Alexandra Deutsch, Eric Ding, Changxing Dong, Chao Dong, Shidu Dudzik, Wojciech Eaton-Rosen, Zach Egan, Gary Escudero, Guilherme Estienne, Tho Everson, Richard Fabrizio, Jonathan Fan, Yong Fang, Longwei Feng, Xue Ferrante, Enzo Fidon, Lucas Fischer, Martin French, Andrew P. Fridman, Naomi Fu, Huan Fuentes, David Gao, Yaozong Gates, Evan Gering, David Gholami, Amir Gierke, Willi Glocker, Ben Gong, Mingming Gonzlez-Vill, Sandra Grosges, T. Guan, Yuanfang Guo, Sheng Gupta, Sudeep Han, Woo-Sup Han, Il Song Harmuth, Ko Center for Biomedical Image Computing and Analytics University of Pennsylvania PhiladelphiaPA United States Department of Radiology Perelman School of Medicine University of Pennsylvania PhiladelphiaPA United States Department of Pathology and Laboratory Medicine Perelman School of Medicine University of Pennsylvania PhiladelphiaPA United States Institute for Surgical Technology and Biomechanics University of Bern Bern Switzerland Center for MR-Research University Children's Hospital Zurich Zurich Switzerland Support Centre for Advanced Neuroimaging Inselspital Institute for Diagnostic and Interventional Neuroradiology Bern University Hospital Bern Switzerland University Hospital of Zurich Zurich Switzerland Center for Clinical Epidemiology and Biostatistics University of Pennsylvania Philadelphia United States Image-Based Biomedical Modeling Group Technical University of Munich Munich Germany Icahn School of Medicine Mount Sinai Health System New YorkNY United States Leidos Biomedical Research Inc. Frederick National Laboratory for Cancer Research FrederickMD21701 United States Cancer Imaging Program National Cancer Institute National Institutes of Health BethesdaMD20814 United States Department of Neurology University of Alabama at Birmingham BirminghamAL United States Department of Diagnostic Radiology University of Texas MD Anderson Cancer Center HoustonTX United States Department of Psychology Washington University St. LouisMO United States Neuroimaging Informatics and Analysis Center Washington University St. LouisMO United States Department of Radiology Washington University St. LouisMO United States Institute of Diagnostic and Interventional Radiology Pediatric Radiology and Neuroradiology University Medical Center Rostock Ernst-Heydemann-Str. 6 Rostock18057 Germany Tata Memorial Centre Homi Bhabha National Institute Mumbai India Shri Guru Gobind Singhji Institute of Engineering and Technology Nanded India NVIDIA Santa Clara

Gliomas are the most common primary brain malignancies, with different degrees of aggressiveness, variable prognosis and various heterogeneous histologic sub-regions, i.e., peritumoral edematous/invaded tissue, necrotic core, active and non-enhancing core. This intrinsic heterogeneity is also portrayed in their radio-phenotype, as their sub-regions are depicted by varying intensity profiles disseminated across multi-parametric magnetic resonance imaging (mpMRI) scans, reflecting varying biological properties. Their heterogeneous shape, extent, and location are some of the factors that make these tumors difficult to resect, and in some cases inoperable. The amount of resected tumor is a factor also considered in longitudinal scans, when evaluating the apparent tumor for potential diagnosis of progression. Furthermore, there is mounting evidence that accurate segmentation of the various tumor sub-regions can offer the basis for quantitative image analysis towards prediction of patient overall survival. This study assesses the state-of-the-art machine learning (ML) methods used for brain tumor image analysis in mpMRI scans, during the last seven instances of the International Brain Tumor Segmentation (BraTS) challenge, i.e., 2012-2018. Specifically, we focus on i) evaluating segmentations of the various glioma sub-regions in pre-operative mpMRI scans, ii) assessing potential tumor progression by virtue of longitudinal growth of tumor sub-regions, beyond use of the RECIST/RANO criteria, and iii) predicting the overall survival from pre-operative mpMRI scans of patients that underwent gross total resection. Finally, we investigate the challenge of identifying the best ML algorithms for each of these tasks, considering that apart from being diverse on each instance of the challenge, the multi-institutional mpMRI BraTS dataset has also been a continuously evolving/growing dataset. Copyright © 2018, The Authors. All rights reserved.

关键词： Tumors

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The target differential game with two defenders

The target differential game with two defenders

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： David W. Casbeer Eloy Garcia Meir Pachter Control Science Center of Excellence Air Force Research Laboratory OH Infoscitex Corporation Dayton OH Department of Electrical Engineering Air Force Institute of Technology OH

ISBN: (纸本)9781467393355

A cooperative aircraft differential game where an Attacker missile pursues a Target aircraft is addressed. The Target aircraft cooperates with up to two Defender missiles which are launched in order to intercept the Attacker before the latter reaches the Target. The results in this paper build on the solution of a three agent differential game, where the three players are the Target, the Attacker, and one Defender; in this paper, the benefits of firing a second Defender are considered. By using the solution of the one-Defender problem, it is possible to address a seemingly intractable problem, where the Target needs to decide which Defender to cooperate with, in addition to obtaining the optimal headings of every player in the game. We consider the case of a static Target and the case of a dynamic Target. For both cases, given the initial positions of the players, we solve the problem of determining if a second Defender improves the Target/Defender(s) payoff and we also provide the optimal strategies for each one of the agents involved in this differential game.

关键词： Games Aircraft Missiles Vehicle dynamics Aircraft manufacture Kinematics Military aircraft

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Bad data injection as a threat for power system security

Bad data injection as a threat for power system security

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2015 Smart Grid Conference, SGC 2015

作者： Farajollahi, M. Hosseini, S.H. Fotuhi-Firuzabad, M. Safdarian, A. Electrical Engineering Department Sharif University of Technology Center of Excellence in Power System Control and Management Iran

ISBN: (纸本)9781509003693

Power system operation is undeniably affected by system security indications providing system operators with insight into power system status. In this regard, any tampered data would compromise power system security. This paper aims at presenting an approach to scrutinize the impact of cyber attacks on the system security indices. With this in mind, two well-known system security indices representing voltage and loading severities are taken into account. The approach uses genetic algorithm to find the most severe conditions for each security index from financial and technical viewpoints. In the former, bad data injection targets to overestimate security indices resulting in unnecessary preventive actions, thus higher operation costs. In the latter, however, underestimation of security indices may threat system security. The proposed algorithm is applied to the standard IEEE 30-bus system. The obtained results indicate how cyber attacks could manipulate the system security indices, leading to fallacious insight over power system status. © 2015 IEEE.

关键词： Genetic algorithms

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