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4th Diabetic Foot Ulcers Grand Challenge, DFUC 2024 held in Conjunction 27th International Conference on Medical Image Computing and Computer Assisted Intervention, MICCAI 2024

作者： Brodzicki, Andrzej Kucharski, Dariusz Moniak, Bartlomiej Kostuch, Aleksander Noworolnik, Filip Anna, W. Jaworek-Korjakowska, Joanna Department of Automatic Control and Robotics AGH University of Kraków Kraków Poland Center of Excellence in Artificial Intelligence AGH University of Kraków Kraków Poland

ISBN: (纸本)9783031808708

The Diabetic Foot Ulcer Challenge is a global computer vision competition organised to raise awareness of the complications caused by diabetes and motivate researchers to develop solutions that might help in the treatment. In 2024, the challenge focused on self-supervised learning methods and synthetic data, as the process of collecting and labelling medical data is a tedious one. In this research, we present a novel, two-stage method for self-supervised DFU segmentation. It is based on a Vision Transformer attention from classification pre-task, followed by U-Net weakly supervised segmentation refinement. Our solution took 3rd place on the challenge leaderboard, with a 0.4796 Dice Score on the test set. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Distribution transformers

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A hierarchical framework for distributed resilient control of islanded AC microgrids under false data injection attacks

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ISA Transactions 2023年第1期139卷 191-204页

作者： Zarei, Mahdi Sadegh Atrianfar, Hajar Tehran Iran Center of Excellence on Control and Robotics Department of Electrical Engineering Amirkabir University of Technology Tehran Iran

In this paper, we propose a control scheme to ensure the microgrid control layers are resilient to cyberattacks. The studied microgrid consists of several distributed generation (DG) units and we consider the hierarchical control structure that is common for microgrids. The use of communication channels among DGs has made microgrids more vulnerable and this is where cybersecurity issues arise. In this work we added three algorithms, reputation-based, Weighted Mean Subsequence Reduced (W-MSR) and Resilient Consensus Algorithm with Trusted Nodes (RCA-T), to the secondary control layer of the microgrid and made them resilient to false data injection (FDI) attacks. In reputation-based control, some procedures are used for detecting the attacked DGs and isolating them from the others. W-MSR and RCA-T are Mean Subsequence Reduced (MSR)-based algorithms that fade the effect of attacks without finding them. These algorithms use a simple strategy that ignores some extreme values of neighboring agents, so an attacker can simply get ignored. Our analysis of the reputation-based algorithm is based on scrambling matrices, so the communication graph can switch in a prescribed set. In each of the above cases, to evaluate the performance of the designed controllers, in addition to theoretical analysis, we evaluated and compared the controllers using simulation. © 2023 ISA

关键词： controllers

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Conceptual imitation learning in a human-robot interaction paradigm

Conceptual imitation learning in a human-robot interaction p...

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作者： Hajimirsadeghi, Hossein Ahmadabadi, Majid Nili Araabi, Babak Nadjar Moradi, Hadi Cognitive Robotics Lab Control and Intelligent Processing Center of Excellence University of Tehran Iran

In general, imitation is imprecisely used to address different levels of social learning from high-level knowledge transfer to low-level regeneration of motor commands. However, true imitation is based on abstraction and conceptualization. This article presents a model for conceptual imitation through interaction with the teacher to abstract spatio-temporal demonstrations based on their functional meaning. Abstraction, concept acquisition, and self-organization of proto-symbols are performed through an incremental and gradual learning algorithm. In this algorithm, Hidden Markov Models (HMMs) are used to abstract perceptually similar demonstrations. However, abstract (relational) concepts emerge as a collection of HMMs irregularly scattered in the perceptual space but showing the same functionality. Performance of the proposed algorithm is evaluated in two experimental scenarios. The first one is a human-robot interaction task of imitating signs produced by hand movements. The second one is a simulated interactive task of imitating whole body motion patterns of a humanoid model. Experimental results show efficiency of our model for concept extraction, proto-symbol emergence, motion pattern recognition, prediction, and generation. © 2012 ACM.

关键词： Hidden Markov models

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Effect of flexible spine on stability of a passive quadruped robot: Experimental results

Effect of flexible spine on stability of a passive quadruped...

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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Kani, Mohammad Hasan H. Derafshian, Mostafa Bidgoly, Hamed Jalaly Ahmadabadi, Majid Nili Cognitive Robotics Lab. Control and Intelligent Processing Center of Excellence University of Tehran Iran

ISBN: (纸本)9781457721373

In rapid quadruped animals, the flexibility of spine is obviously observable while running. In this paper, we introduce a 3D passive dynamic quadruped robot, Fanari, that is capable to gallop down a slope without any external energy. We study the effect of spine flexibility on improvement of stability, adaptability and achievement of rapid leg locomotion. So a flexible spine that is capable to bend both outward and downward, a flexible spine that is only capable to bend outward and a rigid spine are designed and tested on the robot. Based on the case studies, we discuss about the challenges and the roles of spine stiffness on the gallop action. A simulation model is also made in order to corroborate the experimental results of the robot. It is concluded that the robot with the spine that is flexible in both outward and downward directions, has the most stability, adaptability and fastest velocity in its gallop action. © 2011 IEEE.

关键词： Multipurpose robots

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Consensus Problem in General Linear Multiagent Systems Under Stochastic Topologies

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IFAC-PapersOnLine 2016年第13期49卷 13-18页

作者： Rezaee, Hamed Abdollahi, Farzaneh The Center of Excellence on Control and Robotics Department of Electrical Engineering Amirkabir University of Technology Tehran Iran Department of Electrical and Computer Engineering Concordia University MontrealQuebec Canada

Consensus control of a class of multiagent systems with general linear dynamics is studied. Based on solution of some linear matrix inequalities, a protocol is obtained which guarantees achieving consensus among agents in the presences of stochastically switching topologies. By invoking the concept super-martingales, it is shown that if the probability of the network connectivity is not zero, the agents reach almost sure consensus upon their state vectors. Despite existing results in the literature for consensus control of general linear multiagent systems under stochastic networks, the proposed consensus protocol in this paper requires no knowledge on the set of feasible topologies, and this issue significantly decreases the design computational costs. Simulation results for a diving consensus problem among a team of autonomous underwater vehicles validate the proposed consensus protocol. © 2016

关键词： Multi agent systems Autonomous underwater vehicles Linear matrix inequalities Stochastic systems Topology Almost sure consensus Computational costs Consensus problems Consensus protocols Linear dynamics Network connectivity Of autonomous underwater vehicles Stochastic networks

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A proposal for teaching SCADA systems using Virtual Industrial Plants in Engineering Education

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IFAC-PapersOnLine 2016年第6期49卷 138-143页

作者： Rodríguez, F. Guzmán, J.L. Castilla, M. Sánchez-Molina, J.A. Berenguel, M. Informatics Department Automatic Control Robotics and Mechatronics research group University of Almería Agrifood Campus of International Excellence ceiA3 CIESOL R&D Center Spain

The main objectives of SCADA (Supervisory control And Data Acquisition) systems are the supervisory analysis of the system, control algorithms validation, and data acquisition. These systems are normally implemented according to the international standards: UNE-EN ISO 9241, ISAIOI-Human-Machine Interfaces, ISA S5, and in the case treated in this paper The Spanish Royal Decree 488/1997. This paper presents a software architecture for the development of educational laboratories, through industrial virtual plants which models and logic are implemented in Matlab® and used within LabVIEW® through an appropriate protocol. Lab VIEW® from National Instruments, a specific purpose software for this kind of applications, was used, since it allows us to provide a friendly interface, to perform communications, data acquisition and the information management. In addition, to illustrate the use of the proposed architecture, different virtual industrial plants for students of different Bachelor and Master degrees in engineering at the University of Almeria have been developed. This paper shows the different virtual industrial plants that have been developed using SCADA systems to facilitate students’ learning of basic concepts and techniques for an Industrial Informatics course. © 2016

关键词： Industrial plants Application programs Computer programming languages E learning Education computing Information management MATLAB Network architecture SCADA systems Students Teaching Virtual reality Educational laboratory Human Machine Interface International standards Problem based learning Remote laboratories Supervisory control Supervisory control and data acquisition Virtual

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Multi-Aspect Optimal Sliding Mode controller for a Mecanum Wheeled Robot 11

Multi-Aspect Optimal Sliding Mode Controller for a Mecanum W...

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11th RSI International Conference on robotics and Mechatronics, ICRoM 2023

作者： Allahyari, Sohrab Rahmanei, Hamid Moosavian, S. Ali A. K. N. Toosi University of Technology Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems Laboratory Dept. of Mechanical Engineering Tehran Iran

ISBN: (纸本)9798350308105

Four-wheel drive Mecanum robots have gained attention due to their ability to move in all directions, which allows them to work in tight and complex environments. For this reason, ensuring precise control of these robots along predefined trajectories is crucial. This work presents a comparative study on the effects of parametric uncertainties, external disturbances, measurement noises, and initial deviations on the trajectory-Tracking performance of a 4-wheel drive Mecanum robot. First, the kinematic and kinetic models of the Mecanum robot are introduced. Then, the integral sliding mode control is designed, and proof of stability is provided. In addition, we explore other control strategies, including PID, feedback linearization, sliding mode, and adaptive sliding mode control, that are designed for this robot. Furthermore, the particle swarm optimization algorithm is hired for the controllers with a cost function as the total sum of average error, maximum error, and final error. Optimization has been done on all controllers to compare the results fairly. To appraise the effectiveness of the proposed control optimization methods, simulations are carried out in MATLAB/Simulink. The results reveal that the proposed ISMC method performs best in both defined scenarios compared to other controllers. However, it must be noted that the ISMC controller exhibits limitations when facing significant uncertainties in the dynamic model. This study underscores the effectiveness of our proposed control method and provides valuable insights into the practical implementation controller for the Mecanum robot in real-world applications. © 2023 IEEE.

关键词： Three term control systems

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${\cal H}_{\infty}$ Based Motion Synchronization in Formation Flight With Delayed Communications

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IEEE Transactions on Industrial Electronics 2014年第11期61卷 6175-6182页

作者： Hamed Rezaee Farzaneh Abdollahi Heidar A. Talebi Center of Excellence on Control and Robotics Department of Electrical Engineering Amirkabir University of Technology Tehran Iran Center of Excellence on Control and Robotics Department of Electrical Engineering Concordia University Montreal Canada Center of Excellence on Control and Robotics Department of Electrical Engineering University of Western Ontario London Canada

This paper proposes an H ∞ control strategy for swarm formation of multiple-unmanned aircraft systems based on the virtual structure considering wind effects and measurement noise. The proposed strategy provides a rigid body formation of unmanned aircraft with motion synchronization in a decentralized manner. Unlike the current strategies in the literature, which consider motion synchronization in specific topologies, this approach proposes a general topology for coupling agents and guarantees the stability of the multiagent system in the presence of communication delays. Simulation results for a multiple-unmanned aircraft system confirm the accuracy of the proposed control strategy for formation flight.

关键词： Synchronization Vectors Aircraft Couplings Eigenvalues and eigenfunctions Tracking Noise

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An Uncertain Optimal Factorization of Cooperative Manipulators for Robust Optimal control Schemes 30

An Uncertain Optimal Factorization of Cooperative Manipulato...

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30th International Conference on Electrical Engineering, ICEE 2022

作者： Nasiri, Neda Fakharian, Ahmad Menhaj, Mohammad Bagher Qazvin Branch Islamic Azad University Faculty of Electrical Biomedical and Mechatronics Engineering Qazvin Iran The Center of Excellence on Control and Robotics Tehran Iran

ISBN: (纸本)9781665480871

This paper presents two robust optimal controllers for Cooperative Manipulators (CoMans) holding an object on the basis of a modified factorization approach. Due to advantages such as: simplicity, flexibility, systematic procedure and not canceling nonlinearities, the State-Dependent Riccati Equation (SDRE) has been chosen as a basis for robust controllers design in the literature. For developing robust optimal controllers via SDRE, the first step is to obtain uncertain State-Dependent Coefficient (SDC) representation. To design robust optimal schemes for some systems such as CoMans, some terms such as gravity, friction and the external forces have been neglected in the uncertain SDC structure and added to the control input. This study, proposes two robust optimal controllers for CoMans carrying a load: Mixing SDRE-SMC (MiSS) and transformed robust to optimal controller where the pre-mentioned terms can be included in the uncertain SDC representation called uncertain optimal SDC. Simulation results are provided to easily verify the satisfactory performance of both schemes using uncertain optimal SDC and superiority of the transformed robust to optimal control versus MiSS in trajectory tracking of CoMans. © 2022 IEEE.

关键词： Sliding mode control

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Almost Sure Attitude Consensus in Multispacecraft Systems With Stochastic Communication Links

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IFAC-PapersOnLine 2017年第1期50卷 9392-9397页

作者： Rezaee H. Abdollahi F. The Center of Excellence on Control and Robotics Department of Electrical Engineering Amirkabir University of Technology Tehran Iran Department of Electrical and Computer Engineering Concordia University Montreal Quebec Canada

Leaderless attitude consensus problem over multispacecraft systems is studied. The base of convergence analysis of existing results devoted to attitude consensus control of multispacecraft systems is deterministic knowledge on networks communication links. The main contribution of the present study is to design a control strategy guaranteeing almost sure attitude consensus in a multispacecraft system when communication links stochastically fail over time. Moreover, it is assumed that there exist constraints on the spacecraft input torques. To achieve the mentioned objectives, we propose a magnitude-constrained consensus control law for the spacecraft; then, by invoking the generalized invariance principle and the super-martingales convergence theorem, almost sure convergence of quaternion-based consensus errors to zero is concluded. The results are verified via a simulation example. © 2017

关键词： Attitude consensus coordination generalized invariance principle spacecraft stochastic communication

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