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International Conference on Robotics and Artificial Intelligence (ICRAI)

作者： Muhammad Bilal Ali Raza Mohsin Rizwan Muhammad Ahsan Hafiz Farhan Maqbool Syed Abbas Zilqurnain Naqvi Al-Khawarizmi Institute of Computer Science UET1 Lahore HCR2 Lab National Center of Robotics and Automation Lahore Pakistan Dept. of Mechatronics & Control Engineering National Center of Robotics and Automation Lahore Pakistan Dept. of Mechatronics & Control Engineering UET Lahore Lahore Pakistan

The central aim of this research is to propose a solution to rehabilitate historic places using a robotic manipulator. In this pursuit, the objective is to clean flat or curved surfaces of mihrab/muqarnas and to write lost Arabic inscriptions on spandrel using 7 Degree of freedom (DOF) robotic manipulator. Inverse kinematics solution for 7 DOF is derived by fixing redundant joint and solving the remaining 6 DOF inverse kinematics. Image processing techniques are used to get data from the given image for the robotic calligraphy operation on the spandrel to restore the lost inscriptions. Path planning exercise is implemented to navigate the end-effector on the desired path to write lost inscriptions and to clean curved surfaces of muqarnas. Proposed solutions are verified by simulation using MATLAB. The results showed that the manipulator successfully tracked the given path to perform the desired operation in mihrab as well as calligraphy operation on spandrel.

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Non-collocated Vibration Suppression using Delay-Based controllers with Multiple Fixed Delays*

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IFAC-PapersOnLine 2023年第2期56卷 180-185页

作者： Adrian Saldanha Wim Michiels Tomáš Vyhlídal Department of Computer Science KU Leuven Celestijnenlaan 200A 3001 Leuven Belgium Dept. Instrumentation and Control Engineering Faculty of Mechanical Engineering and Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague 6 Czechia

The problem of non-collocated vibration absorption is targeted utilizing a multiparameter delay-based controller. The combined objective is to achieve closed-loop stability and vibration suppression at a target location, which is different from the position of the absorber. This problem can be translated into an optimization problem of shaping the poles of a closed-loop system with delays subject to zero-location constraints. The solution approach involves remodelling the closed-loop system as a system of delay-differential algebraic equations (DDAEs) which allows to systematically account for delays in the control law, thereby enabling a straightforward technique for computation of controller parameters. Finally, the proposed design method is validated by simulation on a lumped parameter model of a mass-spring-damper system.

关键词： vibration suppression time-delay systems DDAE optimization

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Multivariate Optimal Hybrid Deep Learning Model for Forecasting of Day-Ahead Solar Irradiance with Meteorological Constraints

Multivariate Optimal Hybrid Deep Learning Model for Forecast...

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Annual North-American Power Symposium

作者： Sohag Kumar Saha Satish M. Mahajan Dept. of Electrical & Computer Engineering (ECE) Tennessee Technological University Center for Energy Systems Research (CESR) Tennessee Technological University Cookeville TN USA

ISBN: (数字)9798331521035

ISBN: (纸本)9798331521042

With the growing integration of solar power gener-ation into smart grids, accurate solar irradiance forecasting is of paramount importance for efficient grid operation and renew-able energy management. In this paper, a data decomposition approach with two different methods of deep learning and grid search optimization was combined to develop a better hybrid model to forecast solar irradiance. The proposed model combines spatial and temporal information to improve forecasting accuracy by considering the impact of meteorological constraints such as global horizontal irradiance, temperature, relative humid-ity, wind speed, cloud type, direct normal irradiance, diffuse horizontal irradiance, and solar zenith angle. In addition to the model architecture, this work incorporates hyper-parameter optimization to fine-tune the parameters of the model for optimal performance. The design of the model ensures that the system adapts to the specific characteristics of the solar irradiance data and meteorological conditions under consideration. The proposed hybrid model was evaluated using real-world data to outperform traditional forecasting methods in terms of accuracy. The results of the proposed hybrid model indicate better prediction ability as measured by four parameters (lower RMSE and MAE, fewer epochs, and a higher R2 co-efficient).

关键词： Solar irradiance Deep learning Adaptation models Accuracy Predictive models Data models Smart grids Forecasting Optimization Load modeling

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Optimal channel assignment in wireless communication networks with distance and frequency interferences

Optimal channel assignment in wireless communication network...

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International Conference on Telecommunications (ICT)

作者： W. Yue K. Miyazaki Xiaotei Deng A. Wakatani Dept. of Information Science and Systems Engineering Konan University Kobe Japan Department of Computer Science City University of Hong Kong Kowloon Hong Kong

Fixed channel assignment in wireless communication networks is an important combinatorial optimization problem that must be solved for application problems. Since it is NP-hard, many different heuristics are proposed for its solution. We consider two types of interference conditions for channel assignment: a co-channel interference within distance of two cells and a adjacent channel interference within the same and the adjacent cells. Our goal is to minimize or disallow these two types of interference in order to achieve optimal channel assignment. First we present our recursive search algorithm together with the neighborhood improvement structure. Then we minimize or disallow these two types of interference in order to achieve optimal channel assignment. We suggest a general approach combining several important heuristics. Our experimental results show that our algorithm improves over known approaches.

关键词： Intelligent networks Wireless communication Frequency Mobile communication Delay Interchannel interference Communication industry Centralized control Information science systems engineering and theory

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Analysis of robotic arm's behavior using Self Organizing Map combined with consciousness-based architecture module

Analysis of robotic arm's behavior using Self Organizing Map...

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IEEE/SICE International Symposium on System Integration

作者： Wisanu Jitviriya Eiji Hayashi Graduated School of Computer Science and Systems Engineering Kyushu Institute of Technology Japan Dept. of Mechanical Information Science and Technology Kyushu Institute of Technology Japan

Our research has been focused on developing human-robot interactions. We attempted to give a robotic arm has a consciousness resembling that of a human or an animal, so we have improved a hierarchical structure model, which defines the relationship between the consciousness field and the behavior module in the robotic arm. This model is called Consciousness-Based Architecture (CBA) and can be used to select the action of a robot. Indeed, the robot is programmed to select its own action by evaluating the changing situation based on its motivation value and image recognition. We have investigated the application of brain-inspired technology such as a Self Organizing Map (SOM) into the robotic arm. In this paper, we introduce a prototype function for autonomous action selection and show a classification of the robotic arm's behavior using SOM combined with a CBA module.

关键词： Image color analysis Service robots Neurons Organizing Mathematical model Wrist

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Angle of Arrival Estimation Using SRS in 5G NR Uplink Scenarios

arXiv

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arXiv 2024年

作者： Spanos, Thodoris Fabra, Fran López-Salcedo, José A. Seco-Granados, Gonzalo Kanistras, Nikos Lapin, Ivan Paliouras, Vassilis Dept. of Electrical and Computer Engineering University of Patras Greece Loctio Greece Spain Radio Navigation Systems and Techniques Section European Space Agency Netherlands

This paper presents a comprehensive exploration of Angle of Arrival (AoA) estimation techniques in 5G environments, using the Sounding Reference Signal (SRS) in Uplink scenarios both in simulations and with actual measurements. Leveraging 5G capabilities, we investigate AoA algorithms for single-base station positioning. The study includes simulations and practical tests on a developed dedicated testbed featuring a base station equipped with a three-element Uniform Linear Array (ULA), considering Line of Sight conditions in an open environment. The testbed, employing Ettus E312 as the transmitter and Ettus N310 as the receiver, details waveform structures and reception processes. Additionally, our study examines the performance of Angle of Arrival (AoA) estimation algorithms, such as Multiple Signal Classification (MUSIC), Estimation of Signal Parameters via Rotational Invariant Techniques (ESPRIT), and Joint Angle and Delay Estimation (JADE) ESPRIT. A MATLAB ray tracing propagation model of the environment where the measurements are conducted, has been constructed. Simulation results using this model are presented, along with the actual measurements. The obtained results affirm the effectiveness of our implementation. © 2024, CC BY-NC-ND.

关键词： Testbeds

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Heterojuncion Study of Ga 0.92 In 08 as(P + )/GaAs(n) Diodes: Correlation of Electrical and Strucrural Characteristics

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MRS Online Proceedings Library 1992年第1期160卷 795-800页

作者： Y.W. Choi C.R. Wie K.R. Evans C.E. Stutz Dept. of Electrical & Computer Engineering and Center for Electronic and Electrooptic Materials State University of New York at Buffalo Amherst Universal Energy Systems Dayton WRDC/ELR Wright-Patterson Air Force Base

Different in-plane mismatch was introduced by varying the Ga 0.92In0.08As(p+) epilayer thickness (h-0.1, 0.25, 0.5 and lum) on GaAs(n)/GaAs(n+) structure. For sample with h-lum, quasi-Fermi level pinning effect was observed in low temperature forward Current-Voltage characteristic due to high density misfit dislocation. From Vint measurement at low frequency limit in C-2 vs Voltage plot, interface state density Nss was obtained. From Capacitance-Voltage measurements at different frequencies, single-level interface state density Ns was estimated using Schokley-Read-Hall statistics. Both Nss and Ns show their linear relation with epilayer in-plane mismatch. Admittance Spectroscopy shows an interface trap level at about Ev + 0.36 eV with the hole capture cross section cp = 2.7×10-15 cm-2 for the h-lum sample, and at Ev + 0.21 eV with cP = 2.4×10-16 cm-2 for the h-0.5um sample.

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Target Capturing in an Ellipsoidal Region with a Swarm of Quadrotor UAVs

Target Capturing in an Ellipsoidal Region with a Swarm of Qu...

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International Conference on Unmanned Aircraft systems (ICUAS)

作者： M. Alp Merzi Veysel Gazi Giuseppe Fedele Luigi D’ Alfonso Antonio Bono Dept. Electrical and Electronics Eng. Faculty of Engineering Marmara University Istanbul Turkey Dept. Control and Automation Eng. Faculty of Electrical and Electronics Engineering Yildiz Technical University Istanbul Turkey Dept. of Informatics Modeling Electronics and Systems Eng. University of Calabria Rende Italy

ISBN: (数字)9781665405935

ISBN: (纸本)9781665405942

In a recent paper [1], we developed a target capturing strategy for swarms composed of double integrator agents. In this paper, we build on the results in [1] and focus on the implementation of the methodology for a swarm composed of quadrotor UAVs. We utilize both MATLAB and ROS environments under realistic conditions for that purpose. In ROS, we utilize Ultra-Violet LED blinkers based Ultra-Violet Direction And Ranging (UVDAR) system for relative localization. The sensing and localization errors serve as realistic errors for the assumptions in [1] for the uncertainties of the velocity and acceleration of the target. We verify in a realistic scenario that the agents converge to a user-defined ellipsoidal ring around the target despite the uncertainties and the more realistic agent dynamics.

关键词： Location awareness Uncertainty Ultraviolet sources Light emitting diodes Distance measurement Sensors Aircraft

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Online Task Scheduling Algorithm with Complex Dependencies in Edge Computing

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Procedia computer Science 2022年 202卷 158-163页

作者： Lei Shi Zhaoxing Ma Yuqi Fan Yi Shi Xu Ding Zhehao Li School of Computer Science and Information Engineering Intelligent Interconnected Systems Laboratory of Anhui Procince Hefei University of Technology Hefei 230009 China Virginia Tech Dept. of ECE Blacksburg VA 24061 USA

In the edge computing network environment, our applications can be deployed on edge servers. The request to execute the application can be produced on the edge device and transmitted to the edge server for calculation. A complex request may be divided into multiple computing tasks and transmitted to different servers and then parallel calculated before obtaining the final result. How to schedule computing tasks in multiple requests so that all requests can be completed faster is a difficult problem, especially in the edge computing environment where we should consider the communicating work and the calculating work simultaneously. In this paper, we first build a task dependency model of the computing tasks included in the request based on the idea of dividing the method components of the application. The dependencies include sequence, selection and parallel. Then we propose an online scheduling algorithm MCOS based on optimizing the task with the maximum amount of calculation to solve the problem of the minimum sum of the completion time of all requests. In simulations, we show the algorithm MCOS has a better completion time.

关键词： Edge computing Online scheduling Dependent task

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From self-tuning regulators to reinforcement learning and back again

From self-tuning regulators to reinforcement learning and ba...

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IEEE Annual Conference on Decision and control

作者： Nikolai Matni Alexandre Proutiere Anders Rantzer Stephen Tu Dept. of Electrical and Systems Engineering University of Pennsylvania Philadelphia PA Division of Decision and Control Systems KTH Royal Institute of Technology Stockholm Sweden Department of Automatic Control Lund University Lund Sweden Google Brain New York City NY

ISBN: (数字)9781728113982

ISBN: (纸本)9781728113999

Machine and reinforcement learning (RL) are increasingly being applied to plan and control the behavior of autonomous systems interacting with the physical world. Examples include self-driving vehicles, distributed sensor networks, and agile robots. However, when machine learning is to be applied in these new settings, the algorithms had better come with the same type of reliability, robustness, and safety bounds that are hallmarks of control theory, or failures could be catastrophic. Thus, as learning algorithms are increasingly and more aggressively deployed in safety critical settings, it is imperative that control theorists join the conversation. The goal of this tutorial paper is to provide a starting point for control theorists wishing to work on learning related problems, by covering recent advances bridging learning and control theory, and by placing these results within an appropriate historical context of system identification and adaptive control.

关键词： Adaptive control Tools Tuning control theory Adaptation models Robustness Learning (artificial intelligence)

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