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5th International Conference on Smart Data and Smart Cities, SDSC 2020

作者： Kaczmarek, I. Iwaniak, A. Åšwietlicka, A. Piwowarczyk, M. Harvey, F. Institute of Spatial Economy Wroclaw University of Environmental and Life Sciences Poland Institute of Geodesy and Geoinformatics Wroclaw University of Environmental and Life Sciences Poland Institute of Automatic Control and Robotics Poznan University of Technology Poland Faculty of Computer Science and Management Wroclaw University of Science and Technology Poland Department of Cartography and Visual Communication Leibniz Institute for Regional Geography Leipzig Germany Wroclaw Institute of Spatial Information and Artificial Intelligence Poland

Spatial development plans provide an important information on future land development capabilities. Unfortunately, at the moment access to planning information in Poland is limited. Despite many initiatives taken to standardize planning documents, the standard for recording plans has not yet been developed. Each of the planning areas has a symbol and a category of land use, which is different in each of the plans. For this reason, it is very difficult to carry out an analysis enabling aggregation of all areas with a specific, the same development *** authors in the article conduct experiments aimed at using machine learning methods for the needs of processing the text part of plans and their classification. The main aim was to find the best method for grouping texts of zones with the same land use. The experiment consists in an attempt to automatically classify the texts of findings for individual areas into the 10 defined categories of land use. Thanks to this, it is possible to predict the future land use function for a specific zone text regulation and aggregate all zones with specific land use *** the proposed solution for the classification problem of heterogeneous planning information authors used k-means algorithm and artificial neural networks. The main challenge for this solution, however, was not the design of the classification tool but rather the preprocessing of the text. In this paper an approach for text preprocessing as well as selected methods of text classification is presented. The results of the work indicate greater use of CNN's usability to solve the problem presented. K-means clustering produces clusters, in which texts are not grouped according to land use function, which is not useful in the context of zones aggregation. © 2020 I. Kaczmarek et al.

关键词： Land use

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Mapping Surgeons Hand/Finger Movements to Surgical Tool Motion during Conventional Microsurgery Using Machine Learning

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Journal of Medical Robotics Research 2021年第3-4期6卷

作者： Fattahi Sani, Mohammad Ascione, Raimondo Dogramadzi, Sanja Bristol Robotics Laboratory University of the West of England Bristol United Kingdom Bristol Heart Institute and Translational Biomedical Research Centre Faculty of Health Science University of Bristol Bristol United Kingdom Department of Automatic Control and Systems Engineering University of Sheffield Sheffiled United Kingdom

Purpose: Recent developments in robotics and artificial intelligence (AI) have led to significant advances in healthcare technologies enhancing robot-Assisted minimally invasive surgery (RAMIS) in some surgical specialties. However, current human-robot interfaces lack intuitive teleoperation and cannot mimic surgeon's hand/finger sensing required for fine motion micro-surgeries. These limitations make teleoperated robotic surgery not less suitable for, e.g. cardiac surgery and it can be difficult to learn for established surgeons. We report a pilot study showing an intuitive way of recording and mapping surgeon's gross hand motion and the fine synergic motion during cardiac micro-surgery as a way to enhance future intuitive teleoperation. Methods: We set to develop a prototype system able to train a Deep Neural Network (DNN) by mapping wrist, hand and surgical tool real-Time data acquisition (RTDA) inputs during mock-up heart micro-surgery procedures. The trained network was used to estimate the tools poses from refined hand joint angles. Outputs of the network were surgical tool orientation and jaw angle acquired by an optical motion capture system. Results: Based on surgeon's feedback during mock micro-surgery, the developed wearable system with light-weight sensors for motion tracking did not interfere with the surgery and instrument handling. The wearable motion tracking system used 12 finger/thumb/wrist joint angle sensors to generate meaningful datasets representing inputs of the DNN network with new hand joint angles added as necessary based on comparing the estimated tool poses against measured tool pose. The DNN architecture was optimized for the highest estimation accuracy and the ability to determine the tool pose with the least mean squared error. This novel approach showed that the surgical instrument's pose, an essential requirement for teleoperation, can be accurately estimated from recorded surgeon's hand/finger movements with a mean squared error (M

关键词： feature extraction hand tracking machine learning minimally invasive surgery real-Time low-cost hand tracking Robot-Assisted surgery

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Uncovering distinct public transport user profiles and the factors influencing the users’ intentions

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Journal of Urban Mobility 2025年 7卷

作者： Kriswardhana, Willy Ismael, Karzan Duleba, Szabolcs Esztergár-Kiss, Domokos Department of Transport Technology and Economics Faculty of Transportation Engineering and Vehicle Engineering Budapest University of Technology and Economics Műegyetem rkp. 3. Budapest H-1111 Hungary Department of Civil Engineering Faculty of Engineering Universitas Jember Jember 68121 Indonesia Department of City Planning Engineering Technical College of Engineering Sulaimani Polytechnic University Sulaimani 46001 Iraq Institute of Mathematics and Informatics University of Nyíregyháza Nyíregyháza Hungary HUN-REN Institute For Computer Science And Control (SZTAKI) Hungary

Given the escalating environmental challenges, it is clear that the approach to the usage of public transport (PT) must be reconsidered. Loyal PT users help attract other travelers through positive recommendations, this drives interest in exploring the relationships between service quality, satisfaction, and loyalty. Although these relationships in the PT context have been studied, there have been limited efforts to explore the variability of their effects. Therefore, this research explores how service quality, satisfaction, involvement, and prior knowledge influence the behavioral intentions to use PT across various traveler groups. The hypotheses are tested by using multi-group analysis in the structural equation modeling framework, and three user profiles are revealed by applying the latent class cluster analysis. The results indicate that involvement strongly influences the behavioral intentions, while satisfaction impacts the intentions solely when involvement acts as a moderator. Class-specific results indicate that younger females living outside the city center put greater emphasis on service quality improvements for their satisfaction and involvement in PT services compared to males and older individuals residing in the city center. Low-income students living in the city center are more likely to use PT if they feel confident how to use the service. The results are relevant for PT operators and related stakeholders in maintaining travelers’ loyalty. © 2025 The Author(s)

关键词： Heterogeneity Intention Involvement Public transport Satisfaction Service quality

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Observability for port-Hamiltonian systems

arXiv

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arXiv 2021年

作者： Jacob, Birgit Zwart, Hans School of Mathematics and Natural Sciences University of Wuppertal Imacm Gaußstraße 20 WuppertalD-42119 Germany Department of Mechanical Engineering Dynamics and Control Group Eindhoven University of Technology Eindhoven5612 AZ Netherlands Department of Applied Mathematics Mathematics and Computer Science Faculty of Electrical Engineering University of Twente Enschede7500 AE Netherlands

The class of port-Hamiltonian systems incorporates many physical models, such as mechanical systems in the finite-dimensional case and wave and beam equations in the infinite-dimensional case. In this paper we study a subclass of linear first order port-Hamiltonian systems. In [3], it is shown that these systems are exactly observable when the energy is not dissipated internally and when sufficient observations are made at the boundary. In this article we study the observability properties for these systems when internal dissipation of energy is possible. We cannot show the exact observability, but we do show that the Hautus test is satisfied. In general, the Hautus test is weaker than exact observability, but stronger than approximate observability. Hence we conclude that these systems are approximately observable. © 2021, CC BY.

关键词： Hamiltonians

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Reconstruction of photospheric velocity fields from highly corrupted data

arXiv

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arXiv 2022年

作者： Rempel, Erico L. Chertovskih, Roman Davletshina, Kamilla R. Silva, Suzana S.A. Welsch, Brian T. Chian, Abraham C.-L. SP São José dos Campos12228–900 Brazil P.O. Box 515 SP São José dos Campos12227-010 Brazil Electrical and Computer Engineering Department Faculty of Engineering University of Porto Rua Dr. Roberto Frias s/n Porto4200-465 Portugal Yandex Lva Tolstogo street 16 Moscow119021 Russia Plasma Dynamics Group Department of Automatic Control and Systems Engineering University of Sheffield Sheffield United Kingdom University of Wisconsin Green BayWI54311 United States University of Adelaide School of Mathematical Sciences AdelaideSA5005 Australia

The analysis of the photospheric velocity field is essential for understanding plasma turbulence in the solar surface, which may be responsible for driving processes such as magnetic reconnection, flares, wave propagation, particle acceleration, and coronal heating. Currently, the only available methods to estimate velocities at the solar photosphere transverse to an observer’s line of sight infer flows from differences in image structure in successive observations. Due to data noise, algorithms such as local correlation tracking (LCT) may lead to a vector field with wide gaps where no velocity vectors are provided. In this letter, a novel method for image inpainting of highly corrupted data is proposed and applied to the restoration of horizontal velocity fields in the solar photosphere. The restored velocity field preserves all the vector field components present in the original field. The method shows robustness when applied to both simulated and observational data. Copyright © 2022, The Authors. All rights reserved.

关键词： Velocity

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Forced variational integrator for distance-based shape control with flocking behavior of multi-agent systems ⁎

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IFAC-PapersOnLine 2020年第2期53卷 3348-3353页

作者： Leonardo Colombo Patricio Moreno Mengbin Ye Héctor Garcia de Marina Ming Cao Institute of Mathematical Sciences (ICMAT) Madrid Spain LAR-GPSIC Facultad de Ingeniería Universidad de Buenos Aires Argentina Optus-Curtin Centre of Excellence in Artificial Intelligence Curtin University Australia Faculty of Physics Department of Computer Architecture and Automatic Control Universidad Complutense de Madrid Madrid Spain Faculty of Science and Engineering ENTEG University of Groningen Netherlands

A multi-agent system designed to achieve distance-based shape control with flocking behavior can be seen as a mechanical system described by a Lagrangian function and subject to additional external forces. Forced variational integrators are given by the discretization of Lagrange-d’Alembert principle for systems subject to external forces, and have proved useful for numerical simulation studies of complex dynamical systems. We derive forced variational integrators that can be employed in the context of control algorithms for distance-based shape with velocity consensus. In particular, we provide an accurate numerical integrator with a lower computational cost than traditional solutions, while preserving the configuration space and symmetries. We also provide an explicit expression for the integration scheme in the case of an arbitrary number of agents with double integrator dynamics. For a numerical comparison of the performances, we use a planar formation consisting of three autonomous agents.

关键词： Shape control Distributed control Multi-agent systems Forced variational integrators

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Robust Iterative Learning control for Spatially Interconnected Systems using 2D control Theory

Robust Iterative Learning Control for Spatially Interconnect...

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European control Conference (ECC)

作者： Bartłomiej Sulikowski Krzysztof Gałkowski Daniel Trzciński Eric Rogers Anton Kummert Institute of Control and Computation Engineering University of Zielona Góra Zielona Góra Poland Institute of Automation Electronic and Electrical Engineering University of Zielona Góra Zielona Góra Poland Department of Electronics and Computer Science University of Southampton Southampton UK Faculty of Electrical Information and Media Engineering University of Wuppertal Wuppertal Germany

This paper develops a class of iterative learning control (ILC) laws for a subclass of uncertain spatially interconnected systems. Model uncertainties appear both in the state and the output equation of the dynamics modeled in the 2D systems setting to which existing results are not applicable. The first stage is to write the dynamics in 2D model form. Then the stability theory for a distinct class of 2D systems known as repetitive processes is used to develop the ILC law in the case of differential dynamics. This analysis results in a design algorithm that can be applied using linear matrix inequalities.

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Distributed Nash Equilibrium Seeking in Coalition Games for Uncertain Euler-Lagrange Systems With Application to USV Swarm Confrontation

arXiv

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arXiv 2025年

作者： Yuwen, Cheng Wen, Guanghui Zhou, Jialing Luan, Meng Huang, Tingwen School of Automation Southeast University Nanjing210096 China State Key Laboratory of CNS/ATM Beijing Institute of Technology Beijing519088 China Department of System Science School of Mathematics Southeast University Nanjing211189 China Faculty of Computer Science and Control Engineering Shenzhen University of Advanced Technology Shenzhen218055 China

In this paper, a coalition game with local and coupling constraints is studied for uncertain Euler-Lagrange (EL) systems subject to disturbances with unknown bounds. In the coalition game, each agent collaborates with other agents within the same coalition to optimize its coalition’s cost function while simultaneously competing against agents in other coalitions. Under a distributed framework where each agent has access only to its own action, cost function, and constraint parameters, a distributed strategy is proposed to seek the Nash equilibrium (NE). By combining adaptive methods and sign functions, model uncertainties and disturbances with unknown bounds in the EL system are compensated and suppressed, respectively. Furthermore, an integration of adaptive methods and consensus protocols is employed to update the Lagrange multipliers of both local and coupling constraints. A dynamic average consensus is employed to estimate the gradient of coalition function, while the leader-following protocol is adopted to estimate the actions of other agents. By leveraging Lyapunov theory, the NE is proven to be asymptotically stable. Moreover, an unmanned surface vehicle swarm confrontation is meticulously modeled and analyzed in the coalition game framework. A diverse array of tasks, including formation, encirclement, and interception, are systematically formulated. A numerical example demonstrates the effectiveness of the proposed algorithm. Copyright © 2025, The Authors. All rights reserved.

关键词： Lagrange multipliers

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Seeking Nash Equilibrium in Non-Cooperative Differential Games

arXiv

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arXiv 2020年

作者： Zahedi, Zahra Khayatian, Alireza Arefi, Mohammad Mehdi Yin, Shen The Department of Power and Control Engineering School of Electrical and Computer Engineering Shiraz University Shiraz71946-84636 Iran Department of Mechanical and Industrial Engineering Faculty of Engineering Norwegian University of Science and Technology Trondheim7033 Norway

This paper aims at investigating the problem of fast convergence to the Nash equilibrium (NE) for N-Player non-cooperative differential games. The proposed method is such that the players attain their NE point without steady-state oscillation (SSO) by measuring only their payoff values with no information about payoff functions, the model and also the actions of other players are not required for the players. The proposed method is based on an extremum seeking (ES) method, and moreover, compared to the traditional ES approaches, in the presented algorithm, the players can accomplish their NE faster. In fact, in our method the amplitude of the sinusoidal excitation signal in classical ES is adaptively updated and exponentially converges to zero. In addition, the analysis of convergence to NE is provided in this paper. Finally, a simulation example confirms the effectiveness of the proposed method. Copyright © 2020, The Authors. All rights reserved.

关键词： Game theory

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FES based wrist tremor suppression using multi-periodic repetitive control ⁎

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IFAC-PapersOnLine 2020年第2期53卷 10135-10140页

作者： Zan Zhang Bing Chu Yanhong Liu D.H. Owens School of Electrical Engineering Zhengzhou University Zhengzhou China Department of Electronics and Computer Science university of southampton Southampton SO17 1BJ UK Department of Automatic Control and Systems Engineering The University of Sheffield Mappin Street Sheffield S1 3JD UK

Tremor is a very common motor disorder, mainly manifested as involuntary, periodic and rhythmic movement in any part of the body, especially in hands and upper-limbs, which seriously affects the life quality of patients. Functional electrical stimulation (FES) has been shown a promising technique to suppress tremor. Most existing FES based design methods assume tremor is a single frequency signal which however is a highly idealized simplification of the real case which contains multiple-frequency or even a frequency band, therefore limiting their practical performance. To address this problem, this paper proposes a controller design method based on multi-periodic repetitive control that is capable of suppressing tremor signal with multiple frequencies. Simulation and experimental results verify the effectiveness of the proposed method.

关键词： Functional electrical stimulation (FES) tremor suppression multi-periodic repetitive control simulation experimental verification

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