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2018 IEEE Intelligent Vehicles Symposium, IV 2018

作者： Oliveira, Rui Cirillo, Marcello Mårtensson, Jonas M. Wahlberg, Bo Department of Automatic Control School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Scania Autonomous Transport Solutions Sodertalje Sweden

ISBN: (纸本)9781538644522

Lattice-based motion planners are an established method to generate feasible motions for car-like vehicles. However, the solution paths can only reach a discretized approximation of the intended goal pose. Moreover, they can be optimal only with respect to the actions available to the planner, which can result in paths with excessive steering. These drawbacks have a negative impact when used in real systems. In this paper we address both drawbacks by integrating a steering method into a state-of-the-art lattice-based motion planner. Un- like previous approaches, in which path optimization happens in an a posteriori step after the planner has found a solution, we propose an interleaved execution of path planning and path optimization. The proposed approach can run in real-time and is implemented in a full-size autonomous truck, and we show experimentally that it is able to greatly improve the quality of the solutions provided by a lattice planner. © 2018 IEEE.

关键词： Motion planning

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A convex approach to Frisch-Kalman problem

arXiv

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arXiv 2019年

作者： Zhao, Di Rantzer, Anders Qiu, Li Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Clear Water Bay Kowloon Hong Kong Department of Automatic Control Excellence Center Elliit Lund University Lund Sweden

This paper proposes a convex approach to the Frisch-Kalman problem that identifies the linear relations among variables from noisy observations. The problem was proposed by Ragnar Frisch in 1930s, and was promoted and further developed by Rudolf Kalman later in 1980s. It is essentially a rank minimization problem with convex constraints. Regarding this problem, analytical results and heuristic methods have been pursued over a half century. The proposed convex method in this paper is shown to be accurate and demonstrated to outperform several commonly adopted heuristics when the noise components are relatively small compared with the underlying data. Copyright © 2019, The Authors. All rights reserved.

关键词： Heuristic methods

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Findings from the Tushirikiane-4-MH (Supporting Each Other for Mental Health) Mobile Health-Supported Virtual Reality Randomized controlled Trial Among Urban Refugee Youth in Kampala, Uganda

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Global Mental Health 2025年 12卷 e12-e12页

作者： Logie, Carmen H. Okumu, Moses Admassu, Zerihun MacKenzie, Frannie Gittings, Lesley Kortenaar, Jean-Luc Khan, Naimul Hakiza, Robert Musoke, Daniel Kibuuka Nakitende, Aidah Katisi, Brenda Kyambadde, Peter Lester, Richard Mbuagbaw, Lawrence Factor-Inwentash Faculty of Social Work University of Toronto Toronto ON Canada Women's College Research Institute Women's College Hospital Toronto ON Canada United Nations University Institute for Water Environment & Health Hamilton ON Canada Centre for Gender and Sexuality Health Equity Vancouver BC Canada School of Social Work University of Illinois Urbana-Champaign United States Uganda Christian University Mukono Uganda School of Health Studies Western University London ON Canada Centre for Social Science Research University of Cape Town South Africa Dalla Lana School of Public Health University of Toronto Toronto ON Canada Department of Electrical Computer and Biomedical Engineering Toronto Metropolitan University Toronto ON Canada Young African Refugees for Integral Development (YARID) Kampala Uganda International Research Consortium Kampala Uganda National AIDS and STI Control Programme Ministry of Health Kampala Uganda Most At Risk Population Initiative Mulago Hospital Kampala Uganda Department of Medicine University of British Columbia Vancouver BC Canada Department of Health Research Methods Evidence and Impact McMaster University Hamilton ON Canada Department of Anesthesia McMaster University Hamilton ON Canada

Background: Virtual reality (VR) for mental health promotion remains understudied in low income humanitarian settings. We examined the effectiveness of VR in reducing depression with urban refugee youth in Kampala, Uganda. Methods: This randomized controlled trial assessed VR alone (Arm 1), VR followed by group problem management plus (GPM+) (Arm 2), and a control group (Arm 3), with a peer-driven and convenience sample of refugee youth aged 16-25 in Kampala. The primary outcome, depression, was measured with the Patient Health Questionnaire-9. Secondary outcomes included: mental health literacy, mental health stigma, self-compassion, mental wellbeing, and adaptive coping. Analyses were conducted at three timepoints (baseline, 8-weeks, 16-weeks) using generalized estimating equations (GEE). Results: Among participants (n=335, mean age: 20.77, standard deviation: 3.01;cisgender women: n=158, cisgender men: n=173, transgender women: n=4) we found no depression reductions for Arms 1 or 2 at 16-weeks compared with Arm 3. At 16-weeks, mental health literacy was significantly higher for Arm 2 compared with Arm 3, and self compassion was significantly higher in Arms 1 and Arm 2 compared with Arm 3. Discussion: VR alongside GPM+ may benefit self-compassion and MHL among urban refugee youth in Kampala, but these interventions were not effective in reducing depression. © The Author(s), 2025. Published by Cambridge University Press.

关键词： depression refugees self-compassion Uganda virtual reality youth

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Hierarchic Stabilization of Flying Convex-Path-Following Formations Part II: Underactuated Agents

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IFAC-PapersOnLine 2019年第12期52卷 352-357页

作者： Mohamed I. El-Hawwary Department of Electrical Power Engineering Faculty of Engineering Cairo University Giza 12613 Egypt Division of Decision and Control Systems School of Electrical Engineering & Computer Science KTH Royal Institute of Technology SE-100 44 Stockholm Sweden

In this paper the flying convex-path-following formations problem (FCxPFF) is solved for two cases of underactuated rigid bodies. In the first case the the rigid bodies have a single degree of underactuation with two thrusts and three torques. In the second, they have two degrees of underactuation with a single thrust. The solution builds on the one developed for fully-actuated agents in Part I of the paper. In addition, the way the solution is tailored for underactuation relies on further utilization of hierarchic set stabilization, and reduction. Additional remarks on the benefits of the approach, and simulation results of the proposed solutions are presented.

关键词： Formation control distributed stabilization underactuated systems hierarchical control reduction

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Metabolic and oxidative responses in Helix aspersa to iron oxide nanoparticle exposure: individual and combined (Fe₂O₃/SiO₂) effects

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Journal of Nanoparticle Research 2025年第6期27卷 1-14页

作者： Benamara, Amel Grara, Nedjoud Bensoltane, Samira Bouchaala, Laid Laouar, Amel Grara, Kamila Hemmami, Hadia Abdelghani, Boudjahem Aslam, Ali Abbas Ahmed, Mahmood Laboratory of Cellular Toxicology Faculty of Sciences University of Badji Mokhtar Annaba 23000 Algeria Department of Applied Biology Echahid Cheikh Larbi Tebessi University Tebessa 12400 Algeria Laboratory of Molecular and Cellular Biology Faculty of Natural and Life Sciences Earth and Universe Sciences P.O. Box 401 University 8 May 1945 Guelma Algeria Faculty of Medicine University of Badji Mokhtar Annaba 23000 Algeria Division of Environmental Innovation and Eco-Waste Management Environmental Research Center (CRE) Annaba Algeria Laboratory of Biochemistry and Environmental Toxicology Faculty of Sciences University of Badji Mokhtar Annaba 23000 Algeria Laboratory of Analysis and Control of Differential Equations Department of Mathematics P.O. Box 401 University 8 May 1945 Guelma 24000 Algeria Department of Process Engineering and Petrochemical Faculty of Technology University of El Oued P.O. Box 789 El Oued 39000 Algeria Faculty of Mathematics Computer and Materials Sciences Department of Materials Science Universityof 8 Mai Guelma 1945 Algeria Department of Chemistry Division of Science and Technology University of Education Lahore 54770 Pakistan

This study evaluates the toxicity of iron oxide nanoparticles (Fe2O3 NPs) alone and in combination with silica nanoparticles (SiO2 NPs) on Helix aspersa. Snails were exposed to escalating concentrations (0, 5000, 10,000, 15,000 μg/g of flour) of Fe2O3 NPs and a mixture of Fe2O3 and SiO2 NPs for 28 days to assess impacts on metabolic parameters, oxidative stress, and neurotoxicity. Fe2O3 NPs significantly increased protein levels;the mixture exhibited a more pronounced effect, with significantly increased protein levels, particularly in the hepatopancreas and kidneys. Lipid levels generally decreased across all treatments, suggesting significant metabolic disruption. Carbohydrate responses were tissue-specific and differed significantly between single and combined exposures, highlighting complex responses to nanoparticle treatments. Malondialdehyde (MDA), a marker of lipid peroxidation, demonstrated a significant increase in all treatments compared to the control group. The mixture treatment caused divergent MDA responses, with higher levels observed in the hepatopancreas and lower levels in the kidneys than in single NP treatments. Glutathione (GSH) levels showed complex tissue-specific changes with mixture exposure, with reductions in the hepatopancreas and increases in the kidney. Furthermore, glutathione S-transferase (GST), catalase (CAT), and glutathione peroxidase (GPx) were altered, reflecting cellular stress responses. Notably, acetylcholinesterase (AChE) activity, a marker of neurotoxicity, was significantly reduced in all treated groups. These findings demonstrate that Fe2O3 NPs, individually and combined with SiO2 NPs, induce significant metabolic dysregulation, oxidative stress, and neurotoxicity in H. aspersa. This study underscores the potential ecological risks of NPs contamination and the importance of further

关键词： Helix aspersa Iron Nanoparticles Oxidative stress Silica Toxicity

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A note on the stability analysis of a class of nonlinear systems - AN LMI approach

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UPB Scientific Bulletin, Series A: Applied Mathematics and Physics 2018年第4期80卷 3-10页

作者： Olteanu, Mircea Ştefan, Radu Department of Mathematical Methods and Models Faculty of Applied Sciences University "Politehnica" of Bucharest Romania Department of Automatic Control and Systems Engineering Faculty of Automatic Control and Computer Science University "Politehnica" of Bucharest Romania

The main goal of the paper is to study the equilibria of a nonlinear system, proving the existence and uniqueness of an equilibrium point in the positive ortant. We also provide numerically tractable conditions (by using Linear Matrix Inequalities techniques) to check the asymptotic stability of the equilibrium point. An illustrative numerical example is closing the paper along with some conclusions. © 2018, Politechnica University of Bucharest. All rights reserved.

关键词： Nonlinear systems

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Maize yield prediction based on artificial intelligence using spatio-temporal data 12

Maize yield prediction based on artificial intelligence usin...

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12th European Conference on Precision Agriculture, ECPA 2019

作者： Nyéki, A. Kerepesi, C. Daróczy, B. Benczúr, A. Milics, G. Kovács, A.J. Neményi, M. Széchenyi István University Faculty of Agricultural and Food Sciences Department of Biosystems and Food Engineering Vár square 2 Mosonmagyaróvár9200 Hungary Institute for Computer Science and Control Hungarian Academy of Sciences Kende Str. 13-17 Budapest1111 Hungary

ISBN: (纸本)9789086863372

The aim of this study was to predict maize yield by artificial intelligence using spatio-temporal training data. Counter-propagation artificial neural networks (CP-ANNs), XY-fused networks (XY-Fs), supervised Kohonen networks (SKNs), extreme gradient boosting (XGBoost) and support-vector machine (SVM) were used for predicting maize yield in 5 vegetation periods. Input variables for modelling were: soil parameters (pH, P2O5, K2O, Zn, Clay content, ECa, draught force, Cone index), and micro-relief averages and meteorological parameters for the 63 treatment units. The best performing method (XGBoost) attained 92.1 and 95.3% of accuracy on the training and the test set. © Wageningen Academic Publishers 2019

关键词： Support vector machines

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A rule-based method of spike detection and suppression and its application in a control system for additive manufacturing

A rule-based method of spike detection and suppression and i...

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作者： Rafajlowicz, Wojciech Rafajlowicz, Ewaryst Faculty of Electronics Department of Computer Engineering Wroclaw University of Science and Technology Wroclaw Poland Faculty of Electronics Department of Control Systems and Mechatronics Wroclaw University of Science and Technology Wroclaw Poland

We propose a rule-based method of spike detection and suppression method. This method is an extension of the jump detector that was proposed by the second author, M. Pawlak and A. Steland. Its elementary properties are established, and the example of application for a laser power control in a 3-dimensional additive manufacturing process is discussed. Copyright © 2017 John Wiley & Sons, Ltd.

关键词： 3D printers

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Time-Varying Convex Optimization: Time-Structured Algorithms and Applications

arXiv

引用

arXiv 2020年

作者： Simonetto, Andrea Dall’Anese, Emiliano Paternain, Santiago Leus, Geert Giannakis, Georgios B. Optimization and Control Group of IBM Research Ireland Dublin Ireland College of Engineering and Applied Science University of Colorado BoulderCO80309 United States Department of Electrical and Systems Engineering University of Pennsylvania Faculty of Electrical Mathematics and Computer Science Delft University of Technology Delft2628CD Netherlands Digital Technology Center University of Minnesota MinneapolisMN55455 United States

Optimization underpins many of the challenges that science and technology face on a daily basis. Recent years have witnessed a major shift from traditional optimization paradigms grounded on batch algorithms for medium-scale problems to challenging dynamic, time-varying, and even huge-size settings. This is driven by technological transformations that converted infrastructural and social platforms into complex and dynamic networked systems with even pervasive sensing and computing capabilities. The present paper reviews a broad class of state-of-the-art algorithms for time-varying optimization, with an eye to both algorithmic development and performance analysis. It offers a comprehensive overview of available tools and methods, and unveils open challenges in application domains of broad interest. The real-world examples presented include smart power systems, robotics, machine learning, and data analytics, highlighting domain-specific issues and solutions. The ultimate goal is to exempify wide engineering relevance of analytical tools and pertinent theoretical foundations. Copyright © 2020, The Authors. All rights reserved.

关键词： Data Analytics

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On asymptotic properties of discrete Volterra equations of convolution type

On asymptotic properties of discrete Volterra equations of c...

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International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Pham The Anh Artur Babiarz Adam Czornik Michał Niezabitowski Stefan Siegmund Department of Mathematics Le Quy Don Technical University Ha noi Vietnam Faculty of Automatic Control Electronics and Computer Science Silesian University of Technology Gliwice Poland Faculty of Mathematics Technische Universität Dresden Dresden Germany

This paper discusses dynamic properties of discrete Volterra equations of convolution type. The asymptotic separation of solutions is studied. More precisely, a polynomial lower bound for the norm of differences between two different solutions of discrete Volterra equations of convolution type is presented. We apply this result to the theory of fractional difference equations.

关键词： Mathematical model Convolution Difference equations Stability analysis Asymptotic stability computer science

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