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Fault-tolerant visual servo control for a robotic arm with actuator faults

Neural Computing and Applications 2024年第25期36卷 15815-15828页

作者： Li, Jiashuai Peng, Xiuyan Li, Bing Sreeram, Victor Wu, Jiawei College of Intelligent Systems Science and Engineering Harbin Engineering University Heilongjiang Nantong Harbin150001 China Department of Electrical Electronic and Computer Engineering The University of Western Australia Stirling Highway PerthWA6009 Australia

The study targets uncertain coupling faults in robotic arm actuators and proposes a new fault-tolerant visual servo control strategy. Specifically, it considers both multiplicative and additive actuator faults within the dynamic of the robotic arm, treating the coupling faults and time-varying disturbances as an aggregate of concentrated uncertainties. A radial basis function neural network-based state observer is introduced to online approximate these concentrated uncertainties, which include fault information, eliminating the need for prior knowledge of faults. Furthermore, a fault-tolerant controller based on a non-singular fast terminal sliding mode is proposed, which separately decouples the nominal quantities and concentrated uncertainties and develops individual adaptive control laws for each. This effectively reduces the detrimental impact of coupled faults and disturbances on the system’s performance, facilitating image feature trajectory tracking control with minimal jitter, high precision, and strong transient response capabilities. The stability of the state observer and the fault-tolerant controller has been substantiated through Lyapunov’s theory. Lastly, numerical simulations validate the efficacy and robustness of the proposed fault-tolerant visual servo control approach. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2024.

关键词： Robotic arms

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A novel deep learning approach for automated grading of knee osteoarthritis severity

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Multimedia Tools and Applications 2024年 1-20页

作者： Kaur, PrabSimran Kohli, Guneet Singh Bedi, Jatin Wasly, Saud Department of Computer Science and Engineering Thapar Institute of Engineering and Technology Punjab Patiala India Electrical and Computer Engineering Department King Abdulaziz University Jeddah22254 Saudi Arabia Center of Excellence in Intelligent Engineering Systems King Abdulaziz University Jeddah22254 Saudi Arabia

Knee Osteoarthritis (OA) is a prevalent musculoskeletal disorder that affects the knee joint that causes pain, stiffness, and reduced mobility. It is also known as "Degenerative Joint Disease" and is caused by the degeneration of cartilage in the knee joint, leading to bone-on-bone contact and further damage. Knee OA is prevalent in the population, affecting around 22% to 39% of people in India, and there is currently no treatment available that can halt the progression of the disease. Therefore, early diagnosis and management of symptoms are essential to reduce its impact on an individual’s quality of life. To address this issue, have introduced a framework that leverages ConvNeXt architecture, a modernization of ResNets (ResNet-50) architecture towards Hierarchical Transformers (Swin Transformers), to provide accurate identification and classification of knee osteoarthritis. The classification of knee osteoarthritis was done using the Kellgren and Lawrence (KL) graded X-ray images. These images of the damaged knees are preprocessed and augmented, creating a scaled, enhanced, and varied version of the features, thus making the data fitter and more significant for classification. The performance estimation of the proposed strategy is conducted on the Osteoarthritis Initiative (OAI), a research project focused on knee osteoarthritis that works in partnership with NIH and other private industries to develop a public domain dataset that can facilitate research and evaluation. It involves training the prepared data using various hyper-tuned versions of ConvNeXt. The different fine-tuned results of the ConvNeXt models on each KL Grade are evaluated against the other state-of-the-art models and vision transformers. The comparative assessment of widely used performance measures shows that the proposed approach outperforms the conventional models by generating the highest score for all the KL grades. Lastly, an approach is employed to statistically confirm the validity of t

关键词： Joints (anatomy)

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Energy Theft Detection in Smart Grids:Taxonomy,Comparative Analysis,Challenges,and Future Research Directions

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IEEE/CAA Journal of Automatica Sinica 2022年第4期9卷 578-600页

作者： Mohsin Ahmed Abid Khan Mansoor Ahmed Mouzna Tahir Gwanggil Jeon Giancarlo Fortino Francesco Piccialli the Department of Computer Science COMSATS University Islamabad the Department of Computer Science School of ComputingEngineering and Digital TechnologiesTeesside University the Innovative Value Institute Maynooth University the Department of Computer Science Bahria University the School of Electronic Engineering Xidian University the Department of Embedded Systems Engineering Incheon National University IEEE the Department of Informatics ModelingElectronics and SystemsUniversity of Calabria the Department of Mathematics and Applications“R.Caccioppoli” University of Naples FedericoⅡ

Electricity theft is one of the major issues in developing countries which is affecting their economy *** with the introduction of emerging technologies,this issue became more *** many new energy theft detection(ETD)techniques have been proposed by utilising different data mining(DM)techniques,state&network(S&N)based techniques,and game theory(GT)***,a detailed survey is presented where many state-of-the-art ETD techniques are studied and analysed for their strengths and *** levels of taxonomy are presented to classify state-of-the-art ETD *** types and ways of energy theft and their consequences are studied and summarised and different parameters to benchmark the performance of proposed techniques are extracted from *** challenges of different ETD techniques and their mitigation are suggested for future *** is observed that the literature on ETD lacks knowledge management techniques that can be more effective,not only for ETD but also for theft *** can help in the prevention of energy theft,in the future,as well as for ETD.

关键词： Challenges comparative analysis energy theft detection future research directions smart grid taxonomy

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Hybrid Dipper Throated and Grey Wolf Optimization for Feature Selection Applied to Life Benchmark Datasets

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computers, Materials & Continua 2023年第2期74卷 4531-4545页

作者： Doaa Sami Khafaga El-Sayed M.El-kenawy Faten Khalid Karim Mostafa Abotaleb Abdelhameed Ibrahim Abdelaziz A.Abdelhamid D.L.Elsheweikh Department of Computer Sciences College of Computer and Information SciencesPrincess Nourah bint Abdulrahman UniversityP.O.Box 84428Riyadh11671Saudi Arabia Department of Communications and Electronics Delta Higher Institute of Engineering and TechnologyMansoura35111Egypt Faculty of Artificial Intelligence Delta University for Science and TechnologyMansoura35712Egypt Department of System Programming South Ural State UniversityChelyabinsk454080Russia Computer Engineering and Control Systems Department Faculty of EngineeringMansoura UniversityMansoura35516Egypt Department of Computer Science Faculty of Computer and Information SciencesAin Shams UniversityCairo11566Egypt Department of Computer Science College of Computing and Information TechnologyShaqra University11961Saudi Arabia Department of Computer Science Faculty of Specific EducationMansoura UniversityEgypt

Selecting the most relevant subset of features from a dataset is a vital step in data mining and machine *** feature in a dataset has 2n possible subsets,making it challenging to select the optimum collection of features using typical *** a result,a new metaheuristicsbased feature selection method based on the dipper-throated and grey-wolf optimization(DTO-GW)algorithms has been developed in this *** can result when the selection of features is subject to metaheuristics,which can lead to a wide range of ***,we adopted hybrid optimization in our method of optimizing,which allowed us to better balance exploration and harvesting chores more *** propose utilizing the binary DTO-GW search approach we previously devised for selecting the optimal subset of *** the proposed method,the number of features selected is minimized,while classification accuracy is *** test the proposed method’s performance against eleven other state-of-theart approaches,eight datasets from the UCI repository were used,such as binary grey wolf search(bGWO),binary hybrid grey wolf,and particle swarm optimization(bGWO-PSO),bPSO,binary stochastic fractal search(bSFS),binary whale optimization algorithm(bWOA),binary modified grey wolf optimization(bMGWO),binary multiverse optimization(bMVO),binary bowerbird optimization(bSBO),binary hysteresis optimization(bHy),and binary hysteresis optimization(bHWO).The suggested method is superior 4532 CMC,2023,vol.74,no.2 and successful in handling the problem of feature selection,according to the results of the experiments.

关键词： Metaheuristics dipper throated optimization grey wolf optimization binary optimizer feature selection

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Speed Harmonic based Saturation Free Inductance Modeling and Estimation of Interior PMSM Using Measurements Under One Load Condition

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CES Transactions on Electrical Machines and systems 2025年第1期9卷 91-99页

作者： Guodong Feng Yuting Lu Zhe Tong Beichen Ding Guishan Yan Chunyan Lai the School of Intelligent Systems Engineering Sun Yat-sen UniversityShenzhenChina the School of Advanced Manufacturing Sun Yat-sen University the Southern Marine Science and Engineering Guangdong Laboratory(Zhuhai) China the Department of Electrical and Computer Engineering Concordia UniversityQCCanada

For permanent magnet synchronous machines(PMSMs),accurate inductance is critical for control design and condition *** to magnetic saturation,existing methods require nonlinear saturation model and measurements from multiple load/current conditions,and the estimation is relying on the accuracy of saturation model and other machine parameters in the *** harmonic produced by harmonic currents is inductance-dependent,and thus this paper explores the use of magnitude and phase angle of the speed harmonic for accurate inductance *** estimation models are built based on either the magnitude or phase angle,and the inductances can be from d-axis voltage and the magnitude or phase angle,in which the filter influence in harmonic extraction is considered to ensure the estimation *** inductances can be estimated from the measurements under one load condition,which is free of saturation ***,the inductance estimation is robust to the change of other machine *** proposed approach can effectively improve estimation accuracy especially under the condition with low current *** and comparisons are conducted on a test PMSM to validate the proposed approach.

关键词： PMSM Inductance estimation Speed harmonic High frequency signal injection

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Optimizing Polynomial-Time Solutions to a Network Weighted Vertex Cover Game

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IEEE/CAA Journal of Automatica Sinica 2023年第2期10卷 512-523页

作者： Jie Chen Kaiyi Luo Changbing Tang Zhao Zhang Xiang Li the Adaptive Networks and Control Laboratory Department of Electronic EngineeringFudan UniversityShanghai 200433China the College of Mathematics and Computer Science Zhejiang Normal UniversityJinhua 321004 Yuxi Middle School Taizhou 317399China IEEE the College of Physics and Electronics Information Engineering Zhejiang Normal UniversityJinhua 321004China the College of Mathematics and Computer Science Zhejiang Normal UniversityJinhua 321004China the Adaptive Networks and Control Laboratory Department of Electronic EngineeringFudan UniversityShanghai 200433 the Institute of Complex Networks and Intelligent Systems Shanghai Research Institute for Intelligent Autonomous SystemsTongji UniversityShanghai 201210China

Weighted vertex cover(WVC)is one of the most important combinatorial optimization *** this paper,we provide a new game optimization to achieve efficiency and time of solutions for the WVC problem of weighted *** first model the WVC problem as a general game on weighted *** the framework of a game,we newly define several cover states to describe the WVC ***,we reveal the relationship among these cover states of the weighted network and the strict Nash equilibriums(SNEs)of the ***,we propose a game-based asynchronous algorithm(GAA),which can theoretically guarantee that all cover states of vertices converging in an SNE with polynomial ***,we improve the GAA by adding 2-hop and 3-hop adjustment mechanisms,termed the improved game-based asynchronous algorithm(IGAA),in which we prove that it can obtain a better solution to the WVC problem than using a the ***,numerical simulations demonstrate that the proposed IGAA can obtain a better approximate solution in promising computation time compared with the existing representative algorithms.

关键词： Game-based asynchronous algorithm(GAA) game optimization polynomial time strict Nash equilibrium(SNE) weighted vertex cover(WVC)

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Fauno: The Italian Large Language Model that will leave you senza parole! 13

Fauno: The Italian Large Language Model that will leave you ...

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13th Italian Information Retrieval Workshop, IIR 2023

作者： Bacciu, Andrea Trappolini, Giovanni Santilli, Andrea Rodolà, Emanuele Silvestri, Fabrizio Sapienza University Department of Computer Control and Management Engineering Italy Sapienza University Computer Science Department Italy

This paper presents Fauno, the first and largest open-source Italian conversational Large Language Model (LLM). Our goal with Fauno is to democratize the study of LLMs in Italian, demonstrating that obtaining a fine-tuned conversational bot with a single GPU is possible. In addition, we release a collection of datasets for conversational AI in Italian. The datasets on which we fine-tuned Fauno include various topics such as general question answering, computer science, and medical questions. We release our code and datasets on https://***/RSTLess-research/Fauno-Italian-LLM. © 2023 Copyright for this paper by its authors.

关键词： Computational linguistics

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Hybrid Sine Cosine and Stochastic Fractal Search for Hemoglobin Estimation

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computers, Materials & Continua 2022年第8期72卷 2467-2482页

作者： Marwa M.Eid Fawaz Alassery Abdelhameed Ibrahim Bandar Abdullah Aloyaydi Hesham Arafat Ali Shady Y.El-Mashad Faculty of Artificial Intelligence Delta University for Science and TechnologyMansoura35712Egypt Department of Computer Engineering College of Computers and Information TechnologyTaif UniversityTaif21944Saudi Arabia Computer Engineering and Control Systems Department Faculty of EngineeringMansoura UniversityMansoura35516Egypt Mechanical Engineering Department Qassim UniversityBuraidah51452Saudi Arabia Department of Computer Systems Engineering Faculty of Engineering at ShoubraBenha UniversityEgypt

The sample’s hemoglobin and glucose levels can be determined by obtaining a blood sample from the human body using a needle and analyzing ***(HGB)is a critical component of the human body because it transports oxygen from the lungs to the body’s tissues and returns carbon dioxide from the tissues to the *** the HGB level is a critical step in any blood analysis *** often indicate whether a person is anemic or polycythemia *** ensemble models by combining two or more base machine learning(ML)models can help create a more improved *** purpose of this work is to present a weighted average ensemble model for predicting hemoglobin *** optimization method is utilized to get the ensemble’s optimum *** optimum weight for this work is determined using a sine cosine algorithm based on stochastic fractal search(SCSFS).The proposed SCSFS ensemble is compared toDecision Tree,Multilayer perceptron(MLP),Support Vector Regression(SVR)and Random Forest Regressors as model-based approaches and the average ensemble *** SCSFS results indicate that the proposed model outperforms existing models and provides an almost accurate hemoglobin estimate.

关键词： Sine cosine optimization metaheuristics optimization hemoglobin estimation weight average ensemble

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Intelligent Predetermination of Generator Tripping Scheme: Knowledge Fusion-based Deep Reinforcement Learning Framework

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CSEE Journal of Power and Energy systems 2024年第1期10卷 66-75页

作者： Lingkang Zeng Wei Yao Ze Hu Hang Shuai Zhouping Li Jinyu Wen Shijie Cheng State Key Laboratory of Advanced Electromagnetic Engineering and Technology School of Electrical and Electronics EngineeringHuazhong University of Science and TechnologyWuhan 430074China Dispatching and Control Center Central China Branch of State Grid Corporation of ChinaWuhan 430077China. Department of Electrical Engineering and Computer Science University of TennesseeKnoxvilleTN 37996USA

Generator tripping scheme(GTS)is the most commonly used scheme to prevent power systems from losing safety and ***,GTS is composed of offline predetermination and real-time scenario ***,it is extremely time-consuming and labor-intensive for manual predetermination for a large-scale modern power *** improve efficiency of predetermination,this paper proposes a framework of knowledge fusion-based deep reinforcement learning(KF-DRL)for intelligent predetermination of ***,the Markov Decision Process(MDP)for GTS problem is formulated based on transient instability ***,linear action space is developed to reduce dimensionality of action space for multiple controllable ***,KF-DRL leverages domain knowledge about GTS to mask invalid actions during the decision-making *** can enhance the efficiency and learning ***,the graph convolutional network(GCN)is introduced to the policy network for enhanced learning *** simulation results obtained on New England power system demonstrate superiority of the proposed KF-DRL framework for GTS over the purely data-driven DRL method.

关键词： Deep reinforcement learning generator tripping scheme graph convolutional network invalid action masking knowledgefusion

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Dipper Throated Algorithm for Feature Selection and Classification in Electrocardiogram

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computer systems science & engineering 2023年第5期45卷 1469-1482页

作者： Doaa Sami Khafaga Amel Ali Alhussan Abdelaziz A.Abdelhamid Abdelhameed Ibrahim Mohamed Saber El-Sayed M.El-kenawy Department of Computer Sciences College of Computer and Information SciencesPrincess Nourah bint Abdulrahman UniversityP.O.Box 84428Riyadh11671Saudi Arabia Department of Computer Science Faculty of Computer and Information SciencesAin Shams University11566CairoEgypt Department of Computer Science College of Computing and Information TechnologyShaqra University11961Saudi Arabia Computer Engineering and Control Systems Department Faculty of EngineeringMansoura UniversityMansoura35516Egypt Electronics and Communications Engineering Department Faculty of EngineeringDelta University for Science and TechnologyMansouraEgypt Department of Communications and Electronics Delta Higher Institute of Engineering and TechnologyMansoura35111Egypt Faculty of Artificial Intelligence Delta University for Science and TechnologyMansoura35712Egypt

Arrhythmia has been classified using a variety of *** of the dynamic nature of electrocardiogram(ECG)data,traditional handcrafted approaches are difficult to execute,making the machine learning(ML)solutions more *** with cardiac arrhythmias can benefit from competent monitoring to save their *** arrhythmia classification and prediction have greatly improved in recent *** are a category of conditions in which the heart's electrical activity is abnormally rapid or *** year,it is one of the main reasons of mortality for both men and women,*** the classification of arrhythmias,this work proposes a novel technique based on optimized feature selection and optimized K-nearest neighbors(KNN)*** proposed method makes advantage of the UCI repository,which has a 279-attribute high-dimensional cardiac arrhythmia *** proposed approach is based on dividing cardiac arrhythmia patients into 16 groups based on the electrocardiography dataset’s *** purpose is to design an efficient intelligent system employing the dipper throated optimization method to categorize cardiac arrhythmia *** method of comprehensive arrhythmia classification outperforms earlier methods presented in the *** achieved classification accuracy using the proposed approach is 99.8%.

关键词： Feature selection electrocardiogram metaheuristics dipper throated algorithm

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