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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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Developing Multi-Agent Wide Area Damping Controller to Mitigate False Data Injection Attacks 24

Developing Multi-Agent Wide Area Damping Controller to Mitig...

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24th EEEIC International Conference on Environment and electrical engineering and 8th I and CPS Industrial and Commercial Power systems Europe, EEEIC/I and CPS Europe 2024

作者： Vavdareh, Masoud Babaei Ghafouri, Mohsen Ameli, Amir Concordia University Department of Information and Systems Engineering Montreal Canada Lakehead University Department of Electrical and Computer Engineering Thunder BayON Canada

ISBN: (纸本)9798350355185

The effectiveness of wide-area damping controllers (WADCs) is significantly influenced by the integrity of the measurement data collected from phasor measurement units (PMUs). These damping controllers utilize PMU data to make decisions and transmit control commands to system actuators, such as synchronous generators. However, the incorporation of communication links for transmitting these signals exposes the power system to various cyber threats, such as false data injection attacks (FDIAs). On this basis, this study proposes two methods for defending against FDIAs: (i) the utilization of a neural network-based autoencoder as an effective attack detector for FDIAs, and (ii) the development of a multi-agent control strategy to mitigate these attacks. The performance of these proposed methods is analyzied using a two-area Kundur test system, compared against conventional data-driven attack detection methods and a global WADC technique. The findings indicate that the implementation of these methods significantly enhances defense capabilities against FDIA targeting wide-area measurement signals. © 2024 IEEE.

关键词： Phasor measurement units

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Classifying Bicycle Infrastructure Using On-Bike Street-Level Images 27

Classifying Bicycle Infrastructure Using On-Bike Street-Leve...

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27th IEEE International Conference on Intelligent Transportation systems, ITSC 2024

作者： Backman, Kal Beck, Ben Kulic, Dana School of Public Health and Preventive Medicine Monash University Department of Electrical and Computer Systems Engineering Australia

ISBN: (纸本)9798331505929

While cycling offers an attractive option for sus-tainable transportation, many potential cyclists are discouraged from taking up cycling due to the lack of suitable and safe infrastructure. Efficiently mapping cycling infrastructure across entire cities is necessary to advance our understanding of how to provide connected networks of high-quality infrastructure. Therefore we propose a system capable of classifying available cycling infrastructure from on-bike smartphone camera data. The system receives an image sequence as input, temporally analyzing the sequence to account for sparsity of signage. The model outputs cycling infrastructure class labels defined by a hi-erarchical classification system. Data is collected via participant cyclists covering 7,006Km across the Greater Melbourne region that is automatically labeled via a GPS and OpenStreetMap database matching algorithm. The proposed model achieved an accuracy of 95.38%, an increase in performance of 7.55% compared to the non-temporal model. The model demonstrated robustness to extreme absence of image features where the model lost only 6.6% in accuracy after 90% of images being replaced with blank images. This work is the first to classify cycling infrastructure using only street-level imagery collected from bike-mounted mobile phone cameras, while demonstrating robustness to feature sparsity via long temporal sequence analysis. © 2024 IEEE.

关键词： Bicycles

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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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Provable Multi-Task Representation Learning by Two-Layer ReLU Neural Networks 41

Provable Multi-Task Representation Learning by Two-Layer ReL...

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41st International Conference on Machine Learning, ICML 2024

作者： Collins, Liam Hassani, Hamed Soltanolkotabi, Mahdi Mokhtari, Aryan Shakkottai, Sanjay Department of Electrical and Computer Engineering University of Texas at Austin AustinTX United States Department of Electrical and Systems Engineering University of Pennsylvania PhiladelphiaPA United States Department of Electrical and Computer Engineering University of Southern California Los AngelesCA United States

An increasingly popular machine learning paradigm is to pretrain a neural network (NN) on many tasks offline, then adapt it to downstream tasks, often by re-training only the last linear layer of the network. This approach yields strong downstream performance in a variety of contexts, demonstrating that multitask pretraining leads to effective feature learning. Although several recent theoretical studies have shown that shallow NNs learn meaningful features when either (i) they are trained on a single task or (ii) they are linear, very little is known about the closer-to-practice case of nonlinear NNs trained on multiple tasks. In this work, we present the first results proving that feature learning occurs during training with a nonlinear model on multiple tasks. Our key insight is that multi-task pretraining induces a pseudo-contrastive loss that favors representations that align points that typically have the same label across tasks. Using this observation, we show that when the tasks are binary classification tasks with labels depending on the projection of the data onto an r-dimensional subspace within the d rdimensional input space, a simple gradient-based multitask learning algorithm on a two-layer ReLU NN recovers this projection, allowing for generalization to downstream tasks with sample and neuron complexity independent of d. In contrast, we show that with high probability over the draw of a single task, training on this single task cannot guarantee to learn all r ground-truth features. Copyright 2024 by the author(s)

关键词： Contrastive Learning

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An Optimized Offloaded Task Execution for Smart Cities Applications

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computers, Materials & Continua 2023年第3期74卷 6321-6334页

作者： Ahmad Naseem Alvi Muhammad Awais Javed Mozaherul Hoque Abul Hasanat Muhammad Badruddin Khan Abdul Khader Jilani Saudagar Mohammed Alkhathami Department of Electrical and Computer Engineering COMSATS University Islamabad45550Pakistan Information Systems Department College of Computer and Information SciencesImam Mohammad Ibn Saud Islamic University(IMSIU)Riyadh11432Saudi Arabia

Wireless nodes are one of the main components in different applications that are offered in a smart *** wireless nodes are responsible to execute multiple tasks with different priority *** the wireless nodes have limited processing capacity,they offload their tasks to cloud servers if the number of tasks exceeds their task processing *** these tasks from remotely placed cloud servers causes a significant delay which is not required in sensitive task *** execution delay is reduced by placing fog computing nodes near these application nodes.A fog node has limited processing capacity and is sometimes unable to execute all the requested *** this work,an optimal task offloading scheme that comprises two algorithms is proposed for the fog nodes to optimally execute the time-sensitive offloaded *** first algorithm describes the task processing criteria for local computation of tasks at the fog nodes and remote computation at the cloud *** second algorithm allows fog nodes to optimally scrutinize the most sensitive tasks within their task *** results show that the proposed task execution scheme significantly reduces the execution time and most of the time-sensitive tasks are executed.

关键词： Smart cities fog computing task offloading knapsack

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Reliability-aware swarm based multi-objective optimization for controller placement in distributed SDN architecture

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Digital Communications and Networks 2024年第5期10卷 1245-1257页

作者： Abeer A.Z.Ibrahim Fazirulhisyam Hashim Aduwati Sali Nor K.Noordin Keivan Navaie Saber M.E.Fadul Department of Computer and Communication Systems Engineering Faculty of EngineeringUniversiti Putra MalaysiaSerdang43400Malaysia Wireless and Photonics Networks Research Centre(WiPNET) Faculty of EngineeringUniversiti Putra MalaysiaSerdang43400Malaysia Department of Communication and Computer Engineering College of Engineering and Medical SciencesKhartoum11111Sudan School of Computing and Communications Lancaster UniversityLancasterLA14YWUnited Kingdom Department of Electrical and Electronics Engineering Faculty of EngineeringUniversiti Putra MalaysiaSerdang43400Malaysia

The deployment of distributed multi-controllers for Software-Defined Networking(SDN)architecture is an emerging solution to improve network scalability and ***,the network control failure affects the dynamic resource allocation in distributed networks resulting in network disruption and low ***,we consider the control plane fault tolerance for cost-effective and accurate controller location models during control plane *** fault-tolerance strategy has been applied to distributed SDN control architecture,which allows each switch to migrate to next controller to enhance network *** this paper,the Reliable and Dynamic Mapping-based Controller Placement(RDMCP)problem in distributed architecture is framed as an optimization problem to improve the system reliability,quality,and *** considering the bound constraints,a heuristic state-of-the-art Controller Placement Problem(CPP)algorithm is used to address the optimal assignment and reassignment of switches to nearby controllers other than their regular *** algorithm identifies the optimal controller location,minimum number of controllers,and the expected assignment costs after failure at the lowest effective cost.A metaheuristic Particle Swarm Optimization(PSO)algorithm was combined with RDMCP to form a hybrid approach that improves objective function optimization in terms of reliability and *** effectiveness of our hybrid RDMCP-PSO was then evaluated using extensive experiments and compared with other baseline *** findings demonstrate that the proposed hybrid technique significantly increases the network performance regarding the controller number and load balancing of the standalone heuristic CPP algorithm.

关键词： Software defined networking Dynamic mapping Particle swarm optimization Reliability Multi-objective optimization Evolutionary

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A ShuffleNet Architecture-Based Multi-Layer Feature Scaling and Fusion Approach for Underwater Net Cage Damage Detection in Aquaculture

A ShuffleNet Architecture-Based Multi-Layer Feature Scaling ...

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2024 IEEE International Conference on Consumer Electronics-Asia, ICCE-Asia 2024

作者： Huang, Xiang-Rui Chen, Yi-Cheng Chen, Liang-Bi Hu, Wu-Chih National Penghu University of Science and Technology Master Program in Electrical Engineering and Computer Science Department of Electrical Engineering Penghu Taiwan National Penghu University of Science and Technology Department of Computer Science and Information Engineering Penghu Taiwan

ISBN: (纸本)9798331530839

In offshore aquaculture operations, personnel equipped with diving gear are often necessary to inspect the underwater net cages for damage, particularly on the sea floor. This manual inspection process is time-consuming and complex. To overcome this problem, this paper proposes a computer vision solution for identifying damage in underwater net cages to address the inefficiencies and challenges of traditional manual inspections. The proposed scheme utilizes a high-performance multi-branch computational architecture designed based on ShuffleNet architecture to detect net cage damage more efficiently. Experimental results demonstrate that this work performs well on the ImageNet ILSVRC-2010 dataset and achieves an accuracy of 88.54% in underwater net damage detection. © 2024 IEEE.

关键词： Aquaculture

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Using Interim Recommitment to Reduce the Operational-cost Impacts of Wind Uncertainty

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Journal of Modern Power systems and Clean Energy 2022年第4期10卷 839-849页

作者： Mahan A.Mansouri Ramteen Sioshansi Department of Integrated Systems Engineering The Ohio State UniversityColumbusOH 43210USA Department of Integrated Systems Engineering Department of Electrical and Computer Engineeringand Center for Automotive ResearchThe Ohio State UniversityColumbusOH 43210USA

Using wind-availability forecasts in day-ahead unit commitment can require expensive real-time operational *** examine the benefit of conducting interim recommitment between day-ahead unit commitment and real-time *** a simple stylized example and a case study that is based on ISO New England,we compare system-operation costs with and without interim *** find an important tradeoff—later recommitment provides better wind-availability forecasts,but the system has less flexibility due to operating *** the time windows that we examine,hour-20 recommitment provides the greatest operational-cost reduction.

关键词： Power-system operation power-system economics unit commitment economic dispatch wind generation.

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A machine learning approach for skin lesion classification on iOS: implementing and optimizing a convolutional transfer learning model with Create ML

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International Journal of computers and Applications 2024年第8期46卷 666-685页

作者： Benedek Szabo, Aron Katona, Jozsef Department of Software Development and Application Institute of Computer Engineering University of Dunaujvaros Dunaujvaros Hungary Department of Instrumentation and Automation Institute of Electronics and Communication Systems Kandó Kálmán Faculty of Electrical Engineering Obuda University Budapest Hungary Department of Informatics GAMF Faculty of Engineering and Computer Science Kecskemét Hungary

The integration of machine learning (ML) into mobile applications presents unique challenges, particularly in resource-constrained environments such as iOS devices. Skin lesion classification is a critical task in dermatology, where accurate and efficient diagnostic tools can significantly aid in early detection of malignant lesions. This study aims to implement a machine learning-based iOS mobile application and develop a binary classification model for skin lesion images to determine whether a lesion is malignant. The research utilized Create ML to develop a convolutional neural network optimized for iOS, employing a transfer learning approach. A logistic regression model was cascaded with the convolutional neural network N to enhance classification accuracy. The model's performance was assessed through various validation metrics, ensuring its robustness and efficiency within the constraints of mobile hardware. A curated dataset from the International Skin Imaging Collaboration archive was used for training and testing. The model achieved an accuracy of 92%, a precision of 90%, a recall of 93%, and an F1-score of 91% in classifying skin lesions. These metrics validate the model's efficacy in identifying malignant lesions. Data curation involved collecting, labeling, and preparing a dataset from publicly available sources, ensuring the inclusion of diagnostically relevant features. The final model was integrated into an iOS application using Core ML and Vision frameworks. The developed application demonstrates reliable performance in classifying skin lesions with high accuracy on iOS devices. The inclusion of comprehensive performance metrics justifies the efficacy of the proposed approach. Future work will explore enhancements in model architecture and object detection capabilities to further improve diagnostic precision and application usability. © 2024 Informa UK Limited, trading as Taylor & Francis Group.

关键词： Image recognition

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