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Optimal Strategies Trajectory with Multi-Local-Worlds Graph

computers, Materials & Continua 2023年第4期75卷 2079-2099页

作者： Xiang Yu Chonghua Wang Xiaojing Zheng Chaoyu Zeng Brij BGupta School of Electronics and Information Engineering Taizhou UniversityTaizhouZhejiang318000China China Industrial Control Systems Cyber Emergency Response Team Beijing100040China School of Economics and Management Weifang University of Science and TechnologyShouguangShandong262700China National Computer System Engineering Research Institute of China Beijing102699China Department of Computer Science and Information Engineering Asia UniversityTaiwanTaichung413China Research and Innovation Department Skyline University CollegeSharjahP.O.Box 1797United Arab Emirates Staffordshire University Stoke-on-TrentST42DEUK

This paper constructs a non-cooperative/cooperative stochasticdifferential game model to prove that the optimal strategies trajectory ofagents in a system with a topological configuration of a Multi-Local-Worldgraph would converge into a certain attractor if the system’s configuration isfixed. Due to the economics and management property, almost all systems aredivided into several independent Local-Worlds, and the interaction betweenagents in the system is more complex. The interaction between agents inthe same Local-World is defined as a stochastic differential cooperativegame;conversely, the interaction between agents in different Local-Worldsis defined as a stochastic differential non-cooperative game. We construct anon-cooperative/cooperative stochastic differential game model to describethe interaction between agents. The solutions of the cooperative and noncooperativegames are obtained by invoking corresponding theories, and thena nonlinear operator is constructed to couple these two solutions *** last, the optimal strategies trajectory of agents in the system is proven toconverge into a certain attractor, which means that strategies trajectory arecertainty as time tends to infinity or a large positive integer. It is concluded thatthe optimal strategy trajectory with a nonlinear operator of cooperative/noncooperativestochastic differential game between agents can make agentsin a certain Local-World coordinate and make the Local-World paymentmaximize, and can make the all Local-Worlds equilibrated;furthermore, theoptimal strategy of the coupled game can converge into a particular attractorthat decides the optimal property.

关键词： Multi-Local-world graph stochastic differential game optimal strategy attractor

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Coordinating multiple mobile robots for obstacle avoidance using cloud computing

Coordinating multiple mobile robots for obstacle avoidance u...

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作者： Song, Kai-Tai Sun, Yu-Xuan Institute of Electrical and Control Engineering College of Electrical and Computer Engineering National Chiao Tung University Hsinchu Taiwan

This study presents a motion planning method for coordinating multiple mobile robots for collision-free navigation. A control architecture that uses cloud computing is proposed for the acquisition of real-time robotic data and to coordinate multiple robots in an unstructured environment. The system consists of collision-free path planning for multiple robots, obstacle avoidance, and navigation control. The path planning method was developed based on the optimal reciprocal collision avoidance (ORCA) algorithm to generate a velocity set of each robot in the system. A laser scanner is used to detect obstacles for each robot. Appropriate obstacle avoidance behaviors are generated using sensory information. A behavior-fusion control scheme combines obstacle avoidance and collision-free path planning to coordinate multiple robots. The proposed anti-collision motion planning method for multiple robots prevents collisions with unexpected obstacles and with other robots in the environment. The experimental results show that multiple mobile robots can navigate to targets that are assigned by the cloud server without colliding with other robots, regardless of whether there are unexpected static or dynamic obstacles in the environment. © 2020 Chinese Automatic control Society and John Wiley & Sons Australia, Ltd

关键词： Mobile robots

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Prospective evaluation of data-driven models to predict daily risk of Clostridioides difficile infection at 2 large academic health centers (vol 2, pg 1, 2022)

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INFECTION control & HOSPITAL EPIDEMIOLOGY 2023年第10期44卷 1705-1705页

作者： Kamineni, Meghana Otles, Erkin Oh, Jeeheh Rao, Krishna Young, Vincent B. Li, Benjamin Y. West, Lauren R. Hooper, David C. Shenoy, Erica S. Guttag, John G. Wiens, Jenna Makar, Maggie Electrical Engineering and Computer Science Department Massachusetts Institute of Technology Cambridge Massachusetts Medical Scientist Training Program University of Michigan Medical School Ann Arbor Michigan Department of Industrial and Operations Engineering University of Michigan College of Engineering Ann Arbor Michigan Division of Computer Science and Engineering University of Michigan College of Engineering Ann Arbor Michigan Department of Internal Medicine Division of Infectious Diseases University of Michigan Medical School Ann Arbor Michigan Infection Control Unit Massachusetts General Hospital Boston Massachusetts Division of Infectious Diseases Massachusetts General Hospital Boston Massachusetts Harvard Medical School Boston Massachusetts

Many data-driven patient risk stratification models have not been evaluated prospectively. We performed and compared the prospective and retrospective evaluations of 2 Clostridioides difficile infection (CDI) risk-prediction models at 2 large academic health centers, and we discuss the models’ robustness to data-set shifts.

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Equilibrium-Independent control of Continuous-Time Nonlinear Systems via the LPV Framework - Extended Version

arXiv

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arXiv 2023年

作者： Koelewijn, Patrick J.W. Weiland, Siep Tóth, Roland The Control Systems Group Department of Electrical Engineering Eindhoven University of Technology Eindhoven Netherlands The Systems and Control Laboratory Institute for Computer Science and Control Budapest Hungary

In this paper, we consider the analysis and control of continuous-time nonlinear systems to ensure universal shifted stability and performance, i.e., stability and performance w.r.t. each forced equilibrium point of the system. This "equilibrium-free" concept is especially beneficial for control problems that require the tracking of setpoints and rejection of persistent disturbances, such as input loads. In this paper, we show how the velocity form, i.e., the time-differentiated dynamics of the system, plays a crucial role in characterizing these properties and how the analysis of it can be solved by the application of Linear Parameter-Varying (LPV) methods in a computationally efficient manner. Furthermore, by leveraging the properties of the velocity form and the LPV framework, a novel controller synthesis method is presented which ensures closed-loop universal shifted stability and performance. The proposed controller design is verified in a simulation study and also experimentally on a real system. Additionally, we compare the proposed method to a standard LPV control design, demonstrating the improved stability and performance guarantees of the new approach. Copyright © 2023, The Authors. All rights reserved.

关键词： controllers

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Direct data-driven LPV control of nonlinear systems: An experimental result

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IFAC-PapersOnLine 2023年第2期56卷 2263-2268页

作者： Chris Verhoek Hossam S. Abbas Roland Tóth Control Systems Group Dept. of Electrical Engineering Eindhoven University of Technology 5600MB Eindhoven The Netherlands Institute for Electrical Engineering in Medicine Universität zu Lübeck 23558 Lübeck Germany Systems and Control Lab Institute for Computer Science and Control 1111 Budapest Hungary

We demonstrate that direct data-driven control of nonlinear systems can be successfully accomplished via a behavioral approach that builds on a Linear Parameter-Varying (LPV) system concept. An LPV data-driven representation is used as a surrogate LPV form of the data-driven representation of the original nonlinear system. The LPV data-driven control design that builds on this representation form uses only measurement data from the nonlinear system and a priori information on a scheduling map that can lead to an LPV embedding of the nonlinear system behavior. Efficiency of the proposed approach is demonstrated experimentally on a nonlinear unbalanced disc system showing for the first time in the literature that behavioral data-driven methods are capable to stabilize arbitrary forced equilibria of a real-world nonlinear system by the use of only 7 data points.

关键词： Data-Driven control Linear Parameter-Varying Systems

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Collision-Avoidance control for Human Side-Following Navigation of an Autonomous Mobile Robot

Collision-Avoidance Control for Human Side-Following Navigat...

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International Conference on System Science and engineering (ICSSE)

作者： Kai-Tai Song Pin-Chen Liu Institute of Electrical and Control Engineering College of Electrical and Computer Engineering National Yang Ming Chiao Tung University Hsinchu Taiwan R.O.C.

ISBN: (数字)9798350359886

ISBN: (纸本)9798350359893

In this article, we propose a novel collision-avoidance control design for human side-following of a mobile robot. This design allows a mobile robot to choose a suitable side-following position according to the acquired point cloud data, and control the robot to move toward the best-possible following position while avoiding obstacles. The idea is to keep the user and robot not to lose the sight of each other. Based on this concept, the robot chooses the best position in the visibility field for continuous following while avoiding obstacles. The visibility field is built based on the extended ray-casting algorithm. Combining the extended ray-casting with the mapping of the moving grid, the field of view of the user and the robot can be aligned. The proposed intelligent visibility algorithm(ISA) allows the robot to find the best possible following position at each time instant. This method enables the robot to use a single 2D LiDAR to detect the user and obstacles for real-time side following without colliding with any obstacles. The experimental results on a self-made laboratory mobile robot verified the proposed method. It is demonstrated that the robot can follow the user side-by-side in indoor environments with the capacity to continue side-following after avoiding static and dynamic obstacles.

关键词： Point cloud compression Laser radar Navigation control design Real-time systems Indoor environment Mobile robots

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Fuzzy control system design for wheel slip prevention and tracking of desired speed profile in electric trains

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Asian Journal of control 2022年第1期24卷 388-400页

作者： Moaveni, Bijan Rashidi Fathabadi, Fatemeh Molavi, Ali Center of excellence for Modelling and Control of Complex Systems Faculty of Electrical Engineering K. N. Toosi University of Technology Tehran Iran Department of Electrical and Computer Engineering Western Michigan University MI United States Institute of Robotics and Industrial Informatics Polytechnical University of Catalonia Barcelona Spain

This study proposes an anti-slip control system for electric trains based on the fuzzy logic theory, which prevents the wheels from slipping during the acceleration and simultaneously tracks the desired speed profile. To improve the control performance, the train longitudinal velocity and the slip ratio are estimated. By using a field-oriented control (FOC), the angular speed of the traction motor is controlled. The fuzzy control system determines the desired angular speed of the traction motor as the reference input of FOC to obtain the desired slip ratio and track the desired speed profile. Simulation results show the effectiveness of the control system in various wheel–rail surface conditions based on the real parameters of ER24PC locomotive. © 2020 Chinese Automatic control Society and John Wiley & Sons Australia, Ltd

关键词： Traction motors

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Towards More Efficient EfficientDets and Real-Time Marine Debris Detection

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IEEE Robotics and Automation Letters 2023年第4期8卷 2134-2141页

作者： Zocco, Federico Lin, Tzu-Chieh Huang, Ching-I Wang, Hsueh-Cheng Khyam, Mohammad Omar Van, Mien Queen's University Belfast Centre for Intelligent Autonomous Manufacturing Systems School of Electronics Electrical Engineering and Computer Science Northern IrelandBT7 1NN United Kingdom Hsinchu City30010 Taiwan Institute of Electrical and Control Engineering Hsinchu City30010 Taiwan Labs Hsinchu Taiwan Central Queensland University School of Engineering and Technology Norman Gardens QLD4701 Australia

Marine debris is a problem both for the health of marine environments and for the human health since tiny pieces of plastic called 'microplastics' resulting from the debris decomposition over the time are entering the food chain at any levels. For marine debris detection and removal, autonomous underwater vehicles (AUVs) are a potential solution. In this letter, we focus on the efficiency of AUV vision for real-time marine debris detection. First, we improved the efficiency of a class of state-of-the-art object detectors, namely EfficientDets [1], by 1.5% AP on D0, 2.6% AP on D1, 1.2% AP on D2 and 1.3% AP on D3 without increasing the GPU latency (see Fig. 1). Subsequently, we created and made publicly available a dataset for the detection of in-water plastic bags and bottles and trained our improved EfficientDets on this and on two public datasets for marine debris detection. Finally, we began the testing of real-time detection performance on a simulator of marine environments. © 2016 IEEE.

关键词： Real time systems

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Two-Stage Representation Refinement Based on Convex Combination for 3-D Human Poses Estimation

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2024年第12期5卷 6500-6508页

作者： Chen, Luefeng Cao, Wei Zheng, Biao Wu, Min Pedrycz, Witold Hirota, Kaoru China University of Geosciences School of Automation Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Ministry of Education Engineering Research Center of Intelligent Technology for Geo-Exploration Wuhan430074 China University of Alberta Department of Electrical and Computer Engineering EdmontonABT6G 2R3 Canada Macau University of Science and Technology Institute of Systems Engineering Taipa999078 China Istinye University Research Center of Performance and Productivity Analysis Istanbul34010 Turkey Tokyo Institute of Technology Yokohama226-8502 Japan

In the human pose estimation task, on the one hand, 3-D pose always has difficulty in dividing different 2-D poses if the view is limited;on the other hand, it is hard to reduce the lifting ambiguity because of the lack of depth information, it is an important and challenging problem. Therefore, two-stage representation refinement based on the convex combination for 3-D human pose estimation is proposed, in which the two-stage method includes a dense-spatial-temporal convolutional network and a local-to-refine network. The former is applied to determine the features between each video frame;the latter is used to get the different scales of pose details. It aims to address the difficulty of estimating 3-D human pose from 2-D image sequences. In such a way, it can better use the relations between every frame in the sequence of the pose video to produce more accurate results. Finally, we combine the above network with a block called convex combination to help refine the 3-D pose location. We test the proposed approach on both Human3.6m and MPII datasets. The result confirms that our method can achieve better performance than improved CNN supervision, a simple yet effective baseline, and coarse-to-fine volumetric prediction. Besides, a robustness test experiment is carried out for the proposed method while the input is interrupted. The result verifies that our method shows better robustness. © 2024 IEEE.

关键词： Convolution

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Path Planning and control of a 6-DOF Manipulator for Freeform Surface Polishing Based-on a Point Cloud Model

Path Planning and Control of a 6-DOF Manipulator for Freefor...

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International Conference on Advanced Robotics and Intelligent Systems (ARIS)

作者： Fu-Yu Tsai Kai-Tai Song Institute of Electrical and Control Engineering College of Electrical and Computer Engineering National Yang Ming Chiao Tung University Hsinchu Taiwan R.O.C.

ISBN: (数字)9798350362572

ISBN: (纸本)9798350362589

This paper presents a novel path generation method for robotic surface polishing based on point cloud data. In this method, an initial path is first planned to create waypoints via the point cloud. The method estimates the contact area to dynamically adjust initial path points to ensure uniform trajectory coverage on the surface. In this paper, the bilateral tool path generation (BTPG) algorithm is proposed based on a dual-thread strategy to expedite polishing path generation. Further, we introduce a method that generates smooth postures to enhance the stability of the robotic polishing pose. In this work, hybrid force/velocity control scheme is adopted to track polishing path and apply the assigned force on the workpiece freeform surface. Practical experimental results show that the proposed method achieves 95% improvement in path planning time and 85% in smoothness of the robot fourth joint's posture compared with the baseline slicing method.

关键词： Point cloud compression Heuristic algorithms Force Manipulators Stability analysis 6-DOF Trajectory

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