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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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Postural Sway Detection using Kolmogorov-Arnold Network as Siamese Model

Postural Sway Detection using Kolmogorov-Arnold Network as S...

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2024 International Symposium on Sensing and Instrumentation in 5G and IoT Era, ISSI 2024

作者： Nehary, Ebrahim A. Rajan, Sreeraman Ando, Bruno Carleton University Systems and Computer Engineering Ottawa Canada University of Catania Electric Electronic and Information Engineering Catania Italy

ISBN: (纸本)9798350378689

Continuous monitoring of postural sway is crucial for safeguarding elderly individuals and patients with neurological conditions, such as Parkinson's disease, as their balance is significantly impacted. This continuous monitoring is achieved using triaxial accelerometer sensors that provide time series signals and are used to train models to detect the postural sway of elderly individuals or patients with neurological conditions. However, the available postural sway dataset has a limited number of samples, and the performance of trained models deteriorates when the accelerometer signal is noisy. A Siamese network Kolmogorov-Arnold Network (Siamese-KAN) is pro-posed to address this issue. This network can be trained with a few samples from each class. Training of the Siamese network is conducted by flattening the bispectrum of each accelerometer channel and then fusing the magnitudes to construct a single input vector. Various similarity functions are employed along with contrastive loss to train the Siamese network. Additionally, a Siamese network with multi-layer perceptron (MLP) is also similarly trained for comparison purposes. Preliminary results show that the Siamese-KAN model achieves better accuracy with clean signals than the Siamese-MLP. However, when the signal is noisy, the Siamese-KAN model outperforms the Siamese-MLP using Euclidean and Manhattan similarity functions, while the Siamese-MLP performs better with Cosine and Bray-Curtis similarity functions. © 2024 IEEE.

关键词： Accelerometers

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A Novel Design of Random Number Generators Using Chaos-Based Extremum Coding

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IEEE Access 2024年 12卷 24039-24047页

作者： Araki, Shunsuke Wu, Ji-Han Yan, Jun-Juh Kyushu Institute of Technology Kawazu Iizuka Graduate School of Computer Science and Systems Engineering Fukuoka820 Japan National Chin-Yi University of Technology Department of Electronic Engineering Taichung41107 Taiwan

This paper proposes a new chaos-based extremum coding method to realize a true random number generator (RNG). Based on the chain rule, we innovatively introduce two parameters into the dynamics of chaotic systems to modulate the speed and amplitude of state responses. Then, by discretizing the continuous modulated chaotic system, the corresponding discrete chaotic system can be obtained, which allows the use of low-cost micro-controllers for implementation, enhancing system stability, and reducing costs. Also, a novel chaos-based extremum coding approach is proposed for generating a random extremum-coded sequence (RECS). Using this RECS to switch and decide modulation parameters significantly improves the randomness of the sequences generated by the RNGs. To highlight the contribution of this RNG design, the randomness and security of the RNGs are evaluated by statistical tests such as NIST, Diehard, and ENT. Through comparisons with recent published works, the results show that the proposed chaotic extremum-coded RNG can demonstrate superior performance with a higher level of randomness. © 2013 IEEE.

关键词： Statistical tests

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MESSI: Task Mapping and Scheduling Strategy for FPGA-based Heterogeneous Real-Time systems

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ACM Transactions on Design Automation of electronic systems 2025年第3期30卷 1-29页

作者： Ahmadi-Pour, Sallar Saha, Sangeet Mcdonald-Maier, Klaus Drechsler, Rolf Institute of Computer Science University of Bremen Faculty 3 Mathematics and Computer Science Bremen Bremen Germany Robotics and Embedded Systems Research Group University of Essex School of Computer Science and Electronic Engineering Colchester United Kingdom Cyber-Physical Systems DFKI Rheinland-Pfalz Kaiserslautern Germany

Continuous demands for improved performance within constrained resource budgets are driving a move from homogeneous to heterogeneous processing platforms for the implementation of today's Real-Time (RT) embedded systems. The applications executing on such systems are typically represented as a Precedence Task Graph (PTG), where a node represents a task or algorithm for one functionality and edges represent the complex interactions between multiple functionalities. Due to RT constraints, the task graph needs to be executed within a specified deadline. Although some existing studies have looked into solving this challenge, comprehensive studies that combine the theoretical features of RT task-graph mapping and scheduling with practical runtime architectural characteristics have mostly been ignored to date. Hence, in this article, we consider the challenge of scheduling an RT application modeled as a single PTG, with the objective of minimizing the overall execution time under Hardware (HW) resource and deadline constraints for heterogeneous Central Processing Unit (CPU) + Field Programmable Gate Array (FPGA) architectures. First, we introduce an optimal solution using Integer Linear Programming (ILP). However, this ILP-based optimal solution suffers from computational complexity and does not scale well even for moderately large problem sizes. Hence, we additionally propose heuristic algorithms for task mapping and scheduling. The efficiency of the proposed scheme, named MESSI, has been evaluated through experiments using PTG on a practical CPU+FPGA system regarding current technology restrictions. Our experiments demonstrate that performance gains of 55.6% and area usage reductions of 46.3% are possible compared to full Software (SW) and HW execution, respectively. © 2025 Copyright held by the owner/author(s). Publication rights licensed to ACM.

关键词： Integer programming

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Small Object Detection Without Attention for Aerial Surveillance 13th

Small Object Detection Without Attention for Aerial Surveil...

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13th International Conference on Information Technology and its Applications, CITA 2024

作者： Choi, Jehwan Nguyen, Duy-Linh Vo, Xuan-Thuy Jo, Kang-Hyun Intelligent Systems Laboratory Department of Electrical Electronic and Computer Engineering University of Ulsan Ulsan44610 Korea Republic of

ISBN: (纸本)9783031741265

This paper introduces the development of an essential deep-learning model for surveillance systems utilizing high-mounted CCTV or drones. Objects seen from elevated angles often look smaller and may appear at different angles compared to ground-level observations. To improve the detection of small objects, we propose a network incorporating an element-wise multiplication module based on the vanilla Vision Transformer (ViT) architecture. However, traditional transformer models need significant computational resources, which may not be practical for edge devices like CCTV cameras or drones. Therefore, we apply the Attention-Free Transformer (AFT) to reduce computational requirements enabling real-time operation on low-capacity devices. We validate the performance by combining ViT and AFT with the YOLOv5 real-time object detection model. Practical applicability is confirmed by implementing it on the low-capacity device named ODROID H3+. Validation datasets include Autonomous Driving Drone, VisDrone, AerialMaritime, and PKLot, all containing numerous small-sized objects. Experimental results on the VisDrone dataset show that YOLOv5 nano + AFT reduces parameter count by 4.6% while increasing accuracy by 1%, making it an efficient network. The model size is suitable for edge device implementation at 3.7 MB. Similarly, Aerial Maritime and PKLot datasets indicate a decreased amount of parameters and increased accuracy. Hence, the proposed deep learning model is applicable for aerial surveillance systems. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Drones

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Arrhythmia Detection by Using Chaos Theory with Machine Learning Algorithms

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computers, Materials & Continua 2024年第6期79卷 3855-3875页

作者： Maie Aboghazalah Passent El-kafrawy Abdelmoty M.Ahmed Rasha Elnemr Belgacem Bouallegue Ayman El-sayed Math and Computer Science Department Faculty of ScienceMenoufia UniversityShebin El-komEgypt College of Engineering Computer Science DepartmentEffat UniversityJeddahKingdom of Saudi Arabia Department of Computer Engineering College of Computer ScienceKing Khalid UniversityAbha61421Saudi Arabia Computer Science and Engineering Department Faculty of Electronic EngineeringMenoufia UniversityShebin El-komEgypt Climate Change Information Center and Expert Systems Agriculture Research CenterGizaEgypt

Heart monitoring improves life ***(ECGs or EKGs)detect heart *** learning algorithms can create a few ECG diagnosis processing *** first method uses raw ECG and time-series *** second method classifies the ECG by patient *** third technique translates ECG impulses into Q waves,R waves and S waves(QRS)features using richer *** ECG signals vary naturally between humans and activities,we will combine the three feature selection methods to improve classification accuracy and *** using all three approaches have not been examined till *** researchers found that Machine Learning(ML)techniques can improve ECG *** study will compare popular machine learning techniques to evaluate ECG *** algorithms—Support Vector Machine(SVM),Decision Tree,Naive Bayes,and Neural Network—compare categorization *** plus prior knowledge has the highest accuracy(99%)of the four ML *** characteristics failed to identify signals without chaos *** 99.8%classification accuracy,the Decision Tree technique outperformed all previous experiments.

关键词： ECG extraction ECG leads time series prior knowledge and arrhythmia chaos theory QRS complex analysis machine learning ECG classification

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Combination of Interleaved Single-input Multiple-output DC-DC Converters

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CSEE Journal of Power and Energy systems 2022年第1期8卷 132-142页

作者： Eladio Dur´an Aranda Salvador P´erez Litr´an Mar´ıa Bella Ferrera Prieto Electronic Engineering Computer Systems and Automation DepartmentUniversity of HuelvaHuelvaSpain Electrical and Thermal Engineering Design and Projects DepartmentUniversity of HuelvaHuelvaSpain

This paper analyses,simulates and verifies an experimental prototype of a four-phase interleaved DC-DC *** is based on a SEPIC-Cuk *** developed prototype has been used in single-input multiple-output(SIMO)*** combined converter allows obtaining dual output voltages of the same value,from a single input DC voltage and with only a power *** interleaved DC-DC converters achieve a better dynamic response and low ripple,maintaining their *** converter is connected in parallel,thereby managing their losses by distributing them between more components,which facilitates the thermal management of the multiphase converter and allows handling high power values in small sizes with respect to solutions for a single *** control strategies were applied:synchronous operation mode(SOM)and interleaved operation mode(IOM).The simulation results allow the comparison of both operational modes,verifying that the IOM presents advantages with respect to the ripple at the input and output *** experimental prototype was designed for a distributed power architecture and bipolar DC microgrid(MG).

关键词： Bipolar DC DC-DC converter interleaved

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Instance Selection Techniques for Large Volumes of Data 24th

Instance Selection Techniques for Large Volumes of Data

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24th International Conference on Intelligent Data engineering and Automated Learning, IDEAL 2023

作者： Cubillos, Marco Antonio Peña Ballesteros, Antonio Javier Tallón Department of Electronic Computer Systems and Automation Engineering International University of Andalusia Huelva Spain

ISBN: (纸本)9783031482311

Instance selection (IS) serves as a vital preprocessing step, particularly in addressing the complexities associated with high-dimensional problems. Its primary goal is the reduction of data instances, a process that involves eliminating irrelevant and superfluous data while maintaining a high level of classification accuracy. IS, as a strategic filtering mechanism, addresses these challenges by retaining essential instances and discarding hindering elements. This refinement process optimizes classification algorithms, enabling them to excel in handling extensive datasets. In this research, IS offers a promising avenue to strengthen the effectiveness of classification in various real-world applications. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2023.

关键词： Data mining

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Secure Batch Deduplication without Dual Servers in Backup System

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IEEE Transactions on Dependable and Secure Computing 2024年 1-13页

作者： Zheng, Haoyu Zeng, Shengke Li, Hongwei Li, Zhijun Xihua College Xihua University Chengdu China school of Computer and Software Engineering Xihua University Chengdu China School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu China MIG Group Cisco Systems Canada Co. Ottawa ON Canada

Cloud storage provides highly available and low cost resources to users. However, as massive amounts of outsourced data grow rapidly, an effective data deduplication scheme is necessary. This is a hot and challenging field, in which there are quite a few researches. However, most of previous works require dual-server fashion to be against brute-force attacks and do not support batch checking. It is not practicable for the massive data stored in the cloud. In this paper, we present a secure batch deduplication scheme for backup system. Besides, our scheme resists the brute-force attacks without the aid of other servers. The core idea of the batch deduplication is to separate users into different groups by using short hashes. Within each group, we leverage group key agreement and symmetric encryption to achieve secure batch checking and semantically secure storage. We also extensively evaluate its performance and overhead based on different datasets. We show that our scheme saves the data storage by up to 89.84%. These results show that our scheme is efficient and scalable for cloud backup system and can also ensure data confidentiality. IEEE

关键词： Semantics

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Object Helps U-Net Based Change Detectors

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IEEE/CAA Journal of Automatica Sinica 2024年第2期11卷 548-550页

作者： Lan Yan Qiang Li Kenli Li College of Computer Science and Electronic Engineering Hunan UniversityChangsha 410082China State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China

Dear Editor,This letter focuses on leveraging the object information in images to improve the performance of the U-Net based change *** detection is fundamental to many computer vision *** existing solutions based on ... 详细信息

关键词： Net computer networks

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