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IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO

作者： Andrea Lucaroni Andrea Bottino Fabrizio Lamberti Giulia Mariani Andrea Marinelli Nicolò Boccardo Emanuele Gruppioni Lorenzo De Michieli Matteo Laffranchi Giacinto Barresi Rehab Technologies Lab Istituto Italiano di Tecnologia Genoa Italy Department of Informatics Bioengineering Robotics and Systems Engineering Università degli Studi di Genova Genoa Italy Department of Control and Computer Engineering Politecnico di Torino Turin Italy Open University Affiliated Research Centre at Istituto Italiano di Tecnologia (ARC@IIT) Genoa Italy Centro Protesi INAIL Istituto Nazionale per l’Assicurazione contro gli Infortuni sul Lavoro Bologna Italy

ISBN: (数字)9798350344639

ISBN: (纸本)9798350344646

The embodiment (the sensation that an external object is part of one’s body scheme) is one of the processes targeted by the research in bionic prosthetics as a potential strategy to increase the acceptance of artificial limbs. This study investigates how one of the components of the embodiment, the body ownership (the sensation of possessing the external object), may be affected by a secondary task (possibly competing for cognitive resources requested for the embodiment itself) in a virtual exergame for prosthetic training. In this preliminary study participants, without impairments, are asked to perform activities of pick-and-place in two conditions by using a digital model of the Hannes bionic hand: (i) one is cognitively challenging, requiring to memorize the sequence of objects to move before it disappears; (ii) the other is non-challenging for the subject’s memory, with a constantly visible sequence. In both conditions, each subject is asked to catch objects according to the presented sequence. According to questionnaire data, we noticed how this procedure is feasible. Interestingly, the proprioceptive drift (the person is asked to indicate where they perceive their own real limb without looking at it) in a subsequent Rubber Hand Illusion session with the real bionic hand seems highlighting that the working memory-engaging secondary task can impair the embodiment process in terms of body ownership of the robotic hand. Probably, the memory task actually requires a type of cognitive resources that are necessary for the body ownership process itself during the multisensory stimulation. This allows for envisioning further investigations and novel design concepts for prosthetic training paradigms.

关键词： Training Solid modeling Visualization Biological system modeling Memory management Propioception Virtual environments

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Load Frequency control of Hybrid Power System Using Marine Predator Algorithm Tuned Cascaded controller

Load Frequency Control of Hybrid Power System Using Marine P...

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International Conference on Renewable Energy Research and Applications (ICRERA)

作者： Muhannnad Inshal Shahzad Muhammad Majid Gulzar Aqsa Shahzad Ahlam Jameel Adnan Shakoor Salman Habib Department of Control & Instrumentation Engineering Dhahran Saudi Arabia Interdisciplinary Research Center for Sustainable Energy Systems (IRC-SES) Dhahran Saudi Arabia Comsats Institute of Information Technology Abbottabad Pakistan Department of Electrical Engineering Lahore College for Women University Lahore Pakistan Interdisciplinary Research Center for Biosystems and Machines (IRC-BSM) Dhahran Saudi Arabia Interdisciplinary Research Center for Smart Mobility and Logistics (IRC-SML) King Fahd University of Petroleum & Minerals Dhahran Saudi Arabia

ISBN: (数字)9798350375589

ISBN: (纸本)9798350375596

The load frequency control (LFC) problem in multi-area power systems is very common whenFtable RES are added to the power grid because of their irregular behavior. Renewable energy combined with a thermal generator makes a multi-area power system. As renewable sources are not stable, that's why they are attached to conventional sources to complete the load demand. This paper implemented a sophisticated control technique known as the Marine Predator Algorithm (MPA) in conjunction with PID n for LFC of the interconnected power system. By using the MPA control technique, their behavior to locate and capture prey helps to effectively encounter frequency fluctuations in the power system. Different controllers, like GA-PI, FFA-PI, and ABC-PID n , have been analyzed in this study and compared with the proposed technique to show the superiority of the proposed technique.

关键词： Hands Renewable energy sources Accuracy Systematics Sensitivity Generators Power grids Thermal loading Frequency control Convergence

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Data-Driven Identification of Dynamic Quality Models in Drinking Water Networks

arXiv

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arXiv 2022年

作者： Wang, Shen Chakrabarty, Ankush Taha, Ahmad F. School of Cyberspace Security Beijing University of Posts and Telecommunications Beijing100876 China Department of Control and Dynamical Systems Mitsubishi Electric Research Laboratories United States Department of Civil and Environmental Engineering at Vanderbilt University NashvilleTN37235 United States

Traditional control and monitoring of water quality in drinking water distribution networks (WDN) rely on mostly model- or toolbox-driven approaches, where the network topology and parameters are assumed to be known. In contrast, system identification (SysID) algorithms for generic dynamic system models seek to approximate such models using only input-output data without relying on network parameters. The objective of this paper is to investigate SysID algorithms for water quality model approximation. This research problem is challenging due to (i) complex water quality and reaction dynamics and (ii) the mismatch between the requirements of SysID algorithms and the properties of water quality dynamics. In this paper, we present the first attempt to identify water quality models in WDNs using only input-output experimental data and classical SysID methods without knowing any WDN parameters. Properties of water quality models are introduced, the ensuing challenges caused by these properties when identifying water quality models are discussed, and remedial solutions are given. Through case studies, we demonstrate the applicability of SysID algorithms, show the corresponding performance in terms of accuracy and computational time, and explore the possible factors impacting water quality model identification. Copyright © 2022, The Authors. All rights reserved.

关键词： Network topology

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Self-Supervised Plant Phenotyping by Combining Domain Adaptation with 3D Plant Model Simulations: Application to Wheat Leaf Counting at Seedling Stage

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Plant Phenomics 2023年第2期5卷 226-238页

作者： Yinglun Li Xiaohai Zhan Shouyang Liu Hao Lu Ruibo Jiang Wei Guo Scott Chapman Yufeng Ge Benoit de Solan Yanfeng Ding Frédéric Baret Plant Phenomics Research Centre Academy for Advanced Interdisciplinary StudiesJiangsu Collaborative Innovation Center for Modern Crop ProductionNanjing Agricultural UniversityNanjingChina Key Laboratory of Image Processing and Intelligent Control School of Artificial Intelligence and AutomationHuazhong University of Science and TechnologyWuhanChina Graduate School of Agricultural and Life Sciences The University of Tokyo1-1-1 Midori-choNishitokyo CityTokyoJapan School of Agriculture and Food Sciences The University of QueenslandSt.LuciaQueensland 4072Australia Department of Biological Systems Engineering University of Nebraska-LincolnLincolnNebraska 68583United States INRAE Avignon UniversitéUMR EMMAHUMT CAPTE228route de l’aérodrome-CS 4050984914 Avignon Cedex 9France ARVALIS Institut du Végétal 3 Rue Joseph et Marie Hackin75116 ParisFrance

The number of leaves at a given time is important to characterize plant growth and *** this work,we developed a high-throughput method to count the number of leaves by detecting leaf tips in RGB *** digital plant phenotyping platform was used to simulate a large and diverse dataset of RGB images and corresponding leaf tip labels of wheat plants at seedling stages(150,000 images with over 2 million labels).The realism of the images was then improved using domain adaptation methods before training deep learning *** results demonstrate the efficiency of the proposed method evaluated on a diverse test dataset,collecting measurements from 5 countries obtained under different environments,growth stages,and lighting conditions with different cameras(450 images with over 2,162 labels).Among the 6 combinations of deep learning models and domain adaptation techniques,the Faster-RCNN model with cycle-consistent generative adversarial network adaptation technique provided the best performance(R^(2)=0.94,root mean square error=8.7).Complementary studies show that it is essential to simulate images with sufficient realism(background,leaf texture,and lighting conditions)before applying domain adaptation ***,the spatial resolution should be better than 0.6 mm per pixel to identify leaf *** method is claimed to be self-supervised since no manual labeling is required for model *** self-supervised phenotyping approach developed here offers great potential for addressing a wide range of plant phenotyping *** trained networks are available at https://***/YinglunLi/Wheat-leaf-tip-detection.

关键词： Wheat seedling Plant

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Rational design of MOF@COF composites with multi-site functional groups for enhanced elimination of U(VI) from aqueous solution

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Chemosphere 2023年第1期341卷 140086页

作者： Liu, Lijie Zhao, Bing Wu, Dedong Wang, Xiangxue Yao, Wen Ma, Zixuan Hou, Hairui Yu, Shujun MOE Key Laboratory of Resources and Environmental Systems Optimization College of Environmental Science and Engineering North China Electric Power University Beijing102206 China Hebei Key Lab of Power Plant Flue Gas Multi-Pollutants Control Department of Environmental Science and Engineering North China Electric Power University Baoding071003 China School of Public Health Guangdong Medical University Dongguan523808 China

Both environment and human beings were menaced by the widespread application of radioactive uranium, high-performance and effective elimination of uranium from wastewater is of important meaning for development of environmental sustainability in the future. In this study, the water-stable MOF material and the highly crystalline COF were compounded by a mild hydrothermal strategy, which achieved efficient removal of U(VI) through the synergistic effect. The composites showed the characteristics of both COFs and MOFs, which will possess higher stability, larger surface area and faster adsorption efficiency that cannot be carried out by a single component. Batch experiments and characterizations (SEM, TEM, XRD, FT-IR, BET, XPS, etc.) indicated that UiO-66-NH2@LZU1 had more stable and multi-layer pore structure and rich active functional groups. The Langmuir model and the pseudo-second-order kinetics fitting was more suitable for the U(VI) elimination process. The greatest uranium adsorbing capacity of UiO-66-NH2@LZU1 (180.4 mg g−1) was observed to exceed the UiO-66-NH2 (108.8 mg g−1) and COF-LZU1 (65.8 mg g−1), which reached the excellent hybrid effects. Furthermore, FT-IR and XPS analyses confirmed that the most nitrogen-containing group from COF-LZU1 and oxygen-containing group of UiO-66-NH2 could be combined with U(VI). In addition, electrostatic interaction was also a mechanism during the removal process. This work displayed that UiO-66-NH2@LZU1 was a prospective hybrid material for radioactive waste remediation. The compound method and application mentioned in this work had provided a theoretical basis for designing and developing multi-functional composite adsorbents, which contributed to the development of new materials for radioactive wastewater treatment technologies. © 2023 Elsevier Ltd

关键词： Wastewater treatment

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Possibilities of Changing the Transport Characteristics of the TEP70 Locomotive 27

Possibilities of Changing the Transport Characteristics of t...

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27th International Workshop on Electric Drives: MPEI department of Electric Drives 90th Anniversary, IWED 2020

作者： Rjabtsikov, Viktor Rassolkin, Anton Vaimann, Toomas Kallaste, Ants Lukichev, Dmitry V. Tallinn University of Technology Department of Electrical Power Engineering and Mechatronics Tallinn Estonia ITMO University Faculty of Control Systems and Robotics St. Petersburg Russia

ISBN: (纸本)9781728141589

The research concentrates on the modernization issues of diesel-electric passenger locomotives TEP70. There is number of TEP70 locomotives in Baltic region that are used very rarely by their direct application but may as well be usable as freight locomotives. The main goal of the study is to change the tractive force of a TEP70 locomotive to be able to transport cargo in the Baltic region. Analysis of TEP70 working principles and load characteristics are presented. Based on the analytical model of locomotive, suggestion to replace the gearbox to increase locomotive pulling capability is proposed. Moreover, the paper presents calculation of the traction effort of TEP70. That kind of calculations are very important for motion planning and it should be done in order to avoid overloading during the working mode of the locomotive. © 2020 IEEE.

关键词： Engines

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Distributed Projection-free Algorithm for Constrained Aggregative Optimization

arXiv

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arXiv 2022年

作者： Wang, Tongyu Yi, Peng Department of Control Science and Engineering Tongji University Shanghai201804 China The Shanghai Research Institute for Intelligent Autonomous Systems Shanghai201804 China Shanghai Institute of Intelligent Science and Technology Tongji University Shanghai200092 China

In this paper, we focus on solving a distributed convex aggregative optimization problem in a network, where each agent has its own cost function which depends not only on its own decision variables but also on the aggregated function of all agents' decision variables. The decision variable is constrained within a feasible set. In order to minimize the sum of the cost functions when each agent only knows its local cost function, we propose a distributed Frank-Wolfe algorithm based on gradient tracking for the aggregative optimization problem where each node maintains two estimates, namely an estimate of the sum of agents' decision variable and an estimate of the gradient of global function. The algorithm is projection-free, but only involves solving a linear optimization to get a search direction at each step. We show the convergence of the proposed algorithm for convex and smooth objective functions over a time-varying network. Finally, we demonstrate the convergence and computational efficiency of the proposed algorithm via numerical simulations. © 2022, CC BY.

关键词： Cost functions

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Two-Degree-of-Freedom PID controller Design of Unmaned Aerial Vehicles

Two-Degree-of-Freedom PID Controller Design of Unmaned Aeria...

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2022 International Conference on control, Automation and Diagnosis, ICCAD 2022

作者： Taher Azar, Ahmad Serrano, Fernando E. Ahmad Kamal, Nashwa Al Mhdawi, Ammar K. Khamis, Alaa M. Kasim Ibraheem, Ibraheem Humaidi, Amjad J. Ben Njima, Chakib Prince Sultan University College of Computer & Information Sciences Riyadh Saudi Arabia Benha University Faculty of Computers and Artificial Intelligence Benha Egypt Instituto de Investigación en Energía Tegucigalpa11101 Honduras Cairo University Faculty of Engineering Giza Egypt Edge Hill University United Kingdom General Motors Canada OshawaL1J 6J2 Canada Dijlah University College Department of Computer Techniques Engineering Baghdad10001 Iraq University of Technology Control and Systems Engineering Department Baghdad Iraq University of Sousse Tunisia

ISBN: (数字)9781665497947

ISBN: (纸本)9781665497947

This paper shows an analysis and controller design of independent two degrees of freedom (2DOF) PID controllers for unmanned aerial vehicles. The transfer functions of system dynamics are separated into two sections: lateral and longitudinal. A transient examination of the temporal response for the lateral and longitudinal control blocks is also included in this paper when a reference input is utilized as a pilot instruction. This research also provides a robustness analysis as well as an integral square error analysis to evaluate the performance of the suggested control technique. The fundamental contribution of this research is that independent control for unmanned aerial vehicles is limited, as described in the literature. A major contribution is made because disturbances are handled. The results show that in all simulations, a suitable settling time and overshoot are reached. © 2022 IEEE.

关键词： Longitudinal control

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Capturing Aerodynamic Characteristics of ATTAS Aircraft with Evolving Intelligent System

arXiv

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arXiv 2025年

作者： Soylu, Aydoğan Kumbasar, Tufan Control and Automation Engineering Department Istanbul Technical University Istanbul Turkey AI and Intelligent Systems Laboratory Istanbul Technical University Istanbul Turkey

Accurate modeling of aerodynamic coefficients is crucial for understanding and optimizing the performance of modern aircraft systems. This paper presents the novel deployment of an Evolving Type-2 Quantum Fuzzy Neural Network (eT2QFNN) for modeling the aerodynamic coefficients of the ATTAS aircraft to express the aerodynamic characteristics. eT2QFNN can represent the nonlinear aircraft model by creating multiple linear submodels with its rule-based structure through an incremental learning strategy rather than a traditional batch learning approach. Moreover, it enhances robustness to uncertainties and data noise through its quantum membership functions, as well as its automatic rule-learning and parameter-tuning capabilities. During the estimation of the aerodynamic coefficients via the flight data of the ATTAS, two different studies are conducted in the training phase: one with a large amount of data and the other with a limited amount of data. The results show that the modeling performance of the eT2QFNN is superior in comparison to baseline counterparts. Furthermore, eT2QFNN estimated the aerodynamic model with fewer rules compared to Type-1 fuzzy counterparts. In addition, by applying the Delta method to the proposed approach, the stability and control derivatives of the aircraft are analyzed. The results prove the superiority of the proposed eT2QFNN in representing aerodynamic coefficients. © 2025, CC BY-NC-SA.

关键词： Fuzzy rules

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Observer design for interconnected systems with model reduction and unknown inputs

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IFAC-PapersOnLine 2020年第2期53卷 4169-4174页

作者： Tim Steiner Steven Liu Institute of Control Systems Department of Electrical and Computer Engineering University of Kaiserslautern Kaiserslautern Germany

In this paper a combination of distributed parameter systems and lumped parameter systems is investigated, also known as interconnected system. In particular, the heat distribution and the influence of single chips on a base plate is of interest, here in context of insulated-gate bipolar transistors. Only temperature measurements on the base plate are available. A method is presented with which the temperature inside the chip can be estimated. A combination of model reduction and unknown input observer is utilized.

关键词： interconnected systems proper orthogonal decomposition model reduction boundary control method of snapshots unknown input observer

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