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International Conference on Actual Problems of Applied Mathematics and Computer Systems, APAMCS 2022

作者： Gautam, Nandita Basu, Abhishek Kaplun, Dmitry Sarkar, Ram Department of Computer Science and Engineering Jadavpur University Kolkata India Department of Computer Science and Engineering National Institute of Technology Durgapur Durgapur India Department of Automation and Control Processes Saint Petersburg Electrotechnical University "LETI" Saint Petersburg Russia

ISBN: (纸本)9783031341267

One of the most common types of cancer in the world is lung cancer, which is a cause of increasing mortality. It is most often discovered in the middle and later stages as it does not have obvious symptoms due to which its treatment is often missed. Studies show that most lung cancers are in the form of lung nodules, which can be categorized as benign or malignant. Thus, accurate early identification of malignant lung nodules that might later become cancerous is essential for the prevention of lung cancer. Computed Tomography (CT) images can be useful for identifying and segmenting these nodules. In this paper, we propose an ensemble model, called BUS-UNet++, to segment lung nodules using CT images. We use a combination of the ConvLSTM up-sampling architecture from BUS-UNet and skip connections in aggregation blocks from the UNet++ model to build the BUS-UNet++ ensemble. The dataset for this study is collected from the Lung Image Database Consortium Image Database Resource Initiative (LIDC-IDRI), where we have selected the modality of these images as CT images. These are further preprocessed to obtain nodule masks and nodule images, which constitute the Region of Interest (RoI). The accuracy achieved with the Adam Optimizer is 0.9731, the Intersection over Union (IoU) of about 0.8439, and the dice score coefficient (DSC) of about 0.958 are obtained by the proposed system. This ensemble model outperforms several state-of-the-art models used for the same purpose. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Image segmentation

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Design and implementation of intelligent LiDAR SLAM for autonomous mobile robots using evolutionary normal distributions transform

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Soft Computing 2024年第6期28卷 5321-5337页

作者： Huang, Hsu-Chih Xu, Sendren Sheng-Dong Lin, Hsien-Chan Xiao, Yuan-Sheng Chen, Yu-Xiang Department of Electrical Engineering National Ilan University Yilan260007 Taiwan Graduate Institute of Automation and Control National Taiwan University of Science and Technology Taipei106335 Taiwan Advanced Manufacturing Research Center National Taiwan University of Science and Technology Taipei106335 Taiwan

This paper presents a method that employs an evolutionary normal distributions transform (NDT) for simultaneous localization and mapping (SLAM) using light detection and ranging (LiDAR) for autonomous mobile robots. An adaptive inertia weight and two genetic operators were employed in the Taguchi-based whale optimization algorithm (WOA) to improve the search diversity and avoid local optima. NDT was used to model the environment of differential-drive mobile robots and WOA was applied to optimize the scan matching for the robotic SLAM problem. The NDT-WOA determines the SLAM pose estimation using sensed data from the physical world. A nonholonomic mobile robot was steered to achieve the NDT-WOA SLAM task with the derived robot kinematics and actuator dynamics. The proposed method was implemented in a TurtleBot3 Burger robotic development kit, which includes a single-board computer and an OpenCR control board. The Robot Operating System (ROS) was utilized to implement the evolutionary NDT-WOA SLAM system due to its flexibility, open source, and client library. Simulation and comparisons were conducted to illustrate the efficiency of the proposed NDT-WOA SLAM method compared to other SLAM paradigms. The experimental results show the effectiveness of the proposed evolutionary NDT-WOA SLAM for autonomous mobile robots. The results could have theoretical and practical significance for robotics research. © The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature 2023.

关键词： Mobile robots

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Sensorless control of PMaSynRM with HFI Method using Modified PLL for Low Speeds

Sensorless Control of PMaSynRM with HFI Method using Modifie...

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2022 International Conference on Electrical Machines, ICEM 2022

作者： Akgul, K. Tap, A. Ergenc, A.F. Yilmaz, M. Ergene, L.T. Istanbul Technical University Department of Electrical Engineering Istanbul34469 Turkey Istanbul Technical University Department of Control and Automation Engineering Istanbul34469 Turkey

ISBN: (数字)9781665414326

ISBN: (纸本)9781665414326

Nowadays, Permanent Magnet Assisted Synchronous Reluctance Motor, is a favorable alternative for variable speed drive systems. It has the advantages of comparable costs, low maintenance requirements, and superior efficiency and power density compared to the conventional counterparts like Induction Motors and Permanent Magnet Synchronous Motors. Despite the advantages of the sensorless control of these motors at low and zero speed, they still need some improvements. The extended electromotive force sensorless control method is usually regarded as insufficient in literature;thus, the high frequency injection method is often recommended. In this study, improvements are introduced to the selected high frequency injection method. It is based on injecting high frequency sinusoidal voltages with constant amplitude in the αβ0 axis. That provides a more robust and efficient sensorless control. The improvements which are basic but effective include an adaptive bandpass filter, modified phase-locked loop, and angle compensation. First, the proposed high frequency injection method is simulated and then implemented experimentally. This improved high frequency injection method is suitable for the sensorless control of PMaSynRM. © 2022 IEEE.

关键词： Sensorless control

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Investigation on Synchronization of Two Identical Class of Chaotic Systems Using Back-Stepping control Technique in the Presence of Time Delays 9

Investigation on Synchronization of Two Identical Class of C...

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9th International Conference on control, Decision and Information Technologies, CoDIT 2023

作者： Bora, Riddhi Mohan Sharma, Bharat Bhushan Dey, Bhabani Shankar Kar, Indra Narayan Indian Institute of Technology Delhi Control and Automation Group Electrical Engineering Department Hauz Khas New Delhi110016 India National Institute of Technology Hamirpur Department of Electrical Engineering Himachal Pradesh Hamirpur177005 India

ISBN: (纸本)9798350311402

Time delay analysis is very crucial when it comes to the synchronization of chaotic systems. All practical dynamical systems are described by differential equations, hence the presence of time delay in dynamics becomes a pivotal part of the system analysis. So, in this article, an attempt has been made to study the synchronization problem of two identical same-ordered time-delayed chaotic systems, in strict-feedback form as described in (2) and (3) in master and slave configuration. Unlike other conventional nonlinear control techniques, the back-stepping control design strategy is used to serve the purpose of synchronization. The main advantage of using the back-stepping control technique is that it utilizes only a single scalar controller to attain synchronization among different chaotic systems. A generalized control function u∈ R is designed for the same. For verification of the theoretical results, the 3D time-delayed Genesio-Tesi chaotic system is considered both a master and slave system. Simulation results are provided to support the proposition. © 2023 IEEE.

关键词： Chaotic systems

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Signal Processing for Acoustic Emission Signature Analysis and Defect Detection 26

Signal Processing for Acoustic Emission Signature Analysis a...

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26th International Conference on Digital Signal Processing and its Applications, DSPA 2024

作者： Altay, Yeldos A. Kuzivanov, Dmitry O. Altay, Dinara A. Fedorov, Alexey V. Satbayev University Department of Robotics and Technical Means of Automation Almaty Kazakhstan ITMO University Faculty of Control Systems and Robotics Saint-Petersburg Russia Military Engineering Institute of Radio Electronics and Communications Department of Natural Sciences Almaty Kazakhstan

ISBN: (纸本)9798350361728

This article presents the results of implementing a digital signal processing method for analyzing the acoustic emission (AE) signature and detecting defects such as cracks and pores. The signal processing method is based on a cascade connection of digital high-pass filters and ensures the selection of informative signals and increases the signal-to-interference ratio. In order to control the formation of defects in the process of selective laser melting, the paper presents the results of experimental testing of the cascade filtration method for detecting defects in the internal structure such as cracks and pores. The signal components recorded during the development of defects during the growth of additive manufacturing products were extracted. AE signatures were analyzed and statistical relationships were assessed. The relationship between the parameters of the AE signal and the values of laser radiation power has been identified, which characterizes the process of defect formation. © 2024 IEEE.

关键词： High pass filters

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Research on two-dimensional code scanning and automatic recording device for human body temperature measurement based on stm32 2

Research on two-dimensional code scanning and automatic reco...

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2nd International Conference on Electronic Information engineering and Computer Technology, EIECT 2022

作者： Lie, XueYan Huang, XiaoPeng Liu, HuanYu Li, YanLong Zhong, Hua Gao, FeiFei University of South China Department of Electrical Engineering and Automation China University of South China Department of Measurement and Control Technology China

ISBN: (纸本)9798350399561

With the outbreak and normal development of COVID-19, the effective detection and recording of body temperature has become a new focus of our attention. At present, there is no complete system to measure temperature, automatic record and specific information at home and abroad. To this end, combined with professional knowledge, our team designed a two-dimensional code scanning and human body temperature automatic recording device with STM32F1 as the core. The device STM32F1 development board is the main control chip. By connecting the WIFI module through the serial port, STM32F1 uses the function of wireless communication. Through the communication protocol, the link between the router and the ESC cloud server of Ali Cloud is utilized. The router or mobile data is transmitted to the user side (APP, applets) according to the specified communication protocol. Inside the development board, the code of each part is written to complete the device integrating code scanning and temperature measurement, which can be displayed and alarm through the node (OLED display screen). This will play a good role in preventing the spread of COVID-19. The system can be used in hospitals, communities, railway stations, shopping malls and many other public places. © 2022 IEEE.

关键词： Temperature measurement

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An Integrated Scheduling Algorithm of Satellite Observation and Data Download Based on Multi-Agent Deep Reinforcement Learning

An Integrated Scheduling Algorithm of Satellite Observation ...

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2023 China automation Congress, CAC 2023

作者： Chen, Kang Du, Shaochong Huo, Hong Fang, Tao Shanghai Jiao Tong University Department of Automation Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai China Shanghai Engineering Research Centre of Intelligent Control and Management Shanghai China

ISBN: (纸本)9798350303759

The earth observation satellite scheduling has always been critical for the maximum use of limited satellite resources, which basically includes scheduling ground target observation and observation data downloading. Due to the complexity of the mathematical model and its NP-hardness, current research usually splits it into two problems to simplify the model. In this paper, we propose a model of the integrated scheduling problem of satellite observation and data downloading (ISP-SODD) based on the decentralized partially observable Markov decision process (Dec-POMDP), treating each satellite as an agent with autonomous decision-making capability. A multi-agent deep reinforcement learning-based (MADRL-based) algorithm is proposed to solve it. A series of simulation experiments of different scales validate the effectiveness of the method and its advantages compared with the traditional heuristic algorithms. To the best of our knowledge, this study is the first attempt to apply multi-agent reinforcement learning to a multi-satellite scheduling scenario with downloading considerations. © 2023 IEEE.

关键词： Reinforcement learning

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Memô the Game: Serious Game for Development of Memorization in Children with Autistic Spectrum Disorder 9th

Memô the Game: Serious Game for Development of Memorizat...

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9th Latin American Congress on Biomedical engineering, CLAIB 2022 and 28th Brazilian Congress on Biomedical engineering, CBEB 2022

作者： Freitas, Éberte Panceri, João Schreider, Sheila Caldeira, Eliete Bastos-Filho, Teodiano Postgraduate Program in Electrical Engineering Federal University of Espirito Santo Vitoria Brazil Automation and Control Engineering Department Federal Institute of Espirito Santo Linhares Brazil Electrical Engineering Department Federal University of Espirito Santo Vitoria Brazil Postgraduate Program in Biotechnology Federal University of Espirito Santo Vitoria Brazil

ISBN: (纸本)9783031494062

This work presents the architecture and development of the Serious Game (SG) Memô which is aimed at exercising the Short-Term Memory (STM) of children with Autism Spectrum Disorder (ASD). This serious game proposes an individualized functional approach through Dynamic Difficulty Adjustment (DDA), which considers the performance, the expressed facial emotions, and the level of eye attention during child performance. In addition, it is used to recording the presence of hand and eye stereotypies. The SG is developed in Unity 3D, uses MediaPipe to determine the points of the hands, and is executed by our Socially Assistive Robot (SAR), termed Mobile Autonomous Robot for Interaction with Autistics and Trisomy 21 (MARIA T21). We believe that the creation of SGs to assist in the cognitive development of children with ASD and explore the detection of other stereotyped movements, associating them with a communicative and emotional proposal, is feasible. © 2024, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Serious games

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Using Institutional Purposes to Enhance Openness of Multi-Agent Systems 20th

Using Institutional Purposes to Enhance Openness of Multi-...

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20th International Conference on Practical Applications of Agents and Multi-Agent Systems , PAAMS 2022

作者： Cunha, Rafhael R. Hübner, Jomi F. de Brito, Maiquel Campus Vacaria Vacaria Brazil Department of Automation and Systems Engineering Federal University of Santa Catarina Florianópolis Brazil Control Automation and Computation Engineering Department Federal University of Santa Catarina Blumenau Brazil

ISBN: (纸本)9783031181917

In this paper, we consider a programmer who needs to develop an agent to publish information on different existing social networks. Several works in the literature allow the interaction of agents with a social network, but as far as we know, they are not focused on the interaction with several networks. Considering this problem, the paper highlights two options the programmer can take to enable the agent to interact with existing social networks and achieve its goal. The first option requires that the programmer knows the features present in the APIs used to interact with social networks, and the consequences that the functions can bring when executed in the system. The second option uses the institutional notion of purpose aiming to reduce the amount of previous knowledge required by the programmer. The paper aims to discuss the advantages and disadvantages of these options considering the development of open multi-agent system. A JaCaMo implementation of both options is used the help the evaluation. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Multi agent systems

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Investigation of the Performance Characteristics of the Angle-based Proportional Navigation Guidance Law

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IFAC-PapersOnLine 2023年第2期56卷 7020-7025页

作者： Bülent Özkan Mehmet Turan Söylemez Mechanical Engineering Department Gazi University Ankara Turkey Control and Automation Engineering Department Istanbul Technical University Istanbul Turkey

Guidance commands generated by the proportional navigation guidance (PNG) law which constitutes the most popular one among the guidance laws applied on the guidance munition fired against predetermined targets are in the form of linear acceleration or angular speed as dictated by the relevant engagement geometry. As a result of the studies in which notable linear acceleration- and angle-based guidance laws are compared, it is seen the lateral acceleration values obtained with the PNG law occur in a lower level than the results of the angle-based guidance laws. However, the angle-based guidance laws lead to lower final miss distances. In this study, the PNG law is so adapted that it yields angle-based guidance commands and then it is applied upon a short-range air-to-surface missile against a maneuvering surface target as well as the velocity pursuit guidance law that is nothing but a version of PNG law, linear homing guidance law, and body pursuit guidance law. After the computer simulations, it is observed that the angle-based PNG law produces smaller final miss distances compared to its original form. The resulting lateral accelerations are in admissible levels. Also, the engagement duration values with the target happen to be almost the same.

关键词： Guidance proportional navigation guidance guided munition acceleration-based guidance laws angle-based guidance laws

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