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IEEE/SICE International Symposium on System Integration

作者： Luca Nunziante Kentaro Uno Gustavo H. Diaz Shreya Santra Alessandro De Luca Kazuya Yoshida Department of Computer Control and Management Engineering Sapienza University of Rome Italy Space Robotics Lab. (SRL) in Department of Aerospace Engineering Graduate School of Engineering Tohoku University Sendai Japan

ISBN: (数字)9798331531614

ISBN: (纸本)9798331531621

Since the successful Apollo program, humanity is once again aiming to return to the Moon for scientific discovery, resource mining, and inhabitation. Upcoming decades focus on building a lunar outpost, with robotic systems playing a crucial role to safely and efficiently establish essential infrastructure such as solar power generating towers. Similar to the construction of the International Space Station (ISS), shipping necessary components via modules and assembling them in situ should be a practical scenario. In this context, this paper focuses on the integration of vision, control, and hardware systems within an autonomous sequence for a dual-arm robot system. We explore a perception and control pipeline specifically designed for assembling solar panel modules, one of the benchmark tasks. Ad hoc hardware was designed and tested in real-world experiments. A mock-up of modular solar panels and active-passive connectors are employed, with the control of this grappling fixture integrated into the proposed pipeline. The successful implementation of our method demonstrates that the two robot manipulators can effectively connect arbitrarily placed panels, highlighting the seamless integration of vision, control, and hardware systems in complex space applications.

关键词： YOLO Uncertainty Pipelines Moon Manipulators control systems Hardware Solar panels Assembly Visual perception

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An Incentive Framework for Task Offloading in Edge Computing Marketplaces under Price Competition

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IEEE Transactions on Mobile Computing 2025年

作者： Wu, Liantao Sun, Peng Wang, Zhibo Pang, Xiaoyi Hu, Jiahui Chen, Honglong Yang, Yang Shanghai200062 China Hunan University College of Computer Science and Electronic Engineering Changsha410082 China Zhejiang University College of Computer Science and Technology Hangzhou310027 China College of Control Science and Engineering Qingdao266580 China IoT Thrust Guangzhou510000 China

To efficiently execute tasks, computation resource requesters (CRRs) with limited resources can offload their tasks to nearby computation resource providers (CRPs) with spare computing capacity. These CRPs require appropriate incentives to compensate for their incurred costs when helping process the offloaded tasks. Although several mechanisms have been designed to incentivize CRPs, none of them have investigated the incentive mechanism considering price-setting and price-taking CRPs simultaneously. In this work, we propose an incentive framework for task offloading in the edge computing marketplace that includes both price-setting and price-taking CRPs. We model the CRR's interactions with both types of CRPs as a three-stage Stackelberg game to maximize the profit for both the CRR and CRPs. We prove the existence of a unique subgame perfect equilibrium (SPE) of the formulated game and further develop iterative algorithms for the CRR and price-setting CRPs to achieve the equilibrium. Through the designed algorithms, each CRP does not require complete information about the CRR and other CRPs. Extensive simulations demonstrate that offloading tasks to both price-setting and price-taking CRPs achieves higher profits for the CRR and price-setting CRPs compared to offloading tasks solely to price-setting CRPs. Additionally, the obtained SPE can achieve near-optimal social welfare. © 2002-2012 IEEE.

关键词： Computation offloading

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A Study on Impact-Aware Aerial Robots Colliding with the Environment at Non-Vanishing Speed

A Study on Impact-Aware Aerial Robots Colliding with the Env...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Gayatri Indukumar Alessandro Saccon Antonio Franchi Chiara Gabellieri Robotics and Mechatronics Department Electrical Engineering Mathematics and Computer Science (EEMCS) Faculty University of Twente Enschede The Netherlands Department of Mechanical Engineering Eindhoven University of Technology Eindhoven The Netherlands Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy

ISBN: (数字)9798331513283

ISBN: (纸本)9798331513290

Enabling aerial robots to handle dynamic contacts happening at non-vanishing speeds can enlarge the range of their applications. In this work, we propose an impactaware strategy to allow aerial multirotor robots to recover from impacts. The method leverages a reactive strategy not requiring low-level changes to the motion controller commonly implemented onboard quadrotors, which might be not viable or not desirable for most users. Extensive simulation tests show that the proposed strategy considerably increases the tolerated velocity at impact in tasks in which the robot either picks an object up or collides against an object to clear its way. Preliminary experimental results using Crazyflie UAVs are also presented.

关键词： Trajectory tracking Dynamics Lead Autonomous aerial vehicles Stability analysis Robustness computer crashes Trajectory Robots Quadrotors

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Pose-graph optimization for efficient tie-point matching and 3D scene reconstruction from oblique UAV images

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ISPRS Journal of Photogrammetry and Remote Sensing 2025年 225卷 461-491页

作者： Xu, Zhihua Niu, Yongze Jiang, Jincheng Qin, Rongjun Cui, Ximin College of Geoscience and Surveying Engineering China University of Mining and Technology-Beijing Beijing100083 China North Automatic Control Technology Institute Shanxi Taiyuan030006 China School of Intelligent Systems Engineering Sun Yat-sen University Guangdong Shenzhen518107 China Department of Civil Environmental and Geodetic Engineering The Ohio State University 2036 Neil Avenue ColumbusOH43210 United States Department of Electrical and Computer Engineering The Ohio State University Dreese Laboratories 205 2015 Neil Ave ColumbusOH43210 United States Translational Data Analytics Institute The Ohio State University 1760 Neil Ave ColumbusOH43210 United States

Oblique photogrammetry using unmanned aerial vehicles (UAV) is crucial to 3D scene reconstruction. Nevertheless, oblique images are generally acquired with large overlaps, and sometimes with multiple views. Although this increases the level of data completeness, it introduces additional and sometimes redundant computations in tie-point matching, creating overly dense camera connections in the pose graph for bundle adjustment (BA). This study optimizes the pose graph of oblique UAV images by removing redundant image connections to guide tie-point matching. Assuming a five-camera system for oblique image collection, a pose graph called a topologically connected camera network (TCN) was initially constructed using position and orientation system (POS) data to determine the spatial connectivity among oblique images. Second, five geometric meta-parameters of overlapping images were constructed, and their influence on tie-point matching was analyzed using a data-driven approach to generate a weighted pose graph. Third, the weighted pose graph was simplified to a degree-bounded skeletal camera network (D-SCN) using the proposed two-stage multi-objective graph optimization approach. Finally, the D-SCN was embedded into a structure from motion (SfM) pipeline to produce a novel D-SCN–SfM method to reduce the required computations for tie-point matching. The proposed D-SCN-SfM method was tested using data from three large sites, each containing over 5,000 images. In addition, the D-SCN-SfM method was compared with three state-of-the-art methods. The experimental results indicate that our method can significantly reduce the required computations for tie-point matching to 1/14–1/20 as compared to a method that uses only topological constraints, that is, TCN, saving 89–92% of the time expenditure. Furthermore, the accuracy and completeness of the 3D geometry produced by the proposed method were comparable to those produced by standard SfM methods. The source code of our approach

关键词： Drones

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Finite-control-Set Model-Predictive control of Open-End Winding Synchronous Reluctance Motor Drives

Finite-Control-Set Model-Predictive Control of Open-End Wind...

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IEEE Workshop on Electrical Machines Design, control and Diagnosis (WEMDCD)

作者： Filippo Gemma Jacopo Riccio Giulia Tresca Oriana Benfatto Pericle Zanchetta Electrical Computer and Biomedical Engineering Dept University of Pavia Pavia IT Power electronics machines and control group University of Nottingham Nottingham UK

ISBN: (数字)9798331520748

ISBN: (纸本)9798331520755

This paper presents a novel control strategy for a Synchronous Reluctance Machine (SyRel) in an Open-End Winding (OEW) configuration. The proposed approach employs Finite control Set Model Predictive control (FCS-MPC) to handle the multi-variable nature of the system, enabling the coordinated control of two converters through a unified cost function. The control strategy is built upon an experimentally derived magnetic model of the machine, allowing the exploitation of the machine's inherent non-linearity within the control scheme. The developed method ensures high dynamic performance and achieves key objectives such as a unity power factor on the main side, an extended constant torque region (CTR) with the same current rating, and fast response in both current and voltage control. Simulation results validate the effectiveness of the proposed strategy, highlighting its potential for SyRel applications.

关键词： Reactive power Electric potential Torque Voltage source inverters Simulation Windings Cost function Voltage control Reluctance motors Predictive control

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Distributed Prescribed-Time Observer for Nonlinear Systems in Block-Triangular Form

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IEEE control Systems Letters 2025年 9卷 222-227页

作者： Vincent de Heij M. Umar B. Niazi Karl H. Johansson Saeed Ahmed Jan C. Willems Center for Systems and Control and the Engineering and Technology Institute Groningen Faculty of Science and Engineering University of Groningen Groningen The Netherlands Division of Decision and Control Systems Digital Futures KTH Royal Institute of Technology Stockholm Sweden Department of Electrical Engineering and Computer Science Laboratory for Information and Decision Systems Massachusetts Institute of Technology Cambridge MA USA

This letter proposes a design of a distributed prescribed-time observer for nonlinear systems representable in a block-triangular observable canonical form. Using a weighted average of neighbor estimates exchanged over a strongly connected digraph, each observer estimates the system state despite the limited observability of local sensor measurements. The proposed design guarantees that distributed state estimation errors converge to zero at a user-specified convergence time, irrespective of observers’ initial conditions. To achieve this prescribed-time convergence, distributed observers implement time-varying local output injection gains that monotonically increase and approach infinity at the prescribed time. The theoretical convergence is rigorously proven and validated through numerical simulations, where some implementation issues due to increasing gains have also been clarified.

关键词： Observers Convergence Nonlinear systems Symmetric matrices Observability Directed graphs control systems Vectors Linear systems Electronic mail

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Transforming stroop task cognitive assessments with multimodal inverse reinforcement learning

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Smart Health 2025年 36卷

作者： Abbasi, Ali Gong, Jiaqi Korivand, Soroush Department of Control and Computer Engineering Polytechnic University of Turin Italy Department of Computer Science The University of Alabama United States Department of Mechanical Engineering Mississippi State University United States

Stroop tasks, recognized for their cognitively demanding nature, hold promise for diagnosing and monitoring neurodegenerative diseases. Understanding how humans allocate attention and resolve interference in the Stroop test remains a challenge;yet addressing this gap could reveal key opportunities for early-stage detection. Traditional approaches overlook the interplay between overt behavior and underlying neural processes, limiting insights into the complex color-word associations at play. To tackle this, we propose a framework that applies Inverse Reinforcement Learning (IRL) to fuse electroencephalography (EEG) signals with eye-tracking data, bridging the gap between neural and behavioral markers of cognition. We designed a Stroop experiment featuring congruent and incongruent conditions to evaluate attention allocation under varying levels of interference. By framing gaze as actions guided by an internally derived reward, IRL uncovers hidden motivations behind scanning patterns, while EEG data — processed with advanced feature extraction — reveals task-specific neural dynamics under high conflict. We validate our approach by measuring Probability Mismatch, Target Fixation Probability-Area Under the Curve, Sequence Score, and MultiMatch metrics. Results show that the IRL-EEG model outperforms an IRL-Image baseline, demonstrating improved alignment with human scanpaths and heightened sensitivity to attentional shifts in incongruent trials. These findings highlight the value of integrating neural data into computational models of cognition and illuminate possibilities for early detection of neurodegenerative disorders, where subclinical deficits may first emerge. Our IRL-based integration of EEG and eye-tracking further supports personalized cognitive assessments and adaptive user interfaces. © 2025 The Authors

关键词： Cognitive assessment EEG Eye-tracking Inverse reinforcement learning Neurodegenerative diseases

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Towards backward compatibility of ADRC: revisiting classical state-feedback control with integral compensator

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Bulletin of the Polish Academy of Sciences: Technical Sciences 2025年第2期73卷

作者： Mrotek, Mikolaj Michalski, Jacek Madonski, Rafal Pazderski, Dariusz Retinger, Marek Faculty of Control Robotics and Electrical Engineering Institute of Robotics and Machine Intelligence Poznan University of Technology Piotrowo 3a Poznan60-965 Poland Faculty of Automatic Control Electronics and Computer Science Department of Automatic Control and Robotics Silesian University of Technology Akademicka 16 Gliwice44-100 Poland Faculty of Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Poznan University of Technology Piotrowo 3a Poznan60-965 Poland

In this paper, the problem of backward compatibility of active disturbance rejection control (ADRC) is investigated. The goal is to contextualize ADRC to deliver its interpretations from the established field of linear control systems. For this study, a control algorithm, denoted here as integral disturbance rejection control (IDRC), is considered that combines classical state-feedback control with an integral compensator. At first, an interpretation of ADRC is involved in terms of existing state-space control approaches. Next, a transition to the frequency domain is performed, which is justified as a significant part of practical control engineering is conducted in that domain. For assumed specific plant structures, both ADRC and IDRC are then holistically compared in terms of transfer function representation and frequency characteristics, as well as steady-state convergence conditions. Such a juxtaposition helps to highlight the similarities and differences of both approaches, whereas the utilized bandwidth parameterization is shown to bring the control system to the same form, thus indicating some interesting practical aspects. Finally, the theoretical results concerning both considered control structures are validated in a set of numerical simulations and experiments conducted on a laboratory hardware testbed. © 2025 The Author(s).

关键词： Disturbance rejection

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The effect of PV modules on temperature conditions of nearby power cables

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Frontiers in Energy Research 2025年 13卷

作者： Czapp, Stanislaw Szultka, Seweryn Tomaszewski, Adam Khan, Laiq Faculty of Electrical and Control Engineering Gdansk University of Technology Gdansk Poland Institute of Fluid-Flow Machinery Polish Academy of Sciences Gdansk Poland Department of Electrical and Computer Engineering COMSATS University Islamabad Pakistan

The highest permissible load of power cables (ampacity) depends strongly on the ambient temperature, which in the case of cables surrounded by free air is generally assumed to be 25°C. Considering the installation of photovoltaic (PV) modules, the thermal conditions for the cables connected to these modules may be very unfavorable. The cables are laid under the module and the space underneath it is heated by this module. The aim of the paper is to present a numerical model of an example PV module mounted on the roof of a building, as well as the results of numerical calculations of the temperature around the module. Based on the numerical model of the PV system and advanced calculations it is possible to introduce a correction factor to determine the ampacity of the power cables located in the vicinity of the PV module. The authors’ research allows for the correct determination of the cable ampacity, avoiding its overheating and preventing the risk of fire. Copyright © 2025 Czapp, Szultka, Tomaszewski and Khan.

关键词： ampacity energy photovoltaic source power cable power system thermal effect

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Parameters Extraction of Photovoltaic Cell Using Particle Swarm Optimization 4th

Parameters Extraction of Photovoltaic Cell Using Particle Sw...

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4th International Conference on Electronic engineering and Renewable Energy Systems, ICEERE 2024

作者： Chermite, Charaf Douiri, Moulay Rachid Elamri, Oumaymah Control and Computer Science for Intelligent Systems and Green Energy Department of Applied Physics Faculty of Science and Technology Cadi Ayyad University Marrakech Morocco LAMIGEP EMSI of Marrakech Systems and Applications Engineering Laboratory National School of Applied Sciences Cadi Ayyad University Marrakech Marrakesh Morocco

ISBN: (纸本)9789819799749

Extracting parameters accurately and effectively from solar photovoltaic (PV) models is crucial for detailed simulation, evaluation, and management of PV systems. Although there has been an increase in the development of analytical, numerical, and metaheuristic methods targeting this task, accurately determining these parameters continues to be a significant challenge. This study focuses on applying Particle Swarm Optimization (PSO) for the extraction of key parameters of RTC France solar cells, a critical step towards enhancing PV system efficiency and reliability. Additionally, the PSO's performance is evaluated against other metaheuristic algorithms including Enhanced Chaotic JAYA (CJAYA), Performance-Guided JAYA (PGJAYA), and Enhanced Gradient-Based Optimizer (EGBO), underscoring the effectiveness of the proposed PSO-based approach. Utilizing MATLAB-SIMULINK, comprehensive analysis and results are presented, shedding light on the efficacy of PSO in addressing the intricacies of parameter extraction in PV systems. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Particle swarm optimization (PSO)

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