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11th RSI International Conference on Robotics and Mechatronics, ICRoM 2023

作者： Jalali, Hasan Damavandi, Hossein Kalhor, Ahmad Masouleh, Mehdi Tale University of Tehran Human and Robot Interaction Laboratory School of Electrical and Computer Engineering Tehran Iran Sadjad University Faculty of Computer Engineering and Information Technology Mashhad Iran University of Tehran Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering Tehran Iran

ISBN: (纸本)9798350308105

Today, system identification plays a pivotal role in control science and offering a myriad of applications. This paper places its focus on the identification of actuator models within real-world delta robots for informing controller design. Two identification methods, namely NN-ARX and ARMAX, have been employed to extract the dynamic characteristics of the robot actuators, resulting in dynamic models of these integral components being derived. These dynamic models have been utilized in simulations for controller design, and due to the disparities in the identification models, distinct controllers have been realized. Subsequently, these controllers have been practically implemented on delta robots, and their performances have been subjected to a comprehensive comparative analysis. The results demonstrate that controllers integrating the identified actuator models outperformed those designed without the incorporation of the identification models. In practice, the implementation of controllers based on NN-ARX yielded the most favorable results among all the tested controllers. This research not only underscores the importance of accurate actuator models in control system design but also highlights the superior performance of neural network-based controllers in real-world robotic applications. In particular, the practical results of NN-ARX-based controllers were able to achieve significantly lower RMSE of 2.3562, 1.9531, and 2.1185 for the three motors, respectively, as opposed to the 4.1369, 3.0125, and 3.0363 achieved by the ARMAX-based controllers. © 2023 IEEE.

关键词： controllers

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Hybrid Sine Cosine and Stochastic Fractal Search for Hemoglobin Estimation

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computers, Materials & Continua 2022年第8期72卷 2467-2482页

作者： Marwa M.Eid Fawaz Alassery Abdelhameed Ibrahim Bandar Abdullah Aloyaydi Hesham Arafat Ali Shady Y.El-Mashad Faculty of Artificial Intelligence Delta University for Science and TechnologyMansoura35712Egypt Department of Computer Engineering College of Computers and Information TechnologyTaif UniversityTaif21944Saudi Arabia Computer Engineering and Control Systems Department Faculty of EngineeringMansoura UniversityMansoura35516Egypt Mechanical Engineering Department Qassim UniversityBuraidah51452Saudi Arabia Department of Computer Systems Engineering Faculty of Engineering at ShoubraBenha UniversityEgypt

The sample’s hemoglobin and glucose levels can be determined by obtaining a blood sample from the human body using a needle and analyzing ***(HGB)is a critical component of the human body because it transports oxygen from the lungs to the body’s tissues and returns carbon dioxide from the tissues to the *** the HGB level is a critical step in any blood analysis *** often indicate whether a person is anemic or polycythemia *** ensemble models by combining two or more base machine learning(ML)models can help create a more improved *** purpose of this work is to present a weighted average ensemble model for predicting hemoglobin *** optimization method is utilized to get the ensemble’s optimum *** optimum weight for this work is determined using a sine cosine algorithm based on stochastic fractal search(SCSFS).The proposed SCSFS ensemble is compared toDecision Tree,Multilayer perceptron(MLP),Support Vector Regression(SVR)and Random Forest Regressors as model-based approaches and the average ensemble *** SCSFS results indicate that the proposed model outperforms existing models and provides an almost accurate hemoglobin estimate.

关键词： Sine cosine optimization metaheuristics optimization hemoglobin estimation weight average ensemble

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Analysis of Subsynchronous Oscillations Caused by Interactions of DFIG-Based Farms and SVGs

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IEEE Transactions on Power Systems 2025年第2期40卷 1570-1582页

作者： Li, Kejiang Chen, Wuhui Qin, Wei Li, Canbing Qin, Wenping Qiu, Jing Guo, Xiaolong Chang, Xiqiang Liu, Defu College of Electrical and Power Engineering Taiyuan030024 China Shanghai Jiao Tong University School of Electronic Information and Electrical Engineering Shanghai200240 China The University of Sydney School of Electrical and Computer Engineering SydneyNSW2006 Australia State Grid Xinjiang Electrical Power Company Ltd. Xinjiang Control Center for Power Dispatching Wulumuqi830002 China

The static var generators (SVGs) installed at the point of common coupling (PCC) of wind farms can significantly impact the sub-synchronous oscillation (SSO) performance of the power system with grid-connected wind farms. For example, in 2017 multiple SSO events were caused by interactions among a doubly fed induction generator (DFIG) based farm, constant reactive power mode (CRPM) based SVGs, and the weak grid in Xinjiang, China. This paper reveals the mechanisms of the SSO caused by the interaction among DFIG-based farms, SVGs with different control modes, and weak grids. It is discovered that CRPM-based SVGs with low current controller bandwidths (CCBWs) can suppress SSOs in the power system with grid-connected DFIG-based farms, but that constant voltage mode (CVM) based SVGs and constant power factor mode (CPFM) based SVGs can worsen the SSO performance of the system. Furthermore, it is revealed why the amplitude of the super-synchronous component is larger than the sub-synchronous component in these events by deriving their amplitude ratio equation. Finally, the theoretical analysis results are verified by the small-signal method and electromagnetic transient (EMT) simulation. © 1969-2012 IEEE.

关键词： Phase locked loops

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Weighted syncmer sampling improves long-read mapping

Weighted syncmer sampling improves long-read mapping

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2024 IEEE International Conference on Bioinformatics and Biomedicine, BIBM 2024

作者： Quan, Wei Kang, Jinjun Deng, Yanfei Liu, Zhuang Zhu, Xiao Quan, Guangri Yantai University School of Computer and Control Engineering Yantai China Xinjiang University of Political Science and Law School of Information and Network Security Tumxuk China

ISBN: (纸本)9798350386226

Syncmers represent a novel class of methods for selecting k-mers that exhibit robustness against mutations in flanking sequences and demonstrate superior conservation in mutated sequences. Nevertheless, syncmers may generate a higher frequency of repetitive seed matches compared to alternative techniques, such as minimizers, which can result in increased computational time. In this article, we introduce weighted minimizer sampling, which integrates weighted minimizer sampling and syncmer sampling to enhance the sensitivity and accuracy of long-read mapping. We modified two state-of-the-art long-read mappers, Minimap2 and Winnowmap, by substituting the sketching sampling methods with weighted minimizer sampling. We assessed their sensitivity and accuracy using simulated and real datasets. The experimental results indicate that weighted minimizer sampling significantly improves the sensitivity and accuracy of long-read mapping. The source code is available at GitHub: https://***/hexinkaoan/weighted-syncmer. © 2024 IEEE.

关键词： Mapping

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Optimization of Magnetic Couplers in Wireless Charging Systems Using the Surrogate Model

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IEEE Journal of Emerging and Selected Topics in Power Electronics 2025年

作者： Li, Zhenjie Li, Xianzhen Yuan, Dechun Zhang, Jiawei Liu, Yiqi Northeast Forestry University College of Computer and Control Engineering Harbin150040 China

This article proposes a general and efficient surrogate model-based parameter optimization method, consisting of the Taguchi method, finite element method (FEM) simulation, genetic algorithm-backpropagation (GA-BP) neural network, and grid search, to optimize various magnetic coupler with multiple design objectives in wireless charging systems (WCS). First, the WCS with hub-type multiple circular coil coupler (HMTC) is used as an example to validate the necessity of parameter optimization for the magnetic coupler. Then, the HMTC's structure and principles are analyzed. Three design objectives with function expressions are used as examples for designing an HMTC: the rated mutual inductance, high misalignment tolerance, and lightweight receiver. Second, a detailed workflow of the proposed method is analyzed, especially the basic working principles of the Taguchi method and GA-BP neural network-based surrogate model. Third, the HMTC optimization process and the proposed method's main parameter determination are analyzed. Then, simulation results verify the proposed method's feasibility on HMTC and two other magnetic couplers. Numerical results prove that the proposed method has higher optimization efficiency and accuracy. Finally, a prototype is built. Experimental results confirm that the rated mutual inductance is 20.2 μH, and its fluctuation within ±5% is circular (radius is 34% of the transmitter diameter). © 2013 IEEE.

关键词： Inductive power transmission

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Robust Remote Sensing Scene Classification with Multi-view Voting and Entropy Ranking 1

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4th International Conference on Machine Learning for Cyber Security, ML4CS 2022

作者： Wang, Jinyang Wang, Tao Gan, Min Hadjichristofi, George Fujian Provincial Key Laboratory of Information Processing and Intelligent Control College of Computer and Control Engineering and International Digital Economy College Minjiang University Fuzhou350108 China College of Computer and Data Science Fuzhou University Fuzhou350108 China Department of Computer Science and Engineering European University Cyprus Nicosia1516 Cyprus

ISBN: (数字)9783031200960

ISBN: (纸本)9783031200953

Deep convolutional neural networks have been widely used in scene classification of remotely sensed images. In this work, we propose a robust learning method for the task that is secure against partially incorrect categorization of images. Specifically, we remove and correct errors in the labels progressively by iterative multi-view voting and entropy ranking. At each time step, we first divide the training data into disjoint parts for separate training and voting. The unanimity in the voting reveals the correctness of the labels, so that we can train a strong model with only the images with unanimous votes. In addition, we adopt entropy as an effective measure for prediction uncertainty, in order to partially recover labeling errors by ranking and selection. We empirically demonstrate the superiority of the proposed method on the WHU-RS19 dataset and the AID dataset. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Entropy

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Sequential Masking Imitation Learning for Handling Causal Confusion in Autonomous Driving 8th

Sequential Masking Imitation Learning for Handling Causal C...

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8th International Workshop on Advanced Computational Intelligence and Intelligent Informatics, IWACIII 2023

作者： Zhang, Huanghui Zheng, Zhi College of Computer and Cyber Security Fujian Normal University Fuzhou350117 China College of Control Science and Engineering Zhejiang University Hangzhou310027 China

ISBN: (纸本)9789819975891

Training agents for autonomous driving using imitation learning seems like a promising way since its only requirement is the demonstration from expert drivers. However, causal confusion is a problem existing in imitation learning, which is that with more features offered, an agent may perform even worse. Here, we aim to augment agents’ imitation ability in driving scenarios under sequential setting, by a novel method we proposed: Sequential Masking Imitation Learning(SEMI). First, we train a Vector Quantised-Variational AutoEncoder(VQ-VAE) to encode a sequence of images into a latent representation with discrete codes. After that we deploy several masks on the encoded images, the masks here will randomly hide some semantic objects in the encoded images. Finally, we design the behavior clone network as a predictor of expert action, using an encoded and masked image sequence as input, encouraging the network to make expert-like predictions when some partition of information about the environment is missing. The masking procedure in SEMI helps the imitator identify the contribution of each encoded feature to the expert’s prediction. We demonstrate that this method could alleviate causal confusion in driving simulation by deploying it to the CARLA simulator, and compared it with other methods. Experimental results show that SEMI can effectively reduce confusion in autonomous driving. The agent trained with SEMI method reduces the collision rate by 45 % compared to methods without masking procedure, and obtain the highest average survival timesteps among competing methods. © 2024, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Semantics

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Performance analysis of UAV-based mixed underwater PLC-RF systems

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Digital Communications and Networks 2024年第5期10卷 1332-1340页

作者： Shenghai Chen Liang Yang Xianfu Lei College of Computer Science and Electronic Engineering Hunan UniversityChangsha410082China Key Laboratory of Intelligent Control Technology for Wuling-Mountain Ecological Agriculture in Hunan Province Huaihua UniversityHuaihua418000China School of Information Science and Technology Southwest Jiaotong UniversityChengdu610031China

In this study,we analyzed the performance of an Unmanned Aerial Vehicle(UAV)-based mixed Underwater Power Line Communication-Radio Frequency(UPLC-RF)*** this network,a buoy located at the sea is used as a relay to transmit signals from the underwater signal source to the UAV through the PLC *** assume that the UPLC channel obeys a log-normal distribution and that the RF link follows the Rician *** this model,we obtained the closed-form expressions for the Outage Probability(OP),Average Bit-error-rate(ABER),and Average Channel Capacity(ACC).In addition,the asymptotic analysis of the OP and ABER was performed,and an upper bound for the average capacity was ***,the analytical results were verified by Monte Carlo simulation thereby demonstrating the effect of impulse noise and the altitude of the UAV on network performance.

关键词： ABER Average bit-error-rate ACC Average channel capacity OP Outage probability UAV Unmanned aerial vehicle UPLC Underwater power line communication

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Optimizing DNN Inference on Multi-Accelerator SoCs at Training-time

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IEEE Transactions on computer-Aided Design of Integrated Circuits and Systems 2025年

作者： Risso, Matteo Burrello, Alessio Pagliari, Daniele Jahier Politecnico di Torino Department of Control and Computer Engineering Turin10129 Italy

The demand for executing Deep Neural Networks (DNNs) with low latency and minimal power consumption at the edge has led to the development of advanced heterogeneous Systems-on-Chips (SoCs) that incorporate multiple specialized computing units (CUs), such as accelerators. Offloading DNN computations to a specific CU from the available set often exposes accuracy vs efficiency trade-offs, due to differences in their supported operations (e.g., standard vs. depthwise convolution) or data representations (e.g., more/less aggressively quantized). A challenging yet unresolved issue is how to map a DNN onto these multi-CU systems to maximally exploit the parallelization possibilities while taking accuracy into account. To address this problem, we present ODiMO, a hardware-aware tool that efficiently explores fine-grain mapping of DNNs among various on-chip CUs, during the training phase. ODiMO strategically splits individual layers of the neural network and executes them in parallel on the multiple available CUs, aiming to balance the total inference energy consumption or latency with the resulting accuracy, impacted by the unique features of the different hardware units. We test our approach on CIFAR-10, CIFAR-100, and ImageNet, targeting two open-source heterogeneous SoCs, i.e., DIANA and Darkside. We obtain a rich collection of Paretooptimal networks in the accuracy vs. energy or latency space. We show that ODiMO reduces the latency of a DNN executed on the Darkside SoC by up to 8× at iso-accuracy, compared to manual heuristic mappings. When targeting energy, on the same SoC, ODiMO produced up to 50.8× more efficient mappings, with minimal accuracy drop ( © 1982-2012 IEEE.

关键词： System-on-chip

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Data Security Storage Mechanism Based on Blockchain Network

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computers, Materials & Continua 2023年第3期74卷 4933-4950页

作者： Jin Wang WeiOu Wenhai Wang RSimon Sherratt Yongjun Ren Xiaofeng Yu School of Computer&Communication Engineering Changsha University of Science&TechnologyChangsha410004China School of Control Science and Engineering Zhejiang UniversityHangzhou310058China School of Systems Engineering The University of ReadingReadingRG66AYUK School of Computer Engineering Research Center of Digital Forensics of Ministry of EducationNanjing University of Information Science&TechnologyNanjing210044China School of Business Nanjing UniversityNanjing210093China

With the rapid development of information technology,the development of blockchain technology has also been deeply *** performing block verification in the blockchain network,if all transactions are verified on the chain,this will cause the accumulation of data on the chain,resulting in data storage *** the same time,the security of data is also challenged,which will put enormous pressure on the block,resulting in extremely low communication efficiency of the *** traditional blockchain system uses theMerkle Tree method to store *** verifying the integrity and correctness of the data,the amount of proof is large,and it is impossible to verify the data in batches.A large amount of data proof will greatly impact the verification efficiency,which will cause end-to-end communication delays and seriously affect the blockchain system’s stability,efficiency,and *** order to solve this problem,this paper proposes to replace the Merkle tree with polynomial commitments,which take advantage of the properties of polynomials to reduce the proof size and communication *** realizing the ingenious use of aggregated proof and smart contracts,the verification efficiency of blocks is improved,and the pressure of node communication is reduced.

关键词： Blockchain cryptographic commitment smart contract data storage

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