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IEEE International Conference on Robotics and Automation (ICRA)

作者： A. Casals L. Munoz J. Amat Dep. Automatic Control and Computer Engineering Robotics Institute UPC-Universitat Politicnica de Catalunya Spain Robotics Institute. (IRI) UPC / CSIC UPC-Universitat Politècnica de Catalunya Spain

Teleoperation makes possible the execution of many tasks, that otherwise are not feasible when a human operator can not access to the working area due to dangerousness or environmental conditions, and it is not possible as well, to program the task so as to be performed autonomously, due to its complexity. Nevertheless, manipulation tasks require certain ability from the human operator due to the difficulties that produce the need to operate through control devices that does not fit with the structure of the slave arms. With the aim of increasing the precision capabilities provided by such control interfaces, a vision based procedure designed to deform the space around the working point has been developed. The vision system operates from the detection of the relevant scene elements. This space deformation produces automatically a progressive increase in precision when the robot arm approaches the relevant detected elements.

关键词： Robot kinematics Humans Orbital robotics Automatic control Service robots Medical robotics Intelligent robots Arm Robotics and automation Force feedback

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Forecasting of Monkeypox Cases Using Optimized SARIMAX Based Model

Forecasting of Monkeypox Cases Using Optimized SARIMAX Based...

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Electronic engineering (ICEEM), International Conference on

作者： Mahmoud Elshabrawy Marwa M. Eid Abdelaziz A. Abdelhamid El-Sayed M. El-Kenawy Abdelhameed Ibrahim Dept. of Communications & Electronics Delta Higher Institute of Engineering and Technology Mansoura Egypt Faculty of Artificial Intelligence Delta University for Science and Technology Mansoura Egypt Dep. of Computer Science Faculty of Computer and Information Sciences Ain Shams University Cairo Egypt Computer Engineering and Control Systems Dept. Faculty of Engineering University Mansoura Egypt

This study presents a dipper-throated-based ant colony optimization (DTACO) with the Seasonal Auto-Regressive Integrated Moving Average with eXogenous factor (SARIMAX) model (DTACO+SARIMAX) to forecast monkeypox cases. The work optimizes the SARIMAX model using grid search cross-validation and fine-tunes its hyperparameters using DTACO to improve prediction accuracy. The suggested model's consistency and accuracy are considerable compared to previous studies. Comparisons with state-of-the-art models validate the proposed model's predictions. DTACO+SARIMAX can be used to control disease and monitor monkeypox. Healthcare organizations and governments can better manage and track the pandemic's course by offering accurate predictions, reducing public panic, and enabling effective pandemic planning. The Analysis of Variance (ANOVA) and Wilcoxon signed-rank tests are conducted on the proposed DTACO-SARIMAX model and compared models.

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On real-time control tasks schedulability

On real-time control tasks schedulability

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European control Conference (ECC)

作者： P. Marti R. Villa J.M. Fuertes G. Fohle Dep. of Automatic Control Universitat Politècnica de Catalunya Barcelona SPAIN Dept. of Computer Engineering Mälardalen Högskola PO Box 883 SE-721 23 Västerås Sweden

In general, characteristics of classical control theory and properties of real-time scheduling algorithms may cause unexpected control system responses in the implementation of real-time computer-controlled systems. Revising real-time scheduling properties, we analyse which are the main timing problems that current scheduling algorithms may introduce in the execution of control loops. Next, we categorise those timing problems, that is, jitters on task-instances executions, in a control context. Afterwards, we show, by simulations, different types of control system performance degradation that these jitters may cause. Finally, we propose possible solutions that solves this degradation, based on irregular sampling discrete-time system models with varying time delays.

关键词： Jitter Real-time systems control systems Degradation Delays Processor scheduling

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Switching rates to save resources in distributed computer control systems

Switching rates to save resources in distributed computer co...

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作者： Mauro, Max Almeida, Luis Fuertes, Josep M. LTR-DCX Centro Universitário do Leste de Minas Gerais Av. Tancredo Neves 3500Coronel Fabriciano 35170-056 Minas Gerais Brazil LSE-IEETA/DET Universidade de Aveiro Campus de Santiago 3810-193 Aveiro Portugal Automatic Control and Computer Engineering Dep. Technical University of Catalonia Pau Gargallo 5 08028 Barcelona Spain

ISBN: (纸本)9783902661043

Recent work has shown that switching on-line between controllers using different rates might be beneficial, for example to cope with scheduling or network-induced jitter. In this paper we extend this approach to achieve a different purpose, i.e., to reduce the resource utilization of a closed-loop controller, namely CPU and network bandwidth, while maintaining its control performance. The proposed approach, named dual-rate, uses two controllers tuned for two sampling rates, a higher nominal rate determined by the usual rules and a substantially lower rate that is used whenever the system is operating close to stationarity. This approach is applied to a simulated steer-by-wire automotive application based on Truetime. It is shown that the dual-rate approach allows saving substantial CPU and network bandwidth while maintaining a control performance near the one achieved with the nominal controller alone. The released resources can be used to execute other tasks, transmit other messages or simply facilitate error recovery with temporal *** © 2006 IFAC.

关键词： controllers

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Sliding mode control applied to motion control of linear structural systems under earthquake excitation

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IFAC Proceedings Volumes 2003年第7期36卷 251-255页

作者： Mahdi Jalili-Kharaajoo Siamak Feizi-Khankandi Arash Gholami Control & Intelligent processing Center of Excellence Department of Electrical and Computer Engineering University of Tehran P.O. Box 14395/515 Tehran Iran Tel: (+98-21) 8020403 Fax: (+98-21) 8778690Turkey Civil Engineering Dep. University of Tehran P.O. Box 14395/525 Tehran Iran

For dynamical systems expressed in state-space form or for systems with non-classical damping, the reduction of the structural model into the modal co-ordinates involves complex modal analysis with complex modal co-ordinates. In this paper, application of sliding mode control for vibration control of a linear structural system under earthquake excitation is investigated. The proposed controller is applied to a three-storey building structure and the motion of the floors under El-Centro earthquake is investigated. Simulation results show that using the proposed sliding mode controller the displacement of the floors is decreased significantly. This controller can be similarly applied for higher order building.

关键词： Sliding mode control linear structural systems motion control earthquake excitation

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SSAM: A Haskell Parallel Programming STM Based Simple Actor Model

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Journal of Physics: Conference Series 2020年第1期1566卷

作者： Y Kim J Cheon T Hur S Byun G Woo Dep. of Electrical and Computer Engineering Pusan National University Dep. of Computer Science Kyungsung University Smart Control Center of LG Electronics

As computers with manycore architecture are being widely spread, parallel programming becomes a pending issue. While parallel programming has been a challenging issue, Haskell is known to be of the best available one. The immutability and declarative nature of Haskell suit well the need for parallelism. In our previous work, we implemented the SAM, a parallel programming model based on Haskell. In this paper, we propose the SSAM, an updated version of SAM, by solving the performance overhead of SAM socket. We discuss the architecture of SSAM and its major functions and show the 14% scalability upgrade in a performance test.

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Assessment and recognition in technical massive open on-line courses with and without on-line laboratories

Assessment and recognition in technical massive open on-line...

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IEEE Education engineering (EDUCON)

作者： Sergio Martin Manuel Castro Elio Sancristobal Gabriel Diaz Felix Garcia-Loro Clara Perez Blanca Quintana Rosario Gil Pedro Plaza Africa Lopez German Carro Antonio Robles Llanos Tobarra Miguel Rodriguez-Artacho Jose A. Ruiperez-Valiente Electrical and Computer Engineering Department Universidad Nacional de Educación a Distancia Madrid Spain Dep. Sistemas de Comunicación y Control Universidad Nacional de Educación a Distancia Madrid Spain Dep. Lenguajes y Sistemas Informáticos Universidad Nacional de Educación a Distancia Madrid Spain Teaching Systems Lab Masschusetts Institute of Technology USA

This paper describes the organization and results of several MOOCs delivered about technical topics (i.e., digital electronics, VHDL design on FPGAs, open education and OERs repositories and the use of STEAM technologies to encourage diversity and inclusion), where online laboratories have been used in some of them. An analysis of the enrollment, students participating on tasks or quizzes, drop-out rate and certifications requests have been done.

关键词： VHDL Laboratories Organizations Task analysis engineering education Field programmable gate arrays Certification

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An Analysis of Haskell Parallel Programming Model in the HaLVM

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Journal of Physics: Conference Series 2020年第1期1566卷

作者： Junseok Cheon Yeoneo Kim Taekwang Hur Sugwoo Byun Gyun Woo Dep. of Electrical and Computer Engineering Pusan National University Dep. of Computer Science Kyungsung University Smart Control Center of LG Electronics

Recently, cloud computers are widely used due to the development of computing environment and network speed. Unikernel is considered to be an attractive operating system in the manycore environment that effectively provides cloud computers. HalVM is a unikernel coded in Haskell. In this paper, we analyze the performance of Haskell running in a unikernel, which has shown good parallel programming performance in a manycore environment. In this paper, we analyze the performance of Haskell running in a unikernel, while Haskell has shown good performance in a manycore environment. To do this, we select HaLVM as the target operating system and analyze the performance by testing various Haskell parallel programming models. Test result shows that HaLVM is scalable only on IVC. We also implement a library to make programming with IVC more convenient, and use this library to compare extensibility experiments. Our test shows HaLVM's scalability is 112.42% higher than Linux environment.

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Qualitative Approach for Mobile Robot Collision Avoidance

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IFAC Proceedings Volumes 1997年第6期30卷 1305-1309页

作者： Rita M Planas Nuria Piera Antonio B Martínez Computer Engineering & Control Dpt. UPC Pau Gargallo 5 Barcelona 08022. Spain. phone: +34 3 401 69 92 Dep. Matematica Aplicada II UPC Pau Gargallo 5 Barcelona 08022. Spain. phone: +34 3 40172 76

In a multi mobile robot system is essential to avoid collisions and to coordinate the trajectories of multiple mobile robots in order to insure the safety and the correct operation of the whole process. It is reasonable to think that a qualitative approach is an adequate way in this context, because it is more important to model the space in a more or less risky collision zones that to know with precision the exact distance among robots. The qualitative solutions for space modelization and permitted trajectories problems which are presented in this work, give us some advantages in reference to the computational time.

关键词： Vision Autonomous mobile robots Qualitative control

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Motivation and Competitive Learning in a Social Robot

Motivation and Competitive Learning in a Social Robot

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2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, Pages 3661-4172

作者： Salvador Dominguez Eduardo Zalama Jaime G. Garcia-Bermejo Jaime Pulido Robotics Computer Vision and Real Time Division CARTIF Foundation Boecillo Valladolid Spain DepDepartment of Systems Engineering and Automatic Control Industrial Engineering School University of Valladolid Spain University of Valladolid (Spain) Dep. of Systems Engineering and Automatic Control Industrial Engineering School Comput. Vision & Real Time Div. CARTIF Found. Valladolid

ISBN: (纸本)9781424420575

This paper describes the motivation and learning subsystems of Arisco which is a mechatronic head with interactive capacity which includes high expressivity through gesturing, voice recognition, text to speech generation, visual tracking, and internet information retrieval. The general architecture is first described in the paper. Then, the learning capacity of Arisco is addressed. It learns and performs associations between different stimulus responses through several dynamic neural networks, guided by motivational drives. A number of experiments are discussed, covering stimulus competition, habituation, classical and operant conditioning.

关键词： Social robot learning interaction computer vision motivation

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