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IEEE Information Technology and Mechatronics engineering Conference (ITOEC)

作者： Husam E. Elfadel Haroon Congzhi Huang School of Control and Computer Engineering North China Electric Power University Beijing China Department of Electrical and Electronic Engineering Faculty of Engineering Omdurman Islamic University Khartoum Sudan

ISBN: (数字)9798331529482

ISBN: (纸本)9798331529499

This topic proposed a Sliding Mode control (SMC) strategy utilizing the BAT Algorithm (BAT-SMC) for regulating concentration and temperature in a Continuous Stirred Tank Reactor (CSTR) system. The SMC is designed to maintain concentration (CA) and temperature (T) within desired setpoints by adapting sliding surfaces in the presence of disturbances and system uncertainties. The BAT Algorithm enhances the SMC by optimizing control parameters, reducing chattering effects, and improving tracking accuracy. Simulations validate the efficacy of BAT-SMC, showing improved dynamic performance for both concentration and temperature control compared to other controllers.

关键词： Uncertainty Mechatronics Heuristic algorithms Optimal control Coolants Temperature control Continuous-stirred tank reactor Feeds Information technology Sliding mode control

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A Semidefinite Programming-Based Branch-and-Cut Algorithm for Biclustering

arXiv

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arXiv 2024年

作者： Sudoso, Antonio M. Department of Computer Control and Management Engineering "Antonio Ruberti" Sapienza University of Rome Via Ariosto 25 00185 Italy

Biclustering, also called co-clustering, block clustering, or two-way clustering, involves the simultaneous clustering of both the rows and columns of a data matrix into distinct groups, such that the rows and columns within a group display similar patterns. As a model problem for biclustering, we consider the k-densest-disjoint biclique problem, whose goal is to identify k disjoint complete bipartite subgraphs (called bicliques) of a given weighted complete bipartite graph such that the sum of their densities is maximized. To address this problem, we present a tailored branch-and-cut algorithm. For the upper bound routine, we consider a semidefinite programming relaxation and propose valid inequalities to strengthen the bound. We solve this relaxation in a cutting-plane fashion using a first-order method. For the lower bound, we design a maximum weight matching rounding procedure that exploits the solution of the relaxation solved at each node. Computational results on both synthetic and real-world instances show that the proposed algorithm can solve instances approximately 20 times larger than those handled by general-purpose solvers. Copyright © 2024, The Authors. All rights reserved.

关键词： Global optimization

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Haptic object identification for advanced manipulation skills 9th

Haptic object identification for advanced manipulation skill...

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9th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2020

作者： Gabler, Volker Maier, Korbinian Endo, Satoshi Wollherr, Dirk Automatic Control Engineering Munich Germany Information Oriented Control Department of Electrical and Computer Engineering Technical University of Munich Munich Germany

ISBN: (纸本)9783030643126

In order to identify the characteristics of unknown objects, humans-in contrast to robotic systems-are experts in exploiting their sensory and motoric abilities to refine visual information via haptic perception. While recent research has focused on either estimating the geometry or material properties, this work strives to combine these aspects by outlining a probabilistic framework that efficiently refines initial knowledge from visual sensors by generating a belief state over the object shape while simultaneously learn material parameters. Specifically, we present a grid-based and a shape-based exploration strategy, that both apply the concepts of Bayesian-Filter theory in order to decrease the uncertainty. Furthermore, the presented framework is able to learn about the geometry as well as to distinguish areas of different material types by applying unsupervised machine learning methods. The experimental results from a virtual exploration task highlight the potential of the presented methods towards enabling robots to autonomously explore unknown objects, yielding information about shape and structure of the underlying object and thus, opening doors to robotic applications where environmental knowledge is limited. © Springer Nature Switzerland AG 2020.

关键词： Autonomous agents

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Resilient Routing Table Computation Based on Connectivity Preserving Graph Sequences 42

Resilient Routing Table Computation Based on Connectivity Pr...

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42nd IEEE International Conference on computer Communications, INFOCOM 2023

作者： Tapolcai, Janos Babarczi, Peter Ho, Pin-Han Ronyai, Lajos Budapest University of Technology and Economics Faculty of Electrical Engineering and Informatics Department of Telecommunications and Media Informatics BudapestH-1111 Hungary University of Waterloo Deptartment of Electrical and Computer Engineering Canada Institute for Computer Science and Control Eötvös Loránd Research Networkand Department of Algebra Hungary Institute of Mathematics Budapest University of Technology and Economics BudapestH-1111 Hungary

ISBN: (纸本)9798350334142

Fast reroute (FRR) mechanisms that can instantly handle network failures in the data plane are gaining attention in packet-switched networks. In FRR no notification messages are required as the nodes adjacent to the failure are prepared with a routing table such that the packets are re-routed only based on local information. However, designing the routing algorithm for FRR is challenging because the number of possible sets of failed network links and nodes can be extremely high, while the algorithm should keep track of which nodes are aware of the failure. In this paper, we propose a generic algorithmic framework that combines the benefits of Integer Linear Programming (ILP) and an effective approach from graph theory related to constructive graph characterization of k-connected graphs, i.e., edge splitting-off. We illustrate these benefits through arborescence design for FRR and show that (i) due to the ILP we have great flexibility in defining the routing problem, while (ii) the problem can still be solved very fast. We demonstrate through simulations that our framework outperforms state-of-the-art FRR mechanisms and provides better resilience with shorter paths in the arborescences. © 2023 IEEE.

关键词： Graph theory

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Generating and Evaluating Synthetic Data in Virtual Reality Simulation Environments for Pose Estimation

Generating and Evaluating Synthetic Data in Virtual Reality ...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Sandeep Reddy Sabbella Pascal Serrarens Francesco Leotta Daniele Nardi Department of Computer Control and Management Engineering Antonio Ruberti (DIAG) Sapienza University of Rome Italy PaleBlue Stavanger Norway

ISBN: (数字)9798350375022

ISBN: (纸本)9798350375039

Virtual Reality (VR) environments are used as a way to let humans experiment with algorithms, techniques, and situations in various application areas, including emergency management, serious games, smart manufacturing, and precision agriculture. They are especially relevant when experiments in the real world may be harmful to human operators. As VR environments are the closest possible faithful replicas of real environments, many recent works focus on the employment of such tools as a means to generate synthetic datasets that can be used for training machine and deep learning models, especially in situations where obtaining real datasets can be difficult. In this paper, we introduce a strategy to generate a dataset for pose estimation in the challenging scenario of precision agriculture. Finally, the quality of the generated dataset was evaluated.

关键词： Training Precision agriculture Visualization Pose estimation Employment Virtual environments Data models Robustness Synthetic data Testing

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Distributionally Robust control for Chance-Constrained Signal Temporal Logic Specifications 63

Distributionally Robust Control for Chance-Constrained Signa...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Kordabad, Arash Bahari Vlahakis, Eleftherios E. Lindemann, Lars Dimarogonas, Dimos V. Soudjani, Sadegh Max Planck Institute for Software Systems Kaiserslautern Germany Kth Royal Institute of Technology Division of Decision and Control Systems Stockholm Sweden University of Southern California Viterbi School of Engineering Thomas Lord Department of Computer Science Los Angeles United States

ISBN: (纸本)9798350316339

We consider distributionally robust optimal control of stochastic linear systems under signal temporal logic (STL) chance constraints when the disturbance distribution is unknown. By assuming that the underlying predicate functions are Lipschitz continuous and the noise realizations are drawn from a distribution having a concentration of measure property, we first formulate the underlying chance-constrained control problem as stochastic programming with constraints on expectations and propose a solution using a distributionally robust approach based on the Wasserstein metric. We show that by choosing a proper Wasserstein radius, the original chance-constrained optimization can be satisfied with a user-defined confidence level. A numerical example illustrates the efficacy of the method. © 2024 IEEE.

关键词： Stochastic systems

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Innovative Automatic Tool Changing Mechanism for Robotic Arms

Innovative Automatic Tool Changing Mechanism for Robotic Arm...

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Intermountain engineering, Technology and Computing (IETC)

作者： Shaibal Das Matthew Berry Taher Deemyad Department of Electrical and Computer Engineering Idaho State University Pocatello ID USA Department of Mechanical and Measurement & Control Engineering Idaho State University Pocatello ID USA

ISBN: (数字)9798350373073

ISBN: (纸本)9798350373080

This paper presents the development and implementation of an automatic tool-changing mechanism for industrial and collaborative robotic arms. The primary objective is to enable integration with a variety of end effectors, both active and passive, allowing the robot to autonomously switch tools without manual intervention. The system comprises three key components: a universal end-effector connector, various tools, and a customized toolbox. The universal connector will be screwed to the end of the robotic arm. It features a mechanical lock mechanism and accommodates electrical and pneumatic inlets for diverse tools. A dedicated toolbox, situated within the robot's workspace range, houses all tools for easy access. The study focuses on the design, 3D printing, and testing of two tools - an active and a passive tool - along with the innovative mechanical lock mechanism, which has been successfully developed and tested. Additionally, two industrial tasks have been defined to demonstrate the mechanism's functionality in real-world scenarios, emphasizing non-singular path trajectories between tasks. Future work includes the integration of additional sensors for enhanced automatic robot control. Overall, this research will contribute to the advancement of fully autonomous robotic systems in industrial settings.

关键词： Connectors Program processors Service robots Force Pneumatic systems Robot sensing systems End effectors

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Real-Time Trajectory Generation via Dynamic Movement Primitives for Autonomous Racing

Real-Time Trajectory Generation via Dynamic Movement Primiti...

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American control Conference (ACC)

作者： Catherine Weaver Roberto Capobianco Peter R. Wurman Peter Stone Masayoshi Tomizuka Sony AI Department of Mechanical Engineering University of California Berke-ley CA USA Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy Department of Computer Science The University of Texas at Austin TX USA

ISBN: (数字)9798350382655

ISBN: (纸本)9798350382662

We employ sequences of high-order motion primitives for efficient online trajectory planning, enabling competitive racecar control even when the car deviates from an offline demonstration. Dynamic Movement Primitives (DMPs) utilize a target-driven nonlinear differential equation combined with a set of perturbing weights to model arbitrary motion. The DMP's target-driven system ensures that online trajectories can be generated from the current state, returning to the demonstration. In racing, vehicles often operate at their handling limits, making precise control of acceleration dynamics essential for gaining an advantage in turns. We introduce the Acceleration goal (Acc. goal) DMP, extending the DMP's target system to accommodate accelerating targets. When sequencing DMPs to model long trajectories, our Acc. goal DMP explicitly models acceleration at the junctions where one DMP meets its successor in the sequence. Applicable to DMP weights learned by any method, the proposed DMP generates trajectories with less aggressive acceleration and jerk during transitions between DMPs compared to second-order DMPs. Our proposed DMP sequencing method can recover from trajectory deviations, achieve competitive lap times, and maintain stable control in autonomous vehicle racing within the high-fidelity racing game Gran Turismo Sport. Video available: https://***/***/racingdmp/home

关键词： Sequential analysis Trajectory planning Dynamics Games Streaming media Real-time systems Trajectory

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JIST: Joint Image and Sequence Training for Sequential Visual Place Recognition

arXiv

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arXiv 2024年

作者： Berton, Gabriele Trivigno, Gabriele Caputo, Barbara Masone, Carlo The Visual and Multimodal Applied Learning Lab Department of Control and Computer Engineering Politecnico di Torino Torino10138 Italy

Visual Place Recognition aims at recognizing previously visited places by relying on visual clues, and it is used in robotics applications for SLAM and localization. Since typically a mobile robot has access to a continuous stream of frames, this task is naturally cast as a sequence-to-sequence localization problem. Nevertheless, obtaining sequences of labelled data is much more expensive than collecting isolated images, which can be done in an automated way with little supervision. As a mitigation to this problem, we propose a novel Joint Image and Sequence Training protocol (JIST) that leverages large uncurated sets of images through a multi-task learning framework. With JIST we also introduce SeqGeM, an aggregation layer that revisits the popular GeM pooling to produce a single robust and compact embedding from a sequence of single-frame embeddings. We show that our model is able to outperform previous state of the art while being faster, using 8 times smaller descriptors, having a lighter architecture and allowing to process sequences of various lengths. Copyright © 2024, The Authors. All rights reserved.

关键词： Embeddings

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Incremental High Fuzzy Utility Itemset Mining 22

Incremental High Fuzzy Utility Itemset Mining

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9th Multidisciplinary International Social Networks Conference, MISNC 2022

作者： Hong, Tzung-Pei Hung, Wei-Teng Huang, Wei-Ming Tsai, Yu-Chuan Department of Computer Science and Information Engineering National University of Kaohsiung Taiwan Department of Computer Science and Engineering National Sun Yat-Sen University Taiwan Department of Electrical and Control China Steel Inc. Taiwan Library and Information Center National University of Kaohsiung Kaohsiung811 Taiwan

ISBN: (纸本)9781450398435

In data mining, frequent-pattern mining methods are used for handling binary databases. Utility mining addresses this limitation by considering the item utilities and quantities when discovering the high utility itemsets. In addition, to make these high utility patterns more human-explainable, we use the fuzzy-set theory to the utility mining algorithms. However, real-world databases are usually dynamic. That is, new transactions may be intermittently added, and the corresponding mined knowledge needs to be updated. This paper uses the famous incremental strategy, fast update (FUP), to modify high fuzzy utility itemsets from new coming data. We implement the FUP strategy on the Apriori-based approach for maintaining up-to-date high fuzzy utility *** also conducted experiments to demonstrate that the incremental algorithm significantly outperforms the Apriori-based batch mining method. © 2022 ACM.

关键词： Data mining

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