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1st International Conference on Machine Intelligence for Research and Innovations, MAiTRI 2023

作者： Rajput, Shaurya Verma, Sourabh Verma, Om Prakash Gupta, Himanshu Sharma, Tarun Ateya, Abdelhamied A. Centre for Artificial Intelligence Dr. B.R. Ambedkar National Institute of Technology Jalandhar Punjab Jalandhar India Department of Instrumentation and Control Engineering Dr. B.R. Ambedkar National Institute of Technology Jalandhar Punjab Jalandhar India Department of Computer Science-Internet of Things ABES Institute of Technology Ghaziabad201009 India University Meerut India Department of Electronics and Communications Engineering Zagazig University Sharqia Zagazig44519 Egypt EIAS Data Science Lab College of Computer and Information Sciences Prince Sultan University Riyadh11586 Saudi Arabia

ISBN: (纸本)9789819981342

In today’s scenario, computer vision is one of the fundamental research areas of artificial intelligence including object detection and object tracking which are the upcoming trends. In the present work, the TransTrack model has been reimplemented which includes ResNet50 as a backbone network. Further, to improve the overall performance of the TransTrack model, some recently developed backbones such as ResNet152 and SwinT have been incorporated. Moreover, to test the optimum training of the existing model, it has been retrained for higher epochs (such as 160 epochs). However, the accuracy of the existing tracker has improved significantly as the number of epochs increases but, at the same time, it increases the computational complexity. On the contrary, when the existing tracker (yields 68.4% accuracy with ResNet50) is incorporated with ResNet152 and SwinT, the performance has significantly improved (71% for ResNet152 and 71.6% for SwinT) by 1.7% and 2.1%, respectively. The mentioned analysis is enough to prove that the incorporation of a more efficient backbone has the potential to improve the performance of trackers. In the future, the newly introduced backbone may open the window to improve the performance of multi-object tracking (MOT). © 2024, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Object detection

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Design and Implementation of 1.28 Tbps DWDM based RoF system with External Modulation and Dispersion Compensation Fiber 2

Design and Implementation of 1.28 Tbps DWDM based RoF system...

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2nd International Conference on Physics and Applied Sciences, ICPAS 2021

作者： Mohsen, D.E. Hammadi, A.M. Alaskary, A.J. Department of Computer Engineering Techniques Electrical Engineering Technical College Baghdad Iraq Department of Control and Automation Technical Engineering Electrical Engineering Technical College Middle Technical University Baghdad Iraq

The improvement of 5G networks started in 2019 and is commonly accepted to bring changes not restricted to individuals' day-by-day life. The interconnection between the nodes of 5G network is realized through the utilization of optical transceiver modules and optical fibers. The most interesting part in the 5G communication network is the communication between the Central Office (CO) and the Base Station (BS), which has been widely investigated by several researchers to enhance and optimize such network performance. As a result, in this paper we demonstrate, design and implemented a) based on Dense Wavelength Division Multiplexing (DWDM Radio over Fiber (RoF) system and by using the software of Optisystem 17.1 version. Such system is considered a 32X40 Gbps of data transmission for higher speed transmission system towards the Tera bit per second (Tbps) communication. The channels of 1, 4, 8, 12, 16, 20, 24, 28 and 32 were selected as samples for the investigation. The performance analysis would be based on the parameters of the eye diagram, (Quality Factor) Q-factor and Min Bit Error Rate (BER) and for distances of 60, 120 and 180 km respectively. Analyzing results indicate a higher performance system toward the 1.28 Tbps of data rate transmission. © Published under licence by IOP Publishing Ltd.

关键词： 5G mobile communication systems

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Research on Black-Box Adversarial Attack Based on Transformer 4

Research on Black-Box Adversarial Attack Based on Transforme...

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4th International Conference on Frontiers Technology of Information and computer, ICFTIC 2022

作者： Zheng, Wenjuan Luo, Hanxu Ji, YuXin Li, Haipeng Cong, Longjian National Key Laboratory of Aerospace Intelligent Control Technology Master of Computer Vision Beijing100854 China Beijing Aerospace Automatic Control Institute Beijing100854 China Wuhan University of Technology Department of Information Engineering Hubei Province Wuhan430000 China

ISBN: (纸本)9798350321951

The classic adversarial samples of black-box attacks are all aimed at the models of Convolutional neural networks (CNNs), but they do not perform well on the new recognition networks based on Transformer. In this paper, we propose an adversarial sample generation algorithm based on Vision transformers (VITs)' self-attention mechanism and patch partition. We noticed that different blocks in the VIT have uneven attention distribution, so we first generated a patch-based attention map and performed threshold segmentation, which is used as a mask to perform data enhancement operations based on patches with high weight and patches with low weight, and then exchanged information between patches to generate adversarial samples. The experiment of simulating black-box attack shows that the adversarial samples generated by the algorithm in this paper have a high success rate in all kinds of models based on Transformer of attacks, and also perform well on CNNs. © 2022 IEEE.

关键词： Convolutional neural networks

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Addressing Relative Degree Issues in control Barrier Function Synthesis with Physics-Informed Neural Networks

arXiv

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arXiv 2025年

作者： Brunke, Lukas Zhou, Siqi D’Orazio, Francesco Schoellig, Angela P. Munich Institute of Robotics and Machine Intelligence Technical University of Munich Munich80333 Germany Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy

In robotics, control barrier function (CBF)–based safety filters are commonly used to enforce state constraints. A critical challenge arises when the relative degree of the CBF varies across the state space. This variability can create regions within the safe set where the control input becomes unconstrained. When implemented as a safety filter, this may result in chattering near the safety boundary and ultimately compromise system safety. To address this issue, we propose a novel approach for CBF synthesis by formulating it as solving a set of boundary value problems. The solutions to the boundary value problems are determined using physics-informed neural networks (PINNs). Our approach ensures that the synthesized CBFs maintain a constant relative degree across the set of admissible states, thereby preventing unconstrained control scenarios. We illustrate the approach in simulation and further verify it through real-world quadrotor experiments, demonstrating its effectiveness in preserving desired system safety properties. Copyright © 2025, The Authors. All rights reserved.

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Improving Software Reliability with Rust: Implementation for Enhanced control Flow Checking Methods

Improving Software Reliability with Rust: Implementation for...

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Design, Automation and Test in Europe Conference and Exhibition

作者： Jacopo Sini Mohammadreza Amel Solouki Massimo Violante Giorgio Di Natale Department of Control and Computer Engineering Politecnico di Torino Turin Italy Univ. Grenoble Alpes CNRS Grenoble INP1 TIMA Grenoble France

ISBN: (数字)9783982674100

ISBN: (纸本)9798331534646

The C language, traditionally used in developing safety-critical systems, often faces memory management issues, leading to potential vulnerabilities. Rust emerges as a safer and secure alternative, aiming to mitigate these risks with its robust memory protection features, making it suitable for producing reliable code in critical environments, such as the automotive industry. This study proposes employing Rust code hardened by control Flow Checking (CFC) in real-time embedded systems, which software is traditionally developed by Assembly and C languages. The methods have been implemented at the application level, i.e., in the Rust source code, to make them platform-agnostic. A methodology for leveraging the Rust advantages is presented, such as stronger security guarantees and modern features, to implement these methods more effectively. Highlighting a use case in the automotive sector, our research demonstrates the Rust capacity to enhance system reliability through CFC, especially against Random Hardware Faults. Two CFC algorithms from the literature, YACCA, and RACFED, have been implemented in the Rust language to assess their effectiveness, obtaining 46.5% Diagnostic Coverage for the YACCA method and 50.1% for RACFED. The proposed approach is aligned with functional safety standards, showcasing how Rust can balance safety requirements and cost considerations in industries reliant on software solutions for critical functionalities.

关键词： Industries Costs Codes Systematics Source coding C languages Software reliability Protection Standards Automotive engineering

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Behavioural Swarm Optimisation for Stable Slung-Load Aerial Transportation

Behavioural Swarm Optimisation for Stable Slung-Load Aerial ...

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Congress on Evolutionary Computation

作者： Jingyu Chen John Oyekan Department of Automatic Control and Systems Engineering The University of Sheffield Sheffield United Kingdom Department of Computer Science University of York York United Kingdom

Collaboration of agents in a natural swarm enables the accomplishment of tasks that would be difficult or impossible for a single agent to complete alone. For example, a swarm of autonomous Unmanned Aerial Vehicles (UAVs) enables the collaborative sensing of bulky loads for transportation over impassable terrains when the load weighs several times more than each UAV. In this work, we propose a hierarchical algorithmic architecture that supports the search and coverage of various unknown payload profiles for subsequent transportation. The grasping formation of UAVs over the payload emerges from the synthetic behaviours in the architecture without any path planning. Experiments show that our proposed design can be successfully applied in searching and coverage of various loads and has been validated in the real world through the use of Crazyflie micro-UAVs. Furthermore, the proposed grasping formation satisfies static equilibrium thereby reducing orientation changes in the load-swarm system during transportation.

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Delayed dynamic-feedback controller design for multi-frequency vibration suppression

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IFAC-PapersOnLine 2024年第27期58卷 196-201页

作者： Adrian Saldanha Adam Peichl Wim Michiels Tomas Vyhlidal Department of Computer Science KU Leuven Celestijnenlaan 200A 3001 Leuven Belgium Dept. Instrumentation and Control Engineering Faculty of Mechanical Engineering and Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague 6 Czechia

We present a methodology for designing a dynamic controller with delayed output feedback for achieving non-collocated vibration suppression with a focus on the multi-frequency case. To synthesize the delay-based controller, we first remodel the system of equations as a delay-differential algebraic equation (DDAE) in such a way that existing tools for design of a static output feedback controller can be easily adapted. The problem of achieving non-collocated vibration suppression with sufficient damping is formulated as a constrained optimization problem of minimizing the spectral abscissa in the presence of zero-location constraints, with the constraints exhibiting polynomial dependence on its parameters. We transform the problem into an unconstrained one using elimination, following which we solve the resulting non-convex, non-smooth optimization problem.

关键词： vibration suppression time-delay DDAE

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Data-Efficient control Barrier Function Refinement

arXiv

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arXiv 2023年

作者： Dai, Bolun Huang, Heming Krishnamurthy, Prashanth Khorrami, Farshad Control/Robotics Research Laboratory Electrical & Computer Engineering Department Tandon School of Engineering New York University BrooklynNY11201 United States

control barrier functions (CBFs) have been widely used for synthesizing controllers in safety-critical applications. When used as a safety filter, it provides a simple and computationally efficient way to obtain safe controls from a possibly unsafe performance controller. Despite its conceptual simplicity, constructing a valid CBF is well known to be challenging, especially for high-relative degree systems under nonconvex constraints. Recently, work has been done to learn a valid CBF from data based on a handcrafted CBF (HCBF). Even though the HCBF gives a good initialization point, it still requires a large amount of data to train the CBF network. In this work, we propose a new method to learn more efficiently from the collected data through a novel prioritized data sampling strategy. A priority score is computed from the loss value of each data point. Then, a probability distribution based on the priority score of the data points is used to sample data and update the learned CBF. Using our proposed approach, we can learn a valid CBF that recovers a larger portion of the true safe set using a smaller amount of data. The effectiveness of our method is demonstrated in simulation on a unicycle and a two-link arm. © 2023, CC BY.

关键词： controllers

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Event-Triggered Robust Model Predictive control for Multi-Agent Systems Under Hybrid Attacks

Event-Triggered Robust Model Predictive Control for Multi-Ag...

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Chinese control Conference (CCC)

作者： Yongxin Yin Jianxiong Li Chongyi Gao Yiming Fang Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao China Department of Electromechanical Engineering Tangshan University Tangshan China

In this paper, the consensus control problem for multi-agent systems (MASs) suffering hybrid attacks is discussed, in which the hybrid attacks include randomly occurring deception attacks on system dynamic behavior and denial-of-service attacks (DoS). An event-triggered robust model predictive control (RMPC) method is presented to achieve the consensus of MASs under hybrid attacks. It can be proved that the consensus errors can be asymptotic with prescribed H ∞ performance, the sufficient condition for stability can be given in terms of linear matrix inequalities (LMIs), and the controller gains are obtained by solving an optimization problem involving some LMIs. Employing the event-triggered mechanism with maximum trigger interval, not only can not only save computation time and facilitate the efficiency of the shared resources but also can effectively be responsible for the negative impact of cyber-attacks on system performance. Finally, simulation results are given to illustrate the validity and effectiveness of the proposed method.

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A Generalized Current Balancing control for Series-Capacitor Buck Converter with Interleaved Phase Angle

A Generalized Current Balancing Control for Series-Capacitor...

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IEEE Workshop on computers in Power Electronics

作者： Chung-Yi Li Chin-Fu Nien Li Lin Hung-Chi Chen Department of Electronics Engineering Chang Gung University Taiwan Department of Computer Science and Information Engineering Chang Gung University Taiwan Department of Electrical and Computer Engineering National Yang Ming Chiao Tung University Institution of Electrical Control Engineering National Yang Ming Chiao Tung University

In addition to increasing the output current, an interleaved buck converter can significantly reduce the current ripple at the output. However, the bottleneck of the interleaved buck converter application is the unbalanced inductor current. In order to achieve the current balance in the entire section of the duty cycle, this paper proposes a control architecture with interleaved alignment, using the adjustment of the duty cycle and phase offset, to analyze and realize a high output current and current balanced in three-arm series capacitor interleaved buck converters (SCIBCs) in this work. By analyzing and modeling the SCIBC and using a single-loop control architecture that feedbacks the output voltage, the proposed current-balancing method balances all inductors’ current within the full duty cycle without any current sensor. In addition, the small-signal transfer function of the control signal to the output voltage and design of the controller parameters are derived according to the specification, and the SCIBC with the proposed current-balancing control with PI controller of the alignment of interleaved phase angle is constructed. The high output current and current-balancing characteristics of the proposed circuit control architecture are validated in the simulation tool SIMPLIS.

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