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Deep Learning control for Autonomous Robot

Computers, Materials & Continua 2022年第8期72卷 2811-2824页

作者： Rihem Farkh Saad Alhuwaimel Sultan Alzahrani Khaled Al Jaloud Mohammad Tabrez Quasim College of Engineering Muzahimiyah BranchKing Saud UniversityRiyadh11451Saudi Arabia Laboratory for Analysis Conception and Control of SystemsLR-11-ES20Department of Electrical Engineering National Engineering School of TunisTunis El Manar University1002Tunisia King Abdulaziz City for Science and Technology Saudi Arabia College of Computing and Information Technology University of BishaBisha67714Saudi Arabia

Several applications of machine learning and artificial intelligence,have acquired importance and come to the fore as a result of recent advances and improvements in these *** cars are one such *** is expected to have a significant and revolutionary influence on *** with smart cities,new infrastructure and urban planning with sophisticated cyber-security are some of the current ramifications of self-driving *** autonomous automobile,often known as selfdriving systems or driverless vehicles,is a vehicle that can perceive its surroundings and navigate predetermined routes without human *** are on the verge of evolving into autonomous robots,thanks to significant breakthroughs in artificial intelligence and related technologies,and this will have a wide range of socio-economic ***,in order for these automobiles to become a reality,they must be endowed with the perception and cognition necessary to deal with high-pressure real-life events and make proper judgments and take appropriate *** majority of self-driving car technologies are based on computer systems that automate vehicle control *** forward-collision warning and antilock brakes to lane-keeping and adaptive drive control,to fully automated driving,these technological components have a wide range of capabilities.A self-driving car combines a wide range of sensors,actuators,and *** researches on computer vision and deep learning are used to control autonomous driving *** self-driving automobiles,lane-keeping is *** study presents a deep learning approach to obtain the proper steering angle to maintain the robot in the *** propose an advanced control for a selfdriving robot by using two controllers *** neural networks(CNNs)are employed,to predict the car’and a proportionalintegral-derivative(PID)controller is designed for speed and steering *** stu

关键词： Autonomous car cascade PID control deep learning convolutional neural network differential drive system raspberry PI road lane detector

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Energy performance of self-powered green IoT nodes

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Frontiers in Energy Research 2024年 12卷

作者： Kuaban, Godlove Suila Czachórski, Tadeusz Gelenbe, Erol Pecka, Piotr Sharma, Sapana Singh, Pradeep Nkemeni, Valery Czekalski, Piotr Gliwice Poland Haryana India Laboratory of Electrical Engineering and Computing Faculty of Engineering and Technology University of Buea Buea Cameroon Faculty of Automatic Control Electronic and Informatics Silesian University of Technology Gliwice Gliwice Poland

The widespread adoption of the Internet of Things (IoT) partly depends on the successful design and deployment of IoT nodes that can operate for several years without any service outage and the need to replace their energy storage systems (ESSs) (e.g., battery, capacitor, or supercapacitor) when all the stored energy is depleted or when the cycle life of the ESSs is reached. Replacing batteries in the case of large-scale IoT networks and nodes located in places that are hard to reach is very challenging and costly, requiring the design of IoT nodes that can operate for several years without the need for human intervention. One such example is the deployment of IoT nodes in large agricultural fields (for soil or crop monitoring) or a long-distance pipeline (for pipeline monitoring). In this paper, we investigated the practical implications of imposing energy-saving thresholds on the energy performance metrics of green IoT nodes. We propose an energy packet-based model for the evaluation of the energy performance of a green IoT node with the possibility of switching the node to energy-saving regimes on the fly when the energy content of the ESS reaches defined thresholds. Configuring single or multiple thresholds improves the energy performance of the node significantly (e.g., increases the lifetime of the node and reduces the probability of service outage and energy wastage), and the value of the threshold(s) should be carefully chosen. The energy performance of the IoT node can also be improved by dimensioning the energy harvesting system to ensure that the node operates for several years without running out of energy (e.g., maximizing the lifetime of the nodes and minimizing the probability of service outage and energy wastage). Copyright © 2024 Kuaban, Czachórski, Gelenbe, Pecka, Sharma, Singh, Nkemeni and Czekalski.

关键词： Energy efficiency

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Terminal Sliding Modes-Based PLLs for Three-Phase Grid-Connected Inverters 49

Terminal Sliding Modes-Based PLLs for Three-Phase Grid-Conne...

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49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023

作者： Hosseinabadi, Pooyan Alinaghi Kermadi, Mostefa Pota, Hemanshu Mekhilef, Saad Abadi, Ali Soltani Sharif The School of Engineering and Information Technology The University of New South Wales CanberraACT Australia Kuala Lumpur Malaysia The School of Science Computing and Engineering Technologies Swinburne University of Technology HawthornVIC3122 Australia Institute of Automatic Control and Robotics Warsaw University of Technology Faculty of Mechatronics Warsaw Poland

ISBN: (纸本)9798350331820

This paper proposes and experimentally implements new phase-locked loop algorithms using non-adaptive and adaptive terminal sliding modes for the three-phase grid-connected inverters. The proposed algorithms aim to extract the grid voltage phase and frequency and provide them for the inverter controller. The proposed sliding mode-based PLL algorithms provide faster, more robust, and more accurate detection of the grid voltage information compared to the conventional PI-PLL. This leads to better current controller performance and subsequently, improves the quality of the injected currents into the grid. The finite-time stability notion is incorporated with robust sliding modes to ensure a fast convergence rate. An adaptive law is proposed to determine a proper value for the switching gain which leads to a better overall performance of the PLL compared with a non-adaptive one. The Lyapunov stability theory is used to obtain the stability proofs of the closed-loop systems under both designed sliding modes-based PLLs. The proposed PLL algorithms are validated by simulation and experimental results for the three-phase grid-connected inverter under normal and various abnormal grid conditions. © 2023 IEEE.

关键词： Phase locked loops

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Beamspace Channel Estimation Via PARAFAC Decomposition for RIS Assisted Millimeter-Wave Multiuser MISO Communications

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IEEE Transactions on Vehicular Technology 2024年第5期74卷 7594-7609页

作者： Guo, Xinying Xie, Zongyuan Zhang, Jiankang Chen, Sheng Zhu, Chunhua Key Laboratory of Grain Information Processing and Control Henan University of Technology Ministry of Education China Henan University of Technology College of Information Science and Engineering Zhengzhou450001 China Bournemouth University Department of Computing & Informatics BH12 5BB United Kingdom University of Southampton School of Electronics and Computer Science SouthamptonSO17 1BJ United Kingdom

The reconfigurable intelligent surface (RIS) with massive low-cost passive reflecting elements integrated on a planar surface has the ability to favourably reconfigure the wireless propagation environment, thereby significantly improving the performance of wireless communication networks. In this work, we consider uplink (UL) channel estimation for the RIS assisted millimeter-wave multiuser multiple-input single-output beamspace system where the base station (BS) is equipped with lens antenna array. This channel state information (CSI) estimation task is extremely challenging for two reasons. First, the BS only has limited number of radio frequency chains but the size of beamspace channel is very large. Second, the number of passive components in the RIS is abundance but they lack signal processing capabilities. By exploiting the parallel factor (PARAFAC) decomposition of the received signals, we derive an iterative estimation algorithm, called unitary approximate message passing (UAMP), to accurately estimate the channels between the BS and the RIS as well as the channels between the RIS and the users. To guide the selection of the system parameters, we provide the uniqueness conditions for our PARAFAC decomposition based channel estimation. To theoretically verify the efficiency of our UAMP algorithm, the Cramér-Rao bound (CRB) of the estimation is also derived. Besides, we investigate the achievable downlink (DL) sum rate for the channel estimation obtained by the proposed algorithm by using the maximum power beam selection, the optimized phase shift matrix and the zero forcing precoding. Extensive simulation results demonstrate the excellent mean squared error (MSE) performance of our UAMP estimation algorithm. In particular, for sufficiently high UL signal-to-noise ratio, the MSE of our channel estimation reaches the CRB. Simulation results also show that the DL sum rate achieved by the estimated CSI is very close to that obtained by the perfect CSI. Theoretica

关键词： Mean square error

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Quantification of valve stiction in control loops using adaptive differential evolution algorithm

Quantification of valve stiction in control loops using adap...

引用

2024 China Automation Congress, CAC 2024

作者： Yang, Dong Lang, Xun Wu, Jiande Yu, Wanke Liu, Songhua Xie, Lei Department of Electronic Engineering Information School Yunnan University Kunming China Yunnan Key Laboratory of Intelligent Systems and Computing Yunnan University Kunming China School of Automation China University of Geosciences Wuhan China State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China

ISBN: (纸本)9798350368604

Accurately and promptly quantifying stiction is crucial for valve maintenance in industrial settings and ensuring the stability of control loop performance. However, current Hammerstein-based stiction quantification methods overlook valve dynamics, potentially leading to inaccurate quantification. Therefore, this paper proposes a novel stiction quantification method based on an adaptive differential evolution algorithm. In addition to considering the impact of valve dynamics on stiction, the proposed method demonstrates a certain level of robustness against the interference of unknown noise. Finally, the effectiveness of the proposed method is demonstrated through a series of simulations and industrial case studies. © 2024 IEEE.

关键词： Adaptive algorithms

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Design and Validation of a Wireless Drone Docking Station

Design and Validation of a Wireless Drone Docking Station

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Dario Stuhne Goran Vasiljević Stjepan Bogdan Zdenko Kovačić LARICS Laboratory for Robotics and Intelligent Control Systems University of Zagreb Faculty of Electrical Engineering and Computing Zagreb Croatia

Drones are increasingly operating autonomously, and the need for extending drone power autonomy is rapidly increasing. One of the most promising solutions to extend drone power autonomy is the use of docking stations to support both landing and recharging of the drone. To this end, we introduce a novel wireless drone docking station with three commercial wireless charging modules. We have developed two independent units, both in mechanical and electrical aspects: the energy transmitting unit and the energy receiving unit. We have also studied the efficiency of wireless power transfer and demonstrated the advantages of connecting three receiver modules connected in series and parallel. We have achieved maximum output power of 96.5 W with a power transfer efficiency of 56.6% for the series connection of coils. Finally, we implemented the system in practice on a drone and tested both energy transfer and landing.

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Modeling of a 3RRR Parallel Robot

Modeling of a 3RRR Parallel Robot

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International Conference on Systems and control (ICSC)

作者： Ahlem Saidi Neila Mezghani Ben Romdhane Tarak Damak Laboratory of sciences and technique of automatic control and computing (Lab-STA) National school of engineering of Sfax Sfax Tunisia

This paper discusses, a 3RRR plane parallel robot modeling developed with a kinematic model and Jacobian matrix. An illustration is proposed which determines the workspace and the different working modes of the 3RRR parallel robot through the Jacobian matrix, to find the different singular points of the 3RRR robot. The simulation results are described to illustrate the efficacy of the proposed technique.

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引用

2024 China Automation Congress, CAC 2024

作者： Lang, Yumin Wu, Jiande Lang, Xun Yu, Wanke Yang, Chuanyan Su, Hongye Department of Electronic Engineering Information School Yunnan University Kunming China Yunnan Key Laboratory of Intelligent Systems and Computing Yunnan University Kunming China School of Automation China University of Geosciences Wuhan China State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China

ISBN: (纸本)9798350368604

Oscillation is a significant indication of the deterioration of control system performance and needs to be carefully monitored to ensure safe and stable process operations. However, industrial processes are often prone to noisy artifacts and nonstationary trends, resulting in low signal-to-noise ratios. In order to tackle this problem, this study introduces a novel framework for enhanced trend removal and noise reduction, which is featured by the following steps:(i) The circulant singular spectrum analysis (CiSSA) is used to decompose oscillation data into several reconstructed components (RCs). (ii) The estimated power spectral density (PSD) ofthese RCs is then smoothed using the Savitzky-Golay filter (SGF) to eliminate noise and identify the RCs corresponding to oscillatory components. (iii) These identified RCs are subsequently reconstructed to produce purified oscillatory data. The effectiveness of the suggested approach is validated using simulations and real-world industrial case studies. The findings indicate that the method notably enhances the quality of oscillatory data. © 2024 IEEE.

关键词： Power spectral density

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BiERL: A Meta Evolutionary Reinforcement Learning Framework via Bilevel Optimization

arXiv

引用

arXiv 2023年

作者： Wang, Junyi Zhu, Yuanyang Wang, Zhi Zheng, Yan Hao, Jianye Chen, Chunlin Department of Control Science and Intelligent Engineering Nanjing University China College of Intelligence and Computing Tianjin University China

Evolutionary reinforcement learning (ERL) algorithms recently raise attention in tackling complex reinforcement learning (RL) problems due to high parallelism, while they are prone to insufficient exploration or model collapse without carefully tuning hyperparameters (aka meta-parameters). In the paper, we propose a general meta ERL framework via bilevel optimization (BiERL) to jointly update hyperparameters in parallel to training the ERL model within a single agent, which relieves the need for prior domain knowledge or costly optimization procedure before model deployment. We design an elegant meta-level architecture that embeds the inner-level’s evolving experience into an informative population representation and introduce a simple and feasible evaluation of the meta-level fitness function to facilitate learning efficiency. We perform extensive experiments in MuJoCo and Box2D tasks to verify that as a general framework, BiERL outperforms various baselines and consistently improves the learning performance for a diversity of ERL algorithms. Copyright © 2023, The Authors. All rights reserved.

关键词： Reinforcement learning

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ECG Signal Anomaly Detection Algorithm Based on CNN-BiLSTM 11

ECG Signal Anomaly Detection Algorithm Based on CNN-BiLSTM

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11th International Conference of Information and Communication Technology, ICTech 2022

作者： Cui, Kai Xing Xia, Xiao Jun School of Computer and Control Engineering University of Chinese Academy of Sciences Beijing100049 China Shenyang Institute of Computing Technology Chinese Academy of Sciences Liaoning Shenyang110168 China

ISBN: (数字)9781665496940

ISBN: (纸本)9781665496940

Aiming at the problems of low feature extraction efficiency and low detection accuracy of traditional ECG signal detection algorithms, this paper proposes a convolutional neural network (CNN) and bi-directional long short-term memory (Bi-directional long short-term memory, LSTM) network hybrid ECG signal anomaly detection algorithm. This model effectively utilizes the ability of CNN to automatically extract features and BiLSTM's ability to efficiently process time series data. Through experimental verification on the arrhythmia data set in the MIT-BIH database, the overall accuracy of the model is 98.56%. Compared with support vector machine (SVM) and bidirectional long short-term memory neural network (BiLSTM), the accuracy and F1 value of this model are improved. © 2022 IEEE.

关键词： Long short-term memory

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