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A Gossip Based Heuristic Algorithm for Heterogeneous Multi-Vehicle Routing Problems *

IFAC Proceedings Volumes 2012年第26期45卷 73-78页

作者： Daniele Rosa Mauro Franceschelli Carla Seatzu Francesco Bullo Dep. of Electrical and Electronic Engineering Univ. of Cagliari Italy Center for Control Dynamical Systems and Computation Univ. of Santa Barbara California USA

In this paper we propose a novel algorithm based on gossip communication for the Heterogeneous Multi-Vehicle Routing (HMVR) problem. A collection of tasks is arbitrarily placed in a plane and a set of robots cooperates to minimize the maximum time required to visit and execute all tasks. Each task (resp. each robot) has different cost (resp. speed). The proposed algorithm relies only upon pairwise asynchronous communications between robots and attempts to balance the routing and execution cost of the task assignment through a heuristic. The proposed heuristic exploits polynomial-time approximation algorithms to solve the Euclidean Traveling Salesman Problem (ETSP). Some characterization of the convergence properties of the algorithm are provided together with extensive simulations to corroborate the results.

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Consistent Event-Triggered Consensus on Complete Graphs

Consistent Event-Triggered Consensus on Complete Graphs

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IEEE Conference on Decision and control

作者： Duarte J. Antunes David Meister Toru Namerikawa Frank Allgöwer W.P.M.H. Heemels Dep. of Mechanical Eng. Eindhoven Control Systems Technology Group University of Technology the Netherlands Institute for Systems Theory and Automatic Control University of Stuttgart Germany School of Integrated Design Engineering Graduate School of Science and Technology Keio University Japan

This paper starts by considering an optimal control formulation of the consensus problem on complete graphs with a cost capturing disagreement and agents modeled by integrators. An optimal control policy for this problem is shown to be the well-known consensus algorithm by which each agent resets its state to the average of its and other agents' state values received at every time step. The framework is extended to the case where agents can only exchange information periodically, with a period larger than one. Then an event-triggered control strategy is proposed that results in a better cost than that of the optimal periodic one with the same average transmission rate, that is, it is consistent. According to this strategy, each agent distributedly transmits its state if the error between its current state and a common consensus estimate based on previously transmitted agents' data exceeds a threshold. Simulation results are presented to illustrate the proposed strategy.

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Efficient News Synopsis Generation with T5 Transformers

Efficient News Synopsis Generation with T5 Transformers

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International IEEE Conference on Intelligent systems, IS

作者： João António Lyudmila Mihaylova Petia Georgieva Dep. of Electronics Telecom. and Informatics (DETI) University of Aveiro Aveiro Portugal Dep. of Automatic Control and Systems Engineering University of Sheffield Sheffield UK University of Aveiro/DETI Institute of Electronics and Informatics Eng. of Aveiro (IEETA) Institute of Telecommunications Aveiro Portugal

ISBN: (数字)9798350350982

ISBN: (纸本)9798350350999

In this paper we propose a Text-To-Text Transfer Transformer-based (T5) model to generate concise, human-like synopses of Merger and Acquisition (M&A) economic news. Leveraging recent advancements in artificial intelligence and natural language processing, we have focused our resources on the creation of a specific summarizer, opting for a translation of all news into English to ensure consistency and mitigate complexity. The implementation of Graphics processing unit (GPU) resources for model training played a crucial role in optimizing the learning process, allowing us to effectively utilize the time window provided by platforms such as Google Colab Pro and Free. Through iterative fine-tuning, our model was trained to generate high-quality, human-like synopses of M&A events. Our findings underscore the enhanced transparency and interpretability of the proposed generative AI-driven text summariser, suggesting promising avenues for future exploration and development in this field.

关键词： Training Economics Technological innovation Corporate acquisitions Graphics processing units Transformers Natural language processing Internet Iterative methods Intelligent systems

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Assessment and recognition in technical massive open on-line courses with and without on-line laboratories 14

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

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14th IEEE Global engineering Education Conference, EDUCON 2023

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

ISBN: (纸本)9798350399431

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. © 2023 IEEE.

关键词： Drops

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System-level thermal and electrical modeling of battery systems for electric aircraft design

System-level thermal and electrical modeling of battery syst...

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IEEE Conference on Vehicle Power and Propulsion (VPPC)

作者： Thomas Kuijpers Jorn Van Kampen Theo Hofman Dep. of Mechanical Engineering Control Systems Technology (CST) Section Eindhoven University of Technology (TU/e) Eindhoven The Netherlands

ISBN: (数字)9798331541606

ISBN: (纸本)9798331541613

This work introduces a framework for simulating the electrical power consumption of an 8-seater electric aircraft equipped with high-energy-density NMC Lithium-ion cells. We propose an equivalent circuit model (ECM) to capture the thermal and electrical battery behavior. Furthermore, we assess the need for a battery thermal management system (BTMS) by determining heat generation at the cell level and optimize BTMS design to minimize energy consumption over a predefined flight regime. The proposed baseline battery design includes a 304-kWh battery system with BTMS, ensuring failure redundancy through two parallel switched battery banks. Simulation results explore the theoretical flight range without BTMS and reveal advantages in increasing battery capacity under specific conditions. Optimization efforts focus on BTMS design, highlighting the superior performance of water cooling over air cooling. However, the addition of a 9.9 kW water-cooled BTMS results in a 16.5% weight increase (387 kg) compared to no BTMS, reducing the simulated range of the aircraft from 480 km to 410 km. Lastly, we address a heating-induced thermal runaway scenario, demonstrating the robustness of the proposed battery design in preventing thermal runaway.

关键词： Energy consumption Power demand Atmospheric modeling Water heating Thermal management Batteries Thermal analysis Aircraft Vehicle dynamics System analysis and design

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Augmented reality to assist teleoperation working with reduced visual conditions

Augmented reality to assist teleoperation working with reduc...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： A. Casals J. Fernandez J. Amat Dep. Automatic Control and Computer Engineering Universitat Politecnica de Catalunya Barcelona SPAIN Robotics Institute. (lRI) UPC/CSIC Barcelona SPAIN

Teleoperation in harsh environments has to tackle the problem of working with images of poor quality, as the visual feedback means for the human operator. This paper describes a procedure for image augmentation, based on the models of the scene elements, which are built from the images acquired in a previous phase, before the execution of the task, when the visual environment conditions are still good enough.

关键词： Augmented reality Layout Robots TV Optical sensors Optical feedback automatic control control engineering computing Robotics and automation Operating systems

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Fuzzy rule-based optimization in nonlinear predictive control

Fuzzy rule-based optimization in nonlinear predictive contro...

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1999 European control Conference, ECC 1999

作者： Setnes, M. Sousa, J.M. Control Laboratory Delft University of Technology Faculty of Information Technology and Systems P.O. Box 5031 Delft2600 GA Netherlands Technical University of Lisbon IST Dep. of Mechanical Engineering Av. Rovisco Pais 1 Lisboa1096 Portugal

ISBN: (纸本)9783952417355

The application of predictive control to nonlinear systems results in a non-convex optimization problem for computing the optimal control actions. The optimization problem can be addressed by discrete search techniques such as the branch-and-bound method, which has been successfully applied to nonlinear predictive control. Such a discrete approach introduces a tradeoff between computation time and performance. Previously, a solution was proposed that uses adaptive decision alternatives as control actions. This paper proposes the use of fuzzy rules to adapt the decision alternatives (possible control actions), resulting in easier tuning and a smoother behavior of the controller. control of a HVAC system is considered, and the results are compared with those obtained with similar control schemes. © 1999 EUCA.

关键词： Branch and bound method

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Recursive Learning of Feedforward Parameters in High-Tech Motion systems: An Experimental Case Study

Recursive Learning of Feedforward Parameters in High-Tech Mo...

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European control Conference (ECC)

作者： Thijs Van Keulen Bram Kleefstra Ruud Beerens Dep. of Mechanical Engineering Control Systems Technology group Eindhoven Univ. of Tech. The Netherlands ASML Veldhoven The Netherlands

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

This article provides an experimental case study of a state-of-the-art recursive feedforward parameter learning framework on a high-tech industrial metrology and inspection machine. The aim of the learning framework is to recursively adapt the feedforward parameters to compensate for time-varying and position-dep.ndent system behavior, e.g., caused by wear, position and temperature dep.ndent actuator characteristics, changes in shape and stiffness due to thermal expansion, and sample time jitter. The strength of the approach is demonstrated through experiments on a high-tech motion system which show a peak error reduction of circa 45% compared to the industrial controller with offline calibrated feedforward parameters.

关键词： Thermal expansion Temperature dep.ndence Temperature Shape Europe Metrology Jitter

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DEXTERITY IMPROVEMENT IN TELEOPERATION THROUGH COMPUTER VISION BASED automatic CORRECTION

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IFAC Proceedings Volumes 2002年第1期35卷 473-478页

作者： J. Amat A. Casals L. Muñoz M. las Heras Robotics Institute. (IRI) UPC / CSIC Llorens Artigas 4-6 2a pt. 08028 Barcelona SPAIN Dep. Automatic Control and Computer Engineering Universitat Politècnica de Catalunya

Robot manipulation through teleoperation requires some ability from a human operator. This requirement is stronger when the tridimensional scene is observed through a 2D monitor. This paper describes a telemanipulation aiding system based on the superposition of a position correction component to the manual orders given by the human operator, through his gestures. This correction will enable the slave arm to move quicker when it is far from the target, while moving slower and more precisely when it operates close to the target, thus, the system behaves as if an external attraction force appear around the possible objects to be manipulated.

关键词： Telerobotics Telemanipulation Computer Vision Man-Machine Interface Stereo Vision

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Forecasting of Monkeypox Cases Using Optimized SARIMAX Based Model 3

Forecasting of Monkeypox Cases Using Optimized SARIMAX Based...

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3rd IEEE International Conference on Electronic engineering, ICEEM 2023

作者： Elshabrawy, Mahmoud Eid, Marwa M. Abdelhamid, Abdelaziz A. El-Kenawy, El-Sayed M. Ibrahim, Abdelhameed Delta Higher Institute of Engineering and Technology Dept. of Communications & Electronics Mansoura Egypt Delta University for Science and Technology Faculty of Artificial Intelligence Mansoura35111 Egypt Ain Shams University Faculty of Computer and Information Sciences Dep. of Computer Science Cairo Egypt University Mansoura Faculty of Engineering Computer Engineering and Control Systems Dept. Egypt

ISBN: (纸本)9798350323511

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. © 2023 IEEE.

关键词： Ant colony optimization

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