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Quantized Input Signal based Adaptive Terminal Sliding Mode control for Robotic Manipulator

IFAC-PapersOnLine 2024年 57卷 208-213页

作者： Sonali Singh Ankit Sachan Sandeep Kumar Soni Jitendra Kumar Goyal Shubhi Purwar M.N. National Institute of Technology Allahabad Prayagraj India Graduate School of Advanced Science and Engineering Hiroshima University Hiroshima Japan Department of Electrical Engineering Shiv Nadar Institution of Eminence Delhi-NCR India School of Electrical Engineering Vellore Institute of Technology Vellore Tamil Nadu India

This paper presents the adaptive terminal sliding mode control (ATSMC) for robotic manipulators using input quantization in the presence of uncertainties and external disturbance. The concept of adaptive quantized control for robot manipulator systems is explored in this study, which involves the introduction of a novel approach for creating input quantization with hysteretic quantizer. Initially, the approach involves suggesting adaptive terminal sliding mode, followed by the application of a hysteretic quantizer incorporating quantization error bounded within specific sectors for controlling the input signal. The proposed adaptive quantized control technique eliminates the chattering and provides convergence to origin in finite-time. The proposed control algorithm's effectiveness is shown through simulation results, illustrating its successful application in controlling a two-link robotic manipulator.

关键词： Terminal Sliding Mode control Input Quantization Adaptive Quantized control Hysteretic Quantizer

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Efficacy of Local Cache for Performance Improvement of Reliable Data Transmission in Aggregated Robot Processing Architecture

Efficacy of Local Cache for Performance Improvement of Relia...

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International Conference on control, Automation and systems ( ICCAS)

作者： Abdul Jalil Jun Kobayashi Department of Computer Science and Systems Engineering Graduate School of Computer Science and Systems Engineering Kyushu Institute of Technology Iizuka Japan Department of Intelligent and Control Systems Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology Iizuka Japan

This study aims to improve the performance of message data transmission in Aggregated Robot Processing (ARP) architecture where the RELIABLE option of the RELIABILITY QoS (Quality of Service) policy is applied to a ROS 2 (Robot Operating System 2) node communication. Basically, the RELIABLE option guarantees that a publisher properly send all message data to a subscriber. However, the publisher could fail to transmit some message data to the subscriber even in the RELIABLE QoS option unless the buffer size of the publisher is enough. We introduce local cache to a sensing component to alleviate the issue in the case that the sensors output the same value in a row. The experimental results showed that the local cache improved the latency and reduced the message loss in node communication.

关键词： Performance evaluation Operating systems Process control Quality of service Robot sensing systems control systems Sensors

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MFANet: Mixed Feature Attention Network for Port Lane Detection 42

MFANet: Mixed Feature Attention Network for Port Lane Detect...

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42nd Chinese control Conference, CCC 2023

作者： Zhang, Jinwei Su, Jinya Yi, Dewei Yang, Jun Ministry of Education The School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Nanjing210096 China University of Aberdeen Department of Computing Science AberdeenAB24 3UE United Kingdom

ISBN: (纸本)9789887581543

With the advancement of industrial automation and artificial intelligence technology, unmanned port autonomy has gained increasing attention. Port automatic driving technology is a critical component of unmanned autonomous systems, enabling rubber tire gantry cranes (RTGs) to autonomously navigate by detecting port lanes and implementing control commands. In this study, a deep learning-based method is proposed for detecting port lanes in complex port scenes. The method employs the Inception module and attention mechanism to enhance lane feature extraction, and a structural loss is introduced to explicitly constrain the detection results and incorporate the prior characteristics of port lanes. A novel Mixed Feature Attention Network (MFANet) is proposed to implement the method for port lane detection. Experimental results demonstrate that MFANet effectively improves the accuracy of port lane detection while maintaining high computational efficiency. Furthermore, the performance of MFANet is evaluated in a real-world application scenario. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Computational efficiency

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controller Design for Linear systems via controllability Gramian Shaping

Controller Design for Linear Systems via Controllability Gra...

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control Technology and Applications (CCTA),

作者： Koju Nishimoto Yuki Onishi Riku Funada Mitsuji Sampei Department of Systems and Control Engineering School of Engineering Tokyo Institute of Technology Tokyo Japan Shimizu Corporation Institute of Technology Tokyo Japan Japan Society for the Promotion of Science Japan

ISBN: (数字)9798350370942

ISBN: (纸本)9798350370959

This paper presents an optimization-based feedback gain determination by shaping the controllability Gramian, which enables us to design how the input to the system influences its state. First, we define the controllability Gramian for both the stable and unstable systems. The defined controllability Gramian depends on the controller gain, so we formulate the controller design as the problem of shaping the controllability Gramian to achieve the desired relationship between the inputs and states. The proposed method based on an optimization problem evaluates an affine invariant Riemannian metric while preserving the positive-definite symmetric structure of the Gramian. This study describes that the considered controllability Gramian coincides with state covariance in specific settings, and hence, our proposed method can also be utilized for designing the influence from disturbance to the states. Finally, three examples demonstrate the effectiveness of the proposed method.

关键词： Measurement Manifolds Linear systems Shape Design methodology controllability Feedback control

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Disturbance Rejection for Pedaling Rehabilitation Robot Based on Integration of Equivalent-Input-Disturbance and Repetitive control Methods 32

Disturbance Rejection for Pedaling Rehabilitation Robot Base...

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32nd IEEE International Symposium on Industrial Electronics, ISIE 2023

作者： Zhou, Yujian She, Jinhua Wang, Feng Iwasaki, Makoto School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China Tokyo University of Technology School of Engineering Tokyo Hachioji192-0982 Japan Nagoya Institute of Technology Department of Electrical and Mechanical Engineering Nagoya466-8555 Japan

ISBN: (纸本)9798350399714

This study integrated an improved equivalent-input-disturbance (EID) and a repetitive control methods to ensure reference tracking and enhance disturbance-rejection performance for a pedaling rehabilitation robot. A repetitive controller ensures steady-state tracking of a periodic reference input. An EID estimator with a state observer estimates and compensates for the effect of disturbances generated by patients with lower-limb impairment. The stability condition of the closed-loop system is analyzed based on the Lyapunov stability theory. Simulation results show the effectiveness of this method. © 2023 IEEE.

关键词： Disturbance rejection

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Privacy Preservation for Cloud-Edge-Collaborative Energy Management System Using Post-Quantum Homomorphic Encryption

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IEEE Transactions on Smart Grid 2025年第4期16卷 3282-3294页

作者： Jiang, Cheng Li, Xue Du, Dajun Qian, Hong Wen, Mi Wu, Lei Findeisen, Rolf Shanghai University of Electric Power Shanghai Key Laboratory of Power Station Automation Technology College of Automation Engineering Shanghai200090 China Shanghai University Shanghai Key Laboratory of Power Station Automation Technology School of Mechatronical Engineering and Automation Shanghai200072 China Shanghai University of Electric Power College of Computer Science and Technology Shanghai201306 China Advanced Cryptography and System Security Key Laboratory of Sichuan Province Chengdu610225 China Stevens Institute of Technology Department of Electrical and Computer Engineering HobokenNJ07030 United States TU Darmstadt Control and Cyber-Physical Systems Laboratory Darmstadt64227 Germany

Cloud-based energy management systems (EMS) in smart grids face privacy challenges, as existing methods based on traditional homomorphic encryption support limited operations and are vulnerable to quantum attacks. We propose a privacy preservation method for smart grid energy management system, leveraging edge-assisted computing and ring learning with errors (RLWE) homomorphic encryption. Our approach enables both addition and multiplication operations on encrypted smart grid data while defending against quantum threats. We demonstrate the methods security under the RLWE hardness assumption and validate its effectiveness through an experimental platform simulating smart grid environments. This work addresses computational limitations in current privacy-preserving techniques, enhancing data security for evolving smart grid technologies © 2010-2012 IEEE.

关键词： Power management (telecommunication)

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Teeth Segmentation from Bite-Wing X-Ray Images by Integrating Nested Dual UNet with Swin Transformers

Teeth Segmentation from Bite-Wing X-Ray Images by Integratin...

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2024 IEEE International Conference on systems, Man, and Cybernetics, SMC 2024

作者： Li, Yubo Tian, Yibin Zhang, Zhiyuan Zhang, Xueyang Du, Bingran Zeng, Zhi School of Computer and Information Science Chongqing Normal University Chongqing401331 China College of Mechatronics and Control Engineering Shenzhen University Shenzhen518060 China Litemaze Technology Shenzhen518000 China School of Computing and Information Systems Singapore Management University Singapore487372 Singapore Shunde Hospital Department of Stomatology Foshan528000 China

ISBN: (纸本)9781665410205

In medical practice, the precision of image segmentation is crucial for diagnosis and treatment evaluations. Specifically, in dentistry, accurate teeth segmentation from bite-wing images is important for automatic and objective evaluations of root canal treatments. This study introduces Swin-U2 Net, a model merging the nested dual UNet with residual U-block and Swin Transformers. It combines the local feature extraction capability of the former and the global attention and context understanding of the latter. It has been evaluated for tooth root segmentation using 500 bite-wing dental x-ray images obtained from a root canal treatment clinic. It achieved the best segmentation outcome in terms of Intersection over Union (IOU) and the third best result in terms of Dice Similarity Coefficient (DSC) with the second least amount of network parameters among six UNet-like models, thus it is effective and efficient. © 2024 IEEE.

关键词： Image segmentation

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First passage time properties of diffusion with a broad class of stochastic diffusion coefficients

arXiv

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arXiv 2025年

作者： Uchida, Go Miyoshi, Hiromi Washizu, Hitoshi Department of Mechanical Systems Engineering Tokyo Metropolitan University Tokyo1920397 Japan Graduate School of Information Science University of Hyogo Hyogo6500047 Japan

Diffusion in a heterogeneous environment or diffusion of a particle that shows conformational fluctuations can be described by Brownian motions with stochastic diffusion coefficients (DCs). In the present study, we investigate first passage time properties of diffusion with a broad class of stochastic DCs that are positive and non-zero. We show that for diffusion in one-dimensional semi-infinite domain with an absorbing boundary, the eventual absorption is certain. We also show that compared to diffusion whose DC is the ensemble average of a stochastic DC, in diffusion with the stochastic DC, there are particles that reach the absorbing boundary earlier. The approximate proportion of preceding particles is determined by the probability distribution of the time average of a stochastic DC for a given distance to the absorbing boundary. In addition, when particles begin to reach the absorbing boundary before the time change in a stochastic DC occurs, a stochastic DC with a larger supremum leads to an earlier arrival of particles at the absorbing boundary even if the ensemble averages of stochastic DCs are the same. For ergodic DCs, three more properties are revealed. The mean first passage time is infinite. In addition, if particles take a long time to reach the absorbing boundary, the exact proportion of preceding particles is almost zero and the first passage time distribution can be approximated by the Lévy-Smirnov distribution. We show that these three properties of diffusion with an ergodic DC result from the convergence of the time average of the DC to the ensemble average. For three-dimensional diffusion with a spherical absorbing boundary, we obtain essentially the same results, except that the eventual absorption is not certain. Our results suggest that fluctuations in a DC play an important role in diffusion-limited reactions triggered by single molecules in physics, chemistry, or biology. Copyright © 2025, The Authors. All rights reserved.

关键词： Stochastic systems

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RadonPy:automated physical property calculation using all-atom classical molecular dynamics simulations for polymer informatics

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npj Computational Materials 2022年第1期8卷 2155-2169页

作者： Yoshihiro Hayashi Junichiro Shiomi Junko Morikawa Ryo Yoshida The Institute of Statistical Mathematics(ISM) Research Organization of Information and Systems10-3 Midori-choTachikawaTokyo190-8562Japan Department of Mechanical Engineering The University of Tokyo7-3-1 HongoBunkyoTokyo113-8656Japan Institute of Engineering Innovation The University of Tokyo2-11 YayoiBunkyo-kuTokyo113-0032Japan Department of Materials Science and Engineering School of Materials and Chemical TechnologyTokyo Institute of Technology2-12-1 OokayamaMeguro-kuTokyo152-8552Japan Research and Services Division of Materials Data and Integrated System(MaDIS) National Institute for Materials Science(NIMS)1-2-1 SengenTsukubaIbaraki305-0047Japan Department of Statistical Science School of Multidisciplinary ScienceThe Graduate University of Advanced Studies(SOKENDAI)10-3 Midori-choTachikawaTokyo190-8562Japan

The spread of data-driven materials research has increased the need for systematically designed materials property ***,the development of polymer databases has lagged far behind other material *** present RadonPy,an open-source library that can automate the complete process of all-atom classical molecular dynamics(MD)simulations applicable to a wide variety of polymeric ***,15 different properties were calculated for more than 1000 amorphous *** MD-calculated properties were systematically compared with experimental data to validate the calculation conditions;the bias and variance in the MD-calculated properties were successfully calibrated by a machine learning *** the high-throughput data production,we identified eight amorphous polymers with extremely high thermal conductivity(>0.4 W∙m^(–1)∙K^(–1))and their underlying *** to the advancement of materials informatics since the advent of computational property databases for inorganic crystals,database construction using RadonPy will promote the development of polymer informatics.

关键词： property calculation dynamics

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NA-CPG: A robust and stable rhythm generator for robot motion control

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Biomimetic Intelligence & Robotics 2022年第4期2卷 30-38页

作者： Ru Tong Changlin Qiu Zhengxing Wu Jian Wang Min Tan Junzhi Yu State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China Department of Advanced Manufacturing and Robotics College of EngineeringPeking UniversityBeijing 100871China

Central pattern generators(CPGs)have been widely applied in robot motion control for the spontaneous output of coherent periodic ***,the underlying CPG network exhibits good convergence performance only within a certain range of parameter spaces,and the coupling of oscillators affects the network output accuracy in complex topological ***,CPGs may diverge when parameters change drastically,and the divergence is irreversible,which is catastrophic for the control of robot ***,normalized asymmetric CPGs(NA-CPGs)that normalize the amplitude parameters of Hopf-based CPGs and add a constraint function and a frequency regulation mechanism are ***-CPGs can realize parameter decoupling,precise amplitude output,and stable and rapid convergence,as well as asymmetric output ***,it can effectively cope with large parameter changes to avoid network oscillations and *** optimize the parameters of the NA-CPG model,a reinforcement-learning-based online optimization method is further ***,a biomimetic robotic fish is illustrated to realize the whole optimization *** demonstrated that the designed NA-CPGs exhibit stable,secure,and accurate network outputs,and the proposed optimization method effectively improves the swimming speed and reduces the lateral swing of the multijoint robotic fish by 6.7%and 41.7%,*** proposed approach provides a significant improvement in CPG research and can be widely employed in the field of robot motion control.

关键词： Normalized asymmetric CPGs Rhythm generator Motion control Robotic fish

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