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Coalitional control for Mobile Robots Formation in Logistic Applications

Coalitional Control for Mobile Robots Formation in Logistic ...

引用

International Conference on System Theory, control, and Computing (ICSTCC)

作者： Ovidiu Pauca Razvan-Gabriel Lazar Anca Maxim Constantin-Florin Caruntu Department of Automatic Control and Applied Informatics “Gheorghe Asachi” Technical University of Iasi Iasi Romania

ISBN: (数字)9798350364293

ISBN: (纸本)9798350364309

Autonomous Mobile Robots (AMRs) are essential in various industries due to their efficacy and their usefulness in securing the transportation of goods. These robots autonomously execute tasks in intra-logistics operations, spanning manufacturing, warehousing, and healthcare settings. Moreover, AMRs can interact with humans as collaborative assistants. This paper proposes a longitudinal coalitional control (CC) approach for an interconnected AMRs group. The CC method ensures that the AMRs are controlled so that, both position and velocity errors are minimised, thereby maintaining the shape of the group. Additionally, the method allows for dynamic communication topology switching by enabling or disabling communication links to reduce communication usage. The results show that the coalitional algorithm with switching topologies yields a better cost performance compared to individual topologies, proving the efficacy of the CC method in achieving satisfactory performances with minimal communication usage.

关键词： Heuristic algorithms Warehousing Transportation Switches control systems Mathematical models Topology Mobile robots Robots Logistics

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Enhancing Urban Cooperative Transportation Systems using the V2X-based MOSAIC Platform

Enhancing Urban Cooperative Transportation Systems using the...

引用

International Symposium on Electronics and Telecommunications (ISETC)

作者： Sebastian I. Alupoaei Constantin F. Caruntu Department of Automatic Control and Applied Informatics Gheorghe Asachi Technical University of Iasi Iasi Romania

ISBN: (数字)9798350390865

ISBN: (纸本)9798350390872

Rapid urban growth and increased vehicle use present major challenges for traditional transportation systems, causing congestion, accidents, and pollution. Traffic jams lead to delays, economic losses, and accidents. This study explores the V2X-based MOSAIC platform for traffic data analysis in Iasi, Romania's second-largest city, assessing indicators like density and speed. The aim is to enhance efficiency and safety in urban transport, offering insights to reduce congestion with future intelligent systems.

关键词： Electric potential Pollution Urban areas Transportation Telecommunications Safety Delays Intelligent systems Traffic congestion Accidents

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FedBayes: An Aggregation Method for Federated Learning that uses Bayesian Regression

FedBayes: An Aggregation Method for Federated Learning that ...

引用

International Conference on System Theory, control, and Computing (ICSTCC)

作者： Iuliana Bejenar Lavinia Ferariu Carlos Pascal Constantin F. Caruntu Department of Automatic Control and Applied Informatics “Gheorghe Asachi” Technical University of Iasi Iasi Romania

ISBN: (数字)9798350364293

ISBN: (纸本)9798350364309

Over the years, the concept of Federated Learning (FL) has gained popularity based on compliance with the General Data Protection Regulation (GDPR). This framework allows multiple participants to collaborate on training a shared global model, without exchanging training samples. In real-world applications, the data of different participants are usually non-independently and identically distributed (non-IID); in these cases, the clients are vulnerable to producing biased local models, for which FL-based aggregation could be improper. Several problems may also arise when some clients work with an insufficient amount of data or are exposed to potential attacks. To address these main issues, this paper proposes a new algorithm that evaluates the accuracy of models derived from participating clients and uses Bayesian regression to aggregate the local models. Through this strategy, the number of clients who can negatively affect the global model can be reduced, whether they have been attacked or have obtained poor performance for other reasons (e.g., an insufficient amount of data). The experiments are performed using a previously proposed algorithm, FedAccSize, together with this new extension, FedBayes. In the considered scenarios, both independent and identically distributed data (IID) and non-IID data are used to demonstrate the ability of the proposed algorithms to obtain an aggregation of the global model which can be done safely. Based on the comparison with the established algorithms FedAvg and FedAvgM, it results that assessing the quality of the local models is crucial for aggregation.

关键词： Training Analytical models Accuracy Federated learning Distributed databases Training data Data models Bayes methods Protection General Data Protection Regulation

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Skin Cancer Diagnosis Using CNN with Attention Mechanisms Based on Grad-CAM

Skin Cancer Diagnosis Using CNN with Attention Mechanisms Ba...

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International Conference on System Theory, control, and Computing (ICSTCC)

作者： Ana-Maria Prisăcariu Lavinia Ferariu Department of Automatic Control and Applied Informatics "Gheorghe Asachi" Technical University of Iasi Iasi Romania

ISBN: (数字)9798350364293

ISBN: (纸本)9798350364309

Skin cancer is one of the most prevalent types of cancer, with approximately 2 to 3 million cases diagnosed globally each year. Typically originating in skin areas exposed to the sun, deviations in the deoxyribonucleic acid (DNA) of skin cells can also precipitate its emergence in other regions. The paper discusses an application for the diagnosis of a diverse spectrum of dermatological conditions, focusing on the design of convolutional neural network (CNN) architectures capable of providing an accurate classification. The input data consists of dermoscopic images, and the associated classes indicate the type of lesions. CNN architectures with single or multiple attention mechanisms are analyzed in this context. Spatial attention mechanisms are applied to different layers of the feature extractor, to highlight local and global features from the most relevant areas of the images. This paper also introduces attention mechanisms that exploit Grad-Classification Activation Maps (Grad-CAMs) resulting from previously trained models, for an effective transfer of knowledge to the attention weights. The experimental demonstration was done for the AlexNet neural network, using images from the Human Against Machine (HAM10000) dataset, corresponding to 5 dermatological conditions. The best accuracy on testing data was obtained for models with single attention mechanisms related to global features. In addition, these models demonstrate a better understanding of dermoscopic images, as illustrated by the mean Grad-CAMs.

关键词： Training Attention mechanisms Accuracy Systematics DNA Feature extraction Skin Convolutional neural networks Skin cancer Testing

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Policy Transfer with Maximum Entropy Deep Reinforcement Learning for Real Cart-Pole control

Policy Transfer with Maximum Entropy Deep Reinforcement Lear...

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IEEE International Conference on Intelligent Computer Communication and Processing (ICCP)

作者： Tudor-Andrei Paleu Adrian Burlacu Carlos Pascal Department of Automatic Control and Applied Informatics Gheorghe Asachi Technical University of Iasi Iasi Romania

ISBN: (数字)9798331539979

ISBN: (纸本)9798331539986

Transferring learned controllers from simulation to real-world domains is rarely observed for deep reinforcement learning applications, even physics-based tasks like the inverted pendulum being particularly difficult when transitioning to the physical world. Model-free controllers based on deep reinforcement learning have been a successful choice for many tasks. They are preferred over model-based ones due to their adaptive capability to situations not included in the initial design and for requiring less advanced expertise in control. This paper aims to apply learning-based model-free control to a real cart-pole system using a deep reinforcement learning policy transferred from simulation to a real environment without any fine-tuning involved with the dynamics model. In a simulation, the baseline deep Q-learning, an off-policy model-free algorithm, delivered an inferior performance on the Cart-Pole environment compared to the soft Q-learning, keeping the same hyper-parameters and ensuring reproducible outcomes. In the real experimental setup, besides a PD controller feasible for under-actuated systems, the soft version policy was transferred to accelerate the design process and enhance the control. Additionally, limitations related to the brittle robustness of PD controllers and the absence of accurate models in the learning phase are studied and addressed.

关键词： Adaptation models Q-learning Heuristic algorithms Process control Deep reinforcement learning Robustness Hardware Entropy Data models PD control

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Detection of Epileptic Seizures With Autoencoders Working With Multiple EEG Frames 10

Detection of Epileptic Seizures With Autoencoders Working Wi...

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10th E-Health and Bioengineering Conference, EHB 2022

作者： Ferariu, Lavinia Mihalachi, Angela Dept. of Automatic Control and Applied Informatics "Gheorghe Asachi" Technical University of Iasi Iasi Romania

ISBN: (纸本)9781665485579

Electroencephalogram (EEG) signals can be used for discriminating between ictal and non-ictal phases, to protect people affected by epilepsy. Recent studies show the ability of autoencoders (AEs) to learn valuable EEG abstractions that can be effectively processed by classifiers. To some extent, information from previous frames could be useful for detection. However, the design should avoid using AEs with large input sizes, to prevent unsuccessful feature learning. This paper discusses AE-based schemes which allow the investigation of multiple successive frames. A hierarchical feature extractor is introduced to correlate long-term information via AEs of reduced input sizes, to support easy training. The experimental results indicate improved detection accuracy for the classification based on the proposed multi-frame hierarchical feature extractor, compared to feature extractors that work on a single frame, or use a priori/ a posteriori aggregation of frames. © 2022 IEEE.

关键词： Electroencephalography

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Model-Free Adaptive Pitch control for a Nonlinear Aerospace Laboratory Equipment

Model-Free Adaptive Pitch Control for a Nonlinear Aerospace ...

引用

International Conference on System Theory, control, and Computing (ICSTCC)

作者： Andrei Baciu Corneliu Lazar Department of Automatic Control and Applied Informatics "Gheorghe Asachi" Technical University of Iasi Iasi Romania

ISBN: (数字)9798350364293

ISBN: (纸本)9798350364309

The Model Free Adaptive control (MFAC) control laws are attractive for applications involving complex plants. This is mainly due to the fact that no process modeling is required, which becomes more and more cumbersome, but only a dynamic linearization through the concept of pseudo partial derivatives (PPD), which it introduces. Using PPD, the control law uses only the input and output data of the process to understand and control it. Systems in the aerospace category are increasingly complex, using a multitude of sensors, information that can be used very easily for applications involving MFAC. The paper proposes a test of an MFAC law conjugated with Sliding Mode control (SMC), to test this type of law in comparison with the classic MFAC-CFDL variant.

关键词： Adaptation models Process modeling Heuristic algorithms Process control Aerodynamics Sensor systems and applications Pitch control (position) Sliding mode control Oscillators Aerospace control

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Colouring Grayscale Images Using Cycle-Generative-Adversarial Networks

Colouring Grayscale Images Using Cycle-Generative-Adversaria...

引用

International Conference on System Theory, control, and Computing (ICSTCC)

作者： Radu-Cosmin Hobincă Lavinia-Eugenia Ferariu Department of Automatic Control and Applied Informatics "Gheorghe Asachi" Technical University of Iaşi Iasi Romania

ISBN: (数字)9798350364293

ISBN: (纸本)9798350364309

This paper analyses models that can realistically map the grayscale image domain to the color image domain. We thus focus our attention on a CycleGAN (Cycle-consistent Generative Adversarial Network) neural network architecture, which proves to have good results in the area of translation between domains, and implicitly in the application of image coloring. In addition to exploring CycleGAN for image colorization, this study introduces novel techniques aimed at enhancing its performance. We incorporate a color distribution loss term to ensure reliable color mapping, effectively addressing discrepancies in color distribution between domains. Moreover, an in-depth analysis of generator errors is conducted, unveiling critical insights into model limitations. Leveraging this analysis, we propose a correction network to generate residual images, facilitating more accurate colorization. Through rigorous experimentation across diverse datasets, our approach showcases a remarkable capacity to produce lifelike and coherent colorizations.

关键词： Analytical models Image color analysis Neural networks Refining Color Gray-scale Generative adversarial networks control systems Generators Reliability

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Cooperative adaptive cruise control with string stability based on DMPC for vehicle platooning 27

Cooperative adaptive cruise control with string stability ba...

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27th International Conference on System Theory, control and Computing, ICSTCC 2023

作者： Pauca, Ovidiu Lazar, Mircea Caruntu, Constantin F. Dept. of Automatic Control and Applied Informatics Gheorghe Asachi" Technical University of Iasi Iasi Romania Dept. of Electrical Engineering Eindhoven University of Technology Eindhoven Netherlands

ISBN: (纸本)9798350337983

The cooperative adaptive cruise control (CACC) functionality received significant interest in the state-of-the-art due to its advantages in optimizing traffic flow. The model-based predictive control (MPC) strategy was used in various studies due to its advantages in improving the performance of the vehicles (reducing the travel costs, improving the quality of the travel by reducing sudden accelerations, and ensuring the stability of the platoons). Moreover, MPC solutions are built to maximize the advantages of vehicular communication by sharing predictions on states of vehicles (e.g., velocities, accelerations, trajectories). In addition, MPC is also used to compensate for the disturbances added by communications. Thus, this paper proposes a CACC strategy for a vehicle platoon. The solution is based on the distributed MPC (DMPC) strategy, and the controller is proposed in discrete time, ensuring predecessor-follower string stability for the whole platoon. © 2023 IEEE.

关键词： Vehicles

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Velocity Computation for Vehicle Trajectory Tracking: A Comparative Analysis of Performance and Efficiency 24

Velocity Computation for Vehicle Trajectory Tracking: A Comp...

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24th International Conference on control Systems and Computer Science, CSCS 2023

作者： Pauca, Georgiana-Sinziana Caruntu, Constantin Florin Gheorghe Asachi Technical University of Iasi Department of Automatic Control and Applied Informatics Iasi Romania Safety and Motion Iasi Romania Software and Central Technologies Continental Automotive Romania Iasi Romania

ISBN: (纸本)9798350313390

Vehicles are a common topic and of great interest in the modern society in which we live. Their automation and the implementation of mechanisms and functionalities make driving easier and easier. The desire to completely exclude driving for every individual who owns a car has captured the interest of engineers and scientists in the automotive field. This paper aims to present such an algorithm that calculates a profile of the maximum velocity with which the car can travel on a certain trajectory. To illustrate the accuracy and to demonstrate the effectiveness of the proposed algorithm, three different scenarios were implemented. For each scenario, three maximum speeds were given with which the car can travel, to demonstrate that regardless of its power, each maneuver will be completed with the same minimum speed. To control the dynamical system, an advanced control method, the predictive control strategy, was implemented, which generated satisfactory results in each presented case. © 2023 IEEE.

关键词： Heuristic algorithms

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