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2019 International Russian Automation Conference, RusAutoCon 2019

作者： Filaretov, Vladimir Gubankov, Anton Gornostaev, Igor Konoplin, Alexander Department of Automation and Control Far Eastern Federal University Vladivostok Russia Laboratory of Robotic Systems Institute of Automation and Control Processes Vladivostok Russia Laboratory of Robotic Systems Institute of Marine Technology Problems Vladivostok Russia

ISBN: (纸本)9781728102658

This paper deals with features of solution of the inverse kinematic problem for underwater manipulators with six rotational degrees of freedom (PUMA kinematic scheme) installed on autonomous underwater vehicles. Their structural limits of all degrees of freedom are considered. The method is suggested that does not allow unpredictable reaching any degree of freedom the limit and going of its tool out of the boundaries of the working area. This is done by giving the manipulator an additional (redundant) degree of freedom by moving the autonomous underwater vehicle along the object of work. The trajectories of the manipulator can be defined in advance or be generated directly in the process of operations. The developed method allows automatically keeping the smooth movements of tools by the exception of undesirable (unexpected) reverses of actuators without emergencies and reducing quality of the works. © 2019 IEEE.

关键词： Autonomous underwater vehicles

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Image Compression Using Discrete Weyl-Heisenberg Transform

Image Compression Using Discrete Weyl-Heisenberg Transform

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2020 Ural Symposium on Biomedical Engineering, Radioelectronics and Information technology, USBEREIT 2020

作者： Asiryan, V.M. Volchkov, V.P. Papulovskaya, N.V. National University of Science and Technology 'MISiS' Department of Computer Science Moscow Russia Moscow Technical University of Communications and Informatics General Communication Theory Moscow Russia Ural Federal University Named after First President of Russia B. N. Yeltsin Department of Information Technology and Control Systems Ekaterinburg Russia

ISBN: (纸本)9781728131658

This article proposes a new approach to raster image compression, based on the use of the two-dimensional real discrete Weyl-Heisenberg transform (DWHT). This discrete transform is orthogonal and is based on the optimal Weyl-Heisenberg signal basis, which has the best time-frequency localization. The indicated properties are ensured by choosing the optimal forming function of the basis and the best ratio of its parameters. In addition, to assess the potential possibilities of using the discrete Weyl-Heisenberg transform in compression problems, the main criteria for compression efficiency were formulated and DWHT was compared with other well-known orthogonal transforms - discrete cosine transform (DCT) and discrete Hartley transform (DHT). It is experimentally shown that the proposed method based on discrete Weyl-Heisenberg transform has much better compression characteristics. The paper also presents the results of comparing three compression methods (DHT, DCT and DWHT) in the form of corresponding tables and figures of the restored images. © 2020 IEEE.

关键词： Discrete cosine transforms

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Distributed Event-Triggered Algorithms for Finite-Time Privacy-Preserving Quantized Average Consensus

arXiv

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arXiv 2021年

作者： Rikos, Apostolos I. Charalambous, Themistoklis Johansson, Karl H. Hadjicostis, Christoforos N. Division of Decision and Control Systems KTH Royal Institute of Technology StockholmSE-100 44 Sweden Department of Electrical Engineering and Automation Aalto University Espoo02150 Finland Department of Electrical and Computer Engineering University of Cyprus Nicosia1678 Cyprus

—In this paper, we consider the problem of privacy preservation in the average consensus problem when communication among nodes is quantized. More specifically, we consider a setting where some nodes in the network are curious but not malicious and they try to identify the initial states of other nodes based on the data they receive during their operation (without interfering in the computation in any other way), while some nodes in the network want to ensure that their initial states cannot be inferred exactly by the curious nodes. We propose two privacy-preserving event-triggered quantized average consensus algorithms that can be followed by any node wishing to maintain its privacy and not reveal the initial state it contributes to the average computation. Every node in the network (including the curious nodes) is allowed to execute a privacy-preserving algorithm or its underlying average consensus algorithm. In the first algorithm, each node initially injects a quantized offset and continues injecting offsets every time a certain event-triggered condition is satisfied, such that, after a finite number of events, the accumulated injected offset becomes equal to zero. In the second algorithm, each node injects a quantized offset to its out-neighboring nodes at the algorithm’s initialization, such that the accumulated sum is equal to zero. Under certain topological conditions, both algorithms allow the nodes who adopt privacy-preserving protocols to preserve the privacy of their initial quantized states and at the same time to obtain, after a finite number of steps, the exact average of the initial states while processing and transmitting quantized information. Illustrative examples demonstrate the validity and performance of our proposed algorithms. A motivating application is presented in which smart meters in a smart grid collect real-time demands for power in a neighborhood and the aggregated demand is distributively computed in a privacy-preserving manner. © 20

关键词： Electric power transmission networks

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Energy-based in-domain control and observer design for infinite-dimensional port-hamiltonian systems

arXiv

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arXiv 2020年

作者： Malzer, Tobias Toledo, Jesús Le Gorrec, Yann Schöberl, Markus Institute of Automatic Control and Control Systems Technology Johannes Kepler University Linz Altenbergerstrasse 66 Linz4040 Austria FEMTO-ST Univ. Bourgogne Franche-Comté CNRS Besançon France 24 rue Savary BesançonF-25000 France

In this paper, we consider infinite-dimensional port-Hamiltonian systems with in-domain actuation by means of an approach based on Stokes-Dirac structures as well as in a framework that exploits an underlying jet-bundle structure. In both frameworks, a dynamic controller based on the energy-Casimir method is derived in order to stabilise certain equilibrias. Moreover, we propose distributed-parameter observers deduced by exploiting damping injection for the observer error. Finally, we compare the approaches by means of an in-domain actuated vibrating string and show the equivalence of the control schemes derived in both frameworks. Copyright © 2020, The Authors. All rights reserved.

关键词： Hamiltonians

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Optimal Sensor Placement Using Combinations of Hybrid Measurements for Source Localization

arXiv

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arXiv 2025年

作者： Tang, Kang Xu, Sheng Yang, Yuqi Kong, He Ma, Yongsheng Shenzhen China Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China Department of Computer Science University of Nottingham Nottingham United Kingdom Shenzhen Key Laboratory of Control Theory and Intelligent Systems SUSTech Shenzhen China

This paper focuses on static source localization employing different combinations of measurements, including time-difference-of-arrival (TDOA), received-signal-strength (RSS), angle-of-arrival (AOA), and time-of-arrival (TOA) measurements. Since sensor-source geometry significantly impacts localization accuracy, the strategies of optimal sensor placement are proposed systematically using combinations of hybrid measurements. Firstly, the relationship between sensor placement and source estimation accuracy is formulated by a derived Cramér-Rao bound (CRB). Secondly, the A-optimality criterion, i.e., minimizing the trace of the CRB, is selected to calculate the smallest reachable estimation mean-squared-error (MSE) in a unified manner. Thirdly, the optimal sensor placement strategies are developed to achieve the optimal estimation bound. Specifically, the specific constraints of the optimal geometries deduced by specific measurement, i.e., TDOA, AOA, RSS, and TOA, are found and discussed theoretically. Finally, the new findings are verified by simulation studies. Copyright © 2025, The Authors. All rights reserved.

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一种改进的纯组分物性预测机器学习模型（英文）

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Engineering 2024年第8期 61-73页

作者：曹欣羽贡铭 Anjan Tula 陈曦 Rafiqul Gani Venkat Venkatasubramanian State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Zhejiang University Department of Physics Bard College at Simon's Rock PSE for SPEED Company Sustainable Energy and Environment Thrust The Hong Kong University of Science and Technology (Guangzhou) Department of Applied Sustainability Széchenyi István University Complex Resilient Intelligent Systems Laboratory Department of Chemical Engineering Columbia University

Information on the physicochemical properties of chemical species is an important prerequisite when performing tasks such as process design and product design. However, the lack of extensive data and high experimental costs hinder the development of prediction techniques for these properties. Moreover,accuracy and predictive capabilities still limit the scope and applicability of most property estimation methods. This paper proposes a new Gaussian process-based modeling framework that aims to manage a discrete and high-dimensional input space related to molecular structure representation with the group-contribution approach. A warping function is used to map discrete input into a continuous domain in order to adjust the correlation between different compounds. Prior selection techniques, including prior elicitation and prior predictive checking, are also applied during the building procedure to provide the model with more information from previous research findings. The framework is assessed using datasets of varying sizes for 20 pure component properties. For 18 out of the 20 pure component properties,the new models are found to give improved accuracy and predictive power in comparison with other published models, with and without machine learning.

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The role of input imaging combination and ADC threshold on segmentation of acute ischemic stroke lesion using U-Net

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European Radiology 2023年第9期33卷 6157-6167页

作者： Li, Ya-Hui Lin, Shao-Chieh Chung, Hsiao-Wen Chang, Chia-Ching Peng, Hsu-Hsia Huang, Teng-Yi Shen, Wu-Chung Tsai, Chon-Haw Lo, Yu-Chien Lee, Tung-Yang Juan, Cheng-Hsuan Juan, Cheng-En Chang, Hing-Chiu Liu, Yi-Jui Juan, Chun-Jung Graduate Institute of Biomedical Electronics and Bioinformatics National Taiwan University Taipei Taiwan Department of Medical Imaging China Medical University Hsinchu Hospital No. 199 Sec. 1 Xinglong Rd. Zhubei City Hsinchu County 302 Hsinchu Taiwan Ph.D. Program in Electrical and Communication Engineering Feng Chia University Taichung Taiwan Department of Electrical Engineering National Taiwan University Taipei Taiwan Department of Management Science National Yang Ming Chiao Tung University Hsinchu Taiwan Department of Biomedical Engineering and Environmental Sciences National Tsing Hua University Hsinchu Taiwan Department of Electrical Engineering National Taiwan University of Science and Technology Taipei Taiwan Department of Radiology School of Medicine College of Medicine China Medical University Taichung Taiwan Department of Medical Imaging Medical University Hospital Taichung Taiwan Department of Neurology China Medical University Hospital Taichung Taiwan Cheng Ching Hospital Taichung Taiwan Master’s Program of Biomedical Informatics and Biomedical Engineering Feng Chia University Taichung Taiwan Department of Automatic Control Engineering Feng Chia University No. 100 Wenhwa Rd. Seatwen Taichung 40724 Taiwan Department of Biomedical Engineering The Chinese University of Hong Kong ERB1112 11/F William M.W. Mong Engineering Building N.T Shatin Hong Kong Multi-Scale Medical Robotics Center The Chinese University of Hong Kong N.T Shatin Hong Kong Department of Biomedical Engineering National Defense Medical Center Taipei Taiwan Department of Computer Science and Information Engineering National Taiwan University Taipei Taiwan

Background: To evaluate the effect of the weighting of input imaging combo and ADC threshold on the performance of the U-Net and to find an optimized input imaging combo and ADC threshold in segmenting acute ischemic stroke (AIS) lesion. Methods: This study retrospectively enrolled a total of 212 patients having AIS. Four combos, including ADC-ADC-ADC (AAA), DWI-ADC-ADC (DAA), DWI-DWI-ADC (DDA), and DWI-DWI-DWI (DDD), were used as input images, respectively. Three ADC thresholds including 0.6, 0.8 and 1.8 × 10^–3 mm²/s were applied. Dice similarity coefficient (DSC) was used to evaluate the segmentation performance of U-Nets. Nonparametric Kruskal–Wallis test with Tukey–Kramer post-hoc tests were used for comparison. A p <.05 was considered statistically significant. Results: The DSC significantly varied among different combos of images and different ADC thresholds. Hybrid U-Nets outperformed uniform U-Nets at ADC thresholds of 0.6 × 10^–3 mm²/s and 0.8 × 10^–3 mm²/s (p <.001). The U-Net with imaging combo of DDD had segmentation performance similar to hybrid U-Nets at an ADC threshold of 1.8 × 10^–3 mm²/s (p =.062 to 1). The U-Net using the imaging combo of DAA at the ADC threshold of 0.6 × 10^–3 mm²/s achieved the highest DSC in the segmentation of AIS lesion. Conclusions: The segmentation performance of U-Net for AIS varies among the input imaging combos and ADC thresholds. The U-Net is optimized by choosing the imaging combo of DAA at an ADC threshold of 0.6 × 10^–3 mm²/s in segmentating AIS lesion with highest DSC. Key Points: • Segmentation performance of U-Net for AIS differs among input imaging combos. • Segmentation performance of U-Net for AIS differs among ADC thresholds. • U-Net is optimized using DAA with ADC = 0.6 × 10^–3mm²/s. © 2023, The Author(s), under exclusive licence to European Society of Radiology.

关键词： Deep Learning Diffusion Magnetic Resonance Imaging Ischemic Stroke Neural Networks, Computer Retrospective Study

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Interactive Heuristic D* Path Planning Solution Based on PSO for Two-Link Robotic Arm in Dynamic Environment

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World Journal of Engineering and technology 2019年第1期7卷 80-99页

作者： Firas A. Raheem Umniah I. Hameed Control and Systems Department University of Technology Baghdad Iraq

This paper is devoted to find an intelligent and safe path for two-link robotic arm in dynamic environment. This paper focuses on computational part of motion planning in completely changing dynamic environment at every motion sample domains,?since the local minima and sharp edges are the most common problems in all path planning algorithms. In addition, finding a path solution in a dynamic environment represents a challenge for the robotics researchers,?so in this paper, a proposed mixing approach was suggested to overcome all these obstructions. The proposed approach methodology?for obtaining robot interactive path planning solution in known dynamic environment utilizes?the use of modified heuristic D-star (D*) algorithm based on the full free Cartesian space analysis at each motion sample with the Particle Swarm Optimization (PSO) technique.?Also, a modification on the?D* algorithm has been done to match the dynamic environment requirements by adding stop and return backward cases which is not included in the original D* algorithm theory. The resultant interactive path solution was computed by taking into consideration the time and position changes of the moving obstacles. Furthermore, to insure the enhancement of the?final path length optimality, the PSO technique was used.?The simulation results are given to show the effectiveness of the proposed method.

关键词： D Algorithm Particle Swarm Optimization (PSO) Path Planning Two-Link Arm Known Dynamic Environment

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Optimum selection of the reference signal for correlation receiver applied to marker localization 5th

Optimum selection of the reference signal for correlation re...

引用

5th International Conference on Advanced Engineering Theory and Applications, AETA 2018

作者： Vestenický, Martin Vestenický, Peter Faculty of Electrical Engineering and Information Technology Department of Multimedia and Information-Communication Technologies University of Žilina Univerzitná 8215/1 Žilina010 26 Slovakia Faculty of Electrical Engineering Department of Control and Information Systems University of Žilina Univerzitná 8215/1 Žilina010 26 Slovakia

ISBN: (纸本)9783030149062

The localization of RFID transponders is very popular task today in industrial RFID applications. One of the special applications of RFID is the localization and identification of the underground facility networks by special RFID transponders called markers. This paper describes an optimum selection of reference signal for the correlation receiver applied to RSSI based localization of the inductive coupled RFID markers. The reference responses of the marker are generated by using the model of localization device created in Matlab – Simulink software package. The analysis takes into account the quality factor of the marker resonant circuit. The results show that the correlations coefficients between any two marker responses are not significantly dependent on the marker parameters. © Springer Nature Switzerland AG 2020.

关键词： Resonant circuits

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Model Predictive Load Frequency control of a Deregulated Power System with Battery Energy Storage

Model Predictive Load Frequency Control of a Deregulated Pow...

引用

control technology and Applications (CCTA),

作者： Abidemi Ajiborisha Paul Trodden Department of Automatic Control and Systems Engineering University of Sheffield UK

Load frequency control (LFC) is a fundamental ancillary service in the electric power system, responsible for maintaining frequency stability, inter-area transfers and sufficient reserve. With the move to the smart grid-in which traditional generation and loads are replaced by widespread distributed renewable energy resources and responsive loads- battery energy storage systems are emerging as key technologies in providing both basic energy storage and ancillary services such as frequency support. In this paper, therefore, we investigate the application of model predictive control to the LFC problem including the contribution of battery energy storage systems, using representative capacity and charging/discharging limits. We analyse the system performance in the presence of both scheduled and unscheduled disturbances, showing via simulation how stationary battery energy storage systems improve overall system dynamics.

关键词： Batteries Power system stability Frequency control Load modeling State of charge

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