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International Conference on control systems and Computer Science (CSCS)

作者： Viorel Dediu Andreea Udrea Department of Automatic Control and Systems Engineering Faculty of Automatic Control and Computer Science Univesity Politehnica of Bucharest Bucharest Romania

Pneumonia is one of the top causes of death in Romania and early detection of this disease improves the recovery chances and shortens the length of hospitalization. In this work, we develop a solution for automatic pneumonia detection based on convolutional neural networks. Four network models are investigated. They are trained on 4.163 images from a public dataset and tested on 530 images. The best results are obtained by one of the proposed models conducting to a sensitivity of 98.72%, an accuracy of 89.81%, and ROC 93.46%. Thus, this research proposes a lightweight screening tool that can help triaging the patients with pneumonia.

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Adaptability analysis on the measurement device of UACV special machinery unlocking force

Adaptability analysis on the measurement device of UACV spec...

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2023 International Conference on Mechatronic Engineering and Artificial Intelligence, MEAI 2023

作者： Yang, Mo Cai, Zizhuo Lin, Jing Li, Jiahao Ren, Haiyue Liu, Qiang School of Mechanical Engineering Nanjing University of Science and Technology 200 Xiaolingwei Street Nanjing210094 China Department of Automatic Control Systems Bauman Moscow State Technical University ul. Baumanskaya 2-ya 5/1 Moscow105005 Russia

ISBN: (纸本)9781510674608

During the unlocking process of the rotating-bolt locking special machinery head, there is a significant resistance. The aim is to select a motor for unmanned aerial combat vehicle (UACV) mounted external power special machinery drives, taking the special machinery unlocking force as the research subject. Adaptive analysis is conducted on the patented structure of the special machinery unlocking force measurement device previously designed. A virtual prototype model is established using the dynamic simulation software ADAMS to apply driving, constraints, and simulation parameters based on the model's principles. Addressing the phenomenon of the detachment of the guide rod slider from the tested bolt carrier during the operation of the special machinery unlocking force measurement device, it is hypothesized that the detachment time is related to the stiffness of the spring and the velocity of the lead screw slider. Through multiple comparative simulations, the correctness of the hypothesis is proven. It is demonstrated that increasing the velocity of the lead screw slider can completely eliminate the detachment time, whereas increasing the stiffness of the spring, although reducing the detachment time, still results in secondary detachment. Consequently, the conclusion is drawn that increasing the velocity of the lead screw slider is the way to resolve the detachment issue of the guide rod slider from the tested bolt carrier in the experiment. © 2024 SPIE.

关键词： Unmanned aerial vehicles (UAV)

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An Interacting Multiple Model Correntropy Kalman Filter Approach for Unmanned Aerial Vehicle Localisation 16

An Interacting Multiple Model Correntropy Kalman Filter Appr...

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16th International Conference on INnovations in Intelligent systems and Applications, INISTA 2022

作者： Candan, Fethi Beke, Aykut Shen, Chen Mihaylova, Lyudmila University of Sheffield Department of Automatic Control and Systems Engineering SheffieldS1 3JD United Kingdom Aselsan Department of Control Systems Design Ankara06750 Turkey 310018 China

ISBN: (数字)9781665498104

ISBN: (纸本)9781665498104

This paper compares a conventional interacting multiple model Kalman filter (IMM-KF) filter and an interacting multiple models with maximum correntropy Kalman filter (IMM-MCKF). A nonlinear UAV dynamics model was used to compare these two methods. The compared filters estimated the position of the UAV under the noise distribution. Although KF has reliable accuracy, MCKF has got better results under non-Gaussian or mixed distributions. At this point, these filters have been investigated under maneuver and non-maneuver motion, and it is known that better advantages will be shown when both filters are used in the IMM. These filters have been compared under non-Gaussian distributions, and the Student's-T distribution has been selected as a non-Gaussian type. The performance validation and testing stages are carried out with variable degrees of freedom, and scaling matrix factors for the Student's-T distributions have been used. Results from simulation tests from 3000 independent Monte-Carlo runs are presented. In these experiments, UAV models and UAV trajectory results have been used. © 2022 IEEE.

关键词： Kalman filters

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Bringing Quantum systems under control: A Tutorial Invitation to Quantum Computing and Its Relation to Bilinear control systems 63

Bringing Quantum Systems under Control: A Tutorial Invitatio...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Berberich, Julian Kosut, Robert L. Schulte-Herbruggen, Thomas University of Stuttgart Institute for Systems Theory and Automatic Control Stuttgart70569 Germany Systems & Control Division Sc Solutions SunnyvaleCA United States Princeton University Department of Chemistry PrincetonNJ United States Technical University of Munich School of Natural Sciences Garching Munich85748 Germany Schellingstr. 4 Munich80799 Germany

ISBN: (纸本)9798350316339

Quantum computing comes with the potential to push computational boundaries in various domains including, e.g., cryptography, simulation, optimization, and machine learning. Exploiting the principles of quantum mechanics, new algorithms can be developed with capabilities that are unprecedented by classical computers. However, the experimental realization of quantum devices is an active field of research with enormous open challenges, including robustness against noise and scalabilty. While systems and control theory plays a crucial role in tackling these challenges, the principles of quantum physics lead to a (perceived) high entry barrier for entering the field of quantum computing. This tutorial paper aims at lowering the barrier by introducing basic concepts required to understand and solve research problems in quantum systems. First, we introduce fundamentals of quantum algorithms, ranging from basic ingredients such as qubits and quantum logic gates to prominent examples and more advanced concepts, e.g., variational quantum algorithms. Next, we formalize some engineering questions for building quantum devices in the real world, which requires the careful manipulation of microscopic quantities obeying quantum effects. To this end for N-level systems, we introduce basic concepts of (bilinear) quantum systems and control theory including controllability, observability, and optimal control in a unified frame. Finally, we address the problem of noise in real-world quantum systems via robust quantum control, which relies on a set-membership uncertainty description frequently employed in control. A key goal of this tutorial paper is to demystify engineering aspects of quantum computing by emphasizing that its mathematical description mainly involves linear algebra (for quantum algorithms) and the handling of bilinear control systems (for quantum systems and control theory) but does not require too much detailed knowledge of quantum physics. © 2024 IEEE.

关键词： Quantum computers

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Research on the measurement device of UAV firearm unlocking force 4

Research on the measurement device of UAV firearm unlocking ...

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4th International Conference on Mechanical Engineering, Intelligent Manufacturing, and Automation technology, MEMAT 2023

作者： Yang, Mo Lin, Jing Li, Jiahao Cai, Zizhuo Ren, Haiyue Liu, Qiang School of Mechanical Engineering Nanjing University of Science and Technology 200 Xiaolingwei Street Nanjing210094 China Department of Automatic Control Systems Bauman Moscow State Technical University ul. Baumanskaya 2-ya 5/1 Moscow105005 Russia

ISBN: (纸本)9781510674820

In the current firearms dynamics research, the majority of studies focus on the extraction resistance and subsequent recoil forces, with relatively fewer studies on the unlocking force. This study focuses on the measurement of firearm unlocking force by analyzing the previously designed measurement device. By employing theoretical and dynamic simulation analyses, the variations of unlocking force over time were determined. A comparison of two sets of curves showed a high degree of coincidence, indicating the feasibility of the device in principle. Subsequently, to verify the accuracy of the measurements obtained by the device, a specific firearm was studied through simulation and experimental analysis, demonstrating the precision of the device's measurements. This structural device not only can be effectively used for measuring firearm unlocking force but also provides a new approach for experimental research on this force in firearms. © 2024 SPIE.

关键词： Unmanned aerial vehicles (UAV)

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Delayless controllers for Exact Model Matching and Disturbance Rejection of Time Delay systems with Measurable and Non-measurable Disturbances 12

Delayless Controllers for Exact Model Matching and Disturban...

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12th International Conference on Modern Circuits and systems Technologies, MOCAST 2023

作者： Koumboulis, Fotis N. Kouvakas, Nikolaos D. National and Kapodistrian University of Athens Euripus Campus Robotics Automatic Control and Cyber-Physical Systems Laboratory Department of Digital Industry Technologies School of Science Euboea Greece

ISBN: (纸本)9798350321074

Delayless control design for time delay systems is an attractive direction for networked control systems as well as other cyber physical applications. In the present paper, the problem of Exact Model Matching with simultaneous Disturbance Rejection (EMMDR) is studied for the case of left-invertible general neutral multi delay systems with measurable and non-measurable disturbances, via two types of delayless controllers. The first type of controllers is a dynamic delayless controller feeding back the measurement outputs, the measurable disturbances and the external commands. The number of the external commands is equal to the number of the control inputs. The second type of controllers is the static delayless version of the first type. For both types of controllers, the necessary and sufficient conditions for the solvability of the problem are established, and the general solutions of the controller matrices are derived. The results are illustrated through a numerical example. © 2023 IEEE.

关键词： controllers

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Utilization of Uniform Circular Array for Estimating RF Source Location in Real-time

Utilization of Uniform Circular Array for Estimating RF Sour...

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International Conference on control, Automation and Diagnosis (ICCAD)

作者： Hamad Alsayegh Mohammad Almuhaihi Automatic Control and Systems Engineering Department University of Sheffield Aerospace Engineering Department University of Michigan

ISBN: (数字)9798350361025

ISBN: (纸本)9798350361032

This Radio Frequency (RF) source location estimation scheme utilizes angles of arrival of a signal source acquired from the Multiple Signal Classification (MUSIC) algorithm. In reliance on that as a Maximum Likelihood estimation, the obtained angles are augmented to an adaptive probability distribution function (PDF), which is then employed to estimate the location of the RF emitter by feeding the PDF to an Extended Kalman Filter (EKF). Numerous use cases and theoretical works have been presented in the literature. Some of these papers mention applications regarding implementing DoA algorithms in dynamic platforms like in [9], [10], [11], [12], and [13] mostly all of them use Uniform Linear Array (ULA), four of them working with Estimation of Signal Parameters via Rotational Invariance Technique (ESPRIT), and one with MUSIC Direction of Arrival (DoA) method. In [14], MUSIC was used with a Uniform Circular Array (UCA). However, less coupling has been incorporated with the covariance of measurement error. In this paper, the dynamic 2D DoA MUSIC algorithm used in a platform, applied together with an EKF estimation and coupled with measurement covariance in a simulation environment to precisely locate an RF emitter and provide high-resolution Line-of-Sight (LOS).

关键词： Radio frequency Maximum likelihood estimation Direction-of-arrival estimation Heuristic algorithms Current measurement Estimation Position measurement

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Refined Kernel Principal Component Analysis Based Feature Extraction

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Chinese Journal of Electronics 2023年第3期20卷 467-470页

作者： Junbao LI Longjiang YU Shenghe SUN Department of Automatic Test and Control Harbin Institute of Technology Harbin China

Kernel principal component analysis (KPCA) has been widely applied in pattern recognition areas, but it endures the high store space and time consuming problems on feature extraction in the practical applications. In this paper, we propose a novel Refined kernel principal component analysis (RKPCA) based feature extraction with adaptively choosing the few samples from the training sample set but with less influence on recognition performance in the practical applications. Experimental results on seven datasets show the proposed algorithm achieves the approximate error rates but only about 20%-30% training samples. RKPCA performs well on the conditions of high computation efficiency but not a strict on recognition accuracy.

关键词： Training Error analysis Face recognition Speech recognition Aerospace electronics Feature extraction Computational efficiency

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Particle Estimation Algorithm Using Angle between Observation Vectors for Nonlinear System State

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Chinese Journal of Electronics 2023年第4期18卷 700-702页

作者： Jun Liang Yu Peng Xiyuan Peng Department of Automatic Test and Control Harbin Institute of Technology Harbin China

A particle estimation algorithm where the weight of the particle is related to angle between observation vectors is presented for nonliear system state. When the likelihood has a bimodal nature, this algorithm leads to more accurate state estimates than Sequential importance resampling (SIR), Auxiliary particle filter (APF), Regularized particle filter (RPF), and Gaussian particle filter (GPF).

关键词： Filtering algorithms Particle filters State estimation Nonlinear systems

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Tangled Program Graphs as an alternative to DRL-based control algorithms for UAVs 27

Tangled Program Graphs as an alternative to DRL-based contro...

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27th IEEE Signal Processing: Algorithms, Architectures, Arrangements, and Applications, SPA 2024

作者： Szolc, Hubert Desnos, Karol Kryjak, Tomasz AGH University of Krakow Embedded Vision Systems Group Department of Automatic Control and Robotics Kraków Poland Univ Rennes INSA Rennes CNRS IETR - UMR 6164 RennesF-35000 France

ISBN: (纸本)9788362065486

Deep reinforcement learning (DRL) is currently the most popular AI-based approach to autonomous vehicle control. An agent, trained for this purpose in simulation, can interact with the real environment with a human-level performance. Despite very good results in terms of selected metrics, this approach has some significant drawbacks: high computational requirements and low explainability. Because of that, a DRL-based agent cannot be used in some control tasks, especially when safety is the key issue. Therefore we propose to use Tangled Program Graphs (TPGs) as an alternative for deep reinforcement learning in control-related tasks. In this approach, input signals are processed by simple programs that are combined in a graph structure. As a result, TPGs are less computationally demanding and their actions can be explained based on the graph structure. In this paper, we present our studies on the use of TPGs as an alternative for DRL in control-related tasks. In particular, we consider the problem of navigating an unmanned aerial vehicle (UAV) through the unknown environment based solely on the onboard LiDAR sensor. The results of our work show promising prospects for the use of TPGs in control related-tasks. © 2024 Division of Signal Processing and Electronic systems, Poznan University of technology (DSPES PUT).

关键词： Deep reinforcement learning

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