检索结果-内蒙古大学图书馆

arXiv 2023年

作者： Mehdifar, Farhad Lindemann, Lars Bechlioulis, Charalampos P. Dimarogonas, Dimos V. The Division of Decision and Control Systems KTH Royal Institute of Technology Stockholm Sweden Thomas Lord Department of Computer Science University of Southern California Los AngelesCA United States The Division of Systems and Control The Department of Electrical and Computer Engineering University of Patras Patra Greece

This paper proposes a novel control framework for handling (potentially coupled) multiple time-varying output constraints for uncertain nonlinear systems. First, it is shown that the satisfaction of multiple output constraints boils down to ensuring the positiveness of a scalar variable (the signed distance from the time-varying output-constrained set’s boundary). Next, a single funnel constraint is designed properly, whose satisfaction ensures convergence to and invariance of the time-varying output-constrained set. Then a robust and low-complexity funnel-based feedback controller is designed employing the prescribed performance control method. Finally, a simulation example clarifies and verifies the proposed approach. Copyright © 2023, The Authors. All rights reserved.

关键词： Time varying control systems

来源：评论

学校读者我要写书评

暂无评论

Optimized Design of a Soft Actuator Considering Force/Torque, Bendability, and controllability via an Approximated Structure

arXiv

引用

arXiv 2023年

作者： Yang, Wu-Te Kürkçü, Burak Tomizuka, Masayoshi Mechanical Systems Control Laboratory Department of Mechanical Engineering University of California BerkeleyCA94720 United States Department of Computer Engineering Hacettepe University Ankara06800 Turkey

This paper introduces a novel design method that enhances the force/torque, bendability, and controllability of soft pneumatic actuators (SPAs). The complex structure of the soft actuator is simplified by approximating it as a cantilever beam. This allows us to derive approximated nonlinear kinematic models and a dynamical model, which is explored to understand the correlation between natural frequency and dimensional parameters of SPA. The design problem is then transformed into an optimization problem, using kinematic equations as the objective function and the dynamical equation as a constraint. By solving this optimization problem, the optimal dimensional parameters are determined. Six prototypes are manufactured to validate the proposed approach. The optimal actuator successfully generates the desired force/torque and bending angle, while its natural frequency remains within the constrained range. This work highlights the potential of using optimization formulation and approximated nonlinear models to boost the performance and dynamical properties of soft pneumatic actuators. © 2023, CC BY-NC-ND.

关键词： Pneumatic actuators

来源：评论

学校读者我要写书评

暂无评论

WARA-PS:a research arena for public safety demonstrations and autonomous collaborative rescue robotics experimentation

引用

Autonomous Intelligent systems 2021年第1期1卷 104-134页

作者： Olov Andersson Patrick Doherty Mårten Lager Jens-Olof Lindh Linnea Persson Elin A.Topp Jesper Tordenlid Bo Wahlberg Department of Computer and Information Science Linköping UniversityLinköpingSweden Saab Kockums MalmöSweden Division of Decision and Control Systems School of Electrical Engineering and Computer ScienceKTH Royal Institute of TechnologyStockholmSweden Department of Computer Science Lund UniversityLundSweden Saab Combitech AB LinköpingSweden Division of Automatic Control Department of Electrical EngineeringLinköping UniversityLinköpingSweden

A research arena(WARA-PS)for sensing,data fusion,user interaction,planning and control of collaborative autonomous aerial and surface vehicles in public safety applications is *** objective is to demonstrate scientific discoveries and to generate new directions for future research on autonomous systems for societal *** enabler is a computational infrastructure with a core system architecture for industrial and academic *** includes a control and command system together with a framework for planning and executing tasks for unmanned surface vehicles and aerial *** motivating application for the demonstration is marine search and rescue operations.A state-of-art delegation framework for the mission planning together with three specific applications is also *** first one concerns model predictive control for cooperative rendezvous of autonomous unmanned aerial and surface *** second project is about learning to make safe real-time decisions under uncertainty for autonomous vehicles,and the third one is on robust terrain-aided navigation through sensor fusion and virtual reality tele-operation to support a GPS-free positioning system in marine *** research results have been experimentally evaluated and demonstrated to industry and public sector audiences at a marine test *** would be most difficult to do experiments on this large scale without the WARA-PS research ***,these demonstrator activities have resulted in effective research dissemination with high public visibility,business impact and new research collaborations between academia and industry.

关键词： Autonomous systems Intelligent system architectures Research demonstration arena Autonomous drones Autonomous marine vessels Public safety and security Collaborative robotics

来源：评论

学校读者我要写书评

暂无评论

Global scale solar energy harnessing: An advanced intra-hourly diffuse solar irradiance predicting framework for solar energy projects

引用

Neural Computing and Applications 2024年第18期36卷 10585-10598页

作者： El-kenawy, El-Sayed M. Bailek, Nadjem Bouchouicha, Kada Zerouali, Bilel Hassan, Muhammed A. Kuriqi, Alban Jamil, Basharat Colak, Ilhami Khalil, Adel Ibrahim, Abdelhameed Department of Communications and Electronics Delta Higher Institute of Engineering and Technology Mansoura35111 Egypt Laboratory of Mathematics Modeling and Applications Department of Mathematics and Computer Science Faculty of Sciences and Technology Ahmed Draia University of Adrar Adrar01000 Algeria Energies and Materials Research Laboratory Faculty of Sciences and Technology University of Tamanghasset Tamanrasset10034 Algeria MEU Research Unit Middle East University Amman Jordan Adrar01000 Algeria Vegetal Chemistry-Water-Energy Laboratory Faculty of Civil Engineering and Architecture Department of Hydraulic Hassiba Benbouali University of Chlef Ouled Fares Chlef02180 Algeria Mechanical Power Engineering Department Faculty of Engineering Cairo University Giza12613 Egypt School of Architecture University of Waterloo 7 Melville St S CambridgeONN1S 2H4 Canada CERIS Instituto Superior Tecnico Universidade de Lisboa Lisbon Portugal Civil Engineering Department University for Business and Technology PristinaKosovo10000 High Temperature Processes Unit IMDEA Energy Institute Av. Ramón de La Sagra 3 Móstoles Madrid28935 Spain Faculty of Engineering and Architectures Nisantasi University Istanbul Turkey Computer Engineering and Control Systems Department Faculty of Engineering Mansoura University Mansoura35516 Egypt

Diffuse horizontal irradiance (DHI) forecasts are critical for adopting solar photovoltaic technology. Yet, they can lack reliability given the limited and uncertain meteorological data available for desert areas. This research develops a new sine cosine dipper throated optimization (SCDTO) technique, targeting DHI prediction even given such data constraints. SCDTO uniquely hybridizes sine cosine metaheuristics, adept at exploration, with dipper throat optimization, providing focused exploitation. This hybridization aims to create a robust ensemble model capable of delivering reliable DHI predictions despite climatic uncertainty. The ensemble model, employing various input combinations, was rigorously evaluated across multiple meteorological stations. The SCDTO algorithm exhibited remarkable performance improvements, yielding substantial reductions exceeding 93% in root mean squared error and 98% in mean absolute error at key stations in Morocco, including Tan-Tan, Zagora, Erfoud, and Oujda. Comparative analyses against established optimization algorithms consistently underscored the superior predictive capabilities of SCDTO. Visualizations, including box plots and histograms, demonstrated SCDTO’s efficacy in minimizing prediction errors, particularly for Tan-Tan, Zagora, and Erfoud stations. Also, statistical validation through one-way analysis of variance (ANOVA) further affirmed the significance of the proposed SCDTO method. Therefore, this hybrid metaheuristic optimization enables more accurate DHI predictions from limited meteorological data. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2024.

关键词： Solar energy

来源：评论

学校读者我要写书评

暂无评论

Beyond the network-based multi-omics data integration in COPD: a pathway-centric analysis

Beyond the network-based multi-omics data integration in COP...

引用

IEEE International Conference on Bioinformatics and Biomedicine (BIBM)

作者： Pasquale Sibilio Federica Conte Paola Paci Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy Institute for Systems Analysis and Computer Science “Antonio Ruberti” National Research Council Rome Italy Karolinska Institutet Stockholm Sweden

ISBN: (数字)9798350386226

ISBN: (纸本)9798350386233

Chronic obstructive pulmonary disease (COPD) is a lung disease causing hundred thousand of death each year worldwide and defined as a respiratory and airflow impairment majorly due to large and small airways dysfunctions. COPD could be considered as a syndrome that includes disease axes of variable pathological and clinical conditions. Despite recent advances, the comprehension of the molecular mechanisms responsible for COPD disease spectrum is far to be reached. Moreover, we should also consider continuous smoking exposure, which could lead to variability in the disease mechanisms and progression. Network-based multi-omics data integration can help to study the association between molecular determinants on diverse biomolecular layers in a disease context. In a previous study, we leveraged lung RNA-seq and DNA-methylation data of a COPD-control cohort to build a correlation-based integrated network (called coupled network), that helped to unveil genes involved in immune and inflammatory modulation of COPD. Therefore, in our previous study we highlighted the most important genes of the coupled network and inspected their single contribution to disease-related pathways. In this study we aim to overcome this limitation by performing a pathway activity analysis by considering the expression and DNA methylation profiles of coupled network genes. Moreover, we exploit this analysis to study the possible contribution of coupled network genes to the differential disease progression between current and former smokers patients.

关键词： Pathology Lungs Data integration Modulation DNA Chronic obstructive pulmonary disease Biology Bioinformatics Immune system

来源：评论

学校读者我要写书评

暂无评论

A Consumer Electronics-Enhanced UAV System for Agricultural Farm Tracking With Fuzzy SMO and Actuator Fault Detection control Algorithms

引用

IEEE Transactions on Consumer Electronics 2025年

作者： Bilal, Hazrat Aslam, Muhammad Shamrooz Tian, Yibin Ullah, Inam Ayouni, Sarra Vasilakos, Athanasios V. College of Mechatronics and Control Engineering College of Computer Science and Software Engineering Shenzhen University Shenzhen518060 China China University of Mining and Technology Artificial Intelligence Research Institute Xuzhou2211106 China Shenzhen University College of Mechatronics and Control Engineering Shenzhen518060 China Gachon University Department of Computer Engineering Seongnam13120 Korea Republic of Tashkent State University of Economics Department of Artificial Intelligence Tashkent100066 Uzbekistan Princess Nourah bint Abdulrahman University Department of Information Systems College of Computer and Information Sciences Saudi Arabia Grimstad Norway

The adoption of agricultural robots, or agrobots, has revolutionized modern farming operations, ranging from crop monitoring to automated harvesting, significantly boosting productivity. Motivated by the rapid advancements in agrobots and their integration into smart agricultural practices, this study proposes an autonomous trajectory tracking system for wheat farms using quadcopter UAVs. To address actuator fault detection, including stuck faults and partial loss of efficiency, a TSF-H∞-SMO (Takagi-Sugeno Fuzzy-based H∞ Sliding Mode Observer) fault detection framework is introduced. The approach initiates with the derivation of a TSF (Takagi-Sugeno Fuzzy) attitude control model that integrates an uncertainty term, constructed from the original nonlinear dynamics of the UAV and approximated through local linear models at four equilibrium positions. An actuator fault model is subsequently integrated to develop a comprehensive TSF-UAV model, accounting for actuator faults. The TSF-H∞-SMO is then designed using matrix coordinate transformation to enable precise fault detection. The fault detection capabilities of the TSF-H∞-SMO are evaluated through simulations on the TSF-UAV model under SISO (single-input single-output) actuator fault scenarios. The experimental results validate the proposed system, demonstrating its ability to detect a range of actuator faults accurately and promptly. The analysis reveals a proportional relationship between the amplitude of the state change and the severity of the fault, attributed to the interaction between system states and actuator flaps. This approach underscores the potential for deploying autonomous UAV-based fault detection and trajectory tracking systems in agricultural applications. Furthermore, integrating such advanced fault-tolerant control algorithms holds promise for consumer technology applications, where precision, reliability, and robustness are critical to enhancing system performance and operational efficiency. © 1

关键词： Agricultural robots

来源：评论

学校读者我要写书评

暂无评论

An Actor-Critic Reinforcement Learning Scheme for Reactive 3D Optimal Motion Planning Based on Fluid Dynamics

An Actor-Critic Reinforcement Learning Scheme for Reactive 3...

引用

IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Marios Malliaropoulos Panagiotis Rousseas Charalampos P. Bechlioulis Kostas J. Kyriakopoulos School of Mechanical Engineering Control Systems Laboratory National Technical University of Athens Department of Electrical and Computer Engineering University of Patras Center of AI & Robotics (CAIR) New York University Abu Dhabi

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

This work proposes a novel and provably correct method for three-dimensional optimal motion planning in complex environments. Our approach models the 3D motion planning problem by solving streamlines of the potential fluid flow, filling a gap in traditional motion planning techniques by guaranteeing a closed-loop, smooth and natural-looking navigation solution. Special emphasis is given to an inherent challenge of artificial potential field (APF) methods, namely establishing proofs of safety and stability over the entire optimization process. A model-based actor-critic reinforcement learning algorithm is introduced to approximate the optimal solution to the Hamilton-Jacobi-Bellman equation and update the controller parameters in a deterministic manner. Through a series of ROS-Gazebo software-in-the-loop simulations the proposed methodology demonstrates robustness and outperforms widely used methods such as the RRT ∗ , highlighting its contribution to the field of 3D optimal motion planning.

关键词： Solid modeling Three-dimensional displays Navigation Reinforcement learning Mathematical models Stability analysis Robustness Planning Safety Optimization

来源：评论

学校读者我要写书评

暂无评论

Distributed Sequential Receding Horizon control of Multi-Agent systems Under Recurring Signal Temporal Logic

Distributed Sequential Receding Horizon Control of Multi-Age...

引用

European control Conference (ECC)

作者： Eleftherios E. Vlahakis Lars Lindemann Dimos V. Dimarogonas Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Thomas Lord Department of Computer Science Viterbi School of Engineering University of Southern California Los Angeles CA USA

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

We consider the synthesis problem of a multi-agent system under signal temporal logic (STL) specifications representing bounded-time tasks that need to be satisfied recurrently over an infinite horizon. Motivated by the limited approaches to handling recurring STL systematically, we tackle the infinite-horizon control problem with a receding horizon scheme equipped with additional STL constraints that introduce minimal complexity and a backward-reachability-based terminal condition that is straightforward to construct and ensures recursive feasibility. Subsequently, we decompose the global receding horizon optimization problem into agent-level programs the objectives of which are to minimize local cost functions subject to local and joint STL constraints. We propose a scheduling policy that allows individual agents to sequentially optimize their control actions while maintaining recursive feasibility. This results in a distributed strategy that can operate online as a model predictive controller. Last, we illustrate the effectiveness of our method via a multi-agent system example assigned a surveillance task.

关键词： Surveillance Decentralized control Europe Predictive models Fasteners Cost function Infinite horizon

来源：评论

学校读者我要写书评

暂无评论

Observer-Based control of Second-Order Multi-vehicle systems in Bearing-Persistently Exciting Formations

arXiv

引用

arXiv 2024年

作者： Tang, Zhiqi Fidan, Baris Johansson, Karl H. Mårtensson, Jonas Hamel, Tarek Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology StockholmSE-10044 Sweden Mechanical and Mechatronics Engineering Department University of Waterloo ON Canada France

This paper proposes an observer-based formation tracking control approach for multi-vehicle systems with second-order motion dynamics, assuming that vehicles' relative or global position and velocity measurements are unavailable. It is assumed that all vehicles are equipped with sensors capable of sensing the bearings relative to neighboring vehicles and only one leader vehicle has access to its global position. Each vehicle estimates its absolute position and velocity using relative bearing measurements and the estimates of neighboring vehicles received over a communication network. A distributed observer-based controller is designed, relying only on bearing and acceleration measurements. This work further explores the concept of the Bearing Persistently Exciting (BPE) formation by proposing new algorithms for bearing-based localization and state estimation of second-order systems in centralized and decentralized manners. It also examines conditions on the desired formation to guarantee the exponential stability of distributed observer-based formation tracking controllers. In support of our theoretical results, some simulation results are presented to illustrate the performance of the proposed observers as well as the observer-based tracking controllers. © 2024, CC BY-NC-ND.

关键词： Acceleration measurement

来源：评论

学校读者我要写书评

暂无评论

A Comparative Study of PCA and LDA for Dimensionality Reduction in a 4-Way Classification Framework

Research Square

引用

Research Square 2024年

作者： Mabrouk, Besma Jazzar, Nessrine Sallemi, Lamia Hamida, Ahmed Ben Advanced Technologies for Medicine and Signals ATMS Department of Electrical and Computer Engineering National Engineers School Sfax University Tunisia Networked Objects Control and Communication Systems National Engineering School Sfax Tunisia

Alzheimer’s disease (AD), recognized as the second-most impactful neurological disorder and currently incurable, stands as the leading cause of dementia. An imperative research focus is efficiently diagnosing the stages of patients, distinguishing early or late Mild Cognitive Impairment and AD from those with normal cognitive function. Advancements in anatomical and diffusion-weighted imaging, coupled with machine learning techniques, have significantly progressed in this predictive domain. However, in real-world trials, datasets often contain numerous features, and the curse of dimensionality can introduce challenges such as increased computational complexity, overfitting, and diminished model interpretability. To address these issues, the present study explores the efficacy of Principal Component Analysis (PCA) and Linear Discriminant Analysis (LDA) as dimensionality reduction techniques. LDA, a supervised technique emphasizing class separability, surpasses PCA, particularly in selecting features that significantly contribute to discriminating between classes. The 3D-LDA features obtained were subsequently assessed across various machine learning algorithms, leading to the establishment of a 4-way classification framework that utilized the K-Nearest Neighbors model. The outcome of this evaluation yielded an impressive accuracy rate of 87% in predicting the four different classes. © 2024, CC BY.

关键词： Nearest neighbor search

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：