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Data-driven output regulation control for constrained linear systems

science China(Information sciences) 2025年第3期68卷 338-353页

作者： Chaoyu XIA Yi DONG Chaoli WANG Shengyuan XU Shanghai Research Institute for Intelligent Autonomous Systems Tongji University College of Electronic and Information Engineering Shanghai Research Institute for Intelligent Autonomous SystemsTongji University Department of Control Science and Engineering School of Optical-Electrical and Computer EngineeringUniversity of Shanghai for Science and Technology Department of Automation Nanjing University of Science and Technology

This study introduces a data-driven approach for state and output feedback control addressing the constrained output regulation problem in unknown linear discrete-time systems. Our method ensures effective tracking performance while satisfying the state and input constraints, even when system matrices are not available. We first establish a sufficient condition necessary for the existence of a solution pair to the regulator equation and propose a data-based approach to obtain the feedforward and feedback control gains for state feedback control using linear programming. Furthermore, we design a refined Luenberger observer to accurately estimate the system state, while keeping the estimation error within a predefined set. By combining output regulation theory, we develop an output feedback control strategy. The stability of the closed-loop system is rigorously proved to be asymptotically stable by further leveraging the concept of λ-contractive sets.

关键词： output regulation constrained system data-driven.

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Reaching and Grasping with NAO Robot 16th

Reaching and Grasping with NAO Robot

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16th International Conference on Social Robotics, ICSR + AI 2024

作者： Borghese, N. Alberto Chitti, Eleonora Laboratory of Applied Intelligent Systems Department of Computer Science University of Milan Milan Italy

ISBN: (纸本)9789819635184

In this paper we propose a robust approach that combines classical computer vision with a smart setup that enables a NAO humanoid robot to play with children. Blocks are adopted as playing objects as they are widely used and are a highly versatile support. This approach addresses the challenges of object reaching and grasping, by allowing the robot to approach the table over which activity is carried out, orient appropriately, plan the reaching movement that is executed partly through direct and partly through inverse kinematics, grasp the block, moving it over the table and releasing it into its target position. By integrating visual information provided by the robot cameras into a closed-loop control system, no additional sensors are required. This approach enables not only children to play with a Humanoid robot in a richer way, but also to be used to treat cognitive / motor deficits inside what is termed Robot Assisted Therapy. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Anthropomorphic robots

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Comparison of Machine Learning Algorithms for Predicting Thyroid Disorders in Diabetic Patients

Informatica (Slovenia)

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Informatica (Slovenia) 2025年第12期49卷 105-114页

作者： Sayyid, Hiba O. Mahmood, Salma A. Hamadi, Saad S. Department of Computer Science University of Basrah College of Computer Sciences and Information Technology Basrah Iraq Department of Intelligent Medical Systems University of Basrah College of Computer Sciences and Information Technology Basrah Iraq Department of Internal Medicine University of Basrah College of Medicine Basrah Iraq

Machine Learning (ML), a subfield of Artificial Intelligence (AI), has been used successfully in the healthcare domain for disease diagnosis. Thyroid disorders and diabetes are two of the most prevalent and interconnected chronic diseases, as both play critical roles in regulating various physiological processes in the body. This study aims to predict thyroid disorders in diabetes patients using six machine learning algorithms: Random Forest (RF), Decision Tree (DT), K-Nearest Neighbors (KNN), Logistic Regression (LR), Naïve Bayes (NB), and Support Vector Machine (SVM). A locally sourced dataset comprising 44,539 instances of diabetic patients was utilized, undergoing preprocessing steps including data cleaning, encoding, and balancing. Two balancing techniques were employed: manual balancing and RandomUnderSampler. The dataset was partitioned into training and testing sets using a Stratified K-Fold cross-validation approach with 10 folds to ensure robust evaluation. Each algorithm’s performance was assessed using metrics such as accuracy and F1-score. Among the models, the RF algorithm outperformed the others, achieving the highest accuracy of 95% on the manually balanced dataset and 84% when the RandomUnderSampler technique was employed. Additionally, the F1-scores for RF were 95% and 82%, respectively, indicating its robustness in handling imbalanced datasets. This study highlights the importance of selecting appropriate preprocessing techniques and machine learning methods for healthcare datasets. The findings can assist healthcare providers in making early diagnoses and interventions for thyroid disorders in diabetic patients, potentially improving their quality of life and overall healthcare outcomes. © 2025 Slovene Society Informatika. All rights reserved.

关键词： Logistic regression

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Deep Learning Based Side-Channel Attack Detection for Mobile Devices Security in 5G Networks

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清华大学学报自然科学版（英文版） 2025年第3期30卷 1012-1026页

作者： Amjed A.Ahmed Mohammad Kamrul Hasan Ali Alqahtani Shayla Islam Bishwajeet Pandey Leila Rzayeva Huda Saleh Abbas Azana Hafizah Mohd Aman Nayef Alqahtani Center for Cyber Security Faculty of Information Science and TechnologyUniversiti Kebangsaan MalaysiaBangi 43600Malaysia Imam Alkadhim University College Department of Computer Techniques EngineeringBaghdad 10066Iraq Center for Cyber Security Faculty of Information Science and TechnologyUniversiti Kebangsaan MalaysiaBangi 43600Malaysia Department of Networks and Communications Engineering College of Computer Science and Information SystemsNajran UniversityNajran 61441Saudi Arabia Institute of Computer Science and Digital Innovation UCSI UniversityKuala Lumpur 56000Malaysia Department of Intelligent Systems and Cyber Security Astana IT UniversityAstana 20000Kazakstan Department of Computer Science College of Computer Science and EngineeringTaibah UniversityMadinah 42353Saudi Arabia Department of Electrical Engineering College of EngineeringKing Faisal UniversityAl-Hofuf 31982Saudi Arabia

Mobile devices within Fifth Generation(5G)networks,typically equipped with Android systems,serve as a bridge to connect digital gadgets such as global positioning system,mobile devices,and wireless routers,which are vital in facilitating end-user communication ***,the security of Android systems has been challenged by the sensitive data involved,leading to vulnerabilities in mobile devices used in 5G *** vulnerabilities expose mobile devices to cyber-attacks,primarily resulting from security ***-permission apps in Android can exploit these channels to access sensitive information,including user identities,login credentials,and geolocation *** such attack leverages"zero-permission"sensors like accelerometers and gyroscopes,enabling attackers to gather information about the smartphone's *** underscores the importance of fortifying mobile devices against potential future *** research focuses on a new recurrent neural network prediction model,which has proved highly effective for detecting side-channel attacks in mobile devices in 5G *** conducted state-of-the-art comparative studies to validate our experimental *** results demonstrate that even a small amount of training data can accurately recognize 37.5％of previously unseen user-typed ***,our tap detection mechanism achieves a 92％accuracy rate,a crucial factor for text *** findings have significant practical implications,as they reinforce mobile device security in 5G networks,enhancing user privacy,and data protection.

关键词： Fifth Generation(5G)networks smartphone information leakage Side-Channel Attack(SCA) deep learning

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A Mathematical and Dynamical Model for Analyzing H-Shaped PM Vernier Motor for Electric Motorcycle Mid-Drive Applications

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IEEE Transactions on Energy Conversion 2025年第1期40卷 529-543页

作者： Ghods, Mehrage Faiz, Jawad Bazrafshan, Mohammad Amin Gorginpour, Hamed Toulabi, Mohammad Sedigh University of Tehran School of Electrical and Computer Engineering College of Engineering Tehran*** Iran Persian Gulf University Department of Intelligent Systems Engineering and Data Science Bushehr*** Iran Oakland University Department of Electrical and Computer Engineering RochesterMI48309 United States

The permanent magnet (PM) Vernier machines enhance torque density and decrease cogging torque compared to conventional permanent magnet synchronous motor. This paper presents a novel fractional-slot H-shaped PM Vernier machines, which incorporates unique design for the PM housing and rotor core construction. These designs are specifically optimized for the small-scale electric vehicles application. The choice of the PM arrangement is based on the combination of V-shaped and spoke-array PM topologies. The aim is to achieve a higher torque density than V-shaped PM machines, while reducing cogging torque compared to spoke-array PM machines. By using this methodology, leakage fluxes in the terminal region of the PMs reduce, resulting in an augmentation of both flux-linkage and power factor. A prototype 680 W motor was fabricated with 12 slots and 8 poles to verify the accuracy and effectiveness of the proposed model. Mathematical model and dynamical analysis are proposed for the analytical prediction of machine performance. Due to the unique shape feature of the machine, the conformal mapping approach is applied to design the rotor core. To validate the model, the predicted performance of the motor was compared with those obtained by finite element analysis and experiments. © 1986-2012 IEEE.

关键词： Permanent magnets

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Explainable Artificial Intelligence Driven Segmentation for Cervical Cancer Screening

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IEEE Access 2025年 13卷 71306-71322页

作者： Sritharan, Niruthikka Gnanavel, Nishaanthini Inparaj, Prathushan Meedeniya, Dulani Yogarajah, Pratheepan University of Moratuwa Department of Computer Science and Engineering Moratuwa10400 Sri Lanka Ulster University School of Computing Engineering and Intelligent Systems LondonderryBT48 7JL United Kingdom

Cervical cancer remains an important global health challenge among women. Early and accurate identification of abnormal cervical cells is crucial for effective treatment and improved survival rates. This paper addresses the development of a novel weakly supervised segmentation framework that combines binary classification, Explainable Artificial Intelligence (XAI) techniques, and GraphCut to automate cervical cancer screening. Unlike traditional segmentation methods that rely on pixel-level annotations of medical images, which are costly, laborious, and require expertise in medical imaging, our approach leverages classification-driven insights to segment the nucleus, cytoplasm, and background regions. A key innovation of our framework is the use of XAI techniques such as Grad-CAM++ and LRP combined with GraphCut, to enable annotation-free segmentation using only classification-level labels. This represents a pioneering application of explainability techniques in the context of cervical cancer screening. Among the classification models explored, including fine-tuned variants of VGGNet and XceptionNet, VGG16-Adapted128 achieved the highest performance, marked by an accuracy of 0.94, precision of 0.94, recall of 0.94, and an F1 score of 0.94. This novel segmentation framework employed LRP and GradCAM++ as XAI techniques to gain insight into the decision-making process of classification models, with GradCAM++ demonstrating greater effectiveness. The performance of these XAI methods was assessed through both visual inspection and quantitative metrics, including entropy and pixel flipping. This innovative approach to segmentation is formally introduced through two algorithms detailed in this paper. The weakly supervised segmentation framework achieved a Dice Similarity Coefficient (DSC) of 62.05% and an Intersection over Union (IoU) of 61.89%. In addition, it has received high satisfaction ratings from expert evaluations and has been seamlessly integrated into a user-frie

关键词： Self-supervised learning

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Multi-Scale Time Series Segmentation Network Based on Eddy Current Testing for Detecting Surface Metal Defects

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IEEE/CAA Journal of Automatica Sinica 2025年第3期12卷 528-538页

作者： Xiaorui Li Xiaojuan Ban Haoran Qiao Zhaolin Yuan Hong-Ning Dai Chao Yao Yu Guo Mohammad S.Obaidat George Q.Huang the School of Intelligence Science and Technology University of Science and Technology Beijing the Beijing Advanced Innovation Center for Materials Genome Engineering the Key Laboratory of Intelligent Bionic Unmanned Systems and the Institute of Materials Intelligent Technology Liaoning Academy of Materials IEEE the Department of Computer Science Hong Kong Baptist University the School of Computer and Communication Engineering Key Laboratory of Advanced Materials and Devices for Post-Moore Chips Ministry of Education University of Science and Technology Beijing the Beijing Advanced Innovation Center for Materials Genome Engineering University of Science and Technology Beijing the School of Computer and Communication Engineering University of Science and Technology Beijing the King Abdullah Ⅱ School of Information Technology The University of Jordan the Department of Computational Intelligence the School of Computing SRM University the School of Engineering The Amity University The Hong Kong Polytechnic University

In high-risk industrial environments like nuclear power plants, precise defect identification and localization are essential for maintaining production stability and safety. However, the complexity of such a harsh environment leads to significant variations in the shape and size of the defects. To address this challenge, we propose the multivariate time series segmentation network(MSSN), which adopts a multiscale convolutional network with multi-stage and depth-separable convolutions for efficient feature extraction through variable-length templates. To tackle the classification difficulty caused by structural signal variance, MSSN employs logarithmic normalization to adjust instance distributions. Furthermore, it integrates classification with smoothing loss functions to accurately identify defect segments amid similar structural and defect signal subsequences. Our algorithm evaluated on both the Mackey-Glass dataset and industrial dataset achieves over 95% localization and demonstrates the capture capability on the synthetic dataset. In a nuclear plant's heat transfer tube dataset, it captures 90% of defect instances with75% middle localization F1 score.

关键词： Eddy current testing nondestructive testing semantic segmentation time series analysis

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Speed Harmonic based Saturation Free Inductance Modeling and Estimation of Interior PMSM Using Measurements Under One Load Condition

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CES Transactions on Electrical Machines and systems 2025年第1期9卷 91-99页

作者： Guodong Feng Yuting Lu Zhe Tong Beichen Ding Guishan Yan Chunyan Lai the School of Intelligent Systems Engineering Sun Yat-sen UniversityShenzhenChina the School of Advanced Manufacturing Sun Yat-sen University the Southern Marine Science and Engineering Guangdong Laboratory(Zhuhai) China the Department of Electrical and Computer Engineering Concordia UniversityQCCanada

For permanent magnet synchronous machines(PMSMs),accurate inductance is critical for control design and condition *** to magnetic saturation,existing methods require nonlinear saturation model and measurements from multiple load/current conditions,and the estimation is relying on the accuracy of saturation model and other machine parameters in the *** harmonic produced by harmonic currents is inductance-dependent,and thus this paper explores the use of magnitude and phase angle of the speed harmonic for accurate inductance *** estimation models are built based on either the magnitude or phase angle,and the inductances can be from d-axis voltage and the magnitude or phase angle,in which the filter influence in harmonic extraction is considered to ensure the estimation *** inductances can be estimated from the measurements under one load condition,which is free of saturation ***,the inductance estimation is robust to the change of other machine *** proposed approach can effectively improve estimation accuracy especially under the condition with low current *** and comparisons are conducted on a test PMSM to validate the proposed approach.

关键词： PMSM Inductance estimation Speed harmonic High frequency signal injection

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Chemical environment adaptive learning for optical band gap prediction of doped graphitic carbon nitride nanosheets

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Neural Computing and Applications 2025年第5期37卷 3287-3301页

作者： Chen, Chen Xu, Enze Yang, Defu Yan, Chenggang Wei, Tao Chen, Hanning Wei, Yong Chen, Minghan Intelligent Information Processing Laboratory Hangzhou Dianzi University Hangzhou China Department of Computer Science Wake Forest University Winston-SalemNC United States Department of Chemical Engineering Howard University WashingtonDC United States Texas Advanced Computing Center University of Texas at Austin AustinTX United States Department of Computer Science & Information Systems University of North Georgia DahlonegaGA United States

This study presents a new machine learning algorithm, named Chemical Environment Graph Neural Network (ChemGNN), designed to accelerate materials property prediction and advance new materials discovery. Graphitic carbon nitride (g-C3N4) and its doped variants have gained significant interest for their potential as optical materials. Accurate prediction of their band gaps is crucial for practical applications;however, traditional quantum simulation methods are computationally expensive and challenging to explore the vast space of possible doped molecular structures. The proposed ChemGNN leverages the learning ability of current graph neural networks (GNNs) to satisfactorily capture the characteristics of atoms' chemical environment underlying complex molecular structures. Our experimental results demonstrate more than 100% improvement in band gap prediction accuracy over existing GNNs on g-C3N4. Furthermore, the general ChemGNN model can precisely foresee band gaps of various doped g-C3N4 structures, making it a valuable tool for performing high-throughput prediction in materials design and development. © The Author(s) 2024.

关键词： Graphitic Carbon Nitride

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Autonomous 3D Reconstruction with Small Unmanned Aerial Vehicle (UAV) using Structure from Motion: Practical Aspects

Autonomous 3D Reconstruction with Small Unmanned Aerial Vehi...

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AIAA science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Rayon, Nathan Stevens, Raymond Sevil, Hakki Erhan Department of Computer Science University of West Florida FL32514 United States Department of Electrical and Computer Engineering University of West Florida FL32514 United States Department of Intelligent Systems & Robotics University of West Florida FL32514 United States

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

This paper explores the practical considerations and challenges involved in achieving autonomous 3D reconstruction utilizing small Unmanned Aerial Vehicles (UAVs) through the framework of Structure from Motion (SFM). The utilization of small UAVs equipped with lightweight cameras presents a promising resource for cost-effective and rapid 3D mapping in various domains such as disaster response, infrastructure inspection, and search and rescue. In this study, the critical practical aspects of this process, including height level for taking images, UAV selection, number of images, image acquisition strategies, and computational time. The effectiveness and limitations of autonomous 3D reconstruction with small UAVs through practical insights are summarized, with discussions on potential advancements and areas for future research. This paper serves as a guide for researchers interested in utilizing small UAVs for autonomous 3D reconstruction tasks applications. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Unmanned aerial vehicles (UAV)

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