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

作者： Umur Ulas Harman Ahmed Hafez Cameron Duffield Zihan Zhao Luke Dixon Daniela Rus Shuhei Miyashita Automatic Control and Systems Engineering Department University of Sheffield Sheffield UK Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge MA USA Insigneo Institute for in Silico Medicine

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

This paper addresses the challenge of actuating millimetre-sized motors, which are wirelessly driven by external magnetic fields. Traditional approaches, relying on rotating magnetic fields, often inadvertently cause the entire robot – especially if it is small and lightweight – to rotate, instead of a specified shaft in the motor. To overcome this issue, our study introduces a novel mechanism that leverages symmetrically configured magnetic motors to cancel out the torques, thus preventing unwanted rotation of the robot. This is achieved by utilizing a magnetic field along a single axis to induce rotational movement. The design features two millimetre-sized rotating magnets that interact to achieve a 90 ◦ rotation, complemented by an external magnetic field that accomplishes the remaining 270 ◦ , thus completing a full rotation. Furthermore, we demonstrate that applying a perpendicularly oriented magnetic field can inversely affect the motor’s rotation direction. A proof-of-concept experiment employing this mechanism successfully actuated a gripper in a water tank while it is free-floating, showcasing its potential for enhancing robotic applications at the sub-centimeter scale, where the small net torque of a miniature motor is essential.

关键词： Water Shafts Torque Gears Net zero Storage management Motors Permanent magnets Magnetic fields Grippers

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Leader-Follower Formation Tracking control of Quadrotor UAVs Using Bearing Measurements

arXiv

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arXiv 2025年

作者： Doodeman, Sander Tang, Zhiqi Jacinto, Marcelo Cunha, Rita Silvestre, Carlos Department of Mechanical Engineering TU/e Eindhoven University of Technology Eindhoven Netherlands Division of Decision and Control Systems KTH Royal Institute of Technology Sweden Instituto Superior Técnico University of Lisbon Portugal Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau China

This work addresses the practical problem of distributed formation tracking control of a group of quadrotor vehicles in a relaxed sensing graph topology with a very limited sensor set, where only one leader vehicle can access the global position. Other vehicles in the formation are assumed to only have access to inter-agent bearing (direction) measurements and relative velocities with respect to their neighbor agents. A hierarchical control architecture is adopted for each quadrotor, combining a high-gain attitude inner-loop and an outer-loop bearing-based formation controller with collision avoidance augmentation. The proposed method enables a group of quadrotors to track arbitrary bearing persistently exciting desired formations, including time-varying shapes and rotational maneuvers, such that each quadrotor only requires relative measurements to at least one neighboring quadrotor. The effective performance of the control strategy is validated by numerical simulations in MATLAB and real-world experiments with three quadrotors. © 2025, CC BY-NC-ND.

关键词： Unmanned aerial vehicles (UAV)

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Optimization of classification model for electric vehicle charging station placement using dynamic graylag goose algorithm

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Frontiers in Energy Research 2024年 12卷

作者： Alhussan, Amel Ali Khafaga, Doaa Sami El-kenawy, El-Sayed M. Eid, Marwa M. Ibrahim, Abdelhameed Department of Computer Sciences College of Computer and Information Sciences Princess Nourah bint Abdulrahman University Riyadh Saudi Arabia MEU Research Unit Middle East University Amman Jordan Department of Communications and Electronics Delta Higher Institute of Engineering and Technology Mansoura Egypt Faculty of Artificial Intelligence Delta University for Science and Technology Mansoura Egypt Computer Engineering and Control Systems Department Faculty of Engineering Mansoura University Mansoura Egypt

The study of electric vehicles (EVs) aims to address the critical challenges of promoting widespread adoption. These challenges include EVs’ high upfront costs compared to conventional vehicles, the need for more sufficient charging stations, limitations in battery technology and charging speeds, and concerns about the distance EVs can travel on a single charge. This paper is dedicated to designing an innovative strategy to handle EV charging station arrangement issues in different cities. Our research will support the development of sustainable transportation by intelligently replying to the challenges related to short ranges and long recharging times through the distribution of fast and ultra-fast charge terminals by allocating demand to charging stations while considering the cost variable of traffic congestion. A hybrid combination of Dynamic Greylag Goose Optimization (DGGO) algorithm, as well as a Long Short-Term Memory (LSTM) model, is employed in this approach to determine, in a cost-sensitive way, the location of the parking lots, factoring in the congestion for traffic as a variable. This study examines in detail the experiments on the DGGO + LSTM model performance for the purpose of finding an efficient charging station place. The results show that the DGGO + LSTM model has achieved a stunning accuracy of 0.988,836, more than the other models. This approach shapes our finding’s primary purpose of proposing solutions in terms of EV charging infrastructure optimization that is fully justified to the EV’s wide diffusion and mitigating of the environmental consequences. Copyright © 2024 Alhussan, Khafaga, El-kenawy, Eid and Ibrahim.

关键词： Charging stations

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Depth-Aware Multi-Modal Fusion for Generalized Zero-Shot Learning 22

Depth-Aware Multi-Modal Fusion for Generalized Zero-Shot Lea...

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22nd IEEE International Conference on Industrial Informatics, INDIN 2024

作者： Cao, Weipeng Yao, Xuyang Xu, Zhiwu Pan, Yinghui Sun, Yixuan Li, Dachuan Qiu, Bohua Wei, Muheng Shenzhen China National Engineering Laboratory for Big Data System Computing Technology Shenzhen University Shenzhen China College of Computer Science and Software Engineering Shenzhen University Shenzhen China Stony Brook University New York United States Research Institute of Trustworthy Autonomous Systems Southern University of Science and Technology Shenzhen China Department of Computer Science and Engineering Southern University of Science and Technology Shenzhen China ZhenDui Industry Artificial Intelligence Co. Ltd Shenzhen China Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China

ISBN: (纸本)9798331527471

Realizing Generalized Zero-Shot Learning (GZSL) based on large models is emerging as a prevailing trend. However, most existing methods merely regard large models as black boxes, solely leveraging the features output by the final layer while disregarding potential performance enhancements from other layers. Indeed, numerous researchers have visually depicted variations in the features learned across different layers of neural networks. Motivated by this observation, we propose a Vision Transformer (ViT)-based GZSL method named Depth-Aware Multi-Modal ViT (DAM2ViT), which exploits multi-level features of ViT. DAM2ViT incorporates a multi-modal interaction block to align semantic information of categories across multiple layers, thereby augmenting the model’s capacity to learn associations between visual and semantic spaces. Extensive experiments conducted on three benchmark datasets (i.e., CUB, SUN, AWA2) have showcased that DAM2ViT achieves competitive results compared to state-of-the-art methods. © 2024 IEEE.

关键词： Zero-shot learning

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Project management time-cost balancing model for smart cities transformation

Project management time-cost balancing model for smart citie...

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2021 IEEE European technology and Engineering Management Summit, E-TEMS 2021

作者： Dombrowski, Michael Sachenko, Anatoliy Sachenko, Oleg Dombrowski, Zbyshek West Ukrainian National University Department for Information Computer Systems and Control Ternopil Ukraine University of Information Technology and Management in Rzeszow Rzeszow Poland

ISBN: (纸本)9781665419789

The time-cost balancing management model for complex smart city transformation projects at the preliminary planning stages has been developed. The model is based on a graphical interpretation of the project implementation volume as the area of a right triangle in the space of its states, the dimensions of which are given by the coordinates of the basic indicators: cost and execution time. The essence of the study is to establish under what conditions the volume of project implementation (area) will be the largest, and the cost of resources (sides of the rectangle) will be the smallest. According to the results of the study it is established that of all the rectangles that determine the possible states of the project, only the square has the largest area with a minimum length of the perimeter (resource costs). To provide optimal solutions for correcting the deviation of the actual states from the planned ones, adaptive control is substantiated by calculating the smoothed value at the adjustment point as the arithmetic mean, planned, actual and predicted values. © 2021 IEEE.

关键词： Smart city

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Estimating the AGV load and a battery lifetime based on the current measurement and random forest application

Estimating the AGV load and a battery lifetime based on the ...

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IEEE International Conference on Big Data

作者： Krzysztof Hanzel Damian Grzechca Adam Ziebinski Lukas Chruszczyk Artur Janus Department of Telecommunications and Teleinformatics Faculty of Automatic Control Electronics and Computer Science Silesian University of Technology Gliwice Poland Department of Electronics Electrical Engineering and Microelectronics Faculty of Automatic Control Electronics and Computer Science Silesian University of Technology Gliwice Poland Department of Distributed Systems and Informatics Devices Faculty of Automatic Control Electronics and Computer Science Silesian University of Technology Gliwice Poland Student of Electrical Engineering Faculty of Electrical Engineering Silesian University of Technology Gliwice Poland

The paper describes the energy consumption from the battery based on the current measurements for various cases, i.e., speed (PWL adjustment) and loads. The main purpose of the research is to have additional and reliable information about power consumption and battery life estimation for autonomous guided vehicles (AGV). The authors propose a two-step algorithm. In the first step, a linear classifier was proposed. Then, the KNN classifier was tested; however, it did not give satisfactory results, so it was finally decided to use the random forest to estimate the load and PWL. The time domain current measurement is evaluated, and the beforementioned algorithms process the selected statistical measures. It has been proven that a two-step algorithm allows for achieving high accuracy. Based on the current observation, the paper is a good starting point for further investigation of the AGV because it is usually implemented in the AGV – so it does not require additional hardware. Moreover, it can lead to better energy management and increase battery lifetime.

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HGS-Planner: Hierarchical Planning Framework for Active Scene Reconstruction Using 3D Gaussian Splatting

arXiv

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arXiv 2024年

作者： Xu, Zijun Jin, Rui Wu, Ke Zhao, Yi Zhang, Zhiwei Zhao, Jieru Gao, Fei Gan, Zhongxue Ding, Wenchao The Academy for Engineering & Technology Fudan University Shanghai200433 China The Institute of Cyber-Systems and Control College of Control Science and Engineering Zhejiang University Hangzhou310027 China The Department of Computer Science and Engineering Shanghai Jiao Tong University China

In complex missions such as search and rescue, robots must make intelligent decisions in unknown environments, relying on their ability to perceive and understand their surroundings. High-quality and real-time reconstruction enhances situational awareness and is crucial for intelligent robotics. Traditional methods often struggle with poor scene representation or are too slow for real-time use. Inspired by the efficacy of 3D Gaussian Splatting (3DGS), we propose a hierarchical planning framework for fast and high-fidelity active reconstruction. Our method evaluates completion and quality gain to adaptively guide reconstruction, integrating global and local planning for efficiency. Experiments in simulated and real-world environments show our approach outperforms existing real-time methods. Copyright © 2024, The Authors. All rights reserved.

关键词： 3D reconstruction

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Evaluation of importance for condition attributes based on quality of decision reducts

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Procedia computer Science 2022年 207卷 2144-2153页

作者： Urszula Stańczyk Department of Graphics Computer Vision and Digital Systems Faculty of Automatic Control Electronics and Computer Science Silesian University of Technology Akademicka 2A 44-100 Gliwice Poland

Relative or decision reducts belong with mechanisms dedicated to feature selection, and they are embedded in rough set approach to data processing. Algorithms for reduct construction typically aim at dimensionality reduction aspect, searching for smallest reducts, which are considered as the most advantageous from the point of view of knowledge representation. However, classifiers build on reduced data models, based on reducts, can significantly vary in performance. Therefore, to ensure quality of predictions, other characteristics of reducts, apart from their cardinalities, need to be taken into account. The paper presents research in which estimation of reduct quality through their characteristics was reflected in calculation of the proposed weighting factors leading to attribute rankings. These rankings were next employed in the process of filtering decision rules, inferred by classic rough set approach. Constructed rule-based classifiers were applied in the stylometric domain to solve a task of authorship attribution.

关键词： Decision reduct Rough set theory Ranking Weighting Feature selection Rule filtering

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On heterogeneity or sub-classes aspect in construction of stylometric input datasets

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Procedia computer Science 2022年 207卷 2526-2535页

作者： Urszula Stańczyk Grzegorz Baron Department of Graphics Computer Vision and Digital Systems Faculty of Automatic Control Electronics and Computer Science Silesian University of Technology Akademicka 2A 44-100 Gliwice Poland

Stylometric analysis of texts relies on learning characteristic traits of writing styles for authors. Once these patterns are discovered, they can be compared to the ones present in other text samples, to recognise their authorship. This recognition can be compromised if input datasets are prepared without taking into consideration possible stratification of the input space, leading to specific grouping of datapoints, or sub-classes within distinguished classes. The paper shows research dedicated to construction of various structures of input datasets, and combinations of such structures between train and test sets. In the research the influence of different stratification forms on the performance of selected popular classification systems was observed. To minimise the number of influencing factors, a task of authorship attribution was performed as binary classification with balanced classes. Stylometric descriptors exploited belonged to lexical and syntactic group, giving frequencies of occurrence for chosen style-markers. It resulted in real-valued attributes and these values were explored without applying discretisation, in order to avoid the possible bias of this procedure on observations.

关键词： Stylometry Dataset construction Heterogeneity Sub-classes Stratification Authorship attribution

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Prediction of endometrial cancer MRI images based on deep learning and improved Bayesian extreme learning machine ensemble learning 5

Prediction of endometrial cancer MRI images based on deep le...

引用

5th International Conference on Frontiers technology of Information and computer, ICFTIC 2023

作者： Wang, Ximiao Hu, Qinghui Dai, Xisheng Li, Peijun Chen, Yuan Guangxi University of Science and Technology Institute of Intelligent Systems and Control Guangxi Province Liuzhou City545006 China Guilin University of Aerospace Technology School of Computer Science and Engineering Guangxi Province Guilin City541004 China Jiangmen Central Hospital Department of Radiology Guangdong Province Jiangmen City529000 China Jiangmen Central Hospital Department of Gynecology Guangdong Province Jiangmen City529000 China

ISBN: (纸本)9798350309034

For the prediction of deep myometrial invasion (DMI) in endometrial cancer (EC), this study proposes an ensemble learning method which combines deep learning (DL) and improved Bayesian extreme learning machine (BELM). Firstly, the MRI images of endometrial cancer are preprocessed to meet the requirements. Secondly, the deep features relevant to the task are extracted from the images by using convolutional kernels. Finally, the bootstrap resampling method is employed to repeatedly sample multiple training subsets from the training set. The improved Bayesian extreme learning machine is used as the base classifier to train multiple independent sub-models. An ensemble learning classifier is constructed using an ensemble strategy to improve the prediction accuracy and stability of the model. Experimental results show that the proposed method achieves an AUC of 0.758 on the internal validation set and 0.740 on the external validation set, which demonstrat good generalization ability and stability of the proposed method. © 2023 IEEE.

关键词： Bayesian Extreme Learning Machine Deep Learning Deep Myometrial Invasion Endometrial Cancer Ensemble Learning

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