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2023 International Conference on Robotics and automation in Industry, ICRAI 2023

作者： Shahzad, Muhammad Muzamal Asad, Muhammad Haroon Haris, Muhammad Munawar, Hammad Yousaf, Muhammad Haroon University of Engineering and Technology Taxila Swarm Robotics Lab National Center of Robotics and Automation Taxila Pakistan University of Engineering and Technology Taxila Computer Engineering Department Taxila Pakistan

ISBN: (纸本)9781665464727

The research field of collective behaviors takes inspiration from natural self-organizing systems like honeybees, fish schools, social insects, bird flocks, and other social animals. These behaviors can be transformed into robots by replicating the same set of rules as found in the natural swarms. The deployment of aerial swarm robotics has become significant due to their multiple applications in surveillance, agriculture, and military. These applications lead to the development of aerial swarm robotic platforms to solve real-world problems. For example, a swarm of low-tech, cost-effective small UAVs can engage a high-tech target effectively. Similarly, a swarm of UAVs can perform surveillance and rescue missions in disastrous areas and build an emergency communication network through multiple UAV swarms. The critical part of swarm technology is multiple swarm intelligence algorithms that have been proposed and tested by various simulation platforms such as V-rep, Gazebo and MATLAB. Very few of them have been deployed on hardware to solve real scenarios that include formation control, navigation, pattern formation, and a few sub-swarm generation algorithms. Team connectivity is one of the essential aspects of a swarm network that emerges the collective intelligence of the group and ensures the readiness of the algorithm to deploy and solve real-world problems. Many researchers proposed the team connectivity algorithms in a single swarm network but still left the connectivity gap between the sub-swarms during a mission. This research work contributes toward designing a swarm intelligence algorithm to improve the connectivity techniques and team connectivity between the swarm agents and the sub-swarm groups. © 2023 IEEE.

关键词： Antennas

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Modeling of Improved Solar Energy Installation for Efficient Power Systems 14

Modeling of Improved Solar Energy Installation for Efficient...

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14th International Conference on Advanced computer Information Technologies, ACIT 2024

作者： Satsyk, Viktor Reshetylo, Oleksandr Markina, Lyudmila Khrystynets, Nataliia Bahniuk, Nataliia Melnychuk, Yuliia Lutsk National Technical University Automation and Computer-Integrated Technologies Department Lutsk Ukraine Lutsk National Technical University Department of Automation and Computer-Integrated Technologies Lutsk Ukraine Lutsk National Technical University Computer Engineering and Cyber Security Department Lutsk Ukraine Lutsk National Technical University Department of Computer Engineering and Cyber Security Lutsk Ukraine Lutsk National Technical University Department of Digital Educational Technologies Lutsk Ukraine

ISBN: (纸本)9798350350036

in the article we develop modeling and creating a prototype of improved solar power plant for economical power supply systems for consumers which require simple autonomous inexpensive practical energy solutions. On the basis of Arduino Uno microcontroller board, a software-hardware complex for controlling the angle of the solar panel has been developed, which allows to follow the position of sun and automatically turn the solar panel in its direction. With aid of developed Android application on a smartphone screen, it is possible to monitor the amount of voltage produced by the solar panel at current time moment, and to analyze the dynamics of its change over time and, accordingly, to plan effective use the generated energy. © 2024 IEEE.

关键词： Hybrid power

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A Three-Dimensional Force Estimation Method for the Cable-Driven Soft Robot Based on Monocular Images

A Three-Dimensional Force Estimation Method for the Cable-Dr...

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2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Zhu, Xiaohan Bu, Ran Li, Zhen Xu, Fan Wang, Hesheng School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Department of Automation China Artificial Intelligence Research Institute School of Information and Control Engineering China University of Mining and Technology China

ISBN: (纸本)9781665481090

Soft manipulators are known for their superiority in coping with high-safety-demanding interaction tasks, e.g., robot-assisted surgeries, elderly caring, etc. Yet the challenges residing in real-time contact feedback have hindered further applications in precise manipulation. This paper proposes an end-to-end network to estimate the 3D contact force of the soft robot, with the aim of enhancing its capabilities in interactive tasks. The presented method features directly utilizing monocular images fused with multidimensional actuation information as the network inputs. This approach simplifies the preprocessing of raw data compared to related studies that utilize 3D shape information for network inputs, consequently reducing configuration reconstruction errors. The unified feature representation module is devised to elevate low-dimensional features from the system's actuation signals to the same level as image features, facilitating smoother integration of multimodal information. The proposed method has been experimentally validated in the soft robot testbed, achieving satisfying accuracy in 3D force estimation (with a mean relative error of 0.84% compared to the best-reported result of 2.2% in the related works). © 2024 IEEE.

关键词： Robotic surgery

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Reference Model Design in Multiple Timescale Adaptive control

Reference Model Design in Multiple Timescale Adaptive Contro...

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

作者： Eves, Kameron Valasek, John Electrical and Computer Engineering Engineering Department Utah Tech University Saint GeorgeUT84770 United States Vehicle Systems and Control Laboratory Aerospace Engineering Department Texas A and M University College StationTX77843-3141 United States

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

The method [K]control of Adaptive Multiple-timescale Systems (KAMS) has been used as a method of adaptive control for systems with states that evolve at vastly different rates and with uncertain parameters. Prior research on KAMS has shown a relationship between the asymptotic behavior of the reference models and the behavior of the full-order closed-loop system. Poor reference model design can cause steady-state error or instability even if that reference model is acceptable in a single timescale context, due to adverse feedback between the reference models and the fast-state manifold. This paper simplifies KAMS control design and provides insight into multiple timescale reference models by identifying design considerations for the fast and slow reference models. For fast reference models, it is shown that the stability proofs used in KAMS control design necessarily require the manifold to be an asymptotically stable equilibrium of the fast reference model, despite prior work that allowed other possibilities. In the case of a slow reference model that is not asymptotically stable to its reference signal, it is common for the inner connection conditions to be dependent on the reference signal. This can cause the interconnection conditions to be ill-formatted for the application of the stability proofs used in KAMS control design. This paper addresses that case and proposes the use of Raffoul’s condition as a method to prove stability in the sense of Lyapunov. A linear quadrotor attitude stabilization problem is used as a framework for the slow reference model analysis. Results presented in the paper show that 1) the asymptotic stability of the fast reference model is a necessary condition for the KAMS stability proofs used in prior work and 2) Raffoul’s condition is a sufficient condition for Lyapunov sense stability even when the inner connection conditions are ill-formatted for the KAMS stability proofs used in prior work. © 2025, American Institute of Aeronautics

关键词： Model reference adaptive control

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Dynamic Quantized control of Fuzzy Semi-Markov Jump Systems With Fading Channels: An Improved Event-Triggered Mechanism

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IEEE Transactions on Systems, Man, and Cybernetics: Systems 2025年第5期55卷 3519-3531页

作者： Hu, Meng-Jie Park, Ju H. Cheng, Jun Wang, Yan-Wu China University of Mining and Technology School of Information and Control Engineering Xuzhou221116 China Yeungnam University Department of Electrical Engineering Gyeongsan38541 Korea Republic of Guangxi Normal University School of Mathematics and Statistics Guilin541006 China Huazhong University of Science and Technology School of Artificial Intelligence and Automation Wuhan430074 China

This article focuses on the dynamic quantized control for Takagi-Sugeno fuzzy semi-Markov jump systems (T-S FSMJSs) under fading channels and deception attacks, employing an improved event-triggered mechanism (ETM) strategy. Specifically, a more generalized semi-Markov process (SMP) that is governed by a higher-level deterministic switching signal (HLDSS) is addressed. A novel dynamic ETM is skillfully developed based on the information of quantization and two internal dynamic adjusting variables to further enhance the network bandwidth utilization. The dual asynchronous phenomenon between the plant and controller (asynchronous modes and mismatched premise variables) is addressed. This implies that the designed controller is not required to share the same membership functions and modes as the plant, establishing a more rational structure. The hidden semi-Markov model (HSMM) is attained to characterize the stochastic varying channel fading amplitudes. The Lyapunov function incorporating mode and fuzzy information is constructed to establish sufficient criteria ensuring the strictly dissipative performance and mean-square exponential stability (MSES) of the resulting closed-loop systems, and a new security fuzzy dual asynchronous controller is then developed. Finally, the efficacy and applicability of the results are demonstrated through numerical and practical examples. © 2025 IEEE.

关键词： Membership functions

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Dipper Throated Algorithm for Feature Selection and Classification in Electrocardiogram

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computer Systems Science & engineering 2023年第5期45卷 1469-1482页

作者： Doaa Sami Khafaga Amel Ali Alhussan Abdelaziz A.Abdelhamid Abdelhameed Ibrahim Mohamed Saber El-Sayed M.El-kenawy Department of Computer Sciences College of Computer and Information SciencesPrincess Nourah bint Abdulrahman UniversityP.O.Box 84428Riyadh11671Saudi Arabia Department of Computer Science Faculty of Computer and Information SciencesAin Shams University11566CairoEgypt Department of Computer Science College of Computing and Information TechnologyShaqra University11961Saudi Arabia Computer Engineering and Control Systems Department Faculty of EngineeringMansoura UniversityMansoura35516Egypt Electronics and Communications Engineering Department Faculty of EngineeringDelta University for Science and TechnologyMansouraEgypt Department of Communications and Electronics Delta Higher Institute of Engineering and TechnologyMansoura35111Egypt Faculty of Artificial Intelligence Delta University for Science and TechnologyMansoura35712Egypt

Arrhythmia has been classified using a variety of *** of the dynamic nature of electrocardiogram(ECG)data,traditional handcrafted approaches are difficult to execute,making the machine learning(ML)solutions more *** with cardiac arrhythmias can benefit from competent monitoring to save their *** arrhythmia classification and prediction have greatly improved in recent *** are a category of conditions in which the heart's electrical activity is abnormally rapid or *** year,it is one of the main reasons of mortality for both men and women,*** the classification of arrhythmias,this work proposes a novel technique based on optimized feature selection and optimized K-nearest neighbors(KNN)*** proposed method makes advantage of the UCI repository,which has a 279-attribute high-dimensional cardiac arrhythmia *** proposed approach is based on dividing cardiac arrhythmia patients into 16 groups based on the electrocardiography dataset’s *** purpose is to design an efficient intelligent system employing the dipper throated optimization method to categorize cardiac arrhythmia *** method of comprehensive arrhythmia classification outperforms earlier methods presented in the *** achieved classification accuracy using the proposed approach is 99.8%.

关键词： Feature selection electrocardiogram metaheuristics dipper throated algorithm

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Video Stabilization using RAFT-based Optical Flow

Video Stabilization using RAFT-based Optical Flow

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2023 International Conference on Robotics and automation in Industry, ICRAI 2023

作者： Ashar, Rana Sadiq, Burhan Mohiuddin, Hira Ashraf, Saniya Imran, Muhammad Ullah, Anayat Control Automotive and Robotics Lab National Centre of Robotics and Automation Rawalpindi Pakistan Balochistan University of IT Engineering and Management Sciences Department of Electronic Engineering Quetta Pakistan

ISBN: (纸本)9781665464727

Video Stabilization is the basic need for modern-day video capture. Many methods have been proposed throughout the years including 2D and 3D-based models as well as models that use optimization and deep neural networks. This work describes the implementation of cutting-edge Recurrent All-Pairs Field Transforms (RAFT) for optical flow estimation in video stabilization. we use a pipeline that accommodates the large motion. It then passes the results to the optical flow for better accuracy. After that, it satisfies the inaccuracies of the optical flow and makes it robust to occlusion, Parallax, and moving objects. Our approach yields better results (visually and quantitatively) compared to other optimization and deep learning-based visual stabilization techniques. © 2023 IEEE.

关键词： Geometrical optics

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Model-Based Optimization of Vaccination Strategies in Different Phases of Pandemic Virus Spread 18th

Model-Based Optimization of Vaccination Strategies in Diff...

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18th International Conference on Informatics in control, automation and Robotics, ICINCO 2021

作者： Liu, Zonglin Omayrat, Muhammed Stursberg, Olaf Control and System Theory Department of Electrical Engineering and Computer Science University of Kassel Kassel Germany

ISBN: (纸本)9783031264733

This paper aims at applying optimal control principles to investigate optimal vaccination strategies in different phases of a pandemic. Background of the study is that many countries have started their vaccination procedures against the COVID-19 disease in the beginning of 2021, but supply shortages for the vaccines prevented that everyone could be vaccinated immediately. At the beginning of 2022, in contrast, the vaccine supply was ample, but the effectiveness of different existing vaccines to avoid infection by new virus variants was in doubt, as well as the acceptance of booster doses decreased over time. To account for these effects, two formulations of optimization tasks based on different epidemic models are proposed in this paper. The solution of these tasks determines optimal distribution strategies for available vaccines, and optimized vaccination schemes to reduce the need of booster doses for later phase. Effectiveness of these strategies compared with other popular strategies (as applied in practice) is demonstrated through a series of simulations © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Vaccines

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Hybrid Grey Wolf and Dipper Throated Optimization in Network Intrusion Detection Systems

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computers, Materials & Continua 2023年第2期74卷 2695-2709页

作者： Reem Alkanhel Doaa Sami Khafaga El-Sayed M.El-kenawy Abdelaziz A.Abdelhamid Abdelhameed Ibrahim Rashid Amin Mostafa Abotaleb B.M.El-den Department of Information Technology College of Computer and Information SciencesPrincess Nourah bint Abdulrahman UniversityP.O.Box 84428Riyadh11671Saudi Arabia Department of Computer Sciences College of Computer and Information SciencesPrincess Nourah bint Abdulrahman UniversityP.O.Box 84428Riyadh11671Saudi Arabia Department of Communications and Electronics Delta Higher Institute of Engineering and TechnologyMansoura35111Egypt Department of Computer Science Faculty of Computer and Information SciencesAin Shams UniversityCairo11566Egypt Department of Computer Science College of Computing and Information TechnologyShaqra University11961Saudi Arabia Computer Engineering and Control Systems Department Faculty of EngineeringMansoura UniversityMansoura35516Egypt Department of Computer Science University of Engineering and TechnologyTaxilaPakistan Department of System Programming South Ural State UniversityChelyabinsk454080Russia

The Internet of Things(IoT)is a modern approach that enables connection with a wide variety of devices *** to the resource constraints and open nature of IoT nodes,the routing protocol for low power and lossy(RPL)networks may be vulnerable to several routing ***’s why a network intrusion detection system(NIDS)is needed to guard against routing assaults on RPL-based IoT *** imbalance between the false and valid attacks in the training set degrades the performance of machine learning employed to detect network ***,we propose in this paper a novel approach to balance the dataset classes based on metaheuristic optimization applied to locality-sensitive hashing and synthetic minority oversampling technique(LSH-SMOTE).The proposed optimization approach is based on a new hybrid between the grey wolf and dipper throated optimization *** prove the effectiveness of the proposed approach,a set of experiments were conducted to evaluate the performance of NIDS for three cases,namely,detection without dataset balancing,detection with SMOTE balancing,and detection with the proposed optimized LSHSOMTE *** results showed that the proposed approach outperforms the other approaches and could boost the detection *** addition,a statistical analysis is performed to study the significance and stability of the proposed *** conducted experiments include seven different types of attack cases in the RPL-NIDS17 *** on the 2696 CMC,2023,vol.74,no.2 proposed approach,the achieved accuracy is(98.1%),sensitivity is(97.8%),and specificity is(98.8%).

关键词： Metaheuristics grey wolf optimization dipper throated optimization dataset balancing locality sensitive hashing SMOTE

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XSpace: Self-learning platform for implementation of digital control algorithms 14

XSpace: Self-learning platform for implementation of digital...

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14th IEEE Global engineering Education Conference, EDUCON 2023

作者： Caceres, Pablo Cardenas Cieza Huane, Leslie Y. Horna Vilcahuaman, Ingrid M. Pauyac Estrada, Claudia R. Casano, Celso De-La-Cruz Tafur Sotelo, Julio C. Pontificia Universidad Catolica Del Peru Department of Engineering Electronics Section Lima Peru Degree Program Pontificia Universidad Catolica Del Peru Department of Engineering Control and Automation Master Engineering Lima Peru

ISBN: (纸本)9798350399431

In the electronic engineering undergraduate program, Peruvian universities offer different theoretical courses of Automatic control that do not present enough practical approach to the algorithms that are studied during the progress of these courses;however, the approach to implementation is very important to achieve good performance in the industry and researching. In this work is presented XSpace, an innovative and friendly platform which consists of a robust hardware that allows the student to take it home;this way, the student is given the opportunity to implement digital control algorithms learned in the theoretical classes. The effectiveness of this platform is shown using a proposed methodology which evidences greater interest, efficiency and efficacy in students at the Automatic control area. This project was implemented in the 'control Systems' course at Pontificia Universidad Catolica del Peru (PUCP) from 2020 to 2022. Results are presented through a student survey and a history of average grades during the academic periods the platform was employed. © 2023 IEEE.

关键词： Students

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