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Periodica polytechnica Electrical engineering and computer science 2022年第3期66卷 227-235页

作者： Kimathi, Stephen Lantos, Béla Department of Control Engineering and Information Technology Faculty of Electrical Engineering and Informatics Budapest University of Technology and Economics Magyar tudósok krt. 2. BudapestH-1117 Hungary

An estimation model is key in the design and development of an unmanned aerial vehicle's control system. This work presents a complete methodology for modelling the dynamics of a fixed-wing UAV for aerobatic maneuvers. The UAV dynamic non-linear model considered uses total variables instead of a nominal values and perturbation values about certain trimmed conditions for conventional flight envelopes. Such modelling allows the expansion of the flight envelope of an unmanned aerial vehicle to cover the full range of the angle of attack. The quaternion formulation is used since it eliminates the nonlinearity of the aerodynamics due to Euler angles for high angle of attacks. The objective is to have a complete and accurate representation of a highly dynamic fixed wing UAV capable of making aerobatic maneuvers without encountering singularities. A set of controllers are then designed for the inner and outer loops for attitude control using nonlinear dynamic inversion in cascade with a PI controller. Simulations carried out show robust tracking of reference attitude angles. © 2022 Budapest University of Technology and Economics. All rights reserved.

关键词： Fixed wings

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Unmanned Aerial Vehicles Swarm Flocking Architectures: An Overview 10

Unmanned Aerial Vehicles Swarm Flocking Architectures: An Ov...

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10th IEEE Jubilee International Conference on Computational Cybernetics and Cyber-Medical Systems, ICCC 2022

作者： Kimathi, Stephen Lantos, Béla Budapest University of Technology and Economics Faculty of Electrical Engineering and Informatics Department of Control Engineering and Information Technology Budapest Hungary

ISBN: (数字)9781665481779

ISBN: (纸本)9781665481779

The eruption of unmanned aerial vehicles (UAVs) use has disrupted the aviation industry. More recently, swarming in UAVs has been gaining popularity and has attracted a huge interest from researchers and industry players due to their potential application in various fields. A UAV swarm, which is a collection of many UAVs has the capability of autonomous navigation and operation hence suitable for diverse applications. The capabilities inherent in a single UAV are expounded by having many such vehicles performing similar or differentiated tasks while flying together. The potential of UAV swarms is yet to be fully explored as many researches are still concerned with the theoretic specifics of these complex multi-agent systems. The purpose of this article is to provide an overview of the swarm flocking architectures used in UAVs and their origin. Also some applications and challenges of swarming in UAVs is presented. © 2022 IEEE.

关键词： Multi agent systems

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Quaternion based attitude control of a maneuvering fixed wing UAV 26

Quaternion based attitude control of a maneuvering fixed win...

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26th IEEE International Conference on Intelligent engineering Systems, INES 2022

作者： Kimathi, Stephen Lantos, Bela Budapest University of Technology and Economics Faculty of Electrical Engineering and Informatics Department of Control Engineering and Information Technology Budapest Hungary

ISBN: (数字)9781665492096

ISBN: (纸本)9781665492096

This paper presents attitude control using the unit quaternion. Specifically, the orientation of a maneuvering fixed wing U A V is investigated through set point tracking. Two formulations are explored;the first, through quaternion error dynamics and the second, through quaternion logarithm. Both methods apply appropriate Lyapunov functions for the design and analysis of the closed stability of the control laws. The error dynamics are deduced from composite rotations between different frames of the UA V. Through the error dynamics, the orientation of the UAV's wind frame is aligned to a desired orientation. Using this procedure, the desired equilibrium points of the closed system are guaranteed to converge and are asymptotically stable. The formulation and implementation of these two methods is simple and intuitive, and through simulations, their successful use and effectiveness is shown. © 2022 IEEE.

关键词： Fixed wings

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Prediction of the Navigation Angles Using Random Forest Algorithm and Real Flight Data of UAVs 20

Prediction of the Navigation Angles Using Random Forest Algo...

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20th IEEE Jubilee International Symposium on Intelligent Systems and informatics, SISY 2022

作者： Al-Sudany, Huda Naji Lantos, Bela Budapest University of Technology and Economics Faculty of Electrical Engineering and Informatics Department of Control Engineering and Information Technology Budapest Hungary

ISBN: (纸本)9781665489881

Unmanned aerial vehicles (UAVs) are becoming more common in aviation. Predicting and estimating of UAV attitude are important aspects of the communication strategy. Autonomous UAVs' attitude estimate is a crucial component for controlling in flight mission. The attitude can take many forms such as Euler angles and Quaternion. This paper explains attitude estimation of UAV using Random Forest (RF) algorithm based on real flight data of Accelerations, Angular velocity, Magnetic Field, and GPS measurements for prediction current attitude angles (roll, pitch and yaw). The developed algorithm uses features that are derives from sensors measurements. The developed RF model results showed accurate prediction of UAVs attitude angles with small error values. © 2022 IEEE.

关键词： Forecasting

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A Non-Iterative LMI-Based Design of Static Output Feedback control with L2 Gain Performance for Linear Systems 6

A Non-Iterative LMI-Based Design of Static Output Feedback C...

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6th International Conference on Electrical, control and Instrumentation engineering, ICECIE 2024

作者： Oya, Hidetoshi Asada, Daiki Nagai, Shunya Nakano, Kazushi Tokyo City University Department of Computer Science Tokyo Japan Graduate School of Integrative Science and Engineering Tokyo City University Tokyo Japan Niihama College Department of Electronics and Control Engineering Ehime Japan Graduate School of Informatics and Engineering The University of Electro-Communications Tokyo Japan

ISBN: (纸本)9798350380040

In this paper, we present a new LMI-based non-iterative design strategy for static output feedback controllers with L2 Gain Performance for linear systems. In our approach, on the basis of the well-known necessary and sufficient condition for the existence of the static output feedback control for linear systems, the non-iterative LMI-based design procedure for the proposed static output feedback controller is derived. In this paper, we show the LMI-based non-iterative design procedure for static output feedback controllers with L2 Gain Performance and the effectiveness of the proposed static output feedback control is presented through a simple illustrative example. © 2024 IEEE.

关键词： Feedback control

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Load Comparison Between Two controlling Strategies for Wind Energy Conversion System Power-Boosting 16

Load Comparison Between Two Controlling Strategies for Wind ...

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16th IEEE International Symposium on Applied Computational Intelligence and informatics, SACI 2022

作者： Bordeasu, Dorin Prostean, Octavian Vasar, Cristian Debes, Ali Department of Automation and Applied Informatics Timişoara Romania Control Engineering Siemens Gamesa Brande Denmark

ISBN: (数字)9781665481250

ISBN: (纸本)9781665481250

This paper explains in detail the development, validation and simulation of a standard PI controller that can boost the WECS (Wind energy conversion system) power through two strategies. In the first strategy, the power is boosted by increasing the generator angular velocity through the direct increase of the angular velocity of the wind turbine rotor by slightly pitching the blades. In the second strategy, the power is boosted by increasing the load torque of the generator, through the direct increase of the load torque of the wind turbine rotor. For achieving this goal, the following tasks have been accomplished: a wind energy conversion system nonlinear mathematical model has been developed, a gain scheduled proportional-integral (PI) controller as the baseline controller, and two gain scheduled proportional-integral (PI) power-boosting controllers for the two power-boosting strategies. For the power-boosting controllers, it is also presented a logic that switches between baseline and power booster controllers when certain wind speeds conditions are met. The response, stability, performance and the increase in the shaft torsion, tower and blades bending moments of the gain scheduled PI power-boosting controllers have been compared with the baseline controller. By comparing the output power response of the controllers, it can be seen that the power booster controllers boost the power when the defined conditions are met. Finally, for boosting the power of a WECS in certain conditions the most efficient way is by increasing the generator load torque, because this strategy increases the least the loading of the main components of a WECS. This power boosting strategy implementation it might require the change (or reinforcement) of the drive train shaft, if it cannot take the extra loading created by power boosting controller. © 2022 IEEE.

关键词： controllers

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TCIP: Transformed Colour Intensity Profiles analysis for fault detection in power line insulators

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Multimedia Tools and Applications 2025年第8期84卷 4503-4534页

作者： Tomaszewski, Michal Gasz, Rafal Kasana, Singara Singh Osuchowski, Jakub Singh, Simranjit Zator, Slawomir Department of Computer Science Faculty of Electrical Engineering Automatic Control and Informatics Opole University of Technology Prószkowska 76 Opole45-758 Poland Department of Computer Science and Information Technology Central University of Haryana Haryana Mahendergarh123031 India Department of Information Technology Dr B. R. Ambedkar National Institute of Technology Punjab Jalandhar India Department of Safety Engineering and Technical Systems Faculty of Production Engineering and Logistics Opole University of Technology Prószkowska 76 Opole45-758 Poland

In response to the escalating demand for electricity, the aging process and inherent failures in power lines have become unavoidable challenges in their operational integrity. This research addresses the imperative need for a robust method to detect damage in power insulator disc images, introducing a novel feature extraction technique grounded in color intensity profile transformation and ensemble learning. For the purposes of the research, a specific dataset was developed based on publicly available images of power insulators. The collection consists of 9232 images of insulator discs which included 2184 images of damaged discs. The discernible damages include breakages and burnouts. Two distinct analysis variants were employed. In the first variant (V1), two classification groups were selected: disc with damages and disc without damages. In the second variant (V2), three classification groups were selected: discs without damage, broken discs, and burnout discs. The described research was divided into two successive stages. In the first of them (S1), the transformed color intensity profiles for the prepared data set were built and various machine learning models for their classification were trained and evaluated. In the next stage (S2), previously developed, highest efficient machine learning models, were used to make the detection of various damaged types of overhead line insulator discs. For the first stage of research high-performance results and a high value of the F1 score parameters were obtained (F1 score = 0.999 for the first variant (S1V1) and F1 score = 0.992 for the second variant (S1V2). In the second stage of research and the first variant (S2V1), the highest result of the F1 score was 0.932 and for the second variant (S2V2) F1 score was 0.930. © The Author(s), under exclusive licence to Springer Science+Business Media, LLC, part of Springer Nature 2024.

关键词： Feature extraction

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Designing Quantum-Resilient Blockchain Frameworks: Enhancing Transactional Security with Quantum Algorithms in Decentralized Ledgers

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International Journal of Advanced Computer Science and Applications 2025年第4期16卷 618-628页

作者： Kale, Meenal R. Baker El-Ebiary, Yousef A. Sathiya, L. Burugari, Vijay Kumar Yulduz, Erkiniy Muniyandy, Elangovan Alanazi, Rakan Department of Humanities Yeshwantrao Chavan College of Engineering Hingna Nagpur India Faculty of Informatics and Computing UniSZA University Malaysia Department of CSE Panimalar Engineering College Chennai India Dept of Computer Science and Engineering Koneru Lakshmaiah Education Foundation Vaddeswaram Andhra Pradesh Guntur India Automatic Control and Computer Engineering Department Turin Polytechnic University in Tashkent Tashkent Uzbekistan Department of Biosciences-Saveetha School of Engineering Saveetha Institute of Medical and Technical Sciences Chennai India Applied Science Research Center Applied Science Private University Amman Jordan Department of Information Technology Faculty of Computing and Information Technology Northern Border University Rafha Saudi Arabia

Quantum computing is progressing at a fast rate and there is a real threat that classical cryptographic methods can be compromised and therefore impact the security of blockchain networks. All of the ways used to secure blockchain like Rivest–Shamir–Adleman (RSA), Elliptic Curve Cryptography (ECC) and Secure Hash Algorithm 256-bit (SHA256) are the characteristic of the traditional cryptographic techniques vulnerable to attack by quantum algorithms: Shor’s and Grover’s algorithms: can efficiently break asymmetric encryption and speed up brute force attacks. Because of this vulnerability, there exists a need to develop an advance quantum resilient blockchain framework to protect the decentralized ledgers from the future threats of the quantum. This research proposes Post-Quantum Cryptography (PQC), Quantum Key Distribution (QKD) and Quantum Random Number Generation (QRNG) as a formidable architectural integration, to fortify security of blockchain. Classical encryption is replaced with PQC, QKD with secure key exchange by detecting eavesdropping, and QRNG with improving cryptographic randomness to remove the predictable key vulnerability. Only with a small loss of transaction efficiency, we increase transaction encryption accuracy, key exchange security, and resistance to quantum attacks. In this quantum enhanced blockchain design, the idea is to preserve the decentralization, transparency and security and at the same time overcome the future quantum threat. By going through rigorous analysis and comparative evaluation, we demonstrate that the approach saves blockchain networks from the emerging quantum risks to make sure that the decentralized finance, smart contracts and cross chain transactions. © (2025), (Science and Information Organization). All rights reserved.

关键词： Quantum cryptography

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Analyzing Significance of Facial Features for Detection of Parkinson's Disease via Static Images 4

Analyzing Significance of Facial Features for Detection of P...

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4th IEEE International Conference on Electronic Communications, Internet of Things and Big Data, ICEIB 2024

作者： Chiu, Chuang-Chien Yeh, Shoou-Jeng Sun, Yen-Chi Feng Chia University Department of Automatic Control Engineering Taichung Taiwan Cheng-Ching General Hospital Section of Neurology and Neurophysiology Taichung Taiwan Feng Chia University Master's Program of Biomedical Informatics and Biomedical Engineering Taichung Taiwan

ISBN: (纸本)9798350360721

Parkinson's disease (PD) is a neurodegenerative disorder often characterized by motor symptoms such as hypomimia, and a reduction in facial expression. We explored the significance of facial features in identifying PD through static images, focusing on detecting hypomimia. A dataset comprised of PD patients and healthy controls' static facial images were collected and analyzed. Facial feature detection was conducted using OpenCV and Dlib libraries for the precise localization of key landmarks. In the subsequent feature extraction, parameters such as symmetry, eye aspect ratio, mouth corner distance, muscle tension, and mouth aperture ratio were used. Through the standardization of these features, meaningful comparisons across diverse images were made. By analyzing hypomimia-related features alongside traditional facial parameters, the results provide a comprehensive understanding of the role of facial expressions in PD diagnosis. The findings suggested that examining facial features in static images enhances the accuracy of PD detection and understanding of the nuanced motor symptoms associated with the disease. © 2024 IEEE.

关键词： Feature extraction

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Efficient Time-Delay System Optimization with Auto-Configured Metaheuristics

Efficient Time-Delay System Optimization with Auto-Configure...

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2023 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2023

作者： Senkerik, Roman Byrski, Aleksander Guzowski, Hubert Janku, Peter Kadavy, Tomas Oplatkova, Zuzana Kominkova Matusu, Radek Pluhacek, Michal Pekar, Libor Smolka, MacIej Viktorin, Adam Tomas Bata University A.I. Lab Faculty of Applied Informatics Department of Informatics and Artificial Intelligence Zlin Czech Republic Tomas Bata University Faculty of Applied Informatics Department of Automation and Control Engineering Zlin Czech Republic Institute of Computer Science Agh University of Science and Technology Krakow Poland

ISBN: (纸本)9798350337020

This paper presents an experimental study that compares the performance of four selected metaheuristic algorithms for optimizing a time delay system model. Time delay system models are complex and challenging to optimize due to their inherent characteristics, such as non-linearity, multi-modality, and constraints. The study includes an explanation of the choice and core functionality of the selected algorithms, which are both baseline and state-of-the-art variants of self-organizing migrating algorithm (SOMA), state-of-the-art variant from the Success-History-based Adaptive Differential Evolution family of algorithms, with emphasis on diverse search (DISH algorithm), and Covariance Matrix Adaptation Evolution Strategy (CMA-ES) algorithm. The hyperparameters of the metaheuristic algorithms were set using the iRace automatic algorithm configuration framework. The paper emphasizes the importance of metaheuristic algorithms in control engineering for time-delay systems to develop more effective and efficient control strategies and precise model identifications. The experimental results highlight the effectiveness of the state-of-the-art algorithms with specific adaptive mechanisms like population organization process, diverse search and adaptation mechanisms ensuring a gradual transition from exploration to exploitation. Overall, this study contributes to understanding the challenges and advantages of using metaheuristic algorithms in control engineering for time delay systems. The results provide valuable insights into the performance of modern metaheuristic algorithms and can help guide the selection of appropriate adaptive mechanisms of metaheuristics. © 2023 IEEE.

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