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control of Formations of UAVs for Surveillance and Reconnaissance Missions

IFAC Proceedings Volumes 2008年第2期41卷 5161-5166页

作者： T. Kopfstedt M. Mukai M. Fujita C. Ament Research and Development Diehl BGT Defence GmbH und Co. KG 88662 Ueberlingen Germany (Tel: +49-7551-892875 Department of Electrical and Electronic Systems Engineering Kyushu University Fukuoka 819-0395 Japan Department of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo 152-8552 Japan System Analysis Group Technical University of Ilmenau 98693 Ilmenau Germany

This paper presents a method for control of formations of Unmanned Aerial Vehicles (UAVs) in urban environments with several obstacles. Therefore the trajectories for each UAV are planned using mixed integer quadratic programming (MIQP) to describe a minimization problem. The result of this minimization problem then characterizes a collision free trajectory for each UAV using the commanded formations to fulfil the missions. The description of the UAVs, the inter UAV collision avoidance, the collision avoidance with obstacles as well as the description of formations will be shown in detail together with some simulation results in this paper. In addition the introduction explains the fields of interest in such formations of UAVs and what kind of advantage they can bring in comparison to today's solutions. The novelty in the approach in this paper is the description of formations of UAVs used in combination with MIQP to change formations, to add additional UAVs into an existing formation and to split formations, simply by changing some parameters in the description of the formation.

关键词： Autonomous systems Description of Formation Flights Hybrid systems Optimal control Mixed Integer Quadratic Programming

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Resolving Kirchhoff's laws for state-estimator design of Li-ion battery packs connected in parallel

arXiv

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arXiv 2020年

作者： Drummond, Ross Couto, Luis D. Zhang, Dong Department of Engineering Science University of Oxford 17 Parks Road OxfordOX1 3PJ United Kingdom Department of Control Engineering and System Analysis Université libre de Bruxelles BrusselsB-1050 Belgium Department of Mechanical Engineering Carnegie Mellon University 5000 Forbes Avenue PittsburghPA15312 United States

A state-space model for Li-ion battery packs with parallel connected cells is introduced. The key feature of this model is an explicit solution to Kirchhoff’s laws for parallel connected packs, which expresses the branch currents directly in terms of the model’s states, applied current and cell resistances. This avoids the need to solve these equations numerically. To illustrate the potential of the proposed model for pack-level control and estimation, a state-estimator is introduced for the nonlinear parallel pack model. By exploiting the system structure seen in the solution to Kirchhoff’s laws, algebraic conditions for the observer gains are obtained that guarantee convergence of the estimator’s error. Error convergence is demonstrated through an argument based upon Aizerman’s conjecture. It is hoped that the insight brought by this model formulation will allow the wealth of results developed for series connected packs to be applied to those with parallel connections. Copyright © 2020, The Authors. All rights reserved.

关键词： Lithium-ion batteries

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Spatially Adaptive Kernels for Adaptive Spatial Filtering of fMRI Data

Spatially Adaptive Kernels for Adaptive Spatial Filtering of...

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International Joint Conference on Neural Networks (IJCNN)

作者： V. Taimouri G.-A. Hossein-Zadeh H. Soltanian-Zadeh Control and Intelligent Processing Centre of Excellence ECE Department Faculty of Engineering University of Tehran Tehran Iran School of Cognitive Sciences Institute of Studies in Theoretical Physics and Mathematics and Medical Image Analysis Laboratory Henry Ford Health System Detroit MI USA

Making use of neighborhood time series is an effective way of noise reduction in fMRI data. However the conventional averaging methods blur activated areas. In this paper, a filter with adaptive kernel is designed such that its kernel size and direction are defined at each voxel. First, for finding the optimum size of kernel, a linear combination of some isotropic Gaussian filters with different variances is used, and optimum value of variance is specified. Then, the appropriate kernel direction is determined by a linear combination of some anisotropic basic filters with various directions. The weights of these linear combinations can be calculated by using the restricted canonical correlation method. The proposed method is compared with a similar method based on the steerable filters and the results show that the proposed method improves the ROC curve and prohibits false spread of the activation areas.

关键词： Kernel Adaptive filters Filtering Nonlinear filters Anisotropic magnetoresistance Magnetic separation Process control Intelligent control Correlation Magnetic resonance imaging

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Effect of Different Diffusion Maps on Registration Results

Effect of Different Diffusion Maps on Registration Results

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Iranian Machine Vision and Image Processing (MVIP)

作者： Maryam Afzali Emad Fatemizadeh Hamid Soltanian-Zadeh Department of Electrical Engineering Biomedical Signal and Image Processing Laboratory (BiSIPL) Sharif University of Technology Tehran Iran Image Analysis Laboratory Radiology Department Henry Ford Health System Detroit MI USA Control and Intelligent Processing Center of Excellence (CIPCE) School of Electrical and Computer Engineering University of Tehran Tehran Iran

In this paper, we compare registration results obtained using different diffusion maps extracted from diffusion tensor imaging (DTI). Fractional Anisotropy (FA) and Ellipsoidal Area Ratio (EAR) are two diffusion maps (indices) that may be used for image registration. First, we use FA maps to find deformation matrix and register diffusion weighted images. Then, we use EAR maps and finally we use both of FA and EAR maps to register diffusion weighted images. The difference between FA values before deformation and after registration using the FA alone or EAR alone has a median of 0.57 and using both of them has a median of 0.29. Therefore, the results of registration using both of the FA and EAR indices are superior to those obtained using only one of them alone.

关键词： Ear Diffusion tensor imaging Tensile stress Registers Eigenvalues and eigenfunctions Anisotropic magnetoresistance Image registration

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Interpolation of Orientation Distribution Functions (ODFs) in Q-ball Imaging

Interpolation of Orientation Distribution Functions (ODFs) i...

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Iranian Conference of Biomedical engineering

作者： Maryam Afzali Emad Fatemizadeh Hamid Soltanian-Zadeh Department of Electrical Engineering Biomedical Signal and Image Processing Laboratory(BiSIPL) Sharif University of Technology Tehran Iran Control and Intelligent Processing Center of Excellence(CIPCE) School of Electrical and Computer Engineering University of Tehran Tehran Iran & Image Analysis Laboratory Radiology Department Henry Ford Health System Detroit Michigan USA

ISBN: (纸本)9781467331289

Diffusion tensor magnetic resonance imaging (DTMRI) is a non-invasive method for investigating the brain white matter structure. It can be used to evaluate fiber bundles in the brain but in the regions with crossing fibers, it fails. To resolve this problem, high angular resolution diffusion imaging (HARDI) with a large number of diffusion encoding directions is used and for reconstruction, the Q-ball method is applied. In this method, orientation distribution function (ODF) of fibers can be calculated. Mathematical models play a crucial role in the field of ODF. For instance, in registering Q-ball images for applications like group analysis or atlas construction, one needs to interpolate ODFs. To this end, principal diffusion directions (PDDs) of each ODF are needed. In this paper, PDDs are defined as vectors that connect the corresponding local maxima of ODF values. Then, ODFs are interpolated using PDDs. The proposed method is evaluated and compared with previous protocols. Experimental results show that the proposed interpolation algorithm preserves the principal direction of fiber tracts without producing any deviations in the tracts. It is shown that changes in the entropy of the interpolated ODFs are almost linear and the bloating effect (blurring of the principal directions) can be removed.

关键词： High angular resolution diffusion imaging (HARDI) Q-ball imaging Orientation distribution function (ODF) Interpolation Principal diffusion direction (PDD)

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Computer Simulation of Intelligent control systems for High-Precision Cruise Missiles

Computer Simulation of Intelligent Control Systems for High-...

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2022 International Conference on Smart Information systems and Technologies, SIST 2022

作者： Khuralay, Moldamurat Telektesovich, Akhmetov Kayrat Serikovich, Otegen Alikhan Serikovna, Brimzhanova Saule Zhalenovna, Otyzbayeva Karlygash Oteulievna, Zhiyenbek Arailym Space Engineering And Technology L.N. Gumilyov Eurasian National University Nur-Sultan Kazakhstan Space Engineering And Technology PhD. L.N. Gumilyov Eurasian National University Nur-Sultan Kazakhstan Natural Sciences Lecturer Nplc «a. Baitursynov Kru» Kostanay Academy Of The Mia Of The Rk Named After Sh. Kabylbaev Kostanay Kazakhstan L.N. Gumilyov Eurasian National University Department Of Foreign Languages Nur-Sultan Kazakhstan L.N. Gumilyov Eurasian National University Department Of System Analysis And Control Nur-Sultan Kazakhstan

ISBN: (数字)9781665467902

ISBN: (纸本)9781665467902

This article discusses an intelligent flight control system for high-precision cruise missiles. In the field of space engineering and technologies, the most effective aspects of using computer programs and studying space analysis in a computer program are considered. Calculations and computer studies of precision guidance and guidance of high-speed cruise missiles are presented. Therefore, system of the control is set by the fuzzy logic method based on artificial intelligence. Computer modeling of intelligent control systems for high-precision cruise missiles. The cruise missile control system requires a large number of parameters and complex mathematical calculation models and physical problems to control the intelligent system. The article provides a simulator in a computer program to test high-speed cruise missiles. This simulator is written in Matlab editor R2015b in C ++ programming language. © 2022 IEEE.

关键词： Computer circuits

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Activation detection in multi-subject studies of fMRI using GLRT

Activation detection in multi-subject studies of fMRI using ...

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IEEE Symposium on Nuclear Science (NSS/MIC)

作者： S.M. Shams G.A. Hossein-Zadeh H. Soltanian-Zadeh Control and Intelligent Processing Center of Excellence Electrical and Computer Engineering Department Institute for Studies in Theoretical Physics and Mathematics University of Tehran School of Cognitive Sciences Tehran Iran Control and Intelligent Processing Center of Excellence Electrical and Computer Engineering Department Institute for Studies in Theoretical Physics and Mathematics and Medical Image Analysis Laboratory Henry Ford Health System University of Tehran School of Cognitive Sciences Iran

A new method based on generalized likelihood ratio test (GLRT) for activation detection in multi-subject studies of functional MRI (fMRI) is proposed. In this method, we test the correlation between the fMRI time series of different subjects and the bases of a signal subspace which increases the flexibility of method in detecting different shapes of hemodynamic response. The proposed multivariate method can be applied to group studies where the conventional cross-correlation method cannot be used due to its univariate property. This method is applied to both experimental and simulated fMRI data and the results are compared to those of general linear model (GLM). We show that the proposed method detects more significant activated regions in analyzing experimental data and more true voxels in simulated data

关键词： Testing Hemodynamics Brain modeling Process control Intelligent control Physics computing Mathematics Time series analysis Magnetic resonance imaging Data analysis

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Nature-inspired dynamic control for pursuit-evasion of robots

arXiv

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arXiv 2024年

作者： Zhou, Panpan Li, Sirui Zhao, Benyun Wahlberg, Bo Hu, Xiaoming Department of Mathematics KTH Royal Institute of Technology Stockholm Sweden Department of Transport and System Analysis KTH Royal Institute of Technology Stockholm Sweden Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong Division of Decision and Control Systems KTH Royal Institute of Technology Stockholm Sweden

The pursuit-evasion problem is widespread in nature, engineering, and societal applications. It is commonly observed in nature that predators often exhibit faster speeds than their prey but have less agile maneuverability. Over millions of years of evolution, animals have developed effective and efficient strategies for both pursuit and evasion. In this paper, we provide a dynamic framework for the pursuit-evasion problem of unicycle systems, drawing inspiration from nature. First, we address the scenario involving one pursuer and one evader by proposing an Alert-Turn control strategy, which consists of two efficient ingredients: a sudden turning maneuver and an alert condition for starting and maintaining the maneuver. We present and analyze the escape and capture results at two levels: a lower level of a single run and a higher level with respect to parameters’ changes. In addition, we provide a theorem with sufficient conditions for capture. The Alert-Turn strategy is then extended to more complex scenarios involving multiple pursuers and evaders by integrating aggregation control laws and a target-changing mechanism. By adjusting a ‘selfish parameter’, the aggregation control commands produce various escape patterns of evaders: cooperative mode, selfish mode, as well as their combinations. The influence of the selfish parameter is quantified, and the effects of the number of pursuers and the target-changing mechanism are explored from a statistical perspective. Our findings align closely with observations in nature. Finally, the proposed control strategies are validated through numerical simulations that replicate some chasing behaviors of animals in nature. Copyright © 2024, The Authors. All rights reserved.

关键词： Animals

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Spectral clustering approach with sparsifying technique for functional connectivity detection in the resting brain

Spectral clustering approach with sparsifying technique for ...

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International Conference on Intelligent and Advanced systems, ICIAS

作者： Mahdi Ramezani Amin Heidari Emad Fatemizadeh Hamid Soltanian-Zadeh Biomedical Signal and Image Processing Laboratory Sharif University of Technology Tehran Iran Radiology Image Analysis Laboratory Henry Ford Health System Detroit MI USA Control and Intelligent Processing Center of Excellence Electrical and Computer Engineering Department University of Tehran Iran

The aim of this study is to assess the functional connectivity from resting state functional magnetic resonance imaging (fMRI) data. Spectral clustering algorithm was applied to the realistic and real fMRI data acquired from a resting healthy subject to find functionally connected brain regions. In order to make computation of the spectral decompositions of the entire brain volume feasible, the similarity matrix has been sparsified with the t-nearest-neighbor approach. Realistic data were created to investigate the performance of the proposed algorithm and comparing it to the recently proposed spectral clustering algorithm with the Nystrom approximation and also with some well-known algorithms such as the Cross Correlation analysis (CCA) and the spatial Independent Component analysis (sICA). To enhance the performance of the methods, a variety of data pre and post processing steps, including data normalization, outlier removal, dimensionality reduction by using wavelet coefficients, estimation of number of clusters and optimal number of independent components (ICs). Results demonstrate the applicability of the proposed algorithm for functional connectivity analysis.

关键词： Clustering algorithms Algorithm design and analysis Correlation Approximation methods Independent component analysis Time series analysis Approximation algorithms

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systematic Generation of Identifiable Macroscopic Reaction Schemes

引用

IFAC Proceedings Volumes 2001年第5期34卷 13-18页

作者： Ph. Bogaerts A. Vande Wouwer Université Libre de Bruxelles Control Engineering and System Analysis Department Ave. F.-D. Roosevelt 50 C.P. 165155 B-1050 Brussels (Belgium) Tel. 32-2-650.26.75 Fax. 32-2-650.26 .77 Faculte Poly technique de Mons Control Engineering Department Bld. Dolez 31 B-7000 Mons (Belgium)Tel. 32-65-37.41.41 Fax. 32-65-37.4136

Mathematical modelling of bioprocesses is very useful for building simulators, software sensors, con trollers, etc. Th ese tools are generally based on simple models consisting of the system of mass balances for the macroscopic species involved in a reaction scheme. Although this reaction scheme plays a key role in bioprocess modelling, its determination usually relyon intuition, process knowledge and trials and errors. This paper focuses on a metho d to genera te and to co mpare, in a syste matic way, all the identifiable schemes given a set of components for which concentration measurements are available. “Identifiable schemes” means that the pseudo-stoichiometric coefficients can be (uniquely) identified, independently of the kinetics which are unknown. The method is illustrated on a case study.

关键词： mathematical models biotechnology parameter identification identifiability maximum likelihood estimators

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