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Open Water Detection for Autonomous In-harbor Navigation Using a Classification Network

IFAC-PapersOnLine 2021年第16期54卷 30-36页

作者： Martin K. Plenge-Feidenhans’l Mogens Blanke Automation and Control Group Department of Electrical Engineering Technical University of Denmark DK-2800 Kgs. Lyngby Denmark

Autonomous navigation quay to quay is a goal for various surface vessel trades, from inland ferries to river transport and offshore services. Ability to navigate safely within a harbour or other confined waters is an essential step-stone towards this goal. This paper aims at creating a map of open water area that is available for safe navigation, given dynamic and static obstacles. Employing electro-optical sensors, the paper suggests open water detection using a classification convolutional neural network on context sensitive sub-partitioning of an image in a pyramid of smaller areas, combining the classifications in to a map of subareas containing open water. A salient feature of this approach is the ease of annotation and ease of creating a large amount of annotated images that is needed for machine learning. Following classification of sub-areas, camera images are transformed to bird’s view by projective geometry methods to enable planning of feasible paths for navigation. This new approach is validated on data from sea trials in Danish waters.

关键词： Deep learning Detection performance Open water detection Computer vision Autonomous Marine Vehicles In-harbor navigation

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Parameter Optimization of Interval Type-2 Fuzzy Neural Networks Based on PSO and BBBC Methods

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IEEE/CAA Journal of Automatica Sinica 2019年第1期6卷 247-257页

作者： Jiajun Wang Tufan Kumbasar the School of Automation Hangzhou Dianzi University IEEE the Control and Automation Engineering Department Faculty of Electrical and Electronics EngineeringIstanbul Technical University

Interval type-2 fuzzy neural networks(IT2FNNs)can be seen as the hybridization of interval type-2 fuzzy systems(IT2FSs) and neural networks(NNs). Thus, they naturally inherit the merits of both IT2 FSs and NNs. Although IT2 FNNs have more advantages in processing uncertain, incomplete, or imprecise information compared to their type-1 counterparts, a large number of parameters need to be tuned in the IT2 FNNs,which increases the difficulties of their design. In this paper,big bang-big crunch(BBBC) optimization and particle swarm optimization(PSO) are applied in the parameter optimization for Takagi-Sugeno-Kang(TSK) type IT2 FNNs. The employment of the BBBC and PSO strategies can eliminate the need of backpropagation computation. The computing problem is converted to a simple feed-forward IT2 FNNs learning. The adoption of the BBBC or the PSO will not only simplify the design of the IT2 FNNs, but will also increase identification accuracy when compared with present methods. The proposed optimization based strategies are tested with three types of interval type-2 fuzzy membership functions(IT2FMFs) and deployed on three typical identification models. Simulation results certify the effectiveness of the proposed parameter optimization methods for the IT2 FNNs.

关键词： Big bang-big crunch (BBBC) interval type-2 fuzzy neural networks (IT2FNNs) parameter optimization particle swarm optimization (PSO)

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The New Concept of Guaranteeing Confidence in the E-Voting System

The New Concept of Guaranteeing Confidence in the E-Voting S...

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2020 IEEE International Conference on Problems of Infocommunications Science and Technology, PIC S and T 2020

作者： Khlaponin, Yurii Vyshniakov, Volodymyr Prygara, Mykhailo Poltorak, Vadym Kyiv National University of Construction and Architecture Cybersecurity and Computer Engineering Department Kyiv Ukraine National University Machine Industry Technology Department Uzhhorod Uzhhorod Ukraine National Technical University of Ukraine 'Igor Sikorsky Kyiv Polytechnic Institute' Department of Technical Systems Automation and Control Kyiv Ukraine

ISBN: (纸本)9781728191775

There is no doubt about the urgency of ensuring trust in e-voting systems since elections without trust cannot be acceptable in a democratic society. To solve this problem, it was proposed to use blockchain technology, however, in voting systems this leads to significant delays in the execution of transactions, and the software solution is accessible only to a narrow circle of specialists, which clearly does not help to show confidence on the part of voters. This paper proposes a different approach, which is based on the widely available verification of all means and processes that may cause distrust in the accuracy of the vote count or in ensuring their confidentiality. We offer a solution to the problem of transparency of all hardware and software that cause distrust. Voting systems that use this approach are implemented in three leading Ukrainian universities for student elections to self-government bodies. The conceptual model of the e-voting system for state elections on the example of Ukraine is presented. Links to Internet resources are provided where you can not only get acquainted with the principles of building the system, but also conduct an experimental vote in Ukrainian, English or Russian. You can also copy and test e-voting server software on your computers. © 2020 IEEE.

关键词： Transparency

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Designing sensor-equipped insoles for Diabetic Foot and investigation of its usability

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Gait & Posture 2024年 113卷 258-259页

作者： Yasemin Yarbaşı Fuat Bilgili Ali Fuat Ergenç Gaye Torna Nurdan Gül Betül Yiğit Yalçın Ilhan Satman Istanbul University- Institute of Health Sciences Department of Orthopedics and Traumatology Istanbul Turkey Istanbul University- Istanbul Faculty of Medicine Department of Orthopedics and Traumatology Istanbul Turkey Istanbul Technical University Department of Control and Automation Engineering Istanbul Turkey Istanbul University- Istanbul Faculty of Medicine Department of Physical Medicine and Rehabilitation Istanbul Turkey Istanbul University-Istanbul Faculty of Medicine Department of Internal Medicine Istanbul Turkey

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Research on Selective Harmonic Elimination Pulse Width Modulation of Three-Level NPC Inverter Based on Adaptive Restart Genetic Algorithm

Research on Selective Harmonic Elimination Pulse Width Modul...

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International Russian Smart Industry Conference (SmartIndustryCon)

作者： Tao Jing Yuehua Liang A. S. Maklakov A. A. Nikolaev School of Computer and Information Engineering Henan University Kaifeng Henan China Zhejiang Entive Smart Kitchen Appliance Co. Ltd. Shengzhou Zhejiang China Department of Automation and Control Moscow Polytechnic University Moscow Russia Department of Automated Electric Drive and Mechatronics Nosov Magnitogorsk State Technical University Magnitogorsk Russia

ISBN: (数字)9798331511241

ISBN: (纸本)9798331511258

The harmonic elimination task of three-level neutral point clamped (3L-NPC) inverters is related to a complicated engineering optimization problem, which mainly involves constrained nonlinear transcendental equations with multiple solutions. In order to solve the problems of difficult initial value determination, slow convergence rates and susceptibility to local optima trapping in the process of using traditional numerical algorithms, This paper introduces a novel selective harmonic elimination pulse width modulation (SHEPWM) framework, enhanced by an adaptive restart genetic algorithm, to address the limitations of conventional optimization methods. By introducing the adaptive restart mechanism, the performance and robustness of the solution algorithm can be improved, so as to circumvent entrapment in local optima and secure the global optimum across the entire solution space. The simulation results show that there are divergent trends in the switching angles and the total harmonic distortion (THD) values of the output voltage obtained by the proposed method, but all of them can effectively eliminate the specified low-order harmonics. These findings verifies the practical applicability and solution diversity of the proposed method, as well as provides new ideas and methods for solving optimization problems in other engineering fields.

关键词： Total harmonic distortion Voltage Switches Pulse width modulation Harmonic analysis Inverters Robustness Systems simulation Genetic algorithms Convergence

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Learn to efficiently exploit cost maps by combining RRT* with Reinforcement Learning

Learn to efficiently exploit cost maps by combining RRT* wit...

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IEEE International Workshop on Safety, Security, and Rescue Robotics (SSRR)

作者： Riccardo Franceschini Matteo Fumagalli Julian Cayero Becerra Eurecat Centre Tecnològic de Catalunya Robotics and Automation Unit Cerdanyola del Valles Barcelona Spain Department of Electrical Engineering Automation and Control group Danish Technical University Elektrovej Lyngby Denmark

ISBN: (纸本)9781665456814

Safe autonomous navigation of robots in complex and cluttered environments is a crucial task and is still an open challenge even in 2D environments. Being able to efficiently minimize multiple constraints such as safety or battery drain requires the ability to understand and leverage information from different cost maps. Rapid-exploring random trees (RRT) methods are often used in current path planning methods, thanks to their efficiency in finding a quick path to the goal. However, these approaches suffer from a slow convergence towards an optimal solution, especially when the planner's goal must consider other aspects like safety or battery consumption besides simply achieving the goal. Therefore, it is proposed a sample-efficient and cost-aware sampling RRT* method that can overcome previous methods by exploiting the information gathered from map analysis. In particular, the use of a Reinforcement Learning agent is leveraged to guide the RRT* sampling toward an almost optimal solution. The performance of the proposed method is demonstrated against different RRT* implementations in multiple synthetic environments.

关键词： Costs Three-dimensional displays Reinforcement learning Robot sensing systems Path planning Safety Batteries

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loTs and Loop-Mediated Isothermal Amplification- Based Biosensing using Cloud-Enabled Features

loTs and Loop-Mediated Isothermal Amplification- Based Biose...

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Medical Technologies National Conference (TIPTEKNO)

作者： Taha Bayindir Mehmet Degirmenci Ali Fuat Ergenc Meltem Elitas Faculty of Engineering and Natural Sciences Sabanci University Istanbul Turkey Department of Bioengineering Izmir Institute of Technology Izmir Turkey Faculty of Control and Automation Engineering Istanbul Technical University Istanbul Turkey

ISBN: (数字)9781665454322

ISBN: (纸本)9781665454339

Internet-of-Things technology (IoTs) have accelerated biosensor applications in all fields. Loop-mediated isothermal amplification (LAMP)-based biosensor technologies in conjunction with smartphone detection have been adequate to cover the demands of mobile diagnostics. The ease of use, affordability, portability, high sensitivity, flexibility, and specificity demands of point-of-care detection can be achieved by low-cost electronic components, 3-dimensional printing technologies, capturing images of calorimetrically detected readouts made our system a promising approach for real-time point-of-detection in the field. In this study, we implemented a cloud service to our LAMP-based biosensor. We previously performed bacteria detection using colony-based LAMP device and now distributed the optical readouts of the assay using smartphones. We transferred the obtained image and results of the assays through cloud. Our user-friendly interface simplifies the data processing, it directly digitized the readouts and eliminates the need of data interpretation.

关键词： Printing Microorganisms Sensitivity Stimulated emission Point of care Data processing Real-time systems

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Driving Envelope: On Vehicle Stability Through Tire Capacities

Driving Envelope: On Vehicle Stability Through Tire Capaciti...

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IEEE Symposium on Intelligent Vehicle

作者： Denis Efremov Martin Klauč o Tomá š Haniš Department of Control Engineering Faculty of Electrical Engineering Czech Technical University in Prague Nov&#x00E9 M&#x011B sto Czech Republic Institute of Information Engineering Automation and Mathematics Slovak University of Technology in Bratislava Bratislava Slovakia

ISBN: (数字)9781665488211

ISBN: (纸本)9781665488228

Integrated automated safety systems in vehicles significantly reduced the number of car crashes. They help the driver in critical maneuvers when tires lose their grip on the driving surface. For instance, the technology of the anti-lock braking system and its augmentations (electronic stability control and traction control system) has already saved thousands of lives. Nevertheless, we still see room for improvement. This work defines boundaries in the vehicle state-space, excluding unstable vehicle maneuvers. Such boundaries form a so-called driving envelope. The resulting set includes all states where the vehicle’s wheels are not locked, overspun, or skidding. For the definition of the driving envelope, we use the Pacejka tire model and nonlinear single-track model. This paper shows how each tire dynamic property results in vehicle dynamics. Also, it discusses the application of nonlinear and linearized driving envelope boundaries on a single-track model. Then it shows that the linearized driving envelope constraints form a close to control invariant set over the vehicle state-space. Thus, the driving envelope is almost a feasible set, and it could be used in the model predictive control approaches with soft constraints. Protecting the driving envelope, one can preserve each wheel from locking, wheelspin, and skidding.

关键词： Intelligent vehicles Wheels control systems Tires Stability analysis Safety Automobiles

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Designing a Secure Smart Remote Patient Monitoring and Warning System using Big Data and Internet of Things Ecosystems

Designing a Secure Smart Remote Patient Monitoring and Warni...

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International Conference on Computing for Sustainable Global Development (INDIACom)

作者： S.P. Ramesh Ali Hadi Abdulwahid Afsana Anjum N. Venkatesh Rajesh Singh M. Kalyan Chakravarthi Department of Computer Science and Engineering AMET University Kanathur Tamil Nadu Department of Control &Automation Southern Technical University Engineering Technical College Basra Iraq Department of Information Technology & Security Jazan University Jazan KSA School of Computer Science and Artificial Intelligence SR University Warangal Telangana India Uttaranchal Institute of Technology Uttaranchal University India School of Electronics Engineering VIT-AP University Amaravathi India

The demand on healthcare is growing as a result of the expanding global population, rising demands for successful treatment, and an underlying improvement in life quality. Consequently, healthcare remains one of the most significant social and economic problems in the world, necessitating the development of new and more sophisticated scientific and technological treatments.E-health services are provided via personalised healthcare systems to meet the medical and support needs of the ageing population. An important development in the Big Data age is the Internet of Things, which facilitates several real-time engineering solutions through improved services. Healthcare systems are now using analytics over IoT data streams as a stream of user data to find new information, forecast rapid recognition, and make decisions on life-threatening situations. In this study, researchers have carried out a thorough review of the hottest recent revolutionary technologies in bespoke healthcare systems, with a focus on hypervisor, cloud infrastructure, big data analytic, the Web of Things, and smartphone apps. In order to make early disease detection and diagnosis possible, it is important to develop a better healthcare system. We have examined these problems and suggested potential solutions while offering secure e-health services. The purpose of this study is to design a smart and secure remote monitoring and warning system using the latest emerging technologies in 21 st century such as big data analytics and Internet of Things (IoT) ecosystems. In this study the researchers discussed a detailed research methodology to meet the outcomes of the reerach. All the relevant findings and analysis are explained in descriptive manner. Moreover, this study highlights the constantly expanding requirements for better medical systems in the present and offers potential directions for future research.

关键词： Industries Patient monitoring Ecosystems Sociology Medical services Big Data Alarm systems

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Distributed Coverage control of Constrained Constant-Speed Unicycle Multi-Agent Systems

arXiv

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arXiv 2023年

作者： Liu, Qingchen Zhang, Zengjie Le, Nhan Khanh Qin, Jiahu Liu, Fangzhou Hirche, Sandra Department of Automation University of Science and Technology of China Hefei China Department of Electrical Engineering Eindhoven University of Technology Netherlands Chair of Information-Oriented Control Technical University of Munich Munich Germany Ningbo Institute of Intelligent Equipment Technology Company Ltd Ningbo China

This paper proposes a novel distributed coverage controller for a multi-agent system with constant-speed unicycle robots (CSUR). The work is motivated by the limitation of the conventional method that does not ensure the satisfaction of hard state- and input-dependent constraints and leads to feasibility issues for multi-CSUR systems. In this paper, we solve these problems by designing a novel coverage cost function and a saturated gradient-search-based control law. Theoretical proofs are provided to guarantee that the CSURs ultimately move to the optimal coverage configuration without moving out of the covered domain. The controller is implemented in a distributed manner based on a novel communication standard among the agents. A series of simulation studies are conducted to validate the correctness of our theory by showing the efficacy of the proposed coverage controller in different initial conditions and with various control parameters. A comparison study in simulation reveals the advantage of the proposed method over the conventional method in terms of avoiding infeasibility. The experimental study verifies the applicability of the method to real robots. The development procedure of the method from theoretical analysis to experimental validation provides a novel framework for multiagent system coordinate control with complex dynamics. © 2023, CC BY-NC-SA.

关键词： Multi agent systems

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