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第35届中国控制会议

作者： ZHANG Jianlei CHEN Zengqiang LIU Zhongxin ZHANG Chunyan Department of Automation College of Computer and Control EngineeringNankai University Tianjin Key Laboratory of Intelligent Robotics Computer and Control EngineeringNankai University

ISBN: (纸本)9781509009107

Cooperative behaviors lie at the basis of human societies,yet its evolutionary origin still remains a perplexing *** exists a large evolutionary game literature exploring effects of population structures on evolutionary outcomes,but in most cases structured population models only employ one game alone.A relevant question is covered in this study thus concerns the effect of game diversity occurring along the edges linking two players situated on the *** basic structure of our mechanism provides more than one type of games available for the *** our game setting,the game model is assumed as a fixed property of each edge and will remain unaltered through game *** preliminary initiatives,we only consider two typical games（Prisoner’s dilemma game and Snowdrift game）,and all possible mixtures between them controlled by a *** performed simulations and theoretical analysis help us observe the remarkable improvement on cooperation levels in suitable parameter regions when the population are simultaneously provided with more than one type of ***,network heterogeneity helps to bring into existence of cooperator clusters and thus favors the survival of cooperators.

关键词： Collective Cooperation Evolutionary Game Theory Heterogeneity

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A multi-class ramp metering and routing control scheme to reduce congestion and traffic emissions in freeway networks

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IFAC-PapersOnLine 2016年第3期49卷 329-334页

作者： Pasquale, C. Sacone, S. Siri, S. De Schutter, B. Department of Informatics Bioengineering Robotics and Systems Engineering University of Genova Italy Delft Center for Systems and Control Delft University of Technology Netherlands

In this paper, a multi-class and multi-objective combined ramp metering and routing control strategy is proposed to improve performance in freeway traffic networks. The control strategy is of the multi-class type, i.e. different classes of vehicles are taken into account, so that specific control policies can be devised for each class. Moreover, ramp metering and route guidance are properly coordinated in order to reduce the total travel time and the total emissions in the freeway system in a balanced way. The controller proposed in the paper is of the predictive feedback type, i.e. the control computed at each time step depends on the measured system state and on the prediction of the system evolution, considering both a traffic and an emission model. Some simulation results are presented showing the effectiveness of the proposed control scheme. © 2016

关键词： Traffic congestion Highway traffic control Network routing Travel time control strategies Different class Freeway networks Improve performance Measured system System evolution Total emissions Traffic emissions

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MODELING AND SIMULATION OF ROBOT DYNAMICS USING TRANSPUTER-BASED ARCHITECTURES

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SIMULATION 1990年第5期54卷 269-278页

作者： ZOMAYA, AY MORRIS, AS [o_1]Robotics Research Group Department of Control Engineering University of Sheffield Mappin Street Sheffield United Kingdom S1 3JD [o_2]Robotics Research Group Department of Control Engineering University of Sheffield Mappin Street Sheffield United Kingdom S1 3JD

Advanced control strategies require the inclusion of the dynamical model of the robot arm in the control law. However, the dynamics consist of a highly coupled and non-linear set of equations. Thus, this complexity has always presented a major obstacle in real-time dynamic control applications. The computation ally efficient solution of this problem will lead to a better comprehension of the key factors effecting robot operations. This work describes a solution of this problem by employing a parallel processing approach. The dynamics are computed by using a semi-customized Newton-Euler formulation. The algorithm is distributed over a highly- coupled multiple? instruction multiple-data steram (MIMD) computer architecture. The computer system is constructed from general purpose (VLSI) building blocks called the (TRANSPUTER). The cost-effective ness and speed of the scheme is demon strated by a case study (PUMA 560 robot arm). The communication issues between the different processors and discussed. Speed-up results are included to show the superiority and advantages of the parallel approach.

关键词： robot dynamics inverse dynamics parallel processing Transputer Occam MIMD.

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Effect of conducting polymers on nitrogen-doped multiwalled carbon nanotube for the detection of chemical warfare agent simulant

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Microchemical Journal 2025年

作者： Sanjeeb Lama Hyeong Seon Choi Sujina Tamang Sivalingam Ramesh Hee-Chan Jang Young Jun Lee Joo-Hyung Kim Laboratory of Intelligent Devices and Thermal Control Department of Mechanical Engineering Inha University Incheon 22212 South Korea Department of Biological Science and Bioengineering Inha University Incheon 22212 South Korea Department of Mechanical Robotics and Energy Engineering Dongguk University Seoul South Korea

Chemical warfare agents (CWAs) have inflicted significant harm to human lives, from World War I to present-day conflicts, including armed battles, terrorist incidents, and civil wars. To explore the possibility of early detection of CWAs to prevent loss of life, we developed various composite materials for sensing these agents using a hydrothermal process. The surface acoustic wave (SAW) sensor was employed as a detector for dimethyl methyl phosphonate (DMMP), a well-known simulant of the nerve agent sarin. Nitrogen doped multiwalled carbon nanotube (N-MWCNT) was used as a precursor, with polymers such as carboxymethyl cellulose (CMC), polyaniline (PANI), and polypyrrole (PPy) added to enhance sensitivity to DMMP concentrations ranging from 2 to 10 parts per million (ppm). The N-MWCNT@CMC composite demonstrated exceptional performance exhibiting frequency response (Δ f ) of ∼1212 Hz at a concentration of 10 ppm DMMP. The composite materials showed excellent sensitivity to DMMP with minimal effect of potential interferences during selectivity test. Specifically, the N-MWCNT@CMC showed excellent coefficients of determination ( R 2 ) of 0.990, with a limit of detection (LOD) of 1.33 ppm. In the relative humidity test from 30–70 %, the N-MWCNT@CMC exhibited the highest Δ f difference, measuring ∼137 Hz. However, it showed lowest Δ f difference of ∼16 % in temperature tests conducted from 25–75 °C. The Brunauer-Emmett-Teller (BET) results revealed that the addition of CMC to the N-MWCNT increased the pore size (adsorption = 36.9 nm, desorption = 40.0 nm) of the composite, which enhanced its sensitivity to DMMP during both adsorption and desorption. Based on these findings, it can be concluded that synthesized composites show potential as candidates for detecting the nerve agent sarin.

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Online transformer oil analysis based on spectroscopy technique and machine learning classifier: Experimental setup 15

Online transformer oil analysis based on spectroscopy techni...

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15th International Conference on Protection and Automation of Power Systems, IPAPS 2020

作者： Firouzimagham, Daniel Aminaie, Pouya Shayan, Zeinab Sabouri, Mohammad Asemani, Mohammad Hassan Shiraz University Applied Control Robotics Research Laboratory Department of Power and Control Engineering Shiraz Iran

ISBN: (纸本)9780738126319

Power transformers are used throughout the interconnected power grid. These transformers significantly affect the reliability of the power grid. One of the most critical components of a transformer is insulating oil. Insulating oil is responsible for heat transfer and electrical insulation. Scheduled monitoring of transformer oil ageing can improve the status of the transformers and make significant changes to increase the reliability of the power grid. The main reasons for oil ageing are thermal and electrical pressures. These tensions cause chemical degradation of the oil. Therefore, by several types of tests, the relative ageing of the oil can be detected. Current industrial methods are generally offline and costly. In this paper, a laboratory-based method for online transformer oil analysis based on spectroscopy technique has been proposed and implemented. Furthermore, machine learning algorithms implemented on system results to distinguish between oils with different ageing. According to the obtained results, the presented method is effective with high accuracy. © 2020 IEEE.

关键词： Power transformers

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Preliminary Analysis of Physiological Signals in Relation to Early Indication of Paralysis Disorder Using Neural Network Approach

Preliminary Analysis of Physiological Signals in Relation to...

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2024 IEEE Silchar Subsection Annual Conference, SILCON 2024

作者： Kumar, Vijay Gupta, Sachin School of Electronics and Control Engieening Lovely Professional University Department of Robotics and Control Engineering Phagwara India

ISBN: (纸本)9798331540821

As per latest research in the main medical sector, paralysis sight as is sight as observed as one of the main foremost causes of disability in human subjects trailing only behind chronic illnesses such as cancer and heart disease. In this sight as study, we examined health-related signals to uncover potential indicators of paralysis related disability. In collaboration with medical experts, we identified eight crucial parameters that could assist in determining whether an individual shows symptom of paralysis. Our research involved assembling an observational database comprising over 40,000 human subjects, spanning the main period from January 2018 to December 2023. We employed a three-layer Recurrent Neural Network to conduct categorical analyses involving training, validation, and testing phases. Our results suggest that ECG, blood pressure, heart rate and PPG signals are essential in evaluating an individual's risk of paralysis sight as disorders. The main model achieved an impressive accuracy rate of 94.3%, outperforming other models observed during the main study. These observed findings underscore the main potential of advanced machine learning techniques for facilitating the main early detection of paralysis sight as symptoms. By providing timely notifications to healthcare providers and human subjects at risk, our methodology can significantly enhance patient care and outcomes. This sight as research not only enriches the main scientific understanding of paralysis sight as but also offers practical solutions for improving human health through timely intervention strategies. Ultimately aiding in the main prevention of severe consequences associated with this sight as debilitating condition. © 2024 IEEE.

关键词： Blood pressure

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Evolutionary Games with Different Time Scales of Strategy Updating 29

Evolutionary Games with Different Time Scales of Strategy Up...

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第29届中国控制与决策会议

作者： Jianlei Zhang Yuying Zhu Chunyan Zhang Department of Automation College of Computer and Control EngineeringNankai University Tianjin Key Laboratory of Intelligent Robotics College of Computer and Control EngineeringNankai University

ISBN: (纸本)9781509046584

Variation in learning rates within populations suggests that evolutionary game theory may not necessarily be restricted to uniform time scales associated with the game interaction and strategy adaption evolution. Using agent-based evolutionary simulation in the framework of prisoner's dilemma game, we demonstrate the sustainability of cooperation and the emergence of different macro-effects, when equipping agents with non-uniform time scale preferences. We employ a spatial random regular grid to describe the social interactions among agents. We conclude that the cooperation level has a strong dependence on the population composition, and the suitable fraction of the fast-updating players in the system which is associated with the maximal cooperation frequency has been found out. Besides, the extent of the promotive effect of diversifying time scales is also closely related with the payoff adoption rules in strategy updating,especially when we invent a past history for each agent. Summing up the gained results, a general conclusion can be drawn, saying that the combination of these factors(e.g. time scales and memory) gives rise to rich dynamic behavior of the system.

关键词： Evolutionary Game Theory Complex Networks Evolution Dynamics

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Evolutionary Game Dynamics Driven by Setting a Ceiling in Payoffs of Defectors 36

Evolutionary Game Dynamics Driven by Setting a Ceiling in Pa...

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第36届中国控制会议

作者： ZHANG Jianlei ZHU Yuying CHEN Zengqiang CAO Ming Department of Automation College of Computer and Control EngineeringNankai University Tianjin Key Laboratory of Intelligent Robotics College of Computer and Control EngineeringNankai University

ISBN: (纸本)9781538629185

The collective cooperation dilemma,where players are involved in a public goods game and must decide whether to make an individual contribution or not,has gained increasing attention from game theorists and control *** from the traditional definition,defectors here will face the payoff restriction after adopting the strategy of free riding others' ***,we introduce payoff ceilings applied to the gained benefits of the defectors,which leads to an extensive public goods game *** the number of cooperators is lower than the threshold value,the current model can be transferred to the setups of the general public goods *** further increasing the number of cooperators will bring the restricted payoffs for *** results suggest that the payoff ceilings provide us with more insight into the resolution of cooperative ***,together with other parameters(e.g.,the amplification factor and the size of gaming population) of the introduced model,lower values of the payoff ceilings can better facilitate the domination of cooperation strategy at the steady state.

关键词： Evolutionary game theory Replicator dynamics Public goods games

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Segmentation of Retina Vessels in 2D OCT-Reconstructed Fundus Images with 3D UNet 26

Segmentation of Retina Vessels in 2D OCT-Reconstructed Fundu...

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26th IEEE Signal Processing: Algorithms, Architectures, Arrangements, and Applications, SPA 2023

作者： Marciniak, Tomasz Stankiewicz, Agnieszka Zaradzki, Przemyslaw Poznan University of Technology Division of Electronic Systems and Signal Processing Institute of Automatic Control and Robotics Department of Control Robotics and Electrical Engineering Poznan Poland

ISBN: (纸本)9798350304985

This paper presents an analysis of the effectiveness of blood vessel segmentation in human retinal images. The segmentation process was carried out for three-dimensional optical coherence tomography (OCT) scans using the author's publicly available CAVRI-C database. A 3D version of the U-Net artificial neural network was used. Various dimensions of the input blocks were investigated to determine their influence on the segmentation process. The effectiveness of the proposed solutions was evaluated using various metrics and the results obtained were compared with the 2D solution, also based on neural networks. The use of the proposed solutions allowed us to improve the segmentation even by 15% (in the case of the F1-score). © 2023 Division of Signal Processing and Electronic Systems, Poznan University of Technology (DSPES PUT).

关键词： Optical tomography

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Adaptive control of continuous time systems with convex/concave parametrization (vol 34, pg 33, 1997)

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AUTOMATICA 1998年第9期34卷 1153-1153页

作者： Annaswamy, AM Skantze, FP Loh, AP Adaptive Control Laboratory Department of Mechanical Engineering Massachusetts Institute of Technology Cambridge MA 02139 USA Motion Control Group ABB Robotics Products S-721 68 Västerås Sweden

This paper deals with adaptive control of a class of nonlinear dynamic systems with nonlinear parametrization. In this class, the state variables are assumed to be accessible and the nonlinearity in the parameters is assumed to be either convex or concave. By introducing a tuning function and an adaptive law based on a min-max strategy, it is shown that such a class of dynamic systems can be adaptively controlled in a stable manner. Global boundedness of the overall adaptive system and tracking to within a desired precision are established with the new adaptive controller. The proposed controller is applied to a precise-positioning problem in the presence of nonlinearly parametrized friction dynamics. It is shown that the controller leads to position errors and friction compensation that are orders of magnitude better than those based on estimation of linear parametrizations. The fact that the new parameter estimation strategy used is distinct from the traditionally used gradient schemes, permits the expansion of the scope of adaptive control, which has been restricted hitherto, in most cases, to systems with linear parametrization. (Author abstract) 21 Refs.

关键词： Adaptive control Continuous time systems Friction compensation Global stability Nonlinear parametrization

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