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56th International Symposium on Robotics, ISR Europe 2023

作者： Ugurlu, Halil Ibrahim Bardakci, Deniz Pham, Huy Xuan Kayacan, Erdal The Department of Electrical and Computer Engineering Aarhus University Aarhus C8000 Denmark Automatic Control Group Department of Electrical Engineering and Information Technology Paderborn University Paderborn Germany

ISBN: (纸本)9783800761418

Increasing the operational efficiency of agricultural machines is essential by the use of artificial intelligence (AI)-based navigation, planning, and control algorithms to handle the increasing demand for food production without compromising sustainability. In this study, an end-to-end path planning algorithm (AgroRL) is proposed for aerial-ground robots team collaboration. In the proposed solution, while main operations in the field are handled by the ground vehicle, the aerial robot is responsible for re-planning a collision-free trajectory for the ground robot when the robot faces an obstacle. Deep reinforcement learning is used for training the end-to-end policy for local re-planning of the aerial robot. The agent, informed by the global trajectory, generates local plans based on depth images. Variational autoencoders are also investigated for dimension reduction of the depth images in obstacle avoidance context to speed up deep reinforcement learning and alleviate the computational complexity of the policy network. The agriculture environment is developed in the Webots open-source robot simulator for training and testing purposes. The efficiency and efficacy of the end-to-end planner are evaluated over a number of cluttered field scenarios. The simulation experiments demonstrate a single aerial vehicle guiding multiple ground robots in agricultural operations. © VDE VERLAG GMBH Berlin Offenbach.

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A Zero-Sequence Current Analysis Approach for Rotating Machinery Fault Diagnosis of Induction Motor Drivetrain Based on Sparse Learning

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IEEE Transactions on Power Electronics 2025年第7期40卷 9800-9810页

作者： Liu, Zhao-Hua Long, Jun-Jie Wei, Hua-Liang Liu, Kan Zhang, Ying-Jie Li, Xiao-Hua Hunan University of Science and Technology School of Information and Electrical Engineering Xiangtan411201 China The University of Sheffield School of Electrical and Electronic Engineering Department of Automatic Control and Systems Engineering SheffieldS1 3JD United Kingdom Hunan University College of Mechanical and Vehicle Engineering Changsha410082 China Hunan University College of Computer Science and Electronic Engineering Changsha410082 China

Fault diagnosis of rotating machinery driven by induction motors has received increasing attention. Current diagnostic methods, which can be performed on existing inverters or current transformers of three-phase induction machines, have become a more economical and reliable alternative to vibration diagnostic methods. Existing references mainly focus on the stator current analysis of single-phase, but most single-phase current analysis methods utilize only a fraction of the total information accessible in the three-phase system. Field experience shows that zero-sequence current (ZSC) has more distinctive fault characteristics compared to single-phase current, and therefore it is better to use in mechanical fault detection and diagnostic tasks. This article proposes a novel sparse learning-based method for ZSC analysis for induction rotating motor drive fault diagnosis. First, it elaborates and compares the effectiveness of ZSC in revealing fault characteristics compared with single-phase current by analyzing the fault diagnosis mechanism of ZSC. In addition, the method proposes a correlation entropy-enhanced sparse learning method for the problem of high-frequency noise and interference in the ZSC signals, so as to enhance the learning of the features of the noise-containing signals. The diagnostic efficacy of the proposed method has been verified through experiments on two real datasets. © 1986-2012 IEEE.

关键词： Induction motors

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Innovative Automatic Tool Changing Mechanism for Robotic Arms

Innovative Automatic Tool Changing Mechanism for Robotic Arm...

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2024 Intermountain engineering, Technology and Computing, IETC 2024

作者： Das, Shaibal Berry, Matthew Deemyad, Taher Idaho State University Department of Electrical and Computer Engineering PocatelloID United States Idaho State University Department of Mechanical and Measurement & Control Engineering PocatelloID United States

ISBN: (纸本)9798350373073

This paper presents the development and implementation of an automatic tool-changing mechanism for industrial and collaborative robotic arms. The primary objective is to enable integration with a variety of end effectors, both active and passive, allowing the robot to autonomously switch tools without manual intervention. The system comprises three key components: a universal end-effector connector, various tools, and a customized toolbox. The universal connector will be screwed to the end of the robotic arm. It features a mechanical lock mechanism and accommodates electrical and pneumatic inlets for diverse tools. A dedicated toolbox, situated within the robot's workspace range, houses all tools for easy access. The study focuses on the design, 3D printing, and testing of two tools - an active and a passive tool - along with the innovative mechanical lock mechanism, which has been successfully developed and tested. Additionally, two industrial tasks have been defined to demonstrate the mechanism's functionality in real-world scenarios, emphasizing non-singular path trajectories between tasks. Future work includes the integration of additional sensors for enhanced automatic robot control. Overall, this research will contribute to the advancement of fully autonomous robotic systems in industrial settings. © 2024 IEEE.

关键词： End effectors

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Adaptive control of Spur Gear Systems via Proximal Policy Optimization and Attention-Based Learning 9

Adaptive Control of Spur Gear Systems via Proximal Policy Op...

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9th International Conference on control, Instrumentation and Automation, ICCIA 2023

作者： Labbaf Khaniki, Mohammad Ali Mirzaeibonehkhater, Marzieh Samii, Amirhossein Manthouri, Mohammad K.N. Toosi University of Technology Department of Control Engineering Tehran Iran Indiana University-Purdue University Department of Electrical and Computer Engineering United States Technical University of Crete Department of Electrical and Computer Engineering Crete Greece Shahed University Department of Electrical and Electronic Engineering Tehran Iran

ISBN: (纸本)9798350366013

This study presents a novel approach for the adaptive control of chaotic spur gear systems using Proximal Policy Optimization (PPO) and attention-based learning. The spur gear system is known for its chaotic behavior, posing challenges for conventional control methods. In this research, the on-policy deep reinforcement learning algorithm, PPO, is employed to effectively control the chaotic dynamics of the spur gear system. PPO is a good choice for controlling chaotic systems because it can learn from the current policy, which is important in situations where the dynamics of the system can change quickly. Furthermore, the neural network architecture within the PPO framework is enhanced by incorporating a self-Attention mechanism. The attention mechanism can adaptively adjust its attention weights based on the current state and policy, allowing the network to dynamically allocate its resources to the most critical aspects of the system. The proposed adaptive control approach demonstrates promising results in effectively managing the chaotic spur gear System, offering potential applications in various real-world scenarios where such systems are encountered. © 2023 IEEE.

关键词： Reinforcement learning

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A Moreau Envelope Approach for LQR Meta-Policy Estimation 63

A Moreau Envelope Approach for LQR Meta-Policy Estimation

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Aravind, Ashwin Toghani, Mohammad Taha Uribe, Cesar A. Iit Bombay Centre for Systems and Control MH Mumbai India Rice University Department of Electrical and Computer Engineering HoustonTX United States

ISBN: (纸本)9798350316339

We study the problem of policy estimation for the Linear Quadratic Regulator (LQR) in discrete-time linear timeinvariant uncertain dynamical systems. We propose a Moreau Envelope-based surrogate LQR cost, built from a finite set of realizations of the uncertain system, to define a meta-policy efficiently adjustable to new realizations. Moreover, we design an algorithm to find an approximate first-order stationary point of the meta-LQR cost function. Numerical results show that the proposed approach outperforms naive averaging of controllers on new realizations of the linear system. We also provide empirical evidence that our method has better sample complexity than Model-Agnostic Meta-Learning (MAML) approaches. © 2024 IEEE.

关键词： Cost functions

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Sliding Mode control in Power Converters and Drives: A Review

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IEEE/CAA Journal of Automatica Sinica 2022年第3期9卷 392-406页

作者： Ligang Wu Jianxing Liu Sergio Vazquez Sudip K.Mazumder IEEE Department of Control Science and Engineering Harbin Institute of TechnologyHarbin 150001China Electronic Engineering Department Universidad de Sevilla41092 SevillaSpain Electrical and Computer Engineering Department University of Illinois ChicagoChicagoIL 60607 USA

Sliding mode control(SMC)has been studied since the 1950s and widely used in practical applications due to its insensitivity to matched *** aim of this paper is to present a review of SMC describing the key developments and examining the new trends and challenges for its application to power electronic *** fundamental theory of SMC is briefly reviewed and the key technical problems associated with the implementation of SMC to power converters and drives,such chattering phenomenon and variable switching frequency,are discussed and *** recent developments in SMC systems,future challenges and perspectives of SMC for power converters are discussed.

关键词： Motor drive power electronics systems sliding mode control

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PVWA: Privacy-preserving and Verifiable Weighted Aggregation for Federated Learning

PVWA: Privacy-preserving and Verifiable Weighted Aggregation...

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2024 IEEE Global Communications Conference, GLOBECOM 2024

作者： Li, Zihan Wang, Xiaodong Yuan, Shuai Guan, Zhitao Du, Xiaojiang Guizani, Mohsen North China Electric Power University School of Control and Computer Engineering China Canada Stevens Institute of Technology Department of Electrical and Computer Engineering HobokenNJ United States Machine Learning Department United Arab Emirates

ISBN: (纸本)9798350351255

Federated learning provides clients with a means of collaboratively training a global model without sharing their local data, managed by a central server. However, this server cannot always be trusted, as it may act dishonestly and compromise the privacy of clients' local data. Consequently, mechanisms for privacy preservation and aggregation verification become crucial components of a secure federated learning system. In addition, support for weighted aggregation is also essential to address the challenges posed by non-IID training data. In this article, we present the Privacy-Preserving and Verifiable Weighted Aggregation (PVWA) scheme. Our approach introduces a new privacy-preserving solution by leveraging masking and homomorphic encryption techniques to protect local and global models, respectively. The masking protocol facilitates secure weighted aggregation, whereas a verification mechanism based upon homomorphic hashing and bilinear aggregated signatures ensures the correctness of aggregated results. Experimental evaluations of the performance, compared against alternative methods on two datasets, demonstrate its effectiveness and efficiency. © 2024 IEEE.

关键词： Federated learning

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4K Video Coding Efficiency in UAV Systems 45

4K Video Coding Efficiency in UAV Systems

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45th Jubilee International Convention on Information, Communication and Electronic Technology, MIPRO 2022

作者： Benjak, J. Hofman, D. Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Zagreb Croatia

ISBN: (纸本)9789532331035

With increasing requirements for high quality, low bandwidth video transmission systems, comes a demand for more ad hoc video encoders. Unmanned Aerial Vehicles (UAVs), or just drones, have recently grown in popularity and use. Therefore, in this paper, we provide an efficiency comparison of the two most popular video encoders in a First-person view (FPV) drone piloting system. We film all the test sequences ourselves, using a drone with an attached 4K camera. Each sequence captures a scene with different spatiotemporal characteristics. Because video encoders are sensitive to video content or scene complexity, instead of doing a comprehensive comparison of all sequences at once, we first classify all the sequences into four groups. Finally, we examine the compression efficiency by varying the parameters with the highest impact on encoder operation. The quality of compressed footage is determined using four objective video quality measures. Due to high computational complexity, tests were performed on several nodes of a supercomputer and the relative encoding times were also considered. © 2022 Croatian Society MIPRO.

关键词： Antennas

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Smooth Motion Planning of an Omnidirectional Mobile Robot in Dynamic Environments

Smooth Motion Planning of an Omnidirectional Mobile Robot in...

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2022 International Conference on electrical, computer, Communications and Mechatronics engineering, ICECCME 2022

作者： Šelek, Ana Seder, Marija Department of Control and Computer Engineering Faculty of Electrical Engineering and Computing Zagreb Croatia

ISBN: (数字)9781665470957

ISBN: (纸本)9781665470957

In this paper, a real-time smooth motion planning method for a four mecanum wheeled omnidirectional mobile robot in dynamic environments that generates a smooth collision-free trajectory is proposed. The method employs a graph-search-based path planning algorithm and a smoothing technique based on clothoids. It is suitable for real-time operation due to its computational simplicity and allows fast path replanning in case the robot encounters unknown and dynamic obstacles. Such a path is feasible for holonomic mobile robots since it does not contain sharp turns so the energy consumption is reduced. Our method is compared to the reactive model predictive control scheme in simulations. The comparison showed advantages of the proposed method in the reduced task execution time, path length, cumulative replanning time, and smooth velocity profile. © 2022 IEEE.

关键词： Motion planning

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Mining Erasable Itemsets from a Product Database with Quantitative Components 24

Mining Erasable Itemsets from a Product Database with Quanti...

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11th Multidisciplinary International Social Networks Conference, MISNC 2024

作者： Hong, Tzung-Pei Chen, Da Huang, Wei-Ming Tsai, Yu-Chuan Department of Computer Science and Information Engineering National University of Kaohsiung Taiwan Department of Computer Science and Engineering National Sun Yat-Sen University Taiwan Department of Computer Science and Engineering Department of Electrical and Control China Steel Inc. China Library and Information Center National University of Kaohsiung Taiwan

ISBN: (纸本)9798400717550

Erasable itemset mining is one of the most well-known methods in data mining for optimizing limited materials. After mining erasable itemsets, the manager can rearrange the production plan effectively. However, in real applications, traditional mining methods neglect some critical factors, such as costs or quantities of components forming a product. This thesis thus considers mining erasable itemsets from a product database with quantitative components. An erasable profit-based itemset mining (EPIM) algorithm is proposed to mine erasable itemsets with low profits by analyzing the relationships between products and components. In experiments, a synthetic dataset was used to compare the performance in execution speed and memory usage under various threshold settings. It can also be easily generalized to find erasable itemsets satisfying the other criteria with a quantitative product database. © 2024 ACM.

关键词： Mine safety

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