Material studies with imaging have been actively employed over the past few decades for fabrication and characterization applications in the nanotechnology field. This paper presents an automated analysis method for d...
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This paper proposes an immersion and invariance (I&I) fuzzy adaptive image-based visual servoing (IBVS) method for an omnidirectional mobile robot (OMR), ensuring robustness against the uncertainties in feature po...
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This paper proposes an immersion and invariance (I&I) fuzzy adaptive image-based visual servoing (IBVS) method for an omnidirectional mobile robot (OMR), ensuring robustness against the uncertainties in feature point dynamics. Most existing IBVS studies for OMR systems have only addressed the kinematics of OMRs, and studies that consider the dynamics of OMRs have only been conducted recently. In particular, the practical uncertainties caused by dynamic uncertainty, interaction matrix uncertainty, and target motion have not been considered in previous studies. In this paper, feature point dynamics of OMRs are modeled by including all of the dynamic uncertainty, interaction matrix uncertainty, and target motion. To approximate and compensate for these uncertainties, fuzzy logic systems (FLS) with two update laws—the general adaptive law and I&I law—are proposed. Notably, the proposed I&I law eliminates the limitations of general adaptive methods, improving transient response owing to its noncertainty-equivalent adaptive structure. The proposed methods are designed by based on the FLS, I&I law, and integral sliding mode control all together to compensate for the practical uncertainties in feature point dynamics, guaranteeing global asymptotic stability unlike the existing studies. The stability and feasibility of the proposed methods are verified via the Lyapunov stability analysis, simulations, and experiments in an environment with uncertain feature point dynamics. IEEE
During the last 35 years, the community devoted to the design and fabrication of solid-state circuits has benefited from the outstanding scientific contributions of Prof. Michiel Steyaert (Figure 1). The finding of in...
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Urban Air Mobility(UAM)is an emerging aviation sector which the goal is to transform air transportation with safe,on-demand air travel for both passengers and *** flight planning strategically separates flows of aircr...
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Urban Air Mobility(UAM)is an emerging aviation sector which the goal is to transform air transportation with safe,on-demand air travel for both passengers and *** flight planning strategically separates flows of aircraft on intersecting routes vertically by allocating distinct flight levels to them,and aircraft are required to maintain the flight level when crossing the ***,there is a possibility that an aircraft may fail to maintain the assigned flight level,leading to a potential conflict at *** paper aims to address conflicts at intersections in the context of UAM,focusing on decentralized conflict detection and resolution.A novel approach is developed to facilitate information exchange among UAM components,including the provider of services to UAM,UAM operators,and the pilot in command.A receding horizon trajectory planning approach is proposed for the execution of conflict resolution,optimizing trajectory planning by eliminating potential problems and challenges associated with geometric *** proposed trajectory planner considers the model and constraints of UAM aircraft,offering optimal solutions for safe separation at UAM airspace *** significance of the proposed planning framework is demonstrated through simulations considering conflict at intersections by communicating the UAM components through request and replay services and generating resolution maneuvers on-the-fly for each aircraft involved in the conflict.
This paper revisits the problem of bumpless transfer control(BTC) for discrete-time nondeterministic switched linear systems. The general case of asynchronous switching is considered for the first time in the field of...
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This paper revisits the problem of bumpless transfer control(BTC) for discrete-time nondeterministic switched linear systems. The general case of asynchronous switching is considered for the first time in the field of BTC for switched systems. A new approach called interpolated bumpless transfer control(IBTC) is proposed, where the bumpless transfer controllers are formulated with the combination of the two adjacent modedependent controller gains, and are interpolated for finite steps once the switching is detected. In contrast with the existing approaches, IBTC does not necessarily run through the full interval of subsystems, as well as possesses the time-varying controller gains(with more flexibility and less conservatism) achieved from a control synthesis allowing for the stability and other performance of the whole switched system. Sufficient conditions ensuring stability and H_(∞) performance of the underlying system by IBTC are developed, and numerical examples verify the theoretical findings.
We introduce a partial differential equation model for rechargeable lithium-metal battery (LMB) cells whose parameter values are fully identifiable from cell-level experiments. From this model, we formulate a computat...
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Estimating the crowd count and density of highly dense scenes witnessed in Muslim gatherings at religious sites in Makkah and Madinah is critical for developing control strategies and organizing such a large ***,since...
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Estimating the crowd count and density of highly dense scenes witnessed in Muslim gatherings at religious sites in Makkah and Madinah is critical for developing control strategies and organizing such a large ***,since the crowd images in this case can range from low density to high density,detection-based approaches are hard to apply for crowd ***,deep learning-based regression has become the prominent approach for crowd counting problems,where a density-map is estimated,and its integral is further computed to acquire the final count *** this paper,we put forward a novel multi-scale network(named 2U-Net)for crowd counting in sparse and dense *** proposed framework,which employs the U-Net architecture,is straightforward to implement,computationally efficient,and has single-step *** layers are used to retrieve the pooling layers’erased information and learn hierarchically pixelwise spatial *** helps in obtaining feature values,retaining spatial locations,and maximizing data integrity to avoid data *** addition,a modified attention unit is introduced and integrated into the proposed 2UNet model to focus on specific crowd *** proposed model concentrates on balancing the number of model parameters,model size,computational cost,and counting accuracy compared with other works,which may involve acquiring one criterion at the expense of other *** on five challenging datasets for density estimation and crowd counting have shown that the proposed model is very effective and outperforms comparable mainstream ***,it counts very well in both sparse and congested crowd *** 2U-Net model has the lowest MAE in both parts(Part A and Part B)of the ShanghaiTech,UCSD,and Mall benchmarks,with 63.3,7.4,1.5,and 1.6,***,it obtains the lowest MSE in the ShanghaiTech-Part B,UCSD,and Mall benchmarks with 12.0,1.9,and 2.1,respectively.
This paper addresses the problem of deploying a Non-Terrestrial Network (NTN) using multiple Flying Base Stations (FBSs) to serve multiple Stationary Ground Users (SGUs). Our objectives are to minimize the number of a...
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The occurrence of epileptic photosensitivity (Seizures triggered by rapid visual stimuli) has been steadily increasing since the rise of various video platforms. While there are invasive surgical solutions, noninvasiv...
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Wearable massive-sensor computers show great promise for comprehensive bio-dynamics capturing towards smart health big data. Nevertheless, mining the critical and complementary patterns from a large amount of data, es...
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