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Annals of Emerging Technologies in Computing 2019年第4期3卷 1-14页

作者： Rudd-Ortner, Richard N. M. Milhaylova, Lyudmilla Department of Automatic Control and Systems Engineering University of Sheffield United Kingdom Riyadh Saudi Arabia

This research demonstrates a method of discriminating the numerical relationships of neural network layer inputs to the layer outputs established from the learnt weights and biases of a neural network's generalisation model. It is demonstrated with a mathematical form of a neural network rather than an image, speech or textual translation application as this provides clarity in the understanding gained from the generalisation model. It is also reliant on the input format but that format is not unlike an image pixel input format and as such the research is applicable to other applications too. The research results have shown that weight and biases can be used to discriminate the mathematical relationships between inputs and make discriminations of what mathematical operators are used between them in the learnt generalisation model. This may be a step towards gaining definitions and understanding for intractable problems that a Neural Network has generalised in a solution. For validating them, or as a mechanism for creating a model used as an alternative to traditional approaches, but derived from a neural network approach as a development tool for solving those problems. The demonstrated method was optimised using learning rate and the number of nodes and in this example achieves a low loss at 7.6e-6, a low Mean Absolute Error at 1e-3 with a high accuracy score of 1.0. But during the experiments a sensitivity to the number of epochs and the use of the random shuffle was discovered, and a comparison with an alternative shuffle using a non-random reordering demonstrated a lower but comparable performance, and is a subject for further research but demonstrated in this "decomposition" class architecture. © 2019 by the author(s).

关键词： Mathematical operators

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Parameter estimation and control of an unmanned aircraft-based transportation system for variable-mass payloads

Parameter estimation and control of an unmanned aircraft-bas...

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作者： Alatorre, Armando Espinoza, Eduardo S. Sánchez, Bonifacio Ordaz, Patricio Muñoz, Filiberto García Carrillo, Luis Rodolfo French-Mexican Laboratory of Informatics and Automatics Center of Research and Advanced Studies of the National Polytechnic Institute México City Mexico Automatic Control Department Center of Research and Advanced Studies of the National Polytechnic Institute México City Mexico Research Center of Information Technologies and Systems Autonomous University of the State of Hidalgo Hidalgo Mexico Klipsch School of Electrical and Computer Engineering New Mexico State University Las CrucesNM United States

This paper deals with the development of an adaptive robust controller for an Unmanned Aircraft System with variable mass. The goal is to improve trajectory tracking and energy performance while the aircraft mass is gradually reducing due to payload release. To improve the trajectory tracking performance, we propose an algorithm that merges the concepts of least squares method and sliding mode observer for the estimation of the vehicle mass. The nonlinear observer estimates the linear velocities and accelerations, which are further used to obtain the vehicle mass. A robust adaptive pole placement controller based on the Attractive Ellipsoid Method uses this estimation to update the controllers gains due to the mass variation. To validate the effectiveness of the proposed algorithm for performing aerial transportation and deployment of payloads, we present a numerical example comparing the performance of the proposed method with respect to using Proportional Derivative controllers as well as Robust controllers. © 2021 Chinese automatic control Society and John Wiley & Sons Australia, Ltd

关键词： controllers

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Soft Hinge for Magnetically Actuated Millimetre-Size Origami 21st

Soft Hinge for Magnetically Actuated Millimetre-Size Origami

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21th Annual Conference on Towards Autonomous Robotics, TAROS 20120

作者： Lahondes, Quentin Miyashita, Shuhei Automatic Control and Systems Engineering Department The University of Sheffield Portobello Ln SheffieldS1 3JD United Kingdom

ISBN: (纸本)9783030634858

Origami-inspired folding techniques are widely applied in the fabrication and actuation of micro- and milli-robots and systems. While soft materials exhibit curved deformation when an external stimulus is applied, implementation of hinges effectively produces sharp edges in the structure. This paper presents the fabrication of millimetre size foldable elastomeric structures, the anisotropic magnetization method of the structure and the remote actuation method using a magnetic field. We specifically focused on the effect of hinges, whose presence resulted in the magnetically induced folding angle of 90 ± 0. 74 ∘, whereas the absence resulted in the angle of 63.9 ± 0. 93 ∘. © 2020, Springer Nature Switzerland AG.

关键词： Hinges

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Applying Transformer-Based Neural Networks to Corpus Linguistic Data for Predictive Text Generation in Multilingual Environments

Applying Transformer-Based Neural Networks to Corpus Linguis...

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Emerging Smart Computing and Informatics (ESCI), Conference on

作者： Taufikin Myagmarsuren Orosoo Manikandan Rengarajan Gulnaz Fatma Dilyorjon Yuldashev I Infant Raj IAIN Kudus Indonesia Mongolian National University of Education Mongolia Vel Tech Rangarajan Dr. Sagunthala R&D Institute of Science and Technology Chennai Tamil Nadu India University College Al Ardah Jazan University Jazan Saudi Arabia Automatic Control and Computer Engineering Department Turin Polytechnic University in Tashkent Tashkent Uzbekistan Department of CSE K. Ramakrishnan college of Engineering Trichy Tamil Nadu India

In the subject of corpus linguistics, this study explores the use of transformer-based neural networks to the problems of predictive text production in multilingual contexts. The Transformer architecture presents a viable framework for natural language processing problems because of its reputation for capturing complex patterns and long-range dependencies in sequential data. The research employs a two-phase approach, whereby the Transformer is first pre-trained using a variety of multilingual corpora. This helps the model learn representations that are independent of language, which makes it easier for it to adapt to various linguistic circumstances. The model is then fine-tuned using language-specific datasets to improve its ability to produce linguistically nuanced and contextually appropriate text. The study looks into how different model architectures, training methods, and hyperparameters affect how well the suggested multilingual predictive text generation system performs. Evaluation measures are used to evaluate the model's performance in several languages, including linguistic diversity measurements, BLEU scores, and perplexity. The overall accuracy, calculated across all languages, stands at 80.3%, indicating the model's robust cross-lingual generalization and its effectiveness in capturing diverse linguistic nuances The efficacy and generalization of Transformer-based models are improved across a wide range of languages to handle linguistic diversity.

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Solving optimal control problems with non-smooth solutions using an integrated residual method and flexible mesh

arXiv

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arXiv 2022年

作者： Nita, Lucian Kerrigan, Eric C. Vila, Eduardo M.G. Nie, Yuanbo Department of Electrical & Electronic Engineering Imperial College London LondonSW7 2AZ United Kingdom Department of Automatic Control and Systems Engineering University of Sheffield SheffieldS1 3JD United Kingdom

Solutions to optimal control problems can be discontinuous, even if all the functionals defining the problem are smooth. This can cause difficulties when numerically computing solutions to these problems. While conventional numerical methods assume state and input trajectories are continuous and differentiable or smooth, our method is able to capture discontinuities in the solution by introducing time-mesh nodes as decision variables. This allows one to obtain a higher accuracy solution for the same number of mesh nodes compared to a fixed time-mesh approach. Furthermore, we propose to first solve a sequence of suitably-defined least-squares problems to ensure that the error in the dynamic equation is below a given tolerance. The cost functional is then minimized subject to an inequality constraint on the dynamic equation residual. We demonstrate our implementation on an optimal control problem that has a chattering solution. Solving such a problem is difficult, since the solution involves infinitely many switches of decreasing duration. This simulation shows how the flexible mesh is able to capture discontinuities present in the solution and achieve superlinear convergence as the number of mesh intervals is increased. © 2022, CC BY.

关键词： Numerical methods

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Design and Analysis of Individually Demagnetized Power Converter for Switched Reluctance Motors

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IEEE Transactions on Transportation Electrification 2025年第3期11卷 8439-8449页

作者： Liu, Hemiao Chen, Hao Wang, Xing Gorbounov, Yassen Wheeler, Patrick Anuchin, Alecksey Demidova, Galina Korovkin, Nikolay Liudmila, Sakhno Shenzhen Research Institute China University of Mining and Technology Shenzhen515100 China China University of Mining and Technology School of Electrical Engineering Xuzhou221116 China Xinjiang Institute of Engineering Ürümqi830000 China International Joint Research Center of Central and Eastern European Countries on New Energy Electric Vehicle Technology and Equipment Xuzhou221008 China International Cooperation Joint Laboratory of New Energy Power Generation and Electric Vehicles of Jiangsu Province Colleges and Universities Xuzhou221008 China Xuzhou Key Laboratory of New Energy Electric Vehicle Technology and Equipment Xuzhou221008 China Mining Production University of Mining and Geology "St. Ivan Rilski " Department of Automation Sofia1700 Bulgaria The University of Nottingham Power Electronics Machines and Control Group NottinghamNG7 2RD United Kingdom Electric Drives Department Moscow111250 Russia Saint-Petersburg National Research University of Information Technologies Mechanics and Optics Faculty of Control Systems and Robotics Engineer Saint Petersburg197101 Russia Peter the Great St. Petersburg Polytechnic University Institute of Energy Saint Petersburg195251 Russia

Switched reluctance motors (SRMs) are capable of operating at high speeds and high loads. The large back EMF results in the excitation winding current being demagnetized more slowly, which, in turn, reduces the efficiency and output of the motor system. This study proposes a novel individually demagnetization power converter (IDPC) specifically designed for SRMs to effectively use the demagnetization energy through an independent demagnetization circuit. Compared with traditional converters, the IDPC can accept direct current (dc) and high-frequency ac inputs while achieving fast demagnetization and energy recovery. The topology and working principle of the IDPC are analyzed in detail in this article using a three-phase 12/8 SRM as the research object. In addition, the influence of the winding demagnetization voltage on the negative torque during the demagnetization phase was studied, as well as the functional implementation and logic control strategy of the IDPC. Simulation and experimental results confirm the validity of the proposed topology and high-frequency ac drive characteristics, as well as their advantages in terms of efficiency, output capacity, and dynamic performance. © 2015 IEEE.

关键词： Reluctance motors

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Sensor Fusion-Based Localization Framework for Autonomous Vehicles in Rural Forested Environments

Sensor Fusion-Based Localization Framework for Autonomous Ve...

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International Conference on Intelligent Transportation

作者： Jose Matute Mario Rodriguez-Arozamena Joshue Perez Ali Karimoddini Department of Electrical and Computer Engineering North Carolina Agricultural and Technical State University Greensboro NC USA TECNALIA Research & Innovation Basque Research and Technology Alliance (BRTA) Derio Bizkaia Spain Department of Automatic Control and Systems Engineering University of the Basque Country (UPV/EHU) Bilbao Bizkaia Spain Department of Electrical and Computer Engineering North Carolina A&T State University Greensboro NC US

One major hurdle for the deployment of autonomous vehicles in rural environments is achieving accurate localization in areas with tree-canopied roads or outdated point cloud maps. The presence of limited visibility and high variability renders standalone sensor localization unreliable in such situations. To tackle these issues, this paper presents a sensor fusion-based localization framework that integrates data from GNSS, LiDAR, INS, and vehicle odometry. The proposed approach uses a loosely-coupled Extended Kalman Filter for sensor fusion and a weighted gate approach for accurate state estimations. Compared to a state-of-the-art technique, the proposed method achieves a reduction of around 71% in maximum lateral deviations. This method successfully enables a safe and reliable localization in challenging scenarios that are frequently found in the rural and inter-urban sectors.

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Fast and accurate method for computing non-smooth solutions to constrained control problems

arXiv

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arXiv 2022年

作者： Nita, Lucian Vila, Eduardo M.G. Zagorowska, Marta A. Kerrigan, Eric C. Nie, Yuanbo McInerney, Ian Falugi, Paola Department of Electrical & Electronic Engineering Imperial College London LondonSW7 2AZ United Kingdom Department of Automatic Control and Systems Engineering University of Sheffield SheffieldS1 3JD United Kingdom

Introducing flexibility in the time-discretisation mesh can improve convergence and computational time when solving differential equations numerically, particularly when the solutions are discontinuous, as commonly found in control problems with constraints. State-of-the-art methods use fixed mesh schemes, which cannot achieve superlinear convergence in the presence of non-smooth solutions. In this paper, we propose using a flexible mesh in an integrated residual method. The locations of the mesh nodes are introduced as decision variables, and constraints are added to set upper and lower bounds on the size of the mesh intervals. We compare our approach to a uniform fixed mesh on a real-world satellite reorientation example. This example demonstrates that the flexible mesh enables the solver to automatically locate the discontinuities in the solution, has superlinear convergence and faster solve times, while achieving the same accuracy as a fixed mesh. © 2022, CC BY.

关键词： Mesh generation

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2-D GCANet Applied to Denoise 1-D EEG Signals in Online Remote Teaching Scenarios

Journal of Network Intelligence

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Journal of Network Intelligence 2023年第4期8卷 1289-1302页

作者： Huang, Ting-Qing Wang, Chuan-Sheng Chen, Zhao-Qi Zhang, Fu-Quan Meng, Xiang-Long Grau, Antoni Chen, Yang Huang, Jing-Wei College of Computer and Control Engineering Minjiang University Fuzhou University Town No. 200 Xiyuangong Road Fuzhou China Department of Automatic Control Technical Polytechnic University of Catalonia Autonomous Region of Catalonia Barcelona Spain College of Computer and Big Data Fuzhou University Fuzhou University Town No. 2 Wulong Jiangbei Avenue Fuzhou China Digital Media Art Key Laboratory of Sichuan Province Sichuan Conservatory of Music No. 2 Wannianchang Street Chenghua District Sichuan Province Chengdu City China Fuzhou Technology Innovation Center of intelligent Manufacturing information System Minjiang University Fuzhou University Town NO. 200 Xiyuangong Road Fuzhou China Fujian Province University No. 599 Quanxiu Road Juyuanzhou Ecological Civilization District Fujian Province Fuzhou City China College of Electronic Engineering Shandong University of Science and Technology No. 579 Qianwangang Road Huangdao District Qingdao China School of Mechanical and Automotive Engineering Fujian University of Technology No. 33 Xuefu South Road University New District Fujian Province Fuzhou City China

When EEG signals are used to assess the level of student engagement in online teaching tasks, they are often interfered by noise. It is a challenge to effectively remove these noises. Currently, deep learning methods have been applied to the field of EEG denoising. However, existing methods still have some problems. The denoised signals still have obvious noise residue, or the original EEG signals are damaged, and the model fitting speed is too slow. Image dehazing, as a typical denoising task in the field of image enhancement, has achieved great success in recent years. Therefore, inspired by advanced models in this field, we introduce CNN into EEG denoising tasks. In this paper, we take GCANet, an excellent image enhancement model, as an example. The dilated convolutions and gate fusion subnetworks included in GCANet enable more efficient EEG signal denoising. The results demonstrate that the proposed model effectively reduces noise while preserving essential features. Furthermore, in comparison to other state-of-the-art models, our proposed model exhibits enhanced robustness and faster convergence, as evidenced by achieving lower loss values after five epochs. Its good performance provides a new development idea for the field of EEG denoising. © 2023, Taiwan Ubiquitous Information CO LTD. All rights reserved.

关键词： Image enhancement

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LDGCN: An Edge-End Lightweight Dual GCN Based on Single-Channel EEG for Driver Drowsiness Monitoring

arXiv

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arXiv 2024年

作者： Huang, Jingwei Wang, Chuansheng Huang, Jiayan Fan, Haoyi Grau, Antoni Zhang, Fuquan The College of Computer and Big Data Fuzhou University Fuzhou China The Department of Automatic Control Polytechnic University of Catalonia Barcelona Spain The New Engineering Industry College Putian University Putian China School of Computer and Artificial Intelligence Zhengzhou University China Fujian Provincial Key Laboratory of Information Processing and Intelligent Control Minjiang University Fuzhou China College of Computer and Control Engineering Minjiang University Fuzhou China Key Laboratory of Sichuan Province Sichuan Conservatory of Music Chengdu China Fuzhou Technology Innovation Center of Intelligent Manufacturing information System Minjiang University Fuzhou China Fujian Polytechnic Normal University Fujian Province University Fuzhou China

Driver drowsiness electroencephalography (EEG) signal monitoring can timely alert drivers of their drowsiness status, thereby reducing the probability of traffic accidents. Graph convolutional networks (GCNs) have shown significant advancements in processing the non-stationary, time-varying, and non-Euclidean nature of EEG signals. However, the existing single-channel EEG adjacency graph construction process lacks interpretability, which hinders the ability of GCNs to effectively extract adjacency graph features, thus affecting the performance of drowsiness monitoring. To address this issue, we propose an edge-end lightweight dual graph convolutional network (LDGCN). Specifically, we are the first to incorporate neurophysiological knowledge to design a Baseline Drowsiness Status Adjacency Graph (BDSAG), which characterizes driver drowsiness status. Additionally, to express more features within limited EEG data, we introduce the Augmented Graph-level Module (AGM). This module captures global and local information at the graph level, ensuring that BDSAG features remain intact while enhancing effective feature expression capability. Furthermore, to deploy our method on the fourth-generation Raspberry Pi, we utilize Adaptive Pruning Optimization (APO) on both channels and neurons, reducing inference latency by almost half. Experiments on benchmark datasets demonstrate that LDGCN offers the best trade-off between monitoring performance and hardware resource utilization compared to existing state-of-the-art algorithms. All our source code can be found at https://***/BryantDom/Driver-Drowsiness-Monitoring. Copyright © 2024, The Authors. All rights reserved.

关键词： Electroencephalography

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