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Object detection and ranging for autonomous navigation of mobile robots

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arXiv 2021年

作者： Zim, Md Ziaul Haque Das, Nimai Chandra Department of Computer Science and Engineering Daffodil International University Dhaka Bangladesh Department of Automatic Control Systems Saint Petersburg Electrotechnical University "LETI" Saint Petersburg Russia

In the recent decade, electronic technology gets advanced day by day the methodologies too should update. For the purpose of ranging various methods such Radio Detection and Ranging (RADAR), Light Detection and Ranging (LIDAR) and Sonic Navigation and Ranging (SONAR) etc. are used. Later, by adapting the earlier technologies and further modifying the purposes of detection and ranging in navigation, the technology of Sonic Detection and Ranging (SODAR) is used in modern robotics. The SODAR can be defined as a child of SONAR and also a twin of Echo sounder. The echo-sounder is used only for ranging. But the SODAR use the low-frequency wave of 33 kHz to measure the underwater depth and also to detect the objects below the water medium. So, this work comprises the designing of a system to evaluate the Object Detection and Ranging for Autonomous Navigation of Mobile Robots. © 2021, CC BY-NC-ND.

关键词： Mobile robots

An adaptive forward-backward-forward splitting algorithm for solving pseudo-monotone inclusions

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arXiv 2025年

作者： Chorobura, Flavia Necoara, Ion Pesquet, Jean-Christophe Automatic Control and Systems Engineering Department National University of Science and Technology Politehnica Bucharest Bucharest060042 Romania Federal Institute of Education Science and Technology of Paraná campus Foz do Iguaçu Brazil Gheorghe Mihoc-Caius Iacob Institute of Mathematical Statistics and Applied Mathematics The Romanian Academy Bucharest050711 Romania University Paris-Saclay CentraleSupélec CVN Inria Gif-sur-Yvette France

In this paper, we propose an adaptive forward-backward-forward splitting algorithm for finding a zero of a pseudo-monotone operator which is split as a sum of three operators: the first is continuous single-valued, the second is Lipschitzian, and the third is maximally monotone. This setting covers, in particular, constrained minimization scenarios, such as problems having smooth and convex functional constraints (e.g., quadratically constrained quadratic programs) or problems with a pseudo-convex objective function minimized over a simple closed convex set (e.g., quadratic over linear fractional programs). For the general problem, we design a forward-backward-forward splitting type method based on novel adaptive stepsize strategies. Under an additional generalized Lipschitz property of the first operator, sublinear convergence rate is derived for the sequence generated by our adaptive algorithm. Moreover, if the sum is uniformly pseudo-monotone, linear/sublinear rates are derived depending on the parameter of uniform pseudo-monotonicity. Preliminary numerical experiments demonstrate the good performance of our method when compared to some existing optimization methods and software. © 2025, CC BY.

关键词： Consensus algorithm

A Novel Mechanical Design of a Wearable Fingertip Haptic Device for Remote Meniscus Palpation

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Journal of Medical Robotics Research 2023年第1-2期8卷

作者： Morad, Samir Jaffer, Zainab Dogramadzi, Sanja Department of Engineering The University of East London University Way London E16 2RD United Kingdom Department of Life and Health Science Aston University Birmingham B4 7ET United Kingdom Department of Automatic Control and Systems Engineering The University of Sheffield Sheffield S1 3JD United Kingdom

A pneumatic model of a fingertip haptic device (FHD) had been previously tested in virtual reality allowing the perception of different materials with a promising result. However, numerous drawbacks were noted in this design, including bulky size, less portability, and discomfort. In this paper, FHD is redesigned to provide haptic feedback for human meniscus palpation. A user study was performed to evaluate the effectiveness of the redesigned FHD. The study showed that the redesigned model could successfully provide a more evident perception of different stiffness levels but it compromised the comfort of the user when mounted on the finger for long periods. © 2023 World Scientific Publishing Company.

关键词： bolus materials haptics mechanical system Surgical robotics tele-operation

Universal Software Platform in the IoT Concept for the Task of Monitoring Mobile Objects 8

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Universal Software Platform in the IoT Concept for the Task ...

8th IEEE International Conference on Problems of Infocommunications, Science and Technology, PIC S and T 2021

作者： Afanasiev, Volodymyr Afanasiev, Yrii Fustii, Vadym Aroslankin, Oleksandr Surhai, Vitalii Sitkov, Oleksii Ivan Kozhedub Kharkiv National Air Forces University Flight Faculty Kharkiv Ukraine Kharkiv National University of Radio Electronics V.V. Popovskyy Department of Info Communication Engineering Kharkiv Ukraine Ivan Kozhedub Kharkiv National Air Forces University Department of Combat Application And Operation of Automatic Control Systems Kharkiv Ukraine

ISBN: (纸本)9781665406826

The article presents the results of research on the implementation of a monitoring system with a spatio-temporal reference, based on the complex application of various technologies for wireless data transmission. A universal software platform in the concept of the Internet of Things is presented, based on which it is possible to implement various applications in the tasks of machine-to-machine communication. The hardware is based on ESP microcontrollers. © 2021 IEEE.

关键词： Monitoring

GETAE: Graph Information Enhanced Deep Neural Network Ensemble ArchitecturE for Fake News Detection

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arXiv 2024年

作者： Truica, Ciprian-Octavian Apostol, Elena-Simona Marogel, Marius Paschke, Adrian Computer Science and Engineering Department Faculty of Automatic Control and Computers National University of Science and Technology Politehnica Bucharest Splaiul Independentei 313 Bucharest060042 Romania Academy of Romanian Scientists Ilfov 3 Bucharest050044 Romania Department of Mathematics and Computer Science Freie Universität Berlin Arnimallee 14 Berlin14195 Germany Fraunhofer Institute for Open Communication Systems Kaiserin-Augusta-Allee 31 Berlin10589 Germany

In today’s digital age, fake news has become a major problem that has serious consequences, ranging from social unrest to political upheaval. To address this issue, new methods for detecting and mitigating fake news are required. In this work, we propose to incorporate contextual and network-aware features into the detection process. This involves analyzing not only the content of a news article but also the context in which it was shared and the network of users who shared it, i.e., the information diffusion. Thus, we propose GETAE, Graph Information Enhanced Deep Neural Network Ensemble ArchitecturE for Fake News Detection, a novel ensemble architecture that uses textual content together with the social interactions to improve fake news detection. GETAE contains two Branches: the Text Branch and the Propagation Branch. The Text Branch uses Word and Transformer Embeddings and a Deep Neural Network based on feed-forward and bidirectional Recurrent Neural Networks ([Bi]RNN) for learning novel contextual features and creating a novel Text Content Embedding. The Propagation Branch considers the information propagation within the graph network and proposes a Deep Learning architecture that employs Node Embeddings to create novel Propagation Embedding. GETAE Ensemble combines the two novel embeddings, i.e., Text Content Embedding and Propagation Embedding, to create a novel Propagation-Enhanced Content Embedding which is afterward used for classification. The experimental results obtained on two real-world publicly available datasets, i.e., Twitter15 and Twitter16, prove that using this approach improves fake news detection and outperforms state-of-the-art models. © 2024, CC BY-NC-ND.

关键词： Graph embeddings

Distributed adaptive stabilization

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arXiv 2021年

作者： Sun, Zhiyong Rantzer, Anders Li, Zhongkui Robertsson, Anders Eindhoven Netherlands Department of Automatic Control Lund University Sweden State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering Science College of Engineering Peking University Beijing China

In this paper we consider distributed adaptive stabilization for uncertain multivariable linear systems with a time-varying diagonal matrix gain. We show that uncertain multivariable linear systems are stabilizable by diagonal matrix high gains if the system matrix is an H-matrix with positive diagonal entries. Based on matrix measure and stability theory for diagonally dominant systems, we consider two classes of uncertain linear systems, and derive a threshold condition to ensure their exponential stability by a monotonically increasing diagonal gain matrix. When each individual gain function in the matrix gain is updated by state-dependent functions using only local state information, the boundedness and convergence of both system states and adaptive matrix gains are guaranteed. We apply the adaptive distributed stabilization approach to adaptive synchronization control for large-scale complex networks consisting of nonlinear node dynamics and time-varying coupling weights. A unified framework for adaptive synchronization is proposed that includes several general design approaches for adaptive coupling weights to guarantee network synchronization. Copyright © 2021, The Authors. All rights reserved.

关键词： Adaptive control systems

Data-Driven control of Distributed Event-Triggered Network systems

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arXiv 2022年

作者： Wang, Xin Sun, Jian Wang, Gang Allgöwer, Frank Chen, Jie State Key Lab of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China Beijing Institute of Technology Chongqing Innovation Center Chongqing401120 China Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart70550 Germany Department of Control Science and Engineering Tongji University Shanghai201804 China State Key Lab of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China

The present paper deals with data-driven event-triggered control of a class of unknown discrete-time interconnected systems (a.k.a. network systems). To this end, we start by putting forth a novel distributed event-triggering transmission strategy based on periodic sampling, under which a model-based stability criterion for the closed-loop network system is derived, by leveraging a discrete-time looped-functional approach. Marrying the model-based criterion with a data-driven system representation recently developed in the literature, a purely data-driven stability criterion expressed in the form of linear matrix inequalities (LMIs) is established. Meanwhile, the data-driven stability criterion suggests a means for co-designing the event-triggering coefficient matrix and the feedback control gain matrix using only some offline collected state-input data. Finally, numerical results corroborate the efficacy of the proposed distributed data-driven ETS in cutting off data transmissions and the co-design procedure. Copyright © 2022, The Authors. All rights reserved.

关键词： Linear matrix inequalities

Study of the Influence of Rolling Modes on the Operation of Interconnected Electric Drives of a Rolling Mill

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Study of the Influence of Rolling Modes on the Operation of ...

Advanced Technology (KhPIWeek), IEEE KhPI Week on

作者： Valerii Tytiuk Alexey Kalinin Valeriy Druzhinin Victor Busher Oleksii Chornyi Dmytro Halushko Department of Electromechanics Kryvyi Rih National University Kryvyi Rih Ukraine Department of Informative computer systems Abylkas Saginov Karaganda Technical University NPJSC Karaganda The Republic of Kazakhstan Department of Power Engineering Karaganda Industrial University NPJSC Temirtau The Republic of Kazakhstan Dept. of Electrical Engineering and Electronics National University “Odessa Maritime Academy” Odessa Ukraine Institute of Electromechanics Energy Saving and Automatic Control Systems Kremenchuk Mykhailo Ostrogradskyi National University Kremenchuk Ukraine Dept. of Electrical Engineering Ukrainian State University of Science and Technologies Dnipro Ukraine

The paper is devoted to study of the influence of rolling modes on the performance of powerful interconnected electric drives of a hot rolling mill under the action of an electromagnetic coupling circuit between the electric drives of the roughing and finishing groups. The action of the electromagnetic coupling circuit manifests itself in the form of the influence of impact loads of synchronous electric drives on the angular velocity of direct current electric drives of the finishing group of the mill. The parameters of the electromagnetic coupling circuit are determined by the power supply scheme and equipment parameters. Values of impact loads applied to a synchronous motor depend on the rolling process parameters, in particular, the chemical composition of the rolled steel and the temperature of the ingot. The paper presents the results of calculating the rolling power for various rolling mode parameters. Using mathematical modeling in Simulink, numerical estimates of the influence of rolling modes on the magnitude of the voltage drop in the power supply unit and the drop in the angular velocity of the electric drive of the finishing group were obtained on the example of a wide-strip hot rolling mill 1700 of ArcelorMittal Temirtau JSC.

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Sliding Mode control for a DC-DC Buck Converter Feeding a Constant Power Load: A Practical Implementation

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Sliding Mode Control for a DC-DC Buck Converter Feeding a Co...

Advanced Technology in Electronic and Electrical engineering (ICATEEE), International Conference of

作者： Khalil Louassaa Aissa Chouder Mahdi Boukerdja Abdelhafid Cherifi Ali Aillane Electrical Engineering Department Electrical Engineering Laboratory University of M’sila M’sila Algeria Materials and Electronic Systems Laboratory University of Bordj Bou Arreridj Bordj Bou Arreridj Algeria Laboratory of Sciences and Techniques of Automatic Control and Computer Engineering (LabSTA) National School of Engineering of Sfax (ENIS) University of Sfax Sfax Tunisia

DC microgrids have gained in popularity in recent years due to features such as greater reliability, high efficiency, and control simplicity. Constant power loads (CPLs), on the other hand, are a problem and an effective cause of instability in DC MGs. To address the aforementioned issue, this paper discusses the stabilization of a buck power converter that supplies CPL via a regulated boost power converter. A robust sliding mode control is proposed, which stabilizes the output voltage and ensures the CPL's required power. The system is investigated in the context of external perturbations such as fluctuating input voltage and sudden change in the CPL. The robustness and efficacy of the proposed method have been demonstrated to confirm the system's overall stability. Simulation and experimentation are employed to verify the provided controller. The results verify the suggested controller's superiority.

关键词： Damping Voltage measurement Perturbation methods Microgrids Stability analysis Robustness Steady-state