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Model Reduction and Chattering Mitigation in Multi-Model Predictive Control for Quadrotor UAVs

IEEE Access 2025年 13卷 102640-102648页

作者： Mustafa Abro, Ghulam E. Memon, Sufyan Ali Rubab, Saddaf Alshammari, Kaznah Khan, Faheem King Fahd University of Petroleum and Minerals Interdisciplinary Research Centre for Aviation and Space Exploration (IRC-ASE) Dhahran 31261 Saudi Arabia Sejong University Department of Defense Systems Engineering Gwangjin-gu Seoul 05006 South Korea University of Sharjah College of Computing and Informatics Department of Computer Engineering Sharjah 27272 United Arab Emirates Northern Border University Faculty of Computing and Information Technology Department of Information Technology Rafha 91911 Saudi Arabia Gachon University Department of Computer Engineering Seongnam-si 13120 South Korea

This study introduces a multi-model predictive control (MMPC) framework for quadrotor attitude regulation, combining the high-precision capabilities of nonlinear model predictive control (NMPC) with the computing efficiency of linear model predictive control (LMPC). Although NMPC provides excellent regulation, its substantial computational expense restricts its real-time use in high-refresh-rate applications like attitude control. In contrast, LMPC exhibits computational efficiency but encounters challenges with stability and precision in nonlinear dynamics. In order to resolve this discrepancy, we propose a MMPC approach that integrates Principal Component Analysis (PCA) for model reduction and employs linear quadrotor attitude models. This approach reduces the computational complexity and the number of necessary Linear Model Predictive Controllers (LMPCs). To improve performance, we implement an adaptive gain scheduling algorithm to mitigate the chattering effect frequently seen in multi-model approaches. This seamless switching technique diminishes high-frequency noise in brushless DC motor operation, minimises peak overshoot, and mitigates actuator wear, thereby enhancing system stability and durability. Comparative assessments indicate that the suggested MMPC framework attains NMPC-equivalent performance while incurring LMPC-level computational expenses, exceeding the efficacy of conventional incremental nonlinear dynamic inversion, sliding mode control, and traditional NMPC and LMPC methodologies. This study offers a computationally efficient and stable control solution for real-time UAV applications, including model reduction, chattering mitigation, and predictive control optimisation for autonomous aerial systems. © 2013 IEEE.

关键词： Attitude Control Chattering Mitigation Gain Scheduling Multi-model Predictive Control Nonlinear Dynamics Quadrotor UAVs

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The Impact of COVID-19 Pandemic on Airport: An Empirical Study of Service Quality, Customer Satisfaction, and Travel Intention for Sustainable Airport Operations

The Impact of COVID-19 Pandemic on Airport: An Empirical Stu...

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2022 IEEE International Conference on Industrial engineering and engineering Management, IEEM 2022

作者： Prasetyo, Yogi Tri Fuente, Darlene Gayle D. Dela Chuenyindee, Thanatorn Nadlifatin, Reny Persada, Satria Fadil Mapúa University School of Industrial Engineering and Engineering Management Manila Philippines Yuan Ze University Department of Industrial Engineering and Management Chung-Li Taiwan Mapúa University School of Graduate Studies Manila Philippines Navaminda Kasatriyadhiraj Royal Air Force Academy Department of Industrial Engineering and Aviation Management Bangkok Thailand Institut Teknologi Sepuluh Nopember Department of Information Systems Surabaya Indonesia Bina Nusantara University Entrepreneurship Department Binus Business School Undergraduate Program Jakarta Indonesia

ISBN: (数字)9781665486873

ISBN: (纸本)9781665486873

Delivering a high service quality under the safety protocol of COVID-19 is very essential for the sustainable airport operations. The study was intended to determine the impact of COVID-19 on Airport Service Quality (ASQ), customer satisfaction, and travel intention by utilizing a structural equation modeling (SEM) approach. A total of 517 Filipinos voluntarily answered an online questionnaire that consists of 92 questions. SEM indicated that the security check, terminal facilities, and services had significant effects on perceived value which subsequently led to customer satisfaction. In addition, travel safety measures had direct effects on Filipinos' travel intention and customer satisfaction. Interestingly, service innovations had no significant impact on customer satisfaction but directly affected travel intention. By understanding the relationship between these factors, airport management could have better decision-making while efficiently and effectively utilizing the resources in these times of uncertainty. © 2022 IEEE.

关键词： COVID-19

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Probabilistic Concept Bottleneck Models

arXiv

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arXiv 2023年

作者： Kim, Eunji Jung, Dahuin Park, Sangha Kim, Siwon Yoon, Sungroh Department of Electrical and Computer Engineering Seoul National University Seoul Korea Republic of Interdisciplinary Program in Artificial Intelligence Seoul National University Seoul Korea Republic of

Interpretable models are designed to make decisions in a human-interpretable manner. Representatively, Concept Bottleneck Models (CBM) follow a two-step process of concept prediction and class prediction based on the predicted concepts. CBM provides explanations with high-level concepts derived from concept predictions;thus, reliable concept predictions are important for trustworthiness. In this study, we address the ambiguity issue that can harm reliability. While the existence of a concept can often be ambiguous in the data, CBM predicts concepts deterministically without considering this ambiguity. To provide a reliable interpretation against this ambiguity, we propose Probabilistic Concept Bottleneck Models (ProbCBM). By leveraging probabilistic concept embeddings, ProbCBM models uncertainty in concept prediction and provides explanations based on the concept and its corresponding uncertainty. This uncertainty enhances the reliability of the explanations. Furthermore, as class uncertainty is derived from concept uncertainty in ProbCBM, we can explain class uncertainty by means of concept uncertainty. Code is publicly available at https://***/ejkim47/prob-cbm. © 2023, CC BY-NC-SA.

关键词： Forecasting

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Simplified POMDP Planning with an Alternative Observation Space and Formal Performance Guarantees

arXiv

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arXiv 2024年

作者： Kong, Da Indelman, Vadim Technion Autonomous Systems Program Technion - Israel Institute of Technology Haifa32000 Israel Department of Aerospace Engineering Technion - Israel Institute of Technology Haifa32000 Israel

Online planning under uncertainty in partially observable domains is an essential capability in robotics and AI. The partially observable Markov decision process (POMDP) is a mathematically principled framework for addressing decision-making problems in this challenging setting. However, finding an optimal solution for POMDPs is computationally expensive and is feasible only for small problems. In this work, we contribute a novel method to simplify POMDPs by switching to an alternative, more compact, observation space and simplified model to speedup planning with formal performance guarantees. We introduce the notion of belief tree topology, which encodes the levels and branches in the tree that use the original and alternative observation space and models. Each belief tree topology comes with its own policy space and planning performance. Our key contribution is to derive bounds between the optimal Q-function of the original POMDP and the simplified tree defined by a given topology with a corresponding simplified policy space. These bounds are then used as an adaptation mechanism between different tree topologies until the optimal action of the original POMDP can be determined. Further, we consider a specific instantiation of our framework, where the alternative observation space and model correspond to a setting where the state is fully observable. We evaluate our approach in simulation, considering exact and approximate POMDP solvers and demonstrating a significant speedup while preserving solution quality. We believe this work opens new exciting avenues for online POMDP planning with formal performance guarantees. Copyright © 2024, The Authors. All rights reserved.

关键词： Markov processes

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Analysis of Non-fatal Occupational Accidents in a Ready-mixed Concrete Company

Analysis of Non-fatal Occupational Accidents in a Ready-mixe...

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2022 IEEE International Conference on Industrial engineering and engineering Management, IEEM 2022

作者： Prasetyo, Yogi Tri Sario, Maria Cristina Chuenyindee, Thanatorn Nadlifatin, Reny Persada, Satria Fadil Sittiwatethanasiri, Thaninrat Mapúa University School of Industrial Engineering and Engineering Management Manila Philippines Yuan Ze University Department of Industrial Engineering and Management Chung-Li Taiwan Mapúa University School of Graduate Studies Manila Philippines Navaminda Kasatriyadhiraj Royal Air Force Academy Department of Industrial Engineering and Aviation Management Bangkok Thailand Institut Teknologi Sepuluh Nopember Department of Information Systems Surabaya Indonesia Bina Nusantara University Binus Business School Undergraduate Program Entrepreneurship Department Jakarta Indonesia

ISBN: (数字)9781665486873

ISBN: (纸本)9781665486873

The production and delivery of ready-mixed concrete consist of several activities which expose employees to considerable safety hazards that lead to occupational accidents. The study aimed to determine the significant factors contributing to non-fatal occupational accidents in the ready-mixed concrete industry in Qatar. A total of 84 non-fatal occupational accidents were collected from a ready-mixed concrete company in Qatar. A coding scheme was developed based on available literature and the company's existing classification to analyze each accident in terms of employee, injury, and accident characteristics. Cross-tabulation analysis was used to determine the associations between categorical factors. Frequency distribution showed that regular employees aged between 25 and 44 years old were mostly involved in accidents, with hand/arm and leg/foot being mostly injured. The most common accident types were struck by an object (44%), slip, trip or fall on the same level (23.8%), and caught in between objects (17.9%). The majority of work-related accidents (71%) could be attributed to unsafe behavior, particularly due to improper use of PPE. Strong significant associations were observed between activity type and accident root cause, as well as injured body type and accident root cause. The significant factors contributing to non-fatal occupational accidents were determined through the study. The insights obtained from this study could be used by the company in designing a comprehensive safety management program with the goal of driving occupational injuries to a lower level. © 2022 IEEE.

关键词： Accidents

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The Impact of the COVID-19 Pandemic on the Organizational Commitment in Semiconductor Industry: The Mediator Effect of the Job Satisfaction

The Impact of the COVID-19 Pandemic on the Organizational Co...

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2022 IEEE International Conference on Industrial engineering and engineering Management, IEEM 2022

作者： Prasetyo, Yogi Tri Ong, Ardvin Kester S. Cagubcob, Alaissa Marie A. Chuenyindee, Thanatorn Nadlifatin, Reny Persada, Satria Fadil Mapúa University School of Industrial Engineering and Engineering Management Manila Philippines Yuan Ze University Department of Industrial Engineering and Management Chung-Li Taiwan Mapúa University School of Graduate Studies Manila Philippines Navaminda Kasatriyadhiraj Royal Air Force Academy Department of Industrial Engineering and Aviation Management Bangkok Thailand Institut Teknologi Sepuluh Nopember Department of Information Systems Surabaya Indonesia Bina Nusantara University Binus Business School Undergraduate Program Entrepreneurship Department Jakarta Indonesia

ISBN: (数字)9781665486873

ISBN: (纸本)9781665486873

Due to the COVID-19 pandemic, employees are required to respond to changes and conform to stringent safety laws and regulations. This study aimed to analyze the impact of the COVID-19 pandemic on the organizational commitment among employees in the semiconductor industry. A total of 272 employees working in the semiconductor industry answered a self-administered questionnaire that considered 51 questions, distributed online. Utilizing Structural equation modeling (SEM), the results showed that the COVID-19 was found to have a significant direct effect on employees' perceived job outcomes (PO) and a negative direct effect on job demands (JD). Moreover, PO had a positive effect on job motivation (JM) and job satisfaction (JS). Subsequently, JM presented a significant positive direct effect on JS, while JD showed a negative effect on JS. Lastly, JS showed a significant positive direct effect on organizational commitment (OC). Intriguingly, an indirect effect of PO on JS was seen. This study is one of the first studies that analyzed the organization commitment among semiconductor workers during the COVID-19 pandemic. This paper could be utilized as a foundation to enhance organizational commitment, particularly in the semiconductor industry worldwide. © 2022 IEEE.

关键词： COVID-19

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3D geometric shape assembly via efficient point cloud matching 24

3D geometric shape assembly via efficient point cloud matchi...

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Proceedings of the 41st International Conference on Machine Learning

作者： Nahyuk Lee Juhong Min Junha Lee Seungwook Kim Kanghee Lee Jaesik Park Minsu Cho Department of Computer Science and Engineering POSTECH Pohang Korea Graduate School of Artificial Intelligence POSTECH Pohang Korea Department of Computer Science and Engineering Seoul National University Seoul Korea Department of Computer Science and Engineering Seoul National University Seoul Korea and Interdisciplinary Program in Artificial Intelligence Seoul National University Seoul Korea Department of Computer Science and Engineering POSTECH Pohang Korea and Graduate School of Artificial Intelligence POSTECH Pohang Korea

Learning to assemble geometric shapes into a larger target structure is a pivotal task in various practical applications. In this work, we tackle this problem by establishing local correspondences between point clouds of part shapes in both coarse- and fine-levels. To this end, we introduce Proxy Match Transform (PMT), an approximate high-order feature transform layer that enables reliable matching between mating surfaces of parts while incurring low costs in memory and compute. Building upon PMT, we introduce a new framework, dubbed Proxy Match TransformeR (PMTR), for the geometric assembly task. We evaluate the proposed PMTR on the large-scale 3D geometric shape assembly benchmark dataset of Breaking Bad and demonstrate its superior performance and efficiency compared to state-of-the-art methods. Project page: https://***/pmtr.

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Influence of multitasking-induced mental workload on electrodermal activity and human cortisol

Influence of multitasking-induced mental workload on electro...

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Biomedical engineering International Conference (BMEiCON)

作者： Jutamas Pidech Manida Swangnetr Neubert Oranat Chuchuen Biomedical Engineering Program Faculty of Engineering Khon Kaen University Khon Kaen Thailand Department of Industrial Engineering Faculty of Engineering Chulalongkorn University Bangkok Thailand Human-Robot Collaboration and Systems Integration Research Unit Chulalongkorn University Bangkok Thailand Department of Chemical Engineering Faculty of Engineering Khon Kaen University Khon Khon Kaen Thailand

Current work environments have undergone a noticeable shift towards higher cognitive demands and increased involvement in multitask performance. It has therefore become crucial to investigate the levels of mental workload experienced by operators. Simulated cognitive multitasking, with varying workload intensity, duration and work order, was tested in 18 volunteers to determine its impact on task performance, perceived workload, galvanic skin response; GSR, and cortisol levels in sweat and saliva. The results showed that as workload intensity increased, there was a concurrent increase in perceived workload and a significant negative impact on task performance. As time progressed, there was a notable increase in performance. Differences in GSR can be observed based on time on task and order of stressor levels delivered to the participants. Preliminary results of cortisol levels in sweat and saliva showed distinct trends in relation to workload intensity.

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3D Geometric Shape Assembly via Efficient Point Cloud Matching

arXiv

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arXiv 2024年

作者： Lee, Nahyuk Min, Juhong Lee, Junha Kim, Seungwook Lee, Kanghee Park, Jaesik Cho, Minsu Department of Computer Science and Engineering POSTECH Pohang Korea Republic of Graduate School of Artificial Intelligence POSTECH Pohang Korea Republic of Department of Computer Science and Engineering Seoul National University Seoul Korea Republic of Interdisciplinary Program in Artificial Intelligence Seoul National University Seoul Korea Republic of

Learning to assemble geometric shapes into a larger target structure is a pivotal task in various practical applications. In this work, we tackle this problem by establishing local correspondences between point clouds of part shapes in both coarse- and fine-levels. To this end, we introduce Proxy Match Transform (PMT), an approximate high-order feature transform layer that enables reliable matching between mating surfaces of parts while incurring low costs in memory and computation. Building upon PMT, we introduce a new framework, dubbed Proxy Match TransformeR (PMTR), for the geometric assembly task. We evaluate the proposed PMTR on the large-scale 3D geometric shape assembly benchmark dataset of Breaking Bad and demonstrate its superior performance and efficiency compared to state-of-the-art methods. Project page: https://***/pmtr. Copyright © 2024, The Authors. All rights reserved.

关键词： Large datasets

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Clinical resistance predictors to first-line VEGFR-TKI monotherapy for metastatic renal cell carcinoma: a retrospective multicenter real-life case series

引用

Journal of Cancer Metastasis and Treatment 2023年第1期9卷 445-458页

作者： Gaetano Pezzicoli Silvana Quaglini Valentina Tibollo Melissa Bersanelli Camillo Porta Mimma Rizzo Department of Interdisciplinary Medicine University of Bari"Aldo Moro"Bari 70124Italy Department of Electrical Computer and Biomedical EngineeringUniversity of PaviaPavia 27100Italy Laboratory of Informatics and Systems Engineering for Clinical Research Scientific Clinical Institute Maugeri(ICS Maugeri)Pavia 27100Italy Medical Oncology Unit University Hospital of ParmaParma 43121Italy Division of Translational Oncology Scientific Clinical Institute Maugeri(ICS Maugeri)Pavia 27100Italy Medical Oncology Unit University Hospital-Polyclinic of BariBari 70124Italy

Aim:For many years,systemic treatment of metastatic Renal Cell Carcinoma(mRCC)was based on sequential targeted agent *** this real-life case series,we evaluated easily accessible clinical factors useful for disease course ***:We exploited patients'clinical pathological characteristics and systemic treatment outcomes in a real-world population of 365 mRCC patients who received sequential monotherapies in the targeted therapy era,and we identified an early progressors subpopulation,resistant to first-line VEGFR-TKI monotherapy in less than 6 ***:Early progressors(n=124)show a far worse OS compared with patients progressing beyond the sixth month of therapy(13.5 vs.44.8 months,P-value<0.0001,HR=0.41,95%CI:0.29-0.53).However,these patients did not show far worse performance in second and third-line settings compared to first-line *** the univariate analysis,IMDC risk class,sarcomatoid features,and Systemic Inflammation Index(SII)were correlated with first-line therapy Progression-Free Survival(PFS1).In multivariate analysis,variables correlated with first-line outcome were IMDC risk class,histotype,and number of metastatic sites at the ***:Real-world data can contribute to developing easy-to-use prognostic factors associated with refractory disease that could support clinicians in identifying the most appropriate treatment strategy for each patient.

关键词： Renal cell carcinoma targeted therapy tyrosine kinase inhibitor drug resistance early progressor rapidly progressive prognostic factor real-world data

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