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21st International Conference on Computational Science, ICCS 2021

作者： Bach, Malgorzata Werner, Aleksandra Department of Applied Informatics Faculty of Automatic Control Electronics and Computer Science Silesian University of Technology Gliwice Poland

ISBN: (纸本)9783030779665

In this paper we focus on class imbalance issue which often leads to sub-optimal performance of classifiers. Despite many attempts to solve this problem, there is still a need to look for better ones, which can overcome the limitations of known methods. For this reason we developed a new algorithm that in contrast to traditional random undersampling removes maximum k nearest neighbors of the samples which belong to the majority class. In such a way, there has been achieved not only the effect of reduction in size of the majority set but also the excessive removal of too many points from the given area has been successfully prevented. The conducted experiments are provided for eighteen imbalanced datasets, and confirm the usefulness of the proposed method to improve the results of the classification task, as compared to other undersampling methods. Non-parametric statistical tests show that these differences are usually statistically significant. © 2021, Springer Nature Switzerland AG.

关键词： Classification (of information)

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Neural network developed for obstacle avoidance of the four wheeled electric vehicle 30

Neural network developed for obstacle avoidance of the four ...

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30th IEEE International Conference on Electronics, Circuits and Systems, ICECS 2023

作者： Sciuto, Grazia Lo Kowol, Pawel Nowak, Pawel Banaś, Waclaw Coco, Salvo Capizzi, Giacomo Silesian University of Technology Department of Mechatronics Gliwice Poland University of Catania Department of Electrical Electronics and Informatics Engineering Catania Italy Silesian University of Technology Department of Automatic Control and Robotic Gliwice Poland Silesian University of Technology Faculty of Applied Mathematics Department of Mathematics Applications and Methods for Artificial Intelligence Gliwice Poland

ISBN: (纸本)9798350326499

Several solutions have been proposed for vehicle navigation in unknown environments to ensure safer driving by avoiding obstacles and collisions. In this work, an electric vehicle equipped with Mecanum 4 omnidirectional holonomic wheels, analog joystick to control driving movement, LiDAR sensors and Wi-Fi able to detect obstacles is investigated based on neural network approach. By experimental tests conducted to avoid collisions by detecting the presence of obstacles, the relation between the resistance distance and speed is described by the artificial neural network. © 2023 IEEE.

关键词： Vehicle safety

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Input and state constrained inverse optimal control with application to power networks

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IFAC-PapersOnLine 2023年第2期56卷 5451-5456页

作者： Taouba Kaouther Jouini Zhiyong Sun Venkatraman Renganathan Veit Hagenmeyer Institute of Automation and Applied Informatics (IAI) at Karlsruhe Institute of Technology Germany Department of Electrical Engineering Eindhoven University of Technology Netherlands Department of Automatic Control LTH Lund University Sweden

We study input and state constrained inverse optimal control problems starting from a stabilizing controller with a control Lyapunov function, where the goal is to make the controller an explicit solution of the resulting constrained optimal control problem. For an appropriate cost design and initial states for which a sublevel set of the Lyapunov function is contained in the state constraint set and the initial input lies on an ellipsoid inside the input constraint set, we show that the stabilizing controller solves the constrained optimal control problem. Compared to the state-of-the-art, we avoid solving nonlinear optimization problems evaluated pointwise, i.e., for every state, or in a repetitive fashion, i.e., at each time step. We apply our theoretical results to study the angular droop control studied in (Jouini et al., 2022) of an inverter-based power network. For this, we accommodate the constraints on the angle and power generation and exemplify our approach through a two-inverter case study.

关键词： Optimal control Non-Linear control Systems Networked Systems Power and Energy Systems

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Robotic Assisted Immersive Therapy System for Stroke Rehabilitation

Robotic Assisted Immersive Therapy System for Stroke Rehabil...

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E-Health and Bioengineering Conference (EHB)

作者： Robert Gabriel Lupu Adrian Burlacu Ovidiu Catarama Ionut Sopot Department of Computer Engineering Gheorghe Asachi Technical University of Iasi Iasi Romania Department of Automatic Control and Applied Informatics Gheorghe Asachi Technical University of Iasi Iasi Romania

ISBN: (数字)9798331532147

ISBN: (纸本)9798331532154

The number of stroke cases has increased dramatically in the last 30 years, and more and more people are left disabled because of stroke. It is vital to continue researching new ways to recover and improve their condition. Rehabilitation therapies are based on intensive and repeated training starting as soon as possible. However, the number of therapists is too few to treat the growing number of stroke survivors. Advanced technologies such as virtual reality (VR) and robot-assisted therapies have been introduced to improve stroke rehabilitation. VR-based rehabilitation immerses patients in simulated environments, providing visual feedback miming real-world activities. This approach motivates patients through interactive tasks while engaging their cognitive processes, which is crucial for neuroplasticity and motor recovery. Robot-assisted therapy complements VR by providing precise, repetitive movements and proprioceptive feedback. This paper presents a virtual reality- based and robotic-assisted upper limb neuromotor recovery system. The system combines VR immersion with robotic assistance, allowing patients to receive real-time guidance and support during exercise. The system adapts to the patient's condition, providing personalized visual and physical feedback to help relearn motor skills.

关键词： Training Somatosensory Visualization Robot kinematics Medical treatment Propioception Virtual reality Stroke (medical condition) Motors Real-time systems

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Cloud-Based DMPC Simulation for Autonomous Mobile Robot Platooning

Cloud-Based DMPC Simulation for Autonomous Mobile Robot Plat...

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International Conference on System Theory, control, and Computing (ICSTCC)

作者： Anca Maxim Ovidiu Pauca Razvan-Gabriel Lazar Cristian-Mihai Amarandei Constantin-Florin Caruntu Department of Automatic Control and Applied Informatics "Gheorghe Asachi" Technical University of Iasi Iasi Romania Department of Computer Science and Engineering "Gheorghe Asachi" Technical University of Iasi Iasi Romania

ISBN: (数字)9798350364293

ISBN: (纸本)9798350364309

Cloud computing can be an useful tool when dealing with spatially distributed resources, which need to be simultaneously managed. In this work, a simulation environment is developed using OpenStack to apply a Distributed Model Predictive control strategy for a platooning application consisting of multiple autonomous mobile robots. The idea is to develop the entire algorithm by taking advantage of the possibility of creating virtual machines. Thus, each autonomous mobile robot is treated as an individual agent and is modeled and controlled on a virtual machine, whereas the communication between the agents is performed in the cloud, using the TCP/IP protocol standard. The simulation results illustrate that the platooning application deployed in OpenStack outperforms the simulation performed on a single computer.

关键词： Cloud computing Protocols Computational modeling Stability criteria TCPIP Mathematical models Mobile robots MATLAB Autonomous robots Testing

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Digital Twin and Virtual Reality: A Co-simulation Environment for an Educational Hydraulic Workstation

Digital Twin and Virtual Reality: A Co-simulation Environmen...

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International Conference on Development and Application Systems

作者： Fănică-Valeriu Hrib Andrei-Iulian Iancu Constantin-Cătălin Dosoftei Department of Machine Manufacturing Technology "Gheorghe Asachi" Technical University of Iasi Iasi Romania Department of Automatic Control and Applied Informatics "Gheorghe Asachi" Technical University of Iasi Iasi Romania

ISBN: (数字)9798350349290

ISBN: (纸本)9798350349306

Hydraulic system comprehension forms the pillar of numerous engineering fields; however, its academic assimilation remains intricate. Addressing this, our research introduces a digital twin-enabled virtual hydraulic workstation simulator developed in Automation Studio™. This simulator mirrors a tangible hydraulic workstation, including its multifaceted components, to enhance the pedagogical paradigm of hydraulic education. We ensure the symbiosis of theoretical understanding and practical application by meticulously modeling 3D hydraulic components and executing analogous simulations. Our key findings spotlight the utility of time-dependent system behavior graphs in bolstering educational insights. The paper underscores the significance of digital twin solutions in university programs, mainly when physical resources are scarce, reinforcing educational technology’s potential to facilitate student engagement in technically dense arenas.

关键词： Symbiosis Solid modeling Electric potential Three-dimensional displays Scalability Education Hydraulic systems

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Model-free iPI controller design and application to a thermal plant

Model-free iPI controller design and application to a therma...

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Mediterranean Conference on control and Automation (MED)

作者： Andrei Baciu Corneliu Lazar Constantin F. Caruntu Department of Automatic Control and Applied Informatics "Gheorghe Asachi" Technical University of Iasi Romania

ISBN: (数字)9781665406734

ISBN: (纸本)9781665406741

The automatic controllers with multiple integral components represent a special category. Although they are not so widely used for standard applications, there is a class of processes that require this type of controller. Thus, in this paper, the intelligent PI (iPI) controllers designed in the Model-Free control paradigm are presented and compared with a PI controller. Two tuning methods are proposed for the iPI controllers, one based on a pole-placement technique and the other one based on the Iterative Feedback Tuning (IFT) strategy. The IFT algorithm hinges on an iterative data-driven approach that starts from a predesigned set of parameters for the controller and leads to an optimal set of parameters that should improve the system’s performance. To test the capabilities of the proposed design methods, a comparison between the three controllers was performed on a thermal plant used to heat-treat Mg-Li-Al based alloys, and their performances were evaluated based on a numerical analysis.

关键词： Heating systems Temperature sensors PI control Temperature Design methodology Metals Process control

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Communication topologies evaluation for a vehicle merging into a platoon on highway

Communication topologies evaluation for a vehicle merging in...

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Mediterranean Conference on control and Automation (MED)

作者： Ovidiu Pauca Anca Maxim Constantin F. Caruntu Department of Automatic Control and Applied Informatics &#x201C Gheorghe Asachi&#x201D Technical University of Iasi Iasi Romania

ISBN: (数字)9781665406734

ISBN: (纸本)9781665406741

Vehicle-to-vehicle communication represents the main capability of vehicles that stays at the base of cooperative control solutions. Vehicle groups, e.g., platoons, exchange information about velocities to improve the performances of the traffic (i.e., reducing fuel consumption/emissions, improving the quality of the travel). Due to the importance of communication in literature, manifold types of communication topologies were proposed for various scenarios. In this paper, a study of the performances of the communication topologies is performed, starting from a cooperative adaptive cruise control (CACC) algorithm used to control the vehicles from a platoon in a specific scenario, four communication topologies were tested, and numerical analysis was performed to point out the advantages of each topology.

关键词： Road transportation Manifolds Automation Numerical analysis Merging Vehicular ad hoc networks Topology

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Cloud Architectural Design for Image-based Vehicle Positioning in Traffic Management

Cloud Architectural Design for Image-based Vehicle Positioni...

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International Conference on System Theory, control, and Computing (ICSTCC)

作者： Iosif-Alin Beti Paul-Corneliu Herghelegiu Cristian-Mihai Amarandei Constantin-Florin Caruntu Department of Automatic Control and Applied Informatics Gheorghe Asachi Technical University of Iaṣi Iasi Romania Department of Computer Science and Engineering Gheorghe Asachi Technical University of Iaṣi Iasi Romania

ISBN: (数字)9798350364293

ISBN: (纸本)9798350364309

Vehicle positioning algorithms are essential for improving traffic management and safety by accurately locating vehicles in real-time, and, thus, minimizing congestion and accidents. They also support the development of advanced driver assistance systems and autonomous vehicles, relying on precise positioning data for safe navigation. One of the solutions involves using image processing algorithms, which can have two approaches. One approach is decentralized, in which each vehicle performs its own computing steps and determines its position concerning the other nearby vehicles. The second approach, proposed in this paper, is centralized, where each vehicle sends data to a server that uses cloud computing to process all the data in real-time. As such, vehicles can create a more comprehensive view of the driving conditions in the area by using either of these two approaches, which can help them anticipate potential hazards and make more informed decisions.

关键词： Cloud computing Technological innovation 5G mobile communication Image processing Scalability Computer architecture Reliability theory Real-time systems Servers Autonomous vehicles

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Correction of 'J. Laderman, V. Pan, X. H. Sha, On practical Algorithms for Accelerated Matrix Multiplication, Linear Algebra and its Applications. Vol. 162-164 (1992) pp. 557-588'

arXiv

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arXiv 2023年

作者： Respondek, Jerzy S. Silesian University of Technology Faculty of Automatic Control Electronics and Computer Science Applied Informatics Department ul. Akademicka 16 Gliwice44-100 Poland

In this article we corrected the trilinear formula for triple disjoint matrix multiplication given in the article ‘J. Laderman, V. Pan, X. H. Sha, On practical Algorithms for Accelerated Matrix Multiplication, Linear Algebra and its Applications. Vol. 162-164 (1992) pp. 557-588’, which is incorrect for matrix dimensions equal to two or greater. That formula is a base of two algorithms, for disjoint and single matrix multiplication. The necessary correction made the amount of non-scalar products raise, slightly increasing the algorithm time complexity. We also corrected explicit formulas, in the bilinear form, for triple disjoint matrix multiplication. They are explicit, thus convenient for practical use of fast matrix multiplication algorithms in question. © 2023, CC BY.

关键词： Matrix algebra

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