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IFAC Workshop on Networked Robotics, NetRob09

作者： Sun, Wei Chen, Yang Quan Dept. of Automatic Control Beijing Institute of Technology Beijing 100081 China Dept. of Electrical and Computer Engineering Utah State University Logan UT 84322 United States

ISBN: (纸本)9783902661531

Scale-free network and consensus among multiple agents have both drawn quite much attention. To investigate the consensus speed over scale-free networks is the main topic in this paper. Given a set of different values for the power-law distribution parameter γ, and a set of different values for the minimum degree (dmin) for the nodes, the algebraic connectivity (γ2) of the network topology is studied, as well as the time (t c) (or iteration (kc), for discrete algorithm) taken to reach consensus. The results exhibit that γ2 decreases while increases. The γ2 increases monotonically as dmin grows, and they fit very well in a linear relationship. tc (or kc) decreases as reduces and dmin increases. Via observing the behavior of the largest eigenvalue (γn) of the Laplacian of the network topology, we draw the conclusion that the robustness over time delays declines while the robustness over node-failures and edge-failures increases. © 2009 IFAC.

关键词： Iterative methods

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Batch gating for data association in monocular SLAM

Batch gating for data association in monocular SLAM

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2013 2nd International Conference on Chemical, Mechanical and Materials Engineering, CMME 2013

作者： Guerra, Edmundo Munguia, Rodrigo Bolea, Yolanda Grau, Antoni Automatic Control Dept Technical University of Catalonia 08028-Barcelona Spain Computer Science Dept CUCEI University of Guadalajara Guadalajara Mexico

ISBN: (纸本)9783037856864

This work describes the development and implementation of a single-camera SLAM system, introducing a novel data validation algorithm. A 6-DOF monocular SLAM method developed is based on the Delayed Inverse-dept. (DI-D) Feature Initialization, with the addition of a new data association batch validation technique, the Highest Order Hypothesis Compatibility Test, HOHCT. The DI-D initializes new features in the system defining single hypothesis for the initial dept. of features by stochastic triangulation. The HOHCT is based on evaluation of statistically compatible hypotheses, and search algorithm designed to exploit the Delayed Inverse-dept. technique characteristics. Experiments with real data are presented in order to validate the performance of the system. © (2013) Trans Tech Publications, Switzerland.

关键词： Stochastic systems

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Towards an improvement of the forecast of wind resources in europe: application of unsupervised machine learning on future projections of polar vortex

Towards an improvement of the forecast of wind resources in ...

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2020 Summer computer Simulation Conference, SCSC 2020, Held at the 2020 Summer Simulation Multi-Conference, SummerSim 2020

作者： Montes, María Rodríguez Ayarzagüena, Blanca Mata-García, María Guijarro Complutense University of Madrid Spain Dept. Earth Physics and Astrophysics Complutense University of Madrid Spain Dept. Computer Architecture and Automatic Control Complutense University of Madrid Spain

ISBN: (纸本)9781713819462

Studying the impact of climate change on wintertime polar stratosphere is of particular relevance not only for climate knowledge but also for tropospheric projections. Machine learning provides a way to extract information from different climate models and combine the data in a such way that patterns are clearer, so predictions can be inducted. The methods used in this study have been region growing algorithm, K-means and combination of predictions. The final results show three clusters of response trends for the intensity and location of the stratospheric polar night jet. The prediction shows an increase in zonal wind intensity over the 2xCO2 and 4xCO2 concentration points and a decrease in the related latitude. Our methods can be extended for more climate models and simulation periods, and will allow not only to map the behavior of the polar night jet, but other stratospheric and tropospheric features and interactions between them. ©2020 Society for Modeling & Simulation International (SCS)

关键词： Climate models

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Game-based Resource Allocation for Secure UAV Communication in Wireless Networks 15

Game-based Resource Allocation for Secure UAV Communication ...

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15th International Conference on Electronics, computers and Artificial Intelligence, ECAI 2023

作者： Kakkar, Riya Gupta, Rajesh Agrawal, Smita Tanwar, Sudeep Pricop, Emil Inst. of Tech. Nirma University Dept. of Computer Science and Engg. Ahmedabad India Petroleum-Gas University of Ploiesti Automatic Control Comp. & Elect. Dept. Ploieşti Romania

ISBN: (纸本)9798350321388

Unmanned aerial vehicles (UAVs) are one of the applications of device-to-device (D2D) technology, where two UAVs can communicate with or without the existence of a base station. It facilitates high content delivery, low latency, low cost, and high data rate communication in wireless networks. Despite the aforementioned benefits, an eavesdropping attack is one of the critical challenges that cause interference in UAV communication in the presence of an eavesdropper. To mitigate the aforementioned challenges, we proposed a secure resource allocation for UAV communication in wireless networks. The applied single carrier orthogonal frequency division multiple access (SC-OFDMA) technique utilize the orthogonality feature to provide secure UAV communication in wireless networks. Moreover, a zero-sum game approach is considered to enable the secure and optimal resource allocation for UAV communication. The main aim of the zero-sum game theory is to maximize the communication channel's data rate and secrecy capacity to achieve a secure and optimal UAV communication scenario in wireless networks. Finally, the performance and simulation of the proposed approach are evaluated against the existing random approach in terms of various metrics such as data rate and secrecy capacity of the communication channel. © 2023 IEEE.

关键词： Frequency division multiple access

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Home Care Assistance Solution based on a Software Multi-Agents System 24

Home Care Assistance Solution based on a Software Multi-Agen...

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24th International Conference on control Systems and computer science, CSCS 2023

作者： Rasras, Mohammad Marin, Iuliana Radu, Serban University Politehnica of Bucharest Doctoral School of Automatic Control and Computers Bucharest Romania University Politehnica of Bucharest Dept. of Engineering in Foreign Languages Bucharest Romania University Politehnica of Bucharest Dept. of Computer Science Bucharest Romania

ISBN: (纸本)9798350313390

A smart home allows automated technology to control systems and appliances to assist daily life activities. In the current work, a prototype of a designed smart home health-aware system is presented. Three predefined ruled agents have been used to gather data, communicate between themselves, interpret the data based on several machine learning algorithms to predict abnormality for cardiac conditions. The paper also compares results obtained by running five machine learning algorithms. The agents function in accordance with predefined dataset describing residents ' age, gender, height, weight, systolic and diastolic blood pressure, cholesterol, and glucose levels, smoking and alcohol consumption habits, and lastly, physical activity. Our plan is to simplify ubiquitous health monitoring for smart home's residents. The proposed solution aims to monitor parametric measurements to alert health specialists in case of emergencies. © 2023 IEEE.

关键词： Multi agent systems

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Adaptive H∞-control design for a class of LPV systems

Adaptive H∞-control design for a class of LPV systems

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44th IEEE Conference on Decision and control, and the European control Conference, CDC-ECC '05

作者： Karimi, H.R. Moshiri, B. Jabehdar Maralani, P. Lohmann, B. Dept. of Electrical and Computer Engineering Control and Intelligent Processing Center of Excellence University of Tehran Tehran Iran Institute of Automatic Control Technical University of Munich Munich Germany

ISBN: (纸本)0780395689

In this paper, we focus on the issue of adaptive H∞- control design for a class of linear parameter-varying (LPV) systems based on the Hamiltonian-Jacobi-Isaac (HJI) method. By combining the idea of polynomially parameter-dependent quadratic functions and vector projection method to derive an adaptive H∞-control, sufficient conditions with high precision are given to guarantee both robust asymptotic stability and disturbance attenuation of the LPV systems with unknown constant parameters. The applicability of the proposed design method is illustrated on a simple example. © 2005 IEEE.

关键词： Linear systems

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Atomic force microscopy for high resolution sidewall scans 4

Atomic force microscopy for high resolution sidewall scans

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4th International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale, 3M-NANO 2014

作者： Krohs, Florian Haenssler, Olaf C. Bartenwerfer, Malte Fatikow, Sergej University of Oldenburg Dept. Computer Science Division Microrobotics and Control Engineering Oldenburg Germany

ISBN: (纸本)9781479979233

Over the last decades, atomic force microscopy (AFM) became one of the most important measuring instruments in various disciplines covering life science, biology, material science, semiconductor industries, and micro- and nanotechnology. Conventional AFM scanning techniques are limited to a 2.5D image acquisition, resulting a simple 2D high-map of the surface. Due to the ongoing miniaturization in semiconductor and nanomanufacturing industries, measurements on the critical dimensions are of growing importance. Additionally, novel measurement tasks as the determination of linewidths or even sidewall roughness arise as need from nanometrology. Especially, the upcoming technology of nanooptics and photonics relies critically on powerful and ultra-precise characterization tools for complex surfaces on the sub-nanoscale. In order to produce suitable optical waveguides and building-blocks, all surface roughness and surface impurities have to be minimized, since the result in severe light diffusion and diffraction. Conventional AFM probes are suitable for 2.5D image acquisitions only and don't allow a correct scanning of complex structures. The pyramidal tip of standard probes cannot scan high aspect ratio structures, which leads to a distorted AFM image and to incorrect trench width and height. Furthermore, a standard tip is not able to contact surfaces with tilt-angles larger than the pyramid's side-angle. In general, this makes sidewall scans impossible at all. To overcome these problems, a novel method for performing sidewall measurements is proposed, based on standard AFM equipment in combination with customized FIB-milled AFM tips. Standard AFM environment is improved with an additional control loop incorporating the torsion of the cantilever as feedback to control the lateral position of the AFM tip. © 2014 IEEE.

关键词： Atomic force microscopy

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An Efficient GPU-based Implementation for Noise Robust Sound Source Localization

arXiv

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arXiv 2025年

作者： Lin, Zirui Takigahira, Masayuki Terakado, Naoya Gulzar, Haris Busto, Monikka Roslianna Eda, Takeharu Itoyama, Katsutoshi Nakadai, Kazuhiro Amano, Hideharu Dept. of Systems and Control Engineering School of Engineering Tokyo Institute of Technology Tokyo Japan Honda Research Institute Japan Co. Ltd. Saitama Japan NTT Software Innovation Center Tokyo Japan Dept. of Information and Computer Science Keio University Kanagawa Japan

Robot audition, encompassing Sound Source Localization (SSL), Sound Source Separation (SSS), and automatic Speech Recognition (ASR), enables robots and smart devices to acquire auditory capabilities similar to human hearing. Despite their wide applicability, processing multi-channel audio signals from microphone arrays in SSL involves computationally intensive matrix operations, which can hinder efficient deployment on Central Processing Units (CPUs), particularly in embedded systems with limited CPU resources. This paper introduces a GPU-based implementation of SSL for robot audition, utilizing the Generalized Singular Value Decomposition-based Multiple Signal Classification (GSVD-MUSIC), a noise-robust algorithm, within the HARK platform, an open-source software suite. For a 60-channel microphone array, the proposed implementation achieves significant performance improvements. On the Jetson AGX Orin, an embedded device powered by an NVIDIA GPU and ARM®Cortex™-A78AE v8.2 64-bit CPUs, we observe speedups of 4645.1× for GSVD calculations and 8.8× for the SSL module, while speedups of 2223.4× for GSVD calculation and 8.95× for the entire SSL module on a server configured with an NVIDIA A100 GPU and AMD EPYC™ 7352 CPUs, making real-time processing feasible for large-scale microphone arrays and providing ample capacity for real-time processing of potential subsequent machine learning or deep learning tasks. © 2025, CC BY-NC-ND.

关键词： Acoustic generators

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An efficient two-level SOMART document Clustering through dimensionality reduction

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11th International Conference on Neural Information Processing, ICONIP 2004

作者： Hussin, Mahmoud F. Kamel, Mohamed S. Nagi, Magdy H. Dept of Computer Science and Automatic Control University of Alexandria Alexandria Egypt Dept of Electrical and Computer Engineering University of Waterloo WaterlooON Canada

ISBN: (纸本)3540239316

Document Clustering is one of the popular techniques that can unveil inherent structure in the underlying data. Two successful models of unsupervised neural networks, Self-Organizing Map (SOM) and Adaptive Resonance Theory (ART) have shown promising results in this task. The high dimensionality of the data has always been a challenging problem in document clustering. It is common to overcome this problem using dimension reduction methods. In this paper, we propose a new two-level neural network based document clustering architecture that can be used for high dimensional data. Our solution is to use SOM in the first level as a dimension reduction method to produce multiple output clusters, then use ART in the second level to produce the final clusters using the reduced vector space. The experimental results of clustering documents from the RETURES corpus using our proposed architecture show an improvement in the clustering performance evaluated using the entropy and the f_measure. © Springer-Verlag Berlin Heidelberg 2004.

关键词： Self organizing maps

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Improving fuzzy rule based classification systems in big data via support-based filtering

Improving fuzzy rule based classification systems in big dat...

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2018 IEEE International Conference on Fuzzy Systems, FUZZ 2018

作者： Íñiguez, Luis Galar, Mikel Fernández, Alberto Dept. of Computer Science and A.I. University of Granada Spain Department of Automatic and Computation Public University of Navarre Spain

ISBN: (纸本)9781509060207

Fuzzy Rule Based Classification Systems have the benefit of making possible to understand the decision of the classifier. Additionally, they have shown to be robust to solve complex problems. When these capabilities are applied to the context of Big Data, the benefits get multiplied. Therefore, to achieve the highest advantages of Fuzzy Rule Based Classification Systems, the output model must be both interpretable and accurate. The former is achieved by using fuzzy linguistic labels, that are related to human understanding. The latter is achieved by means of robust fuzzy rules, which are identified by means of a component known as "fuzzy rule weight". However, obtaining these rule weights is computationally expensive, resulting on a bottle-neck when applied in Big Data problems. In this work, we propose Chi-BD-SF, which stands for Chi Big Data Support Filtering. It comprises a scalable yet accurate fuzzy rule learning algorithm. It is based on the well-known Chi et al., exchanging the rule weight computation by a support metric in order to solve the conflicts between different consequent rules. In order to show the goodness of this proposal, we analyze several performance metrics, such as the quality of classification, the robustness of the rule base generated and the runtimes of the usage of traditional weights and the support of the rule. The results of our novel Chi-BD-SF approach, in contrast to related Big Data fuzzy classifiers, show that this proposal is able to out-speed the usage of rule weights also obtaining more accurate results. © 2018 IEEE.

关键词： Big data

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