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Safe prescribed time controller for wheeled mobile robots by using control barrier functions as a safety filter

ISA Transactions 2025年 162卷 119-133页

作者： Nasab, Ali Alavi Badiei, Roozbeh Asemani, Mohammad Hassan School of Electrical and Computer Engineering Shiraz University Shiraz Iran School of Mechanical Engineering Iran University of Science and Technology Tehran Iran

In this paper, we design a prescribed time controller to achieve a desired trajectory within a user-defined time, ensuring that the error dynamics converge to the equilibrium point at this time. Subsequently, a proportional controller is utilized to maintain the system's errors at the equilibrium point beyond the prescribed time. Additionally, we introduce a control barrier function (CBF) as a safety filter to guarantee that the system remains within a safe zone, avoiding collisions with predefined unsafe areas along the trajectory. To validate the proposed control methodology, we conducted a series of simulations across various scenarios. The results demonstrate the scheme's capability to reach the equilibrium point regardless of initial conditions and user-defined prescribed time, while consistently maintaining safety within the defined set space. © 2025 International Society of Automation

关键词： Proportional control systems

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Flexible,Highly Thermally Conductive and electrically Insulating Phase Change Materials for Advanced Thermal Management of 5G Base Stations and Thermoelectric Generators

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Nano-Micro Letters 2023年第3期15卷 1-15页

作者： Ying Lin Qi Kang Yijie Liu Yingke Zhu Pingkai Jiang Yiu‑Wing Mai Xingyi Huang Shanghai Key Laboratory of Electrical Insulation and Thermal Ageing Department of Polymer Science and Engineeringthe State Key Laboratory of Metal Matrix CompositesShanghai Jiao Tong UniversityShanghai 200240People’s Republic of China Centre for Advanced Materials Technology(CAMT) School of AerospaceMechanical and Mechatronic Engineering J07The University of SydneySydneyNSW 2006Australia

Thermal management has become a crucial problem for high-power-density equipment and *** change materials(PCMs)have great prospects in thermal management applications because of their large capacity of heat storage and isothermal behavior during phase ***,low intrinsic thermal conductivity,ease of leakage,and lack of flexibility severely limit their *** one of these problems often comes at the expense of other performance of the *** this work,we report core–sheath structured phase change nanocomposites(PCNs)with an aligned and interconnected boron nitride nanosheet network by combining coaxial electrospinning,electrostatic spraying,and *** advanced PCN films exhibit an ultrahigh thermal conductivity of 28.3 W m^(-1)K^(-1)at a low BNNS loading(i.e.,32 wt%),which thereby endows the PCNs with high enthalpy(>101 J g^(-1)),outstanding ductility(>40%)and improved fire ***,our core–sheath strategies successfully balance the trade-off between thermal conductivity,flexibility,and phase change enthalpy of ***,the PCNs provide powerful cooling solutions on 5G base station chips and thermoelectric generators,displaying promising thermal management applications on high-power-density equipment and thermoelectric conversion devices.

关键词： Coaxial electrospinning Boron nitride nanosheets Phase change nanocomposites Thermal conductivity Thermal management

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TB-HSU: Hierarchical 3D Scene Understanding with Contextual Affordances 39

TB-HSU: Hierarchical 3D Scene Understanding with Contextual ...

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39th Annual AAAI Conference on Artificial Intelligence, AAAI 2025

作者： Xu, Wenting Ila, Viorela Zhou, Luping Jin, Craig T. School of Electrical and Computer Engineering The University of Sydney Australia School of Aerospace Mechanical and Mechatronic Engineering The University of Sydney Australia

ISBN: (纸本)157735897X

The concept of function and affordance is a critical aspect of 3D scene understanding and supports task-oriented objectives. In this work, we develop a model that learns to structure and vary functional affordance across a 3D hierarchical scene graph representing the spatial organization of a scene. The varying functional affordance is designed to integrate with the varying spatial context of the graph. More specifically, we develop an algorithm that learns to construct a 3D hierarchical scene graph (3DHSG) that captures the spatial organization of the scene. Starting from segmented object point clouds and object semantic labels, we develop a 3DHSG with a top node that identifies the room label, child nodes that define local spatial regions inside the room with region-specific affordances, and grand-child nodes indicating object locations and object-specific affordances. To support this work, we create a custom 3DHSG dataset that provides ground truth data for local spatial regions with region-specific affordances and also object-specific affordances for each object. We employ a Transformer Based Hierarchical Scene Understanding model (TB-HSU) to learn the 3DHSG. We use a multi-task learning framework that learns both room classification and learns to define spatial regions within the room with region-specific affordances. Our work improves on the performance of state-of-the-art baseline models and shows one approach for applying transformer models to 3D scene understanding and the generation of 3DHSGs that capture the spatial organization of a room. The code and dataset are publicly available. Copyright © 2025, Association for the Advancement of Artificial Intelligence (***). All rights reserved.

关键词： Multi-task learning

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Single-shot single-beam coherent Raman scattering thermometry based on optically induced air lasing

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Light(science & Applications) 2024年第12期13卷 3253-3260页

作者： Xu Lu Yewei Chen Francesco Mazza Siyi He Zihan Li Shunlin Huang Quanjun Wang Ning Zhang Bo Shen Yuzhu Wu Jinping Yao Ya Cheng State Key Laboratory of High Field Laser Physics Shanghai Institute of Optics and Fine MechanicsChinese Academy of SciencesShanghai 201800China Center of Materials Science and Optoelectronics Engineering University of Chinese Academy of SciencesBeijing 100049China School of Optical-Electrical and Computer Engineering University of Shanghai for Science and TechnologyShanghai 200093China Faculty of Aerospace Engineering Delft University of TechnologyKluyverweg 12629 HS DelftThe Netherlands Institute of Modern Optics Nankai UniversityTianjin 300350China School of Microelectronics Shanghai UniversityShanghai 200444China

Thermometric techniques with high accuracy,fast response and ease of implementation are desirable for the study of dynamic combustion environments,transient reacting flows,and non-equilibrium ***,single-shot singlebeam coherent Raman scattering(SS-CRS)thermometry is developed,for the first time to our knowledge,by using air lasing as a *** show that the air-lasing-assisted CRS signal has a high signal-to-noise ratio enabling single-shot measurements at a 1 kHz repetition *** SS-CRS thermometry consistently exhibits precision of<2.3%at different temperatures,but the inaccuracy grows with the increase in *** high measurement repeatability,1 kHz acquisition rate and easy-to-implement single-beam scheme are achieved thanks to the unique temporal,spectral and spatial characteristics of air *** work opens a novel avenue for high-speed CRS thermometry,holding tremendous potential for fast diagnostics of transient reacting flows and plasmas.

关键词： scattering lasing beam

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Generalization-Enhanced Few-Shot Object Detection in Remote Sensing

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IEEE Transactions on Circuits and Systems for Video Technology 2025年第6期35卷 5445-5460页

作者： Lin, Hui Li, Nan Yao, Pengjuan Dong, Kexin Guo, Yuhan Hong, Danfeng Zhang, Ying Wen, Congcong China Academy of Electronics and Information Technology Beijing100846 China China Meteorological Administration National Satellite Meteorological Center Innovation Center for FengYun Meteorological Satellite Beijing100081 China Tsinghua University State Key Laboratory of Hydroscience and Engineering Department of Hydraulic Engineering Beijing100084 China Chinese Academy of Sciences Aerospace Information Research Institute Beijing100094 China University of Chinese Academy of Sciences School of Electronic Electrical and Communication Engineering Beijing100049 China University of Science and Technology Beijing School of Automation and Electrical Engineering Beijing100083 China New York University Abu Dhabi Department of Electrical and Computer Engineering Abu Dhabi United Arab Emirates University of Science and Technology of China Anhui China

Object detection is a fundamental task in computer vision that involves accurately locating and classifying objects within images or video frames. In remote sensing, this task is particularly challenging due to the high resolution, multi-scale features, and diverse ground object characteristics inherent in satellite and UAV imagery. These challenges necessitate more advanced approaches for effective object detection in such environments. While deep learning methods have achieved remarkable success in remote sensing object detection, they typically rely on large amounts of labeled data. Acquiring sufficient labeled data, particularly for novel or rare objects, is both challenging and time-consuming in remote sensing scenarios, limiting the generalization capabilities of existing models. To address these challenges, few-shot learning (FSL) has emerged as a promising approach, aiming to enable models to learn new classes from limited labeled examples. Building on this concept, few-shot object detection (FSOD) specifically targets object detection challenges in data-limited conditions. However, the generalization capability of FSOD models, particularly in remote sensing, is often constrained by the complex and diverse characteristics of the objects present in such environments. In this paper, we propose the Generalization-Enhanced Few-Shot Object Detection (GE-FSOD) model to improve the generalization capability in remote sensing FSOD tasks. Our model introduces three key innovations: the Cross-Level Fusion Pyramid Attention Network (CFPAN) for enhanced multi-scale feature representation, the Multi-Stage Refinement Region Proposal Network (MRRPN) for more accurate region proposals, and the Generalized Classification Loss (GCL) for improved classification performance in few-shot scenarios. GE-FSOD demonstrates superior robustness and accuracy in remote sensing FSOD tasks through these enhancements. Extensive experiments on the DIOR and NWPU VHR-10 datasets show that our

关键词： Labeled data

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Unpredictable Switching for Cyber-Physical Security Against Worst-case Attackers 63

Unpredictable Switching for Cyber-Physical Security Against ...

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63rd IEEE Conference on Decision and Control, CDC 2024

作者： Kanellopoulos, Aris Fotiadis, Filippos Vamvoudakis, Kyriakos G. Sandberg, Henrik Kth Royal Institute of Technology Division of Decision and Control Systems School of Electrical Engineering and Computer Science Stockholm10044 Sweden Georgia Institute of Technology Daniel Guggenheim School of Aerospace Engineering AtlantaGA30332 United States

ISBN: (纸本)9798350316339

In this paper, we investigate the problem of securing a system against actuator attacks. Specifically, we employ an unpredictability-based defense algorithm according to the principles of Moving Target Defense, while explicitly considering the worst-case attack that can be launched into the system. Consequently, we allow the system to alternate between different actuating modes, but also between optimal and robust control schemes. Via game-theoretic methods, we derive mixed strategies dictating the probabilities of utilizing different controllers for a given mode of operation, whereas an entropy-augmented optimization problem gives the probabilities of using these different modes. Finally, the overall stability of the system is analyzed, and simulation results showcase the efficacy of our proposed method. © 2024 IEEE.

关键词： Cyber attacks

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Vibration Control of an Experimental Flexible Manipulator Against Input Saturation

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IEEE/CAA Journal of Automatica Sinica 2023年第5期10卷 1340-1342页

作者： Zhijia Zhao Sentao Cai Ge Ma F.Richard Yu the School of Mechanical and Electrical Engineering Guangzhou UniversityGuangzhou 510006 the Guangdong Laboratory of Artificial Intelligence and Digital Economy(SZ) Shenzhen 518060China the Guangdong Laboratory of Artificial Intelligence and Digital Economy(SZ) College of Computer Science&Software EngineeringShenzhen UniversityShenzhen 518060China

Dear Editor, This letter considers the control problem of an experimental flexible manipulator in position tracking, vibration suppression, and saturation compensation. Based on the backstepping technology and a Nussbaum function, we develop an anti-windup control to restrain the manipulator’s vibration, realize the desire trajectory tracking, and eliminate the saturation.

关键词： restrain eliminate Vibration

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Intelligent Farming in Rural Areas: CBGRU-Based Smart Agriculture and Precision Solutions 4

Intelligent Farming in Rural Areas: CBGRU-Based Smart Agricu...

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4th IEEE International Conference on Mobile Networks and Wireless Communications, ICMNWC 2024

作者： Laxmi, M. Tamilselvan, V. Ramesh, C. Renganathan, K. Sukumar, P. Kaliappan, S. Geetanjali College of Engineering and Technology Department of Electrical and Electronics Engineering Telangana India Karpagam College of Engineering Department of Electrical and Electronics Engineering Coimbatore India M.Kumarasamy College of Engineering Department of Mechanical Engineering Karur India Sri Sairam Engineering College Department of Electronics and Instrumentation Engineering Chennai India Department of Computer Science and Engineering Erode India Lovely Professional University Division of Research and Development Phagwara Jalandhar India

ISBN: (纸本)9798350352931

Climate-Smart Agriculture (CSA) aims to reduce food insecurity, boost rural economies, and protect the environment. CSA programs sometimes ignore small-scale farmers' demands, who face higher challenges. This research introduces Vulnerable-Smart Agriculture (VSA) to address small-scale farmers' needs and create a sustainable farming framework. The recommended method involves preprocessing, feature selection, and model training. Data cleansing, normalization, and correlation analysis are preprocessing steps. MRMR and CFS are used to select features. The CBGRU architecture trains the model. The CBGRU model outperforms CNN and BiGRU with an average accuracy of 93.60%. High accuracy shows that the VSA strategy meets small-scale farmers' needs through data-driven insights. VSA can cover the CSA gap by including small-scale farmers, according to this research. Strong preprocessing, feature selection, and CBGRU-based model training can boost agricultural production, sustainability, and rural lives. © 2024 IEEE.

关键词： Smart agriculture

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Mechanistic modeling of copper corrosions in data center environments

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Building Simulation 2024年第3期17卷 483-492页

作者： Rui Zhang Jianshun Zhang Roger Schmidt Jeremy L.Gilbert Department of Mechanical and Aerospace Engineering College of Engineering and Computer ScienceSyracuse UniversitySyracuseNY13244USA Buildings and Transportation Science Division Oak Ridge National LaboratoryOak RidgeTN37830USA SyracuseCoE-New York Center of Excellence in Environmental and Energy Systems Syracuse University727 E.Washington StreetSyracuseNY13244USA Department of Bioengineering Clemson UniversityClemson-Medical University of South Carolina Bioengineering ProgramCharlestonSC29425USA

Air-side economizers are increasingly used to take advantage of“free-cooling”in data centers with the intent of reducing the carbon footprint of ***,they can introduce outdoor pollutants to indoor environment of data centers and cause corrosion damage to the information technology *** evaluate the reliability of information technology equipment under various thermal and air-pollution conditions,a mechanistic model based on multi-ion transport and chemical reactions was *** model was used to predict Cu corrosion caused by Cl_(2)-containing pollutant *** also accounted for the effects of temperature(25℃and 28℃),relative humidity(50%,75%,and 95%),and *** also identified higher air temperature as a corrosion barrier and higher relative humidity as a corrosion accelerator,which agreed well with the experimental *** average root mean square error of the prediction was 13.7Å.The model can be used to evaluate the thermal guideline for data centers design and operation when Cl_(2)is present based on pre-established acceptable risk of corrosion in data centers’environment.

关键词： chloride pollutant mixture copper corrosion model data center temperature relative humidity synergistic effect

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Designing ChulaVerse: A Virtual World for Sustainable Community Engagement 21

Designing ChulaVerse: A Virtual World for Sustainable Commun...

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21st International Conference on Information Technology Based Higher Education and Training, ITHET 2024

作者： Kruachottikul, Pravee Tea-Makorn, Pinnaree Cooharojananone, Nagul Suchato, Atiwong Wuttisittikulkij, Lunchakorn Wanvarie, Dittaya Nupairoj, Natawut Kovitanggoon, Kittikul Cheetanom, Napat Phanomchoeng, Gridsada Chulalongkorn University Graduate Affairs Faculty of Medicine Bangkok Thailand Sasin School of Management Chulalongkorn University Bangkok Thailand Chulalongkorn University Faculty of Science Department of Mathematics and Computer Science Bangkok Thailand Chulalongkorn University Faculty of Engineering Department of Computer Engineering Bangkok Thailand Chulalongkorn University Faculty of Engineering Department of Electrical Engineering Bangkok Thailand Chulalongkorn University Faculty of Engineering Department of Mechanical Engineering Bangkok Thailand

ISBN: (纸本)9798331516635

The rapid adoption of digital technologies, accelerated by the COVID-19 pandemic, has driven the development of innovative virtual platforms. ChulaVerse, a metaverse platform developed by Chulalongkorn University, aims to foster sustainable community engagement through immersive solutions in education, healthcare, and commerce. This paper outlines the design and implementation of ChulaVerse, emphasizing its comprehensive digital ecosystem that allows users to participate in various activities within an interactive virtual environment. A user satisfaction survey was conducted with high school students to assess its effectiveness, revealing generally high levels of satisfaction, particularly in visual appeal and trial experiences. The survey also identified areas f or improvement, especially in meeting diverse user needs. While ChulaVerse successfully meets its primary objectives, further refinements a re necessary to enhance inclusion and functionality. These results will guide the ongoing development of the project, with a focus on refining its features to better align with user needs and preferences. ChulaVerse serves as a pioneering example in the emerging field of metaverse technologies, which have a potential in transforming educational and community engagement in universities. © 2024 IEEE.

关键词： Virtual environments

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