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6th International Conference on control and Robotics, ICCR 2024

作者： Xie, Yunfan Pongthanisorn, Goragod Kaneko, Shin-Ichiro Capi, Genci Graduate School of Science and Engineering Hosei University Dept. of Mechanical Eng. Tokyo Japan National Institute of Technology Toyama College Department of Electrical and Control Systems Engineering Toyama Japan

ISBN: (纸本)9798331518158

In dynamic and unpredictable work environments such as manufacturing, logistics, and automated warehouses, achieving high-precision self-localization estimation for efficient object picking are critical challenges for mobile robots. Ensuring accuracy and adaptability is essential for their successful operation. This paper presents a new method that integrates RGB cameras with Contrastive Learning (CL) for self-localization estimation and advanced object picking for mobile manipulators. The effectiveness of the proposed method for location estimation in object picking is verified in indoor environments. © 2024 IEEE.

关键词： Contrastive Learning

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Modeling and Assessment of Water-Energy Nexus Considering Cyber Security in Load Demand 13

Modeling and Assessment of Water-Energy Nexus Considering Cy...

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13th Smart Grid Conference, SGC 2023

作者： Rizi, Daryoush Tavangar Nazari, Mohammad Hassan Hosseinian, Seyed Hossein Gharehpetian, Gevork B. Amirkabir University of Technology Department of Physics and Energy Engineering Tehran Iran Smart Control Systems Department Tehran Iran Amirkabir University of Technology Department of Electrical Engineering Tehran Iran

ISBN: (纸本)9798350396065

Smart cities need energy and water to develop sustainably and meet economic, social, and environmental goals. These two systems depend actually on each other and are examined as a water-energy nexus. Cyber security is becoming an increasingly important subject of study, particularly in multi-output/multi-input systems, such as the energy nexus due to the widespread use of information and communications technologies (ICT). In this research, the economic optimization of electricity and water systems has been investigated to reduce the operating cost. Then, sabotage such as false data injection (FDI) on the system load has been implemented, and this optimization operation has been solved in GAMS software and with mixed integer non-linear programing (MINLP) methods. The results show that the value of the cost objective function before and after the injection of incorrect data is equal, and the system operator could not make a correct estimate of the system, and these interventions had a direct impact on the system load. Especially, the electric load of the system has changed between 1.5% and nearly 18% compared to before. © 2023 IEEE.

关键词： Sustainable development

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Evaluating the Impact of the Demand Response Program on the Economic Operation of Energy Hubs in terms of Electricity and Heat Demand 13

Evaluating the Impact of the Demand Response Program on the ...

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13th Smart Grid Conference, SGC 2023

ISBN: (纸本)9798350396065

Multi-carrier microgrids with high renewable energy sources (RES) penetration have recently been modeled and enhanced to meet various needs, such as heat and electricity, while reducing greenhouse gas emissions. This research focuses on energy management in the demand sector for the benefit of consumers. This approach is based on demand response algorithms for electric load on the side of system consumers. This work has been executed by transferring the load from high-demand periods to low-demand periods. A mixed integer linear programming problem is coded using a CPLEX solver to decrease daily operating costs while maximizing profit to energy consumers. The results have been reviewed and analyzed in a 24-hour period. According to the results obtained in the optimal mode with energy hub management on the electric load side, the operating costs of the system have been reduced by 4.66% compared to the normal mode of the network, which shows the effectiveness of this method. © 2023 IEEE.

关键词： Electric loads

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Discrete-Analog Filters on Switchable Capacitors with a Summator of Input and Output Signals on a Differential Difference Operational Amplifier

Discrete-Analog Filters on Switchable Capacitors with a Summ...

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2024 IEEE Ural-Siberian Conference on Biomedical engineering, Radioelectronics and Information Technology, USBEREIT 2024

作者： Denisenko, Darya Titov, Alexey Prokopenko, Nikolay Butyrlagin, Nikolay Don State Technical University Department Of Scientific Research Rostov-on-Don Russia Southern Federal University Department Of Automatic Control Systems Rostov-on-Don Russia Don State Technical University Department Of Information Systems And Radio Engineering Rostov-on-Don Russia

ISBN: (纸本)9798350362893

Four new modifications of discrete analog filters (DAF) of second order low frequencies (LPF) on switched capacitors, which are protected by the authors of the article as objects of intellectual property, have been developed and studied. In the considered DAF family, unlike other known circuit solutions, summation of input and output signals is provided using a differential difference operational amplifier. As a result, the low-pass filter transmission coefficient in the passband does not depend on the passive elements of the circuit and is always equal to minus one. Buffer amplifiers in two DAF circuits are necessary to reduce the influence of switching circuits on transient processes. In the Micro-Cap environment, computer simulations of four modifications of DAFs were performed, showing that the proposed DAFs have the amplitude-frequency response of a low-pass filter. Sequences of pulses are given that should control four electronic keys, made, for example, on CMOS transistors. Graphs of transient processes of the DAF are shown for an input sinusoidal signal with an amplitude of 1V and a frequency of 1591 Hz, equal to the pole frequency at a switching frequency of electronic keys of 1 MHz. The DAF transmission coefficients for the input sinusoidal signal in different frequency ranges are determined. It has been established that with the selected parameters of the elements in the considered DAFs, which are low-pass filters, the input signal at a frequency of 159.10 kHz is attenuated by more than 60 dB. © 2024 IEEE.

关键词： Low pass filters

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Stability of Nonlinear Model Predictive control Under Consecutive Packet Losses

Stability of Nonlinear Model Predictive Control Under Consec...

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UKACC International Conference on control (control)

作者： Paulo Loma-Marconi Paul Trodden Iñaki Esnaola Department of Automatic Control & Systems Engineering University of Sheffield Sheffield United Kingdom

ISBN: (数字)9798350374261

ISBN: (纸本)9798350374278

In this paper, we study the stability of a discrete-time nonlinear networked system controlled by model predictive control without explicit terminal constraints. The system is subject to input constraints and random packet losses on the actuation communication channel between the controller and the plant. We consider the scenario where a buffer-intended to store transmitted control sequences and provide some robustness to packet losses-is present, and also the scenario where a buffer is not present. We analyse the stability of the closed-loop system in these stochastic scenarios, employing the assumption that the terminal cost is merlye a local, rather than global, control Lyapunov function (CLF). We develop conditions that characterize an upper bound on the number of consecutive packet losses in order that stability is maintained.

关键词： Costs Upper bound Packet loss Stochastic processes Propagation losses Stability analysis Robustness

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A Reinforcement Learning-Based Approach for Optimal Output Tracking in Uncertain Nonlinear systems with Mismatched Disturbances

A Reinforcement Learning-Based Approach for Optimal Output T...

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UKACC International Conference on control (control)

作者： Zezhi Tang J Anthony Rossiter George Panoutsos Department of Automatic Control and Systems Engineering University of Sheffield Sheffield United Kingdom

ISBN: (数字)9798350374261

ISBN: (纸本)9798350374278

In this paper, the optimal control problem of uncertain nonlinear systems is considered. A nonlinear disturbance observer (NDO) is proposed to measure the lumped uncertainties present in the system. Disturbances that do not enter the same channel as the control signal, so-called mismatched disturbances, are difficult to reject directly within the control channel. To overcome the challenge, a generalized disturbance observer-based compensator is implemented to address the uncertainty compensation problem by attenuating its influence on the output channel. In real time, by augmenting the system states with the output tracking error, we develop a composite actor-critic reinforcement learning (RL) scheme for approximating the optimal control policy as well as the ideal value function pertaining to the compensated system by solving the Hamilton-Jacobi-Bellman (HJB) equation. Concurrent learning is applied in this article by using the recorded data of the known model of the system, in order to enhance the robustness of the system by canceling the influence of the probing signal. Simulation results demonstrate the effectiveness of the proposed scheme, offering an optimal solution for the output tracking problem in a second-order model with mismatched disturbances.

关键词： Uncertainty Simulation Measurement uncertainty Optimal control Reinforcement learning Mathematical models Robustness

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Incident indicators for freeway traffic flow models

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Communications in Transportation Research 2022年第1期2卷 66-74页

作者： Azita Dabiri Balazs Kulcsar Delft Center for Systems and Control Delft University of Technology2628 CNDelftthe Netherlands Department of Electrical Engineering Chalmers University of Technology41296GothenburgSweden

Developed in this paper is a traffic flow model parametrised to describe abnormal traffic *** large traffic networks,the immediate detection and categorisation of traffic incidents/accidents is of capital importance to avoid breakdowns,further ***,this claims for traffic flow models capable to capture abnormal traffic condition like ***,by means of proper real-time estimation technique,observing accident related parameters,one may even categorize the severity of ***,in this paper,we suggest to modify the nominal Aw-Rascle(AR)traffic model by a proper incident related *** proposed Incident Traffic Flow(ITF)model is defined by introducing the incident parameters modifying the anticipation and the dynamic speed relaxation terms in the speed equation of the AR *** modifications are proven to have physical ***,the characteristic properties of the ITF model is discussed in the paper.A multi stage numerical scheme is suggested to discretise in space and time the resulting non-homogeneous system of *** resulting systems of ODE is then combined with receding horizon estimation methods to reconstruct the incident ***,the viability of the suggested incident parametrisation is validated in a simulation environment.

关键词： Macroscopic traffic flow models Aw-Rascle model Traffic accidents Moving horizon PDE ODE Multi stage numerical scheme

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Texture Analysis of Breast US Images Using Morphological Transforms, Hausdorff Dimension and Bagging Ensemble Method 32

Texture Analysis of Breast US Images Using Morphological Tra...

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32nd Mediterranean Conference on control and Automation, MED 2024

作者： Tabacaru, Gigi Moldovanu, Simona Barbu, Marian 'Dunarea de Jos' University of Galati Faculty of Automation Computers Electrical Engineering and Electronics Department of Automatic Control and Electrical Engineering Romania 'Dunarea de Jos' University of Galati Computer Science and Information Technology Faculty of Automation Computers Electrical Engineering and Electronics Romania Dunarea de Jos University of Galati The Modelling & Simulation Laboratory Galati800008 Romania

ISBN: (纸本)9798350395440

In this work, an attempt is made for the first time to use the measurement pattern generated by morphological transformation quantified by Hausdorff fractal dimension (HFD) and classified with ensemble learning based on bagging. The proposed work uses three morphological transformations for image preprocessing: hit-and-miss transform (HMT), white (WHT), and black top-hat (BHT). The pattern texture of US breast images is described by extracting the HFD from the regions of interest (ROI) after the ultrasound (US) images have been preprocessed. The main objective of this study was achieved by comparatively analyzing the classification performance of features using the Random Forest (RF), Extra Trees (ET) classifier, and bagging ensemble method based on XGBoot classifier. In presented study, the XGBoost classifier and BHT image processing method give an accuracy of 89.8% in a binary classification, benign versus malignant breast cancer. © 2024 IEEE.

关键词： Fractal dimension

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Estimating Chlorophyll Content from Hyperspectral Data Using Gradient Features 23rd

Estimating Chlorophyll Content from Hyperspectral Data Usin...

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23rd International Conference on Computational Science, ICCS 2023

作者： Ruszczak, Bogdan Wijata, Agata M. Nalepa, Jakub Faculty of Electrical Engineering Automatic Control and Informatics Department of Informatics Opole University of Technology Opole Poland Faculty of Biomedical Engineering Silesian University of Technology Zabrze Poland Faculty of Automatic Control Electronics and Computer Science Department of Algorithmics and Software Silesian University of Technology Gliwice Poland KP Labs Gliwice Poland

ISBN: (纸本)9783031360206

Non-invasive estimation of chlorophyll content in plants plays an important role in precision agriculture. This task may be tackled using hyperspectral imaging that acquires numerous narrow bands of the electromagnetic spectrum, which may reflect subtle features of the plant, and inherently offers spatial scalability. Such imagery is, however, high-dimensional, therefore it is challenging to transfer from the imaging device, store and investigate. We propose a machine learning pipeline for estimating chlorophyll content from hyperspectral data. It benefits from the Savitzky-Golay filtering to smooth the (potentially noisy) spectral curves, and from gradient-based features extracted from such a smoothed signal. The experiments revealed that our approach significantly outperforms the state of the art according to the widely-established estimation quality metrics obtained for four chlorophyll-related parameters. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Machine learning

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Computationally Efficient Kalman Filter Framework for Intra-Frame Image Reconstruction with a Rolling Shutter Camera

Computationally Efficient Kalman Filter Framework for Intra-...

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IEEE International Conference on Image Processing

作者： Sabeethan Kanagasingham Andrew R. Mills Visakan Kadirkamanathan Department of Automatic Control and Systems Engineering The University of Sheffield Sheffield United Kingdom

ISBN: (数字)9798350349399

ISBN: (纸本)9798350349405

This paper addresses the problem of reconstructing image sequences from a rolling shutter camera-based thermal image acquisition system that integrates the image field over an exposure time. It proposes a novel approach to extend the distributed Kalman filtering framework for intra-frame reconstruction. This accounts for the exposure effect through a state-augmentation model, while respecting the row-byrow image acquisition process. Additionally, two alternative rolling shutter scan strategies: interlaced-x and random, are explored to mitigate delays in observing abrupt changes inherent in sequential rolling shutter scans. Simulation results demonstrate that the proposed approach effectively accommodates exposure and achieves reliable intra-frame reconstruction quality. The interlaced-x scan strategy, with x equal to the size of the image partition block, emerges as the preferred choice, highlighting improved performance in recovering from sudden events. The augmented distributed Kalman filter offers a scalable solution to enhance temporal resolution and overall reliability of thermal imaging of dynamic thermal processes.

关键词： Image resolution Simulation Thermal variables measurement Three-dimensional printing Size measurement Time measurement Steady-state

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