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63rd IEEE Conference on Decision and control, CDC 2024

作者： Heath, William P. Carrasco, Joaquin Bangor University School of Computer Science and Engineering Dean St LL57 1UT United Kingdom Nancy Rothwell Building University of Manchester Control Systems and Robotics Group Department of Electrical and Electronic Engineering M13 9PL United Kingdom

ISBN: (纸本)9798350316339

Multipliers can be used to guarantee both the Lyapunov stability and input-output stability of Lurye systems with time-invariant memoryless slope-restricted nonlinearities. If a dynamic multiplier is used there is no guarantee the closedloop system has finite incremental gain. It has been suggested in the literature that without this guarantee such a system may be critically sensitive to time-varying exogenous signals including noise. We show that multipliers guarantee the power gain of the system to be bounded and quantifiable. Furthermore power may be measured about an appropriate steady state bias term, provided the multiplier does not require the nonlinearity to be odd. Hence dynamic multipliers can be used to guarantee Lurye systems have low sensitivity to noise, provided other exogenous systems have constant steady state. We illustrate the analysis with an example where the exogenous signal is a power signal with non-zero mean. © 2024 IEEE.

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Modeling and Simulation of Two Axes Gimbal Using Fuzzy control

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computers, Materials & Continua 2022年第7期72卷 93-107页

作者： Ayman A.Aly Mohamed O.Elhabib Bassem F.Felemban B.Saleh Dac-Nhuong Le Department of Mechanical Engineering College of EngineeringTaif UniversityTaif21944Saudi Arabia Control and Mechatronics Division School of Electrical EngineeringUTMJohor Bahru81300Malaysia Institute of Research and Development Duy Tan UniversityDanang550000Vietnam School of Computer Science Duy Tan UniversityDanang550000Vietnam

The application of the guided missile seeker is to provide stability to the sensor’s line of sight toward a target by isolating it from the missile motion and *** main objective of this paper is not only to present the physical modeling of two axes gimbal system but also to improve its performance through using fuzzy logic controlling *** paper is started by deriving the mathematical model for gimbals motion using Newton’s second law,followed by designing the mechanical parts of model using SOLIDWORKS and converted to xml file to connect dc motors and sensors using MATLAB/***,a Mamdani-type fuzzy and a Proportional-Integral-Derivative(PID)controllers were designed using MATLAB *** performance of both controllers was evaluated and tested for different types of input *** simulation results showed that self-tuning fuzzy controller provides better performance,since no overshoot,small steady-state error and small settling time compared to PID controller.

关键词： Gimbal system self-tuning fuzzy proportional-integral-derivative(PID)control cross coupling

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An Efficient Medical Image Deep Fusion Model Based on Convolutional Neural Networks

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computers, Materials & Continua 2023年第2期74卷 2905-2925页

作者： Walid El-Shafai Noha A.El-Hag Ahmed Sedik Ghada Elbanby Fathi E.Abd El-Samie Naglaa F.Soliman Hussah Nasser AlEisa Mohammed E.Abdel Samea Department of Electronics and Electrical Communications Engineering Faculty of Electronic EngineeringMenoufia UniversityMenouf32952Egypt Security Engineering Laboratory Department of Computer SciencePrince Sultan UniversityRiyadh11586Saudi Arabia Higher Institute of Commercial Science Management Information SystemsEl-Mahala El-KobraEgypt Department of the Robotics and Intelligent Machines Faculty of Artificial IntelligenceKafrelsheikh UniversityKafr El-SheikhEgypt Department of Industrial Electronics and Control Engineering Faculty of Electronic EngineeringMenoufia UniversityMenouf32952Egypt Department of Information Technology College of Computer and Information SciencesPrincess Nourah Bint Abdulrahman UniversityP.O.Box 84428Riyadh11671Saudi Arabia Department of Computer Sciences College of Computer and Information SciencesPrincess Nourah Bint Abdulrahman UniversityRiyadhSaudi Arabia Medical Imaging and Interventional Radiology National Liver InstituteMenoufia UniversityEgypt

Medical image fusion is considered the best method for obtaining one image with rich details for efficient medical diagnosis and *** learning provides a high performance for several medical image analysis *** paper proposes a deep learning model for the medical image fusion *** model depends on Convolutional Neural Network(CNN).The basic idea of the proposed model is to extract features from both CT and MR ***,an additional process is executed on the extracted *** that,the fused feature map is reconstructed to obtain the resulting fused ***,the quality of the resulting fused image is enhanced by various enhancement techniques such as Histogram Matching(HM),Histogram Equalization(HE),fuzzy technique,fuzzy type,and Contrast Limited Histogram Equalization(CLAHE).The performance of the proposed fusion-based CNN model is measured by various metrics of the fusion and enhancement *** realistic datasets of different modalities and diseases are tested and ***,real datasets are tested in the simulation analysis.

关键词： Image fusion CNN deep learning feature extraction evaluation metrics medical diagnosis

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Conjectural Online Learning with First-order Beliefs in Asymmetric Information Stochastic Games

Conjectural Online Learning with First-order Beliefs in Asym...

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IEEE Conference on Decision and control

作者： Tao Li Kim Hammar Rolf Stadler Quanyan Zhu Department of Electrical and Computer Engineering New York University USA Division of Network and Systems Engineering KTH Royal Institute of Technology Sweden

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

Asymmetric information stochastic games (AISGs) arise in many complex socio-technical systems, such as cyberphysical systems and IT infrastructures. Existing computational methods for AISGs are primarily offline and can not adapt to equilibrium deviations. Further, current methods are limited to particular information structures to avoid belief hierarchies. Considering these limitations, we propose conjectural online learning (COL), an online learning method under generic information structures in AISGs. COL uses a forecaster-actorcritic (FAC) architecture, where subjective forecasts are used to conjecture the opponents’ strategies within a lookahead horizon, and Bayesian learning is used to calibrate the conjectures. To adapt strategies to nonstationary environments based on information feedback, COL uses online rollout with cost function approximation (actor-critic). We prove that the conjectures produced by COL are asymptotically consistent with the information feedback in the sense of a relaxed Bayesian consistency. We also prove that the empirical strategy profile induced by COL converges to the Berk-Nash equilibrium, a solution concept characterizing rationality under subjectivity. Experimental results from an intrusion response use case demonstrate COL’s faster convergence over state-of-the-art reinforcement learning methods against nonstationary attacks.

关键词： Learning systems Sociotechnical systems Games Reinforcement learning computer architecture Cyber-physical systems Cost function Bayes methods Convergence

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A Graph-Based Approach to Generate Energy-Optimal Robot Trajectories in Polygonal Environments

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IFAC-PapersOnLine 2023年第2期56卷 7000-7005页

作者： Logan E. Beaver Roberto Tron Christos G. Cassandras Division of Systems Engineering Boston University Boston MA 02215 USA Department of Mechanical Engineering at Boston University Boston MA 02215 USA Division of Systems Engineering and Department of Electrical and Computer Engineering Boston University Boston MA 02215 USA

As robotic systems continue to address emerging issues in areas such as logistics, mobility, manufacturing, and disaster response, it is increasingly important to rapidly generate safe and energy-efficient trajectories. In this article, we present a new approach to plan energy-optimal trajectories through cluttered environments containing polygonal obstacles. In particular, we develop a method to quickly generate optimal trajectories for a double-integrator system, and we show that optimal path planning reduces to an integer program. To find an efficient solution, we present a distance-informed prefix search to efficiently generate optimal trajectories for a large class of environments. We demonstrate that our approach, while matching the performance of RRT* and Probabilistic Road Maps in terms of path length, outperforms both in terms of energy cost and computational time by up to an order of magnitude.

关键词： Optimal control Path Planning Mobile Robots Autonomous Robotic systems

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Merging control in mixed traffic with safety guarantees: a safe sequencing policy with optimal motion control

arXiv

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arXiv 2023年

作者： Sabouni, Ehsan Ahmad, H.M. Sabbir Cassandras, Christos G. Li, Wenchao Division of Systems Engineering Department of Electrical & Computer Engineering Boston University BostonMA United States

We address the problem of merging traffic from two roadways consisting of both Connected Autonomous Vehicles (CAVs) and Human Driven Vehicles (HDVs). Guaranteeing safe merging in such mixed traffic settings is challenging due to the unpredictability of possibly uncooperative HDVs. We develop a hierarchical controller where at each discrete time step first a coordinator determines the best possible Safe Sequence (SS) which can be realized without any knowledge of human driving behavior. Then, a lower-level decentralized motion controller for each CAV jointly minimizes travel time and energy over a prediction horizon, subject to hard safety constraints dependent on the given safe sequence. This is accomplished using a Model Predictive controller (MPC) subject to constraints based on control Barrier Functions (CBFs) which render it computationally efficient. Extensive simulation results are included showing that this hierarchical controller outperforms the commonly adopted Shortest Distance First (SDF) passing sequence over the full range of CAV penetration rates, while also providing safe merging guarantees. Copyright © 2023, The Authors. All rights reserved.

关键词： Merging

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Two-Stage Robust Optimization Under Decision Dependent Uncertainty

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IEEE/CAA Journal of Automatica Sinica 2022年第7期9卷 1295-1306页

作者： Yunfan Zhang Feng Liu Yifan Su Yue Chen Zhaojian Wang João P.S.Catalão State Key Laboratory of Power System and Generation Equipment the Department of Electrical EngineeringTsinghua UniversityBeijing 100084China Department of Mechanical and Automation Engineering the Chinese University of Hong KongHong Kong SARChina Ministry of Education Key Laboratory of System Control and Information Processing the Department of AutomationShanghai Jiao Tong Universityand also with Shanghai Engineering Research Center of Intelligent Control and ManagementShanghai 200240China Faculty of Engineering of the University of Porto and Institute for Systems and Computer Engineering Technology and Science(INESC TEC)Porto 4200-465Portugal IEEE

In the conventional robust optimization(RO)context,the uncertainty is regarded as residing in a predetermined and fixed uncertainty *** many applications,however,uncertainties are affected by decisions,making the current RO framework *** paper investigates a class of two-stage RO problems that involve decision-dependent *** introduce a class of polyhedral uncertainty sets whose right-hand-side vector has a dependency on the here-and-now decisions and seek to derive the exact optimal wait-and-see decisions for the second-stage problem.A novel iterative algorithm based on the Benders dual decomposition is proposed where advanced optimality cuts and feasibility cuts are designed to incorporate the uncertainty-decision *** computational tractability,robust feasibility and optimality,and convergence performance of the proposed algorithm are guaranteed with theoretical *** motivating application examples that feature the decision-dependent uncertainties are ***,the proposed solution methodology is verified by conducting case studies on the pre-disaster highway investment problem.

关键词： Benders decomposition decision-dependent uncertainty endogenous uncertainty robust optimization(RO)

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control of Nonlinear systems Under Multiple Time-Varying Output Constraints: A Single Funnel Approach

Control of Nonlinear Systems Under Multiple Time-Varying Out...

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IEEE Conference on Decision and control

作者： Farhad Mehdifar Lars Lindemann Charalampos P. Bechlioulis Dimos V. Dimarogonas Division of Decision and Control Systems KTH Royal Institute of Technology Stockholm Sweden Thomas Lord Department of Computer Science University of Southern California Los Angeles CA USA Department of Electrical and Computer Engineering Division of Systems and Control University of Patras Patra Greece

This paper proposes a novel control framework for handling (potentially coupled) multiple time-varying output constraints for uncertain nonlinear systems. First, it is shown that the satisfaction of multiple output constraints boils down to ensuring the positiveness of a scalar variable (the signed distance from the time-varying output-constrained set's boundary). Next, a single funnel constraint is designed properly, whose satisfaction ensures convergence to and invariance of the time-varying output-constrained set. Then a robust and low-complexity funnel-based feedback controller is designed em-ploying the prescribed performance control method. Finally, a simulation example clarifies and verifies the proposed approach.

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EA-RDSP: Energy Aware Rapidly Deployable Wireless Ad hoc System for Post Disaster Management

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computers, Materials & Continua 2021年第11期69卷 1725-1746页

作者： Ajmal Khan Mubashir Mukhtar Farman Ullah Muhammad Bilal Kyung-Sup Kwak Department of Electrical and Computer Engineering COMSATS University IslamabadAttock43600Pakistan Division of Computer and Electronics Systems Engineering Hankuk University of Foreign StudiesYongin-si17035Korea Department of Information and Communication Engineering Inha UniversityIncheon22212Korea

In post disaster scenarios such as war zones floods and earthquakes,the cellular communication infrastructure can be lost or severely *** such emergency situations,remaining in contact with other rescue response teams in order to provide inputs for both headquarters and disaster survivors becomes very ***,in this research work,a design,implementation and evaluation of energy aware rapidly deployable system named EA-RDSP is *** proposed research work assists the early rescue workers and victims to transmit their location information towards the remotely located *** EA-RDSP,two algorithms are proposed i.e.,Hop count Assignment(HCA)algorithm and Maximum Neighbor Selection(MNS)*** EA-RDSP contains three types of nodes;the client node sends information about casualty in the disaster area to the server,the relay nodes transmit this information from client node to server nodes via multi-hop transmission,the server node receives messages sent by client node to alert rescue *** EAM-RDSP contains three types of nodes;the client node sends information about casualty in the disaster area to the server,the relay nodes transmit this information from client node to server nodes via multi-hop transmission,the server node receives messages sent by client node to alert rescue *** proposed EA-RDSP scheme is simulated using NS2 simulator and its performance is compared with existing scheme in terms of end-to-end delay,message delivery ratio,network overhead and energy consumption.

关键词： Disaster management neighbor selection device-to-device communication multi-hop relaying energy efficiency

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KartalOl: a new deep neural network framework based on transfer learning for iris segmentation and localization task—new dataset for iris segmentation

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Iran Journal of computer Science 2023年第4期6卷 307-319页

作者： Khiarak, Jalil Nourmohammadi Oskouei, Amin Golzari Nasab, Samaneh Salehi Jaryani, Farhang Moafinejad, Seyed Naeim Pourmohamad, Rana Amini, Yasin Noshad, Morteza Institute of Control and Computation Engineering Warsaw University of Technology Ul. Nowowiejska 15/19 Warsaw 00-665 Poland Department of Computer Engineering Faculty of Electrical and Computer Engineering University of Tabriz Tabriz Iran School of Engineering Lorestan University Aleshtar Campus Aleshtar Iran Faculty of Engineering Arak University Arak Iran Department of Physics Shahid Beheshti University Tehran Iran School of Computing Informatics and Decision Systems Engineering Arizona State University AZ United States Faculty of Electrical and Computer Engineering University of Kharazmi Tehran Iran Stanford University Stanford United States

Iris segmentation and localization in unconstrained environments are challenging due to long distances, illumination variations, limited user cooperation, and moving subjects. Some existing methods in the literature have somehow mitigated some of the above-mentioned issues. In this paper, motivated by these weaknesses, we propose a framework that employs a deep neural network-based approach to iris segmentation and localization. The proposed framework is based on a U-Net architecture initialized with a pre-trained MobileNetV2 model. In addition, to better study the detectors in iris recognition scenarios, we have collected 1000 images. The provided dataset (KartalOl) is made publicly available for the research community. In the proposed framework, to have better generalization, we fine-tuned the MobileNetV2 model on the provided data for NIR-ISL 2021 from the CASIA-Iris-Asia, CASIA-Iris-M1, and CASIA-Iris-Africa and our dataset. Likewise, data augmentation techniques are applied on images. We chose the binarization threshold for the binary masks by iterating over the images in the provided dataset. The proposed framework is trained and tested in CASIA-Iris-Asia, CASIA-Iris-M1, and CASIA-Iris-Africa, along with the KartalOl dataset. The experimental results highlight that our method surpasses state-of-the-art methods on mobile-based benchmarks. The implementation source code of KartalOl is made publicly available at https://***/Jalilnkh/KartalOl-NIR-ISL2021031301. © The Author(s) 2023.

关键词： Iris segmentation Localization MobileNetV2 model Unconstrained environment

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