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Forced variational integrator for distance-based shape control with flocking behavior of multi-agent systems ⁎

IFAC-PapersOnLine 2020年第2期53卷 3348-3353页

作者： Leonardo Colombo Patricio Moreno Mengbin Ye Héctor Garcia de Marina Ming Cao Institute of Mathematical Sciences (ICMAT) Madrid Spain LAR-GPSIC Facultad de Ingeniería Universidad de Buenos Aires Argentina Optus-Curtin Centre of Excellence in Artificial Intelligence Curtin University Australia Faculty of Physics Department of Computer Architecture and Automatic Control Universidad Complutense de Madrid Madrid Spain Faculty of Science and Engineering ENTEG University of Groningen Netherlands

A multi-agent system designed to achieve distance-based shape control with flocking behavior can be seen as a mechanical system described by a Lagrangian function and subject to additional external forces. Forced variational integrators are given by the discretization of Lagrange-d’Alembert principle for systems subject to external forces, and have proved useful for numerical simulation studies of complex dynamical systems. We derive forced variational integrators that can be employed in the context of control algorithms for distance-based shape with velocity consensus. In particular, we provide an accurate numerical integrator with a lower computational cost than traditional solutions, while preserving the configuration space and symmetries. We also provide an explicit expression for the integration scheme in the case of an arbitrary number of agents with double integrator dynamics. For a numerical comparison of the performances, we use a planar formation consisting of three autonomous agents.

关键词： Shape control Distributed control Multi-agent systems Forced variational integrators

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Adaptive neural network based dynamic surface control for uncertain dual arm robots

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International Journal of Dynamics and control 2020年第3期8卷 824-834页

作者： Pham, Dung Tien Nguyen, Thai Van Le, Hai Xuan Nguyen, Linh Thai, Nguyen Huu Phan, Tuan Anh Pham, Hai Tuan Duong, Anh Hoai Bui, Lam Thanh Centre for Autonomous Systems University of Technology SydneyNSW2007 Australia Department of Automatic Control Hanoi University of Science and Technology Hanoi10000 Viet Nam University of Paris Saclay Espace Technologique Bat. Discovery - RD 128 - 2e ét Saint-Aubin91190 France School of Electrical and Electronics Engineering College of Urban Works Construction Hanoi10000 Viet Nam Vinh University of Technology Education VinhNghe An Viet Nam School of Electrical and Electronics Engineering Military Industrial College Hanoi10000 Viet Nam University of Lorraine 34 Cours Léopold Nancy54000 France Faculty of Electrical Engineering Hanoi University of Industry Hanoi10000 Viet Nam

The paper discusses an adaptive strategy to effectively control nonlinear manipulation motions of a dual arm robot (DAR) under system uncertainties including parameter variations, actuator nonlinearities and external disturbances. It is proposed that the control scheme is first derived from the dynamic surface control (DSC) method, which allows the robot’s end-effectors to robustly track the desired trajectories. Moreover, since exactly determining the DAR system’s dynamics is impractical due to the system uncertainties, the uncertain system parameters are then proposed to be adaptively estimated by the use of the radial basis function network (RBFN). The adaptation mechanism is derived from the Lyapunov theory, which theoretically guarantees stability of the closed-loop control system. The effectiveness of the proposed RBFN-DSC approach is demonstrated by implementing the algorithm in a synthetic environment with realistic parameters, where the obtained results are highly promising. © 2019, Springer-Verlag GmbH Germany, part of Springer Nature.

关键词： Radial basis function networks

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The role of input imaging combination and ADC threshold on segmentation of acute ischemic stroke lesion using U-Net

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European Radiology 2023年第9期33卷 6157-6167页

作者： Li, Ya-Hui Lin, Shao-Chieh Chung, Hsiao-Wen Chang, Chia-Ching Peng, Hsu-Hsia Huang, Teng-Yi Shen, Wu-Chung Tsai, Chon-Haw Lo, Yu-Chien Lee, Tung-Yang Juan, Cheng-Hsuan Juan, Cheng-En Chang, Hing-Chiu Liu, Yi-Jui Juan, Chun-Jung Graduate Institute of Biomedical Electronics and Bioinformatics National Taiwan University Taipei Taiwan Department of Medical Imaging China Medical University Hsinchu Hospital No. 199 Sec. 1 Xinglong Rd. Zhubei City Hsinchu County 302 Hsinchu Taiwan Ph.D. Program in Electrical and Communication Engineering Feng Chia University Taichung Taiwan Department of Electrical Engineering National Taiwan University Taipei Taiwan Department of Management Science National Yang Ming Chiao Tung University Hsinchu Taiwan Department of Biomedical Engineering and Environmental Sciences National Tsing Hua University Hsinchu Taiwan Department of Electrical Engineering National Taiwan University of Science and Technology Taipei Taiwan Department of Radiology School of Medicine College of Medicine China Medical University Taichung Taiwan Department of Medical Imaging Medical University Hospital Taichung Taiwan Department of Neurology China Medical University Hospital Taichung Taiwan Cheng Ching Hospital Taichung Taiwan Master’s Program of Biomedical Informatics and Biomedical Engineering Feng Chia University Taichung Taiwan Department of Automatic Control Engineering Feng Chia University No. 100 Wenhwa Rd. Seatwen Taichung 40724 Taiwan Department of Biomedical Engineering The Chinese University of Hong Kong ERB1112 11/F William M.W. Mong Engineering Building N.T Shatin Hong Kong Multi-Scale Medical Robotics Center The Chinese University of Hong Kong N.T Shatin Hong Kong Department of Biomedical Engineering National Defense Medical Center Taipei Taiwan Department of Computer Science and Information Engineering National Taiwan University Taipei Taiwan

Background: To evaluate the effect of the weighting of input imaging combo and ADC threshold on the performance of the U-Net and to find an optimized input imaging combo and ADC threshold in segmenting acute ischemic stroke (AIS) lesion. Methods: This study retrospectively enrolled a total of 212 patients having AIS. Four combos, including ADC-ADC-ADC (AAA), DWI-ADC-ADC (DAA), DWI-DWI-ADC (DDA), and DWI-DWI-DWI (DDD), were used as input images, respectively. Three ADC thresholds including 0.6, 0.8 and 1.8 × 10^–3 mm²/s were applied. Dice similarity coefficient (DSC) was used to evaluate the segmentation performance of U-Nets. Nonparametric Kruskal–Wallis test with Tukey–Kramer post-hoc tests were used for comparison. A p <.05 was considered statistically significant. Results: The DSC significantly varied among different combos of images and different ADC thresholds. Hybrid U-Nets outperformed uniform U-Nets at ADC thresholds of 0.6 × 10^–3 mm²/s and 0.8 × 10^–3 mm²/s (p <.001). The U-Net with imaging combo of DDD had segmentation performance similar to hybrid U-Nets at an ADC threshold of 1.8 × 10^–3 mm²/s (p =.062 to 1). The U-Net using the imaging combo of DAA at the ADC threshold of 0.6 × 10^–3 mm²/s achieved the highest DSC in the segmentation of AIS lesion. Conclusions: The segmentation performance of U-Net for AIS varies among the input imaging combos and ADC thresholds. The U-Net is optimized by choosing the imaging combo of DAA at an ADC threshold of 0.6 × 10^–3 mm²/s in segmentating AIS lesion with highest DSC. Key Points: • Segmentation performance of U-Net for AIS differs among input imaging combos. • Segmentation performance of U-Net for AIS differs among ADC thresholds. • U-Net is optimized using DAA with ADC = 0.6 × 10^–3mm²/s. © 2023, The Author(s), under exclusive licence to European Society of Radiology.

关键词： Deep Learning Diffusion Magnetic Resonance Imaging Ischemic Stroke Neural Networks, computer Retrospective Study

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Steady state analysis of switched reluctance motor with modified geometry of the stator designed for an electric bike

Steady state analysis of switched reluctance motor with modi...

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2018 International Symposium on Electrical Machines, SME 2018

作者： Gabor, Rafal Kowol, Marcin Kolodziej, Janusz Mynarek, Piotr Opole University of Technology Faculty of Electrical Engineering Automatic Control and Computer Science Opole Poland

ISBN: (纸本)9781538652107

The paper contains a proposition of the application of a SRM motor with a modified stator geometry for an electric drive, in particular in an electric bicycle. The study involved a comparison of the cyclicity of the electromagnetic torque and self-inductance in the function of the rotor angle in 2D and 3D models based on the application of the finite element method. © 2018 IEEE.

关键词： Finite element method

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Robust Iterative Learning control for Spatially Interconnected Systems using 2D control Theory

Robust Iterative Learning Control for Spatially Interconnect...

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European control Conference (ECC)

作者： Bartłomiej Sulikowski Krzysztof Gałkowski Daniel Trzciński Eric Rogers Anton Kummert Institute of Control and Computation Engineering University of Zielona Góra Zielona Góra Poland Institute of Automation Electronic and Electrical Engineering University of Zielona Góra Zielona Góra Poland Department of Electronics and Computer Science University of Southampton Southampton UK Faculty of Electrical Information and Media Engineering University of Wuppertal Wuppertal Germany

This paper develops a class of iterative learning control (ILC) laws for a subclass of uncertain spatially interconnected systems. Model uncertainties appear both in the state and the output equation of the dynamics modeled in the 2D systems setting to which existing results are not applicable. The first stage is to write the dynamics in 2D model form. Then the stability theory for a distinct class of 2D systems known as repetitive processes is used to develop the ILC law in the case of differential dynamics. This analysis results in a design algorithm that can be applied using linear matrix inequalities.

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LoRA based, low power remote monitoring and control solution for Industry 4.0 factories and facilities

LoRA based, low power remote monitoring and control solution...

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Roedunet International Conference (RoEduNet)

作者： George-Cristian Pătru Dumitru-Cristian Trancă Ciprian-Marian Costea Daniel Rosner Răzvan-Victor Rughiniş Computer Science and Engineering Department University POLITEHNICA of Bucharest Bucharest Romania Faculty of Automatic Control and Computer Science University POLITEHNICA of Bucharest Bucharest Romania

Over the years, industrial automation has repeatedly been impacted by the continuous and tremendous evolution in the fields of computer systems, electronics and data transmission. Industry 4.0, the current wave of the industrial revolution- dubbed the data revolution -, integrates these advances in communication and computational systems with the Internet, resulting in a paradigm shift towards the (Industrial) Internet of Things. Automation systems and remote data acquisition systems evolved over the last years from classic solutions based on wired infrastructure to modern, flexible solutions bringing together wireless communications, battery powered devices and wireless sensors networks. In this paper we first define the main problems encountered in modern wireless automation systems - small distance limitations of wireless communication solutions, weak security or complete lack of security in data transmission, and high energy consumption of battery powered remote data acquisition systems. In order to address these limitations, we propose, implement, trial-run and benchmark a novel low power LoRa-based flexible hardware architecture for use in industrial remote monitoring and control. We obtain a LoS capability above 3km and a calculated autonomy of about 10 years, exceeding the capabilities of current State of the Art solutions.

关键词： Sensors Hardware Batteries Wireless sensor networks Power demand Protocols Industries

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SCADA security: Concepts and recommendations 10th

SCADA security: Concepts and recommendations

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10th International Symposium on Cyberspace Safety and Security, CSS 2018

作者： Ionica, Dragos Pop, Florin Popescu, Nirvana Popescu, Decebal Dobre, Ciprian Faculty of Automatic Control and Computers Computer Science Department University Politehnica of Bucharest Bucharest Romania

ISBN: (纸本)9783030016883

SCADA systems are the computers that control essential, complicated, and often dangerous physical processes, many of which constitute the physical infrastructure critical to modern societies. These physical processes are powerful tools, and their misuse generally has unacceptable consequences. Preventing such abuse is the goal of SCADA security. To understand misuse and how to avoid it, we need some understanding of what a SCADA system is, and how it works under different forms of attacks. These are the primary objectives of this paper. © Springer Nature Switzerland AG 2018.

关键词： SCADA systems

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Colour histogram analysis for skin lesions discrimination 19

Colour histogram analysis for skin lesions discrimination

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19th International Multidisciplinary Scientific Geoconference, SGEM 2019

作者： Damian, Felicia Anisoara Moldovanu, Simona Moraru, Luminita Faculty of Sciences and Environment Dunarea de Jos University of Galati Galati Romania Department of Computer Science and Information Technology Technical College Dumitru Motoc Galati Galati Romania Faculty of Automatic Control Computers Electrical Engineering and Electronics Dunarea de Jos University of Galati Galati Romania Modelling and Simulation Laboratory Dunarea de Jos University of Galati Galati Romania

One of the risk factors in skin cancer is unprotected exposure to UV radiation. Melanoma is the deadliest form of skin cancer but also curable if it is diagnosed in the early stages. This study uses a histogram analysis technique to investigate and classify two common skin lesions, nevi and melanoma. The colour feature investigated is the optimal threshold values in RGB space. Also, a boundary limit of the skin lesions is performed using a colour histogram analysis and the optimal threshold determination. A statistical analysis of the relevant threshold values for R, G and B histograms to establish a sound colour separation between benign and malignant lesions is performed. Monochromatic channel threshold values are clustered using K-means and the validity of clustering is assessed by silhouette method. The proposed method technique is evaluated using 120 colour digital images (60 melanomas and 60 nevi) from the Digital Archive of the Department of Dermatology of the University Medical Center in Groningen (UMCG)1. The reported results suggest red as the lesion representative colour in dermoscopic images. The pixel values for red channel are strongly related to the skin lesion type. © SGEM 2019.

关键词： Dermatology

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Using grey-scale hit-or-miss transform for detection of isolated foreground pixels in cerebral rmn datasets 19

Using grey-scale hit-or-miss transform for detection of isol...

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19th International Multidisciplinary Scientific Geoconference, SGEM 2019

作者： Pana, Lenuta Moldovanu, Simona Moraru, Luminita Faculty of Sciences and Environment University Dunarea de Jos of Galati Galati Romania Department of Computer Science and Information Technology Technical College Dumitru Motoc Galati Galati Romania Faculty of Automatic Control Computers Electrical Engineering and Electronics University Dunarea de Jos of Galati Galati Romania Modelling and Simulation Laboratory University Dunarea de Jos of Galati Galati Romania

MRI images contain a lot of subtle information related to various lesions which are difficult to be picked up by radiologists. computer aided diagnosis CAD is a valuable tool to improve the ability of an average radiologist to diagnose the subtle lesions. This study uses the isolated foreground pixels in MRI images as a feature able to discern a stroke patient by a healthy one. Brain MRI image was divided into eight equal sectors. The isolated foreground pixels (i.e. pixels satisfying a neighborhood configuration that corresponds to an isolated foreground pixel) were extracted using hit-or-miss and skeleton transformations. We have tested the proposed algorithms using two cerebral image datasets (healthy and acute stroke patients). The mean SD values of isolated foreground pixels for stroke patients systematically exceed the corresponding values for healthy patients. The higher numbers of isolated foreground pixel determined using hit-or-miss transform indicate this method as a promising approach for a simple and quick evaluation of stroke. © SGEM 2019.

关键词： Pixels

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Intelligent controller based Host-to-Host Congestion control: Fuzzy Logic controller

Intelligent Controller based Host-to-Host Congestion Control...

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Japan-Egypt International Conference on electronics, Communications and computers (JEC-ECC)

作者： Doaa H. Esawi Gamal Attiya Mohammad El-Bardini Industrial Electronics and Control Faculty of Electronic Engineering Menoufia Computer Science Faculty of Electronic Engineering Menoufia

The following topics are dealt with: signal classification; antenna radiation patterns; medical signal processing; feature extraction; Internet of Things; error statistics; diseases; millimetre wave antennas; Kalman f... 详细信息

ISBN: (数字)9781728156170

ISBN: (纸本)9781728156187

关键词： fuzzy control fuzzy logic intelligent control Internet telecommunication congestion control telecommunication traffic transport protocols Intelligent control telecommunication congestion control transport protocols telecommunication traffic Fuzzy control Fuzzy logic Internets intelligent controller Transportation load EMPLOYMENT

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