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Distributed Model Predictive control Algorithm with Communication Delays for a Cooperative Adaptive Cruise control Vehicle Platoon

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Distributed Model Predictive Control Algorithm with Communic...

Mediterranean Conference on control and Automation (MED)

作者： Anca Maxim Corneliu Lazar Constantin F. Caruntu Faculty of Automatic Control and Computer Engineering “Gheorghe Asachi” Technical University of Iasi Iasi Romania

ISBN: (数字)9781728157429

ISBN: (纸本)9781728157436

This paper proposes a distributed model predictive control (DMPC) strategy with known delays in the communication network. The algorithm is suitable for a vehicle platooning application in the cooperative adaptive cruise control (CACC) framework. All the platoon vehicles are connected in a uni-directional wireless communication network. The simulation results for a five-vehicle platoon show that the DMPC optimization problem can successfully accommodate for the communication delays, while a velocity-dependent inter-vehicle spacing-policy for the follower vehicles is used.

关键词： Delays Optimization Trajectory Mathematical model Computational modeling Cruise control Current measurement

Novel Image Steganography Algorithm Using Two Hidden Thresholds

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Novel Image Steganography Algorithm Using Two Hidden Thresho...

International Conference on System Theory, control, and Computing (ICSTCC)

作者： Alexandru-Gabriel Tudorache Vasile Manta Simona Caraiman Faculty of Automatic Control and Computer Engineering "Gheorghe Asachi" Technical University Iași Romania

ISBN: (数字)9781728198095

ISBN: (纸本)9781728198101

This paper describes a novel image steganography algorithm, with the central idea being the use of two hidden thresholds. By implementing the described method, various types of information (sub-images, numbers, symbols) can be hidden inside a usual image. The article presents how to apply this procedure for a gray image: after recovering the two threshold values, hidden inside the least significant bit of each of the first 16 pixels on the edges, an image can be processed by comparing the gray level to the threshold levels (making sure the gray level is between the thresholds) and thus reveal the secret message. The algorithm can be extended to different types of data and image representations and could also suggest another method of embedding metadata inside an image, such as the time of download, the original website from where it was downloaded or information on its author, etc.

关键词： Image edge detection Gray-scale Protocols Image color analysis computer science Indexes Image representation

Trends and Challenges of Sustainable Agriculture in the Iraqi Environment

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Trends and Challenges of Sustainable Agriculture in the Iraq...

Blockchain, Smart Healthcare and Emerging Technologies (SmartBlock4Health), IEEE International Conference on

作者： Hanan Hussein Al-asadi Maria Goga Haider Abdullah Ali Ramona Cristina Popa Awodele Oludele Faculty of Automatic Control and Computers University POLITEHNICA of Bucharest Bucharest Romania University of Technology-Iraq Baghdad Iraq UTCB Department for Training of Teaching Personnel Technical University of Civil Engineering of Bucharest Bucharest Romania Madenat Alelem University College Baghdad Iraq Faculty of Engineering in Foreign Languages University POLITEHNICA of Bucharest Bucharest Romania computer science department Babcock University Ogun State Nigeria

ISBN: (纸本)9781665460156

The use of Agriculture Intelligent Systems (AISs) in Iraq has become popular among farmers. The greenhouse is a solution for plant growth, which uses an effective microclimate to simulate seasons and to use alternative energy sources like solar, thermal, and photovoltaic systems for microclimate control. Greenhouses are considered a successful solution with developments and achievements in the technology of this field. However, problems like high costs, difficulties in installation and maintenance, or the need for some procedures should be considered. Because Iraq is close to the equator (3669 km), it receives sufficient solar power. It also has large areas available for the building of solar greenhouse systems. The farmers need an affordable and functional smart greenhouse to enable and encourage them to use the environment efficiently. We intend to develop low-cost, accurate, and easy-to-use greenhouse systems controlled by artificial intelligence algorithms. Farmers will be able to control the greenhouse by using simple commands. Machine learning algorithms provide real-time and effective analysis that could support farmers in decision-making and provide relevant data for researchers and policymakers. AISs algorithms can lead to a sustainable and productive agriculture system. The system can be used in Iraq with sufficient government support and subsidy.

关键词： Smart agriculture Machine learning algorithms Costs Green buildings Soil control systems Agriculture

Hard hat wearing detection based on head keypoint localization

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arXiv 2021年

作者： Wójcik, Bartosz Zarski, Mateusz Ksiązek, Kamil Miszczak, Jaroslaw A. Skibniewski, Miroslaw J. Faculty of Civil Engineering Silesian University of Technology Poland Institute of Theoretical and Applied Informatics Polish Academy of Sciences Poland Faculty of Automatic Control Electronics and Computer Science Silesian University of Technology Poland Department of Civil & Environmental Engineering University of Maryland College Park United States

In recent years, a lot of attention is paid to deep learning methods in the context of vision-based construction site safety systems. However, still there is no reliable way to establish the relationship between supervised construction workers and their basic personal protective equipment, like hard hats. To address this problem, a novel deep learning method combining object detection, keypoint localization, and simple rule-based reasoning is proposed in this article. In tests, this solution surpassed the previous methods based on the relative bounding box position of different instances, as well as direct detection of hard hat wearers and non-wearers. Achieving MS COCO style overall AP of 67.5% compared to 66.4% and 66.3% achieved by the above-mentioned approaches, with class specific AP for hard hat non-wearers of 64.1% compared to 63.0% and 60.3%. The results show that the conjunction of deep learning methods with humanly-interpretable rule-based algorithm is better suited for detection of hard hat non-wearers. Code is available at barwojcik/hard-hats. © 2021, CC BY.

关键词： Object detection

Securing isosceles triangular formations under heterogeneous sensing and mixed constraints

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arXiv 2021年

作者： Chan, Nelson P.K. Jayawardhana, Bayu de Marina, Hector Garcia Engineering and Technology Institute Groningen University of Groningen Nijenborgh 4 Groningen9747AG Netherlands Department of Computer Architecture and Automatic Control Faculty of Physics Universidad Complutense de Madrid Madrid28040 Spain

This paper focuses on securing a triangular shape (up to translation) for a team of three mobile robots that uses heterogeneous sensing mechanism. Based on the available local information, each robot employs the popular gradient-based control law to attain the assigned individual task(s). In the current work, robots are assigned either distance and signed area task(s) or bearing task(s). We provide a sufficient condition on the gain ratio RAd between the signed area and the distance control term such that the desired formation shape, an isosceles triangle, is reached from all feasible starting positions. Numerical simulations are provided to support the theoretical *** Codes 93D99 © 2021, CC BY-NC-SA.

关键词： Robots

Distributed formation control for manipulator end-effectors

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arXiv 2021年

作者： Wu, Haiwen Jayawardhana, Bayu De Marina, Hector Garcia Xu, Dabo Engineering and Technology Institute Groningen Faculty of Science and Engineering University of Groningen Groningen9747 AG Netherlands Department of Computer Architecture and Automatic Control Faculty of Physics Universidad Complutense de Madrid Madrid28040 Spain School of Automation Nanjing University of Science and Technology Nanjing210094 China

We present three classes of distributed formation controllers for achieving and maintaining the 2D/3D formation shape of manipulator end-effectors to cope with different scenarios due to availability of modeling parameters. We firstly present a distributed formation controller for manipulators whose system parameters are perfectly known. The formation control objective is achieved by assigning virtual springs between end-effectors and by adding damping terms at joints, which provides a clear physical interpretation of the proposed solution. Subsequently, we extend it to the case where manipulator kinematic and system parameters are not exactly known. An extra integrator and an adaptive estimator are introduced for gravitational compensation and stabilization, respectively. Simulation results with planar manipulators and with seven degree-of-freedom humanoid manipulator arms are presented to illustrate the effectiveness of the proposed approach. Copyright © 2021, The Authors. All rights reserved.

关键词： Manipulators

Network Realization Functions for Optimal Distributed control

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arXiv 2021年

作者： Sabau, Şerban Sperila, Andrei Oara, Cristian Jadbabaie, Ali Electrical and Computer Engineering Department Stevens Institute of Technology HobokenNJ07030 United States Faculty of Automatic Control and Computers "Politehnica" University of Bucharest Sector 6 060042 Romania CambridgeMA02139 United States

In this paper, we discuss a distributed control architecture, aimed at networks with linear and time-invariant dynamics, which is amenable to convex formulations for controller design. The proposed approach is well suited for large scale systems, since the resulting feedback schemes completely avoid the exchange of internal states, i.e., plant or controller states, among sub-controllers. Additionally, we provide state-space formulas for these sub-controllers, able to be implemented in a distributed manner. © 2021, CC BY.

关键词： Large scale systems

Distributed formation control of manipulators' end-effector with internal model-based disturbance rejection

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arXiv 2021年

作者： Wu, Haiwen Jayawardhana, Bayu de Marina, Hector Garcia Xu, Dabo Engineering and Technology Institute Groningen Faculty of Science and Engineering University of Groningen Groningen9747 AG Netherlands Department of Computer Architecture and Automatic Control Faculty of Physics Universidad Complutense de Madrid Madrid28040 Spain The School of Automation Nanjing University of Science and Technology Nanjing210094 China

This paper addresses the problem of end-effector formation control for manipulators that are subjected to external disturbances: input disturbance torques and disturbance forces at each end-effector. The disturbances are assumed to be non-vanishing and are superposition of finite number of sinusoidal and step signals. The formation control objective is achieved by assigning virtual springs between end-effectors, by adding damping terms at joints, and by incorporating internal model-based dynamic compensators to counteract the effect of the disturbances;all of which presents a clear physical interpretation of the proposed approach. Simulation results are presented to illustrate the effectiveness of the proposed approach. © 2021, CC BY.

关键词： End effectors

TextBenDS: A generic textual data benchmark for distributed systems

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arXiv 2021年

作者： Truicǎ, Ciprian-Octavian Apostol, Elena Darmont, Jérôme Assent, Ira Computer Science and Engineering Department Faculty of Automatic Control and Computers University Politehnica of Bucharest Bucharest Romania Department of Computer Science Aarhus University Aarhus Denmark Université de Lyon ERIC Lyon 2 EA 3083 France DIGIT Department of Computer Science Aarhus University Denmark

Extracting top-k keywords and documents using weighting schemes are popular techniques employed in text mining and machine learning for different analysis and retrieval tasks. The weights are usually computed in the data preprocessing step, as they are costly to update and keep track of all the modifications performed on the dataset. Furthermore, computation errors are introduced when analyzing only subsets of the dataset. Therefore, in a Big Data context, it is crucial to lower the runtime of computing weighting schemes, without hindering the analysis process and the accuracy of the machine learning algorithms. To address this requirement for the task of top-k keywords and documents, it is customary to design benchmarks that compare weighting schemes within various configurations of distributed frameworks and database management systems. Thus, we propose a generic document-oriented benchmark for storing textual data and constructing weighting schemes (TextBenDS). Our benchmark offers a generic data model designed with a multidimensional approach for storing text documents. We also propose using aggregation queries with various complexities and selectivities for constructing term weighting schemes, that are utilized in extracting top-k keywords and documents. We evaluate the computing performance of the queries on several distributed environments set within the Apache Hadoop ecosystem. Our experimental results provide interesting insights. As an example, MongoDB proves to have the best overall performance, while Spark's execution time remains almost the same, regardless of the weighting schemes. Copyright © 2021, The Authors. All rights reserved.

关键词： Machine learning