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Computational Intelligence, Communication Technology and Networking (CICTN), International Conference on

作者： M. Vubangsi Auwalu Saleh Mubarak Jameel Yayah Chadi Altrjman Manika Manwal Satya Prakash Yadav Fadi Al-Turjman AI Engineering Dep’t Research Center for AI and IoT AI and Robotics Institute Near East University Mersin Turkey Computational Materials Science Lab HTTTC Bambili University of Bamenda Bambili NWR Cameroon Waterloo University Canada Computer Science and Engineering GraphicEra Hill University Dehradun India Affiliated to AKTU G.L. Bajaj Institute of Technology and Management (GLBITM) Greater Noida India Faculty of Engineering University of Kyrenia Mersin Turkey

In this research, we evaluate the effectiveness of different MTD techniques on the transformer-based cyber anomaly detection models trained on the KDD Cup’99 Dataset, a publicly available dataset commonly used for evaluating intrusion detection systems. We explore the trade-offs between security and performance when using MTD techniques for cyber anomaly detection and investigate how MTD techniques can be combined with other cybersecurity techniques to improve the overall security of the system. We evaluate their performance using standard metrics such as accuracy and FI score, as well as measures of robustness against adversarial attacks. Our results show that MTD techniques can significantly improve the security of the anomaly detection model, with some techniques being more effective than others depending on the model architecture. We also find that there are trade-offs between security and performance, with some MTD techniques leading to a reduction in model accuracy or an increase in computation time. However, we demonstrate that these tradeoffs can be mitigated by optimizing the MTD parameters for the specific model architecture.

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Grey Box Non-Recursive System Identification for a Third Order Electro-Hydraulic Actuator System: From Simulation to Practical Approaches

Grey Box Non-Recursive System Identification for a Third Ord...

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International Colloquium on Signal Processing & Its Applications, CSPA

作者： Chong Chee Soon Rozaimi Ghazali Muhamad Fadli Ghani Siaw-Hong Liew Howe Cheng Teng Nur Farhanah Zulkipli Chong You Beh Mohd Saidi Hanaffi Department of Engineering and Built Environment Tunku Abdul Rahman University of Management and Technology (TAR UMT) Penang Branch Campus Pulau Pinang Malaysia Centre for Robotics and Industrial Automation Fakulti Teknologi dan Kejuruteraan Elektrik Universiti Teknikal Malaysia Melaka (UTeM) Melaka Malaysia Malaysian Institute of Marine Engineering Technology (MIMET) Universiti Kuala Lumpur Perak Malaysia Faculty of Computer Science and Information Technology Universiti Malaysia Sarawak (UNIMAS) Kota Samarahan Sarawak Malaysia

ISBN: (数字)9798350382310

ISBN: (纸本)9798350382327

Engineering systems heavily rely on mathematical modeling, significantly influencing both system performance and the design of control systems. This paper thoroughly investigates the establishment of a third-order mathematical model for heavy machinery systems, with a specific emphasis on the ElectroHydraulic Actuator (EHA) system. The formulation of a double-acting EHA system model using a grey box system identification approach is outlined, encompassing the system’s dynamics and behavior. In addition, the details of the EHA system experimental setup that is used for system identification are described. The identification process demonstrates promising performance, achieving an impressive accuracy of 89.1%, as highlighted in the results and discussion sections.

关键词： Actuators System performance Transfer functions Mathematical models Data models System identification Object recognition

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PettingZoo: a standard API for multi-agent reinforcement learning 21

PettingZoo: a standard API for multi-agent reinforcement lea...

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Proceedings of the 35th International Conference on Neural Information Processing Systems

作者： J. K. Terry Benjamin Black Nathaniel Grammel Mario Jayakumar Ananth Hari Ryan Sullivan Luis Santos Rodrigo Perez Caroline Horsch Clemens Dieffendahl Niall L. Williams Yashas Lokesh Praveen Ravi Swarm Labs and Department of Computer Science University of Maryland College Park Department of Computer Science University of Maryland College Park Department of Electrical and Computer Engineering University of Maryland College Park Department of Mechanical Engineering University of Maryland College Park Maryland Robotics Center University of Maryland College Park Faculty of Electrical Engineering and Computer Science Technical University of Berlin

ISBN: (纸本)9781713845393

This paper introduces the PettingZoo library and the accompanying Agent Environment Cycle ("AEC") games model. PettingZoo is a library of diverse sets of multi-agent environments with a universal, elegant Python API. PettingZoo was developed with the goal of accelerating research in Multi-Agent Reinforcement Learning ("MARL"), by making work more interchangeable, accessible and reproducible akin to what OpenAI's Gym library did for single-agent reinforcement learning. PettingZoo's API, while inheriting many features of Gym, is unique amongst MARL APIs in that it's based around the novel AEC games model. We argue, in part through case studies on major problems in popular MARL environments, that the popular game models are poor conceptual models of games commonly used in MARL and accordingly can promote confusing bugs that are hard to detect, and that the AEC games model addresses these problems.

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Harmonics Analysis and Evaluation for Active LC-LPF Attached PMSM Drive by IRM-ILQ Control Through Experiments

Harmonics Analysis and Evaluation for Active LC-LPF Attached...

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International Conference on Renewable Energy Research and Applications (ICRERA)

作者： Kazuki Abe Yoshiki Sasaki Hiroshi Takami Fuminori Ishibashi Koji Shibasaki Maruwa Takumi Ebara Graduate School of Electrical Eng. and Computer Science Shibaura Institute of Technology Koto-ku Tokyo Japan Dept. of Electrical Eng. and Robotics Course College of Engineering Shibaura Institute of Technology Koto-ku Tokyo Japan Dept. of Electrical Eng. Faculty of Engineering Shibaura Institute of Technology Koto-ku Tokyo Japan Electronic Inc. Kashiwa-shi Chiba Japan Maruwa Electronic Inc. Kashiwa-shi Chiba Japan

ISBN: (数字)9798350375589

ISBN: (纸本)9798350375596

This paper describes analysis and evaluation of harmonics reduction for Active LC Low Pass Filter (LC-LPF) attached Surface Permanent Magnet Synchronous Motor (SPMSM) drive operated by IRM-ILQ (Inverse Reference Model - Inverse Linear Quadratic) current control. Harmonics due to high-speed switching of inverter should be reduced since it brings not only low efficiency motor drive such as torque ripple, also cause electromagnetic interference (EMI) problems. Those problems will be solved by appending LC-LPF though, LC resonant phenomena against inverter's carrier frequency and motor's operating frequency should be considered. The IRM-ILQ control is classified into modern control methods and simultaneously transacts multiple variables. Owing to it, stable motor drive can be realized even though LC-LPF is attached. In experiments, degrees of the harmonics reduction by Active LC-LPF are evaluated via Fast Fourier Transform (FFT) analysis and Total Harmonic Distortion (THD) and confirmed 2 % of voltage distortion on average in rated speed region.

关键词： Current control Motor drives Total harmonic distortion Fast Fourier transforms Electromagnetic interference Switches Harmonic analysis Distortion Voltage control Power harmonic filters

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Development of an Efficient Charging Control System for Pico-Hydro Power Generation Utilizing Multiple Impact Water Wheel (MIWW) with MPPT Control

Development of an Efficient Charging Control System for Pico...

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International Conference on Renewable Energy Research and Applications (ICRERA)

作者： Yusuke Asami Hiroshi Takami Fuminori Ishibashi Shota Kawate Hidemi Kurita Masaki Shimizu Graduate School of Electrical Eng. and Computer Science Shibaura Institute of Technology Tokyo Japan Dept. of Electrical Eng. and Robotics Course College of Engineering Shibaura Institute of Technology Tokyo Japan Dept. of Electrical Eng. Faculty of Engineering Shibaura Institute of Technology Tokyo Japan Koa Electronics Co. Ltd. Nagano Japan Harmony with Nature Technology Laboratory Nagano Japan Souken Group Nagano Japan

ISBN: (数字)9798350375589

ISBN: (纸本)9798350375596

This paper introduces an advanced charging control system for a Multiple Impact Water Wheel (MIWW) used in pico-hydropower generation. The control system maximizes energy conversion efficiency by employing a Maximum Power Point Tracking (MPPT) algorithm, which dynamically adjusts the system's operation based on real-time voltage and current measurements. Unlike traditional methods that rely on monitoring rotational speed, this approach simplifies the system by eliminating the need for speed sensors, thereby reducing costs and enhancing reliability. The control system is structured into four main operational phases: the water turbine acceleration phase, optimal control (MPPT) phase, drooping characteristic suppression phase, and overvoltage protection phase. Each phase is designed to optimize distinct aspects of system performance, ensuring stable and efficient power generation under varying water flow conditions. Experimental validation was conducted by subjecting the system to three different water pressure levels (0.036 MPa, 0.048 MPa, and 0.042 MPa). The results demonstrate that the system successfully maintained stable voltage and current, even during rapid fluctuations in water pressure, confirming the effectiveness of the proposed MPPT algorithm. By addressing the challenges of droop characteristics and overvoltage conditions, the control system ensures the reliability and efficiency of pico-hydropower systems. This research contributes to the development of cost-effective, efficient, and sustainable energy solutions, especially in regions lacking conventional power infrastructure.

关键词： Maximum power point trackers Water Fluctuations Heuristic algorithms Velocity control Wheels Sensor systems Voltage control Power generation Turbines

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EmbodiedAgent: A Scalable Hierarchical Approach to Overcome Practical Challenge in Multi-Robot Control

arXiv

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arXiv 2025年

作者： Wan, Hanwen Chen, Yifei Wei, Zeyu Li, Dongrui Lin, Zexin Wu, Donghao Cheng, Jiu Zhang, Yuxiang Ji, Xiaoqiang School of Science and Engineering The Chinese University of Hong Kong Shenzhen China Shenzhen Institute of Artificial Intelligence and Robotics for Society China The School of Computer Science The University of Sydney Australia Faculty of Computer and Mathematical Sciences The Hong Kong Polytechnic University China Graduate School of Fundamental Science and Engineering Waseda University Japan

This paper introduces EmbodiedAgent, a hierarchical framework for heterogeneous multi-robot control. EmbodiedAgent addresses critical limitations of hallucination in impractical tasks. Our approach integrates a next-action prediction paradigm with a structured memory system to decompose tasks into executable robot skills while dynamically validating actions against environmental constraints. We present MultiPlan+, a dataset of more than 18,000 annotated planning instances spanning 100 scenarios, including a subset of impractical cases to mitigate hallucination. To evaluate performance, we propose the Robot Planning Assessment Schema (RPAS), combining automated metrics with LLM-aided expert grading. Experiments demonstrate EmbodiedAgent’s superiority over state-of-the-art models, achieving 71.85% RPAS score. Real-world validation in an office service task highlights its ability to coordinate heterogeneous robots for long-horizon objectives. © 2025, CC BY.

关键词： Multipurpose robots

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Stabilization with Zero Location Constraints for Delay-Based Non-collocated Vibration Suppression ⁎

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IFAC-PapersOnLine 2021年第18期54卷 121-126页

作者： Haik Silm Wim Michiels Tomáš Vyhlídal Departement of Computer Science KU Leuven Celestijnenlaan 200A 3001 Leuven Belgium Dept. Instrumentation and Control Engineering Faculty of Mechanical Engineering and Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague 6 Czechia

A generally applicable design of non-collocated vibration absorption by a delayed resonator is proposed. It is grounded in the direct assignment of imaginary axis zeros of the transfer function between the periodic disturbance force and the target. We show that these transmission zeros are characterized as eigenvalues of a delay differential-algebraic system. Furthermore, a stabilizing local controller is added to the setup in order to widen the range of admissible vibration frequencies. These design requirements are translated into an optimization problem of the spectral abscissa function subjected to zero location constraints. The presented approach and algorithm are validated by a simulation on a three body lumped mass-spring system.

关键词： Vibration control Delayed resonator Transmission zeros Stability Spectral method

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Evaluation of the Effectiveness of the Multi-Agent Approach for Capacity Planning

Evaluation of the Effectiveness of the Multi-Agent Approach ...

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International Conference on Electrotechnical Complexes and Systems (ICOECS)

作者： Nafisa Yusupova Dmitry Rizvanov Evgeniy Chernyshev Faculty of computer science and robotics Ufa State Aviation Technical University Ufa Russian Federation

ISBN: (数字)9781728191164

ISBN: (纸本)9781728191171

This article discusses the issues of planning the development of production capacities of a machine-building enterprise. It is proposed to carry out calculations of the required count of technological equipment using the decision support system, which is implemented on the basis of multi-agent technologies. This system is integrated with enterprise information systems. The implementability check of the production plan is proposed using an integrated multi-agent scheduling system. The methods are proposed for optimizing the required count of technological equipment and the investments spent on its acquisition. The evaluation of the effectiveness of multi-agent approach using for capacity planning is calculated.

关键词： Production Manufacturing Capacity planning Investment Schedules Task analysis Software

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Network Analysis Application to Analyze the Activities and Artifacts in the Core Business Analysis Cycle

Network Analysis Application to Analyze the Activities and A...

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International Informatics and Software Engineering Conference (UBMYK)

作者： Denys Gobov Valentyn Yanchuk Faculty of Informatics and Computer Science National Technical University of Ukraine “Igor Sikorsky Kyiv Polytechnic Institute” Kyiv Ukraine Integrated Technologies named after Prof B.B. Samotokin Faculty of Computer-Integrated Technologies Mechatronics and Robotics Zhytomyr Polytechnic State University Zhytomyr Ukraine

ISBN: (纸本)9781665407601

For the last ten years, leading professional associations and institutes have developed a set of practice standards in business analysis and requirement engineering. The best-known standard is a guide to the business analysis body of knowledge version 3 (BABOK), created by the International Institute of Business Analysis. The article is aimed to identify the core business analysis cycle's central elements via network analysis and understand the main directions of the business analysis model development. The focus is set to dependencies of tasks, deliverables, and work products to highlight the core activities and artifacts of the BABOK. The influences and linkage tasks and artifacts significantly impact pre-project analysis, requirement analysis, and business solution evaluation. This work allows rethinking the scope of business analysis by creating a conceptual model and defining the most influential business analysis tasks and artifacts that business analysts should concentrate on.

关键词： Couplings Analytical models Visualization Network analyzers Risk management Requirements engineering Task analysis

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An Enhanced Randomly Initialized Convolutional Neural Network for Columnar Cactus Recognition in Unmanned Aerial Vehicle imagery

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Procedia computer science 2021年 192卷 573-581页

作者： Safa Ben Atitallah Maha Driss Wadii Boulila Anis Koubaa Nesrine Atitallah Henda Ben Ghézala RIADI Laboratory National School of Computer Sciences University of Manouba Tunisia IS Department College of Computer Science and Engineering Taibah University Saudi Arabia Robotics and Internet-of-Things Laboratory Prince Sultan University Saudi Arabia Faculty of Computer Studies Arab Open University Saudi Arabia CES Laboratory National Engineering School of Sfax University of Sfax Tunisia

Recently, Convolutional Neural Networks (CNNs) have made a great performance for remote sensing image classification. Plant recognition using CNNs is one of the active deep learning research topics due to its added-value in different related fields, especially environmental conservation and natural areas preservation. Automatic recognition of plants in protected areas helps in the surveillance process of these zones and ensures the sustainability of their ecosystems. In this work, we propose an Enhanced Randomly Initialized Convolutional Neural Network (ERI-CNN) for the recognition of columnar cactus, which is an endemic plant that exists in the Tehuacán-Cuicatlán Valley in southeastern Mexico. We used a public dataset created by a group of researchers that consists of more than 20000 remote sensing images. The experimental results confirm the effectiveness of the proposed model compared to other models reported in the literature like InceptionV3 and the modified LeNet-5 CNN. Our ERI-CNN provides 98% of accuracy, 97% of precision, 97% of recall, 97.5% as f1-score, and 0.056 loss.

关键词： Convolutional neural networks Weight initialization Randomization Remote sensing images Recognition Columnar cactus

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