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Comparative study of feedback linearization control for IM taking into account magnetic saturation effects

e-Prime - Advances in Electrical engineering, Electronics and Energy 2025年 12卷

作者： Es-Semyhy, Mustapha Ba-Razzouk, Abdellfattah El haroussi, Mustapha Hilali, Abdelilah Mathematics Computer and Engineering Sciences Laboratory Systems Analysis and Information Processing Team Faculty of Science and Technology Hassan 1st University Settat Morocco Faculty of Sciences Moulay Ismail University Meknes 11201 Morocco

This study examines how the nonlinear characteristics of the magnetic core, where the magnetic material in an induction machine (IM) exhibits a nonlinear relationship between magnetizing current and resulting flux, affect the performance of control systems. In typical IM operation, these nonlinearities lead to noticeable changes in inductance values, complicating accurate flux estimation. To address this, we develop a nonlinear observer (NLO) that explicitly incorporates the effects of the magnetic core's nonlinearity for rotor flux estimation. The observer gain is designed using a Lyapunov stability framework to ensure exponential convergence of the estimation error under varying flux conditions. This approach is compared with a conventional full-order Luenberger observer (LO) that assumes a simple, linear magnetization characteristic. Within the FOC framework, two feedback linearization strategies are evaluated. The FL sat takes into account the non-linear variations in machine inductances caused by saturation, enabling a more accurate representation of IM dynamics. However, this approach is more complex to calculate because of the nonlinear terms. The FL unsat simplifies control design by neglecting the effects of magnetic saturation, thus reducing computational requirements. Despite its simplified structure, FL unsat delivers comparable performance over the nominal speed and flux operating range. The results highlight a trade-off between dynamic modeling fidelity and control accuracy, offering valuable insights for the design of controllers and observers for IM. While FL sat is well suited to scenarios requiring high accuracy and dynamic tracking, FL unsat emerges as a pragmatic alternative for applications favoring simplicity and real-time implementation. Quantitative measurements further support these results: under constant resistances, the proposed NLO achieves an absolute integral error (IAE) of 0.0133 in rotor magnetization current tracking compared to 1.0

关键词： Feedback linearization control (FLC) Induction machines (IM) Luenberger observer (LO) Magnetic saturation Nonlinear observer (NLO) Resistance variation Rotor flux estimation

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Virtual Reality-Based Teleoperation System for Robot Forklifts

Virtual Reality-Based Teleoperation System for Robot Forklif...

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IEEE International Conference on Autonomous Robot systems and Competitions (ICARSC)

作者： Manuel B. Couto Marcelo R. Petry Abel Mendes Manuel F. Silva CRIIS - Centre for Robotics in Industry and Intelligent Systems INESC TEC - Institute for Systems and Computer Engineering Technology and Science Porto Portugal FEUP - Faculty of Engineering University of Porto Porto Portugal Flowbotic Coimbra Portugal ISEP - Instituto Superior de Engenharia do Porto Instituto Politécnico do Porto Porto Portugal

ISBN: (数字)9798331538606

ISBN: (纸本)9798331538613

The growing reliance on e-commerce and the demand for efficient intralogistics operations have increased the need for automation, while labour shortages continue to pose significant challenges. When combined with the inherent risks of forklift operation, this circumstance prompted businesses to look for robotic solutions for intralogistics tasks. However, robots are still limited when they come across situations that are outside of their programming scope and often need assistance from humans. To achieve the long-term goal of enhancing intralogistics operation, we propose the development of a virtual reality-based teleoperation system that allows remote operation of robot forklifts with minimal latency. Considering the specificities of the teleoperation process and network dynamics, we conduct detailed modelling to analyse latency factors, optimise system performance, and ensure a seamless user experience. Experimental results on a mobile robot have shown that the proposed teleoperation system achieves an average glass-to-glass latency of 368 ms, with capturing latency contributing to approximately 60% of the total delay. The results also indicate that network os-cillations significantly impact image quality and user experience, emphasising the importance of a stable network infrastructure.

关键词： Radio frequency Visualization 5G mobile communication System performance Robot vision systems Virtual reality Cameras User experience Wireless fidelity Testing

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Integrated RFID System for Intralogistics Operations with Industrial Mobile Robots

Integrated RFID System for Intralogistics Operations with In...

引用

IEEE International Conference on Autonomous Robot systems and Competitions (ICARSC)

作者： Fábio Daniel Pacheco Paulo M. Rebelo Ricardo B. Sousa Manuel F. Silva Hélio S. Mendonça INESC TEC - Institute for Systems and Computer Engineering Technology and Science Porto Portugal ISEP Polytechnic of Porto Porto Portugal University of Trás-os-Montes and Alto Douro (UTAD) Vila Real Portugal Faculty of Engineering University of Porto (FEUP) Porto Portugal

ISBN: (数字)9798331538606

ISBN: (纸本)9798331538613

Radio-Frequency IDentification (RFID) technologies automate the identification of objects and persons, having several applications in retail, manufacturing, and intralogistics sectors. Several works explore the application of RFID systems in robotics and intralogistics, focusing on locating robots, tags, and inventory management. This paper addresses the challenge of intralogistics cargo trolleys communicating their characteristics to an autonomous mobile robot through an RFID system. The robot must know the trolley's relative pose to avoid collisions with the surroundings. As a result, the passive tag on the cargo communicates information to the robot, including the base footprint of the trolley. The proposed RFID system includes the development of a controller board to interact with the frontend integrated circuit of an external antenna onboard the industrial mobile robot. Experimental results assess the system's readability distance in two distinct environments and with two different antenna modules. All the code and documentation are available in a public repository.

关键词： Wireless communication Wireless sensor networks Service robots Robot sensing systems Sensors Mobile robots Object recognition Collision avoidance Radiofrequency identification Autonomous robots

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Vehicle type recognition based on audio data 58

Vehicle type recognition based on audio data

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58th Hawaii International Conference on System sciences, HICSS 2025

作者： Kobiela, Dariusz Hajdasz, Michał Erezman, Mateusz Nurzyńska, Karolina Zaporowski, Szymon Kurowski, Adam Weichbroth, Paweł Department of Software Engineering Faculty of Electronics Telecommunication and Informatics Gdańsk University of Technology Gabriela Narutowicza 11/12 Gdańsk 80-233 Poland Department of Multimedia Systems Faculty of Electronics Telecommunication and Informatics Gdańsk University of Technology Gabriela Narutowicza 11/12 Gdańsk 80-233 Poland Department of Algorithmics and Software Faculty of Automatic Control Electronics and Computer Science Silesian University of Technology Akademicka 16 Gliwice 44-100 Poland

ISBN: (纸本)9780998133188

Identifying different vehicle types can help manage traffic more efficiently, reduce congestion, and improve public safety. This study aims to create a classification model that can recognize vehicle types based on the sound of passing vehicles. To achieve this, a database of raw audio files containing 1763 samples from two sources was assembled. The time-domain signals were converted to a time-frequency representation using the short-time Fourier transform to generate Mel Spectrograms. Mel-frequency Cepstral Coefficients (MFCCs) were also generated using the discrete cosine transform. In our experiments we compared these approaches. Since the data was imbalanced we applied online augmentation. Based on the literature review, we chose a Convolutional Neural Network (CNN) classifier because it is particularly well suited for analyzing large datasets due to its automatic feature extraction, parameter sharing and sparsity. The results showed that Mel Spectrograms were more effective for audio data preprocessing in this particular use case, achieving the highest accuracy of 0.875 and the highest f1-score of 0.877 compared to MFCCs. © 2025 IEEE computer Society. All rights reserved.

关键词： acoustics mel-frequency cepstral coefficient mfcc sound spectrogram vehicle type detection vehicle type recognition

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Oral cavity carcinoma detection using BAT algorithm-optimized machine learning models with transfer learning and random sampling

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computers in Biology and Medicine 2025年第Pt B期192卷 110250-110250页

作者： Folorunso, Sakinat O. Abdulwarith, Akinshipo Adeniyi, Abidemi Emmanuel Aworinde, Halleluyah Oluwatobi Awotunde, Joseph Bamidele Artificial Intelligence Systems Research Group Department of Computer Science Olabisi Onabanjo University Ago-Iwoye Nigeria Department of Oral and Maxillofacial Pathology and Biology Faculty of Dentistry University of Lagos Lagos Nigeria Department of Computer Science College of Computing and Communication Studies Bowen University Iwo Nigeria Chitkara University Institute of Engineering and Technology Chitkara University Punjab India MIVA Open University Abuja Nigeria Department of Information Technology Durban University of Technology KZ Durban South Africa Department of Computer Science Faculty of Communication and Information Sciences University of Ilorin Nigeria

Background: Oral cavity carcinoma remains a major public health concern, where early and accurate detection is vital for improving patient outcomes and survival rates. Current diagnostic systems often face challenges such as limited feature selection capabilities, imbalanced datasets, and computational inefficiencies. Methods: This study proposes a novel diagnostic framework TR-ROS-BAT-ML that integrates transfer learning, random sampling, and a BAT algorithm-based optimization strategy with ensemble machine learning classifiers. A dataset comprising 1224 hematoxylin and eosin (H&E)-stained histological images (at 100x and 400x magnifications) of normal oral epithelium and Oral Squamous Cell Carcinoma (OSCC) was collected from 230 patients using a Leica ICC50 HD microscopy camera. Pre-trained deep learning models (NANSNetLarge, EfficientNetB7, EfficientNetV2L, EfficientNetV2S, EfficientNetV2M) were employed for feature extraction. To address class imbalance, random oversampling techniques were applied. The BAT algorithm, inspired by bat echolocation behavior, was used for feature selection and hyperparameter tuning. Optimized features were classified using ensemble methods, including XGBoost, AdaBoost, Extra Trees (ET), Histogram-Based Gradient Boosting (HBGC), and MultiLayer Perceptron (MLP). Results: The proposed approach achieved high diagnostic performance across multiple model combinations. The best performance was recorded with the optimized ET model using random oversampling, achieving a recall of 0.992, demonstrating its efficacy in detecting oral lesions. In contrast, the combination of EfficientNetV2S + ROS + MLP yielded the lowest accuracy at 50.8 %. These results confirm the robustness of the TR-ROS-BAT-ML framework in handling imbalanced datasets and optimizing classification performance. Conclusions: This study demonstrates the effectiveness of combining nature-inspired optimization, transfer learning, and ensemble machine learning for enhanced detecti

关键词： Adaptive boosting

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Time Series Forecasting of Natural Inflow in Hydroelectric Power Plants Using Hyper-Tuned Temporal Fusion Transformer With Hodrick–Prescott Filter

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IET Generation, Transmission and Distribution 2025年第1期19卷

作者： Muniz, Rafael Ninno Buratto, William Gouvêa Nied, Ademir Cardoso, Rodolfo Finardi, Erlon Cristian Gonzalez, Gabriel Villarrubia Rio das Ostras Brazil Joinville Brazil Florianópolis Brazil Institute of Systems and Computer Engineering INESC R&D Brazil Santos Brazil Expert Systems and Applications Lab Faculty of Science University of Salamanca Salamanca Spain

The scheduling of the operation of the electricity system in Brazil is based on multi-criteria optimization that takes into account the forecast of the level of the dams of the hydroelectric plants, this variation is evaluated by the soil moisture active passive model. Considering the advances in using deep learning to forecast time series variations, this paper proposes a hybrid method for forecasting dam level variations. In particular, the temporal fusion transformer (TFT) is used for prediction with the Hodrick–Prescott filter for denoising. To enhance the model's performance, its hyperparameters are optimized by the Optuna framework based on the tree-structured Parzen estimator. For benchmarking, the multilayer perceptron, long short-term memory, recurrent neural network (RNN), Dilated RNN, temporal convolutional neural, neural hierarchical interpolation for time series forecasting, deep non-parametric time series forecaster, and the standard TFT are considered. The results show that the proposed model can make predictions with high performance compared to other methods, being 29.12% better than the second-best model, and 59.22% better than the original TFT model for very short-term forecasting, making it a promising alternative to be used as additional information for planning the operation of the electrical power system. © 2025 The Author(s). IET Generation, Transmission & Distribution published by John Wiley & Sons Ltd on behalf of The Institution of engineering and Technology.

关键词： Long short-term memory

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An Energy-Aware RIoT System: Analysis, Modeling and Prediction in the SUPERIOT Framework

arXiv

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arXiv 2025年

作者： Bocus, Mohammud J. Häkkinen, Juha Fontes, Hélder Drzewiecki, Marcin Qiu, Senhui Eder, Kerstin Piechocki, Robert School of Computer Science University of Bristol Bristol United Kingdom Circuits and Systems Research Unit University of Oulu Oulu Finland MpicoSys Embedded Pico Systems Sp. z o. o. Gdynia Poland Faculty of Electrical and Control Engineering Gdańsk University of Technology Gdansk Poland INESC TEC Porto Portugal Faculty of Engineering University of Porto Porto Portugal

his paper presents a comprehensive analysis of the energy consumption characteristics of a Silicon (Si)-based Reconfigurable IoT (RIoT) node developed in the initial phase of the SUPERIOT project, focusing on key operating states, including Bluetooth Low Energy (BLE) communication, Narrow-Band Visible Light Communication (NBVLC), sensing, and E-ink display. Extensive measurements were conducted to establish a detailed energy profile, which serves as a benchmark for evaluating the effectiveness of subsequent optimizations and future node iterations. To minimize the energy consumption, multiple optimizations were implemented at both the software and hardware levels, achieving a reduction of over 60% in total energy usage through software modifications alone. Further improvements were realized by optimizing the E-ink display driving waveform and implementing a very low-power mode for non-communication activities. Based on the measured data, three measurement-based energy consumption models were developed to characterize the energy behavior of the node under: (i) normal, unoptimized operation, (ii) low-power, software-optimized operation, and (iii) very low-power, hardware-optimized operation. These models, validated with new measurement data, achieved an accuracy exceeding 97%, confirming their reliability for predicting energy consumption in diverse configurations. © 2025, CC BY.

关键词： Digital storage

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SDSFusion: A Semantic-Aware Infrared and Visible Image Fusion Network for Degraded Scenes

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IEEE transactions on image processing : a publication of the IEEE Signal Processing Society 2025年 PP卷 PP页

作者： Jun Chen Liling Yang Wei Yu Wenping Gong Zhanchuan Cai Jiayi Ma School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China Faculty of Engineering China University of Geosciences Wuhan China School of Computer Science and Engineering Macau University of Science and Technology Taipa Macau China Electronic Information School Wuhan University Wuhan China

A single-modal infrared or visible image offers limited representation in scenes with lighting degradation or extreme weather. We propose a multi-modal fusion framework, named SDSFusion, for all-day and all-weather infrared and visible image fusion. SDSFusion exploits the commonality in image processing to achieve enhancement, fusion, and semantic task interaction in a unified framework guided by semantic awareness and multi-scale features and losses. To address the disparity between infrared and visible images in degraded scenes, we differentiate modal features in a unified fusion model. Unlike existing joint fusion methods, we propose an adversarial generative network that refines the reconstruction of low-light images by embedding fused features. It provides feature-level brightness supplementation and image reconstruction to refine brightness and contrast. Extensive experiments in degraded scenes confirm that our approach is superior to state-of-the-art approaches in visual quality and performance, demonstrating the effectiveness of interaction improvement. The code will be posted at: https://***/Liling-yang/SDSFusion.

关键词： Degradation Image fusion Semantics Training Visualization Meteorology Feature extraction Lighting Image segmentation Brightness

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TELEX: Two-Level Learned Index for Rich Queries on Enclave-based Blockchain systems

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IEEE Transactions on Knowledge and Data engineering 2025年

作者： Wu, Haotian Tang, Yuzhe Shen, Zhaoyan Tao, Jun Lin, Chenhao Peng, Zhe The Hong Kong Polytechnic University Department of Industrial and Systems Engineering Hong Kong Syracuse University Department of Electrical Engineering and Computer Science United States Shandong University School of Computer Science and Technology China Southeast University School of Cyber Science and Engineering China Xi'an Jiaotong University Faculty of Electronic and Information Engineering China The Hong Kong Polytechnic University Shenzhen Research Institute Hong Kong

Blockchain has become a popular paradigm for secure and immutable data storage. Despite its numerous applications across various fields, concerns regarding the user privacy and result integrity during data queries persist. Additionally, the need for rich query functionalities to harness the full potential of blockchain data remains an area ripe for exploration. In order to address these challenges, our paper first utilizes a framework based on the Trusted Execution Environment (TEE) and oblivious RAM technique to achieve both privacy and data integrity. To enhance the query efficiency over the entire blockchain, we then devise a two-level learned indexing methodology named TELEX within the TEE for both integer and string keys. We also propose different query processing algorithms for versatile query types, including exact queries, aggregate queries, Boolean queries, and range queries. By implementing the prototype and conducting extensive evaluation, we demonstrate the feasibility and remarkable improvement in efficiency compared to existing solutions. © 1989-2012 IEEE.

关键词： Query languages

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Hierarchical Continual Learning for Domain-Knowledge Retention in Healthcare Federated Learning

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IEEE Transactions on Consumer Electronics 2025年

作者： Iqbal, Saeed Zhong, Xiaopin Khan, Muhammad Attique Wu, Zongze AlHammadi, Dina Abdulaziz Liu, Weixiang Choudhry, Imran Arshad Shenzhen University College of Mechatronics and Control Engineering Shenzhen518060 China Prince Mohammad Bin Fahd University Department of AI Alkhobar Saudi Arabia Princess Nourah bint Abdulrahman University College of Computer and Information Sciences Department of Information Systems Riyadh11671 Saudi Arabia University of Central Punjab Faculty of Information Technology and Computer Science Department of Software Engineering Lahore Pakistan

Internet of Medical Things (IoMT) applications encounter issues with data protection, continual adaptation, and domain-specific knowledge retention, especially in consumer-centric IoMT scenarios. We overcome these obstacles and facilitate effective knowledge retention and task adaptation in IoMT applications. This study attempts to create a unique privacy-preserving federated learning framework that combines a hierarchical learning structure with Continual Learning (CL). Despite the advancements in Federated Learning (FL), current models have trouble integrating changing datasets in real-time while protecting privacy, as well as catastrophic forgetting, which occurs when previously learned knowledge is lost when adjusting to new tasks. We present a hierarchical learning framework that makes use of three levels of models -Junior Model (JM), Consultant Model (CM), and Senior Consultant Model (SCM) -to overcome these drawbacks. Each level of the model aids in archived retention and domain-knowledge adaptation. To guarantee that the model maintains valuable information over time and adapts to new tasks with ease, our method blends domain adaptation strategies with ongoing learning approaches like knowledge distillation and elastic weight consolidation (EWC). We compare the suggested methodology with current state-of-the-art (SOTA) models on healthcare datasets for tasks like illness diagnosis and medical image categorization. According to our findings, the hierarchical continual learning model performs better than SOTA techniques in terms of accuracy, task adaptability, and privacy protection. In the healthcare industry, our study sets a new standard for privacy-preserving, continuously adaptable federated learning systems, allowing for real-time, scalable IoMT applications that can adapt dynamically to a variety of changing datasets. © 1975-2011 IEEE.

关键词： Patient treatment

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