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

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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A Robotic Framework for the Robot@Factory 4.0 Competition

A Robotic Framework for the Robot@Factory 4.0 Competition

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

作者： Ricardo B. Sousa Cláudia D. Rocha João G. Martins João Pedro Costa João Tomás Padrão José Maria Sarmento José Pedro Carvalho Maria S. Lopes Paulo G. Costa António Paulo Moreira Faculty of Engineering University of Porto (FEUP) Porto Portugal CRIIS - Centre for Robotics in Industry and Intelligent Systems INESC TEC - Institute for Systems and Computer Engineering Technology and Science Porto Portugal University of Trás-os-Montes and Alto Douro (UTAD) Vila Real Portugal C2SR - Cyber-Physical Control Systems and Robotics SYSTEC - Research Center for Systems and Technologies Porto Portugal

ISBN: (数字)9798350352344

ISBN: (纸本)9798350352351

Robotic competitions stand as platforms to propel the forefront of robotics research while nurturing STEM education, serving as hubs of both applied research and scientific innovation. In Portugal, the Portuguese robotics Open (FNR) is an event with several robotic competitions, including the Robot@Factory 4.0 competition. This competition presents an example of deploying autonomous robots on a factory shop floor. Although the literature has works proposing frameworks for the original version of the Robot@Factory competition, none of them proposes a system framework for the Robot@Factory 4.0 version that presents the hardware, firmware, and software to complete the competition and achieve autonomous navigation. This paper proposes a complete robotic framework for the Robot@Factory 4.0 competition that is modular and open-access, enabling future participants to use and improve it in future editions. This work is the culmination of all the knowledge acquired by winning the 2022 and 2023 editions of the competition.

关键词： Technological innovation Education Propulsion Production facilities Software Hardware Autonomous robots

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Comparison of Synchronous Reluctance Machine and Permanent Magnet-Assisted Synchronous Reluctance Machine Performance Characteristics 27

Comparison of Synchronous Reluctance Machine and Permanent M...

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27th International Workshop on Electric Drives: MPEI Department of Electric Drives 90th Anniversary, IWED 2020

作者： Heidari, Hamidreza Andriushchenko, Ekaterina Rassolkin, Anton Kallaste, Ants Vaimann, Toomas Demidova, Galina L. Tallinn University of Technology Department of Electrical Power Engineering and Mechatronics Tallinn Estonia ITMO University Faculty of Control Systems and Robotics St. Petersburg Russia

ISBN: (纸本)9781728141589

Since the dominant induction machines and permanent magnet synchronous machines are well-established in the industry, the reluctance machines require more research work and investigation to substitute the conventional technologies. This paper analyzes the synchronous reluctance machines and permanent magnet-Assisted synchronous reluctance machines in terms of the effect of permanent magnets in the model and the performance characteristic of the machines. The machines are designed and the parameters are measured. The vector diagrams of the machines and the equivalent circuits of the machines are analyzed. A comparison of the machines in terms of power factor, efficiency, and torque of the machines is provided based on the measurements. The study presents a notable improvement in power factor and efficiency in the case of inserting permanent magnets in the synchronous reluctance machine's rotor. © 2020 IEEE.

关键词： Permanent magnets

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Parameter Estimation of Some Special Classes of Dynamical Nonlinear systems with Non-Separable Nonlinear Parameterizations

Parameter Estimation of Some Special Classes of Dynamical No...

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IEEE Conference on Decision and control

作者： Romeo Ortega Alexey Bobtsov Ramon Costa-Castelló Nikolay Nikolaev Anton Pyrkin Departamento Académico de Sistemas Digitales ITAM Ciudad de México México Department of Control Systems and Robotics ITMO University Saint-Petersburg Russia Universitat Politècnica de Catalunya (UPC) Spain

In this paper we address the challenging problem of designing globally convergent estimators for the parameters of nonlinear systems containing a non-separable exponential nonlinearity. This class of terms appears in many practical applications, and none of the existing parameter estimators is able to deal with them in an efficient way. The proposed estimation procedure is illustrated with two modern applications: fuel cells and human musculoskeletal dynamics. The procedure does not assume that the parameters live in known compact sets, that the nonlinearities satisfy some Lipschitzian properties, nor rely on injection of high-gain or the use of complex, computationally demanding methodologies. Instead, we propose to design a classical on-line estimator whose dynamics is described by an ordinary differential equation given in a compact precise form. A further contribution of the paper is the proof that parameter convergence is guaranteed with the extremely weak interval excitation requirement.

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Simulation of Wind Turbine Vibrations 27

Simulation of Wind Turbine Vibrations

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27th International Workshop on Electric Drives: MPEI Department of Electric Drives 90th Anniversary, IWED 2020

作者： Andriushchenko, Ekaterina Kallaste, Ants Vaimann, Toomas Rassolkin, Anton Heidari, Hamidreza Demidova, Galina L. Tallinn University of Technology Department of Electrical Power Engineering and Mechatronics Tallinn Estonia ITMO University Faculty of Control Systems and Robotics St. Petersburg Russia

ISBN: (纸本)9781728141589

In recent years, there has been an increasing interest in renewable energy. Particularly, wind energy is gaining more and more popularity in many countries. However, the main obstacles to wind turbines usage are the vibration and noise close to wind farms. Therefore, this paper is focused on developing a new method for mathematical simulation of vibrations of a wind turbine in order to find out and reduce the vibration level. Particularly, low-frequency vibration of a wind turbine, composed of a tower and rotor in the out-of-balance condition is considered. The proposed method of vibration simulation is based on the theory of elastic beams and the general vibration theory. The calculations are made for a wind turbine VTR 50 Arctic. The results of the calculations are the displacement of the tower top and the stress at the tower foundation. Furthermore, it is worth emphasizing that the method is quite flexible. It allows adding complexity into the system, for instance, external loads such as wind pressure, aerodynamic loads, seismic loads or operational loads. © 2020 IEEE.

关键词： Wind power

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Modem mechatronics and robotics education program: Border cooperation between estonia and Russia 11

Modem mechatronics and robotics education program: Border co...

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11th IEEE Global Engineering Education Conference, EDUCON 2020

作者： Rassolkin, Anton Vaimann, Toomas Kudelina, Karolina Demidova, Galina L. Lukichev, Dmitry V. Perepelkina, Svetlana Tallinn University of Technology Department of Electrical Power Engineering and Mechatronics Tallinn Estonia Itmo University Faculty of Control Systems and Robotics St. Petersburg Russia

ISBN: (纸本)9781728109305

The paper describes the interaction between Tallinn university of Technology (TalTech, Tallinn, Estonia) and itmo university (St. Petersburg, Russia) based on recently signed agreement. The purpose of the agreement is to record the intention of TalTech and itmo university to cooperate on implementing a double master's degree program, which involves confirmation of the master's educational level absorption and the award of master's degree and obtention of two diplomas, and to outline the organizational form, principles and terms of the implementation. The double degree Program is a two-year Master's program of 120 ECTS credit points. Its structure and content meets the requirements that both TalTech and itmo university have established for their master's programs, in accordance with the government standards. Development and approval of the double degree Program is held by the Parties in accordance with the procedures established by them. This paper describes the procedure of implementation of a double-degree master program in mechatronics engineering. © 2020 IEEE.

关键词： Engineering education

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Parameter Estimation and Adaptive control of Euler-Lagrange systems Using the Power Balance Equation Parameterization

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IFAC-PapersOnLine 2021年第19期54卷 119-124页

作者： J.G. Romero R. Ortega A.A. Bobtsov Departamento Académico de Sistemas Digitales ITAM Ciudad de México México Faculty of Control Systems and Robotics ITMO University Saint Petersburg Russia

It is widely recognized that the existing parameter estimators and adaptive controllers for robot manipulators are extremely complicated to be of practical use. This is mainly due to the fact that the existing parameterization includes the complicated signal and parameter relations introduced by the Coriolis and centrifugal forces matrix. In an insightful remark of their seminal paper Slotine and Li suggested to use the parameterization of the power balance equation, which avoids these terms—yielding significantly simpler *** the best of our knowledge, such an approach was never actually pursued, mainly because the excitation requirements for the consistent estimation of the parameters is “very high". In this paper we use a recent technique of generation of “exciting" regressors developed by the authors to overcome this fundamental problem. The result is applied to general Euler-Lagrange systems and the fundamental advantages of the new parameterization are illustrated with comprehensive simulations of a 2 degrees-of-freedom robot manipulator.

关键词： Adaptive control systems identification Euler-Lagrange systems

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Main Faults and Diagnostic Possibilities of BLDC Motors 27

Main Faults and Diagnostic Possibilities of BLDC Motors

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27th International Workshop on Electric Drives: MPEI Department of Electric Drives 90th Anniversary, IWED 2020

作者： Kudelina, Karolina Asad, Bilal Vaimann, Toomas Rassolkin, Anton Kallaste, Ants Lukichev, Dmitri V. Tallinn University of Technology Department of Electrical Power Engineering and Mechatronics Tallinn Estonia ITMO University Faculty of Control Systems and Robotics St. Petersburg Russia

ISBN: (纸本)9781728141589

This paper presents the main faults of brushless DC motors and their diagnostic possibilities. Due to the popularity gain of such devices in the past decade, the maintenance and diagnostic of such machines is getting more important. As the machines are used in various applications, they are often critical parts of devices. Due to this, the unexpected failures of such machines are undesired and are to be avoided. The main faults of the machines are listed, some possibilities of their monitoring and diagnostics have been addressed. The necessity of further study has been pointed out. © 2020 IEEE.

关键词： Brushless DC motors

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Signal Source Prediction and Localization for Quadrotors with Non-Directional Antennas

Signal Source Prediction and Localization for Quadrotors wit...

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第32届中国过程控制会议(CPCC2021)

作者： Weiyu Lin Ke Yin Botao Zhang Qiang Lu Sergey A.Chepinskiy Anton A.Zhilenkov School of Automation Hangzhou Dianzi University Faculty of Control Systems and Robotics ITMO University Institute of Hydrodynamics and Control Processes Saint-Petersburg State Marine Technical University

This paper deals with the problem of signal source localization for quadrotors with non-directional ***,the detected signal strength data is used to train the Gaussian process,which can provide the possible locations of signal *** to using the non-directional antenna,the predicted positions of signal sources may appear in any directions such that the quadorots waste searching time to adjudge the movement *** solve this issue and reduce the computational burden,the circle with the radius from the position of the quadrotor to the position of the predicted signal source is drawn in the initial searching *** a given time interval,all the intersections of the drawn circles based on idea of K-nearest neighbor algorithm are used to estimate the locations of signal ***,receding horizon control(RHC) approach is used to enable the quadrotor to move toward the probable position of signal ***,simulation results show the effectiveness of the proposed approach for the problem of signal source localization.

关键词： Source seeking Quadrotors Gaussian process Receding horizon control

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Comparison Study on Event-Triggered Mechanism for Nonlinear Multi-Agent systems with Fixed-Time controller

Comparison Study on Event-Triggered Mechanism for Nonlinear ...

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第32届中国过程控制会议(CPCC2021)

作者： Xudong Tao Ke Yin Botao Zhang Qiang Lu Sergey A.Chepinskiy Anton A.Zhilenkov School of Automation Hangzhou Dianzi University Faculty of Control Systems and Robotics ITMO University Institute of Hydrodynamics and Control Processes Saint-Petersburg State Marine Technical University

Our previous studies show that,after consensus is arrived,Zeno behaviors still occur for the multi-agent systems with static event-triggered mechanism and the fixed-time ***,event-triggering performance also descends for the multi-agent systems with nonlinear *** paper proposes a dynamical event-triggered mechanism and gives a comparison study of event-triggered mechanism for the multi-agent systems with the nonlinear dynamics under the fixed-time *** results shows that the better results can be obtain by using the proposed dynamical event-triggered mechanism for the nonlinear multi-agent systems with the fixed-time controller.

关键词： Static event-triggered mechanism dynamical event-triggered mechanism multi-agent systems fixed-time control

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