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第42届中国控制会议

作者： Pengfei Liu Kun-Zhi Liu Dianfeng Zhang Shengli Du Academy of Control Science and Engineering Dalian University of Technology School of Mathematics and Informational Science Yantai University College of Automation Faculty of Information TechnologyBeijing University of Technology

A dynamic event-triggered transmission strategy is considered for the continuous-time distributed convex optimization algorithm over a strongly connected and weight-balanced directed *** auxiliary variable is introduced in the dynamic event-triggered control(DETC) that is free of Zeno *** model the DETC system into a hybrid *** Lyapunov stability theory,we give a detailed proof for convergence of the continuous-time distributed convex optimization ***,a numerical simulation shows that the DETC can effectively save network communication resources compared with a static event-triggered control(SETC).

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Augmented Reality Application in Digital automation Laboratory

Augmented Reality Application in Digital Automation Laborato...

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International Symposium on Electrical and Electronics engineering (ISEE)

作者： Nguyen Trong Khang Ngoc-Huy Tran Nguyen-Phuc-Quoc Phan Department of Control & Automation Faculty of Electrical & Electronics Engineering Ho Chi Minh City University of Technology (HCMUT) VNU-HCM Ho Chi Minh City Vietnam

Traditional automation engineering education using physical training equipment while quite effective, suffers from several limitations in the case there is no equipment access, which can be due to many reasons such as social distancing or financial difficulties. This article proposes a solution to overcome these limitations with the combinational use of mixed reality (MR), which helps the student get used to training equipment they have no access to, and augmented reality (AR), which brings intuitive visualization into real equipment practice.

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Multilingual Transliteration based Urdu Chatbot using Rasa Framework

Multilingual Transliteration based Urdu Chatbot using Rasa F...

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International Conference on Open Source Systems and Technologies (ICOSST)

作者： Hira Mohiuddin Bakhtiar Kasi Anayat Ullah Control Automotive and Robotics Lab National Center of Robotics and Automation Rawalpindi Pakistan Faculty of Information and Communication Technology Balochistan University of IT Engineering and Management Sciences Quetta Pakistan

Chatbots, which emulate human conversation, are meeting the rising demand for efficient customer service by reducing the need for manual intervention and alleviating the challenges of timeconsuming human interactions. This paper introduces Ubot, a domain-specific chatbot fluent in both Urdu and English transliteration, designed to reduce the need for human intervention and lower service costs. We address the challenge of low-resource languages by creating a dataset comprising 750 utterances, 28 intents, and 45 entities, validated by 36 participants. Ubot, powered by the Rasa framework, achieves remarkable accuracy in intent detection 94.1% and entity extraction 95.4%, offering efficient multilingual conversational AI solutions. Our approach holds promise for similar script-sharing languages such as Persian and Arabic, contributing to advanced language applications and intelligent virtual assistants.

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Tiny noise, big mistakes: adversarial perturbations induce errors in brain–computer interface spellers

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National Science Review 2021年第4期8卷 78-90页

作者： Xiao Zhang Dongrui Wu Lieyun Ding Hanbin Luo Chin-Teng Lin Tzyy-Ping Jung Ricardo Chavarriaga Ministry of Education Key Laboratory of Image Processing and Intelligent Control School of Artificial Intelligence and AutomationHuazhong University of Science and Technology School of Civil Engineering and Mechanics Huazhong University of Science and Technology Centre of Artificial Intelligence Faculty of Engineering and Information Technology University of Technology Sydney Swartz Center for Computational Neuroscience Institute for Neural ComputationUniversity of California San Diego Center for Advanced Neurological Engineering Institute of Engineering in Medicine University of California San Diego ZHAW Data Lab Zürich University of Applied Sciences

An electroencephalogram(EEG)-based brain–computer interface(BCI) speller allows a user to input text to a computer by thought. It is particularly useful to severely disabled individuals, e.g. amyotrophic lateral sclerosis patients, who have no other effective means of communication with another person or a *** studies so far focused on making EEG-based BCI spellers faster and more reliable; however, few have considered their security. This study, for the first time, shows that P300 and steady-state visual evoked potential BCI spellers are very vulnerable, i.e. they can be severely attacked by adversarial perturbations,which are too tiny to be noticed when added to EEG signals, but can mislead the spellers to spell anything the attacker wants. The consequence could range from merely user frustration to severe misdiagnosis in clinical applications. We hope our research can attract more attention to the security of EEG-based BCI spellers, and more broadly, EEG-based BCIs, which has received little attention before.

关键词： electroencephalogram brain-computer interfaces BCI spellers adversarial examples

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Simulation analysis of erosion characteristics of slurry pipelines based on CFD-DDPM pipeline parameters

Simulation analysis of erosion characteristics of slurry pip...

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第43届中国控制会议

作者： Haoran Yuan Jiande Wu Xin Xiong Faculty of Information Engineering and Automation Kunming University of Science and Technology Yunnan Key Laboratory of Intelligent Systems and Computing Yunnan University Yunnan Key Laboratory of Intelligent Control and Application Kunming University of Science and Technology

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

In order to explore the impact of pipe diameter, bend-diameter ratio and bend angle on the erosion of slurry pipe, a numerical simulation method approach grounded in Computational Fluid Dynamics-Dense Discrete Phase Model(CFD-DDPM)is proposed. Firstly, the geometric models of bends with different pipe diameters, bend-diameter ratios, and bend angles are constructed;secondly, the slurry pipe erosion model based on Dense Discrete Phase Model(DDPM) is constructed;then, model validation is conducted on the slurry pipe erosion model to affirm the accuracy of the model;finally, the computational fluid dynamics method is employed to simulate the erosion and wear behavior of the pipeline, to investigate the impact of pipe diameter, bend-diameter ratio and bend angle on the erosion and wear of the slurry pipeline. At the same time, gray correlation analysis was also used to analyze the significant relationship between the three pipeline factors and erosion and wear. The results show that the main erosion area is not determined, with the change of the pipeline parameters, the most serious erosion area will move;the effect of different pipeline parameter variations on the erosion rate is different, in which the pipe diameter of the largest impact, the second largest bend-diameter ratio, the smallest impact of the bend angle. Therefore, in the design of slurry pipeline, should first consider the influence of pipe diameter factors.

关键词： Slurry pipeline Erosion wear Numerical simulation Computational Fluid Dynamics

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Sensor Fusion for Glucose Monitoring Systems

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IFAC-PapersOnLine 2023年第2期56卷 11527-11532页

作者： Mohamad Al Ahdab Karim Davari Benam Hasti Khoshamadi Anders Lyngvi Fougner Sebastien Gros Section of Automation and Control Department of Electronic Systems Aalborg University Aalborg Øst Denmark Department of Engineering Cybernetics Faculty of Information Technology and Electrical Engineering Norwegian University of Science and Technology (NTNU) O. S. Bragstads Plass 2D 7034 Trondheim Norway

A fully automated artificial pancreas (AP) requires accurate blood glucose (BG) readings. However, many factors can affect the accuracy of commercially available sensors. These factors include sensor artifacts due to the pressure on surrounding tissues, connection loss, and poor calibration. The AP may administer an incorrect insulin bolus due to inaccurate sensor data when the patient is not supervising the system. The situation can be even worse in animal experiments because animals are eager to play with the sensor and apply pressure. In this study, we propose and derive a Multi-Model Kalman Filter with Forgetting Factor (MMKFF) for the problem of fusing information from redundant subcutaneous glucose sensors. The performance of the developed MMKFF was assessed by comparing it against other Kalman Filter (KF) strategies on experimental data obtained in two different animals. The developed MMKFF was shown to provide a reliable fused glucose reading. Additionally, compared to the other KF approaches, the MMKFF was shown to be better able to adjust to changes in the accuracy of the glucose sensors.

关键词： Developments in measurement signal processing Diabetes

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Enhancing Precision Agriculture Through Human-in-the-Loop Planning and control

Enhancing Precision Agriculture Through Human-in-the-Loop Pl...

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IEEE International Conference on automation Science and engineering (CASE)

作者： Shankar A. Deka Sujet Phodapol Andreu Matoses Gimenez Victor Nan Fernandez-Ayala Rufus Wong Pian Yu Xiao Tan Dimos V. Dimarogonas Department of Electrical Engineering and Automation School of Electrical Engineering Aalto University Espoo Finland Division of Decision and Control Systems School of EECS Royal Institute of Technology (KTH) Stockholm Sweden Department of Cognitive Robotics Faculty of Mechanical Engineering TU Delft Delft Netherlands Department of Computer Science University of Oxford Oxford UK

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

In this paper, we introduce a ROS based framework designed for the planning and control of robotic systems within the context of precision agriculture, with an emphasis on human-in-the-loop capabilities. Utilizing Linear Temporal Logic to articulate complex task specifications, our algorithm creates high-level robotic plans that are not only correct by design but also adaptable in real time by human operators. This dual-focus approach ensures that while humans have the flexibility to modify the high-level plan on-the-fly or even take over low-level control of the robots, the system inherently safeguards against any human actions that could potentially breach the predefined task specifications. We demonstrate our algorithm within the dynamic and challenging environment of a real vineyard, where the collaboration between human workers and robots is critical for tasks such as harvesting and pruning, and show the practical applicability and robustness of our software. This work marks a pioneering application of formal methods to complex, real-world agricultural environments.

关键词： Precision agriculture Heuristic algorithms Software algorithms Robustness Human in the loop Software Real-time systems Planning Robots Multi-agent systems

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High Step-down Converters for Battery Charging in Photovoltaic Applications 35

High Step-down Converters for Battery Charging in Photovolta...

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35th International Conference on Power Electronics and Electrical Drives, EDPE 2021

作者： Malović, Zvonimir Vuger, Nikola Šunde, Viktor Ban, Željko Department of Electric Machines Drives and Automation University of Zagreb Faculty of Electrical Engineering and Computing Zagreb Croatia Department of Control and Computer Engineering University of Zagreb Faculty of Electrical Engineering and Computing Zagreb Croatia

This paper describes non-isolated high step-down converters used to connect photovoltaic modules to the battery storage of a bicycle charging station. Due to the high voltage difference between input and output, some problems may occur with conventional non-isolated DC-DC buck converters. The characteristics of alternative topologies of high step-down converters have been explored. Ideal converter models were created in the PLECS simulation software package based on which the voltage and current stress of the semiconductor switches were determined. Based on measured voltage and current relations, commercial switches were selected. Based on catalogue data, electro-thermal models of the switches were created. A comparative analysis of converters based on conduction and switching losses was performed. Converters were also compared based on the number of components and complexity of control. ©2021 IEEE.

关键词： Batteries Conduction losses Duty cycle Photovoltaic module Step-down converters Switching losses

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Information Presentation Strategies to Promote Pedestrian Behavior Change in Mixed Spaces with Automated Vehicle

Information Presentation Strategies to Promote Pedestrian Be...

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IEEE/SICE International Symposium on System Integration

作者： Yuki Nishiura Hiroyuki Yamada Ryo Kurazume Graduate School of Information Science and Electrical Engineering Kyushu University Japan Autonomous Control Research Department Center for Sustainability - Connective Automation Hitachi Ltd. Research and Development Group Ibaraki Japan Faculty of Information Science and Electrical Engineering Kyushu University Fukuoka Japan

This paper introduces an information presentation strategy for pedestrians, aiming to enhance traffic efficiency in a mixed pedestrian-automated vehicle environment, such as a public road. While automated driving technology has made remarkable progress, interactions with pedestrians on regular roads have mostly been studied in virtual environments using virtual reality goggles. According to these studies, potential traffic efficiency and safety issues arise from pedestrians' limited understanding of automated vehicle behavior. To address this, we propose a human-machine interface employing a head-mounted display (HMD) to mitigate traffic efficiency degradation caused by pedestrians. The proposed system draws upon behavioral economics principles to encourage pedestrians to modify their behavior and develop better interactions with automated vehicles. Simulations were conducted to identify an information presentation strategy that strongly supports learning, and its effectiveness was further validated through experiments involving a real vehicle. Notably, the experimental results confirmed that the information presentation strategies proven effective in simulations also facilitated pedestrian learning during real-world interactions.

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PADRE - Propeller Anomaly Data REpository for UAVs various rotor fault configurations

PADRE - Propeller Anomaly Data REpository for UAVs various r...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Radosław Puchalski Marek Kołodziejczak Adam Bondyra Jinjun Rao Wojciech Giernacki Institute of Robotics and Machine Intelligence Faculty of Control Robotics and Electrical Engineering Poznan University of Technology Poznań Poland Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai China

The article presents a drone sensory database collected during flights with different types of propeller failures. Measurements from four accelerometers and four gyroscopes were collected during 20 flights with two types of faults occurring in different configurations in one, two, three or four rotors. The paper shows the architecture of the system and the procedure for acquiring and processing the data. Raw sensor outputs, pretreated data, and digitally processed signals were provided in a publicly available repository, the structure and purpose of which are discussed in the paper. The applicability and potential use of the shared data for other research are indicated. The provided repository should be helpful in developing methods for detecting and classifying faults in actuators of unmanned aerial vehicles (UAVs). It will be particularly useful for researchers working on data-driven methods. The default purpose of the dataset is to train artificial intelligence models that require large amounts of data.

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