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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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Optical Fiber Sensor for the Detection of Decarboxylation Products of Amino Acids 27

Optical Fiber Sensor for the Detection of Decarboxylation Pr...

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27th International Conference on Optical Fiber Sensors, OFS 2022

作者： Vasconcelos, Helena De Almeida, José M. M. M. Mendes, João Dias, Bernardo Jorge, Pedro A. S. Saraiva, Cristina Coelho, Luís C. C. School of Agrarian and Veterinary Sciences University of Trás-os-Montes E Alto Douro Vila Real5001-801 Portugal Faculty of Sciences INESC TEC-Institute for Systems and Computer Engineering University of Porto Technology and Science Porto4169-007 Portugal CIQUP - Chemistry Research Unit Chemistry and Biochemistry Department Faculty of Sciences University of Porto Porto4169-007 Portugal Department of Physics and Astronomy Faculty of Sciences University of Porto Porto4169-007 Portugal Department of Physics School of Science and Technology University of Trás-os-Montes E Alto Douro Vila Real5001-801 Portugal

Long period fiber gratings coated with TiO2 and poly(ethylene-co-vinyl acetate) (PEVA), a polymeric structure permeable biogenic amines found in foodstuff, were used to detect these compounds through the wavelength sh... 详细信息

ISBN: (纸本)9781957171142

关键词： Ethylene

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Constructive barrier feedback for collision avoidance in leader-follower formation control

arXiv

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arXiv 2023年

作者： Tang, Zhiqi Cunha, Rita Hamel, Tarek Silvestre, Carlos Institute for Systems and Robotics Instituto Superior Técnico Universidade de Lisboa Portugal Division of Decision and Control Systems KTH Royal Institute of Technology Sweden I3S-CNRS Université Côte d'Azur Institut Universitaire de France France Department of Electrical and Computer Engineering The Faculty of Science and Technology The University of Macau China

This paper proposes a novel constructive barrier feedback for reactive collision avoidance between two agents. It incorporates this feature in a formation tracking control strategy for a group of 2nd-order dynamic robots defined in three-dimensional space. Using only relative measurements between neighboring agents, we propose an elegant decentralized controller as the sum of a nominal tracking controller and the constructive barrier feedback for leader-follower formations under a directed single-spanning tree graph topology. The key ingredient is the use of divergent flow as a dissipative term, which slows down the relative velocity in the direction of the neighboring robots without compromising the nominal controller's performance. Compared to traditional barrier function-based optimization controllers, the proposed constructive barrier feedback avoids feasibility issues and results in more computationally efficient control algorithms with systematic equilibrium analysis. Simulations are provided to validate the effectiveness of the proposed control method. © 2023, CC BY-NC-ND.

关键词： Collision avoidance

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A Regularization Approach to Analyze the time-Optimal Motion of a Mobile Robot under State Constraints using Pontryagin’s Maximum Principle

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Procedia computer science 2021年 186卷 11-20页

作者： Fernando Lobo Pereira Roman Chertovskih Anna Daryina Askhat Diveev Dmitry Karamzin Elena Sofronova SYSTEC Faculty of Electrical Engineering Porto University and the Institute for Systems and Robotics 4200-465 Porto Portugal Federal Research Center “Computer Science and Control” of the Russian Academy of Science Moscow Russia

This work concerns the investigation of time-optimal control problem for a simplified mobile robot model subject to state constraints. In this type of problems, which involve the so-called unicycle dynamics, the well-established regularity conditions with respect to the state constraints are not fulfilled. This fact greatly complicates the analysis of the control problem bearing in mind the use of the maximum principle. Moreover, the difficulty is also due to the presence of a singular control mode with respect to the angular velocity. Herein, a regularization approach is proposed in order to overcome these obstacles. A certain tool for the numerical implementation is developed. The numerical analysis is provided for a sample problem.

关键词： Unicycle model state constraints regularization maximum principle

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Constructive Barrier Feedback for Collision Avoidance in Leader-Follower Formation Control

Constructive Barrier Feedback for Collision Avoidance in Lea...

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IEEE Conference on Decision and Control

作者： Zhiqi Tang Rita Cunha Tarek Hamel Carlos Silvestre Institute for Systems and Robotics Instituto Superior Técnico Universidade de Lisboa Portugal I3S-CNRS Université Côte d'Azur and Institut Universitaire de France France Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau Macao China

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Modern Manufacturing for Alloy Wheel Defect Detection using Image Processing and Application

Modern Manufacturing for Alloy Wheel Defect Detection using ...

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IEEE International Conference on computer Communication and the Internet (ICCCI)

作者： Tuaniai Archevapanich Woranidtha Krungseanmuang Vasutorn Chaowalittawin Posathip Sathaporn Punyisa Chaowalittawin Boonchana Purahong Department of Electronics and Communication Engineering Faculty of Engineering and Architecture Rajamagala University of Technology Suvarnabhumi Nonthaburi Thailand Department of Robotics and Computational Intelligent Systems School of Engineering King Mongkut's Institute of Technology Ladkrabang Bangkok Thailand Department of Indusstrail Physics School of Science Bangkok Thailand Department of Computer Engineering School of Engineering King Mongkut's Institute of Technology Ladkrabang Bangkok Thailand

ISBN: (数字)9798350351767

ISBN: (纸本)9798350351774

This paper presents an innovative approach to identifying defects in alloy wheel production by integrating image processing techniques with a mobile application platform. The system receives X-ray alloy images from the factory via mobile phone, processes them using image processing techniques to enhance clarity and readiness for defect detection, and then transmits the processed images to a Django framework via a uniform resource locator (URL). Subsequently, the system detects defects in the images, encodes them in Base64 format, and sends them to the mobile application through an API (Application Program Interface) for display on the user interface. This well-designed system architecture offers manufacturers a comprehensive solution to ensure product quality, reduce costs, and enhance customer satisfaction.

关键词： Uniform resource locators Image processing Metals Wheels systems architecture User interfaces Mobile applications

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Sensitivity Analysis for Uncertain Linear systems: A Set-Membership Approach

SSRN

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SSRN 2023年

作者： Silvestre, Daniel Rosa, Paulo Hespanha, João P. Silvestre, Carlos Caparica2829-516 Portugal COPELABS The Lusófona University Portugal The Institute for Systems and Robotics Instituto Superior Técnico University of Lisbon Portugal Deimos Engenharia Lisbon Portugal The Department of Electrical and Computer Engineering The Faculty of Science and Technology The University of Macau China The Dept. of Electrical and Computer Eng. University of California Santa BarbaraCA93106-9560 United States

This paper deals with the problem of deciding which inputs or parameters in a dynamic model have the greatest impact on the state or output of a linear system. In over-parameterized models or Multi-Agent systems (MAS), a sensitivity analysis tool would allow for reduced representations of the same system or to decide which agents should be monitored. The proposed approach consists in constructing the exact reachable set for a linear system (uncertain in the case of parameter sensitivity) and projecting onto the desired coordinates associated with the state or output in question. Given the exact representation, under mild assumptions, sensitivity values are optimal for the proposed functions, although others can be specified using the same sets. Illustrative examples are presented in order to provide insights on the proposed method. © 2023, The Authors. All rights reserved.

关键词： Sensitivity analysis

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Scalable and Cost-Effective All-Chemical Production of Stable Gold-Coated Silver Thin-Films for High-Performance Plasmonic Optical Fiber Sensors 28

Scalable and Cost-Effective All-Chemical Production of Stabl...

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28th International Conference on Optical Fiber Sensors, OFS 2023

作者： dos Santos, Paulo S.S. Mendes, João P. Pastoriza-Santos, I. de Almeida, José M.M.M. Coelho, Luís C.C. INESC TEC - Institute of Systems and Computer Engineering Technology and Science Department of Physics Faculty of Sciences University of Porto Rua do Campo Alegre Porto4169-007 Portugal FEUP - Faculty of Engeneering of Unversity of Porto R. Dr. Roberto Frias Porto4200-465 Portugal CINBIO - Center of Research in Nanomaterials and Biomedicine Campus Universitario Lagoas Universidad de Vigo Marcosende Pontevedra Vigo36310 Spain SERGAS-UVIGO - Galicia Health Service Pontevedra Vigo36312 Spain UTAD Department of Physics University of Trás-os-Montes e Alto Douro Vila Real5001-801 Portugal

Long-term stability and high scalability are significant issues in plasmonic optical fiber sensors. This work presents a highly scalable and low-cost all-chemical approach for production of gold-coated silver thin-fil... 详细信息

ISBN: (纸本)9781957171302

关键词： Cost effectiveness

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Multi-agent systems with memories under DoS attacks

Multi-agent systems with memories under DoS attacks

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International Conference on Control, Automation, robotics and Vision (ICARCV)

作者： Ricardo Almeida Ewa Girejko Luís Machado Agnieszka B. Malinowska Natália Martins Department of Mathematics Center for Research and Development in Mathematics and Applications University of Aveiro Portugal Faculty of Computer Science Bialystok University of Technology Białystok Poland Institute of Systems and Robotics - University of Coimbra Coimbra Portugal Department of Mathematics University of Trás-os-Montes e Alto Douro (UTAD) Vila Real Portugal

ISBN: (纸本)9781665476881

The paper is devoted to multi-agent systems with memories under denial-of-service (DoS) attacks. The memory is represented by the fractional derivative that appears in the dynamics of the considered systems. The problem that we aim to address is, under which conditions the system continues to be stable or is in consensus mode, despite DoS attacks. Solutions to these problems are proposed in the presented theorems. We strengthen the theoretical considerations with numerical simulations.

关键词： Linear systems Sufficient conditions Automation Denial-of-service attack Numerical simulation Stability analysis Robots

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Cyberbullying Classification Using a Natural Language Processing and Machine Learning Techniques

Cyberbullying Classification Using a Natural Language Proces...

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Advances in Computing Research on science Engineering and Technology (ACROSET), International Conference on

作者： Nikhilesh Pramod Mankar Tushar Mahure Anushka A. Joshi Sagar Dhanraj Pande Aditya Khamparia Ankita Shrikrushna Nathe Fadi Al Turjman School of Engineering and Technology Pimpri Chinchwad University (PCU) Pune India Independent Researcher Amravati India Department of Computer Science Babasaheb Bhimrao Ambedkar University Amethi India Department of Information Technology Kavikulguru Institute of Technology and Science Nagpur India Artificial Intelligence Software Information Systems Engineering Departments AI and Robotics Institute Near East University Nicosia Turkey Research Center for AI and IoT Faculty of Engineering University of Kyrenia Kyrenia Turkey

ISBN: (数字)9798350388800

ISBN: (纸本)9798350388817

The usage of online entertainment has increased dramatically after some time with the enhancement of the Internet and has turned into the most compelling systems administration stage in this century. Notwithstanding, the upgrade of a social network regularly makes adverse consequences on society that add to two or three terrible peculiarities, for example, online maltreatment, badgering cyberbullying, cybercrime, and internet savaging. Cyberbullying habitually prompts genuine mental and actual misery, especially for ladies and kids, and even occasionally make them to use self-destruction methods. Multiple number of episodes have as of late happened worldwide because of online badgering, like sharing private talks, bits of hearsay, and sexual comments. In this way, the distinguishing proof of harassing messages or messages via online entertainment has gained a significant measure for development for consideration with in scientists. The ground or motive for this exploration is to create a full-fledged way or a method to differentiate online harmful and tormenting drafts by combining various methods and techniques in the domain of natural language processing and AI

关键词： Cyberbullying Entertainment industry Machine learning Gain measurement Natural language processing Internet Bayes methods computer crime

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