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16th APCA International Conference on Automatic Control and Soft Computing, CONTROLO 2024

作者： Safaee, Ahmad Aguiar, A. Pedro Santos, Filipe Neves Moreira, Antonio Paulo SYSTEC-ARISE Research Center for Systems and Technologies Faculty of Engineering University of Porto Porto4200-465 Portugal INESC-TEC-Institute for Systems and Computer Engineering Technology and Science CRIIS-Centre for Robotics in Industry and Intelligent Systems Porto4200-465 Portugal INESC-TEC-Institute for Systems and Computer Engineering and DEEC/FEUP - Department of Electrical and Computer Engineering Faculty of Engineering of the University of Porto Porto4200-465 Portugal

ISBN: (纸本)9783031817236

The need for aerial platforms capable of sustained operation is critical in fields such as surveillance, agricultural monitoring, disaster response, and temporary telecommunication systems. Traditional unmanned aerial vehicles (UAVs) are hampered by limited battery capacity and inefficient energy utilization. This paper introduces an autonomous vertical flight drone tethered to a ground-based platform, which overcomes these limitations. The drone is designed to optimize its position and energy usage by harnessing wind currents, functioning similarly to a kite when conditions permit. This is enabled by a custom-designed autopilot system comprising both hardware and software tailored for this application. We detail the model identification process for three vertical take-off and landing (VTOL) drone systems, employing authentic data that measures lateral positional errors from the tether. Robust mixed sensitivity controllers are developed and implemented. The effectiveness of these controllers is validated through simulations showing their capability to handle uncertainties. Furthermore, the practical application and robust performance of the system are confirmed by a real-world case study, highlighting its potential in real operational environments. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： VTOL/STOL aircraft

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QoS Prediction Model of Cloud Services Based on Deep Learning

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IEEE/CAA Journal of Automatica Sinica 2022年第3期9卷 564-566页

作者： WenJun Huang PeiYun Zhang YuTong Chen MengChu Zhou Yusuf Al-Turki Abdullah Abusorrah Nanjing University of Information Science&Technology School of Computer and SoftwareNanjingChina IEEE New Jersey Institute of Technology Helen and John C.Hartmann Department of Electrical and Computer EngineeringNewarkUSA Center of Research Excellence in Renewable Energy and Power Systems Department of Electrical and Computer EngineeringFaculty of Engineeringand K.A.CARE Energy Research and Innovation CenterKing Abdulaziz UniversityJeddah 21589Saudi Arabia

Dear editor,This letter presents a deep learning-based prediction model for the quality-of-service(QoS)of cloud ***,to improve the QoS prediction accuracy of cloud services,a new QoS prediction model is proposed,which is based on multi-staged multi-metric feature fusion with individual *** multi-metric features include global,local,and individual *** results show that the proposed model can provide more accurate QoS prediction results of cloud services than several state-of-the-art methods.

关键词： services Services individual

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Multi-modal Interactive Perception in Human Control of Complex Objects

Multi-modal Interactive Perception in Human Control of Compl...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Rashida Nayeem Salah Bazzi Mohsen Sadeghi Reza Sharif Razavian Dagmar Sternad Department of Electrical and Computer Engineering Biology Institute for Experiential Robotics Northeastern University Boston MA

Tactile sensing has been increasingly utilized in robot control of unknown objects to infer physical properties and optimize manipulation. However, there is limited understanding about the contribution of different sensory modalities during interactive perception in complex interaction both in robots and in humans. This study investigated the effect of visual and haptic information on humans' exploratory interactions with a ‘cup of coffee’, an object with nonlinear internal dynamics. Subjects were instructed to rhythmically transport a virtual cup with a rolling ball inside between two targets at a specified frequency, using a robotic interface. The cup and targets were displayed on a screen, and force feedback from the cup-and-ball dynamics was provided via the robotic manipulandum. Subjects were encouraged to explore and prepare the dynamics by “shaking” the cup-and-ball system to find the best initial conditions prior to the task. Two groups of subjects received the full haptic feedback about the cup-and-ball movement during the task; however, for one group the ball movement was visually occluded. Visual information about the ball movement had two distinctive effects on the performance: it reduced preparation time needed to understand the dynamics and, importantly, it led to simpler, more linear input-output interactions between hand and object. The results highlight how visual and haptic information regarding nonlinear internal dynamics have distinct roles for the interactive perception of complex objects.

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Machine Learning in Society: Prospects, Risks, and Benefits

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Philosophy and Technology 2024年第3期37卷 99页

作者： Farina, Mirko Pedrycz, Witold Institute for Digital Economy & amp Artificial Systems [IDEAS] Xiamen University and Lomonosov Moscow State University Departament of Technical Sciences Western Caspian University Department of Electrical and Computer Engineering Canada Chair Computational Intelligence IEEE Life Fellow University of Alberta

Machine Learning (ML) is revolutionizing the functioning of our societies and reshaping much of the economic tissue underlying them. The deep integration of ML into the fabric of our lives has changed to way we work and communicate and how we relate to each other. In this Topical Collection we reflect on the reach and impact of this AI (ML-driven) revolution in our society, critically analyzing some of the most important ethical, epistemological, scientific, and sociological issues underlying it. © The Author(s), under exclusive licence to Springer Nature B.V. 2024.

关键词： Applications Artificial intelligence [AI] Machine learning [ML] Our future Risks and benefits Society

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A Comprehensive SLAM Dataset for Indoor Exhibition Environments: Data Collection, Processing, and Comparative Evaluation

A Comprehensive SLAM Dataset for Indoor Exhibition Environme...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Yuan, Songyu Zhang, Jing Pan, Chen Zhang, Chunlong Wan, Minhong Zheng, Tao Gu, Jason Zhejiang Lab Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China Dalhousie University Department of Electrical and Computer Engineering HalifaxNSB3H 4R2 Canada

ISBN: (纸本)9798350325706

The field of Simultaneous Localization and Mapping(SLAM) has witnessed significant advancements in recent years. However, due to the difficulty of data obtains and ground-truth makes, there is a lack of real indoor scenarios datasets, especially the scenarios with less-texture, repeat-texture, extreme light condition, causing the slowly progress in indoor SLAM. In this paper, we present a dataset captured in a real indoor exhibition hall with diverse type of sensor data. Which contributes to diverse school of SLAM that using different sensors. We provide ground-truth 6DoF pose captured by motion capture devices, RGB-D data captured by a RealSense D455 camera. Laser-data captured by Ouster. And a high-resolution color point cloud captured by a laser scanner. This dataset offers three distinct sources of ground truth from real-world scenarios. It combines motion capture, ICP based laser localization, and visual localization methods to provide comprehensive and accurate reference data. This dataset is designed for evaluating positioning methods that employ various types of sensors, moving beyond a singular matrix-based evaluation approach. Besides, We show results of several state-of-the-art SLAM method in our datasets, illustrates the utility of our dataset and served as a reference for other researcher. We converge LiDAR-based SLAM with ground truth, made a good closure. An ensemble approach-based Visual SLAM, achieves results of odometry errors of 4% and loop closure position errors of 40 cm. Additionally, visual localization demonstrated an absolute position error of 21 cm using high-resolution point clouds. We highlight the potentials of our indoor datasets in LiDAR SLAM, RGB-D SLAM, and visual localization and combines method. The datasets are available at https://***/IMBAfarmer09/ExhibitionDataset © 2023 IEEE.

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Soft Sensors for Industrial Applications: Comparison of Variables Selection Methods and Regression Models

Soft Sensors for Industrial Applications: Comparison of Vari...

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International Conference on Control, Automation and Diagnosis (ICCAD)

作者： Joana Leiria Rodrigo Salles Jérôme Mendes Pedro Sousa Department of Electrical and Computer Engineering University of Coimbra Institute of Systems and Robotics Coimbra Portugal Oncontrol Technologies Rua Cidade Poitiers Coimbra Portugal

The digitalization of industrial environments has enabled the development of tools that make the production process more efficient and safer. In this sense, the Soft Sensor (SS) plays a fundamental role. Through historical data and indirect measurements, it is possible to estimate the value of important variables that are difficult to measure. This paper presents the SS development process: data collection and pre-processing, variable selection, model selection for SS implementation, model training and testing, and performance evaluation. The selection of variables was made with the help of Pearson Correlation, Mutual Information, and fastTracker algorithm techniques. For the implementation of SS have been tested several models: Multiple Linear Regression, Ridge Regression, Least Absolute Shrinkage and Selection Operator, Elastic Net, Support Vector Regression and Gaussian Mixture Models. Four datasets were used to test the development of the SS.

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Multiagent Consensus over Time-Invariant and Time-Varying Signed Digraphs via Eventual Positivity

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IEEE Transactions on Automatic Control 2023年第9期68卷 5429-5444页

作者： Fontan, Angela Wang, Lingfei Hong, Yiguang Shi, Guodong Altafini, Claudio Linköping University Division of Automatic Control Department of Electrical Engineering LinköpingSE-58183 Sweden KTH Royal Institute of Technology Division of Decision and Control Systems StockholmSE-10044 Sweden Chinese Academy of Sciences Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Beijing100190 China University of Chinese Academy of Sciences Beijing100190 China Tongji University Department of Control Science and Engineering Shanghai201804 China University of Sydney Australian Center for Field Robotics School of Aerospace Mechanical and Mechatronic Engineering SydneyNSW2008 Australia

Laplacian dynamics on signed digraphs have a richer behavior than those on nonnegative digraphs. In particular, for the so-called 'repelling' signed Laplacians, the marginal stability property (needed to achieve consensus) is not guaranteed a priori and, even when it holds, it does not automatically lead to consensus, as these signed Laplacians may lose rank even in strongly connected digraphs. Furthermore, in the time-varying case, instability can occur even when switching in a family of systems each of which corresponds to a marginally stable signed Laplacian with the correct corank. In this article, we present novel conditions for achieving consensus on signed digraphs based on the property of eventual positivity, a Perron-Frobenius (PF) type of property for signed matrices. The conditions we develop cover both time-invariant and time-varying cases. A particularly simple sufficient condition, valid in both cases, is that the Laplacians are normal matrices. Such condition can be relaxed in several ways. For instance, in the time-invariant case it is enough that the Laplacian has this PF property on the right side, but not on the left side (i.e., on the transpose). For the time-varying case, convergence to consensus can be guaranteed by the existence of a common Lyapunov function for all the signed Laplacians. All conditions can be easily extended to bipartite consensus. © 1963-2012 IEEE.

关键词： Lyapunov functions

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A Joint Tracking System: Robot is Online to Access Surveillance Views

A Joint Tracking System: Robot is Online to Access Surveilla...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Lin, Zheyuan Ji, Shanshan Wang, Wen Qin, Mengjie Yang, Rong Wan, Minhong Gu, Jason Li, Te Zhang, Chunlong Research Institute of Interdisciplinary Innovation Zhejiang Laboratory Research Center for Intelligent Robotics Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China Dalhousie University Department of Electrical and Computer Engineering HalifaxNSB3H 4R2 Canada

ISBN: (纸本)9798350325706

The application of robots in social life, equipped with sensors and actuators and embedded with AI, assists people in all aspects. However, the first perspective of the robot horizon is heavily constrained, which weakens its performance. A joint tracking system is designed and built to deal with this, by integrating a surveillance system with the robot visual, providing a third perspective. This system takes one horizontal view and two top views from various directions as inputs and matches a person among the frames and in time sequence. In order to deal with the identity match with a huge visual feature gap, a special dataset is collected, simultaneously labeling identities from a mobile robot perspective and multiple indoor static surveillance monitors. The experiment shows that such match is a task worth exploring that can be better handled by training on our dataset than existing open source Re-identification (Re-id) datasets. Moreover, in the real scenario, this system improves the performance on issues like in and out of the robot's field of vision and heavy occlusion by people or objects. © 2023 IEEE.

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Net Load Forecasting with Disaggregated Behind-the-Meter PV Generation

Net Load Forecasting with Disaggregated Behind-the-Meter PV ...

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2022 IEEE Industry Applications Society Annual Meeting, IAS 2022

作者： Stratman, Anne Hong, Tianqi Yi, Ming Zhao, Dongbo University of Nebraska-Lincoln Department of Electrical and Computer Engineering LincolnNE United States Argonne National Lab Energy Systems Division LemontIL United States Rensselaer Polytechnic Institute Department of Electrical Computer and Systems Engineering TroyNY United States

ISBN: (数字)9781665478151

ISBN: (纸本)9781665478151

With increasing adoption of residential PV systems, net load forecasting is gradually shifting from forecasting pure load to forecasting pure load with PV generation. This paper explicitly compares two methods of net load forecasting for systems with high behind-the-meter (BTM) PV penetration. The first method is an additive method, in which PV generation and pure load are forecasted separately and combined to produce a net load forecast. First, a disaggregation algorithm is applied to aggregate net load measurements of residential homes to separate the pure load and PV generation. Then, a long short-term memory (LSTM) model is used to forecast pure load and PV separately using the historical disaggregated pure load and PV, respectively, and weather factors. The results are combined to generate a net load forecast. The additive model is compared to a direct net load forecast from an LSTM model. Results show that over the five-month test horizon, the additive method decreases the root mean square error (RMSE), maximum absolute error, and mean absolute error (MAE) of the net load forecast by 6.13%, 3.63%, and 6.06% respectively, compared to the direct method. © 2022 IEEE.

关键词： Errors

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In-situ fabrication of on-chip 1T'-MoTe_(2)/Ge Schottky junction photodetector for self-powered broadband infrared imaging and position sensing

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Nano Research 2024年第6期17卷 5587-5594页

作者： Menglei Zhu Kunxuan Liu Di Wu Yunrui Jiang Xue Li Pei Lin Zhifeng Shi Xinjian Li Ran Ding Yalun Tang Xuechao Yu Longhui Zeng School of Physics and Microelectronics and Key Laboratory of Material PhysicsZhengzhou UniversityZhengzhou 450052China Department of Electrical and Computer Engineering University of California San DiegoLa JollaCA 92093USA State Key Laboratory of Integrated Optoelectronics College of Electronic Science and EngineeringJilin UniversityChangchun 130012China Key Laboratory of Multifunctional Nanomaterials and Smart Systems Suzhou Institute of Nano-Tech and Nano-BionicsChinese Academy of SciencesSuzhou 215123China

High-sensitivity room-temperature multi-dimensional infrared(IR)detection is crucial for military and civilian ***,the gapless electronic structures and unique optoelectrical properties have made the two-dimensional(2D)topological semimetals promising candidates for the realization of multifunctional optoelectronic ***,we demonstrated the in-situ construction of high-performance 1T’-MoTe_(2)/Ge Schottky junction device by inserting an ultrathin AlOx passivation *** good detection performance with an ultra-broadband detection wavelength range of up to 10.6 micron,an ultrafast response time of~160 ns,and a large specific detectivity of over 109 Jones in mid-infrared(MIR)range surpasses that of most 2D materials-based IR sensors,approaching the performance of commercial IR *** on-chip integrated device arrays with 64 functional detectors feature high-resolution imaging capability at room *** these outstanding detection features have enabled the demonstration of position-sensitive detection *** demonstrates an exceptional position sensitivity of 14.9 mV/mm,an outstanding nonlinearity of 6.44%,and commendable trajectory tracking and optoelectronic demodulation *** study not only offers a promising route towards room-temperature MIR optoelectronic applications,but also demonstrates a great potential for application in optical sensing systems.

关键词： MoTe_(2) broadband photodetection Schottky junction imaging position sensitive detector

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