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arXiv 2021年

作者： Amanatidis, Georgios Fusco, Federico Lazos, Philip Leonardi, Stefano Spaccamela, Alberto Marchetti Reiffenhäuser, Rebecca Dept. of Mathematical Sciences University of Essex United Kingdom Archimedes Unit Athena Research Center Greece Dept. of Computer Control and Management Eng. "Antonio Ruberti" Sapienza University of Rome Italy Input Output United Kingdom Institute for Logic Language and Computation University of Amsterdam Netherlands

Submodular maximization is a classic algorithmic problem with multiple applications in data mining and machine learning;there, the growing need to deal with massive instances motivates the design of algorithms balancing the quality of the solution with applicability. For the latter, an important measure is the adaptive complexity, which captures the number of sequential rounds of parallel computation needed by an algorithm to terminate. In this work we obtain the first constant factor approximation algorithm for non-monotone submodular maximization subject to a knapsack constraint with near-optimal O(log n) adaptive complexity. Low adaptivity by itself, however, is not enough: a crucial feature to account for is represented by the total number of function evaluations (or value queries). Our algorithm asks Õ(n2) value queries, but can be modified to run with only Õ(n) instead, while retaining a low adaptive complexity of O(log2 n). Besides the above improvement in adaptivity, this is also the first combinatorial approach with sublinear adaptive complexity for the problem and yields algorithms comparable to the state-of-the-art even for the special cases of cardinality constraints or monotone objectives. Copyright © 2021, The Authors. All rights reserved.

关键词： Machine learning

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Augmenting Shared Spaces in Psychotherapy Contexts

Augmenting Shared Spaces in Psychotherapy Contexts

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Experiment@ International Conference (exp.at)

作者： Bruno Patrão Paulo Menezes Nuno Gonçalves Institute of Systems and Robotics Dept. Electrical and Computer Eng. University of Coimbra Portugal

The ongoing growing of computational power of small portable devices allow the emergence of new forms of Augmented Realities, such as, virtual shared spaces. In this work, we will explore the use of this technology to improve the collaborative work between people in the same physical space or in remote locations sharing virtual contents. The idea is to have a scene shared between several people where everyone can see and interact with it. Those live interactions can improve the quality of collaborative work by presenting in real time ideas and thoughts of any participant directly on top of the 3D model. Our main goal is to apply this concept to psychological therapies, specially to exposure therapies, where it is very important for the therapist to control and manipulate the scene that the patient is exposed to in order to obtain the desired results.

关键词： Augmented reality Psychology Three-dimensional displays Physiology Robots Medical treatment

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A New Approach to Robust MPC Design for LPV Systems in Input-Output Form

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IFAC-PapersOnLine 2018年第26期51卷 112-117页

作者： Abbas, Hossam S. Hanema, Jurre Tóth, Roland Mohammadpour, Javad Meskin, Nader Institute for Elec. Eng. in Medicine Univeristy of Lübeck Lübeck23558 Germany Control Systems Group Dept. of Elec. Eng. Eindhoven University of Technology P.O. Box 513 EindhovenMB5600 Netherlands School of Elec. and Computer Eng. College of Eng. University of Georgia AthensGA30602 United States Dept. of Elec. Eng. College of Eng. Qatar University PO Box 2713 Doha Qatar Elec. Eng. Dept. Faculty of Eng. Assiut University Assiut71515 Egypt

In this paper, a robust model predictive control (MPC) technique is introduced to control MIMO linear parameter-varying (LPV) systems subject to input-output constraints. The LPV system is represented in input-output form, which is a common form obtained through LPV system identification. The method guarantees asymptotic stability of the closed-loop system and provides integral action for a given piecewise constant reference trajectory based on past measurements of the inputs and outputs. The technique offers computationally more efficient and less conservative design approach compared to previous works. A simulation example is given to demonstrate the effectiveness of the proposed technique. © 2018

关键词： System stability Asymptotic stability Closed loop systems Convex optimization Model predictive control Predictive control systems Robust control Conservative designs Input output constraints Linear parameter varying systems Performance Piece wise constants Reference trajectories Robust model predictive control Robust stability

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An Algebraic Approach for a Stability Analysis Methodology for Multiple Time-delay Systems

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IFAC-PapersOnLine 2018年第14期51卷 324-329页

作者： Alikoc, Baran Ergenc, Ali Fuat Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Jugoslávských partyzánu 1580/3 160 00 Praha 6 Czech Republic Department of Control and Automation Eng. Faculty of Electrical and Electronics Eng. Istanbul Technical University Istanbul34469 Turkey

This paper presents an improvement on Cluster Treatment of Characteristic Roots (CTCR), which is a well-known methodology for delay-dependent stability analysis of multiple time-delay systems (MTDS). We propose an algebraic approach to extract the stability switching hypersurfaces in spectral delay space, instead of a numerical procedure in CTCR with Extended Kronecker Sum (EKS) operation. The proposed algebraic approach is based on an efficient zero location test, and the deployment of this test to an auxiliary characteristic polynomial whose unique properties have recently been revealed. The achieved improvement is demonstrated by applying the new CTCR procedure to a system with three delays. © 2018

关键词： System stability Algebra Convergence of numerical methods Delay control systems Time delay Timing circuits Bistritz Tabulation Characteristic polynomials Cluster treatment of characteristic roots Delay dependent stability analysis Kronecker Multiple time delay system Numerical procedures Time delay systems

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Scenarios for educational and game activities using internet of things data

arXiv

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arXiv 2019年

作者： Tziortzioti, Chrysanthi Mavrommati, Irene Mylonas, Georgios Vitaletti, Andrea Chatzigiannakis, Ioannis Hellenic Open University Patras Greece Hellenic Open University Patras Greece Computer Technology Institute and Press Patras Greece Dep. of Computer Control and Manag. Eng. Sapienza University of Rome Rome Italy Dep. of Computer Control and Manag. Eng. Sapienza University of Rome Rome Italy

Raising awareness among young people and changing their behavior and habits concerning energy usage and the environment is key to achieving a sustainable planet. The goal to address the global climate problem requires informing the population on their roles in mitigation actions and adaptation of sustainable behaviors. Addressing climate change and achieve ambitious energy and climate targets requires a change in citizen behavior and consumption practices. IoT sensing and related scenario and practices, which address school children via discovery, gam- ification, and educational activities, are examined in this paper. Use of seawater sensors in STEM education, that has not previously been addressed, is included in these educational scenaria. Copyright © 2019, The Authors. All rights reserved.

关键词： Internet of things

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Modeling biological complexity using Biology System Description Language (BiSDL)

Modeling biological complexity using Biology System Descript...

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2018 IEEE International Conference on Bioinformatics and Biomedicine, BIBM 2018

作者： Muggianu, F. Benso, A. Bardini, R. Hu, E. Politano, G. Carlo, S. Di Control and Computer Eng. Dep. Politecnico di Torino Torino Italy Massachusetts Institute of Technology Boston MA United States

ISBN: (纸本)9781538654880

The Nets-within-Nets formalism (NWN) allows to model complex biological systems expressing hierarchy, encapsulation, selective communication, spatiality, quantitative mechanisms, and stochasticity. To make NWN usable by life science researchers as well as systems biologists, we introduce a new human-readable description language able to express these same NWN model properties, at different levels of abstraction. BiSDL (Biology Systems Description Language) is derived from the VHDL specification, a standard description language for hardware systems. In this paper we chose a simple signaling pathway example to show how BiSDL enables modeling complex biological systems by separating the behavioral model from the architectural details. © 2018 IEEE.

关键词： Modeling languages

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Trajectory planning and control for drone replacement for multidrone cinematography

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IFAC-PapersOnLine 2019年第12期52卷 334-339页

作者： Marta Marques Bruno J. Guerreiro Rita Cunha Carlos Silvestre Institute for Systems and Robotics (ISR-Lisbon) LARSYS Instituto Superior Tecnico 1049-001 Lisbon Portugal Dep. of Electrical and Computer Eng. and CTS-Uninova Universidade Nova de Lisboa Caparica 2829-516 Portugal Dep. of Electrical and Computer Eng. Faculty of Science and Technology University of Macau China and also on leave from Instituto Superior Tecnico Universidade de Lisboa Lisbon Portugal

This work addresses the problem of trajectory planning and control for a team of drones, so that a vehicle that is following a target as part of a multi-vehicle formation flight can be safely replaced with minimum impact on the formation objectives. An optimal trajectory generation method is presented, which relies on formulating a nonlinear optimization problem with constraints imposed by the physical limitations of the vehicle, the formation, and the surrounding environment, including nonlinear constraints to enforce inter-vehicle collision avoidance and clear visibility of the target. An online planning and control strategy is also implemented through a Nonlinear Model Predictive control problem, based on the dynamic model of the system, a quadratic objective function, and a set of constraints, that again include collision avoidance and clear visibility. The proposed algorithms are validated in software-in-the-loop simulations that include the autopilot software.

关键词： UAV dynamics control guidance navigation Formation flying

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Wearable Glove Interaction with Robots

Wearable Glove Interaction with Robots

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2019 International Conference on eng.neering Applications, ICEA 2019

作者： Ferreira, N.M. Fonseca Silva, Marco Santos, Victor D.N. Santos, Frederico Miguel Santos, J. Candido B. Ferreira, Joao P. Institute for Systems and Computer Eng. Technology and Science-INESC TEC Rua Dr. Roberto Frias Porto4200-465 Portugal Coimbra Polytechnic ISEC Rua Pedro Nunes-Quinta da Nora Coimbra3030-199 Portugal Institute for Systems and Computers Engineering at Coimbra INESC Coimbra Rua Silvio Lima Polo II DEEC Coimbra3030-790 Portugal Telecommunications Institute Rua do Campo Alegre Porto4169-007 Portugal Institute of Systems and Robotics ISR DEEC Rua Sílvio Lima Pólo II Coimbra3030-290 Portugal

ISBN: (纸本)9781728129624

This paper presents the exciting use of robotics to teach technologies in an approach that motivates the students through intuitive learning. MSc degree programme students are eng.ged in strong team-building, while developing and testing new algorithms for mobile robotics and electronics areas. This project endows students with intuitive learning, and experimental results revealed that the integration of skills allows the students to develop applications for real scenarios. In this work it is described an application to control with hand gestures, several differential driven robots. © 2019 IEEE.

关键词： Students

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Flexible Mode Compensation by Inverse Shaper in the Loop with Magnitude Saturated Actuators

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IFAC-PapersOnLine 2017年第1期50卷 1251-1256页

作者： Alikoç B. Bušek J. Vyhlídal T. Hromčík M. Ergenç A.F. Department of Control and Automation Eng. Faculty of Electrical and Electronics Eng. Istanbul Technical University34469 Turkey Department of Instrumentation and Control Eng. Faculty of Mechanical Eng. CIIRC - Czech Institute of Information Robotics and Cybernetics Czech Technical University in Prague16607 Czech Republic Department of Control Eng. Faculty of Electrical Eng. Czech Technical University in Prague12135 Czech Republic

An input shaping architecture for vibration suppression of flexible systems controlled with magnitude saturated actuators is considered. It is shown that the distributed-delay shapers with the inverse form in the feedback path have the capability of canceling the undesired vibration caused by saturation limit of actuators. The main idea is to treat the saturation effect as a disturbance on the control input of the actuator which can be canceled by the shapers in the feedback control loop. The inverse form of a recently proposed distributed-delay shaper is utilized to dispose of the undesired vibrations subject to saturation. The theoretical results are compared with an existing solution and verified on a laboratory set-up. © 2017

关键词： flexible systems input shaping inverse shapers saturation

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Dynamic Human Gait VGRF Reference Profile Generation via Extreme Learning Machine

Dynamic Human Gait VGRF Reference Profile Generation via Ext...

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International Joint Conference on Neural Networks (IJCNN)

作者： Alexandra Vieira Bernardete Ribeiro Heloísa Sobral A. Paulo Coimbra Manuel Crisóstomo João P. Ferreira Tao Liu Dept. of Informatics Engineering CISUC Univ. of Coimbra Coimbra Portugal Dept. of Electrical and Computer Eng. Institute of Systems and Robotics Univ. of Coimbra Coimbra Portugal Dept. of Electrical Eng. Superior Institute of Eng. of Coimbra Institute of Systems and RoboticsUniv. of Coimbra Coimbra Portugal State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou China

Vertical Ground Reaction Forces (VGRF) reference profiles of human gait are important in medicine, for the recognition of gait disorders and in the assessment of rehabilitation treatments. A walking human is a dynamic varying system and in spite of the VGRF reference dependence on several patient's variables, doctors traditionally use the same static reference for all patients. The purpose of this study is to find out if an Extreme Learning Machine (ELM) is adequate to generate the dynamic VGRF reference profiles of healthy people depending on the subject's age, weight, height and stride duration. The ELM is compared with two other baseline Computational Intelligence (CI) methods, the Backpropagation Neural Network (BNN) and Multioutput Support Vector Regression (MSVR). Data from 28 healthy males walking at five different stride durations, collected using instrumented shoes, were used to train and test the CI models. The results showed that ELM is a well suited method to generate the dynamic VGRF reference profile for both dominant and non-dominant limbs, showing the lowest root mean square errors for the test set, 0.0201 and 0.0243 (fraction of body weight) for the dominant and non-dominant limbs respectively. This study reveals a promising methodology that can be implemented in real time gait analysis, allowing doctors to find a specific reference gait pattern for the gait analysis of an unhealthy person by specifying the age, weight, height and stride duration.

关键词： Training Biological neural networks Support vector machines Neurons Backpropagation Legged locomotion Adaptation models

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