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2024 International Automatic control Conference, CACS 2024

作者： Song, Kai-Tai Ou, Szu-Chen National Yang Ming Chiao Yang Ming Chiao Tung University Institute of Electrical and Control Engineering College of Electrical and Computer Engineering Hsinchu300093 Taiwan National Yang Ming Chiao Tung University Graduate Degree Program of Robotics Hsinchu300093 Taiwan

ISBN: (纸本)9798350354904

This paper presents a programming system for a robot manipulator using a hand-held demonstration tool. In this system, a user holds the self-designed tool to demonstrate a desired motion path, and the robot arm replicates the learned trajectory. The path-demonstration tool, including optical tags (OT) and an IMU, is designed to collect trajectory data from hand motion. Sensor data fusion allows the system to track accurately the demonstrated trajectory. A calibration procedure is proposed to transform the trajectory from tool's coordinate system to robot's coordinate system. A cubic spline-based trajectory planning method is proposed to ensure smooth reproduction of the learned trajectory in both time and space. Experimental results show that the robot is able to replicate squared and curved trajectories collected from the path-demonstration tool. The average position error is within 2.435 mm in XYZ directions and the average orientation error is within 0.65 degrees. © 2024 IEEE.

关键词： Demonstrations

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Automatic Liver Segmentation from Multiphase CT Using Modified SegNet and ASPP Module

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SN computer Science 2024年第4期5卷 377页

作者： Nayantara, P. Vaidehi Kamath, Surekha Kadavigere, Rajagopal Manjunath, Kanabagatte Nanjundappa Department of Instrumentation and Control Engineering Manipal Institute of Technology Manipal Academy of Higher Education Karnataka Manipal 576104 India Department of Radiodiagnosis and Imaging Kasturba Medical College Manipal Academy of Higher Education Karnataka Manipal 576104 India Department of Computer Science and Engineering Manipal Institute of Technology Manipal Academy of Higher Education Karnataka Manipal 576104 India

Liver cancer is one of the dominant causes of cancer death worldwide. Computed Tomography (CT) is the commonly used imaging modality for diagnosing it. computer-based liver cancer diagnosis systems can assist radiologists in image interpretation and improve diagnosis speed and accuracy. Since liver segmentation is crucial to such systems, researchers are relentlessly pursuing various segmentation approaches. A clinically viable computer-aided system requires examining multiphase CT images. However, most of the research focuses only on the portal venous phase. In this work, we developed an automatic and efficient Deep Learning (DL) method using SegNet, atrous spatial pyramid pooling module and leaky ReLU layers for liver segmentation from quadriphasic abdominal CT volumes. The proposed method was validated on two datasets, an internal institutional dataset consisting of multiphase CT and a public dataset of portal venous phase CT volumes. The Dice Coefficients (DC) obtained were greater than 96% for the latter dataset and the portal venous phase of the former. For arterial, delayed and plain CT phases of the former dataset, the DC achieved were 94.61%, 95.01% and 93.23%, respectively. Experiments showed that our model performed better than the other state-of-the-art DL models. Ablation studies have revealed that the proposed model leverages the strengths of all the three components that make it up. The promising performance of the proposed method suggests that it is appropriate for incorporation in hepatic cancer diagnosis systems. © The Author(s) 2024.

关键词： Atrous spatial pyramid pooling Computed tomography computer-aided diagnosis Liver cancer Liver segmentation SegNet

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Recent Progress in Reinforcement Learning and Adaptive Dynamic Programming for Advanced control Applications

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IEEE/CAA Journal of Automatica Sinica 2024年第1期11卷 18-36页

作者： Ding Wang Ning Gao Derong Liu Jinna Li Frank L.Lewis IEEE the Faculty of Information Technology Beijing Key Laboratory of Computational Intelligence and Intelligent SystemBeijing Laboratory of Smart Environmental Protectionand Beijing Institute of Artificial IntelligenceBeijing University of TechnologyBeijing 100124China the School of System Design and Intelligent Manufacturing Southern University of Science and TechnologyShenzhen 518055China the Department of Electrical and Computer Engineering University of Illinois at ChicagoChicago IL 60607 USA the School of Information and Control Engineering Liaoning Petrochemical UniversityFushun 113001China the UTA Research Institute the University of Texas at ArlingtonArlington TX 76118 USA

Reinforcement learning(RL) has roots in dynamic programming and it is called adaptive/approximate dynamic programming(ADP) within the control community. This paper reviews recent developments in ADP along with RL and its applications to various advanced control fields. First, the background of the development of ADP is described, emphasizing the significance of regulation and tracking control problems. Some effective offline and online algorithms for ADP/adaptive critic control are displayed, where the main results towards discrete-time systems and continuous-time systems are surveyed, ***, the research progress on adaptive critic control based on the event-triggered framework and under uncertain environment is discussed, respectively, where event-based design, robust stabilization, and game design are reviewed. Moreover, the extensions of ADP for addressing control problems under complex environment attract enormous attention. The ADP architecture is revisited under the perspective of data-driven and RL frameworks,showing how they promote ADP formulation ***, several typical control applications with respect to RL and ADP are summarized, particularly in the fields of wastewater treatment processes and power systems, followed by some general prospects for future research. Overall, the comprehensive survey on ADP and RL for advanced control applications has d emonstrated its remarkable potential within the artificial intelligence era. In addition, it also plays a vital role in promoting environmental protection and industrial intelligence.

关键词： Adaptive dynamic programming(ADP) advanced control complex environment data-driven control event-triggered design intelligent control neural networks nonlinear systems optimal control reinforcement learning(RL)

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Forecasting of Monkeypox Cases Using Optimized SARIMAX Based Model 3

Forecasting of Monkeypox Cases Using Optimized SARIMAX Based...

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3rd IEEE International Conference on Electronic engineering, ICEEM 2023

作者： Elshabrawy, Mahmoud Eid, Marwa M. Abdelhamid, Abdelaziz A. El-Kenawy, El-Sayed M. Ibrahim, Abdelhameed Delta Higher Institute of Engineering and Technology Dept. of Communications & Electronics Mansoura Egypt Delta University for Science and Technology Faculty of Artificial Intelligence Mansoura35111 Egypt Ain Shams University Faculty of Computer and Information Sciences Dep. of Computer Science Cairo Egypt University Mansoura Faculty of Engineering Computer Engineering and Control Systems Dept. Egypt

ISBN: (纸本)9798350323511

This study presents a dipper-throated-based ant colony optimization (DTACO) with the Seasonal Auto-Regressive Integrated Moving Average with eXogenous factor (SARIMAX) model (DTACO+SARIMAX) to forecast monkeypox cases. The work optimizes the SARIMAX model using grid search cross-validation and fine-tunes its hyperparameters using DTACO to improve prediction accuracy. The suggested model's consistency and accuracy are considerable compared to previous studies. Comparisons with state-of-the-art models validate the proposed model's predictions. DTACO+SARIMAX can be used to control disease and monitor monkeypox. Healthcare organizations and governments can better manage and track the pandemic's course by offering accurate predictions, reducing public panic, and enabling effective pandemic planning. The Analysis of Variance (ANOVA) and Wilcoxon signed-rank tests are conducted on the proposed DTACO-SARIMAX model and compared models. © 2023 IEEE.

关键词： Ant colony optimization

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Multimodal Large Models Are Effective Action Anticipators

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IEEE Transactions on Multimedia 2025年 27卷 2949-2960页

作者： Wang, Binglu Tian, Yao Wang, Shunzhou Yang, Le College of Information and Control Engineering Xi'an University of Architecture and Technology Xi'an710055 China Northwestern Polytechnical University School of Astronautics Xi'an710072 China Peking University School of Electronic and Computer Engineering Shenzhen Graduate School Shenzhen518055 China Hefei Comprehensive National Science Center Institute of Artificial Intelligence China University of Science and Technology of China School of Information Science and Technology Hefei230022 China

The task of long-term action anticipation demands solutions that can effectively model temporal dynamics over extended periods while deeply understanding the inherent semantics of actions. Traditional approaches, which primarily rely on recurrent units or Transformer layers to capture long-term dependencies, often fall short in addressing these challenges. Large Language Models (LLMs), with their robust sequential modeling capabilities and extensive commonsense knowledge, present new opportunities for long-term action anticipation. In this work, we introduce the ActionLLM framework, a novel approach that treats video sequences as successive tokens, leveraging LLMs to anticipate future actions. Our baseline model simplifies the LLM architecture by setting future tokens, incorporating an action tuning module, and reducing the textual decoder layer to a linear layer, enabling straightforward action prediction without the need for complex instructions or redundant descriptions. To further harness the commonsense reasoning of LLMs, we predict action categories for observed frames and use sequential textual clues to guide semantic understanding. In addition, we introduce a Cross-Modality Interaction Block, designed to explore the specificity within each modality and capture interactions between vision and textual modalities, thereby enhancing multimodal tuning. Extensive experiments on benchmark datasets demonstrate the superiority of the proposed ActionLLM framework, encouraging a promising direction to explore LLMs in the context of action anticipation. © 1999-2012 IEEE.

关键词： Semantics

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Task Offloading and Resource Allocation in IoT Based Mobile Edge Computing Using Deep Learning

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computers, Materials & Continua 2023年第8期76卷 1463-1477页

作者： Ily s Abdullaev Natalia Prodanova KAruna Bhaskar ELaxmi Lydia Seifedine Kadry Jungeun Kim Dean of the Faculty of Economics Department of Management and MarketingFaculty of EconomicsUrgench State UniversityUrganch220100Uzbekistan Basic Department Financial Control Analysis and Audit of Moscow Main Control DepartmentPlekhanov Russian University of EconomicsMoscow117997Russia Department of Computer Science and Engineering KL Deemed to UniversityVaddeswaramGunturAndhra PradeshIndia Department of Computer Science and Engineering GMR Institute of TechnologyAndhra PradeshRajamIndia Department of Applied Data Science Noroff University CollegeKristiansandNorway Artificial Intelligence Research Center(AIRC) Ajman UniversityAjman346United Arab Emirates Department of Electrical and Computer Engineering Lebanese American UniversityByblosLebanon Department of Software Kongju National UniversityCheonan31080Korea

Recently,computation offloading has become an effective method for overcoming the constraint of a mobile device(MD)using computationintensivemobile and offloading delay-sensitive application tasks to the remote cloud-based data *** city benefitted from offloading to edge *** a mobile edge computing(MEC)network in multiple *** comprise N MDs and many access points,in which everyMDhasM independent real-time *** study designs a new Task Offloading and Resource Allocation in IoT-based MEC using Deep Learning with Seagull Optimization(TORA-DLSGO)*** proposed TORA-DLSGO technique addresses the resource management issue in the MEC server,which enables an optimum offloading decision to minimize the system *** addition,an objective function is derived based on minimizing energy consumption subject to the latency requirements and restricted *** TORA-DLSGO technique uses the deep belief network(DBN)model for optimum offloading ***,the SGO algorithm is used for the parameter tuning of the DBN *** simulation results exemplify that the TORA-DLSGO technique outperformed the existing model in reducing client overhead in the MEC systems with a maximum reward of 0.8967.

关键词： Mobile edge computing seagull optimization deep belief network resource management parameter tuning

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A Weighted Least-Squares Method for Non-Asymptotic Identification of Markov Parameters from Multiple Trajectories

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IFAC-PapersOnLine 2024年第15期58卷 169-174页

作者： Jiabao He Cristian R. Rojas Håkan Hjalmarsson Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology 100 44 Stockholm Sweden

Markov parameters play a key role in system identification. There exists many algorithms where these parameters are estimated using least-squares in a first, pre-processing, step, including subspace identification and multi-step least-squares algorithms, such as Weighted Null-Space Fitting. Recently, there has been an increasing interest in non-asymptotic analysis of estimation algorithms. In this contribution we identify the Markov parameters using weighted least-squares and present non-asymptotic analysis for such estimator. To cover both stable and unstable systems, multiple trajectories are collected. We show that with the optimal weighting matrix, weighted least-squares gives a tighter error bound than ordinary least-squares for the case of non-uniformly distributed measurement errors. Moreover, as the optimal weighting matrix depends on the system’s true parameters, we introduce two methods to consistently estimate the optimal weighting matrix, where the convergence rate of these estimates is also provided. Numerical experiments demonstrate improvements of weighted least-squares over ordinary least-squares in finite sample settings.

关键词： Non-asymptotic identification Markov parameters weighted least-squares

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Balancing Human-robot Collaborative Disassembly Line by Using Dingo Optimization Algorithm 4

Balancing Human-robot Collaborative Disassembly Line by Usin...

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4th IEEE International Conference on Human-Machine Systems, ICHMS 2024

作者： Guo, Xiwang Zhou, Liangbo Zhou, Mengchu Wang, Weitian Wang, Jiacun Qi, Liang Liaoning Petrochemical University Information And Control Engineering Fushun China Liaoning Petrochemical University Information And Control Fushun China New Jersey Institute Of Technology Electrical And Computer Engineering NewarkNJ United States Montclair State University School Of Computing Montclair United States Monmouth University Computer Science And Software Eng. West Long BranchNJ United States Shandong University Of Sci. And Tech. Computer Intelligent Sci. And Tech. Qingdao China

ISBN: (纸本)9798350315790

Disassembling and recycling scrapped products play important roles in effectively reducing environmental pollution and improving resource sustainability. A multi-product human-robot collaborative disassembly-line-balancing problem (MHDP) arises from doing so and represents an important yet to be solved in the remanufacturing field. This work explores how to use optimization algorithms to schedule tasks between humans and robots to maximize remanufacturing profit in human-robot collaboration contexts. Specifically, we investigate MHDP and develop a mixed integer programming model considering various system constraints. We propose a dingo optimization algorithm that simulates wild dogs' social hierarchy and chasing processes to solve MHDP. We compare the proposed algorithm with an exact solution finder, i.e., IBM CPLEX and a well-known intelligent optimization method, i.e., Genetic Algorithm to show its competitive performance in terms of solution accuracy and efficiency. © 2024 IEEE.

关键词： Genetic algorithms

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Weighted Least-Squares PARSIM

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IFAC-PapersOnLine 2024年第15期58卷 330-335页

Subspace identification methods (SIMs) have proven very powerful for estimating linear state-space models. To overcome the deficiencies of classical SIMs, a significant number of algorithms has appeared over the last two decades, where most of them involve a common intermediate step, that is to estimate the range space of the extended observability matrix. In this contribution, an optimized version of the parallel and parsimonious SIM (PARSIM), PARSIM opt , is proposed by using weighted least-squares. It not only inherits all the benefits of PARSIM but also attains the best linear unbiased estimator for the above intermediate step. Furthermore, inspired by SIMs based on the predictor form, consistent estimates of the optimal weighting matrix for weighted least-squares are derived. Essential similarities, differences and simulated comparisons of some key SIMs related to our method are also presented.

关键词： Subspace identification ARX model Markov parameters weighted least-squares

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Spatiotemporal sequence data mining: Traffic flow prediction algorithm based on Recurrent Neural Networks

Advances in Transportation Studies

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Advances in Transportation Studies 2024年 64卷 25-40页

作者： Liu, Y.P. Liu, B.N. Department of Computer Engineering Taiyuan Institute of Technology Shanxi Taiyuan030008 China Department of Traffic Equipment and Control Engineering School of Traffic Electrical and Control Engineering North China University of Technology Beijing100043 China

Traffic congestion is one of the most common problems in the transportation system. In urban planning and construction, traffic congestion increases the difficulty of control and scheduling, hindering the pace of urban modernization development. The development of intelligent transportation systems has to some extent solved these problems, among which traffic flow prediction is particularly crucial. A period processing layer containing concatenation, dimension amplification, and diffusion convolution was studied and designed. On the grounds of this, a graph neural network prediction model combining spatiotemporal period characteristics was designed. And it further introduced a traffic flow prediction method on the grounds of dynamic topology maps. This model combined adaptive topology generation and parameter learning mechanisms, synchronously processing the complex correlation of traffic data and the heterogeneity between nodes through gated recurrent neural networks. The outcomes indicated that the research model is more excellent than other graph learning methods in three evaluation indicators: Mean square error, mean absolute percentage error, and root mean square error. Their values were 15.63%, 9.87%, and 25.08%, respectively. The evaluation on all four datasets showed excellent performance of the research model, confirming the effectiveness of its adaptive topology and parameter learning strategy. This study had important practical significance for improving the traffic management system, alleviating traffic pressure, and enhancing the travel experience of urban residents. © 2024, Aracne Editrice. All rights reserved.

关键词： Mean square error

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