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作者： Liu, Hongyun Chen, Peng Ouyang, Xue Gao, Hui Yan, Bing Grosso, Paola Zhao, Zhiming Informatics Institute University of Amsterdam Amsterdam1098 XH Netherlands Graduate School of Informatics University of Amsterdam Amsterdam1098 XH Netherlands School of Computer and Software Engineering Xihua University Chengdu610039 China School of Computer Science National University of Defense Technology Changsha410073 China College of Electrical and Control Engineering Shaanxi University of Science and Technology Xi'an710021 China School of Electrical and Electronic Engineering University of Adelaide Adelaide South Australia5005 Australia

Cloud computing attracts increasing attention in processing dynamic computing tasks and automating the software development and operation pipeline. In many cases, the computing tasks have strict deadlines. The cloud resource manager (e.g., orchestrator) effectively manages the resources and provides tasks Quality of Service (QoS). Cloud task scheduling is tricky due to the dynamic nature of task workload and resource availability. Reinforcement Learning (RL) has attracted lots of research attention in scheduling. However, those RL-based approaches suffer from low scheduling performance robustness when the task workload and resource availability change, particularly when handling time-critical tasks. This paper focuses on both challenges of robustness and deadline guarantee among such RL, specifically Deep RL (DRL)-based scheduling approaches. We quantify the robustness measurements as the retraining time and investigate how to improve both robustness and deadline guarantee of DRL-based scheduling. We propose MLR-TC-DRLS, a practical, robust Meta Deep Reinforcement Learning-based scheduling solution to provide time-critical tasks deadline guarantee and fast adaptation under highly dynamic situations. We comprehensively evaluate MLR-TC-DRLS performance against RL-based and RL advanced variants-based scheduling approaches using real-world and synthetic data. The evaluations validate that our proposed approach improves the scheduling performance robustness of typical DRL variants scheduling approaches with 97%–98.5% deadline guarantees and 200%–500% faster adaptation. © 2023 The Author(s)

关键词： Reinforcement learning

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Synthesizing Robust Walking Gaits via Discrete-Time Barrier Functions with Application to Multi-Contact Exoskeleton Locomotion

Synthesizing Robust Walking Gaits via Discrete-Time Barrier ...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Maegan Tucker Kejun Li Aaron D. Ames School of Electrical and Computer Engineering and the Woodruff School of Mechanical Engineering Georgia Institute of Technology Atlanta GA Department of Computation and Neural Systems California Institute of Technology Pasadena CA Department of Mechanical and Civil Engineering and the Department of Control and Dynamical Systems California Institute of Technology Pasadena CA

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Successfully achieving bipedal locomotion remains challenging due to real-world factors such as model uncertainty, random disturbances, and imperfect state estimation. In this work, we propose a novel metric for locomotive robustness – the estimated size of the hybrid forward invariant set associated with the step-to-step dynamics. Here, the forward invariant set can be loosely interpreted as the region of attraction for the discrete-time dynamics. We illustrate the use of this metric towards synthesizing nominal walking gaits using a simulation-in-the-loop learning approach. Further, we leverage discrete-time barrier functions and a sampling-based approach to approximate sets that are maximally forward invariant. Lastly, we experimentally demonstrate that this approach results in successful locomotion for both flat-foot walking and multi-contact walking on the Atalante lower-body exoskeleton.

关键词： Legged locomotion Measurement Uncertainty Exoskeletons Robustness State estimation Robots

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Adaptive Active Fault-Tolerant Attitude control for Spacecraft with Adaptive Prescribed Performance

Adaptive Active Fault-Tolerant Attitude Control for Spacecra...

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International Symposium on Autonomous Systems (ISAS)

作者： Ze Yang Baoqing Yang Ruihang Ji Jie Ma Control and Simulation Center Harbin Institute of Technology Harbin China Department of Electrical and Computer Engineering National University of Singapore Singapore

For spacecraft attitude control affected by environmental disturbance, parameter uncertainty and actuator fault, a novel composite active fault-tolerant scheme, combining a strong tracking Cubature Kalman filter (STCKF) with adaptive prescribed performance control (APPC), is investigated in this paper. The proposed STCKF is capable of estimating lumped fault rapidly but accurately, and it is robust to model uncertainty. An adaptive finite-time prescribed performance function (APPF) whose boundaries can be flexibly adjusted in the case of actuator faults is proposed. Then an active fault tolerant controller is designed using nonsingular terminal sliding mode control (NTSMC) in conjunction with APPF. Simulation experiments and comparisons show that the proposed strategy exhibits better fault tolerance, lower conservatism and better steady-state performance.

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A production scheduling and control system for CAR T cell manufacturing

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Procedia CIRP 2024年 125卷 36-41页

作者： Tamás Kis Simon Hort Péter Györgyi Evelin Szögi Robert H. Schmitt HUN-REN Institute for Computer Science and Control Kende str 13-17 Budapest 1111 Hungary Fraunhofer Institute for Production Technology IPT Aachen Germany Laboratory for Machine Tools and Production Engineering (WZL) of RWTH Aachen University Aachen Germany

This paper addresses some of the new challenges posed by scheduling and controlling the production of chimeric antigen receptor (CAR) T cells for personalized therapies. In this therapy, the patient’s T cells are genetically modified by adding a gene for a receptor to help T cells attach to the cancer cell antigens. Then, the modified cells are grown and multiplied (called cell expansion) and finally returned to the patient. The production takes place in a manufacturing system that comprises several devices, which are capable of processing cells from multiple patients at the same time. The efficient operation of such a complex system requires a sophisticated control system accompanied by a scheduler to optimize the production of CAR T cells for several patients simultaneously. We propose a scheduling algorithm, which can handle the uncertain duration of cell expansion, and the maximum time lags between consecutive processes simultaneously, a combination hardly studied in the literature. We also describe the main features of an adaptive control system including service-oriented device connections as well as centralized control and monitoring. Finally, we describe how the overall system works, including a JSON based communication between scheduler and control system.

关键词： Scheduling Production control CAR T cell manufacturing

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An Optimized Ensemble Model for Prediction the Bandwidth of Metamaterial Antenna

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computers, Materials & Continua 2022年第4期71卷 199-213页

作者： Abdelhameed Ibrahim Hattan F.Abutarboush Ali Wagdy Mohamed Mohamad Fouad El-Sayed M.El-kenawy Computer Engineering and Control Systems Department Faculty of EngineeringMansoura UniversityMansoura35516Egypt Electrical Engineering Department College of EngineeringTaibah UniversityMedina42353Saudi Arabia Operations Research Department Faculty of Graduate Studies for Statistical ResearchCairo UniversityGiza12613Egypt Wireless Intelligent Networks Center(WINC) School of Engineering and Applied SciencesNile UniversityGizaEgypt Department of Communications and Electronics Delta Higher Institute of Engineering and TechnologyMansoura35111Egypt Faculty of Artificial Intelligence Delta University for Science and TechnologyEgypt

Metamaterial Antenna is a special class of antennas that uses metamaterial to enhance their *** size affects the quality factor and the radiation loss of the *** antennas can overcome the limitation of bandwidth for small *** learning(ML)model is recently applied to predict antenna *** can be used as an alternative approach to the trial-and-error process of finding proper parameters of the simulated *** accuracy of the prediction depends mainly on the selected *** models combine two or more base models to produce a better-enhanced *** this paper,a weighted average ensemble model is proposed to predict the bandwidth of the Metamaterial *** base models are used namely:Multilayer Perceptron(MLP)and Support Vector Machines(SVM).To calculate the weights for each model,an optimization algorithm is used to find the optimal weights of the *** Group-Based Cooperative Optimizer(DGCO)is employed to search for optimal weight for the base *** proposed model is compared with three based models and the average ensemble *** results show that the proposed model is better than other models and can predict antenna bandwidth efficiently.

关键词： Metamaterial antenna machine learning ensemble model multilayer perceptron support vector machines

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Target Localization of Short Vertical Line Array Based on Least Squares Method

Target Localization of Short Vertical Line Array Based on Le...

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International Conference on computer Network, Electronic and Automation (ICCNEA)

作者： Shaochun Qu Zhipeng Cai Jing Ma School of Computer Science and Engineering Xi’an Technological University Xi’an China North Automatic Control Technology Institute Taiyuan China

In the shallow sea environment, array of small array elements may not be able to accurately locate targets due to undersampling. To address this issue, the paper proposed a method called sound field extension based on the reception of array of small array elements, which generates a virtual measurement field of a vertical array with lager number. The method utilizes the extended acoustic field for VTRM. This approach significantly improves the focusing and positioning performance of the TRM. The key implementation lies in estimating the normal wave mode coefficients from the acoustic field acquired by the short vertical line array. The paper uses the least squares method to estimate the mode coefficients. Experimental results demonstrate that compared to conventional time processing methods for an array of small array elements, the VTRM method using the a vertical array with a large number of elements can effectively enhance targeting and focusing performance of the short array. For array of small array elements with 21 elements, the SNR (Signal Interference to Noise Ratio) effectively improves by 4.32 dB.

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Profitability of a hybrid heating system for a single-family house in Poland based on a heat pump and photovoltaics

Profitability of a hybrid heating system for a single-family...

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2020 Applications of Electromagnetics in Modern engineering and Medicine, PTZE 2020

作者： Drzymala, A. Korzeniewska, E. Institute of Economics University of Lodz Lodz Poland Institute of Electrical Engineering Systems Faculty of Electrical Electronic Computer and Control Engineering Lodz University of Technology Lodz Poland

The article presents an analysis of the profitability of an investment consisting of a heat pump and a photovoltaic installation located in Poland for an exemplary single-family house. The factors that have a significant impact on the profitability and payback time of such installations operating in a dual configuration are described. A simulation of profitability taking into account the legal regulations and support systems was presented. The considered case of profitability concerns a specific technical solution in which an 8 kW air / water pump was used. The pomp cooperates with a photovoltaic installation with a power of up to 10kW, operating in a discount system with an energy consumption factor of 0.8. For the purposes of this article, the DCF (discounted cash flow) method was used. Using this method, it is possible to calculate the market value of the investment with the assumed boundary criteria. A comparison of the economic efficiency of an investment can be presented using the IRR (internal rate of return) method. © Published under licence by IOP Publishing Ltd.

关键词： Profitability

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Random Forest Regression for Battery State-of-Health Estimation Based on Unsupervised Transfer Component Analysis Domain Adaptation

Random Forest Regression for Battery State-of-Health Estimat...

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2022 IEEE International Conference on Industrial Technology, ICIT 2022

作者： Tian, Jilun Zhang, Jiusi Huangy, Congsheng Chowz, Mo-Yuen Luo, Hao Harbin Institute of Technology Department of Control Science and Engineering Harbin150001 China National Taipei University of Technology Department of Electrical Engineering Taipei10608 Taiwan North Carolina State University Department of Electrical and Computer Engineering RaleighNC27606 United States

ISBN: (纸本)9781728119489

Machine learning is an useful approach estimating the state-of-health (SOH) of the lithium-ion batteries and had been successfully implemented on battery management systems (BMS). However, the SOH estimation accuracy of the machine learning relies highly on the similarity of training dataset and battery data of estimation. In other words, the machine learning approach may fail if the battery of estimation is operated in a different condition from the condition set for collecting the training dataset. This paper aims on solving such a problem by proposing a transfer component analysis-random forest regression (TCA-RF) approach. The robustness of this proposed approach is ensured by the random forest regression, which is an ensemble learning approach. The generalization of this proposed approach is enhanced by transfer component analysis since it achieves the domain adaption with well transformation of features between two datasets. Two battery ageing datasets collected in different operating conditions are selected in this paper to validate the success of the proposed work, where these two datasets are collected by the Center for Advanced Life Cycle engineering (CALCE) and the National Aeronautics and Space Administration (NASA) Prognostics Center of Excellence (PCoE). The proposed work is further compared with multiple commonly adopted intelligent algorithms to showcase the high performance of the proposed work. The experimental results shows that the proposed TCA-RF approach has a better accurate SOH estimation comparing to other estimation algorithms by 2% to more 50%. © 2022 IEEE.

关键词： Lithium-ion batteries

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Wirelessly Actuated Rotation-free Magnetic Motor

Wirelessly Actuated Rotation-free Magnetic Motor

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Umur Ulas Harman Ahmed Hafez Cameron Duffield Zihan Zhao Luke Dixon Daniela Rus Shuhei Miyashita Automatic Control and Systems Engineering Department University of Sheffield Sheffield UK Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge MA USA Insigneo Institute for in Silico Medicine

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

This paper addresses the challenge of actuating millimetre-sized motors, which are wirelessly driven by external magnetic fields. Traditional approaches, relying on rotating magnetic fields, often inadvertently cause the entire robot – especially if it is small and lightweight – to rotate, instead of a specified shaft in the motor. To overcome this issue, our study introduces a novel mechanism that leverages symmetrically configured magnetic motors to cancel out the torques, thus preventing unwanted rotation of the robot. This is achieved by utilizing a magnetic field along a single axis to induce rotational movement. The design features two millimetre-sized rotating magnets that interact to achieve a 90 ◦ rotation, complemented by an external magnetic field that accomplishes the remaining 270 ◦ , thus completing a full rotation. Furthermore, we demonstrate that applying a perpendicularly oriented magnetic field can inversely affect the motor’s rotation direction. A proof-of-concept experiment employing this mechanism successfully actuated a gripper in a water tank while it is free-floating, showcasing its potential for enhancing robotic applications at the sub-centimeter scale, where the small net torque of a miniature motor is essential.

关键词： Water Shafts Torque Gears Net zero Storage management Motors Permanent magnets Magnetic fields Grippers

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Dissipative Avoidance Feedback for Reactive Navigation Under Second-Order Dynamics

arXiv

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arXiv 2024年

作者： Smaili, Lyes Tang, Zhiqi Berkane, Soulaimane Hamel, Tarek Department of Computer Science and Engineering University of Quebec in Outaouais GatineauQC Canada Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology StockholmSE-10044 Sweden Department of Electrical Engineering Lakehead University ON Canada France

This paper addresses the problem of autonomous robot navigation in unknown, obstacle-filled environments with second-order dynamics by proposing a Dissipative Avoidance Feedback (DAF). Compared to the Artificial Potential Field (APF), which primarily uses repulsive forces based on position, DAF employs a dissipative feedback mechanism that accounts for both position and velocity, contributing to smoother and more natural obstacle avoidance. The proposed continuously differentiable controller solves the motion-to-goal problem while guaranteeing collision-free navigation by using the robot’s state and local obstacle distance information. We show that the controller guarantees safe navigation in generic n-dimensional environments and that all undesired ω-limit points are unstable under certain controlled curvature conditions. Designed for real-time implementation, DAF requires only locally measured data from limited-range sensors (e.g., LiDAR, depth cameras), making it particularly effective for robots navigating unknown workspaces. Simulations in 2D and 3D environments are conducted to validate the theoretical results and to showcase the effectiveness of our approach. © 2024, CC BY.

关键词： Feedback

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