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Adaptive Robust Control Integrated With Gaussian Processes for Quadrotors: Enhanced Accuracy, Fault Tolerance and Anti-Disturbance

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IEEE Transactions on systems, Man, and Cybernetics: systems 2025年第5期55卷 3235-3248页

作者： Liang, Weisheng Amer, Abdelhakim Mehndiratta, Mohit Chen, Zheng Yao, Bin Kayacan, Erdal Zhejiang University State Key Laboratory of Fluid Power and Mechatronic Systems Hangzhou310027 China Aarhus University Artificial Intelligence in Robotics Laboratory Department of Electrical and Computer Engineering Aarhus8000 Denmark GIM Robotics Espoo02650 Finland Zhejiang University Ocean College Ocean Research Center of Zhoushan Zhoushan316021 China Purdue University School of Mechanical Engineering West Lafayette47907 United States Department of Electrical Engineering and Information Technology Paderborn33098 Germany

With increasingly challenging applications for quadrotors, higher requirements are emerging for tracking accuracy and safety. While high accuracy is a prerequisite for complex tasks, safety is ensured through tolerance to actuator faults and resistance to external disturbances. In this article, adaptive robust control (ARC) integrated with Gaussian processes (GPs), i.e., ARC-GP, is proposed to achieve enhanced accuracy, fault tolerance, and anti-disturbance. These three requirements are interrelated and affected by uncertainties. The primary idea of this article is to categorize uncertainties into parametric and nonparametric types, which are then addressed through parameter adaptation and GP, respectively. First, a detailed dynamic model is established, including actuator models that reflect different types of faults corresponding to changes in different physical parameters. Then, parameter adaptation is designed, with direct and indirect methods adopted for different parameters. In particular, the actuator parameters are effectively estimated to achieve targeted fault compensation. Regarding GP for nonparametric uncertainties, its model parameters are also updated via parameter adaptation. The GP thereby also learns parameter estimation errors along with external disturbances. Accordingly, ARC controllers are designed, for which robust feedback terms are constructed to further mitigate uncertainties on the basis of the covariances predicted by GP. The experiments demonstrate that the proposed ARC-GP can actively tolerate various types of actuator faults and better resist wind disturbances. © 2013 IEEE.

关键词： Robust control

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Movement-Based Interaction: An Approach to Visual and Auditory Stimulus and Memory 6

Movement-Based Interaction: An Approach to Visual and Audito...

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6th Experiment at International Conference, exp.at 2023

作者： Nogueira, Maria Rita Menezes, Paulo Institute of Systems and Robotics University of Coimbra Coimbra Portugal University of Coimbra Dept. of Electrical and Computer Engineering Coimbra Portugal

ISBN: (纸本)9798350314403

Movement-based interaction design is an innovative field that leverages the body's natural movements to create intuitive and engaging interfaces. This approach takes a sensorial approach to visual and auditory memory, seeking to enhance user engagement and create more meaningful experiences. The use of movement-based interfaces has significant implications for senior citizens, who may have mobility limitations or cognitive impairments. Using movement-based interfaces, seniors can engage in physical activity and maintain cognitive function, essential aspects for healthy aging. Movement-based interfaces can also help children develop physical coordination, cognitive skills, and social interaction. Furthermore, movement-based interaction design can benefit everyone's physical well-being by promoting physical activity and reducing sedentary behavior. Studies have demonstrated that movement-based interfaces can enhance posture, physical activity levels, and general health. By combining movement with sensory experiences, movement-based interaction design can create a more engaging and enjoyable experience for users, which can motivate them to maintain physical and cognitive health. In this article, we present two case studies that research the effectiveness of movement-based interaction design in enhancing visual and auditory memory. Overall, the results of these case studies suggest that movement-based interaction design is an effective approach to enhancing visual and auditory memory. The introduction of movement-based interfaces can give participants a more enjoyable and memorable experience, improving user engagement and information retention. © 2023 IEEE.

关键词： Machine learning

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Fuzzy clustering for electric field characterization and its application to thunderstorm interpretability

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Digital Communications and Networks 2025年第2期11卷 299-307页

作者： Xu Yang Hongyan Xing Xinyuan Ji Wei Xu Witold Pedrycz School of Electronics and Information Engineering Nanjing University of Information Science and TechnologyNanjing 210044China Department of Electrical and Computer Engineering University of AlbertaEdmonton AB T6G 2R3Canada Systems Research Institute Polish Academy of Sciences00-901 WarsawPoland Department of Computer Engineering Faculty of Engineering and Natural SciencesIstinye University34010 IstanbulTurkey

Changes in the Atmospheric Electric Field Signal(AEFS)are highly correlated with weather changes,especially with thunderstorm ***,little attention has been paid to the ambiguous weather information implicit in AEFS *** this paper,a Fuzzy C-Means(FCM)clustering method is used for the first time to develop an innovative approach to characterize the weather attributes carried by ***,a time series dataset is created in the time domain using AEFS *** AEFS-based weather is evaluated according to the time-series Membership Degree(MD)changes obtained by inputting this dataset into the ***,thunderstorm intensities are reflected by the change in distance from a thunderstorm cloud point charge to an AEF ***,a matching relationship is established between the normalized distance and the thunderstorm dominant MD in the space ***,the rationality and reliability of the proposed method are verified by combining radar charts and expert *** results confirm that this method accurately characterizes the weather attributes and changes in the AEFS,and a negative distance-MD correlation is obtained for the first *** detection of thunderstorm activity by AEF from the perspective of fuzzy set technology provides a meaningful guidance for interpretable thunderstorms.

关键词： Atmospheric electric field(AEF) Thunderstorm Fuzzy C-means(FCM) Attribute

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Decentralized control in active distribution grids via supervised and reinforcement learning

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Energy and AI 2024年第2期16卷 137-149页

作者： Stavros Karagiannopoulos Petros Aristidou Gabriela Hug Audun Botterud Laboratory for Information and Decision Systems(LIDS) Massachusetts Institute of TechnologyCambridgeUSA EEH-Power Systems Laboratory ETH Zurichhysikstrasse 38092 ZurichSwitzerland Department of Electrical Engineering Computer Engineering&InformaticsCyprus

While moving towards a low-carbon, sustainable electricity system, distribution networks are expected to host a large share of distributed generators, such as photovoltaic units and wind turbines. These inverter-based resources are intermittent, but also controllable, and are expected to amplify the role of distribution networks together with other distributed energy resources, such as storage systems and controllable loads. The available control methods for these resources are typically categorized based on the available communication network into centralized, distributed, and decentralized or local. Standard local schemes are typically inefficient, whereas centralized approaches show implementation and cost concerns. This paper focuses on optimized decentralized control of distributed generators via supervised and reinforcement learning. We present existing state-of-the-art decentralized control schemes based on supervised learning, propose a new reinforcement learning scheme based on deep deterministic policy gradient, and compare the behavior of both decentralized and centralized methods in terms of computational effort, scalability, privacy awareness, ability to consider constraints, and overall optimality. We evaluate the performance of the examined schemes on a benchmark European low voltage test system. The results show that both supervised learning and reinforcement learning schemes effectively mitigate the operational issues faced by the distribution network.

关键词： Supervised learning Reinforcement learning Deep deterministic policy gradient Decentralized control Active distribution systems

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Data Augmentation and Random Multi-Model Deep Learning for Data Classification

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computers, Materials & Continua 2023年第3期74卷 5191-5207页

作者： Fatma Harby Adel Thaljaoui Durre Nayab Suliman Aladhadh Salim EL Khediri Rehan Ullah Khan Computer Science Department Future Academy-Higher Future Institute for Specialized Technological StudiesEgypt Department of Computer Systems Engineering Faculty of Electrical and Computer EngineeringUniversity of Engineering and TechnologyPeshawar25120Pakistan Department of Information Technology College of ComputerQassim UniversityBuraydahSaudi Arabia Department of Computer Sciences Faculty of Sciences of GafsaUniversity of GafsaGafsaTunisia

In the machine learning(ML)paradigm,data augmentation serves as a regularization approach for creating ML *** increase in the diversification of training samples increases the generalization capabilities,which enhances the prediction performance of classifiers when tested on unseen *** learning(DL)models have a lot of parameters,and they frequently ***,to avoid overfitting,data plays a major role to augment the latest improvements in ***,reliable data collection is a major limiting ***,this problem is undertaken by combining augmentation of data,transfer learning,dropout,and methods of normalization in *** this paper,we introduce the application of data augmentation in the field of image classification using Random Multi-model Deep Learning(RMDL)which uses the association approaches of multi-DL to yield random models for *** present a methodology for using Generative Adversarial Networks(GANs)to generate images for data *** experiments,we discover that samples generated by GANs when fed into RMDL improve both accuracy and model *** across both MNIST and CIAFAR-10 datasets show that,error rate with proposed approach has been decreased with different random models.

关键词： Data augmentation generative adversarial networks classification machine learning random multi-model deep learning

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Multimodal Human Detection using RGB, Thermal and LiDAR modalities for Robotic Perception

Multimodal Human Detection using RGB, Thermal and LiDAR moda...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Kennedy O. S. Mota Luís Garrote Cristiano Premebida Department of Electrical and Computer Engineering Institute of Systems and Robotics University of Coimbra Portugal

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

People detection is a relevant research topic in artificial perception with wide range of applications from security, surveillance, robotics to autonomous driving. Overcoming challenges in this field involves advanced algorithms, combination of machine learning approaches, as well as the use of sensory data e.g., from cameras and LiDARs. This work addresses the problem of people detection using YOLO, a state-of-the-art object detection method, trained on three distinct data sources LiDAR, RGB (color) and ‘thermal’ (long-wave infra-red) images. The rationale for combining multiple-sensory representation relies on the assumption that each sensor has its own advantages and disadvantages, but together they normally complement each other - specially in real-world conditions. LiDAR contributes to a physically-interpretable mapping of the environment, providing precise information regarding size/dimension and location of the objects, while RGB and thermal provide relevant textural features. The sensors have been calibrated w.r.t. each other thus, allowing the LiDAR’s point-clouds to be projected into the image plane, followed by an up-sampling step, to create dense-depth maps (DM) that enable direct use of the YOLO framework. To support the experiments, a new multi-sensory dataset has been collected using a mobile robot. Besides single-modality models, this paper also explores early and late-fusion strategies. Finally, the new dataset has been made available in a Github repository 1 .

关键词： YOLO Laser radar Machine learning algorithms Surveillance Soft sensors Thermal engineering Robot vision systems Security Mobile robots Software development management

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A Compliant Robot-Assisted Mold Polishing Application Using the Franka Emika Robot 49

A Compliant Robot-Assisted Mold Polishing Application Using ...

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49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023

作者： Xenya, Michael Christopher Cortesao, Rui Institute of Systems and Robotics University of Coimbra Electrical and Computer Engineering Department Coimbra3030-290 Portugal FOE GCTU PMB100 Accra Ghana

ISBN: (纸本)9798350331820

Metal mold casting for many application areas remains imperfect since this involves the control of numerous factors that affect workpiece quality. Surface roughness which remains one of the many issues related to metal mold cast is often mitigated by means of grinding and polishing. As many attempts are being made to address this challenge through robot-assisted techniques, we focus on rapid mold polishing using the Franka Emika (FE) robot and its programming resources, including a built-in impedance control architecture. To accomplish the objective, mold surface segmentation is necessary. For each segment, the polishing approach is based on surface normals, relative motion, and torque sensor data. Results were obtained with open platform communication-unified architecture (opc-ua) client and server that record torque and force data. Results show that tuning internal impedance control parameters for polishing tasks is feasible. © 2023 IEEE.

关键词： Polishing

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Development and Evaluation of a Cost-effective IMU System for Gait Analysis: Comparison with Vicon and VideoPose3D Algorithms

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Current Directions in Biomedical engineering 2023年第1期9卷 254-257页

作者： Wilhelm, Nikolas Haddadin, Sami Micheler, Carina M. Lang, Jan J. Hinterwimmer, Florian Schaack, Victor Smits, Ricardo Burgkart, Rainer Department of Orthopedics and Sports Orthopedics Klinikum Rechts der Isar School of Medicine and Munich Institute of Robotics and Machine Intelligence Department of Electrical and Computer Engineering Technical University of Munich Munich Germany Munich Institute of Robotics and Machine Intelligence Department of Electrical and Computer Engineering Technical University of Munich Munich Germany Department of Orthopedics and Sports Orthopedics Klinikum Rechts der Isar School of Medicine Munich Germany

This study aimed to develop and evaluate a costeffective Inertial Measurement Unit (IMU) system for gait analysis, comparing its performance with the Vicon system and the VideoPose3D algorithm. The system comprises five calibrated sensors and a mobile app to measure lower body orientation during gait and stair climbing. Eight healthy participants were involved in the experiment, each performing ten repetitions to analyze hip and knee flexion angles. The IMU system demonstrated significantly lower mean square error than deep learning-based approaches and comparable results to the Vicon system, indicating its potential for clinical and research applications. © 2023 the author(s), published by Walter de Gruyter Berlin/Boston.

关键词： Gait analysis

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Benchmarking Convolutional Neural Network Inference on Low-Power Edge Devices 48

Benchmarking Convolutional Neural Network Inference on Low-P...

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48th IEEE International Conference on Acoustics, Speech and Signal Processing, ICASSP 2023

作者： Ferraz, Oscar Araujo, Helder Silva, Vitor Falcao, Gabriel Instituto de Telecomunicações Portugal University of Coimbra Dept. of Electrical and Computer Engineering Portugal Institute of Systems and Robotics Portugal

ISBN: (纸本)9781728163277

The massive adoption of IoT devices, the recent developments in the efficiency of AI systems, and the increase of edge computational power, accelerated the deployment of edge AI systems. The implementation of these systems through the use of low-power embedded devices scattered across the edges of a network allows for reduced latency and cost, compared to traditional cloud-based AI computing systems. As a result of the low-complexity AI models and the available low-power embedded systems on the market, this paper provides a comparative study on the inference performance of convolutional neural networks for different edge devices, by exploiting low-power GPUs and dedicated AI hardware. The benchmark results were able to achieve 864 inferences/s for the Jetson AGX Xavier board on a pre-trained SqueezeNet, while reaching a high power efficiency of 52.6 inferences/s per Watt. For the dedicated Movidius neural stick, the system requires only 1.5 W for processing 24.2 inferences/s. © 2023 IEEE.

关键词： Artificial Intelligence Benchmarking Edge devices GPUs Inference Engine IoT Low-power

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Near-Optimal Scheduling for IC Packaging Operations Considering Processing-Time Variations and Factory Practices

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IEEE robotics and Automation Letters 2024年第4期9卷 3878-3885页

作者： Tsai, Tsung-Han Yan, Bing Luh, Peter B. Yang, Haw-Ching Bragin, Mikhail A. Cheng, Fan-Tien National Cheng Kung University Institute of Manufacturing Information and Systems Tainan701401 Taiwan Rochester Institute of Technology Department of Electrical and Microelectronic Engineering RochesterNY14623 United States University of Connecticut Department of Electrical and Computer Engineering StorrsCT06269 United States National Taiwan University Department of Electrical Engineering Taipei106329 Taiwan National Kaohsiung University of Science and Technology Department of Electrical Engineering Kaohsiung824005 Taiwan University of California Department of Electrical and Computer Engineering RiversideCA92507 United States

Due to the short life cycles of electronic products, trial run lots of new products are crucial in IC packaging for production verification and engineering adjustments. The processing time of trial run lots may differ significantly from production lots due to engineering adjustments and is difficult to predict without sufficient historical data. The purpose of this letter is to develop a framework for near-optimal scheduling of IC packaging considering processing time variations and factory practices. Using an orthogonal greedy algorithm and recurrent neural network, this framework extracts key features and predicts the processing times of trial run lots and production lots for each operation using these algorithms. After formulating the scheduling problem in an integer linear programming form, an ordinal optimization method is embedded within the decomposition and coordination framework to obtain dynamic and near-optimal schedules in a computationally efficient manner. This approach can improve the efficiency of IC packaging and potentially other operations by optimizing lot scheduling, reducing production tardiness, and increasing productivity in the factory, paving the way for self-optimizing factories in the future. © 2016 IEEE.

关键词： Integer programming

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