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IEEE Conference on Decision and Control

作者： S. Graffione S. Bracco C. Pasquale S. Sacone S. Siri A. Ferrara Department of Informatics Bioengineering Robotics and Systems Engineering University of Genova Italy Department of Electrical Electronics and Telecommunication Engineering and Naval Architecture University of Genova Italy Department of Electrical Computer and Biomedical Engineering University of Pavia Italy

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

This paper proposes a multi-scale control scheme aimed at controlling speed, dwell time, and charging time of electric and automated buses performing the transport service on lines where there are no reserved lanes. The proposed control scheme has two layers characterized by different control objectives, level of detail and time scales. The high-level controller periodically solves a multi-objective optimal control problem formalized to ensure an adequate transport service, while the low-level controller, being based on a more accurate description of the bus dynamics and energy consumption, seeks to follow the high-level control actions while taking into account the effective traffic conditions encountered on the line and the effective dynamic behaviour of the bus. The paper concludes with the application to a case study in order to demonstrate the effectiveness of the proposed control scheme.

关键词： Energy consumption Accuracy Optimal control Minimization Real-time systems Delays Batteries State of charge Brakes MATLAB

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Hybrid Blockchain and IoT Driven Framework for Supply Chain Optimization by Enhancing Transparency, Efficiency and Cost Reduction 3

Hybrid Blockchain and IoT Driven Framework for Supply Chain ...

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3rd International Conference on Electronics and Renewable systems, ICEARS 2025

作者： Pradeep Kumar, S. Basha, C.H. Hussaian Prasath, C. Arun Amirthayogam, G. Lathif, Syed Ismail Abdul Leelavathi, R. Rajalakshmi Engineering College Computer Science Design Department Thandalam Chennai602105 India Sr University Department of Electrical and Electronics Engineering Warangal506371 India Mahendra Engineering College Department of Ece Namakkal637503 India Vel Tech Rangarajan Dr. Sagunthala R&d Institute of Science and Technology School of Computing Department of Computer Science and Engineering Chennai600062 India Srm Institute of Science and Technology Department of Data Science and Business Systems Chennai603203 India Velalar College of Engineering and Technology Department of Biomedical Engineering Erode638012 India

ISBN: (纸本)9798331509675

Blockchain technology represents a modern supply chain management revolution which fixes operational challenges while providing enhanced transparency at reduced costs. The research develops HB-SCOF (Hybrid Blockchain-Enabled Supply Chain Optimization Framework) which combines blockchain self-verification databases with automatic smart contracts to maintain continuous supply chain observation and evaluate data credibility. The framework integrates tamper-proof transaction tracking mechanisms with unified supply chain network connectivity for securing data transmission as a trust delivery method through unbreakable shared databases. The retail-industry case study demonstrated a 25% decrease in expenses stemming from agency elimination alongside enhanced flow management and better stock distribution. The system demonstrates its effectiveness through assessments of key performance indicators including transaction speed and data accuracy together with business cost efficiency. This part looks at implementation methods through training stakeholders in addition to transforming organizational policies which produce successful outcomes. Blockchain technology labs verify its capability to enhance supply chain management efficiency while showing realistic deployment methods. © 2025 IEEE.

关键词： Smart contract

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Observer-Based Control of Second-Order Multi-vehicle systems in Bearing-Persistently Exciting Formations 63

Observer-Based Control of Second-Order Multi-vehicle Systems...

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63rd IEEE Conference on Decision and Control, CDC 2024

作者： Tang, Zhiqi Fidan, Baris Johansson, Karl H. Martensson, Jonas Hamel, Tarek Kth Royal Institute of Technology Division of Decision and Control Systems School of Electrical Engineering and Computer Science StockholmSE-10044 Sweden University of Waterloo Mechanical and Mechatronics Engineering Department ON Canada I3S-UCA Cnrs France

ISBN: (纸本)9798350316339

This paper proposes an observer-based formation tracking control approach for multi-vehicle systems with second-order motion dynamics, assuming that vehicles' relative or global position and velocity measurements are unavailable. It is assumed that all vehicles are equipped with sensors capable of sensing the bearings relative to neighboring vehicles and only one leader vehicle has access to its global position. Each vehicle estimates its absolute position and velocity using relative bearing measurements and the estimates of neighboring vehicles received over a communication network. A distributed observer-based controller is designed, relying only on bearing and acceleration measurements. This work further explores the concept of the Bearing Persistently Exciting (BPE) formation by proposing new algorithms for bearing-based localization and state estimation of second-order systems in centralized and decentralized manners. It also examines conditions on the desired formation to guarantee the exponential stability of distributed observer-based formation tracking controllers. In support of our theoretical results, some simulation results are presented to illustrate the performance of the proposed observers as well as the observer-based tracking controllers. © 2024 IEEE.

关键词： Acceleration measurement

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On Partial Optimal Transport: Revising the Infeasibility of Sinkhorn and Efficient Gradient Methods 38

On Partial Optimal Transport: Revising the Infeasibility of ...

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38th AAAI Conference on Artificial Intelligence, AAAI 2024

作者： Nguyen, Anh Duc Nguyen, Tuan Dung Nguyen, Quang Minh Nguyen, Hoang H. Nguyen, Lam M. Toh, Kim-Chuan Department of Mathematics National University of Singapore Singapore Department of Computer and Information Science University of Pennsylvania United States Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology United States School of Industrial and Systems Engineering Georgia Institute of Technology United States IBM Research Thomas J. Watson Research Center United States Institute of Operations Research and Analytics National University of Singapore Singapore

ISBN: (纸本)1577358872

This paper studies the Partial Optimal Transport (POT) problem between two unbalanced measures with at most n supports and its applications in various AI tasks such as color transfer or domain adaptation. There is hence a need for fast approximations of POT with increasingly large problem sizes in arising applications. We first theoretically and experimentally investigate the infeasibility of the state-of-the-art Sinkhorn algorithm for POT, which consequently degrades its qualitative performance in real world applications like point-cloud registration. To this end, we propose a novel rounding algorithm for POT, and then provide a feasible Sinkhorn procedure with a revised computation complexity of Oe(n2/Ε4). Our rounding algorithm also permits the development of two first-order methods to approximate the POT problem. The first algorithm, Adaptive Primal-Dual Accelerated Gradient Descent (APDAGD), finds an Ε-approximate solution to the POT problem in Oe(n2.5/Ε). The second method, Dual Extrapolation, achieves the computation complexity of Oe(n2/Ε), thereby being the best in the literature. We further demonstrate the flexibility of POT compared to standard OT as well as the practicality of our algorithms on real applications where two marginal distributions are unbalanced. Copyright © 2024, Association for the Advancement of Artificial Intelligence (***). All rights reserved.

关键词： Gradient methods

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Robust Multiresolution and Multistain Background Segmentation in Whole Slide Images 23rd

Robust Multiresolution and Multistain Background Segmentatio...

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Proceedings of the 23rd Polish Conference on Biocybernetics and Biomedical engineering, PCBEE 2023

作者： Jurgas, Artur Wodzinski, Marek Atzori, Manfredo Müller, Henning Information Systems Institute Sierre Switzerland Faculty of Electrical Engineering Automatics Computer Science and Biomedical Engineering AGH University of Science and Technology Krakow Poland Department of Neuroscience University of Padova Padova Italy Medical Faculty University of Geneva Geneva Switzerland

ISBN: (纸本)9783031384295

Background segmentation is an important step in analysis of histopathological images. It allows one to remove irrelevant regions and focus on the tissue of interest. However, background segmentation is challenging due to the variability of stain colors and intensity levels across different images, modalities, and magnification levels. In this paper, we present a learning-based model for histopathology background segmentation based on convolutional neural networks. We compare two multiresolution approaches to deal with the variability of magnification in histopathology images: (i) model that uses upscaling of smaller patches of the image, and (ii) model simultaneously trained on multiple resolution levels. Our model is characterized by solid performance both in multiresolution and multistain dyes (H &E and IHC), achieving good performance on publicly available dataset. The quantitative scores are, in terms of the Dice score, close to 94.71. The qualitative analysis presents strong performance on previously unseen cases from different distributions and various dyes. We freely release the model, weights, and ground-truth annotations to promote the open science and reproducible research. © 2024, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Pathology

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Variational Covariance Smoothing for Dynamic Functional Connectivity Analysis 58

Variational Covariance Smoothing for Dynamic Functional Conn...

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58th Asilomar Conference on Signals, systems and computers, ACSSC 2024

作者： Abeysekara, Ruwanthi Simon, Jonathan Z. Babadi, Behtash University of Maryland Department of Electrical & Computer Engineering College ParkMD United States Institute for Systems Research University of Maryland College ParkMD United States University of Maryland Department of Biology College ParkMD United States

ISBN: (纸本)9798350354058

Functional connectivity is among the widely used metrics to assess the network-level attributes of brain function. While most existing analysis frameworks assume static functional connectivity during the course of an experiment, to capture neural dynamics over short time scales, a time-varying notion of functional connectivity is required. By revealing how neural networks reconfigure in response to changing external stimuli, internal states, and task demands, time-varying functional connectivity can be leveraged to study flexible cognition, such as working memory, attention, and decision-making. A major challenge in estimating time-varying functional connectivity from high-dimensional neural is the associated computational complexity. Existing methods trade off accuracy for computational efficiency, especially in applications that require real-time or near real-time processing. Here, we build on existing work using covariance-domain state-space models and introduce a framework based on variational inference that allows low-complexity estimation of time-varying functional connectivity and construction of confidence intervals. We validate the performance of the proposed method using simulation studies. Our results reveal significant gains in computational complexity compared to existing methods, while maintaining high accuracy. © 2024 IEEE.

关键词： State space methods

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Deadlock-free Supervisor Design for Robotic Manufacturing Cells With Uncontrollable and Unobservable Events

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IEEE/CAA Journal of Automatica Sinica 2021年第3期8卷 597-605页

作者： Bo Huang MengChu Zhou Cong Wang Abdullah Abusorrah Yusuf Al-Turki School of Computer Science and Engineering Nanjing University of Science and TechnologyNanjing 210094China Department of Electrical and Computer Engineering New Jersey Institute of TechnologyNewarkNJ 07102 USA the Center of Research Excellence in Renewable Energy and Power Systems and the Department of Electrical and Computer Engineering King Abdulaziz UniversityJeddah 21589Saudi Arabia

In this paper,a deadlock prevention policy for robotic manufacturing cells with uncontrollable and unobservable events is proposed based on a Petri net ***,a Petri net for the deadlock control of such systems is *** admissible markings and first-met inadmissible markings(FIMs)are ***,place invariants are designed via an integer linear program(ILP)to survive all admissible markings and prohibit all FIMs,keeping the underlying system from reaching deadlocks,livelocks,bad markings,and the markings that may evolve into them by firing uncontrollable *** also ensures that the obtained deadlock-free supervisor does not observe any unobservable *** addition,the supervisor is guaranteed to be admissible and structurally minimal in terms of both control places and added *** condition under which the supervisor is maximally permissive in behavior is ***,experimental results with the proposed method and existing ones are given to show its effectiveness.

关键词： Deadlock prevention Petri nets robotic manufacturing cells structure-minimized supervisor supervisory control uncontrollability unobservability

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Path Planning and Optimization for Cuspidal 6R Manipulators

arXiv

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arXiv 2025年

作者： Elias, Alexander J. Wen, John T. Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute TroyNY12180 United States

A cuspidal robot can move from one inverse kinematics (IK) solution to another without crossing a singularity. Multiple industrial robots are cuspidal. They tend to have a beautiful mechanical design, but they pose path planning challenges. A task-space path may have a valid IK solution for each point along the path, but a continuous joint-space path may depend on the choice of the IK solution or even be infeasible. This paper presents new analysis, path planning, and optimization methods to enhance the utility of cuspidal robots. We first demonstrate an efficient method to identify cuspidal robots and show, for the first time, that the ABB GoFa and certain robots with three parallel joint axes are cuspidal. We then propose a new path planning method for cuspidal robots by finding all IK solutions for each point along a task-space path and constructing a graph to connect each vertex corresponding to an IK solution. Graph edges are weighted based on the optimization metric, such as minimizing joint velocity. The optimal feasible path is the shortest path in the graph. This method can find non-singular paths as well as smooth paths which pass through singularities. Finally, this path planning method is incorporated into a path optimization algorithm. Given a fixed workspace toolpath, we optimize the offset of the toolpath in the robot base frame while ensuring continuous joint motion. Code examples are available in a publicly accessible repository. © 2025, CC BY.

关键词： Inverse kinematics

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State-Space Piece-Wise Affine System Identification with Online Deterministic Annealing

State-Space Piece-Wise Affine System Identification with Onl...

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European Control Conference (ECC)

作者： Christos N. Mavridis Aris Kanellopoulos John S. Baras Karl Henrik Johansson Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Department of Electrical and Computer Engineering and the Institute for Systems Research University of Maryland College Park USA

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

We propose an online identification scheme for discrete-time piece-wise affine state-space models based on a system of adaptive algorithms running in two timescales. A stochastic approximation algorithm implements an online deterministic annealing scheme at a slow timescale, estimating the partition of the augmented state-input space that defines the switching signal. At the same time, an adaptive identification algorithm, running at a higher timescale, updates the parameters of the local models based on the estimate of the switching signal. Identifiability conditions for the switched system are discussed and convergence results are given based on the theory of two-timescale stochastic approximation. In contrast to standard identification algorithms for piece-wise affine systems, the proposed approach progressively estimates the number of modes needed and is appropriate for online system identification using sequential data acquisition. This progressive nature of the algorithm improves computational efficiency and provides real-time control over the performance-complexity trade-off, desired in practical applications. Experimental results validate the efficacy of the proposed methodology.

关键词： Switched systems Annealing Stochastic processes Switches Approximation algorithms Real-time systems System identification

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Multi-Timescale Trading Strategy for Renewable Power to Ammonia Virtual Power Plant in the Electricity, Hydrogen, and Ammonia Markets

IEEE Transactions on Energy Markets, Policy and Regulation

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IEEE Transactions on Energy Markets, Policy and Regulation 2023年第4期1卷 322-335页

作者： Wu, Sirui Lin, Jin Li, Jiarong Liu, Feng Song, Yonghua Xu, Yanhui Cheng, Xiang Yu, Zhipeng Tsinghua University State Key Laboratory of Control and Simulation of Power Systems and Generation Equipment Department of Electrical Engineering Beijing100087 China Tsinghua University Sichuan Energy Internet Research Institute Chengdu610213 China University of Macau Department of Electrical and Computer Engineering Macau999078 China Tsinghua University Department of Electrical Engineering Beijing100087 China State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources North China Electric Power University Beijing102206 China

Renewablepower to ammonia (RePtA) is a prominent zero-carbon pathway for decarbonization. Due to the imbalance between renewables and production energy demand, the RePtA system relies on electricity exchange with the power grid. Participating in the electricity market as a virtual power plant (VPP) may help to reduce energy costs. However, the power profile of local photovoltaics and wind turbines is similar to those in the market, resulting in rising energy costs under the conventional strategy. Hence, we develop a multi-timescale trading strategy for the RePtA VPP in the electricity, hydrogen, and ammonia markets. By utilizing the hydrogen and ammonia buffer systems, the RePtA VPP can optimally coordinate production planning. Moreover, we find it possible to describe the trading of electricity, ammonia, and hydrogen in a unified timeframe. The two-stage robust optimization model of the electricity market is extended to multiple markets and solved by the column and constraint generation (CC&G) algorithm. The case is derived from an actual project in the Inner Mongolia Autonomous Region. Sensitivity analysis demonstrates the economic advantages of the RePtA VPP joining multiple markets over the conventional strategy and reveals the necessity of the hydrogen and ammonia buffer and reactor flexibility. © 2023 IEEE.

关键词： Ammonia

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