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Resilient distributed optimization under mobile malicious attacks

IFAC-PapersOnLine 2023年第2期56卷 997-1002页

作者： Yuan Wang Changxin Liu Hideaki Ishii Karl Henrik Johansson Department of Robotics Hunan University Changsha China Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology and Digital Futures Stockholm Sweden Department of Computer Science Tokyo Institute of Technology Yokohama Japan

This article addresses the distributed optimization problem in the presence of malicious adversaries that can move within the network and induce faulty behaviors in the attacked nodes. We first investigate the vulnerabilities of a consensus-based secure distributed optimization protocol under mobile adversaries. Then, a modified resilient distributed optimization algorithm is proposed. We develop conditions on the network structure for both complete and non-complete directed graph cases, under which the proposed algorithm guarantees that the estimates by regular nodes converge to the convex combination of the minimizers of their local functions. Simulations are carried out to verify the effectiveness of our approach.

关键词： Fault-tolerant distributed optimization multi-agent systems network security mobile adversary agents

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Crop protection and disease detection using artificial intelligence and computer vision: a comprehensive review

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Multimedia Tools and Applications 2025年第7期84卷 3723-3743页

作者： Shah, Kanish Sushra, Rajat Shah, Manan Shah, Dhairya Shah, Haard Raval, Megh Prajapati, Mitul Software Engineer Walmart SunnyvaleCA United States Atmiya Vidya Mandir Gujarat Surat India Department of Chemical Engineering School of Energy Technology Pandit Deendayal Energy University Gujarat Gandhinagar India Robotics ECE Concentration Northeastern University BostonMA United States Department of Computer Science Concentration in AI Hofstra University HempsteadNY United States Department of Chemical Engineering S. S Agrawal Institute of Engineering & Technology Gujarat Navsari India R &D Engineer Span Inspection Systems Pvt. Ltd Gujarat Gandhinagar India

The technological advancements in the field of agriculture have increased to a great extent in recent years, and many techniques have evolved from other techniques. Some methods are improved or upgraded from the previous versions by implementing a new model or using better hardware devices. This has been helpful for the farmers in increasing crop productivity, and the life expectancy of crops has also increased as the diseases inside or outside the crops can be detected much earlier, and learning at an early stage helps prevent other crops. In this paper, we have presented a study where many varieties of fruits and vegetables have been taken to determine which method was used for a particular crop. By analyzing the various works carried out by the authors, it was inferred that most of the works revolved around image processing and hyperspectral imaging. Due to this, we had also included most of the papers, particularly as the models and hardware components used were much better than other works. Then, a comparative study was done where different fruits and vegetables highlighted the two main areas: the method used and the accuracy obtained. © The Author(s), under exclusive licence to Springer Science+Business Media, LLC, part of Springer Nature 2024.

关键词： Crops

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Hyper-Drive: Visible-Short Wave Infrared Hyperspectral Imaging Datasets for Robots in Unstructured Environments

Hyper-Drive: Visible-Short Wave Infrared Hyperspectral Imagi...

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Workshop on Hyperspectral Image and Signal Processing: Evolution in Remote Sensing, WHISPERS

作者： Nathaniel Hanson Benjamin Pyatski Samuel Hibbard Charles DiMarzio Taşkın Padır Institute for Experiential Robotics Electrical and Computer Engineering Department Northeastern University Boston Massachusetts USA

Hyperspectral sensors have enjoyed widespread use in the realm of remote sensing; however, they require additional considerations for reliable functionality onboard mobile robots. In this work, we introduce a first-of-its-kind system architecture with snapshot hyperspectral cameras and point spectrometers to efficiently generate composite datacubes from a moving robot base. Our system collects and registers datacubes spanning the visible to shortwave infrared (660-1700 nm) spectrum while simultaneously capturing the ambient solar spectrum reflected off a white reference tile. We collect and disseminate a large dataset of more than 500 labeled datacubes from on-road and off-road terrain compliant with the ATLAS ontology to further the integration hyperspectral imaging (HSI). Our analysis of these data demonstrates that HSI is beneficial in terrain class separability and is a significant opportunity to increase understanding of scene composition from a robot-centric context. All code and data are open source online: https://***/hyper_drive_data

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Guest Editorial Enabling Technologies and systems for Industry 5.0: From Foundation Models to Foundation Intelligence

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IEEE Transactions on systems, Man, and Cybernetics: systems 2024年第11期54卷 6496-6499页

作者： Tang, Ying Tian, Yonglin Lin, Yilun Lv, Chen Fanti, Maria Pia Rowan University Department of Electrical and Computer Engineering GlassboroNJ08028 United States Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing100190 China Institute of Automation Chinese Academy of Sciences Beijing100190 China Shanghai AI Laboratory Urban Computing Laboratory Shanghai200232 China Nanyang Technological University School of Mechanical and Aerospace Engineering Jurong West639798 Singapore Polytechnic University of Bari Department of Electrical and Information Engineering Bari70126 Italy

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A Rigid-Flexible Coupling Recursive Formulation for Dynamic Modeling of Biped Robots 16th

A Rigid-Flexible Coupling Recursive Formulation for Dynamic...

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Tang, Lingling Liang, Dingkun Wang, Xin Xie, Anhuan Gu, Jason Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Laboratory Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China Department of Electrical and Computer Engineering Dalhousie University HalifaxNSB3H 4R2 Canada

ISBN: (纸本)9789819964796

Biped robots are complex rigid-flexible coupling multibody systems that achieve the desired stable locomotion through foot-ground interactions. In the recent bio-inspired structure designs for biped robots, flexible parts are usually adopted to absorb the foot-ground impact and store the contact energy. However, most existing modeling formulations can only treat biped robots as rigid multibody systems, and the flexible parts are simply replaced by some linear or torsion springs. Since the deformations of the flexible parts have significant effects on the dynamic responses of the biped robot, the rigid multibody modeling method inevitably leads to a gap between the simulation model and the real prototype, and makes the sim-to-real transfer more difficult. To address this problem, a rigid-flexible coupling recursive modeling formulation is presented in this paper. In addition, the foot-ground interaction is modeled via a smooth normal contact model and a velocity-based Coulomb friction model. Finally, several numerical examples including inverse dynamics, kinematic closed-loop and frictional contact are given to verify the rigid-flexible coupling formulation. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Machine design

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Nonsmooth Dynamic Modeling of a Humanoid Robot with Parallel Mechanisms 16th

Nonsmooth Dynamic Modeling of a Humanoid Robot with Paral...

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Xiong, Jiaming Liang, Dingkun Wang, Xin Huang, Yongshan Xie, Anhuan Gu, Jason Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Lab Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China Department of Electrical and Computer Engineering Dalhousie University HalifaxNSB3H 4R2 Canada

ISBN: (纸本)9789819964918

This paper establishes a nonsmooth dynamic model for a humanoid robot with parallel mechanisms. Firstly, the constraint equations of the parallel mechanism are derived through kinematic analysis. By combining the links involved in closed-loop constraints into aggregate nodes, the topology of the robot can be equivalent to a tree structure. Equivalent physical quantities for the aggregate nodes are defined to unify their treatment with individual nodes during dynamic modeling. Subsequently, the contact and impact dynamics of the robot are modeled using constraint-based methods, with a frictional multiple impacts model employed for impacts. Due to the high degree of freedom of the robot, recursive methods are adopted to calculate the corresponding dynamic matrices. Finally, numerical examples are provided to illustrate the dynamic model of the robot. A comparison with the compliance-based methods of Simscape Multibody demonstrates that our dynamic model can reflect more realistic physical processes, providing a more accurate simulation environment for the motion control of the robot. The simulation of standing balance control is also performed based on our dynamic model. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2023.

关键词： Anthropomorphic robots

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Circumnavigation of UAVs integrating QP-Based CLF and CBF in a Cooperative Path-Following Framework 63

Circumnavigation of UAVs integrating QP-Based CLF and CBF in...

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63rd IEEE Conference on Decision and Control, CDC 2024

作者： Anand, Pallov Aguiar, A. Pedro Sujit, P.B. Universidade Do Porto SYSTEC-ARISE Research Center for Systems and Technologies Faculdade de Engenharia Porto Portugal Indian Institute of Science Education and Research Bhopal Department of Electrical Engineering and Computer Science Bhopal462060 India

ISBN: (纸本)9798350316339

Unmanned Aerial Vehicles (UAVs) are increasingly utilized in various applications often requiring coordinated operations of multiple UAVs. Circular formation control has garnered significant attention due to its diverse relevance in many situations. In this paper, we propose a Quadratic Programming (QP) based Control Lyapunov Function (CLF) and Control Barrier Function (CBF) framework for circumnavigating stationary and moving targets for single and multiple UAVs while avoiding collision with a known obstacle. By integrating CLF and CBF constraints in a cooperative path-following framework, our approach offers robustness and scalability for complex multi-agent systems, and ensures asymptotic tracking of the target while maintaining closed-loop stability of the error dynamics and safety margins around the obstacle. Through theoretical analysis and simulation studies, we demonstrate the effectiveness and versatility of our proposed framework in challenging environments. © 2024 IEEE.

关键词： Multi agent systems

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Multi-objective optimization of electric automated bus trajectories based on the ε-constraint method

Multi-objective optimization of electric automated bus traje...

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Mediterranean Conference on Control and Automation (MED)

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

This paper deals with electric automated buses that have to follow a given route in inter-urban roads including stops, with a given timetable. Some stops are provided with a charging infrastructure allowing to charge the batteries while others are not. In order to control these buses, it is necessary to account for the traffic conditions along the road and to minimize two objectives, respectively related to the minimization of the deviations from the timetable and the minimization of the energy lack, at the end of the bus route, with respect to a desired final energy level. To address this problem and to investigate the conflicting nature of these objectives, two multi-objective methods based on the $\varepsilon$-constraint approach are applied in this paper, allowing to find different sets of efficient solutions for the problem. The results obtained in a real case study show that the two objective are in conflict, and compromise solutions can be found using the methods proposed in this paper.

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Marine Predators Algorithm with Deep Learning-Based Leukemia Cancer Classification on Medical Images

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computer Modeling in engineering & Sciences 2024年第10期141卷 893-916页

作者： Sonali Das Saroja Kumar Rout Sujit Kumar Panda Pradyumna Kumar Mohapatra Abdulaziz S.Almazyad Muhammed Basheer Jasser Guojiang Xiong Ali Wagdy Mohamed Department of Computer Science&Engineering Gandhi Institute for TechnologyBPUTBhubaneswar752054India Department of Information Technology Vardhaman College of Engineering(Autonomous)Hyderabad501218TelanganaIndia Department of Electronic&Communication Engineering Vedang Institute of TechnologyBhubaneswar752010India Department of Computer Engineering College of Computer and Information SciencesKing Saud UniversityRiyadh11543Saudi Arabia Department of Computing and Information Systems School of Engineering and TechnologySunway UniversityJalan UniversitiBandar SunwaySelangor Darul Ehsan47500Malaysia Research Centre for Human-Machine Collaboration(HUMAC) School of Engineering and TechnologySunway UniversityJalan UniversitiBandar SunwaySelangor Darul Ehsan47500Malaysia Guizhou Key Laboratory of Intelligent Technology in Power System College of Electrical EngineeringGuizhou UniversityGuiyang550025China Operations Research Department Faculty of Graduate Studies for Statistical ResearchCairo UniversityGiza12613Egypt Applied Science Research Center Applied Science Private UniversityAmman11931Jordan

In blood or bone marrow,leukemia is a form of cancer.A person with leukemia has an expansion of white blood cells(WBCs).It primarily affects children and rarely affects *** depends on the type of leukemia and the extent to which cancer has established throughout the *** leukemia in the initial stage is vital to providing timely patient *** image-analysis-related approaches grant safer,quicker,and less costly solutions while ignoring the difficulties of these invasive *** can be simple to generalize computer vision(CV)-based and image-processing techniques and eradicate human *** researchers have implemented computer-aided diagnosticmethods andmachine learning(ML)for laboratory image analysis,hopefully overcoming the limitations of late leukemia detection and determining its *** study establishes a Marine Predators Algorithm with Deep Learning Leukemia Cancer Classification(MPADL-LCC)algorithm onMedical *** projectedMPADL-LCC system uses a bilateral filtering(BF)technique to pre-process medical *** MPADL-LCC system uses Faster SqueezeNet withMarine Predators Algorithm(MPA)as a hyperparameter optimizer for feature ***,the denoising autoencoder(DAE)methodology can be executed to accurately detect and classify leukemia *** hyperparameter tuning process using MPA helps enhance leukemia cancer classification *** results are compared with other recent approaches concerning various measurements and the MPADL-LCC algorithm exhibits the best results over other recent approaches.

关键词： Leukemia cancer medical imaging image classification deep learning marine predators algorithm

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Development of Programmed Autonomous Electric Heavy Vehicle: An Application of IoT 2

Development of Programmed Autonomous Electric Heavy Vehicle:...

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2nd International Conference on Electronics and Renewable systems, ICEARS 2023

作者： Reddy, P. Nagasekhar Umaeswari, P. Natrayan, L. Choudhary, Ankur Mahatma Gandhi Institute of Technology Department of Electrical and Electronics Engineering Hyderabad500075 India R.M.K Engineering College Department of Computer Science and Business Systems Kavaraipettai601206 India Saveetha School of Engineering Department of Mechanical Engineering Simats India Graphic Era Deemed to Be University Department of Computer Science and Engineering Dehradun248002 India

ISBN: (纸本)9798350346640

The influence of automation in the agriculture and construction industry plays a vital role in the development of the economic backbone of any country. The factors such as power, torque and speed are efficiently controlled by automation devices using Internet of things (IoT). The heavy vehicles are the multi-faced application carrier which is been used in construction, agriculture, mining and other heavy-duty fields. This research focuses on developing a IoT integrated sensor-based obstacle detection system for programmed autonomous heavy vehicles which will improve safety in both on-road and off-road construction. The automation process consists of two main categories: Observing the environment and recognizing the activities. The environment in our case is both highways and rural roads. An intelligent- camera is utilised to capture the activities from the captured video and process the data. A LiDAR sensor performs the obstacle detection process using laser reflection technology and an ultrasonic sensor is used to process the vibration and sound produced by the obstacle or upcoming vehicles. These three sensors are integrated with a controller-based device to be powered by the power distribution system in the programmed autonomous heavy vehicle. © 2023 IEEE.

关键词： Autonomous vehicles

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