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European Control Conference (ECC)

作者： Clinton Enwerem John S. Baras Department of Electrical & Computer Engineering Institute for Systems Research University of Maryland College Park MD USA

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

We consider the problem of safely coordinating ensembles of identical autonomous agents to conduct complex missions with conflicting safety requirements and under noisy control inputs. Using non-smooth control barrier functions (CBFs) and stochastic model-predictive control as springboards, and by adopting an extrinsic approach where the ensemble is treated as a unified dynamic entity, we devise a method to synthesize safety-aware control inputs for uncertain collectives. Drawing upon stochastic CBF theory and recent developments in Boolean CBF composition, our method proceeds by smoothing a Boolean-composed CBF and solving a stochastic optimization problem where each agent's forcing term is restricted to the affine subspace of control inputs certified by the combined CBF. For the smoothing step, we employ a polynomial approximation scheme, providing evidence for its advantage in generating more conservative yet sufficiently-filtered control inputs than the smoother but more aggressive equivalents produced from an approximation technique based on the log-sum-exp function. To further demonstrate the utility of the proposed method, we present an upper bound for the expected CBF approximation error, along with results from simulations of a single-integrator collective under velocity perturbations. Lastly, we compare these results with those obtained using a naive state-feedback controller lacking safety filters.

关键词： Smoothing methods Upper bound Stochastic processes Control systems Polynomials Robustness Safety

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Robust Optimization for the Day-Ahead Scheduling of Cascaded Hydroelectric systems

Robust Optimization for the Day-Ahead Scheduling of Cascaded...

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2022 IEEE Power and Energy Society General Meeting, PESGM 2022

作者： Zhong, Zhiming Fan, Neng Wu, Lei University of Arizona Department of Systems and Industrial Engineering TucsonAZ United States Stevens Institute of Technology Department of Electrical and Computer Engineering HobokenNJ United States

ISBN: (数字)9781665408233

ISBN: (纸本)9781665408233

Uncertain electricity prices resulting from the re-structuring of electricity market have brought new opportu-nities and challenges for hydroelectric producers. This paper presents a data-driven robust optimization approach for the day-ahead scheduling of cascaded hydroelectric systems (CHS) with electricity price uncertainty. In this paper, a minimum volume enclosing ellipsoid (MVEE) is adopted to construct an ellipsoidal uncertainty set that fully identifies and exploits the historical characteristics data. A second-order conic optimization formulation of the robust counterpart is derived for efficient computation. A real-world case study is conducted to demonstrate the capability of the proposed optimization approach compared with the traditional robust optimization approach. Response to Reviewers We express our sincere thanks to the committee numbers and all the anonymous review-ers for their constructive comments on our manuscript. We have revised the manuscript based on the comments and suggestions. The detailed one-to-one responses are summarized below. The texts highlighted in blue are our response to the reviewers comments. Reviewer 1 Comment 1.1 - The innovation of this paper is not clear, as the modeling and conversion techniques have been well established. The authors are suggested to consider the case where CHS are distributed at locations with different electricity prices. Reply: Thanks for your comment. A point-by-point description on the major innovations of this paper is provided at the end of introduction section in page 2. Our contribution is to apply ellipsoidal uncertainty set and second-order cone optimization method to first capture the time-correlation characteristic of uncertain electricity prices for hydroelectric producers. Testing the performance of the proposed optimization technique in various cases is indeed important. Unfortunately, due to the page limitation, we are unable to supplement more numerical examples in this paper, so that

关键词： Scheduling

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FRAME: A Modular Framework for Autonomous Map Merging: Advancements in the Field

IEEE Transactions on Field Robotics

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IEEE Transactions on Field robotics 2024年 1卷 1-26页

作者： Nikolaos Stathoulopoulos Björn Lindqvist Anton Koval Ali-Akbar Agha-Mohammadi George Nikolakopoulos Department of Computer Electrical and Space Engineering Robotics and AI Group Luleå University of Technology Luleå Sweden Jet Propulsion Laboratory California Institute of Technology Pasadena CA USA

In this article, a novel approach for merging 3-D point cloud maps in the context of egocentric multirobot exploration is presented. Unlike traditional methods, the proposed approach leverages state-of-the-art place recognition and learned descriptors to efficiently detect overlap between maps, eliminating the need for the time-consuming global feature extraction and feature matching process. The estimated overlapping regions are used to calculate a homogeneous rigid transform, which serves as an initial condition for the general iterative closest point (GICP) point cloud registration algorithm to refine the alignment between the maps. The advantages of this approach include faster processing time, improved accuracy, and increased robustness in challenging environments. Furthermore, the effectiveness of the proposed framework is successfully demonstrated through multiple field missions of robot exploration in a variety of different underground environments.

关键词： Robots Point cloud compression Feature extraction Three-dimensional displays Robot sensing systems Robot kinematics Accuracy

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A Hybrid Feature Selection Framework for Predicting Students Performance

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computers, Materials & Continua 2022年第1期70卷 1893-1920页

作者： Maryam Zaffar Manzoor Ahmed Hashmani Raja Habib KS Quraishi Muhammad Irfan Samar Alqhtani Mohammed Hamdi High Performance Cloud Computing(HPC3) Department of Computer and Information SciencesUniversiti Teknologi PETRONAS32610SeriIskandarMalaysia Department of Computer Science and Information Technology University of LahorePakistan Department of Process Engineering Pakistan Institute of Engineering&Applied SciencesNiloreIslamabadPakistan Electrical Engineering Department College of EngineeringNajran UniversityNajran61441Saudi Arabia College of Computer Science and Information Systems Najran University61441NajranSaudi Arabia

Student performance prediction helps the educational stakeholders to take proactive decisions and make interventions,for the improvement of quality of education and to meet the dynamic needs of *** selection of features for student’s performance prediction not only plays significant role in increasing prediction accuracy,but also helps in building the strategic plans for the improvement of students’academic *** are different feature selection algorithms for predicting the performance of students,however the studies reported in the literature claim that there are different pros and cons of existing feature selection algorithms in selection of optimal *** this paper,a hybrid feature selection framework(using feature-fusion)is designed to identify the significant features and associated features with target class,to predict the performance of *** main goal of the proposed hybrid feature selection is not only to improve the prediction accuracy,but also to identify optimal features for building productive strategies for the improvement in students’academic *** key difference between proposed hybrid feature selection framework and existing hybrid feature selection framework,is two level feature fusion technique,with the utilization of cosine-based ***,according to the results reported in existing literature,cosine similarity is considered as the best similarity measure among existing similarity *** proposed hybrid feature selection is validated on four benchmark datasets with variations in number of features and number of *** validated results confirm that the proposed hybrid feature selection framework performs better than the existing hybrid feature selection framework,existing feature selection algorithms in terms of accuracy,f-measure,recall,and *** reported in presented paper show that the proposed approach gives more than 90%accuracy on benchmark dataset that is better tha

关键词： Educational data mining feature selection hybrid feature selection

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Wildfire Spread Prediction Model Calibration Using Metaheuristic Algorithms 48

Wildfire Spread Prediction Model Calibration Using Metaheuri...

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48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Pereira, Jorge Mendes, Jerome Junior, Jorge S. S. Viegas, Carlos Paulo, Joao Ruivo University of Coimbra Institute of Systems and Robotics Department of Electrical and Computer Engineering Pólo Ii CoimbraPT-3030-290 Portugal University of Coimbra Association for the Development of Industrial Aerodynamics CoimbraPT-3030-289 Portugal

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

Every year, wildfires cause significant losses and destruction around the globe. In order to attempt to reduce their damages, resources have been put into developing fire propagation prediction systems. In a real wildfire event, these systems provide the authorities with information about the fire propagation in the near future, thus allowing them to make better decisions. Wildfire spread prediction systems are based on fire propagation models, from which the most used and accepted model is the Rothermel model. However, given the complexity of the wildfire phenomena and the uncertainty of some of its input parameter values, the Rothermel model can produce misleading results of fire propagation. This paper uses 3 metaheuristic algorithms, genetic algorithm (GA), differential evolution (DE) and simulated annealing (SA), for calibration of input parameters from the Rothermel model. These algorithms were validated using 37 datasets containing data from controlled experimental fires. Results have shown that these algorithms provide a precise wildfire spread prediction accounting for the uncertainties in the model's selected parameters. © 2022 IEEE.

关键词： Forecasting

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Design and Development of a Small UGV for Object Retrieval in Domestic Environments

Design and Development of a Small UGV for Object Retrieval i...

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IEEE Southeastcon

作者： Bhaavin Kishore Jogeshwar Joshua Bohannon Hakki Erhan Sevil Department of Intelligent Systems and Robotics University of West Florida (UWF) Pensacola FL USA Department of Electrical and Computer Engineering University of West Florida (UWF) Pensacola FL USA

ISBN: (数字)9798331504847

ISBN: (纸本)9798331504854

The objective of this project is to develop an unmanned ground vehicle (UGV) prototype capable of retrieving small objects in domestic environments. As the robotics field continues to advance, the demand for autonomous systems that enhance daily life is rapidly increasing. Autonomous systems have the potential to improve efficiency by performing routine tasks, thereby reducing human effort and promoting convenience in household settings. This study explores the development of a small UGV designed to identify, navigate toward, and retrieve small objects while autonomously avoiding obstacles such as walls and furniture in domestic environments. The system utilizes neural networks for real-time object detection. The UGV design consists of an object retrieval mechanism suitable for handling items typically left scattered in domestic environments. The proof-of-concept results show the potential of designed UGV domestic, and could potentially enable further advancements in autonomous household assistance technologies.

关键词： Navigation Toy manufacturing industry Software algorithms Prototypes Object detection Grasping Land vehicles Real-time systems Planning Vehicle dynamics

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Limitations of nearest-neighbor quantum networks

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Physical Review A 2022年第1期106卷 L010401-L010401页

作者： F. Hahn A. Dahlberg J. Eisert A. Pappa Dahlem Center for Complex Quantum Systems Freie Universität Berlin 14195 Berlin Germany Department of Electrical Engineering and Computer Science Technische Universität Berlin 10587 Berlin Germany QuTech TU Delft 2628CJ Delft The Netherlands Fraunhofer Heinrich Hertz Institute 10587 Berlin Germany Department of Electrical Engineering and Computer Science Technische Universität Berlin 10587 Berlin Germany Fraunhofer Institute for Open Communication Systems-FOKUS 10589 Berlin Germany

Quantum communication research has in recent years shifted to include multipartite networks for which questions of quantum network routing naturally emerge. To understand the potential for multipartite routing, we focus on the most promising architectures for future quantum networks—those connecting nodes close to each other. Nearest-neighbor networks, such as rings, lines, and grids, have been studied under different communication scenarios to facilitate the sharing of quantum resources especially in the presence of bottlenecks. We analyze the potential of nearest-neighbor entangling gate quantum networks and identify some serious limitations by demonstrating that rings and lines cannot overcome common bottleneck communication problems.

关键词： Entanglement manipulation Quantum communication Quantum entanglement Quantum information theory Quantum networks Quantum repeaters

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HO-FMN: Hyperparameter Optimization for Fast Minimum-Norm Attacks

arXiv

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arXiv 2024年

作者： Mura, Raffaele Floris, Giuseppe Scionis, Luca Piras, Giorgio Pintor, Maura Demontis, Ambra Giacinto, Giorgio Biggio, Battista Roli, Fabio University of Cagliari Dept. of Electrical and Electronic Engineering Cagliari Italy Sapienza University of Rome Department of Computer Engineering Rome Italy University of Genoa Department of Computer Science Bioengineering Robotics and Systems Engineering Genoa Italy

Gradient-based attacks are a primary tool to evaluate robustness of machine-learning models. However, many attacks tend to provide overly-optimistic evaluations as they use fixed loss functions, optimizers, step-size schedulers, and default hyperparameters. In this work, we tackle these limitations by proposing a parametric variation of the well-known fast minimum-norm attack algorithm, whose loss, optimizer, step-size scheduler, and hyperparameters can be dynamically adjusted. We re-evaluate 12 robust models, showing that our attack finds smaller adversarial perturbations without requiring any additional tuning. This also enables reporting adversarial robustness as a function of the perturbation budget, providing a more complete evaluation than that offered by fixed-budget attacks, while remaining efficient. © 2024, CC BY.

关键词： Machine learning

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Risk Management in Robotic Process Automation 2

Risk Management in Robotic Process Automation

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2nd IEEE International Conference on Interdisciplinary Approaches in Technology and Management for Social Innovation, IATMSI 2024

作者： Yendluri, Dileep Kumar Thatikonda, Ramya Thatikonda, Reshmi Ponnala, Jainath Kempanna, M. Bhuvanesh, A. University of the Cumberlands Department of Computer Science Williamsburg United States University of the Cumberlands Department of Information Technology Williamsburg United States University of Central Missouri Department of Computer Information Systems Williamsburg United States Jawaharlal Technological University Department of Electronics and Communication Engineering Hyderbad India Bangalore Institute of Technology Department of Artificial Intelligence and Machine Learning Bangalore India Psn College of Engineering and Technology Department of Electrical and Electronics Engineering Tirunelveli India

ISBN: (纸本)9798350360523

The paper investigates the nuances of RPA risk management, detailing the difficulties, tendencies, and approaches organizations must adopt to integrate RPA into their operations successfully. From automation to optimization, RPA's impact on industry workflow is revolutionary. However, RPA introduces a spectrum of technical, operational, business, and compliance risks alongside its benefits. Amidst the intricate landscape of RPA, this paper sheds light on key risks. It offers practical strategies for tackling them, enabling organizations to confidently unlock automation's transformative power. Trends like advanced analytics fusion, AI-driven risk analysis, and blockchain utilization will likely influence future RPA risk management. In addition, the paper discusses evolving challenges, including ethical issues, breakneck technology evolution, and digital security dangers. Using an in-depth examination of RPA risk management, this paper prepares organizations for the ever-changing automation environment with informed decisions and proactive measures. © 2024 IEEE.

关键词： Risk assessment

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Importance of Search Engine Optimization in Digitalization - A Comprehensive Analysis

Importance of Search Engine Optimization in Digitalization -...

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2024 International Conference on Advances in Computing Research on Science engineering and Technology, ACROSET 2024

作者： Tatikonda, Reshmi Ponnala, Jainath Tatikonda, Ramya Yendluri, Dileep Kumar Kempanna, M. Bhuvanesh, A. University of the Central Missouri Department of Computer Information Systems Warrensburg United States Jawaharlal Technological University Department of Electronics and Communication Engineering Hyderabad India University of the Cumberlands Department of Information Technology Williamsburg United States University of the Cumberlands Department of Computer Science Williamsburg United States Bangalore Institute of Technology Department of Artificial Intelligence and Machine Learning Bangalore India Psn College of Engineering and Technology Department of Electrical and Electronics Engineering Tirunelveli India

ISBN: (纸本)9798350388800

This article examines the complex realm of search engine optimization and its importance in the era of digitalization. With an emphasis on different facets of search engine optimization, including optimizing on-page elements, off-page optimization, technology optimization, and optimizing content, this document thoroughly comprehends how enterprises can boost their online appearance and generate natural website visitors. Moreover, it explores the complexities of search engine optimization algorithms and advancements and reviews the available resources and methods for enhancement. Additionally, it covers recommended approaches and plans for the successful implementation of SEO. This article further explores upcoming patterns within search engine optimization, including enhancing voice search and incorporating AI and ML. Furthermore, it discusses potential hurdles and potential openings in SEO's future. Lastly, the study provides suggestions to explore further and improve optimizing search engines. It includes regional SEO, UX optimization, sound search, and socially conscious SEO practices. © 2024 IEEE.

关键词： Search engines

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