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Indian control Conference (ICC)

作者： Parth S Thakar B. Bandyopadhyay P. S. Gandhi Interdisciplinary Program in Systems and Control engineering Indian Institute of technology Bombay Mumbai India Department of Mechanical Engineering Indian Institute of technology Bombay Mumbai India

This work mainly deals with the sliding mode control for the sloshing liquid in a container using Collocated and Non-Collocated linearization techniques. The comparative study of these techniques is done for the first time for a slosh-container system, which represents a class of underactuated systems. A linear sliding surface based sliding mode control is derived for both the approaches which rejects the matched uncertainties or model mismatches and disturbances. Some remarkable comparative points are noted and highlighted with the supporting simulations.

关键词： Mathematical model Containers Liquids Dynamics Sliding mode control Vehicles Vehicle dynamics

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On Stability of Event-Triggered systems With Sliding Mode control

On Stability of Event-Triggered Systems With Sliding Mode Co...

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International Workshop on Variable Structure systems, VSS

作者： Abhisek K. Behera Bijnan Bandyopadhyay Department of Electrical and Computer Engineering Seoul National University Seoul South Korea Interdisciplinary Program in Systems and Control Engineering Indian Institute of Technology Bombay Mumbai India

In this paper, we investigate the stability of a controlled system in the event-triggering framework. By designing the triggering scheme, the control signals are updated when it is demanded subject to some satisfactory system performance. However, the stability of the system is not yet fully investigated with respect to the triggering conditions. So, the main purpose of the paper is to analyse the stability of the system with respect to the proposed triggering scheme. In this paper, sliding mode control (SMC) is used to design the event-triggered control. Our analysis proposes a new notion called bounded event property for the event which guarantees the triggering instants are generated in finite-time for all possible values of the triggering parameter. It is shown that the event-triggered SMC ensures possess the bounded event property and moreover the proposed triggering mechanism also guarantees the stability of the closed loop system stability.

关键词： Stability analysis Trajectory Closed loop systems Manifolds Steady-state Sliding mode control System performance

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Autonomous Navigation of a Mobile Robot on Robot Operating System Using Graphical User Interface

Autonomous Navigation of a Mobile Robot on Robot Operating S...

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International Symposium on Soft Computing and Intelligent systems (SCIS)

作者： Henok Tegegn Warku Nak Yong Ko Gyeongsub Song Da Bin Jeong Boeun Lee Tegen Eyasu Derbew Suk-Seung Hwang Department of Electronic Engineering Interdisciplinary Program in IT-Bio Convergence Systems Chosun University Gwangju South Korea Department of Control and Instrumentation Engineering Chosun University Gwangju South Korea

Many applications of mobile robotics necessitate the safe execution of a collision-free motion to a defined place. Real-time obstacle avoidance strategies enable reactive motion in dynamic and unpredictable situations, whereas planning approaches are best suited for achieving a goal position in known static environments. A ROS-based approach is presented to address the challenge of robot SLAM, which has been used in real-time applications to map the environment, localize the robot within the environment, plan paths, and avoid obstacles. It is demonstrated that all navigation modules can coexist and work together to reach the destination without colliding with static and dynamic obstacles. This paper provides a platform for guiding a mobile robot in a real-world environment autonomously for different waypoints while avoiding static and dynamic obstacles using the Graphical User Interface (GUI). The developed GUI-based navigation simplifies the complex ROS navigation system control to an easy user-friendly interface so that anyone can control the mobile robot platform. Our results were validated at Chosun University in South Korea, through the experimental test in an indoor environment.

关键词： Location awareness Simultaneous localization and mapping Navigation Operating systems Real-time systems Path planning Mobile robots

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Backstepping-Induced Terminal Sliding Mode control with Strict Lyapunov Function

Backstepping-Induced Terminal Sliding Mode Control with Stri...

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control Technology and Applications (CCTA),

作者： Lars Watermann Johann Reger Bijnan Bandyopadhyay Control Engineering Group Technische Universität Ilmenau P.O. Box 10056598684 Ilmenau Germany Interdisciplinary Program in Systems and Control Engineering Indian Institute of Technology Bombay Mumbai India

ISBN: (数字)9781728171401

ISBN: (纸本)9781728171418

In this paper a different view on the classical Terminal Sliding Mode (TSM) control is presented. The backstepping procedure is used to synthesize a new TSM-like control law for the second and third order integrator chain. A strict Lyapunov function (LF) for the entire closed loop dynamics is given naturally by design. Further, it is shown, under a certain choice of parameters, that the LF is valid for the classical TSM control law, as well. Finite-time convergence of all states to the origin is proven for both control algorithms using this LF. Finally, the new TSM-like control law is validated in simulations for the third order case.

关键词： Convergence Backstepping Lyapunov methods Sliding mode control Closed loop systems control engineering Manifolds

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Fault Detection in Inertial Measurement Unit and Global Navigation Satellite System of an Unmanned surface vehicle

Fault Detection in Inertial Measurement Unit and Global Navi...

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International Conference on control, Automation and systems ( ICCAS)

作者： Gyeongsub Song Nak Yong Ko Hyun Taek Choi Joono Sur Department of Control and Instrumentation Engineering Interdisciplinary Program in IT-Bio Convergence Systems Chosun University Gwangju Korea Department of Electronic Engineering Interdisciplinary Program in IT-Bio Convergence Systems Chosun University Gwangju Korea Autonomous & Intelligent Maritime Systems Research Division Korea Research Institute of Ships and Ocean Engineering Daejeon Korea Agency for Defense Development PM Research Institute for Advanced Defense Science and Technologies Daejeon Korea

This paper presents a method which detects faults in the measurement required for navigation of an unmanned surface vehicle. The measurement includes acceleration and angular rate by an inertial measurement unit (IMU), and the location by global navigation satellite system (GNSS). The method uses Kalman filter to estimate the state variables which represent the amount of faulty measurements. The method is tested by the experiment in which a boat equipped by commercial IMU and GNSS navigates in a sea trial. The result verifies that faults in acceleration and angular rate measurements are detected robustly and the GNSS position fault is detected when there is considerable location error.

关键词： Accelerometers Global navigation satellite system Sea surface Measurement units Sea measurements Inertial navigation Sensors

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MISO structure based control-relevant identification of MIMO systems

MISO structure based control-relevant identification of MIMO...

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American control Conference (ACC)

作者： C. Shreesha R.D. Gudi N.M.A.M. Institute of Technology Udupi Karnataka India Interdisciplinary Program in Systems and Control Engineering Indian Institute of Technology Mumbai India Department of Chemical Engineering Indian Institute of Technology Mumbai India

The prefilter based open loop control-relevant identification scheme proposed for single input single output (SISO) systems by D.E. Rivera et al. (1992) is extended for multi input multi output (MIMO) systems using a multi input single output (MISO) structural framework. By selecting input output pair for control, the MIMO system is partitioned into individual SISO systems with the interacting branches acting on each SISO loop being treated as structured measured disturbances (in addition to the regular disturbance at each output). With this consideration, a methodology is proposed for design of separate prefilters for the individual channels, taking into account the performance specifications for each loop. The use of an uncorrelated set of inputs is proposed for obtaining accurate estimation of individual channel elements. The prefiltering for each individual loop has been shown to give good estimates of the control-relevant model for the direct as well as the interacting branches. Closed loop simulations, using decoupled internal model controllers, involving representative processes taken from the literature demonstrate the validity of the approach.

关键词： control systems MIMO Open loop systems Frequency response control design control engineering Chemical engineering Chemical technology Process control control system synthesis

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Diversity and Suitability of the State-of-the-Art Wearable and Wireless EEG systems Review

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IEEE Journal of Biomedical and Health Informatics 2023年第8期27卷 3830-3843页

作者： He, Congying Chen, Yu-Yi Phang, Chun-Ren Stevenson, Cory Chen, I-Ping Jung, Tzyy-Ping Ko, Li-Wei Institute of Bioinformatics and Systems Biology National Yang Ming Chiao Tung University Hsinchu30010 Taiwan Institute of Applied Arts National Yang Ming Chiao Tung University Hsinchu30010 Taiwan International Ph.D. Program in Interdisciplinary Neuroscience National Yang Ming Chiao Tung University Hsinchu30010 Taiwan Institute for Neural Computation and Institute of Engineering in Medicine University of California San DiegoCA90093 United States National Yang Ming Chiao Tung University Hsinchu30010 Taiwan Institute of Electrical and Control Engineering Department of Electronics and Electrical Engineering Department of Biological Science and Technology National Yang Ming Chiao Tung University Hsinchu30010 Taiwan Department of Biomedical Science and Environment Biology Drug Development and Value Creation Research Center Kaohsiung Medical University Kaohsiung80708 Taiwan

Wireless electroencephalography (EEG) systems have been attracting increasing attention in recent times. Both the number of articles discussing wireless EEG and their proportion relative to general EEG publications have increased over years. These trends indicate that wireless EEG systems could be more accessible to researchers and the research community has recognized the potential of wireless EEG systems. To explore the development and diverse applications of wireless EEG systems, this review highlights the trends in wearable and wireless EEG systems over the past decade and compares the specifications and research applications of the major wireless systems marketed by 16 companies. For each product, five parameters (number of channels, sampling rate, cost, battery life, and resolution) were assessed for comparison. Currently, these wearable and portable wireless EEG systems have three main application areas: consumer, clinical, and research. To address this multitude of options, the article also discussed the thought process to find a suitable device that meets personalization and use cases specificities. These investigations suggest that low-price and convenience are key factors for consumer applications, wireless EEG systems with FDA or CE-certification may be more suitable for clinical settings, and devices that provide raw EEG data with high-density channels are important for laboratory research. This article presents an overview of the current state of the wireless EEG systems specifications and possible applications and serves as a guide point as it is expected that more influential and novel research will cyclically promote the development of such EEG systems. © 2023 IEEE.

关键词： Electroencephalography

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Unveiling Multivariate EEG Features: A Novel Approach to Enhancing ADHD Diagnosis Through Visual and Auditory Attention Tests

Unveiling Multivariate EEG Features: A Novel Approach to Enh...

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International Conference on Fuzzy Theory and it's Applications (iFUZZY)

作者： Zuo-Cian Fan Ro-Wei Lin Ching-Shu Tsai Wen-Jiun Chou Chia-Jung Li Zih-Jun Huang Bin-Yu Shih Liang-Jen Wang Li-Wei Ko Department of Biological Science & Technology Center for Intelligent Drug Systems and Smart Bio-Devices (IDS2B) College of Biological Science and Technology National Yang Ming Chiao Tung University Hsinchu Taiwan International Ph.D. Program in Interdisciplinary Neuroscience National Yang Ming Chiao Tung University Hsinchu Taiwan Department of Child and Adolescent Psychiatry Kaohsiung Chang Gung Memorial Hospit Department of Electronics and Electrical Engineering Institute of Electrical and Control Engineering National Yang Ming Chiao Tung University Hsinchu Taiwan

We sought to revolutionize the classification of Attention-Deficit/Hyperactivity Disorder (ADHD) by pioneering an innovative approach that seamlessly integrated auditory and visual tests with electroencephalogram (EEG) coherence analysis, forming the foundation for our Support Vector Machine (SVM) models. Our primary objective was to achieve precise differentiation between individuals with ADHD and those without, aiming to reshape the landscape of ADHD diagnosis and early intervention. We constructed an SVM model based on CATA coherence, incorporating a carefully selected set of 180 features, and another grounded in CPT coherence with 70 features. Astonishingly, our exploration uncovered that a model incorporating CATA's coherence and Power Spectral Density (PSD) as features achieved an astounding accuracy rate of 97.7%, using only half the number of features. This revelation hints at untapped potential for multivariate advancements in the realm of ADHD classification. The landscape of ADHD diagnosis and intervention is perpetually evolving, most notably with the FDA's approval of game therapy for ADHD. Leveraging the transformative power of our findings, we envision the development of user-friendly game therapies for in-home use, empowering both clinicians and parents alike. This marks a paradigm shift in the realm of ADHD intervention, offering objective, data-driven tools for the early management of ADHD. Gamified therapy not only enhances accessibility but also fosters engagement and compliance, all of which are pivotal in the long-term care of individuals with ADHD. In summary, our study represents a significant advancement in our comprehension and classification of ADHD. By fusing auditory and visual tests with EEG coherence analysis, fortified by state-of-the-art machine learning techniques, we have achieved an unprecedented level of accuracy in identifying individuals with ADHD. Our findings, aligned with the FDA-approved game therapy, offer a glimpse into a

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Enhancing Deep Reinforcement Learning: A Tutorial on Generative Diffusion Models in Network Optimization

arXiv

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arXiv 2023年

作者： Du, Hongyang Zhang, Ruichen Liu, Yinqiu Wang, Jiacheng Lin, Yijing Li, Zonghang Niyato, Dusit Kang, Jiawen Xiong, Zehui Cui, Shuguang Ai, Bo Zhou, Haibo Kim, Dong In The School of Computer Science and Engineering The Energy Research Institute @ NTU Interdisciplinary Graduate Program Nanyang Technological University Singapore The School of Computer Science and Engineering Nanyang Technological University Singapore The State Key Laboratory of Networking and Switching Technology Beijing University of Posts and Telecommunications China The School of Information and Communication Engineering University of Electronic Sciences and Technology of China Chengdu China The School of Automation Guangdong University of Technology China The Pillar of Information Systems Technology and Design Singapore University of Technology and Design Singapore Shenzhen China The State Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong University Beijing100044 China School of Electronic Science and Engineering Nanjing University Jiangsu Nanjing210093 China The Department of Electrical and Computer Engineering Sungkyunkwan University Suwon16419 Korea Republic of

Generative Diffusion Models (GDMs) have emerged as a transformative force in the realm of Generative Artificial Intelligence (GenAI), demonstrating their versatility and efficacy across various applications. The ability to model complex data distributions and generate high-quality samples has made GDMs particularly effective in tasks such as image generation and reinforcement learning. Furthermore, their iterative nature, which involves a series of noise addition and denoising steps, is a powerful and unique approach to learning and generating data. This paper serves as a comprehensive tutorial on applying GDMs in network optimization tasks. We delve into the strengths of GDMs, emphasizing their wide applicability across various domains, such as vision, text, and audio generation. We detail how GDMs can be effectively harnessed to solve complex optimization problems inherent in networks. The paper first provides a basic background of GDMs and their applications in network optimization. This is followed by a series of case studies, showcasing the integration of GDMs with Deep Reinforcement Learning (DRL), incentive mechanism design, Semantic Communications (SemCom), Internet of Vehicles (IoV) networks, etc. These case studies underscore the practicality and efficacy of GDMs in real-world scenarios, offering insights into network design. We conclude with a discussion on potential future directions for GDM research and applications, providing major insights into how they can continue to shape the future of network optimization. © 2023, CC BY.

关键词： Reinforcement learning

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Correction to: the Ethics of AI in Human Resources

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Ethics and Information Technology 2023年第1期25卷 1-1页

作者： Dennis, Matthew J Aizenberg, Evgeni Department of Industrial Engineering & Innovation Sciences (IE&IS) Philosophy & Ethics Capacity Group TU/e Eindhoven The Netherlands Department of Intelligent Systems Delft University of Technology Delft The Netherlands AiTech Interdisciplinary Research Program on Meaningful Human Control over AI Delft University of Technology Delft The Netherlands

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