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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Umur Ulas Harman Ahmed Hafez Cameron Duffield Zihan Zhao Luke Dixon Daniela Rus Shuhei Miyashita Automatic Control and Systems Engineering Department University of Sheffield Sheffield UK Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge MA USA Insigneo Institute for in Silico Medicine

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

This paper addresses the challenge of actuating millimetre-sized motors, which are wirelessly driven by external magnetic fields. Traditional approaches, relying on rotating magnetic fields, often inadvertently cause the entire robot – especially if it is small and lightweight – to rotate, instead of a specified shaft in the motor. To overcome this issue, our study introduces a novel mechanism that leverages symmetrically configured magnetic motors to cancel out the torques, thus preventing unwanted rotation of the robot. This is achieved by utilizing a magnetic field along a single axis to induce rotational movement. The design features two millimetre-sized rotating magnets that interact to achieve a 90 ◦ rotation, complemented by an external magnetic field that accomplishes the remaining 270 ◦ , thus completing a full rotation. Furthermore, we demonstrate that applying a perpendicularly oriented magnetic field can inversely affect the motor’s rotation direction. A proof-of-concept experiment employing this mechanism successfully actuated a gripper in a water tank while it is free-floating, showcasing its potential for enhancing robotic applications at the sub-centimeter scale, where the small net torque of a miniature motor is essential.

关键词： Water Shafts Torque Gears Net zero Storage management Motors Permanent magnets Magnetic fields Grippers

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A Hybrid Adaptive Filter for Head Tracking in Augmented Reality (AR)-based Flight Simulators

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IEEE Transactions on computers 2025年

作者： Nwobodo, Onyeka J. Kuaban, Godlove Suila Nkemeni, Valery Wereszczynski, Kamil Cyran, Krzysztof A. Silesian University of Technology Department of Computer Graphics Vision and Digital Systems Faculty of Automatic Control Electronics and Computer Science Gliwice Poland Polish Academy of Sciences Institute of Theoretical and Applied Informatics Poland University of Buea Laboratory of Electrical Engineering and Computing Faculty of Engineering and Technology Buea Cameroon

This paper presents a novel approach for head tracking in augmented reality (AR) flight simulators using an adaptive fusion of Kalman and particle filters. This fusion dynamically balances the strengths of both algorithms, leveraging Kalman filters for computational efficiency and particle filters for handling non-linearities based on real-time factors such as sensor noise and head movement patterns. Our method demonstrates superior tracking precision and reduced latency, making it particularly effective for immersive pilot training in AR-based flight simulations. While focused on flight simulation, our approach holds high potential for broader applications in other AR and virtual reality (VR) environments where precise, real-time head tracking is crucial. These results provide actionable design guidance for developers optimizing tracking systems in environments that require fast response times and high accuracy. Future extensions of this research could explore the generalization of our approach across diverse AR applications, including human-computer interaction (HCI), medical simulations, and gaming. © 1968-2012 IEEE.

关键词： Flight simulators

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Carbon-Aware Computing in a Network of Data Centers: A Hierarchical Game-Theoretic Approach

Carbon-Aware Computing in a Network of Data Centers: A Hiera...

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European Control Conference (ECC)

作者： Enno Breukelman Sophie Hall Giuseppe Belgioioso Florian Dörfler Division of Decision and Control Systems KTH Royal Institute of Technology School of Electrical Engineering and Computer Science Stockholm Sweden Department of Electrical Engineering and Information Technology Automatic Control Laboratory ETH Zurich Zürich Switzerland

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

Over the past decade, the continuous surge in cloud computing demand has intensified data center workloads, leading to significant carbon emissions and driving the need for improving their efficiency and sustainability. This paper focuses on the optimal allocation problem of batch compute loads with temporal and spatial flexibility across a global network of data centers. We propose a bilevel game-theoretic solution approach that captures the inherent hierarchical relationship between supervisory control objectives, such as carbon reduction and peak shaving, and operational objectives, such as priority-aware scheduling. Numerical simulations with real carbon intensity data demonstrate that the proposed approach success-fully reduces carbon emissions while simultaneously ensuring operational reliability and priority-aware scheduling.

关键词： Data centers Processor scheduling Computational modeling Carbon dioxide Games Supervisory control Resource management

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Optimal PMU placement in the Southern Cameroon Interconnected Grid considering the effect of a group of ZIBs for complete obervability and dynamic stability

Research Square

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Research Square 2024年

作者： Adolphe, MOULUM Philippe Jacques, MANDENG Jean Hubert, KOM Charles Laboratory of Computer and Automatic Engineering Advanced Teachers’ Training College for Technical Education Douala Cameroon Laboratory of Technology and Applied Sciences University Institute of Technology Douala Cameroon Laboratory of Energy Materials Modelling and Methods Higher National Polytechnic School Douala Cameroon

In this paper, a solution for optimal PMU placement in the Southern Cameroon Interconnected grid (SIG) is proposed in response to a problem of dynamic stability in the network. In this power system, the monitoring of the parameters is ensured so far by the SCADA, a technology that gives unsynchronized measurements and whose state estimation of the grid is inconsistent. Furthermore, a scan rate of data makes the SCADA system inefficient for measuring the dynamic and transient behaviour occurring in the power grid. Present study uses the method of integer linear programming (ILP) considering the effect of a group of zero-injection buses (ZIBs). Then, a comparative analysis of our results is made with those of the algorithms of other existing optimization methods in order to evaluate the performance of the applied method from the viewpoint of the number of PMUs, the number of buses observable from one or more nodes, and the system observability redundancy index (SORI). The different results obtained through MATLAB 2020a clearly show that considering the effect of a group of ZIBs, the ILP method presents the most optimal solution with a number of 10 PMUs installed on the buses 5, 8, 10, 11, 13, 16, 25, 28, 33 and 39, with a complete observation of the SIG. This result is validated insofar as 50% of the buses obtained (5, 8, 11, 33 and 39) are found with all the other comparative methods. In addition, buses 5, 8, 10, 11, 13, 16, 39 represent the dominant interconnection substations of the SIG, bus 33 also being a dominant bus in the Area 3 of the SIG. © 2024, CC BY.

关键词： Phasor measurement units

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Adaptive Kinematic Control for the Trajectory Tracking of Unmanned Surface Vehicle with Unknown Ocean Currents

Adaptive Kinematic Control for the Trajectory Tracking of Un...

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International Conference on Sciences and Techniques of automatic Control and computer engineering (STA)

作者： Sami Souissi Mohamed Boukattaya Laboratory of Sciences and Techniques of Automatic control &computer engineering (Lab-STA) National school of engineering of sfax University of sfax Tunisia

ISBN: (纸本)9781665482622

The problem of trajectory-tracking for Unmanned Surface Vehicle (USV) is presented using a robust adaptive approach. First, a virtual velocity command is developed using backstepping control to ensure the traj ectory tracking of the USV's location and orientation. Then, an adaptive update law is designed for the estimation and compensation of ocean currents disturbances acting on the USV system. The stability analysis and the computation of the adaptive laws are proved using Lyapunov stability. Simulation results show the validity of the proposed method for the trajectory tracking problem.

关键词： Backstepping Trajectory tracking Oceans Simulation Estimation Kinematics Stability analysis

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H Control for General Conformable Polynomial Fuzzy Models

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International Journal of Fuzzy Systems 2025年 1-10页

作者： Laajimi, Malek Gassara, Hamdi Rhaima, Mohamed Mchiri, Lassaad Makhlouf, Abdellatif Ben Laboratory of Sciences and Techniques of Automatic control & Computer Engineering National School of Engineering of Sfax Sfax Tunisia Department of Statistics and Operations Research College of Science King Saud University Riyadh Saudi Arabia Panthéon-Assas University Paris II Paris France Department of Mathematics Faculty of Sciences Sfax University Sfax Tunisia

This research focuses on exploring the exponential $$H_\infty $$ stability of general conformable nonlinear system. In order to address the nonlinearity inherent in the system, a polynomial fuzzy (PF) method is employed. Modeling a general conformable nonlinear system within the polynomial framework reduces the number of fuzzy rules compared to the classical Takagi–Sugeno fuzzy (TSF). Furthermore, controlling such a complex system, which accounts for perturbations, employs a PF model instead TSF model to describe its nonlinear dynamics, and incorporates a general conformable derivative instead of an integer-order one, is significantly more challenging, and remains unaddressed in previous studies. In this paper, a PF controller is designed in the form of sum of squares (SOS) to enhance the resilience against perturbations and ensure the exponential stability of the proposed model. The proposed SOS can be solved numerically, and partially symbolically, using the recently developed SOSTOOLS. In order to ensure the $$H_\infty $$ performance, a generalized criterion is defined for the general conformable nonlinear system. To demonstrate the effectiveness of the proposed method, a numerical example is provided.

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EEG-GNet: GCN-Based EEG Signal Fatigue Detection Network for Edge Devices

EEG-GNet: GCN-Based EEG Signal Fatigue Detection Network for...

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2024 IEEE International Conference on Bioinformatics and Biomedicine, BIBM 2024

作者： Zhang, Fuquan Wu, Yu Xu, Xinxin Wang, Chuansheng Ma, Minjia Grau, Antoni Huang, Jiayan School of Computer and Big Data Minjiang University Fuzhou China Fujian Provincial Key Laboratory of Information Processing and Intelligent Control Minjiang University Fuzhou China College of New Engineering Industry Putian University Putian China Department of Automatic Control Polytechnic University of Catalonia Barcelona Spain School of Robotics Xi'an Jiaotong-Liverpool University Suzhou China College of New Engineering Industry Putian University Fujian Ruituo Information Technology Limited Company Putian China

ISBN: (纸本)9798350386226

Fatigue driving is a common potential traffic safety hazard. To detect and analysis the driver Fatigue degree in real-time, more attention have been increasing paid to application research of EEG fatigue detection device. However, existing methods suffer from complex model structure or large-scale model parameters. In the other words, they requires high computational consumption and large memory footprint, which creates a contradiction between model and portable EEG machine with limited hardware resources. In this work, we take both time and frequency domains of EEG signal into account and design an lightweight and efficient driver fatigue detection network based on GCN (EEG-GNet), which is available edge-end device application. Experiments on 4th Raspberry Pi on a public baseline dataset show that our EEG-GNet outperforms the state-of-the-art methods and takes good tradeoff between detection accuracy and resource consumption. Our EEG-GNet provides a new potential opportunity for future applications in practical portable/wearable (P/W) devices. © 2024 IEEE.

关键词： Electrocardiography

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Enhancing Fault Diagnosis of Uncertain Grid-Connected Photovoltaic Systems using Deep GRU-based Bayesian optimization

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IFAC-PapersOnLine 2024年第4期58卷 449-454页

作者： Zahra Yahyaoui Mansour Hajji Majdi Mansouri Abdelmalek Kouadri Kais Bouzrara Hazem Nounou Research Unit Advanced Materials and Nanotechnologies Higher Institute of Applied Sciences and Technology of Kasserine Kairouan University Kasserine 1200 Tunisia Electrical and Computer Engineering Program Texas A&M University at Qatar Doha Qatar Signals and Systems Laboratory Institute of Electrical and Electronics Engineering University M Hamed Bougara of Boumerdes Boumerdes Algeria Laboratory of Automatic Signal and Image Processing National Engineering School of Monastir Tunisia

The efficacy of photovoltaic systems is significantly impacted by electrical production losses attributed to faults. Ensuring the rapid and cost-effective restoration of system efficiency necessitates robust fault detection and diagnosis (FDD) procedures. This study introduces a novel interval-gated recurrent unit (I-GRU) based Bayesian optimization framework for FDD in grid-connected photovoltaic (GCPV) systems. The utilization of an interval-valued representation is proposed to address uncertainties inherent in the systems, the GRU is employed for fault classification, while the Bayesian algorithm optimizes its hyperparameters. Addressing uncertainties through the proposed approach enhances monitoring capabilities, mitigating computational and storage costs associated with sensor uncertainties. The effectiveness of the proposed approach for FDD in GCPV systems is demonstrated using experimental application.

关键词： Bayesian optimization fault detection fault diagnosis gated recurrent units grid-connected PV systems interval-data representation uncertainties

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Examining the Effects of STATCOM and MBPSS on the Integration of High-Level Wind Power into the Power Grid Under Fault Conditions

Examining the Effects of STATCOM and MBPSS on the Integratio...

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International Conference on Systems and Control (ICSC)

作者： Bilel Dhouib Moncef Triki Mohamed Ali Zdiri Hsan Hadj Abdallah Electrical engineering department Sfax engineering school Control & energy management laboratory Sfax engineering school Sfax Tunisia Electrical Engineering Department Sfax laboratory of sciences and techniques of automatic & computer engineering (Lab-STA) Sfax engineering school Sfax Tunisia Electrical engineering department Sfax engineering school control & energy management laboratory Sfax engineering school Sfax Tunisia

With the increasing need for sustainable energy sources, wind power has gained prominence as a clean and renewable option. Nevertheless, incorporating wind power into the electrical grid at a significant scale can have a considerable impact on the dynamic behavior of the power system, leading to heightened operational uncertainties. The expanding requirement for power network connection to wind farms has led to the occurrence of rotor angle fluctuations and frequency instability. This paper utilizes a Static Synchronous Compensator (STATCOM) along with a multi-band power system stabilizer (MB-PSS) to assess the transient stability of a power grid. To demonstrate the system's efficiency under fault conditions, such as triple line-to-ground faults (LLLG), a nine-bus, three-machine test network incorporating a Doubly Fed Induction Generator (DFIG) has been employed. The system's performance has been evaluated through MATLAB/Simulink simulations, which reveal that the combination of STATCOM with MB-PSS produces superior results in enhancing transient stability when compared to the scenarios of using STATCOM alone or not using it at all.

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Research on Black-Box Adversarial Attack Based on Transformer 4

Research on Black-Box Adversarial Attack Based on Transforme...

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4th International Conference on Frontiers Technology of Information and computer, ICFTIC 2022

作者： Zheng, Wenjuan Luo, Hanxu Ji, YuXin Li, Haipeng Cong, Longjian National Key Laboratory of Aerospace Intelligent Control Technology Master of Computer Vision Beijing100854 China Beijing Aerospace Automatic Control Institute Beijing100854 China Wuhan University of Technology Department of Information Engineering Hubei Province Wuhan430000 China

ISBN: (纸本)9798350321951

The classic adversarial samples of black-box attacks are all aimed at the models of Convolutional neural networks (CNNs), but they do not perform well on the new recognition networks based on Transformer. In this paper, we propose an adversarial sample generation algorithm based on Vision transformers (VITs)' self-attention mechanism and patch partition. We noticed that different blocks in the VIT have uneven attention distribution, so we first generated a patch-based attention map and performed threshold segmentation, which is used as a mask to perform data enhancement operations based on patches with high weight and patches with low weight, and then exchanged information between patches to generate adversarial samples. The experiment of simulating black-box attack shows that the adversarial samples generated by the algorithm in this paper have a high success rate in all kinds of models based on Transformer of attacks, and also perform well on CNNs. © 2022 IEEE.

关键词： Convolutional neural networks

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