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Vessel-position Tracking in 3-sphere Space Using an Interacting Multiple Model Based on Lie Theory

Journal of Institute of Control, Robotics and systems 2024年第6期30卷 643-649页

作者： Jeong, Da Bin Ko, Nak Yong Department of Electronic Engineering Interdisciplinary Program in IT-Bio Convergence System Chosun University Korea Republic of

This paper proposes a method for tracking vessel positions using an interacting multiple model approach based on Lie theory in 3-sphere space. Attitude increments and errors are evaluated and corrected using Lie algebra, as well as exponential and logarithmic operations. The covariance of attitudes is appropriately represented in Lie algebra. The proposed method is compared with two methods, i.e., the unscented Kalman filter (UKF) in which the attitude is represented by a unit quaternion (quaternion-utilizing UKF) and the UKF with a single model that uses Lie theory (Lie theory-incorporating UKF). The quaternion-utilizing UKF represents the attitude using quaternions without incorporating Lie theory, whereas the Lie theory-incorporating UKF represents the attitude as a unit quaternion and utilizes Lie theory. The comparisons indicate that the proposed method effectively reduces tracking errors. Additionally, the proposed method adapts to changes in maneuvering conditions using optimized model probabilities, ensuring timely and appropriate responses. The robustness and effectiveness of the proposed method in various maneuvering scenarios demonstrate its potential for enhancing vessel tracking accuracy in real-world applications. © ICROS 2024.

关键词： Exponential functions

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Comparison of Geographically Weighted Regression (GWR) and Mixed Geographically Weighted Regression (MGWR) Models on the Poverty Levels in Central Java in 2023

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IAENG International Journal of Applied Mathematics 2024年第12期54卷 2746-2757页

作者： Alya, Najma Attaqiya Almaulidiyah, Qothrotunnidha Farouk, Bailey Reshad Rantini, Dwi Ramadan, Arip Othman, Fazidah Engineering Department Data Science Technology Study Program Universitas Airlangga Indonesia Engineering Department Data Science Technology Study Program Faculty of Advanced Technology and Multi-discipline Universitas Airlangga Indonesia Information System Study Program Department of Industrial and System Engineering Telkom University Surabaya Campus Indonesia Department of Computer System and Technology Faculty of Computer Science and Information Technology University of Malaya Malaysia

Poverty is considered a serious global issue that must be immediately eradicated by Sustainable Development Goals (SDGs) 1, namely ending poverty anywhere and in any form. As a developing country, poverty is a complex issue faced by Indonesia. Tackling poverty in Indonesia has become a key focus of the government’s strategic priorities. This issue of poverty is experienced by all provinces in Indonesia, including Central Java. The poverty rate in Central Java stands at 10.77% or 3.79 million people. The causes of poverty are explained by several factors. Using these various factors, a mapping model can be conducted to determine the number of poor populations in Central Java. This research employs Geographically Weighted Regression (GWR) and Mixed Geographically Weighted Regression (MGWR) approaches to compare the effectiveness of these models in analyzing the number of poor populations in Central Java in 2023. The kernel function weighting used in this study is Fixed Gaussian. The results showed that the MGWR model outperformed both the OLS regression and GWR models, achieving an Akaike Information Criterion (AIC) of 62.766, an R2 of 82.3%, and a Mean Squared Error (MSE) of 0.177. Consequently, it can be inferred that the MGWR model was more suitable for explaining the poverty levels in Central Java. © (2024), (International Association of Engineers). All Rights Reserved.

关键词： Logistic regression

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Modeling the Percentage of NEET in Indonesia with Spatial Cauchy Regression through the Bayesian Analysis Approach

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IAENG International Journal of Applied Mathematics 2024年第7期54卷 1288-1295页

作者： Rantini, Dwi Fakhruzzaman, Muhammad Noor Ningrum, Ratih Ardiati Othman, Fazidah Choir, Achmad Syahrul Ramadan, Arip Alya, Najma Attaqiya Putri, Elfira Rahma Pratama, Muhammad Alfian Engineering Department Data Science Technology Study Program Faculty of Advanced Technology and Multidiscipline Universitas Airlangga Indonesia Engineering Department Data Science Technology Study Program Faculty of Advanced Technology andMultidiscipline Universitas Airlangga Indonesia Department of Computer System and Technology Faculty of Computer Science and Information Technology University of Malaya Malaysia Statistical Computing StudyProgram Politeknik Statistika STIS Indonesia Information System Study Program School of Industrial and System Engineering Telkom University Indonesia

Indonesia has entered a period of demographic bonus. Human resources must be optimized. The number of children who do not in employment, education or training (NEET) in each province needs attention. Several factors that could contribute to the decline in the NEET percentage are literacy rates and the number of adolescents with computer skills. Increasing these two factors is believed to be able to reduce the percentage of NEET in every province in Indonesia. To find out the relationship between these two factors and how much influence they have on the percentage of NEET, this research is modeled by Cauchy regression and includes spatial effects. The results of the analysis show that the best model is when the spatial effect is modeled by Fernandez Steel Skew Normal conditionally autoregressive (FSSN CAR). This result is seen from the smallest value of the Watanabe Akaike Information Criterion (WAIC) in this model, which is 190.5. The parameter estimated shows that the higher the literacy rate and the number of adolescents with computer skills, the lower the percentage of NEET in each province in Indonesia. The results of this research can be useful for the Indonesian government to increase the number of educational facilities related to these two factors. © (2024), (International Association of Engineers). All rights reserved.

关键词： Bayesian CAR Cauchy Education NEET

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Development and Flight Experiments of Scaled-model AAM Aircraft With Boxed-wing

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Journal of Institute of Control, Robotics and systems 2025年第1期31卷 5-13页

作者： Yang, Yechan Park, Seonghyeon Park, Joonhyuk Seo, Bin Kim, Nakyung Jeong, Hoijo Suk, Jinyoung Kim, Seungkeun Department of Aerospace Engineering Chungnam National University Korea Republic of Interdisciplinary Program in Intelligent Aerospace System Seoul National University Korea Republic of

Advanced air mobility (AAM) is being developed to address complex transportation challenges in urban environments. In this study, a scaled model of a boxed-wing tiltrotor AAM has been designed and implemented through simulation and flight testing, establishing a foundation for the future commercialization of AAM. All structural and aerodynamic factors involved in the design of the Boxed-wing were considered during the initial stage of development, and its aerodynamic performance was analyzed. A software-in-the-loop simulation was conducted by integrating the Gazebo simulator and PX4 to verify the performance of the simulation model. The model successfully followed the predefined waypoints during the simulation, and the control parameters derived from the simulation were then applied to the flight test. The key parameters among them were validated through the flight test, confirming their effectiveness in ensuring a stable flight. © ICROS 2025.

关键词： Urban transportation

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Negative Stiffness Mechanism on An Asymmetric Wave Energy Converter by Using A Weakly Nonlinear Potential Model

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China Ocean engineering 2024年第4期38卷 689-700页

作者： Sunny Kumar POGULURI Dongeun KIM Yoon Hyeok BAE Department of Ocean Engineering IIT MadrasChennaiIndia Multidisciplinary Graduate School Program for Wind Energy Jeju National UniversityJejuRepublic of Korea Mechanical and System Design Engineering Hongik UniversitySeoulRepublic of Korea

Salter's duck,an asymmetrical wave energy converter(WEC)device,showed high efficiency in extracting energy from 2D regular waves in the past;yet,challenges remain for fluctuating wave *** can potentially be addressed by adopting a negative stiffness mechanism(NSM)in WEC devices to enhance system efficiency,even in highly nonlinear and steep 3D waves.A weakly nonlinear model was developed which incorporated a nonlinear restoring moment and NSM into the linear formulations and was applied to an asymmetric WEC using a time domain potential flow *** model was initially validated by comparing it with published experimental and numerical computational fluid dynamics *** current results were in good agreement with the published *** was found that the energy extraction increased in the range of 6%to 17%during the evaluation of the effectiveness of the NSM in regular *** irregular wave conditions,specifically at the design wave conditions for the selected test site,the energy extraction increased by 2.4%,with annual energy production increments of approximately *** findings highlight the potential of NSM in enhancing the performance of asymmetric WEC devices,indicating more efficient energy extraction under various wave conditions.

关键词： asymmetric wave energy converter negative stiffness mechanism weakly nonlinear potential flow power

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Multi-Functional Brain-Computer Interface Using Convolutional Neural Networks

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Journal of Institute of Control, Robotics and systems 2023年第1期29卷 29-34页

作者： Choi, Woo-Sung Yeom, Hong Gi Department of Electronics Engineering Chosun University Korea Republic of Interdisciplinary Program in IT-Bio Convergence System Korea Republic of

The Brain-computer interface (BCI) is a technology that measures and analyzes electroencephalogram (EEG) signals to control robots or machines according to the user's intention. The BCI is a beneficial technology that helps people who can not move their body because of paralysis or amputation so that they can control various electronic devices or express their intentions just by thinking. However, previous BCI technologies have a limitation that they can not have been unable to predict multiple intentions. To use the BCI system in daily life, BCI should be able to predict various intentions such as movement, communication, and robot control. In this study, we developed a BCI technology that can predict multiple intentions simultaneously using a convolutional neural network (CNN). We evaluated the proposed BCI model with EEG signals measured from 10 subjects participants during completing Sensory-Motor Rhythm (SMR) and Steady-State Visual Evoked Potential (SSVEP) tasks. The evaluation showed that the proposed BCI model could predict multiple intentions. The average accuracy averaged by all subjects was 62.8±13.7%. This result implies that BCI users can simultaneously perform various tasks, such as typing and moving. We expect that our study will promote the development of the practical applications of BCI. in daily life. © ICROS 2023.

关键词： Brain computer interface

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Vessel Location Tracking by Using Unscented Kalman Filter Implemented in Nonlinear Attitude Space

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Journal of Institute of Control, Robotics and systems 2023年第4期29卷 347-354页

作者： Jeong, Da Bin Ko, Nak Yong Choi, Hyun-Taek Department of Electronic Engineering Interdisciplinary Program in IT-Bio Convergence System Chosun University Korea Republic of Korea Republic of

In this study, Lie group theory was used for implementing the unscented Kalman filter (UKF). The UKF was used to track an unmanned surface vehicle (USV) by using radar measurements and the data recorded by the automatic identification system. The attitude of the USV was represented using unit quaternions constituting a Lie group called the 3-sphere space (S3). The increment and difference in the attitudes in S3 constitute a Lie algebra. The correspondence between the Lie group component and the Lie algebra component was used by the exponential and logarithm functions of the UKF. Simulation studies verify that the Lie group based UKF results in better convergence property in Kalman gain, measurement innovation, and covariance, as well as better tracking accuracy than the traditional UKF. © ICROS 2023.

关键词： Lie groups

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Beamspace AIC & MDL Algorithm for Based on Concentric Circular Array Antenna 13

Beamspace AIC & MDL Algorithm for Based on Concentric Circul...

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Joint 13th International Conference on Soft Computing and Intelligent systems and 25th International Symposium on Advanced Intelligent systems, SCIS and ISIS 2024

作者： Park, Heui-Seon Hwang, Suk-Seung Chosun University Interdisciplinary Program in IT-Bio Convergence System Department of Electronic Engineering Gwangju Korea Republic of School of Electronic Engineering Chosun University Interdisciplinary Program in IT-Bio Convergence System Gwangju Korea Republic of

ISBN: (纸本)9798350373332

In modern wireless communication systems using multiple antenna elements, accurately identifying the signals contained in the received signal is very important. Conventional signal number estimation algorithms operate for the entire set of antenna elements, resulting in high computational complexity. In order to enhance this high computational complexity problem, this paper proposes beamspace based Akaike Information Criterion (AIC) and Minimum Description Length (MDL) algorithms based on a concentric circular array (CCA) antenna for efficient signal number estimation. In addition, computer simulation results are presented to evaluate the signal-number estimation performance of the proposed algorithm. © 2024 IEEE.

关键词： Akaike information criteria Beam space Concentric circular array antenna Minimum description length

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Micro-electrode array (MEA) electrophysiological signal analysis by descriptive stochastic tests of the probability density structure

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Research on Biomedical engineering 2025年第2期41卷 1-13页

作者： Faria, Vinícius Naves Rezende Ramos, Marina Abadia Martinoia, Sérgio Destro-Filho, João-Batista Postgraduate Program in Electrical Engineering Universidade Federal de MG Uberlândia Brazil Postgraduate Program in Biomedical Sciences Universidade Federal de MG Uberlândia Brazil Division of Informatics Bioengineering Robotics and System Engineering Università Degli Studi Di Genova Genova Italy

Purpose: The primary objective of this study is to present, analyze, and quantitatively characterize the electrical signals obtained from neuronal cultures coupled to micro-electrode arrays (MEAs). Special attention is given to the temporal evolution of electrical activity across distinct geometric regions of the MEA devices. Methods: The proposed methodology involves signal acquisition, classical analysis based on spike and burst detection, and, critically, the characterization of the probability density structure of the signals. This is achieved through the quantification of Gaussianity—expressed as the percentage of segments non-Gaussian (PSNG)—and stationarity— expressed as the percentage of segments non-stationary (PSNE). Results: Initial analyses showed that first-order power spectral density quantifiers lacked the statistical robustness required to effectively describe the complex components of MEA signals. In contrast, PSNG and PSNE demonstrated strong potential in capturing the different stages of neuronal culture development. Cluster analysis further supported the discriminative capacity of these quantifiers. Conclusion: The phase corresponding to decreased neuronal activity and onset of cell death—a biologically critical stage—exhibited the strongest correlation among the studied variables. These results suggest a discernible biological organization and highlight the relevance of PSNG and PSNE as promising tools for assessing neuronal culture dynamics. © The Author(s), under exclusive licence to The Brazilian Society of Biomedical engineering 2025.

关键词： Cell death

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Autonomous Quadcopter Trajectory Tracking and Stabilization Using Control system Based on Sliding Mode Control and Kalman Filter 24

Autonomous Quadcopter Trajectory Tracking and Stabilization ...

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24th International Seminar on Intelligent Technology and Its Applications, ISITIA 2023

作者： Agustina, Nilla Perdana Darwito, Purwadi Agus Physics Engineering Master Program Faculty of Industrial Technology and System Engineering Surabaya Indonesia Physics Engineering Department Faculty of Industrial Technology and System Engineering Surabaya Indonesia

ISBN: (纸本)9798350313956

In this paper, a control system based on Sliding Mode Control (SMC) and Kalman Filter has been designed to stabilize the quadcopter in the takeoff and hover phases as well as at the expected altitude. The control system is needed to support the performance of the quadcopter in carrying out the mission that has been given. The designed control system begins with the creation of a system model equation and is implemented in a real quadcopter simulation. The resulting response in terms of the results of the resulting control signal is stable, meets the trajectory as expected, and can produce a real quadcopter simulation taking off vertically and flying stably. Even though there was an unstable response for about 15 to 20 seconds at the beginning of the resulting response, after that the system showed stability. Tracking the resulting trajectory in accordance with the desired trajectory. Real quadcopter simulation results show that the takeoff phase can be carried out vertically and that the resulting trajectory stability can be stable during takeoff and flight. The height of the quadcopter has reached 100%, namely with a height of 1.5 meters as expected, and the average error value obtained at the x position is 2.93e^-07, the y position is 2.96e^-07, and the z position is 1.80e^-03. The proposed SMC-Kalman filter control system is expected to be implemented in a conventional quadcopter that has been developed. © 2023 IEEE.

关键词： Sliding mode control

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