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Multi-Competitive Virus Spread over a Time-Varying Networked SIS Model with an Infrastructure Network

IFAC-PapersOnLine 2023年第2期56卷 19-24页

作者： Sebin Gracy Yuan Wang Philip E. Paré César A Uribe Department of Electrical and Computer Engineering Rice University Houston TX USA Department of Robotics Hunan University Changsha China Elmore School of Electrical and Computer Engineering Purdue University West Lafayette IN USA

We study the spread of multi-competitive viruses over a (possibly) time-varying network of individuals accounting for the presence of shared infrastructure networks that further enables transmission of the virus. We establish a sufficient condition for exponentially fast eradication of a virus for: 1) time-invariant graphs, 2) time-varying graphs with symmetric interactions between individuals and homogeneous virus spread across the network (same healing and infection rate for all individuals), and 3) directed and slowly varying graphs with heterogeneous virus spread (not necessarily same healing and infection rates for all individuals) across the network. Numerical examples illustrate our theoretical results and indicate that, for the time-varying case, violation of the aforementioned sufficient conditions could lead to the persistence of a virus.

关键词： Epidemic Processes SIS Epidemics Time-Varying Graphs Infrastructure Network

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Fuzzy control system design for wheel slip prevention and tracking of desired speed profile in electric trains

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Asian Journal of Control 2022年第1期24卷 388-400页

作者： Moaveni, Bijan Rashidi Fathabadi, Fatemeh Molavi, Ali Center of excellence for Modelling and Control of Complex Systems Faculty of Electrical Engineering K. N. Toosi University of Technology Tehran Iran Department of Electrical and Computer Engineering Western Michigan University MI United States Institute of Robotics and Industrial Informatics Polytechnical University of Catalonia Barcelona Spain

This study proposes an anti-slip control system for electric trains based on the fuzzy logic theory, which prevents the wheels from slipping during the acceleration and simultaneously tracks the desired speed profile. To improve the control performance, the train longitudinal velocity and the slip ratio are estimated. By using a field-oriented control (FOC), the angular speed of the traction motor is controlled. The fuzzy control system determines the desired angular speed of the traction motor as the reference input of FOC to obtain the desired slip ratio and track the desired speed profile. Simulation results show the effectiveness of the control system in various wheel–rail surface conditions based on the real parameters of ER24PC locomotive. © 2020 Chinese Automatic Control Society and John Wiley & Sons Australia, Ltd

关键词： Traction motors

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Intelligent Motion Planning for Collision Free Autonomous Docking of Satellite Emulation Platform Using Reinforcement Learning

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IFAC-PapersOnLine 2023年第2期56卷 3354-3359页

作者： D. Athauda A. Banerjee S. Satpute A. Agha-Mohammadi G. Nikolakopoulos Department of Computer Science Electrical and Space Engineering Luleå University of Technology Robotics and AI group Department of Computer Science Electrical and Space Engineering Luleå University of Technology AI for Humanity Inc.

A reinforcement learning (RL) enabled intelligent motion planning for collision-free autonomous docking manoeuvre explicitly designed for a robotic floating satellite emulation platform is presented in this article. The Twin Delayed Deep Deterministic Policy Gradient-based RL algorithm involving deep neural network architecture in the actor-critic framework is considered to obtain the collision-free safe docking policy. The RL agents have been trained to perform a resilient target acquisition, ensuring its terminal position and velocity requirements while enabling the capability to avoid both static and dynamic obstacles. The resulting optimal policy is implemented as a feedback control law to enable computationally efficient onboard reactive motion planning for autonomous safe docking of the robotic floating satellite platform in a complex dense debris environment. The efficacy of the proposed motion planning scheme is validated with numerous simulation studies, where it is depicted that the trained RL-based planner has the potential to address the target acquisition with a sufficient degree of accuracy in the presence of both static and dynamic obstacle scenarios.

关键词： Reinforcement Learning Floating satellite platform Obstacle avoidance Intelligent motion planning Safe autonomous docking

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Robotic Exploration through Semantic Topometric Mapping

arXiv

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arXiv 2024年

作者： Fredriksson, Scott Saradagi, Akshit Nikolakopoulos, George Robotics and AI group The Department of Computer Science Electrical and Space Engineering Luleå University of Technology Sweden

In this article, we introduce a novel strategy for robotic exploration in unknown environments using a semantic topometric map. As it will be presented, the semantic topometric map is generated by segmenting the grid map of the currently explored parts of the environment into regions, such as intersections, pathways, dead-ends, and unexplored frontiers, which constitute the structural semantics of an environment. The proposed exploration strategy leverages metric information of the frontier, such as distance and angle to the frontier, similar to existing frameworks, with the key difference being the additional utilization of structural semantic information, such as properties of the intersections leading to frontiers. The algorithm for generating semantic topometric mapping utilized by the proposed method is lightweight, resulting in the method’s online execution being both rapid and computationally efficient. Moreover, the proposed framework can be applied to both structured and unstructured indoor and outdoor environments, which enhances the versatility of the proposed exploration algorithm. We validate our exploration strategy and demonstrate the utility of structural semantics in exploration in two complex indoor environments by utilizing a Turtlebot3 as the robotic agent. Compared to traditional frontier-based methods, our findings indicate that the proposed approach leads to faster exploration and requires less computation time. Copyright © 2024, The Authors. All rights reserved.

关键词： Semantics

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An Online Model-Free Reinforcement Learning Approach for 6-DOF Robot Manipulators

An Online Model-Free Reinforcement Learning Approach for 6-D...

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2023 IEEE International Symposium on Robotic and Sensors Environments, ROSE 2023

作者： Hosny, Zeyad Nassar, Abdullah Aboelyazeed, Ahmed Mohamed, Mahmoud Abouheaf, Mohammed Gueaieb, Wail University of Ottawa School of Electrical Engineering and Computer Science OttawaONK1N6N5 Canada Bowling Green State University Robotics Engineering Bowling GreenOH43402 United States

ISBN: (纸本)9798350308044

Controlling 6 Degrees-of-Freedom (DoF) robotic manipulators in an online, model-free manner poses significant challenges due to their complex coupling, non-linearities, and the need to account for unmodeled dynamics. This paper introduces a model-free adaptive approach for real-time control of a 6 DoF 'EPSON' robotic manipulator, without requiring any prior knowledge of the manipulator's dynamics. Initially, we lay out the framework for an optimal control solution. A performance index is introduced, leveraging error dynamics and correction control signals, offering the capability to incorporate high-order error dynamics without the need to explicitly derive error trajectories. The order of error dynamics is determined by the chosen number of error samples. We assume a kernel-based solution structure aligning with the performance index, resulting in a temporal difference equation. This equation can be optimized to formulate a model-free control strategy. Subsequently, a reinforcement learning approach is adopted to approximate the underlying strategy. Infeasible exact solutions are overcome by employing a value iteration mechanism to adapt the actor-critic structures within an adaptive critics framework. To validate the proposed approach, it is compared against a conventional proportional-integral controller. A Unified Robot Description Format file is generated to facilitate the import of the robotic manipulator into the MATLAB Simulink environment, enabling its control. Ultimately, the proposed method yields superior results in terms of the dynamic characteristics of the response, demonstrating its effectiveness over the conventional approach. © 2023 IEEE.

关键词： Real time control

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Marine Surface Layer Optical Turbulence Measurements Over a Vertical Path with Mobile Aerial Platforms

Marine Surface Layer Optical Turbulence Measurements Over a ...

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2024 Laser Applications Conference, LAC 2024

作者： Maa, Winston Avramov-Zamurovic, Svetlana Lee, Peter Solie, John van Iersel, Miranda Weapons Robotics and Control Engineering Department United States Naval Academy Hopper Hall 597 McNair Rd AnnapolisMD21402 United States Klipsch School of Electrical and Computer Engineering New Mexico State University Las CrucesNM88003 United States

A mobile aerial platform is used in a laboratory environment at a distance of up to 4 meters to record the Gaussian laser light intensity fluctuations from a downlink and calculate scintillation index. © 2024 The... 详细信息

关键词： Laser recording

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Protein-Folding Inspired Programmable Control System for Robot Swarms

Protein-Folding Inspired Programmable Control System for Rob...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Zhang, Feng Gu, Yuping Wang, Zebin Yuan, Shuai Yang, Yongliang School of Electrical and Control Engineering Shenyang Jianzhu University Liaoning Shenyang110168 China Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Liaoning Shenyang110106 China School of Computer Science and Engineering Shenyang Jianzhu University Liaoning Shenyang110168 China

ISBN: (纸本)9781665481090

In swarm robotics, most of the control algorithms are inspired by the behaviors of animal swarms. The capability gap between robots and animals, however, hinders the reliability of these algorithms. Toward developing reliable algorithms of robot swarms, a promising solution is learning from the collective behaviors of low-intelligent natural swarms, such as cell collectives and molecular assemblies. Here, we proposed a programmable control system inspired by protein folding. Using our homemade RoboFold platform, we demonstrated a protein-folding inspired programmable control method for robot swarms. By programming and designing the sequence of a thread of protein-like robots, the developed system can mimic the formation of hierarchical structures in robot swarms as the three-level of protein structures. We quantitatively characterized the specific features of self-organized morphologies. The experimental results together demonstrated the feasibility of this method. To summarize, this work successfully translated the principles of protein-folding into programming methods to control the morphology of robot swarms. Considering that the protein folding problem is essentially a physicochemical problem, this system is not only beneficial for the control of swarm robots but also has the potential to develop into a tool for studying the protein folding problem. © 2024 IEEE.

关键词： Robot programming

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FAST CHARGING ELECTRIC BUSES IN MARIBOR: A COMPARATIVE ANALYSIS OF SIMULATION AND REAL-WORLD RESULTS 12th

FAST CHARGING ELECTRIC BUSES IN MARIBOR: A COMPARATIVE ANALY...

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12th International Conference on Environmental engineering, ICEE 2023

作者： Klemenčič, Mitja Španer, Marijan Lep, Marjan Moharić, Matej Department of Transportation Engineering Faculty of Civil Engineering Transportation Engineering and Architecture University of Maribor Smetanova 17 Maribor Slovenia Laboratory for Power Electronics Institute of Robotics Faculty of Electrical Engineering and Computer Science University of Maribor Koroška cesta 46 Maribor Slovenia

This paper presents a study of the energy consumption of a full electric bus charged at a fast-charging station with pantographs in the city of Maribor. The results of simulated and real tests on the PT line 6 are compared and analysed. The partly electrified PT line 6 provides insights on comparison between simulated energy consumption and re-al-life energy consumption, charging time and reliability of charging. The results reveal that the simulation considered several important factors like real life turnaround time, driving cycle, regenerative braking, charging time, peak hour charging time, heating/cooling systems, full passenger load as important and critical to identify the appropriate concept for charging. Technical and operational errors were identified in real world, due to connectivity failures or driver errors in positioning the vehicle, which were not considered in the simulation. The real-world data and procedure for selection of the most appropriate charging technology represent a good basis for full electrified Public Transport in Maribor. © 2023 The Author(s). Published by Vilnius Gediminas Technical University.

关键词： Electric buses

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Enhancement of Two-Photon Fluorescence Microscopy Through Auxiliary Microspheres for Microscopic Observation 14

Enhancement of Two-Photon Fluorescence Microscopy Through Au...

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14th IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems, CYBER 2024

作者： Zhang, Feng Jin, Zijian Jiang, Chaodi Yuan, Shuai Yang, Yongliang Wang, Xiaoduo School of Electrical & Control Engineering Shenyang Jianzhu University Liaoning Province Shenyang110168 China School of Computer Science and Engineering Shenyang Jianzhu University Liaoning Province Shenyang110168 China Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

ISBN: (纸本)9798331506056

At present, it is still a great challenge to improve the observation accuracy of two-photon fluorescence microscope. A new method that using auxiliary microspheres as movable components on the sample is proposed to solve this challenge in this study, it can improve high-resolution imaging. In experiments using two-photon fluorescence microscopy, the half-width height (FWHM) of red fluorescent nanoparticles with a diameter of 20 nm was observed to be 296 nm using a primitive microscope system. In this paper by combining barium titanate microspheres with two-photon fluorescence microscopy, the accuracy of the point spread function of the nanoparticles can be improved by a factor of about 1.65, which results in a significant reduction of their half-width height measurements to 179 nm. The research is of great significance to improve the resolution of two-photon fluorescence microscope. This progress is very valuable for studying biological tissues and cell structures, it provides a new impetus for the sustainable development in the microscopic imaging field. © 2024 IEEE.

关键词： Microspheres

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Costmap-based Local Motion Planning using Deep Reinforcement Learning

Costmap-based Local Motion Planning using Deep Reinforcement...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Luís Garrote João Perdiz Urbano J. Nunes Department of Electrical and Computer Engineering and the Institute of Systems and Robotics University of Coimbra Portugal

Local motion planning is an essential component of autonomous robot navigation systems as it involves generating collision-free trajectories for the robot in real-time, given its current position, the map of the environment and a goal. Considering an a priori goal path, computed by a global planner or as the output of a mission planning approach, this paper proposes a Two-Stream Deep Reinforcement Learning strategy for local motion planning that takes as inputs a local costmap representing the robot’s surrounding obstacles and a local costmap representing the nearest goal path. The proposed approach uses a Double Dueling Deep Q-Network and a new reward model to avoid obstacles while trying to maintain the lateral error between the robot and the goal path close to zero. Our approach enables the robot to navigate through complex environments, including cluttered spaces and narrow passages, while avoiding collisions with obstacles. Evaluation of the proposed approach was carried out in an in-house simulation environment, in five scenarios. Double and Double Dueling architectures were evaluated; the presented results show that the proposed strategy can correctly follow the desired goal path and, when needed, avoid obstacles ahead and recover back to following the goal path.

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