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16th APCA International Conference on Automatic Control and Soft Computing, CONTROLO 2024

作者： Safaee, Ahmad Aguiar, A. Pedro Santos, Filipe Neves Moreira, Antonio Paulo SYSTEC-ARISE Research Center for Systems and Technologies Faculty of Engineering University of Porto Porto4200-465 Portugal INESC-TEC-Institute for Systems and Computer Engineering Technology and Science CRIIS-Centre for Robotics in Industry and Intelligent Systems Porto4200-465 Portugal INESC-TEC-Institute for Systems and Computer Engineering and DEEC/FEUP - Department of Electrical and Computer Engineering Faculty of Engineering of the University of Porto Porto4200-465 Portugal

ISBN: (纸本)9783031817236

The need for aerial platforms capable of sustained operation is critical in fields such as surveillance, agricultural monitoring, disaster response, and temporary telecommunication systems. Traditional unmanned aerial vehicles (UAVs) are hampered by limited battery capacity and inefficient energy utilization. This paper introduces an autonomous vertical flight drone tethered to a ground-based platform, which overcomes these limitations. The drone is designed to optimize its position and energy usage by harnessing wind currents, functioning similarly to a kite when conditions permit. This is enabled by a custom-designed autopilot system comprising both hardware and software tailored for this application. We detail the model identification process for three vertical take-off and landing (VTOL) drone systems, employing authentic data that measures lateral positional errors from the tether. Robust mixed sensitivity controllers are developed and implemented. The effectiveness of these controllers is validated through simulations showing their capability to handle uncertainties. Furthermore, the practical application and robust performance of the system are confirmed by a real-world case study, highlighting its potential in real operational environments. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： VTOL/STOL aircraft

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Programmable lattices for non-Abelian topological photonics and braiding

arXiv

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arXiv 2024年

作者： Kim, Gyunghun Li, Jensen Piao, Xianji Park, Namkyoo Yu, Sunkyu Intelligent Wave Systems Laboratory Department of Electrical and Computer Engineering Seoul National University Seoul08826 Korea Republic of Department of Engineering University of Exeter EX4 4QF United Kingdom Wave Engineering Laboratory School of Electrical and Computer Engineering University of Seoul Seoul02504 Korea Republic of Photonic Systems Laboratory Department of Electrical and Computer Engineering Seoul National University Seoul08826 Korea Republic of

Non-Abelian physics, originating from noncommutative sequences of operations, unveils novel topological degrees of freedom for advancing band theory and quantum computation. In photonics, significant efforts have been devoted to developing reconfigurable non-Abelian platforms, serving both as classical testbeds for non-Abelian quantum phenomena and as programmable systems that harness topological complexities. Here we establish topological spinor lattices for non-Abelian programmable photonics. We design a building block for reconfigurable unitary coupling between pseudospin resonances, achieving a universal set of rotation gates through coupling along the unit cell boundary. The lattice assembly of our building blocks enables the emulation of the extended quantum Hall family across various eigenspinor bases. Particularly, we reveal the emergence of a non-Abelian interface even when the bulks are Abelian, which allows the topologically trivial engineering of topologically protected edge states. We also define the braid group for pseudospin observables, demonstrating non-Abelian braiding operations and the Yang–Baxter relations. Our results pave the way for realizing a reconfigurable testbed for a wide class of Abelian and non-Abelian topological phenomena and braiding operations. © 2024, CC BY.

关键词： Topology

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Worst-Case Integrity Attacks and Resilient State Estimation With Partially Secured Measurements

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IEEE Transactions on Control of Network systems 2025年

作者： Zhou, Jing Shang, Jun Chen, Tongwen University of Alberta Department of Electrical and Computer Engineering EdmontonABT6G 1H9 Canada Tongji University Department of Control Science and Engineering Shanghai Institute of Intelligent Science and Technology National Key Laboratory of Autonomous Intelligent Unmanned Systems Frontiers Science Center for Intelligent Autonomous Systems Shanghai200092 China

This paper examines the problem of optimal deception attacks against state estimation with partially secured measurements, where smart sensors transmit innovation sequences to the remote end for information fusion. Due to resource limitations or defensive countermeasures, the adversary can only modify data packets transmitted through unreliable channels. Meanwhile, the attack should be synthesized with sophistication to deceive an anomaly detector. To investigate the vulnerabilities of such estimation systems without feedback links and enhance security performance, the optimal attack policy is derived by formulating and explicitly solving a convex optimization problem, with the goal of maximizing the sum of estimation errors. Subsequently, a novel attack detection and resilient state estimation algorithm is proposed to ensure an acceptable level of estimation accuracy. The theoretical performance metrics, including false alarm rates for the proposed detector, are provided. Finally, the effectiveness of the results is confirmed through numerical examples. © 2014 IEEE.

关键词： Optimal detection

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Trajectory Tracking of Tractor-Trailer Wheeled Mobile Robots via Dynamic Feedback Linearization in Forward and Backward Motion 10

Trajectory Tracking of Tractor-Trailer Wheeled Mobile Robots...

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10th International Conference on Control, Instrumentation and Automation, ICCIA 2024

作者： Olyai, Mohammad Alipour, Khalil Tarvirdizadeh, Bahram Sorouri, Majid Ghamari, Mohammad Laboratory Department of Mechatronics Eng School of Intelligent Systems Engineering College of Interdisciplinary Science and Technology Tehran Iran Maynooth University Maynooth Department of Electronic Engineering Co. Kildare Ireland Islamic Azad University Science and Research Branch Department of Computer and Mechatronics Engineering Tehran Iran California Polytechnic State University Electrical Engineering Department San Luis ObispoCA93407 United States

ISBN: (纸本)9798331509972

One type of wheeled mobile robot widely used in public transportation and for carrying high payloads is the tractor-Trailer wheeled robots (TTWRs). This study considers a differentially-driven tractor under pure rolling conditions, which is subject to nonholonomic constraints. Controlling a TTWR in both backward and forward motion is challenging due to inherent instability. To address this issue and achieve trajectory tracking control for these systems, this paper employs dynamic feedback linearization (DFL) to overcome the limitations of static feedback linearization (SFL). The system's response will be examined under various trajectories and initial conditions for both forward and backward motion. © 2024 IEEE.

关键词： Tractors (truck)

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Assessing the Robustness of nnU-Net in the Detection of Prostate Lesions via Bi-Parametric MRI

Assessing the Robustness of nnU-Net in the Detection of Pros...

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2023 IEEE EMBS Special Topic Conference on Data Science and engineering in Healthcare, Medicine and Biology, IEEECONF 2023

作者： Zaridis, Dimitrios I. Mylona, Eugenia Tachos, Nikolaos Kalantzopoulos, Charalampos Pezoulas, Vasileios C. Koutsouris, Dimitrios D. Matsopoulos, George K. Marias, Kostas Tsiknakis, Manolis Fotiadis, Dimitrios I. National Technical University of Athens School of Electrical and Computer Engineering Biomedical Engineering Laboratory AthensGR15773 Greece Forth Biomedical Research Institute Ioannina Greece University of Ioannina Ioannina Greece Forth Institute of Computer Science Heraklion Greece Hellenic Mediterranean University Department of Electrical and Computer Engineering Crete Heraklion Greece FORTH-IMBB Ioannina Greece University of Ioannina Unit of Medical Technology and Intelligent Information Systems Materials Science and Engineering Department IoanninaGR 45110 Greece

ISBN: (纸本)9798350383386

Within the scope of prostate cancer diagnostic imaging, distinguishing lesions is challenging due to their subtle appearance and the prostate gland's complexity. This study employed the nnU-Net, a state-of-the-art medical image segmentation model, on a dataset of 301 patients from 2 openly available datasets to identify whether lesion sizes are affecting the model's performance. By applying t-SNE dimensionality reduction algorithm among dice score and respective lesion sizes, we found that nnU-Net behaves differently for lesions smaller than 9mm compared to lesions larger than 15mm. These insights can inform specialized training approaches for future deep learning models in prostate lesion *** Relevance: The main contributions of this study is, to investigate whether lesion sizes affects nnU-Net's deficiency leading to the development of more specialized models in respect to these factors. © 2023 IEEE.

关键词： Urology

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Short-Term Prediction of Solar Photovoltaic Power Generation Using a Digital Twin

Short-Term Prediction of Solar Photovoltaic Power Generation...

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Annual North-American Power Symposium

作者： John Yonce Michael Walters Ganesh K. Venayagamoorthy Holcombe Department of Electrical and Computer Engineering Real-Time Power and Intelligent Systems Laboratory Clemson University Clemson SC USA

Large volumes of distributed energy resources (DERs), such as solar photovoltaic (PV) plants are integrated into the power distribution system due to increased awareness of climate change. These DERs introduce variable and uncertain generation sources due to changing weather conditions. This makes operations and controls challenging and complex. To better understand and manage the dynamic nature of solar PV power plants, digital twins (DTs) will be needed. DTs based on artificial intelligence (AI) methods can be applied to replicate the dynamics of PV plants. This study utilizes a popular paradigm of AI - neural networks to create a variety of data-driven DT (DD-DT) prediction models for a 1 MW solar PV plant located at Clemson University in South Carolina, USA. State-of-the-art internet of things (IoT) based real-time measurements are used to develop the DD-DTs. Typical results for short-term PV power prediction for DTs implemented using multilayer perceptron neural networks (MLPNNs) and Elman recurrent neural networks (ERNNs) are presented in this paper.

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Validation of two-wire power line UAV localization based on the magnetic field strength

Validation of two-wire power line UAV localization based on ...

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International Conference on Unmanned Aircraft systems (ICUAS)

作者： Goran Vasiljević Dean Martinović Matko Batoš Stjepan Bogdan Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems University of Zagreb Zagreb Croatia

ISBN: (数字)9781665405935

ISBN: (纸本)9781665405942

In this paper we extend our previous work on UAV localization based on the magnetic field strength. The method is based on a magnetic flux density distribution in vicinity of two very long, thin and parallel transmission lines. An UAV is equipped with 4 magnetometers, positioned so that obtained measurements give unique solution to an optimization problem used to find relative position and orientation of the UAV with respect to conductors. Several sets of experiments, undertaken on a laboratory setup, confirmed validity of the method for both solutions - analytical and numerical optimization. Obtained results, compared with high precision motion capture system, are within range of standard RTK positioning.

关键词： Location awareness Magnetic field measurement Power measurement Magnetometers Current measurement Wires Transmission line measurements

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Fuzzy Based Steering Control of a Multi-Joint AUV

Fuzzy Based Steering Control of a Multi-Joint AUV

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Control Conference (ANZCC), Australian and New Zealand

作者： Zakarya Omar Ke-Xian Liu Chao Ren Qing-Hao Meng Institute of Robotics and Autonomous Systems Tianjin Key Laboratory of Intelligent Un-manned Swarm Technology and System School of Electrical and Information Engineering Tianjin University Tianjin China Faculty of Engineering Sana'a University Sana'a Yemen

The multi-joint structure of our Autonomous Underwater Vehicle (AUV) enhances its maneuverability, allowing it to navigate in the underwater environment with greater flexibility. However, this added maneuverability poses challenges to the steering process. When the multi-joint AUV (MJ-AUV) performs steering maneuvers, its joints undergo rotation, leading to a change in the orientation of the cabins with respect to the overall forward heading of the vehicle. As a result, this change in orientation affects the values of the hydrodynamic reactions, including Coriolis and damping, experienced by the cabins. The dynamic interaction between the joints' rotation and the resulting change in hydrodynamic forces significantly impacts the steering performance and stability of the MJ-AUV. Understanding and addressing these effects are crucial for the development of effective control strategies that ensure precise and reliable steering in various underwater environments. Overcoming the difficulties posed by joint rotation during steering can lead to advancements in MJ-AUV navigation and expand their potential applications in complex underwater missions. This research proposes a fuzzy-based control with sliding mode control (SMC) approach for the steering of an MJAUV. The developed fuzzy-based SMC control algorithm is validated through extensive MATLAB simulations. The results demonstrate improved tracking performance and robustness in comparison to the SMC control method. Moreover, the proposed approach shows superior trajectory tracking accuracy while mitigating undesired chattering effects associated with standard SMC techniques.

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Coexistence of oscillation quenching states in nonlinear parity-time-symmetric systems

Coexistence of oscillation quenching states in nonlinear par...

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2021 OSA Nonlinear Optics, NLO 2021

作者： Choi, Seou Park, Namkyoo Yu, Sunkyu Intelligent Wave Systems Laboratory Department of Electrical and Computer Engineering Seoul National University Seoul08826 Korea Republic of Photonic Systems Laboratory Department of Electrical and Computer Engineering Seoul National University Seoul08826 Korea Republic of

We introduce coexisting oscillation quenching states in parity-time-symmetric systems. The degrees of freedom in the triatomic system including nonlinear resonators allow multiple dynamical stabilities with different ... 详细信息

ISBN: (纸本)9781557528209

关键词： Degrees of freedom (mechanics)

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Neural-network-based design of tunable multilayer films

Neural-network-based design of tunable multilayer films

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Photonic Networks and Devices, Networks 2021 - Part of OSA Advanced Photonics Congress 2021

作者： Kim, Jungmin Yu, Sunkyu Park, Namkyoo Photonic Systems Laboratory Department of Electrical and Computer Engineering Seoul National University Seoul08826 Korea Republic of Intelligent Wave Systems Laboratory Department of Electrical and Computer Engineering Seoul National University Seoul08826 Korea Republic of

We introduce the data-driven design of multilayers with enhanced tunability. By applying the machine-learning-designed claddings to a phase-changeable core, we obtain the deterministic realization of on-off states in ... 详细信息

ISBN: (纸本)9781557528209

关键词： Multilayer films

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