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IEEE International Conference on robotics and Biomimetics

作者： Xufei Yan Renliang Chen Shiqiang Zhu Anhuan Xie Jason Gu Research Center for Intelligent Robotics Zhejiang Lab Hangzhou China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou China National Key Laboratory of Science and Technology on Rotorcraft Aeromechanics College of Aeronautics Nanjing University of Aeronautics and Astronautics Nanjing Jiangsu China Intelligent Robot Research Center Zhejiang Lab Hangzhou Zhejiang China Department of Electrical and Computer Engineering Dalhousie University Halifax NS Canada

ISBN: (纸本)9781665481106

This paper investigates the optimal landing trajectory and control procedure when a helicopter undergoes autorotation due to tail rotor drive failure (TRDF), in which an optimal control methodology is proposed. First, a helicopter flight dynamics model with TRDF was developed. Then, the autorotation in TRDF was converted to be a nonlinear optimal control problem, solved by direct node collocation method and sequential quadratic programming algorithm. Finally, a model helicopter (Z11) with single main rotor and tail rotor was used to demonstrate the proposed approach. An optimal autorotation landing procedure in TRDF was determined accordingly. Results indicate that the airframe will immediately respond to the excess torque generated by the main rotor via yawing, sideslip and rolling when TRDF occurs. The pilot is recommended to shut down the engine and perform a series of critical operations to stabilize the violent yaw and roll movements. In addition, flight test data were used to validate the numerical simulations of autorotation landing. The proposed optimal control approach provides a useful tool to investigate helicopter TRDF autorotation landing procedure.

关键词： Torque Biological system modeling Helicopters Rotors Optimal control Tail Numerical simulation

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A Novel Long Short-Term Memory (LSTM)-Based Degradation Detection in Photovoltaic systems using Performance Ratio

A Novel Long Short-Term Memory (LSTM)-Based Degradation Dete...

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International Conference on Energy Transition in the Mediterranean Area (SyNERGY MED)

作者： Amirhossein Dadashpour Aref Eskandari Amir Nedaei Sherko Salehpour Parviz Parvin Andreas Livera George Makrides Mohammadreza Aghaei Department of Electrical Engineering Amirkabir University of Technology (AUT) Tehran Iran Department of Electrical Engineering Iran University of Science and Technology (IUST) Tehran Iran Department of Physics and Energy Engineering Amirkabir University of Technology (AUT) Tehran Iran PV Technology Laboratory Department of Electrical and Computer Engineering University of Cyprus (UCY) PHAENTON Centre of Excellence for Intelligent Efficient and Sustainable Energy Solutions Nicosia Cyprus Department of Ocean Operations and Civil Engineering Norwegian University of Science and Technology (NTNU) Alesund Norway Professor Department of Sustainable Systems Engineering (INATECH) University of Freiburg Freiburg Germany

ISBN: (数字)9798350375923

ISBN: (纸本)9798350375930

Photovoltaic (PV) systems deteriorate over time as a result of prolonged exposure to UV light and harsh weather conditions. This degradation can have a major impact on the performance of the PV systems and increase their levelized cost of energy (LCOE). To deal with this problem, in this paper, a method has been proposed based on predicting The PV systems' performance ratio, which is a measure of the actual output compared to the expected output. To estimate the performance ratio, a dataset including a PV array of normal and degraded states under different environmental conditions has been created. The main model uses an architecture with long short-term memory (LSTM). The model results show high accuracy in predicting the performance ratio of systems. The model achieved the outstanding $\mathbf{R}^{2}$ scores of $\mathbf{9 9. 4 7 \%}$ and $\mathbf{9 9. 4 6 \%}$ and the root mean squared error (RMSE) values of $\mathbf{0. 0 1 6 3}$ and 0.0169 for the training and testing processes, respectively.

关键词： Degradation Photovoltaic systems Training Accuracy System performance Predictive models Long short term memory Testing Meteorology

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On the potential of lateral BJTs and SiGe HBTs in advanced CMOS technologies

On the potential of lateral BJTs and SiGe HBTs in advanced C...

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Pacific Rim Meeting on Electrochemical and Solid State Science 2020, PRiME 200

作者： Suligoj, Tomislav Žilak, Josip Osrečki, Željko Koričić, Marko Micro and Nano Electronics Laboratory Department of Electronics Microelectronics Computer and Intelligent Systems Faculty of Electrical Engineering and Computing University of Zagreb Croatia

ISBN: (纸本)9781607689003

The potential of lateral bipolar transistors, based on Horizontal Current Bipolar Transistor (HCBT), in scaled CMOS technologies are examined by TCAD simulations. Thorough and consistent simulations show that SiGe HCBT can achieve fT/fmax of 358/490 GHz outperforming standard vertical-current HBT with fT/fmax of 348/423 GHz, assuming the same intrinsic transistor doping profile. By optimizing the extrinsic base shape and width, the characteristics of SiGe HCBT can be further improved. SiGe HCBTs in bulk silicon substrates result in better performance comparing to the transistors in SOI substrates. © The Electrochemical Society

关键词： Si-Ge alloys

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Adaptive RBF-Neural-Network Control with Force Observer for Teleoperation Robotic System 1st

Adaptive RBF-Neural-Network Control with Force Observer for...

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1st International Conference on Cognitive Computation and systems, ICCCS 2022

作者： An, Zhaohui Min, Gaochen Jiang, Xiangzuo Yu, Xinbo He, Wei Silvestre, Carlos School of Intelligence Science and Technology Institute of Artificial Intelligence University of Science and Technology Beijing Beijing100083 China Beijing Advanced Innovation Center for Materials Genome Engineering University of Science and Technology Beijing Beijing100083 China Key Laboratory of Intelligent Bionic Unmanned Systems Ministry of Education University of Science and Technology Beijing Beijing100083 China Donald Bren School of Information and Computer Sciences University of California IrvineCA92697 United States Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau China LARSyS Instituto Superior Técnico Universidade de Lisboa Lisbon Portugal

ISBN: (纸本)9789819927883

In this paper, an adaptive radial basis function neural network (RBFNN) control strategy is proposed for bilateral teleoperation robotic system with uncertainty and time delay. Meantime, the force observer method is used to estimate the interaction force between the slave robot and environment. The model of teleoperation robotic system is analyzed, and then the uncertainty of bilateral teleoperation robotic system is estimated by using RBFNN. Using Lyapunov stability theorem, the stability of teleoperation robotic system under our proposed control is proved. Finally, the effectiveness of the proposed control algorithm is verified by Matlab Simulink, and position tracking and force estimation performance of the teleoperation robotic system are guaranteed. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Time delay

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

作者： Dimitrios I. Zaridis Eugenia Mylona Nikolaos Tachos Charalampos Kalantzopoulos Vasileios C. Pezoulas Dimitrios D. Koutsouris George K. Matsopoulos Kostas Marias Manolis Tsiknakis Dimitrios I. Fotiadis Biomedical Engineering Laboratory School of Electrical and Computer Engineering National Technical University of Athens GR15773 Athens Greece Biomedical Research Institute FORTH Ioannina Greece University of Ioannina Ioannina Greece Institute of Computer Science FORTH Heraklion Greece Department of Electrical and Computer Engineering Hellenic Mediterranean University Heraklion Crete Greece FORTH-IMBB Ioannina Greece Materials Science and Engineering Department Unit of Medical Technology and Intelligent Information Systems University of Ioannina Ioannina GR 45110 Greece

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.

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Design and Implementation of OpenWSN Hardware Platform

Design and Implementation of OpenWSN Hardware Platform

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Algorithms, High Performance Computing and Artificial Intelligence (AHPCAI), International Conference on

作者： Shusheng Zhang Chuang Xie Jun Liu Chun Zhao Zhijia Yang Jizhi Mao College of Automation and Electrical Engineering Shenyang Ligong University Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

This paper proposes a new wireless sensor network hardware platform based on OpenWSN project launched by the University of California, Berkeley. The hardware platform's processor uses a 32-bit microcontroller (STM32F103RCT6) produced by STMicroelectronics (ST), and the wireless module uses the WISA470 chip. The final experimental results show that this platform can support the Open WSN project very well.

关键词： Wireless communication Radio frequency Wireless sensor networks Protocols Power supplies Microcontrollers Hardware

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Broad-Deep Network-Based Fuzzy Emotional Inference Model with Personal Information for Intention Understanding

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IFAC-PapersOnLine 2023年第2期56卷 7071-7076页

作者： Min Li Luefeng Chen Min Wu Min Ding Kaoru Hirota Witold Pedrycz School of Automation China University of Geosciences Wuhan 430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan 430074 China Tokyo Institute of Technology Yokohama 226-8502 Japan Department of Electrical and Computer Engineering University of Alberta Edmonton AB T6R 2G7 Canada

A broad-deep fusion network-based fuzzy emotional inference model with personal information (BDFEI) is proposed for emotional intention understanding in human-robot interaction. It aims to understand students’ intentions in the university teaching scene. Specifically, feature extraction is carried out by convolution and maximum pooling, and then the ridge regression algorithm is used for emotional behavior recognition, which reduce the influence of the complex structure and slow network updates in deep learning. Multivariate analysis of variance is used to select the key personal information affecting the intention and obtain the coefficient of influence degree. Finally, fuzzy inference is used to understand the intention. According to the recognition results, the accuracy on FABO database of our proposal is 1.89%, 12.21% and 0.78% higher than those of the Residual Network combined with geodesic flow kernel (ResNet-101+GFK), a fuzzy deep neural network with sparse autoencoder (FDNNSA), and an affect recognition on a video-skeleton of bimodal information with a hierarchical classification fusion strategy (HCFS), respectively, indicating that our proposal can effectively capture the emotional intention of students in the teaching scene.

关键词： Convolution Neural Networks Broad Learning Emotional Intention Human-Robot Interaction

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Quantized Distributed Nonconvex Optimization Algorithms with Linear Convergence under the Polyak–Lojasiewicz Condition

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IEEE Transactions on Automatic Control 2025年

作者： Xu, Lei Yi, Xinlei Sun, Jiayue Shi, Yang Johansson, Karl H. Yang, Tao Northeastern University State Key Laboratory of Synthetical Automation for Process Industries Shenyang110819 China University of Victoria Department of Mechanical Engineering VictoriaBCV8W 2Y2 Canada Tongji University Shanghai Institute of Intelligent Science and Technology Shanghai201804 China KTH Royal Institute of Technology Division of Decision and Control Systems School of Electrical Engineering and Computer Science Stockholm100 44 Sweden

This paper considers distributed optimization for minimizing the average of local nonconvex cost functions, by using local information exchange over undirected communication networks. To reduce the required communication capacity, we introduce an encoder–decoder scheme. By integrating it with distributed gradient tracking and proportional integral algorithms, respectively, we then propose two quantized distributed nonconvex optimization algorithms. Assuming the global cost function satisfies the Polyak–Lojasiewicz condition, which does not require the global cost function to be convex and the global minimizer is not necessarily unique, we show that our proposed algorithms linearly converge to a global optimal point. Moreover, we show that a low data rate is sufficient to guarantee linear convergence when the algorithm parameters are properly chosen. The theoretical results are illustrated by numerical examples. © 1963-2012 IEEE.

关键词： Cost functions

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Nonlinear parameter-varying state-feedback design for a gyroscope using virtual control contraction metrics

arXiv

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arXiv 2021年

作者： Wang, Ruigang Koelwijn, Patrick J.W. Manchester, Ian R. Tóth, Roland Australian Centre for Field Robotics Sydney Institute for Robotics and Intelligent Systems University of Sydney SydneyNSW2006 Australia Department of Electrical Engineering Eindhoven University of Technology Eindhoven Netherlands Systems and Control Laboratory Institute for Computer Science and Control Budapest Hungary

In this paper, we present a virtual control contraction metric (VCCM) based nonlinear parameter-varying (NPV) approach to design a state-feedback controller for a control moment gyroscope (CMG) to track a user-defined trajectory set. This VCCM based nonlinear stabilization and performance synthesis approach, which is similar to linear parameter-varying (LPV) control approaches, allows to achieve exact guarantees of exponential stability and L2-gain performance on nonlinear systems with respect to all trajectories from the predetermined set, which is not the case with the conventional LPV methods. Simulation and experimental studies conducted in both fully- and under-actuated operating modes of the CMG show effectiveness of this approach compared to standard LPV control methods. © 2021, CC BY.

关键词： State feedback

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Real-Time Adaptive Safety-Critical Control with Gaussian Processes in High-Order Uncertain Models

Real-Time Adaptive Safety-Critical Control with Gaussian Pro...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Yu Zhang Long Wen Xiangtong Yao Zhenshan Bing Linghuan Kong Wei He Alois Knoll Department of Informatics Technical University of Munich Germany Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau Macau China School of Intelligence Science and Technology University of Science and Technology Beijing Beijing China Key Laboratory of Intelligent Bionic Unmanned Systems Ministry of Education University of Science and Technology Beijing Beijing China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

This paper presents an adaptive online learning framework for systems with uncertain parameters to ensure safety-critical control in non-stationary environments. Our approach consists of two phases. The initial phase is centered on a novel sparse Gaussian process (GP) framework. We first integrate a forgetting factor to refine a variational sparse GP algorithm, thus enhancing its adaptability. Subsequently, the hyperparameters of the Gaussian model are trained with a specially compound kernel, and the Gaussian model’s online inferential capability and computational efficiency are strengthened by updating a solitary inducing point derived from newly samples, in conjunction with the learned hyperparameters. In the second phase, we propose a safety filter based on high order control barrier functions (HOCBFs), synergized with the previously trained learning model. By leveraging the compound kernel from the first phase, we effectively address the inherent limitations of GPs in handling high-dimensional problems for real-time applications. The derived controller ensures a rigorous lower bound on the probability of satisfying the safety specification. Finally, the efficacy of our proposed algorithm is demonstrated through real-time obstacle avoidance experiments executed using both simulation platform and a real-world 7-DOF robot.

关键词： Adaptation models Adaptive systems Uncertainty Computational modeling Gaussian processes Real-time systems Safety

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