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arXiv 2022年

作者： Renganathan, Venkatraman Safaoui, Sleiman Kothari, Aadi Gravell, Benjamin Shames, Iman Summers, Tyler Department of Automatic Control Lund University Naturvetarvägen 18 SE Lund221 00 Sweden Eric Jonsson School of Engineering & Computer Science The University of Texas at Dallas 800 W Campbell Rd RichardsonTX75080 United States School of Engineering Massachusetts Institute of Technology CambridgeMA02139 United States CIICADA Lab School of Engineering Australian National University ActonACT0200 Australia

Robust autonomy stacks require tight integration of perception, motion planning, and control layers, but these layers often inadequately incorporate inherent perception and prediction uncertainties, either ignoring them altogether or making questionable assumptions of Gaussianity. Robots with nonlinear dynamics and complex sensing modalities operating in an uncertain environment demand more careful consideration of how uncertainties propagate across stack layers. We propose a framework to integrate perception, motion planning, and control by explicitly incorporating perception and prediction uncertainties into planning so that risks of constraint violation can be mitigated. Specifically, we use a nonlinear model predictive control based steering law coupled with a decorrelation scheme based Unscented Kalman Filter for state and environment estimation to propagate the robot state and environment uncertainties. Subsequently, we use distributionally robust risk Copyright © 2022, The Authors. All rights reserved.

关键词： Motion planning

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Multi-method analysis of emotional and affective states

Multi-method analysis of emotional and affective states

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Progress in Applied Electrical engineering (PAEE)

作者： Adrian Luckiewicz Bogdan Ruszczak Mariusz Pelc Dariusz Mikołajewski Adam Sudoł Barbara Grochowicz Edward J. Gorzelanczyk Patryk Mendon Aleksandra Kawala-Sterniu Faculty of Electrical Engineering Automatic Control and Informatics Opole University of Technology Opole Poland Institute of Computer Science University of Opole Opole Poland School of Computing and Mathematical Sciences University of Greenwich London UK Institute of Computer Science Kazimierz Wielki University Bydgoszcz Poland Neuropsychological Research Unit 2nd Clinic of the Psychiatry and Psychiatric Rehabilitation Medical University in Lublin Lublin Poland Faculty of Natural and Technical Sciences University of Opole Opole Poland Institute of Philosophy Kazimierz Wielki University Bydgoszcz Poland

ISBN: (数字)9798331527563

ISBN: (纸本)9798331527570

This study explores the neurological basis of emotions using a multi-method approach, analysing functional near-infrared spectroscopy (fNIRS) data obtained from a 26-channel device. Author’s primary objective was to examine the brain’s response to tasks that provoke emotional, imagery and affective reactions through the observation of hemodynamic changes in data. By applying data processing methods and techniques, cerebral activations corresponding to different emotional states were shown. This research enriches comprehension of how emotion and imagery tasks are processed by the brain and offers insights into aspects of brain activity during emotionally charged engagements.

关键词： Electrical engineering Brain Data processing Hemodynamics Functional near-infrared spectroscopy

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ML-Powered Biomedical Signals Processing using Hybrid Filters

ML-Powered Biomedical Signals Processing using Hybrid Filter...

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Progress in Applied Electrical engineering (PAEE)

作者： Mariusz Pelc Dariusz Mikołajewski Patryk Mendoń Adrian Luckiewicz Adam Sudoł Edward Jacek Gorzelańczyk Aleksandra Kawala-Sterniuk Institute of Computer Science University of Opole Opole Poland School of Computing and Mathematical Sciences University of Greenwich London UK Institute of Computer Science Kazimierz Wielki University Bydgoszcz Poland Neuropsychological Research Unit 2nd Clinic of the Psychiatry and Psychiatric Rehabilitation Medical University in Lublin Lublin Poland Faculty of Electrical Engineering Automatic Control and Informatics Opole University of Technology Opole Poland Faculty of Natural and Technical Sciences University of Opole Opole Poland Institute of Philosophy Kazimierz Wielki University Bydgoszcz Poland

ISBN: (数字)9798331527563

ISBN: (纸本)9798331527570

This paper deals with the problem of signals filtering using hybrid filters. Such solutions may prove to be especially beneficial in the context of biomedical signals filtering where the signals’ amplitudes are typically not very high and they can be easily affected by different kinds of disturbances. Having a number of different types of filters tuned for some specific purposes we will show how the best filter choice is affected by selecting one ML model over another.

关键词： Electrical engineering Filters Biological system modeling Biomedical communication

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A Novel Sparse Adaptive Filter for Suppressing Impulsive Disturbance in Audio Signals

SSRN

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SSRN 2024年

作者： Zhou, Lei Liu, Hongqing Gan, Lu Zhou, Yi Niedźwiecki, Maciej Truong, Trieu-Kien School of Communications and Information Engineering Chongqing University of Posts and Telecommunications Chongqing400065 China Chongqing Key Lab of Mobile Communications Technology and Intelligent Speech and Audio Research Lab Chongqing University of Posts and Telecommunications Chongqing400065 China College of Engineering Design and Physical Science Brunel University LondonUB8 3PH United Kingdom Department of Automatic Control Faculty of Electronics Telecommunications and Computer Science Gdansk University of Technology Gdansk80-233 Poland Department of Information Engineering I-Shou University 84001 Taiwan

This work studies the sparse adaptive filter designs in the presence of impulsive disturbance for audio signal recovery. By using the sparse representation of desired signal and compressibility of impulsive disturbance, a joint sparse least mean p-norm (JSLMP) optimization, in which p-norm (1 ≤ p ≤ 2) measures the data fidelity and q-norm (0 ≤ q ≤ 1) enforces sparse solutions, is developed, termed as q-JSLMP. The filter weights update is derived based on the gradient descent, and the Adam and variable step size (VSS) are integrated to accelerate convergence and avoid potential local minima. In the special case of q = 1, namely 1-JSLMP, its convergence condition and mean square deviation (MSD) analysis are derived. Finally, the frame of application to corrupted audio signals is designed. The results from experiments demonstrate that the proposed approach outperforms other approaches in terms of objective measures on numerical simulation and speech datasets. © 2024, The Authors. All rights reserved.

关键词： Adaptive filters

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Attack prevention in IoT through hybrid optimization mechanism and deep learning framework

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Measurement: Sensors 2022年 24卷

作者： Nagaraju, Regonda Pentang, Jupeth Toriano Abdufattokhov, Shokhjakhon CosioBorda, Ricardo Fernando Mageswari, N. Uganya, G. Department of Information Technology St.Martin's Engineering College Dhulapally Secunderabad500100 India Western Philippines University Philippines Automatic Control and Computer Engineering Department Turin Polytechnic University in Tashkent Tashkent Uzbekistan Universidad Autónoma del Perú Lima Peru Department of ECE Ashoka Women's Engineering College Andhra Pradesh Kurnool India Department of ECE Saveetha School of Engineering SIMATS Assistant Professor Chennai India

The Internet of Things (IoT) connects schemes, programs, data management, and operations, and as they continuously assist in the corporation, they may be a fresh entryway for cyber-attacks. Presently, illegal downloading and virus attacks pose significant threats to IoT security. These risks may acquire confidential material, causing reputational and financial harm. In this paper hybrid optimization mechanism and deep learning,a frame is used to detect the attack prevention in IoT. To develop a cybersecurity warning system in a huge data set, the cybersecurity warning systems index system is first constructed, then the index factors are picked and measured, and finally, the situation evaluation is *** bio-inspired techniques were used to enhance the productivity of an IDS by lowering the data dimensionality and deleting unnecessary and noisy input. The Grey Wolf Optimization algorithm (GWO) is a developed bio-inspired algorithm that improves the efficacy of the IDS in detecting both regular and abnormal congestion in the network. The smart initialization step integrates the different pre-processing strategies to make sure that informative features are incorporated in the early development stages, has been improved. Researchers pick multi-source material in a big data environment for the identification and verification of index components and present a parallel reduction approach based on the classification significance matrix to decrease data underlying data characteristics. For the simulation of this situation, grey wolf optimization and whale optimization were combined to detect the attack prevention and the deep learning approach was presented. Utilizing system software plagiarism, the TensorFlow deep neural network is intended to classify stolen software. To reduce the noise from the signal and to zoom the significance of each word in the perspective of open-source plagiarism, the tokenization and weighting feature approaches are utilized. Malware spec

关键词： Internet of things

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Scale Fragilities in Localized Consensus Dynamics

arXiv

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arXiv 2022年

作者： Tegling, Emma Bamieh, Bassam Sandberg, Henrik Department of Automatic Control Lund University P.O. Box 118 LundSE-221 00 Sweden Department of Mechanical Engineering The University of California at Santa Barbara Santa BarbaraCA93106 United States School of Electrical Engineering and Computer Science KTH Royal Institute of Technology StockholmSE-100 44 Sweden

We consider distributed consensus in networks where the agents have integrator dynamics of order two or higher (n ≥ 2). We assume all feedback to be localized in the sense that each agent has a bounded number of neighbors and consider a scaling of the network through the addition of agents in a modular manner, i.e., without re-tuning controller gains upon addition. We show that standard consensus algorithms, which rely on relative state feedback, are subject to what we term scale fragilities, meaning that stability is lost as the network scales. For high-order agents (n ≥ 3), we prove that no consensus algorithm with fixed gains can achieve consensus in networks of any size. That is, while a given algorithm may allow a small network to converge, it causes instability if the network grows beyond a certain finite size. This holds in families of network graphs whose algebraic connectivity, that is, the smallest non-zero Laplacian eigenvalue, is decreasing towards zero in network size (e.g. all planar graphs). For second-order consensus (n = 2) we prove that the same scale fragility applies to directed graphs that have a complex Laplacian eigenvalue approaching the origin (e.g. directed ring graphs). The proofs for both results rely on Routh-Hurwitz criteria for complex-valued polynomials and hold true for general directed network graphs. We survey classes of graphs subject to these scale fragilities, discuss their scaling constants, and finally prove that a sub-linear scaling of nodal neighborhoods can suffice to overcome the issue. Copyright © 2022, The Authors. All rights reserved.

关键词： State feedback

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Stochastic Stability of Discrete-time Phase-coupled Oscillators over Uncertain and Random Networks

arXiv

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arXiv 2021年

作者： Jafarian, Matin Mamduhi, Mohammad H. Johansson, Karl H. The Delft Center for Systems and Control Delft University of Technology Netherlands The Automatic Control Laboratory ETH Zürich Switzerland The Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Digital Futures Sweden

This article studies stochastic relative phase stability, i.e., stochastic phase-cohesiveness, of discrete-time phase-coupled oscillators. Stochastic phase-cohesiveness in two types of networks is studied. First, we consider oscillators coupled with 2π-periodic odd functions over underlying undirected graphs subject to both multiplicative and additive stochastic uncertainties. We prove stochastic phase-cohesiveness of the network with respect to two specific, namely in-phase and anti-phase, sets by deriving sufficient coupling conditions. We show the dependency of these conditions on the size of the mean values of additive and multiplicative uncertainties, as well as the sign of the mean values of multiplicative uncertainties. Furthermore, we discuss the results under a relaxation of the odd property of the coupling function. Second, we study an uncertain network in which the multiplicative uncertainties are governed by the Bernoulli process representing the well-known Erdös-Rényi network. We assume constant exogenous frequencies and derive sufficient conditions for achieving both stochastic phase-cohesive and phase-locked solutions, i.e., stochastic phase-cohesiveness with respect to the origin. For the latter case, where identical exogenous frequencies are assumed, we prove that any positive probability of connectivity leads to phase-locking. Thorough analyses are provided, and insights obtained from stochastic analysis are discussed, along with numerical simulations to validate the analytical results. © 2021, CC BY.

关键词： Stochastic systems

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Robust Polynomial Observers For Positive Polynomial Fuzzy Systems

Robust Polynomial Observers For Positive Polynomial Fuzzy Sy...

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IEEE SSD International Multi-Conference on Systems, Signals and Devices

作者： Imen Iben Ammar Hamdi Gassara Ahmed El Hajjaji Mohamed Chaabane Laboratory of Sciences and Techniques of Automatic control & computer engineering National School of Engineers Sfax University of Sfax Sfax Tunisia Modeling Information and Systems Laboratory University of Picardie Jules Verne Amiens France

A novel approach is proposed to design a robust observer for a class of positive polynomial fuzzy models. To study the considered analysis and design problems, a line-integral polynomial fuzzy Lyapunov function with polynomial terms depending of the estimated states is proposed. The proposed design conditions of the positive polynomial fuzzy controllers guaranteeing both the stability and the non negativeness of the estimated states, are solved using Sum of Squares(SOS) approach. Finally, simulations examples are given to show the effectiveness of the proposed approach.

关键词： Observers Stability analysis Lyapunov methods Fuzzy systems

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METHODOLOGY OF MODELING THE DETECTION OF LIMESCALE DEPOSITS IN SANITARY INSTALLATIONS 21

METHODOLOGY OF MODELING THE DETECTION OF LIMESCALE DEPOSITS ...

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21st International Multidisciplinary Scientific Geoconference: Water Resources, Forest, Marine and Ocean Ecosystems, SGEM 202

作者： Czajkowski, Adrian Remiorz, Leszek Pawlak, Sebastian Remiorz, Eryk Szygula, Jakub Miscea.pl Engineering Sp. z o.o. Poland Department of Power Engineering and Turbomachinery Faculty of Energy and Environmental Engineering Silesian University of Technology Poland Doctoral School The Silesian University of Technology Poland Faculty of Mechanical Engineering Scientific and Didactic Laboratory of Nanotechnology and Materials Technologies Poland Department of Mining Mechanization and Robotisation Faculty of Mining Safety Engineering and Industrial Automation Silesian University of Technology Poland Department of Distributed Systems and Informatic Devices Faculty of Automatic Control Electronics and Computer Science Silesian University of Technology Poland

ISBN: (纸本)9786197603361

The article presents the issue of scale deposits in sanitary installations. Scale contributes to improper operation of sanitary devices and leads to their degradation. Scale build-up in pipes and measuring elements results in higher water consumption due to inaccurate estimation of this resource consumption. The consequence is that devices based on process automation do not work properly due to disturbances in the actual water flow. The formation of deposits also leads to economic and ecological losses, as sanitary installations elements have to be replaced, which affects the increased use of raw materials and the generation of waste. This is not in line with current trends and global objectives related to circular economy. Scale also results in increased energy consumption and reduced energy efficiency. This is due to the resistance of the flows and the increased work of the pumps. Scale has insulating properties, which results in less efficient heat transfer. In this stady, a mathematical model was developed to detect the formation of scale deposits in sanitary installations. On this basis, it is possible to control the quality status of sanitary installation components. In this way, by taking appropriate action at an early stage of the formation of deposits, it can extend the life of the installation. Having information on scale deposits, it will help avoid wasting water and lead to more accurate measurement of water flows. This is important for the proper operation of devices such as heat pumps, where their operation is automated and requires precise measurements of the energy processes taking place. Scale is a significant problem for households, and also for factories or public institutions that are exposed to hard water environments. © 2021 International Multidisciplinary Scientific Geoconference. All rights reserved.

关键词： Deposits

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Lyapunov characterizations of input-to-state stability for discrete-time switched systems via finite-step Lyapunov functions

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IFAC-PapersOnLine 2020年第2期53卷 2016-2021页

作者： Maryam Sharifi Navid Noroozi Rolf Findeisen School of Electrical and Computer Engineering University of Tehran Tehran Iran Laboratory for Systems Theory and Automatic Control Otto-von-Guericke University Magdeburg Germany

This paper addresses Lyapunov characterizations of input-to-state stability for nonlinear switched discrete-time systems via finite-step Lyapunov functions with respect to closed sets. The use of finite-step Lyapunov functions permits not-necessarily input-to-state stable systems in the systems family, while input-to-state stability of the resulting switched system is ensured. The result is generally presented for systems under arbitrary switching. It additionally covers the case of constrained switchings. We illustrate the effectiveness of our results by application to networked control systems with periodic scheduling policies under a priori known and dwell time-based switching mechanism.

关键词： Discrete-time switched systems Lyapunov methods input-to-state stability finite-step Lyapunov functions networked control systems

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