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A Regularization Approach to Analyze the Time-Optimal Motion of a Mobile Robot under State Constraints using Pontryagin’s Maximum Principle

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Procedia Computer Science 2021年 186卷 11-20页

作者： Fernando Lobo Pereira Roman Chertovskih Anna Daryina Askhat Diveev Dmitry Karamzin Elena Sofronova SYSTEC Faculty of Electrical Engineering Porto University and the Institute for Systems and Robotics 4200-465 Porto Portugal Federal Research Center “Computer Science and Control” of the Russian Academy of Science Moscow Russia

This work concerns the investigation of time-optimal control problem for a simplified mobile robot model subject to state constraints. In this type of problems, which involve the so-called unicycle dynamics, the well-established regularity conditions with respect to the state constraints are not fulfilled. This fact greatly complicates the analysis of the control problem bearing in mind the use of the maximum principle. Moreover, the difficulty is also due to the presence of a singular control mode with respect to the angular velocity. Herein, a regularization approach is proposed in order to overcome these obstacles. A certain tool for the numerical implementation is developed. The numerical analysis is provided for a sample problem.

关键词： Unicycle model state constraints regularization maximum principle

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Development of a Method of Multi-Criteria Evaluation under Uncertainty

SSRN

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SSRN 2022年

作者： Sova, Oleg Shyshatskyi, Andrii Nalapko, Oleksii Marchenko, Halyna Trotsko, Oleksandr Symonenko, Oleksandr Merkotan, Dmytro Lyashenko, Anna Havryliuk, Oksana Velychko, Vira Department of Automated Control Systems Military Institute of Telecommunications and Information Technologies named after Heroes of Kruty Kyiv Ukraine Research Department of Electronic Warfare Development Central Scientific Research Institute of Armament and Military Equipment of the Armed Forces of Ukraine Kyiv Ukraine Research Laboratory of Research Automation Central Scientific Research Institute of Armament and Military Equipment of the Armed Forces of Ukraine Kyiv Ukraine Department of Finance and Banking Poltava University of Economics and Trade Poltava Ukraine Scientific Center Military Institute of Telecommunications and Information Technologies named after Heroes of Kruty Kyiv Ukraine

The object of research is decision-making support systems. Local wars and armed conflicts of recent decades are characterized by high dynamics of operations (combat operations) and a significant amount of diverse information circulating in information systems. These features determine the search for new approaches to increase the efficiency of decision-making support systems, given their reliability. This article solves the problem of developing a method of multicriteria evaluation in conditions of *** the course of the research, the authors used the main provisions of the theory of artificial intelligence, automation theory, theory of complex technical systems and general scientific methods of cognition, namely analysis and synthesis. The proposed methodology was developed taking into account the practical experience of the authors of this work during the military conflicts of the last decade. The method of multicriteria evaluation is universal and can be used to assess the state of the objects of analysis of any architecture. The results of the research will be useful in:– development of new control algorithms in decision-making support systems;– substantiation of recommendations for improving the efficiency of operational management;– analysis of analysis (monitoring) objects in the course of hostilities (operations);– creation of perspective technologies to increase the efficiency of operational management;– assessment of the adequacy, reliability, sensitivity of the scientific and methodological apparatus of operational management in decision-making support systems;– development of new and improvement of existing management *** of further research will be aimed at developing a methodology for intelligent management in special-purpose decision-making support systems. © 2022, The Authors. All rights reserved.

关键词： Efficiency

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The Concept of Built-in Metrological Support of Voltage Measuring Channels for Internet of Things

The Concept of Built-in Metrological Support of Voltage Meas...

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IEEE International Workshop on Intelligent Data Acquisition and Advanced Computing systems: Technology and Applications

作者： Volodymyr Kochan Serhii Mokhun Olha Fedchyshyn Svitlana Boitsaniuk Pavlo Bykovyy Vasyl Parakuda Hu Jiwei Xu Anrang West Ukrainian National University Ternopil Ukraine Research Institute of Intelligent Computer Systems of Western Ukrainian National University Ternopil Ukraine Ternopil Volodymyr Hnatiuk National Pedagogical University Ternopil Ukraine I. Horbachevsky Ternopil National Medical University Ternopil Ukraine Lviv Polytechnic National University Lviv Ukraine State Scientific Research Institute for Metrology of Measuring and Control Systems Sistema Lviv Ukraine Wuhan Fiberhome Technical ServicesCo. Ltd Wuhan China

The paper proposes the concept of equipping measuring channels (MC), in particular, voltage ones, with built-in metrological self-checking systems (MSC), which use methods for determining the additive, multiplicative and nonlinear components of the MC error. The proposed concept is based on methods that require only one precision element - the calibration voltage source. At the same time, the MSC can be carried out during the operation of the MC. The presence of such systems enables a sharp increase in the accuracy and metrological reliability of MC, as well as a sharp decrease in the labour intensity of their metrological maintenance.

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Intelligent Synthesis of Individual Rehabilitation Plans for Patients after Joint Endoprosthesis Based on Computer Vision Technologies 7

Intelligent Synthesis of Individual Rehabilitation Plans for...

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7th International Conference on Information Technologies in Engineering Education, Inforino 2024

作者： Arseniev, D.G. Borisov, V.V. Misnik, A.E. Gomzhina, E.A. Shalukhova, M.A. Scientific Innovation Institute 'Mathematical Modeling and Intelligent Control Systems' Peter the Great St. Petersburg Polytechnic University St. Petersburg Russia National Research University 'MPEI' Branch in Smolensk Department of Computer Engineering Smolensk Russia Information Technology Software Inter-State Educational Institution of Higher Education 'Belarusian-Russian University' Mogilev Belarus Early Medical Rehabilitation FSBI 'FCTOE' The Ministry of Health of the Russian Federation Smolensk Russia Inter-State Educational Institution of Higher Education 'Belarusian-Russian University Peter the Great St. Petersburg Polytechnic University Information Technology Software Mogilev Belarus

ISBN: (纸本)9798350371369

The article presents an innovative approach to the rehabilitation process for patients with joint endoprosthetics, focusing on the integration of a specialized software module based on computer vision technologies and the ontological approach. Developed for the Federal Centre for Traumatology, Orthopaedics, and Endoprosthesis in Smolensk, Russia, this system is designed to improve the quality of life for patients by offering personalized rehabilitation plans. The core of the study lies in the application of ontological models and meta-associative graphs for synthesizing individual rehabilitation plans, which streamline the recovery process and reduce the workload on healthcare professionals. This method allows for the processing of large amounts of information, providing detailed conclusions and recommendations for functional correction of the musculoskeletal system. The software utilizes computer vision to analyze patient movement and develop tailored rehabilitation strategies, overcoming the limitations of traditional diagnostic tools like MRI, which may not be suitable for all patients. By incorporating artificial intelligence and augmented reality, the system enhances the accuracy of patient assessments and the effectiveness of rehabilitation plans. Furthermore, the article discusses the application of this technology in the educational process at the Belarusian-Russian University, where students are introduced to cutting-edge software tools that assist in creating personalized rehabilitation plans. This educational integration not only enriches the students' learning experience but also fosters innovation in the development of new applications for computer vision in medical rehabilitation. The ontological approach, combined with modern technology, represents a significant advancement in the management of musculoskeletal system diseases, offering a more efficient, personalized approach to rehabilitation and recovery. © 2024 IEEE.

关键词： Application programs

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Approach to Acoustic Drone Detection System Development

Approach to Acoustic Drone Detection System Development

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IEEE International Workshop on Intelligent Data Acquisition and Advanced Computing systems: Technology and Applications

作者： Roman Kochan Nataliya Hots Sergiy Fabirovskyy Volodymyr Storozh Alexander Kosterov Leonid Ozirkovskyy Anna Helesh Shulhai Arkadii Volodymyr Kochan Bohdan Strykhalyuk Mykola Mykyichuk Ivan Demydov University of Bielsko-Biala Bielsko-Biala Poland Lviv Polytechnic National University Lviv Ukraine State Scientific Research Institute for Metrology of Measuring and Control Systems Sistema Lviv Ukraine I. Horbachevsky Ternopil State Medical University Ternopil Ukraine West Ukrainian National University Ternopil Ukraine

An analysis of drone detection methods was carried out in this paper. There is a reasoned choice of the optimal method for implementation based on the analysis of acoustic signals generated by drones. The set of methods of acoustic signal analysis is presented. These methods provide the measurement of drone coordinates and complement each other depending on the flight conditions. The structure of a distributed sensor network oriented on the online detection of drones and their tracking has been synthesized. The developed system provides the appropriate complexity as well as large flexibility and scalability.

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Environment-Driven Online LiDAR-Camera Extrinsic Calibration

arXiv

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arXiv 2025年

作者： Huang, Zhiwei Li, Jiaqi Zhong, Ping Fan, Rui The Department of Control Science & Engineering The College of Electronics & Information Engineering Tongji University Shanghai201804 China The School of Computer Science and Engineering Central South University Hunan Changsha410083 China The National Key Laboratory of Science and Technology on Automatic Target Recognition National University of Defense Technology Hunan Changsha410073 China The Department of Control Science & Engineering The College of Electronics & Information Engineering Shanghai Research Institute for Intelligent Autonomous Systems The State Key Laboratory of Intelligent Autonomous Systems Frontiers Science Center for Intelligent Autonomous Systems Tongji University Shanghai201804 China The National Key Laboratory of Human-Machine Hybrid Augmented Intelligence Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Shaanxi Xi’an710049 China

LiDAR-camera extrinsic calibration (LCEC) is the core for data fusion in computer vision. Existing methods typically rely on customized calibration targets or fixed scene types, lacking the flexibility to handle variations in sensor data and environmental contexts. This paper introduces EdO-LCEC, the first environment-driven, online calibration approach that achieves human-like adaptability. Inspired by the human perceptual system, EdO-LCEC incorporates a generalizable scene discriminator to actively interpret environmental conditions, creating multiple virtual cameras that capture detailed spatial and textural information. To overcome cross-modal feature matching challenges between LiDAR and camera, we propose dual-path correspondence matching (DPCM), which leverages both structural and textural consistency to achieve reliable 3D-2D correspondences. Our approach formulates the calibration process as a spatial-temporal joint optimization problem, utilizing global constraints from multiple views and scenes to improve accuracy, particularly in sparse or partially overlapping sensor views. Extensive experiments on real-world datasets demonstrate that EdO-LCEC achieves state-of-the-art performance, providing reliable and precise calibration across diverse, challenging environments. Copyright © 2025, The Authors. All rights reserved.

关键词： Spatio-temporal data

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Environmental, Social, and Corporate Governance Perspectives in Development of Quantum Vector Databases Based on Grover’s Algorithm

Environmental, Social, and Corporate Governance Perspectives...

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Intelligent Technologies and Electronic Devices in Vehicle and Road Transport Complex (TIRVED)

作者： C. B. Pronin A. V. Ostroukh D. K. Izmailova M. A. Pirozhkov Department of Automated Control Systems Moscow Automobile and Road Construction State Technical University (MADI) Moscow Russia Department of Motor Transport Economics Moscow Automobile and Road Construction State Technical University (MADI) Moscow Russia Department of Postgraduate study Scientific and Research Institute of Motor Transport (NIIAT) Moscow Russia

Large language models have a big influence on spheres that require data analysis and information retrieval, one of those fields is Environmental, social, and corporate governance (ESG), a field that depends on analyzing and finding correlations in big amounts of varied data from multiple sources. This paper introduces a quantum computing approach using Grover’s algorithm to create a vector database that stores embeddings based on controlled-S gates, with each embedding represented by a binary numerical value. The creation of these embeddings, is conducted by a classical computer, while the quantum computer handles the search process through the database. This method is very efficient in terms of qubits, enabling large amounts of data to be stored within a single quantum register. And the use of quantum computers has the potential to make querying this database quick and power-efficient. By making use of this approach, managers, investors and policymakers can make informed decisions based on a wider range of ESG data, ultimately promoting environmental sustainability, social responsibility, and good corporate governance

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Environmental, Social, and Governance Factors in Transportation Planning

Environmental, Social, and Governance Factors in Transportat...

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Intelligent Technologies and Electronic Devices in Vehicle and Road Transport Complex (TIRVED)

作者： N. G. Kuftinova A. V. Ostroukh D. K. Izmailova M. A. Pirozhkov Department of Automated Control Systems Moscow Automobile and Road Construction State Technical University (MADI) Moscow Russia Department of Motor Transport Economics Moscow Automobile and Road Construction State Technical University (MADI) Moscow Russia Department of Postgraduate study Scientific and Research Institute of Motor Transport (NIIAT) Moscow Russia

This article discusses the issue of digital maturity and the use of IT trends, as well as how to use the Environmental, Social and Governance (ESG) methodology for the digital transformation of transport and road complex enterprises. In recent years, more and more attention has been paid to sustainable development, especially in the field of technology. One of the key concepts in this area is ESG as a methodology for the sustainable development of the digital maturity of the enterprise. In the modern world, companies that adhere to the principles of ESG are increasingly recognized and supported by investors and consumers. This is because such companies not only care about their profits, but also about the impact of their activities on the environment and society as a whole. Technology also plays an important role in achieving the Sustainable Development Goals. For example, the use of technologies to reduce greenhouse gas emissions or to improve the quality of life of people in different regions of the world. In addition, technology can help companies become more transparent and accountable to their stakeholders. However, in order for technology to truly contribute to sustainable development, it is necessary to take into account not only economic, but also social and environmental aspects. For example, the development of new technologies should take into account their impact on the environment and human health, as well as the social consequences of their use. In general, the direction of ESG in the field of technology is an important step towards sustainable development. Companies that pay attention to these aspects can receive significant support from investors and consumers, as well as contribute to solving global problems related to improving the quality of life and implementing ESG services. Based on an integrated approach, which includes the use of various tools and methods to achieve sustainable development goals in the road complex.

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The iToBoS dataset: skin region images extracted from 3D total body photographs for lesion detection

arXiv

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arXiv 2025年

作者： Saha, Anup Adeola, Joseph Ferrera, Nuria Mothershaw, Adam Rezze, Gisele Gaborit, Séraphin D’Alessandro, Brian Hudson, James Szabó, Gyula Pataki, Balazs Rajani, Hayat Nazari, Sana Hayat, Hassan Primiero, Clare Soyer, H. Peter Malvehy, Josep Garcia, Rafael Computer Vision and Robotics Research Institute University of Girona Girona Spain Dermatology Department Hospital Clínic Barcelona Universitat de Barcelona Barcelona Spain Frazer Institute The University of Queensland Dermatology Research Center Brisbane Australia ISAHIT Paris France Canfield Scientific Inc. ParsippanyNJ United States V7 London United Kingdom HUN-REN Institute for Computer Science and Control Budapest Hungary CIBER de Enfermedades Raras Instituto de Salud Carlos III Barcelona Spain Dermatology Department Princess Alexandra Hospital BrisbaneQLD Australia Dermatology Department University of Trieste Trieste Italy

Artificial intelligence has significantly advanced skin cancer diagnosis by enabling rapid and accurate detection of malignant lesions. In this domain, most publicly available image datasets consist of single, isolated skin lesions positioned at the center of the image. While these lesion-centric datasets have been fundamental for developing diagnostic algorithms, they lack the context of the surrounding skin, which is critical for improving lesion detection. The iToBoS dataset was created to address this challenge. It includes 16,954 images of skin regions from 100 participants, captured using 3D total body photography. Each image roughly corresponds to a 7×9 cm section of skin with all suspicious lesions annotated using bounding boxes. Additionally, the dataset provides metadata such as anatomical location, age group, and sun damage score for each image. This dataset aims to facilitate training and benchmarking of algorithms, with the goal of enabling early detection of skin cancer and deployment of this technology in non-clinical environments. © 2025, CC BY-NC-SA.

关键词： Lung cancer

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Multistable systems with nested hidden and self-excited double scroll attractors

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The European Physical Journal Special Topics 2021年第3期231卷 351-357页

作者： Escalante-González, R. J. Campos, Eric Electrical Electronic and Mechatronics Department Technological Institute of San Luis Potosí San Luis Potosí Mexico Division of Control and Dynamical Systems Institute for Scientific and Technological Research of San Luis Potosí San Luis Potosí Mexico

systems with multiscroll attractors have been studied extensively in recent decades. Some efforts have focused on understanding the mechanisms that generate complex dynamics in relatively simple systems. The chaotic properties of these systems have been found useful in cryptographic techniques. Recently, hidden chaotic attractors have raised interest in cryptographic algorithms due to the additional complexity they provide. Although several hidden chaotic attractors have been reported, the variety of mechanisms involved in the appearance of hidden attractors in multistable systems is not fully understood. Here we report an approach to generate multistable systems with nested hidden attractors. The idea behind the construction is to use a nonlinear function to produce coexisting self-excited attractors at specific locations. So, a hidden attractor emerges for each pair of self-excited attractors, each pair of these hidden attractors leads to the appearance of a larger hidden attractor. In this way, hidden nested attractors appear depending on the number of self-excited attractors. Therefore, the systems produced with the approach could possibly be used in a cryptographic algorithm. The new dynamical system to generate nested attractors starts by selecting three parameters which are related to the oscillatory behavior and appear in the linear part (matrix A) of the system equations. Then, using the proposed simplest system description, two parameters, which are related to the location of the equilibria, are adjusted in order to generate a bistable behavior with two self-excited attractors. Each of these self-excited attractors is generated by a pair of equilibrium points. Thus the two self-excited attractors emerge when the relationship between the separation of the two pairs of equilibria and the separation by pairs of equilibria is large enough, which is controlled by two parameters. The bistable behavior is found by choosing the appropriate parameters of the matrix

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