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Robust tube-based MPC with smooth computation for dexterous robot manipulation

Science China(Information Sciences) 2024年第11期67卷 252-268页

作者： Yu LUO Tianying JI Fuchun SUN Qie SIMA Huaping LIU Mingxuan JING Jianwei ZHANG Department of Computer Science and Technology Tsinghua University Science & Technology on Integrated Information System Laboratory Institute of Software Chinese Academy of Sciences Department of Informatics University of Hamburg

Dexterous robot manipulation has shone in complex industrial scenarios, where multiple manipulators, or fingers, cooperate to grasp and manipulate objects. When encountering multi-objective optimization with system constraints in such scenarios, model predictive control(MPC) has demonstrated exceptional performance in complex multi-robot manipulation tasks involving multi-objective optimization with system constraints. However, in such scenarios, the substantial computational load required to solve the optimal control problem(OCP) at each triggering instant can lead to significant delays between state sampling and control application, hindering real-time performance. To address these challenges, this paper introduces a novel robust tube-based smooth MPC approach for two fundamental manipulation tasks: reaching a given target and tracking a reference trajectory. By predicting the successor state as the initial condition for imminent OCP solving, we can solve the forthcoming OCP ahead of time, alleviating delay effects. Additionally,we establish an upper bound for linearizing the original nonlinear system, reducing OCP complexity and enhancing response speed. Grounded in tube-based MPC theory, the recursive feasibility and closed-loop stability amidst constraints and disturbances are ensured. Empirical validation is provided through two numerical simulations and two real-world dexterous robot manipulation tasks, which shows that the seamless control input by our methods can effectively enhance the solving efficiency and control performance when compared to conventional time-triggered MPC strategies.

关键词： dexterous robot manipulation model predictive control smooth computation

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EXTENDED REALITY IN POWER DISTRIBUTION GRID: APPLICATIONS AND FUTURE TRENDS 27

EXTENDED REALITY IN POWER DISTRIBUTION GRID: APPLICATIONS AN...

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27th International Conference on Electricity Distribution, CIRED 2023

作者： Nosrati, Komeil Alsaleh, Saleh Tepljakov, Aleksei Petlenkov, Eduard Onile, Abiodun Škiparev, Vjatšeslav Belikov, Juri Department of Computer System Tallinn University of Technology Estonia Department of Software Science Tallinn University of Technology Estonia

ISBN: (纸本)9781839539596

Modern automation schemes have substantially improved by using standard communication protocols, upgraded technologies and user-friendly tools in power distribution domain. Nevertheless, this fundamental functionality of modern smart grid is violated when it occasionally interferes with the execution of error-prone supervision, control, and maintenance operations. In light of these practical problems, this study reviews the state-of-the-art applications of extended reality (XR), as an advanced enough visualization technique in electricity distribution, which can contribute functional solutions in four different domains protection and control, training, safety enhancement, and energy management system. This technique not only reduces the operational costs and enables more precise decision-making but can also improve the overall safety and training standards in the distribution sector and open new opportunities for future sustainable power distribution. © The Institution of Engineering and technology 2023.

关键词： Energy management systems

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Static Analysis Techniques for Fixing software Defects in MPI-Based Parallel Programs

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Computers, Materials & Continua 2024年第5期79卷 3139-3173页

作者： Norah Abdullah Al-Johany Sanaa Abdullah Sharaf Fathy Elbouraey Eassa Reem Abdulaziz Alnanih Department of Computer Science Faculty of Computing and Information TechnologyKing Abdulaziz UniversityJeddah21589Saudi Arabia Software Engineering and Distributed System Research Group King Abdulaziz UniversityJeddah21589Saudi Arabia

The Message Passing Interface (MPI) is a widely accepted standard for parallel computing on distributed ***, MPI implementations can contain defects that impact the reliability and performance of parallelapplications. Detecting and correcting these defects is crucial, yet there is a lack of published models specificallydesigned for correctingMPI defects. To address this, we propose a model for detecting and correcting MPI defects(DC_MPI), which aims to detect and correct defects in various types of MPI communication, including blockingpoint-to-point (BPTP), nonblocking point-to-point (NBPTP), and collective communication (CC). The defectsaddressed by the DC_MPI model include illegal MPI calls, deadlocks (DL), race conditions (RC), and messagemismatches (MM). To assess the effectiveness of the DC_MPI model, we performed experiments on a datasetconsisting of 40 MPI codes. The results indicate that the model achieved a detection rate of 37 out of 40 codes,resulting in an overall detection accuracy of 92.5%. Additionally, the execution duration of the DC_MPI modelranged from 0.81 to 1.36 s. These findings show that the DC_MPI model is useful in detecting and correctingdefects in MPI implementations, thereby enhancing the reliability and performance of parallel applications. TheDC_MPImodel fills an important research gap and provides a valuable tool for improving the quality ofMPI-basedparallel computing systems.

关键词： High-performance computing parallel computing software engineering software defect message passing interface deadlock

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Unmanned Aerial Vehicle Tactical Intention Recognition Method Based on Dynamic Series Bayesian Network

Unmanned Aerial Vehicle Tactical Intention Recognition Metho...

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2023 IEEE International Conference on Unmanned systems, ICUS 2023

作者： Li, Jianguo Zhang, Pengcheng Hao, Renze North Automatic Control Technology Institute Software System Research and Development Department Taiyuan China

ISBN: (纸本)9798350316308

To solve the problem of dynamic and sequential air combat intention recognition in complex battlefield environment, a target tactical intention recognition method based on the extended multi-entities Bayesian network (EMEBN) is proposed in this paper. First the dynamic series Bayesian network (DSBN) model is established to describe the process of intention representation and reasoning, the deficiency of the multi-entities Bayesian network (MEBN) in expressing the probability inference knowledge of the planning process is analyzed. Then the probability transfer MEBN fragments (PT-MFrags) and the series relation MEBN fragments (SR-MFrags) are introduced to depict the probability transfer and series relationship of rule knowledge. Finally, the feasibility and effectiveness of this method is verified by an experimental example. © 2023 IEEE.

关键词： Bayesian networks

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Deploying Pre-Quantized Deep Learning Models on Heterogeneous Platforms with Operator Flow Recognition and Quantization Parameter Optimization 9

Deploying Pre-Quantized Deep Learning Models on Heterogeneou...

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9th International Conference on Applied system Innovation, ICASI 2023

作者： Lin, Kuen-Wey Li, Yan-Ying Wang, Kuan-Jen Tung, Ming-Chih Embedded System Integration and Applications Department Hsinchu Chutung310 Taiwan Eosl ITRI Chutung Embedded System Software Technology Department Hsinchu310 Taiwan

ISBN: (纸本)9798350398380

Quantized deep learning models are suitable for the embedded devices with limited computation resource. For computation-intensive neural network operators such as convolution, heterogeneous platforms with a set of processing units of different types become common in the embedded devices. These embedded devices usually operate on fixed-point calculations;moreover, they rely on customized kernel functions to deploy deep learning models. In this paper, a flow of deploying pre-quantized deep learning models on heterogeneous platforms using TVM is presented. We propose an optimization to convert quantization parameters. To leverage customized kernel functions, we propose the operator flow recognition. To demonstrate our flow, we utilize embARC Machine Learning Inference (embARC MLI), an open-source software library targeted for low-power applications. A set of pre-quantized deep learning models are deployed on a heterogeneous platform comprising x86 and embARC MLI. Experimental results show that for each model, the accuracy obtained from the heterogeneous platform is much the same as the one obtained from an x86 platform. © 2023 IEEE.

关键词： Open source software

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DRDnet22: Advanced convolutional techniques for early diabetic retinopathy detection in retinal images 15

DRDnet22: Advanced convolutional techniques for early diabet...

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15th International Conference on Computing Communication and Networking Technologies, ICCCNT 2024

作者： Mazumder, Md. Sakib Ali Shamrat, F M Javed Mehedi Mahmud, Imran Sharmin, Sharmin Hossain, Tanzim Biplab, Ekramul Kabir Daffodil International University Department of Software Engineering Dhaka Bangladesh Universiti Malaya Department of Computer System and Technology Kuala Lumpur Malaysia Institute of Information Technology University of Dhaka Dhaka Bangladesh

ISBN: (纸本)9798350370249

Diabetic Retinopathy (DR) is a prevalent eye complication among individuals with diabetes. Early detection of DR can prevent vision loss and lower associated problems. Manual diagnosis via retinal fundus images requires the expertise of medical professionals to assess several complex characteristics, including visual acuity tests, pupil dilation, and optical consistency tomography. The process is challenging, time-consuming, and prone to errors. This paper proposes a deep learning (DL) technique, DRDnet22, to detect and categorize DR into five distinct stages. The APTOS 2019 dataset is utilized in this study, which contains 3662 images. The study employs dense block and transition layer with global average pooling (GAP) techniques, and the combination of distinct Convolutional Networks (ConvNets) results in an enhanced representation beyond the utilization of features from a single ConvNet alone. To conduct an ablation analysis, the conventional pre-trained model's performance was compared. The performance evaluation points out that the proposed model achieved 81.6% accuracy, which is an advantage over other DCNN models. Despite facing a few inaccuracies, the model's competence in spotting vital features underscores its diagnostic potential. © 2024 IEEE.

关键词： Convolutional neural networks

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Handwritten Prescription Recognition Using VGG Based Architecture with Bi-LSTM

Handwritten Prescription Recognition Using VGG Based Archite...

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2024 International Research Conference on Smart Computing and systems Engineering, SCSE 2024

作者： Kavinda, Isuru Fernando, Harinda Sri Lanka Institute of Information Technology Department of Computer Science and Software Engineering Malabe Sri Lanka Sri Lanka Institute of Information Technology Department of Computer System Engineering Malabe Sri Lanka

ISBN: (纸本)9798350375688

Illegible handwriting on medical prescriptions poses a significant challenge, often leading to the misinterpretation of drug names and dosages. This issue primarily stems from doctors' use of Latin abbreviations, driven by time constraints during patient consultations. The resultant discrepancies in prescription interpretation can potentially expose patients to incorrect medications and dosages, leading to adverse effects. In response to this concern, this study proposes a novel system integrating Convolution Neural Network (CNN) and Recurrent Neural Network (RNN) models. Promising findings are reported in this study, achieving a loss of 0.4874 and an accuracy of 0.83 in the latest trial. The final model offers a potential solution to the persistent problem of illegible prescriptions, enhancing patient safety in the healthcare domain. © 2024 IEEE.

关键词： Long short-term memory

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Examining the Role of Natural Language Processing in Generating Topics from Web Content

Examining the Role of Natural Language Processing in Generat...

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2023 IEEE International Conference on Computing, ICOCO 2023

作者： Altarturi, Hamza H.M. Saadoon, Muntadher Anuar, Nor Badrul Universiti Malaya Department of Computer System and Technology Kuala Lumpur Malaysia Universiti Malaya Department of Software Engineering Kuala Lumpur Malaysia

ISBN: (纸本)9798350302684

Natural Language Processing (NLP) is a major subfield of machine learning that focuses on the interaction between humans and computers through several techniques, including topic modeling, which extracts and generates topics from large amounts of unstructured data on the web. Topic modeling uncovers hidden patterns and contextual meanings in web pages, allowing for the categorization, clustering, recommendation of relevant content, detection of emerging trends, and improved information retrieval. The benefit of topic models relies on their performance to detect and generate topics;however, the evaluation of applying topic modeling on web content data remains lacking in current studies. The absence of examining such performance evaluations hinders understanding performance variability across different web pages, the development of refined models, and the ability to keep pace with emerging patterns in the dynamic online environment. This study presents a comprehensive performance evaluation of the benchmark topic models when applied to web content data. It presents a comparison of topic models using four topic coherence metrics, providing an in-depth performance analysis. The evaluation is conducted on a public dataset consisting of 2 million web pages, providing a substantial basis for assessing the strengths and limitations of these models in the context of web data. Additionally, this study examines the utilization of NLP techniques for topic generation within the context of web content and sheds light on the challenges and issues associated with generating topics from web content data, highlighting potential research prospects and the need for future work in the field of web topic modeling using natural language processing. © 2023 IEEE.

关键词： Websites

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Ethiopic Cryptography: An Efficient Hybrid Encryption Algorithm for Reducing Cybersecurity Attack 11th

Ethiopic Cryptography: An Efficient Hybrid Encryption Algori...

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11th EAI International Conference on Advancement of Science and technology, ICAST 2023

作者： Akele, Tadesse Birara Bahiru, Tadesse Kebede Molla, Tibebu Legesse Fentie, Shambel Dessale Belay, Tadesse Destaw Marye, Almaz Yemataw Getaneh, Mersha Derese Department of Information System Kombolcha Institute of Technology Wollo University Kombolcha Ethiopia Department of Information Technology Kombolcha Institute of Technology Wollo University Kombolcha Ethiopia Deparment of Software Engineering Kombolcha Institute of Technology Wollo University Kombolcha Ethiopia Department of Computer Science Kombolcha Institute of Technology Wollo University Kombolcha Ethiopia

ISBN: (纸本)9783031641503

Cryptography is an essential tool in ensuring the security of data during network communication. Network and service providers prioritize data security to ensure secure data exchanges. Ethiopic cryptography is a unique encryption method that utilizes the Amharic language, prevalent in Ethiopia. Unlike Latin alphabets, Amharic consists of 287 characters, making decryption challenging. The encryption process involves converting the text to Amharic and then mapping it to a pair of randomly chosen two-bit English alphabets, creating an intermediate cipher. The Ethiopic cryptography algorithm employs a hybrid approach, using the RSA algorithm for secure key exchange and the Advanced Encryption Standard algorithm for text confidentiality. The algorithm comprises three phases—translation, mapping, and encryption—contributing to its effectiveness in securing data over the network. Decryption requires familiarity with the Amharic language and mapping details. The algorithm demonstrates a stronger avalanche effect (97%) in comparison with Blowfish and DES. The algorithm is proposed and evaluated using the design science research methodology, and its performance is validated through simulation using MATLAB and BunnaScript tools, considering factors like the avalanche effect, time complexity, and memory consumption. The evaluation shows that the suggested solution operates faster, requires lesser time for data encryption, and uses less memory than other methods in use. Overall, the proposed Ethiopic cryptography algorithm proves to be an efficient and effective method for securing data during network communication, offering stronger text confidentiality and an improved avalanche effect. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： MATLAB

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Deep Learning to Classify Bacterial Species in the same Genus

Deep Learning to Classify Bacterial Species in the same Genu...

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2024 International Conference on Electronics, Information, and Communication, ICEIC 2024

作者： Sheela, Sherin Piang, May Phu Sakorntanant, Sakda Poomrittigul, Suvit Treebupachatsakul, Treesukon School of Engineering King Mongkut's Institute of Technology Ladkrabang Department of Biomedical Engineering Thailand Pathumwan Institute of Technology Faculty of Science and Technology Department of Software Engineering and Information System Bangkok Thailand School of Information Technology King Mongkut's Institute of Technology Ladkrabang Thailand

ISBN: (纸本)9798350371888

Bacterial strains in the same genus share highly similar morphology, gram-staining characteristics, colony sizes, and spatial arrangements. Therefore, identifying them by deep learning can be quite challenging. This study aimed to assess the classification of 7 species of bacteria from 2 genera of Bacillus and Vibrio by using 8 Convolutional Neural Network (CNN) models. We implemented Python programming along with Keras API within the Jupyter Notebook. The models were constructed and evaluated under unbalanced and balanced datasets by augmentation (rotation, flip, etc.). Transfer learning with fine-tuning, and pre-processing of mixup and label smoothing were also applied to reduce overfitting and enhance generalization. Based on the experimental results on private dataset, the results of InceptionResNetV2 emerged as the top-performing model with a notable accuracy of 82.8%, 88.6% precision, 78.4% recall, and 78.0% F1-score when label smoothing was applied at 0.5 on balanced dataset. © 2024 IEEE.

关键词： Neural network models

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