检索结果-内蒙古大学图书馆

A hierarchical framework for distributed resilient control of islanded AC microgrids under false data injection attacks

引用

ISA Transactions 2023年第1期139卷 191-204页

作者： Zarei, Mahdi Sadegh Atrianfar, Hajar Tehran Iran Center of Excellence on Control and Robotics Department of Electrical Engineering Amirkabir University of Technology Tehran Iran

In this paper, we propose a control scheme to ensure the microgrid control layers are resilient to cyberattacks. The studied microgrid consists of several distributed generation (DG) units and we consider the hierarchical control structure that is common for microgrids. The use of communication channels among DGs has made microgrids more vulnerable and this is where cybersecurity issues arise. In this work we added three algorithms, reputation-based, Weighted Mean Subsequence Reduced (W-MSR) and Resilient Consensus Algorithm with Trusted Nodes (RCA-T), to the secondary control layer of the microgrid and made them resilient to false data injection (FDI) attacks. In reputation-based control, some procedures are used for detecting the attacked DGs and isolating them from the others. W-MSR and RCA-T are Mean Subsequence Reduced (MSR)-based algorithms that fade the effect of attacks without finding them. These algorithms use a simple strategy that ignores some extreme values of neighboring agents, so an attacker can simply get ignored. Our analysis of the reputation-based algorithm is based on scrambling matrices, so the communication graph can switch in a prescribed set. In each of the above cases, to evaluate the performance of the designed controllers, in addition to theoretical analysis, we evaluated and compared the controllers using simulation. © 2023 ISA

关键词： controllers

来源：评论

学校读者我要写书评

暂无评论

Diabetic Foot Ulcer Unsupervised Segmentation with Vision Transformers Attention 4th

Diabetic Foot Ulcer Unsupervised Segmentation with Vision T...

引用

4th Diabetic Foot Ulcers Grand Challenge, DFUC 2024 held in Conjunction 27th International Conference on Medical Image Computing and Computer Assisted Intervention, MICCAI 2024

作者： Brodzicki, Andrzej Kucharski, Dariusz Moniak, Bartlomiej Kostuch, Aleksander Noworolnik, Filip Anna, W. Jaworek-Korjakowska, Joanna Department of Automatic Control and Robotics AGH University of Kraków Kraków Poland Center of Excellence in Artificial Intelligence AGH University of Kraków Kraków Poland

ISBN: (纸本)9783031808708

The Diabetic Foot Ulcer Challenge is a global computer vision competition organised to raise awareness of the complications caused by diabetes and motivate researchers to develop solutions that might help in the treatment. In 2024, the challenge focused on self-supervised learning methods and synthetic data, as the process of collecting and labelling medical data is a tedious one. In this research, we present a novel, two-stage method for self-supervised DFU segmentation. It is based on a Vision Transformer attention from classification pre-task, followed by U-Net weakly supervised segmentation refinement. Our solution took 3rd place on the challenge leaderboard, with a 0.4796 Dice Score on the test set. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Distribution transformers

来源：评论

学校读者我要写书评

暂无评论

Multi-Aspect Optimal Sliding Mode controller for a Mecanum Wheeled Robot 11

Multi-Aspect Optimal Sliding Mode Controller for a Mecanum W...

引用

11th RSI International Conference on robotics and Mechatronics, ICRoM 2023

作者： Allahyari, Sohrab Rahmanei, Hamid Moosavian, S. Ali A. K. N. Toosi University of Technology Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems Laboratory Dept. of Mechanical Engineering Tehran Iran

ISBN: (纸本)9798350308105

Four-wheel drive Mecanum robots have gained attention due to their ability to move in all directions, which allows them to work in tight and complex environments. For this reason, ensuring precise control of these robots along predefined trajectories is crucial. This work presents a comparative study on the effects of parametric uncertainties, external disturbances, measurement noises, and initial deviations on the trajectory-Tracking performance of a 4-wheel drive Mecanum robot. First, the kinematic and kinetic models of the Mecanum robot are introduced. Then, the integral sliding mode control is designed, and proof of stability is provided. In addition, we explore other control strategies, including PID, feedback linearization, sliding mode, and adaptive sliding mode control, that are designed for this robot. Furthermore, the particle swarm optimization algorithm is hired for the controllers with a cost function as the total sum of average error, maximum error, and final error. Optimization has been done on all controllers to compare the results fairly. To appraise the effectiveness of the proposed control optimization methods, simulations are carried out in MATLAB/Simulink. The results reveal that the proposed ISMC method performs best in both defined scenarios compared to other controllers. However, it must be noted that the ISMC controller exhibits limitations when facing significant uncertainties in the dynamic model. This study underscores the effectiveness of our proposed control method and provides valuable insights into the practical implementation controller for the Mecanum robot in real-world applications. © 2023 IEEE.

关键词： Three term control systems

来源：评论

学校读者我要写书评

暂无评论

An Uncertain Optimal Factorization of Cooperative Manipulators for Robust Optimal control Schemes 30

An Uncertain Optimal Factorization of Cooperative Manipulato...

引用

30th International Conference on Electrical Engineering, ICEE 2022

作者： Nasiri, Neda Fakharian, Ahmad Menhaj, Mohammad Bagher Qazvin Branch Islamic Azad University Faculty of Electrical Biomedical and Mechatronics Engineering Qazvin Iran The Center of Excellence on Control and Robotics Tehran Iran

ISBN: (纸本)9781665480871

This paper presents two robust optimal controllers for Cooperative Manipulators (CoMans) holding an object on the basis of a modified factorization approach. Due to advantages such as: simplicity, flexibility, systematic procedure and not canceling nonlinearities, the State-Dependent Riccati Equation (SDRE) has been chosen as a basis for robust controllers design in the literature. For developing robust optimal controllers via SDRE, the first step is to obtain uncertain State-Dependent Coefficient (SDC) representation. To design robust optimal schemes for some systems such as CoMans, some terms such as gravity, friction and the external forces have been neglected in the uncertain SDC structure and added to the control input. This study, proposes two robust optimal controllers for CoMans carrying a load: Mixing SDRE-SMC (MiSS) and transformed robust to optimal controller where the pre-mentioned terms can be included in the uncertain SDC representation called uncertain optimal SDC. Simulation results are provided to easily verify the satisfactory performance of both schemes using uncertain optimal SDC and superiority of the transformed robust to optimal control versus MiSS in trajectory tracking of CoMans. © 2022 IEEE.

关键词： Sliding mode control

来源：评论

学校读者我要写书评

暂无评论

KNTU-RoboGlove: Design of a Pneumatic Soft Robotic Glove 11

KNTU-RoboGlove: Design of a Pneumatic Soft Robotic Glove

引用

11th RSI International Conference on robotics and Mechatronics, ICRoM 2023

作者： Boka, Tanin Nikkhah, M. Navid Moosavian, S. Ali A. Toosi University of Technology Tehran Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems Laboratory Dept of Mechanical Engineering K. N. Tehran Iran K. N. Toosi University of Technology Tehran Dept of Mechanical Engineering Tehran Iran

ISBN: (纸本)9798350308105

This paper introduces an innovative advancement in the field of wearable assistive technology by presenting a revolutionary portable soft robotic glove designed to assist individuals with hand impairments during rehabilitation exercises and daily tasks. The glove offers both active finger flexion and passive extension to aid in hand support and rehabilitative training. It achieves this by utilizing integrated soft actuators, including a variable stiffness layer and a pneumatic-driven layer, which guide specific bending, twisting, and extending movements when air pressure is applied. Notably, the variable stiffness layer takes inspiration from pangolins, whose scales are pliable during daily activities but become rigid when facing threats. To provide increased power with enhanced stiffness, a toothed pneumatic actuator is specially designed. The three-finger soft glove is manufactured by molding super-elastic material, creating the actuator mold using a 3D printer. The glove's grasping abilities have been thoroughly tested, and experimental results demonstrate that, when compared to previously developed elastomeric-based actuators, these actuators can generate substantial force and torque to facilitate finger flexion even at lower air pressure levels. This capability allows the glove to grasp a wide range of objects, assisting individuals in their rehabilitative training. Furthermore, a control system for grasping has been developed, which includes motion processing unit sensors for collecting feedback signals aligned with the actuators, along with a closed-loop controller for regulating the pressure. In contrast to existing devices, this glove, thanks to its portable design, has the potential to significantly enhance user autonomy and independence. © 2023 IEEE.

关键词： Pneumatic actuators

来源：评论

学校读者我要写书评

暂无评论

control of Continuum Manipulators with Shape Constraints via Deep Reinforcement Learning

Control of Continuum Manipulators with Shape Constraints via...

引用

RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Nima Maghooli Omid Mahdizadeh Mohammad Bajelani S. Ali A. Moosavian Department of Mechanical Engineering Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems (ARAS) K. N. Toosi University of Technology Tehran Iran

ISBN: (数字)9798331529734

ISBN: (纸本)9798331529741

Continuum robots, while versatile for handling complex tasks, present significant challenges in control system design. This paper introduces a novel framework that integrates position and orientation control laws to address shape constraints effectively. Specifically, a Deep Reinforcement Learning (DRL) strategy is proposed to facilitate trajectory tracking within the desired orientation. To ensure safety, the framework directly controls the end-effector's position and orientation in the workspace, avoiding unsafe zones. A centralized control law, the Modified Transpose Jacobian (MTJ), is employed to resolve the robot's redundancy without relying on inverse kinematics. The proposed approach is validated through simulations on a Tendon-Driven Continuum Robot (TDCR), demonstrating superior performance compared to similar learning-based controllers.

关键词： Meters Mechatronics Shape Trajectory tracking Termination of employment Position control Kinematics Deep reinforcement learning Safety Continuum robots

来源：评论

学校读者我要写书评

暂无评论

Real-Time Face-Tracking control of a 4 DOF Manipulator Using Deep Learning Detection

Real-Time Face-Tracking Control of a 4 DOF Manipulator Using...

引用

RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Ali Asadi Amirreza Hassan Nejad S. Ali A. Moosavian Department of Mechanical Engineering Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems (ARAS) K. N. Toosi University of Technology Tehran Iran

ISBN: (数字)9798331529734

ISBN: (纸本)9798331529741

This paper has presented the design, simulation, and real-time implementation of a four-degree-of-freedom (4-DOF) robotic system for face detection and tracking. The system has combined kinematic control with deep learning. It has used the Xception network for high-accuracy facial detection. A Fuzzy PID-MIJ control algorithm has optimized the trajectory planning. This has ensured smooth and precise target tracking. Both simulations and physical experiments have validated the system's real-time performance. The results have shown that the system can reliably track faces with minimal error. This approach has demonstrated significant potential for dynamic, human-interactive applications.

关键词： Deep learning Target tracking Trajectory planning Target recognition Face recognition Kinematics Real-time systems Robustness Planning Face detection

来源：评论

学校读者我要写书评

暂无评论

Personalized gait trajectory generation based on anthropometric features using Random Forest

引用

Journal of Ambient Intelligence and Humanized Computing 2023年第12期14卷 15597-15608页

作者： Ren, Shixin Wang, Weiqun Hou, Zeng-Guang Chen, Badong Liang, Xu Wang, Jiaxing Peng, Liang The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China University of Chinese Academy of Sciences Beijing100049 China The CAS Center for Excellence in Brain Science and Intelligence Technology Beijing100190 China Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Xi’an710049 China

Using lower limb rehabilitation robots (LLRRs) to help stroke patients recover their walking ability is attracting more and more attention presently. Previous studies have shown that gait rehabilitation training with natural gait pattern can improve the therapeutic outputs. However, how to generate the personalized gait trajectory has not been well researched. In this paper, a personalized gait generation method based anthropometric features is proposed. Firstly, gait trajectories are fitted and simplified into Fourier coefficient vectors, which are used to represent gait trajectories. Secondly, fourteen body features are used to generate the personalized gait trajectories and the feature set is further optimized based on the minimal redundancy maximal relevance criterion for easy application on the LLRR. Then, the relationship between the optimized feature set and gait trajectories is modeled by using the RF algorithm. Finally, the performance of the proposed method is demonstrated by several comparison experiments. © 2019, Springer-Verlag GmbH Germany, part of Springer Nature.

关键词： Trajectories

来源：评论

学校读者我要写书评

暂无评论

Kinematic and Kinetic Analysis of 3-RRS Parallel Manipulator

Kinematic and Kinetic Analysis of 3-RRS Parallel Manipulator

引用

RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Sara Ashrafi S. Ali A. Moosavian Department of Mechanical Engineering Advanced Robotics and Automated Systems (ARAS) Lab. Center of Excellence in Robotics and Control K. N. Toosi University of Technology Tehran Iran

ISBN: (数字)9798331529734

ISBN: (纸本)9798331529741

This paper presents the Kinematic and Kinetic properties of the 3-RRS parallel manipulator that has been designed and prototyped at the ARAS Lab, together with an extensive experimental setup. Inverse and forward kinematics of the mechanism are studied, which leads to the attainment of eight possible solutions in each case, of which just one is physically acceptable and maintains its consistency in both analyses. In addition, the Jacobian matrix of the manipulator is derived for various operational scenarios. In this most recent update, a linear actuator under the moving platform is added to cancel the effect of the mass of the plate and the ball for enhancing the responsiveness of the system. Dynamic and kinetic equations are updated based on reduced gravitational effects.

关键词： Jacobian matrices Actuators Mechatronics System dynamics Dynamics Kinematics Kinetic theory Manipulator dynamics

来源：评论

学校读者我要写书评

暂无评论

Kinematic control of a Mecanum Mobile Robot using Time-Varying Model Predictive control

Kinematic Control of a Mecanum Mobile Robot using Time-Varyi...

引用

RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Seyed Ali Shahzadeh Fazeli Sohrab Allahyari Arman Gholibeikian S. Ali A. Moosavian Dept. of Mechanical Engineering Advanced Robotics & Automated Systems (ARAS) Laboratory Center of Excellence in Robotics & Control K. N. Toosi University of Technology Tehran Iran

ISBN: (数字)9798331529734

ISBN: (纸本)9798331529741

Mecanum wheeled mobile robots have increasingly caught researchers' attention due to their wide range of applications and higher maneuverability. However, their complex structure makes their trajectory tracking and control problem more challenging. This paper presents a cascaded controller for trajectory tracking of a four-wheel Mecanum mobile robot. The cascaded controller consists of a linear time-varying model predictive controller (LTV-MPC) and an inner PID controller. The proposed controller does not require the system's dynamics model. To this end, the linear time-varying error model used to design the MPC is obtained from the robot's kinematics model. The angular velocities obtained from the predictive controller are then mapped into the required commands for the DC motors using a PID controller. The PID controller is fine-tuned considering the motor's dead zone using the Genetic Algorithm. Simulations and experimental results demonstrate the superiority of the cascaded controller over the regular LTV-MPC. The proposed algorithm can also be used for other real-time implementations of robotic tasks.

关键词： Trajectory tracking System dynamics Robot kinematics Predictive models DC motors Angular velocity Real-time systems Mobile robots Voltage control Genetic algorithms

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：