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Switching event-triggered self-adjusting prescribed performance force control of electrohydraulic load simulator

ISA Transactions 2025年 162卷 217-226页

作者： Li, Jiafeng Ji, Ruihang Yan, Hao Shan, Jiefeng Chen, Zanwei School of Mechanical Electronic and Control Engineering Beijing Jiaotong University Beijing100044 China Department of Electrical and Computer Engineering National University of Singapore 117576 Singapore

This paper addresses the problem of switching event-triggered self-adjusting prescribed performance force control of electro-hydraulic load simulator (EHLS). A reduced-order fuzzy speed state observer for speed estimation is designed and a self-adjusting performance boundary is devised to mitigate the commutation jitter problem. The switching event-triggered mechanism dynamically adjusts the triggering conditions to optimize resource utilization. To reduce the complexity of the traditional inverse stepping control, the dynamic surface technique is adopted. The results demonstrate that the proposed control method guarantees the boundedness of the closed-loop system states and confines the tracking error to a small range near the equilibrium point within a finite time horizon. Finally, the effectiveness of the proposed method is demonstrated through experimentation. © 2025 International Society of Automation

关键词： Closed loop control systems

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Nanogenerator-based bidirectional pressure sensor array and its demonstration in underwater invasive species detection

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Nano Research 2023年第9期16卷 11822-11831页

作者： Yunqi Cao Hongyang Shi Xiaobo Tan Nelson Sepúlveda State Key Laboratory of Industrial Control Technology College of Control Science and EngineeringZhejiang UniversityHangzhou 310027China Department of Electrical and Computer Engineering Michigan State UniversityEast LansingMichigan 48824USA

Lakes areas,which cause catastrophic damages in both commercial fishery and ecological ***,current assessment strategies may pose challenges for lake-wide abundance estimation and non-target anadromous species ***,we demonstrate an efficacious species-specific non-destructive sensing system based on porous ferroelectret nanogenerator for in-situ monitoring of lamprey spawning migration using their unique suction *** show that the porous structure enables a redistribution of surface charges under bidirectional deformations,which allows the detection of both positive and negative *** quasi-piezoelectric effect is further validated by quantitative analysis in a wide pressure range of−50 to 60 kPa,providing detailed insights into transduction working *** reliable lamprey detection,a 4×4-pixel sensor array is developed and integrated with a complementary metal-oxide-semiconductor(CMOS)based signal processing array thus constituting a sensing panel capable of recording oral suction patterns in an underwater environment.

关键词： bidirectional pressure sensing nanogenerators self-powered sensor array ferroelectret invasive species detection

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An enhanced neuro-adaptive PID sliding mode control for robot manipulators:promoting sustainable automation

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Neural Computing and Applications 2025年第9期37卷 6877-6898页

作者： Elmogy, Ahmed Alhemaly, Nagah El-Ghaish, Hany Elawady, Wael Computer Engineering Deptartment Prince Sattam Ibn Abdelaziz University Alkharj16273 Saudi Arabia Computers & Control Engineering Department Tanta University Tanta31527 Egypt

The control of robot manipulators presents significant challenges, primarily due to their complex, nonlinear dynamics. Another major difficulty arises from environmental and operational disturbances. Numerous control frameworks and approaches have been proposed in the literature to address these issues. However, many of these approaches are discontinuous or non-adaptive, which negatively affects their performance and makes them unsuitable for real-time applications. This paper proposes a novel integrated control scheme that combines adaptive control with an improved continuous second-order sliding mode control (CSOS), utilizing generalized artificial neural networks (GANN) for enhanced performance in robot manipulators. The proposed control method consists of two key components: An adaptive proportional-integral-derivative (PID) controller and an adaptive CSOS-based control module (CSOSSD-APID), designed to deliver superior transient and steady-state performance. In this approach, the adaptive CSOS benefits from GANN’s strong noise handling capabilities and its ability to estimate uncertainties effectively. This integration significantly enhances the robustness of robot manipulator control across various tracking tasks, using a single pre-trained GANN model with fine-tuned weights tailored to each task. Numerical simulations demonstrate the effectiveness and versatility of the proposed control scheme, particularly in managing highly time-varying trajectories while contributing to more sustainable and efficient automation practices. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2025.

关键词： Adaptive control systems

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ELCD-NSC2: a novel early lung cancer detection and non-small cell classification framework

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Neural Computing and Applications 2024年第24期36卷 15149-15164页

作者： Helaly, Hadeer A. Badawy, Mahmoud El-Gendy, Eman M. Haikal, Amira Y. Electrical Engineering Department Faculty of Engineering Damietta University Damietta Egypt Computers and Control Systems Engineering Department Faculty of Engineering Mansoura University Mansoura Egypt Department of Computer Science and Informatics Taibah University Medina Saudi Arabia

The survival rate of lung cancer relies significantly on how far the disease has spread when it is detected, how it reacts to the treatment, the patient’s overall health, and other factors. Therefore, the earlier the lung cancer diagnosis, the higher the survival rate. For radiologists, recognizing malignant lung nodules from computed tomography (CT) scans is a challenging and time-consuming process. As a result, computer-aided diagnosis (CAD) systems have been suggested to alleviate these burdens. Deep-learning approaches have demonstrated remarkable results in recent years, surpassing traditional methods in different fields. Researchers are currently experimenting with several deep-learning strategies to increase the effectiveness of CAD systems in lung cancer detection with CT. This work proposes a deep-learning framework for detecting and diagnosing lung cancer. The proposed framework used recent deep-learning techniques in all its layers. The autoencoder technique structure is tuned and used in the preprocessing stage to denoise and reconstruct the medical lung cancer dataset. Besides, it depends on the transfer learning pre-trained models to make multi-classification among different lung cancer cases such as benign, adenocarcinoma, and squamous cell carcinoma. The proposed model provides high performance while recognizing and differentiating between two types of datasets, including biopsy and CT scans. The Cancer Imaging Archive and Kaggle datasets are utilized to train and test the proposed model. The empirical results show that the proposed framework performs well according to various performance metrics. According to accuracy, precision, recall, F1-score, and AUC metrics, it achieves 99.60, 99.61, 99.62, 99.70, and 99.75%, respectively. Also, it depicts 0.0028, 0.0026, and 0.0507 in mean absolute error, mean squared error, and root mean square error metrics. Furthermore, it helps physicians effectively diagnose lung cancer in its early stages and allows spe

关键词： Image classification

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Prototype-Based Interpretable Graph Neural Networks

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2024年第4期5卷 1486-1495页

作者： Ragno, Alessio Rosa, Biagio La Capobianco, Roberto Sapienza University of Rome Department of Computer Control and Management Engineering Rome00185 Italy Sony AI Zurich8952 Switzerland

Graph neural networks have proved to be a key tool for dealing with many problems and domains, such as chemistry, natural language processing, and social networks. While the structure of the layers is simple, it is difficult to identify the patterns learned by the graph neural network. Several works propose post hoc methods to explain graph predictions, but few of them try to generate interpretable models. Conversely, the topic of the interpretable models is highly investigated in image recognition. Given the similarity between image and graph domains, we analyze the adaptability of prototype-based neural networks for graph and node classification. In particular, we investigate the use of two interpretable networks, ProtoPNet and TesNet, in the graph domain. We show that the adapted networks manage to reach better or higher accuracy scores than their respective black-box models and comparable performances with state-of-the-art self-explainable models. Showing how to extract ProtoPNet and TesNet explanations on graph neural networks, we further study how to obtain global and local explanations for the trained models. We then evaluate the explanations of the interpretable models by comparing them with post hoc approaches and self-explainable models. Our findings show that the application of TesNet and ProtoPNet to the graph domain produces qualitative predictions while improving their reliability and transparency. © 2020 IEEE.

关键词： computer architecture

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Comparative Analysis of Wearable and computer Vision-Based Methods for Human Torso Posture Estimation 9

Comparative Analysis of Wearable and Computer Vision-Based M...

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9th International Conference on Mathematics and computers in Sciences and Industry, MCSI 2024

作者： Muntean, Emanuel Leba, Monica University of Petrosani Department of System Control and Computer Engineering Petrosani Romania

ISBN: (纸本)9798350377224

This paper conducts a comparative analysis of human torso posture estimation methodologies, focusing on an inertial measurement unit (IMU) sensor coupled with an Arduino UNO as a wearable approach, and Kinect V2, utilizing OpenCV for posture analysis. The core objective of this study is to ascertain which method yields greater precision in the estimation of human torso posture. The IMU sensor, characterized by its wearability, provides the distinct advantage of unobtrusiveness and the capability to record motion across diverse environments. Conversely, Kinect V2 leverages computer vision techniques to derive posture estimations from visual data in real-time. Through comprehensive experimentation, this research evaluates the accuracy of both methodologies by juxtaposing their posture estimation outcomes. The findings of this investigation aim to significantly contribute to the enhancement of human posture estimation systems, with wide-ranging implications for health, sports, and ergonomics. © 2024 IEEE.

关键词： Ergonomics

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A Real-Time Machine Learning Based Solution for Privacy Enforcement in Video Recordings and Live Streaming 9

A Real-Time Machine Learning Based Solution for Privacy Enfo...

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9th International Conference of Yearly Reports on Informatics, Mathematics, and engineering, ICYRIME 2024

作者： Conforti, Pietro Manganelli Emanuele, Matteo Mandelli, Lorenzo Department of Computer Control and Management Engineering Sapienza University of Rome Italy

These past years the world had to deal with a whole new situation brought by Covid-19. Everyone’s routine changed and we started passing way more time than before on virtual meeting, virtual chats and similar. With this, many privacy problems arised from all the video data generated by a single user. Google and Zoom introduced the possibility to blur out the background while using a front face camera, but this did not solve many privacy concerns ranging from showing people in videos without their permission, to the leaking of sensible data and information from videos uploaded online. We propose a solution build over the use of computer vision techniques like image segmentation and classification for context recognition for a privacy enforcement solution capable of fitting the user’s personal need, blurring out selectively specific objects from a video based on the user’s preferences for each room in which they are. © 2024 Copyright for this paper by its authors. Use permitted under Creative Commons License Attribution 4.0 International (CC BY 4.0).

关键词： Differential privacy

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Conversational AI for Framed Autonomy in AI-augmented Business Process Management 22

Conversational AI for Framed Autonomy in AI-augmented Busine...

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Best Dissertation Award, Doctoral Consortium, and Demonstration and Resources Forum at 22nd International Conference on Business Process Management, BPM-D 2024

作者： Casciani, Angelo Department of Computer Control and Management Engineering Sapienza University of Rome Italy

AI-augmented Business Process Management Systems (ABPMSs) represent an emerging category of process-aware information systems driven by AI technology. These systems autonomously manage the execution flow of business processes (BPs) within predefined frames, encompassing procedural and declarative specifications, which may sometimes conflict. Despite operating autonomously within these boundaries, ABPMSs require dynamic conversations with human agents. These conversations not only respond to user queries but also initiate discussions to inform them of BP progression and provide recommendations for performance improvement. This research proposal aims to leverage Conversational AI to support the ABPMS’s framed autonomy, functioning as a Decision Support System (DSS). This involves explaining system’s choices and suggesting actions when constraints are violated. This technique enables intelligent, context-aware interactions with ABPMSs, fostering user trust. Our findings indicate that Conversational AI has the potential to significantly enhance the interpretability and usability of ABPMSs, thereby facilitating improved decision-making and process optimization. © 2024 Copyright for this paper by its authors.

关键词： Chatbots

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DanteLLM: Let's Push Italian LLM Research Forward! 30

DanteLLM: Let's Push Italian LLM Research Forward!

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Joint 30th International Conference on Computational Linguistics and 14th International Conference on Language Resources and Evaluation, LREC-COLING 2024

作者： Bacciu, Andrea Campagnano, Cesare Trappolini, Giovanni Silvestri, Fabrizio Department of Computer Control and Management Engineering Sapienza University of Rome Italy

ISBN: (纸本)9782493814104

In recent years, the dominance of Large Language Models (LLMs) in the English language has become evident. However, there remains a pronounced gap in resources and evaluation tools tailored for non-English languages, underscoring a significant disparity in the global AI landscape. This paper seeks to bridge this gap, specifically focusing on the Italian linguistic context. We introduce a novel benchmark, and an open LLM Leaderboard, designed to evaluate LLMs' performance in Italian, providing a rigorous framework for comparative analysis. In our assessment of currently available models, we highlight their respective strengths and limitations against this standard. Crucially, we propose "DanteLLM", a state-of-the-art LLM dedicated to Italian. Our empirical evaluations underscore Dante's superiority, as it emerges as the most performant model on our benchmark, with improvements by up to 6 points. This research not only marks a significant stride in Italian-centric natural language processing but also offers a blueprint for the development and evaluation of LLMs in other languages, championing a more inclusive AI paradigm. Our code at: https://***/RSTLess-research/DanteLLM. © 2024 ELRA Language Resource Association: CC BY-NC 4.0.

关键词： Benchmarking

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Enhancing Automotive Embedded Applications: A Comprehensive Evaluation of control Flow Checking Methods

Enhancing Automotive Embedded Applications: A Comprehensive ...

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2024 IEEE International Conference on Design, Test and Technology of Integrated Systems, DTTIS 2024

作者： Solouki, Mohammadreza Amel Sini, Jacopo Violante, Massimo Politecnico di Torino Department of Control and Computer Engineering Turin Italy

ISBN: (纸本)9798350363128

Mitigating the risks posed by Random Hardware Failures (RHFs) is crucial to prevent data corruption and control Flow Errors (CFEs) in embedded systems. This paper addresses these concerns through the application of Software-Implemented Hardware Fault Tolerance (SIHFT) methods, emphasizing compatibility with high-level programming languages such as C. Current SIHFT methods, often implemented in low-level Assembly, present challenges in terms of overhead to code size and real-time execution. Our proposed approach focuses on pre-compilation application of SIHFT methods, specifically control Flow Checking (CFC), to identify CFEs within C-language-based code. We conducted a comparative analysis of two established software-based CFE detection methods in C, seamlessly integrating CFC methods into the application behavioral model. Our methodology ensures ISO26262 compliance, crucial for the automotive sector, offering a software-only strategy that aligns with safety and cost considerations. © 2024 IEEE.

关键词： C (programming language)

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