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Grey Wolf Optimization Based Tuning of Terminal Sliding Mode controllers for a Quadrotor

Computers, Materials & Continua 2021年第8期68卷 2265-2282页

作者： Rabii Fessi Hegazy Rezk Soufiene Bouallègue Research Laboratory in Automatic Control(LARA) National Engineering School of Tunis(ENIT)University of Tunis EL MANARTunis1002Tunisia College of Engineering at Wadi Addawaser Prince Sattam Bin Abdulaziz UniversityAl-Kharj11911Saudi Arabia Department of Electrical Engineering Faculty of EngineeringMinia UniversityMinia61517Egypt High Institute of Industrial Systems of Gabès(ISSIG) University of GabèsGabès6011Tunisia

The research on Unmanned Aerial Vehicles(UAV)has intensified considerably thanks to the recent growth in the fields of advanced automatic control,artificial intelligence,and *** this paper,a Grey Wolf Optimization(GWO)algorithm is proposed and successfully applied to tune all effective parameters of Fast Terminal Sliding Mode(FTSM)controllers for a quadrotor UAV.A full control scheme is first established to deal with the coupled and underactuated dynamics of the *** for altitude,attitude,and position dynamics become separately designed and *** work around the repetitive and time-consuming trial-error-based procedures,all FTSM controllers’parameters for only altitude and attitude dynamics are systematically tuned thanks to the proposed GWO *** a hard and complex tuning task is formulated as a nonlinear optimization problem under operational *** performance and robustness of the GWO-based control strategy are compared to those based on homologous metaheuristics and standard terminal sliding mode *** simulations are carried out to show the effectiveness and superiority of the proposed GWO-tuned FTSM controllers for the altitude and attitude dynamics’stabilization and *** statistical analyses revealed that the GWO algorithm is more competitive with high performance in terms of fastness,non-premature convergence,and research exploration/exploitation capabilities.

关键词： Quadrotor cascade control fast terminal sliding mode control grey wolf optimizer nonparametric Friedman analysis

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Identification of the nonlinear steering dynamics of an autonomous vehicle ⁎

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IFAC-PapersOnLine 2021年第7期54卷 708-713页

作者： G. Rödönyi G.I. Beintema R. Tóth M. Schoukens D. Pup Á. Kisari Zs. Vígh P. Körös A. Soumelidis J. Bokor Széchenyi István University Research Center of Vehicle Industry (SZE-JKK) H-9026 Egyetem tér 1. Győr Hungary Systems and Control Laboratory Institute for Computer Science and Control (SZTAKI) Control Systems Eindhoven University of Technology Eindhoven The Netherlands

Automated driving applications require accurate vehicle specific models to precisely predict and control the motion dynamics. However, modern vehicles have a wide array of digital and mechatronic components that are difficult to model, manufactures do not disclose all details required for modelling and even existing models of subcomponents require coefficient estimation to match the specific characteristics of each vehicle and their change over time. Hence, it is attractive to use data-driven modelling to capture the relevant vehicle dynamics and synthesise model-based control solutions. In this paper, we address identification of the steering system of an autonomous car based on measured data. We show that the underlying dynamics are highly nonlinear and challenging to be captured, necessitating the use of data-driven methods that fuse the approximation capabilities of learning and the efficiency of dynamic system identification. We demonstrate that such a neural network based subspace-encoder method can successfully capture the underlying dynamics while other methods fall short to provide reliable results.

关键词： Nonlinear system identification vehicle dynamics artificial neural networks nonparametric modelling

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Al-Biruni Based Optimization of Rainfall Forecasting in Ethiopia

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Computer systems Science & Engineering 2023年第6期45卷 2885-2899页

作者： El-Sayed M.El-kenawy Abdelaziz A.Abdelhamid Fadwa Alrowais Mostafa Abotaleb Abdelhameed Ibrahim Doaa Sami Khafaga Department of Communications and Elecronics Delta Higher Institute of Engineering and TechnologyMansoura35111Egypt Department of Computer Science F aculty of Computer and Infomation SciencesAin Shams UniversityCairo11566Egypt Department of Computer Science College of Computing and Information TechnologyShaqra University11961Saudi Arabia Department of Computer Sciences College of Computer and Information SciencesPrincess Nourah Bint Abdulrahman UniversityP.O.Box 84428Riyadh11671Saudi Arabia Department of System Progamming South Ual State UniversityChelyabinsk454080Russia Computer Engineering and Control Systems Department Faculty of EngineeringMansoura UniversityMansoura35516Egypt

Rainfall plays a significant role in managing the water level in the *** unpredictable amount of rainfall due to the climate change can cause either overflow or dry in the *** individuals,especially those in the agricultural sector,rely on rain *** rainfall is challenging because of the changing nature of the *** area of Jimma in southwest Oromia,Ethiopia is the subject of this research,which aims to develop a rainfall forecasting *** estimate Jimma's daily rainfall,we propose a novel approach based on optimizing the parameters of long short-term memory(LSTM)using Al-Biruni earth radius(BER)optimization algorithm for boosting the fore-casting accuracy.N ash-Sutcliffe model eficiency(NSE),mean square error(MSE),root MSE(RMSE),mean absolute error(MAE),and R2 were all used in the conducted experiments to assess the proposed approach,with final scores of(0.61),(430.81),(19.12),and(11.09),***,we compared the proposed model to current machine-learning regression models;such as non-optimized LSTM,bidirectional LSTM(BiLSTM),gated recurrent unit(GRU),and convolutional LSTM(ConvLSTM).It was found that the proposed approach achieved the lowest RMSE of(19.12).In addition,the experimental results show that the proposed model has R-with a value outperforming the other models,which confirms the superiority of the proposed *** the other hand,a statistical analysis is performed to measure the significance and stability of the proposed approach and the recorded results proved the expected perfomance.

关键词： Rainfall prediction long short-term memory Al-Biruni earth radius algorithm meta-heuristic optimization

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A Robotic Framework for the Robot@Factory 4.0 Competition

A Robotic Framework for the Robot@Factory 4.0 Competition

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IEEE International Conference on Autonomous Robot systems and Competitions (ICARSC)

作者： Ricardo B. Sousa Cláudia D. Rocha João G. Martins João Pedro Costa João Tomás Padrão José Maria Sarmento José Pedro Carvalho Maria S. Lopes Paulo G. Costa António Paulo Moreira Faculty of Engineering University of Porto (FEUP) Porto Portugal CRIIS - Centre for Robotics in Industry and Intelligent Systems INESC TEC - Institute for Systems and Computer Engineering Technology and Science Porto Portugal University of Trás-os-Montes and Alto Douro (UTAD) Vila Real Portugal C2SR - Cyber-Physical Control Systems and Robotics SYSTEC - Research Center for Systems and Technologies Porto Portugal

ISBN: (数字)9798350352344

ISBN: (纸本)9798350352351

Robotic competitions stand as platforms to propel the forefront of robotics research while nurturing STEM education, serving as hubs of both applied research and scientific innovation. In Portugal, the Portuguese Robotics Open (FNR) is an event with several robotic competitions, including the Robot@Factory 4.0 competition. This competition presents an example of deploying autonomous robots on a factory shop floor. Although the literature has works proposing frameworks for the original version of the Robot@Factory competition, none of them proposes a system framework for the Robot@Factory 4.0 version that presents the hardware, firmware, and software to complete the competition and achieve autonomous navigation. This paper proposes a complete robotic framework for the Robot@Factory 4.0 competition that is modular and open-access, enabling future participants to use and improve it in future editions. This work is the culmination of all the knowledge acquired by winning the 2022 and 2023 editions of the competition.

关键词： Technological innovation Education Propulsion Production facilities Software Hardware Autonomous robots

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The Concept of Individual Regulation of Vacuum Filters Technological Parameters in Iron Ore Concentrate Dehydration Process

The Concept of Individual Regulation of Vacuum Filters Techn...

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International Conference on control systems, Mathematical Modelling, Automation and Energy Efficiency (SUMMA)

作者： Sergey Khalapyan Aleksandr Anpilov Automated and Information Control Systems Chair N.A. Y.I. Eremenko Stary Oskol Technological Institute N.A. A.A. Ugarov (Branch) National University Of Sciences and Technology «MISIS» Stary Oskol Russia

The aim of the study is to increase the productivity of the iron ore concentrate dehydration process. In the course of fhe previous research, the automated control system with the indirect measurement module and a stepper extreme regulator was developed. In this paper, it is proposed to supplement this system with a hybrid intelligent control block of extreme regulator (HICBER), and the develop a structural and functional scheme of the control system and an algorithm for the functioning of HICBER. In the course of the work, the experience of the use of HICBER was provided, as well as the analysis of the stability of the resulting control system was carried out. It showed that each of the three subsystems that make up the resulting control system was stable. The implementation of the developed control system will increase the productivity of the vacuum filter by 3.5 %, reduce the wear of the actuators and the specific consumption of energy resources used in the technological process.

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On feedforward control of piezoelectric dual-stage actuator systems

On feedforward control of piezoelectric dual-stage actuator ...

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IEEE Conference on Decision and control

作者： Clarisse Pétua Bosman Barros Hans Butler Jeroen van de Wijdeven Roland Tóth Eindhoven University of Technology Eindhoven The Netherlands ASML Veldhoven The Netherlands Systems and Control Laboratory Institute for Computer Science and Control Budapest Hungary

ISBN: (纸本)9781665436601

The feedforward control design problem for a single-axis dual-stage actuator system with piezoelectric actuator at the short-stroke is analyzed in this paper. With such actuator layout, the main question is how to balance the contribution of the individual actuators in a efficient manner, while complying to actuators limitations. A control configuration and a sequential design methodology are proposed to take into account interactions between actuators. In addition, various feedforward controller design strategies that conform to the configuration proposed are presented, such as inversion based feedforward, mass feedforward and standard compliance compensation. Based on observed shortcomings of each feedforward design, a novel mixed compliance compensation feedforward controller is presented. Results are analyzed in terms of their physical interpretations and simulation studies.

关键词： Actuators Uncertainty Quantization (signal) control design Piezoelectric effect Layout Piezoelectric actuators

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Depth-Aware Multi-Modal Fusion for Generalized Zero-Shot Learning 22

Depth-Aware Multi-Modal Fusion for Generalized Zero-Shot Lea...

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22nd IEEE International Conference on Industrial Informatics, INDIN 2024

作者： Cao, Weipeng Yao, Xuyang Xu, Zhiwu Pan, Yinghui Sun, Yixuan Li, Dachuan Qiu, Bohua Wei, Muheng Shenzhen China National Engineering Laboratory for Big Data System Computing Technology Shenzhen University Shenzhen China College of Computer Science and Software Engineering Shenzhen University Shenzhen China Stony Brook University New York United States Research Institute of Trustworthy Autonomous Systems Southern University of Science and Technology Shenzhen China Department of Computer Science and Engineering Southern University of Science and Technology Shenzhen China ZhenDui Industry Artificial Intelligence Co. Ltd Shenzhen China Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China

ISBN: (纸本)9798331527471

Realizing Generalized Zero-Shot Learning (GZSL) based on large models is emerging as a prevailing trend. However, most existing methods merely regard large models as black boxes, solely leveraging the features output by the final layer while disregarding potential performance enhancements from other layers. Indeed, numerous researchers have visually depicted variations in the features learned across different layers of neural networks. Motivated by this observation, we propose a Vision Transformer (ViT)-based GZSL method named Depth-Aware Multi-Modal ViT (DAM2ViT), which exploits multi-level features of ViT. DAM2ViT incorporates a multi-modal interaction block to align semantic information of categories across multiple layers, thereby augmenting the model’s capacity to learn associations between visual and semantic spaces. Extensive experiments conducted on three benchmark datasets (i.e., CUB, SUN, AWA2) have showcased that DAM2ViT achieves competitive results compared to state-of-the-art methods. © 2024 IEEE.

关键词： Zero-shot learning

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Relationship Between Mechanical Deformation and Contact Force Applied by Catheter Tip on Cardiac Muscle: Experimentation and Computer Modeling

Relationship Between Mechanical Deformation and Contact Forc...

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IEEE Eurasia Conference on Biomedical Engineering, Healthcare and Sustainability (ECBIOS)

作者： Yukako Ijima Kriengsak Masnok Juan J. Perez Ana González-Suárez Enrique Berjano Nobuo Watanabe Master's Program Global Course of Engineering and Science Graduate School of Engineering and Science Shibaura Institute of Technology Saitama Japan Biofluid Science and Engineering Laboratory Functional Control Systems Graduate School of Engineering and Science Shibaura Institute of Technology Saitama Japan Department of Electronic Engineering BioMIT Universitat Politecnica de Valencia Valencia Spain Translational Medical Device Lab School of Engineering University of Galway Galway Ireland Department of Bio-Science and Engineering Biofluid Science and Engineering Laboratory Functional Control Systems Graduate School of Engineering and Science College of Systems Engineering and Science Shibaura Institute of Technology Saitama Japan

The cardiac muscle is elastic and deformable. Pushing a catheter in contact with the cardiac muscle surface to conduct focal energy-based ablative therapies, such as RF ablation, requires an adequate electrode-tissue contact surface to transfer the energy to the target site. In this regard, the relationship between the contact force (CF) and the resulting mechanical response is still unclear, in particular, the insertion depth (ID) and the diameter of the surface deformation. The objective of this study was to quantify these relationships using an ex vivo model and a computational model. A rigid bar with a 2.3 mm diameter blunt tip (mimicking a 7Fr standard ablation catheter) was placed at a perpendicular orientation on a fragment of the porcine heart. CF values ranged from 10 to 80g. We used ANSYS to build a Mooney-Rivlig model of 3 parameters based on hyperelastic material and to simulate the same conditions as in the experiments. The experimental results showed a strong linear correlation between CF and insertion depth ID ( $\mathrm{R}^{2}=0.97, \mathrm{P} < 0.001$ ), from $0.7 \pm 0.3$ mm at 10 gto $6.9 \pm 0.1$ mm at 80 g. We also found a strong linear correlation between CF and minor and major diameters of the surface deformation assessed, from $4.0 \pm 0.4$ mm at 20 g to $10.3 \pm 0.0$ mm at 80 g ( $\mathrm{R}^{2}=0.96$ ), and from $6.4 \pm 0.7$ mm at 20 g to $16.7 \pm 0.1$ mm at 80 g ( $\mathrm{R}^{2}=0.95$ ), respectively. A descent gradient algorithm was used to minimize the mean square error (MSE) between the experimental and computational results of ID for the 10 values of CF. After trying different combinations for the3 parameters of the Mooney-Rivlig model, an optimal fit was achieved after 5 iterations, with an error of less than 0.55 mm for ID. This same mode was then used to predict the diameter of the surface deformation, obtaining an error of less than 0.65 mm. The results confirm that a Mooney-Rivlig model of three parameters based on

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A Survey of Fault Tolerance in Cloud Computing

A Survey of Fault Tolerance in Cloud Computing

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systems, Advanced Technologies and Knowledge (ISSATK), International Symposium of

作者： Om Kolthoum Elhajjej Nouha Alyaoui Samia Dardouri Karim Chabir Research Laboratory Modeling Aanalysis Control of System (MACS) LR16ES22 National engineering school of Gabes (ENIG) University of Gabes Tunisia Computer Science and Telecommunications Department Laboratory of Modeling Analysis and Control of Systems (MACS) Higher Institute of Applied Sciences and Technology Zarroug Gafsa Gafsa University Tunisia Department of Computer Science College of Computing and Information Technology Shaqra University Saudi Arabia InnoV’COM Laboratory-Sup’Com University of Carthage Tunisia

ISBN: (数字)9798331540173

ISBN: (纸本)9798331540180

This paper is designed to provide a comprehensive overview of the latest developments in fault tolerance methods for cloud computing. Maintaining high availability and reliability of cloud environments requires fault tolerance. This paper explores fault tolerance in the context of cloud computing and discusses recent challenges and innovations in the field. Moreover, it examines the ongoing research efforts to improve fault-tolerance architectures. At the end of the paper, the paper presents system-level metrics that are relevant to fault tolerance.

关键词： Measurement Surveys Cloud computing Fault tolerance Technological innovation Scalability Fault tolerant systems Computer architecture Software Software reliability

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Guide for Stabilization and Heuristic Optimization of Second-order systems controlled by P/I-delayed controllers

Guide for Stabilization and Heuristic Optimization of Second...

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International IEEE Conference on Intelligent systems, IS

作者： Martin Strmiska Libor Pekař José Mario Araújo Department of Automation and Control Engineering Tomas Bata University Zlin Czechia Department of Automation and Systems Federal Institute of Education Science and Technology of Bahia Salvador Brazil

ISBN: (纸本)9781665492768

The present paper shows the procedure for the stabilization and subsequent optimization of second-order systems using a proportional plus integral delayed controller. Stabilizing closed-loop control systems using a controller comprehends several techniques to increase the control circuit's stability. Even in some simple second-order plants, the classical proportional integral controller cannot be applied to pursue closed-loop stability. However, the design requires constant reference tracking capability, for example. Moreover, if there is a time delay in the feedback loops inside a controlled system, the system has an infinite spectrum – infinitely many roots (poles); this degrades the control's quality, especially in terms of stability, robustness, and oscillation response. For these reasons, it is also necessary to optimize the transient response of the system. The main objective of this paper is to provide a guide for optimal control of second-order systems controlled by a proportional integral-delayed controller. Some examples are chosen as benchmarks to verify the effectiveness of the stabilization and subsequent heuristic optimization. In future research, we would like to focus on implementing selected modern optimization algorithms for solving non-smooth, non-convex, and non-Lipschitz optimization problems.

关键词： Asymptotic stability Transient response control systems Search problems Stability analysis Robustness Circuit stability

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