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Event-driven bi-fidelity control for efficient and reliable robotic manipulation

Results in engineering 2025年 26卷

作者： Alsaade, Fawaz W. Al-zahrani, Mohammed S. Alsaadi, Fuad E. Department of Computer Science College of Computer Sciences and Information Technology King Faisal University Al-Ahsa31982 Saudi Arabia Department of Computer Networks and Communications College of Computer Sciences and Information Technology King Faisal University Al-Ahsa31982 Saudi Arabia Communication Systems and Networks Research Group Department of Electrical and Computer Engineering Faculty of Engineering King Abdulaziz University Jeddah Saudi Arabia

This paper proposes a novel bi-fidelity control framework for robotic manipulators that integrates a high-fidelity model predictive control (MPC) scheme with a low-fidelity Long Short-Term Memory (LSTM) neural network surrogate. Unlike conventional fixed-schedule approaches, our method employs an event-triggered mechanism that dynamically selects the appropriate controller based on a real-time error metric. This mechanism ensures that the computationally intensive MPC is invoked only when the LSTM approximation deviates beyond acceptable bounds. We rigorously established the near-optimal performance and closed-loop stability of our approach via Lyapunov analysis under mild assumptions, instilling confidence in its reliability. The simulation results on a three-arm manipulator, subject to low-frequency sinusoidal and high-frequency chirp trajectories, demonstrate that the proposed approach achieves up to 80–90% reduction in MPC calls, significantly improving the accuracy of the follow-up and computational efficiency. These findings highlight the potential of integrating learning-based approximations with conventional optimization-based control to achieve reliable and time-efficient performance in complex robotic manipulation tasks. © 2025 The Authors

关键词： Predictive control systems

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$\mathsf {CheetahTraj}$CheetahTraj: Efficient Visualization for Large Trajectory Dataset With Quality Guarantee

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IEEE Transactions on Knowledge and Data engineering 2024年第11期36卷 5737-5752页

作者： Qiaomu Shen Chaozu Zhang Xiao Yan Chuan Yang Dan Zeng Wei Zeng Bo Tang 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 Alibaba Group Hangzhou China Hong Kong University of Science and Technology Guangzhou China Department of Computer Science and Engineering Research Institute of Trustworthy Autonomous Systems Southern University of Science and Technology Shenzhen China

Visualizing large-scale trajectory dataset is a core subroutine for many applications. However, rendering all trajectories could result in severe visual clutter and incur long visualization delays due to large data volume. Naively sampling the trajectories reduces visualization time but usually harms visual quality, i.e., the generated visualizations may look substantially different from the exact ones without sampling. In this paper, we propose $\mathsf {CheetahTraj}$ , a principled sampling framework that achieves both high visualization quality and low visualization latency. We first define the visual quality function measuring the similarity between two visualizations, based on which we formulate the quality optimal sampling problem ( ${\sf QOSP}$ ). To solve ${\sf QOSP}$ , we design the V isual Q uality G uaranteed S ampling algorithms, which reduce visual clutter while guaranteeing visual quality by considering both trajectory data distribution and human perception properties. We also develop a quad-tree-based index ( $\mathsf {InvQuad}$ ) that allows using trajectory samples computed offline for interactive online visualization. Extensive experiments including case-, user-, and quantitative-studies are conducted on three real-world trajectory datasets, and the results show that $\mathsf {CheetahTraj}$ consistently provides higher visual quality and better efficiency than baseline methods. Compared with visualizing all trajectories, $\mathsf {CheetahTraj}$ reduces the visualization latency by up to 3 orders of magnitude while avoiding visual clutter.

关键词： Trajectory Visualization Data visualization Clutter Rendering (computer graphics) Delays Public transportation

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Learning Reduced-Order Linear Parameter-Varying Models of Nonlinear systems ⁎

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IFAC-PapersOnLine 2024年第15期58卷 265-270页

作者： Patrick J.W. Koelewijn Rajiv Singh Peter Seiler Roland Tóth Sioux Technologies B.V. Eindhoven The Netherlands Control Systems Group Eindhoven University of Technology Eindhoven The Netherlands The MathWorks Inc. Natick USA Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor USA Systems and Control Laboratory HUN-REN Institute for Computer Science and Control Budapest Hungary

In this paper, we consider the learning of a Reduced-Order Linear Parameter-Varying Model (ROLPVM) of a nonlinear dynamical system based on data. This is achieved by a two-step procedure. In the first step, we learn a projection to a lower dimensional state-space. In step two, an LPV model is learned on the reduced-order state-space using a novel, efficient parameterization in terms of neural networks. The improved modeling accuracy of the method compared to an existing method is demonstrated by simulation examples.

关键词： Reduced-order modeling Neural Networks Linear Parameter-Varying Models

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A Novel Explainable CNN Model for Screening COVID-19 on X-ray Images

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computer systems Science & engineering 2023年第8期46卷 1789-1809页

作者： Hicham Moujahid Bouchaib Cherradi Oussama El Gannour Wamda Nagmeldin Abdelzahir Abdelmaboud Mohammed Al-Sarem Lhoussain Bahatti Faisal Saeed Mohammed Hadwan EEIS Laboratory ENSET of MohammediaHassan II University of CasablancaMohammedia28820Morocco STIE Team CRMEF Casablanca-SettatThe Provincial Section of El JadidaEl Jadida24000Morocco Department of Information Systems College of Computer Engineering and SciencesPrince Sattam bin Abdulaziz UniversityAl-Kharj11942Saudi Arabia Department of Information Systems King Khalid UniversityMuhayel Aseer61913Saudi Arabia College of Computer Science and Engineering Taibah UniversityMedina42353Saudi Arabia Department of Computer Science University of Sheba RegionMarib14400Yemen DAAI Research Group Department of Computing and Data ScienceSchool of Computing and Digital TechnologyBirmingham City UniversityBirminghamB47XGUK Department of Information Technology College of ComputerQassim UniversityBuraydah 51452Saudi Arabia Department of Computer Science College of Applied SciencesTaiz UniversityTaiz6803Yemen

Due to the rapid propagation characteristic of the Coronavirus(COVID-19)disease,manual diagnostic methods cannot handle the large number of infected individuals to prevent the spread of ***,new automated diagnostic methods have been brought on board,particularly methods based on artificial intelligence using different medical data such as X-ray *** imaging,for example,produces several image types that can be processed and analyzed by machine and deep learning methods.X-ray imaging materials widely exist in most hospitals and health institutes since they are affordable compared to other imaging *** this paper,we propose a novel Convolutional Neural Network(CNN)model(COV2Net)that can detect COVID-19 virus by analyzing the X-ray images of suspected *** model is trained on a dataset containing thousands of X-ray images collected from different *** model was tested and evaluated on an independent *** order to approve the performance of the proposed model,three CNN models namely Mobile-Net,Residential Energy Services Network(Res-Net),and Visual Geometry group 16(VGG-16)have been implemented using transfer learning *** experiment consists of a multi-label classification task based on X-ray images for normal patients,patients infected by COVID-19 virus and other patients infected with *** proposed model is empowered with Gradient-weighted Class Activation Mapping(Grad-CAM)and Grad-Cam++techniques for a visual explanation and methodology debugging *** finding results show that the proposed model COV2Net outperforms the state-of-the-art methods.

关键词： Artificial intelligence intelligent diagnostic systems decisionmaking COVID-19 convolutional neural network

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Explaining complex systems: a tutorial on transparency and interpretability in machine learning models (part II)

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IFAC-PapersOnLine 2024年第15期58卷 497-501页

作者： Donatello Materassi Sean Warnick Cristian Rojas Maarten Schoukens Elizabeth Cross Department of Electrical and Computer Engineering University of Minnesota US Department of Homeland Security Science and Technology Directorate EECS/Division of Decision and Control Systems KTH Royal Institute of Technology Control Systems Group Eindhoven University of Technology Eindhoven The Netherlands Department of Mechanical Engineering University of Sheffield

In the second segment of the tutorial, we transition from the granularity of local interpretability to a broader exploration of eXplainable AI (XAI) methods. Building on the specific focus of the first part, which delved into Local Interpretable Model-Agnostic Explanations (LIME) and SHapley Additive exPlanations (SHAP), this section takes a more expansive approach. We will navigate through various XAI techniques of more global nature, covering counterfactual explanations, equation discovery, and the integration of physics-informed AI. Unlike the initial part, which concentrated on two specific methods, this section offers a general overview of these broader classes of techniques for explanation. The objective is to provide participants with a comprehensive understanding of the diverse strategies available for making complex machine learning models interpretable on a more global scale.

关键词： eXplainable AI

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An Exact Formula for the Hazardous Event Frequency

An Exact Formula for the Hazardous Event Frequency

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Annual Symposium on Reliability and Maintainability (RAMS)

作者： Armin Zimmermann Andreas Hildebrandt Department of Computer Science and Automation Systems and Software Engineering Group Technische Universität Ilmenau Ilmenau Germany Pepperl+Fuchs SE Mannheim Germany

The remaining risk of safety-instrumented systems is an important non-functional requirement that is regulated by international standards. Several ways towards computing the safety as a function of its relevant design parameters have been studied in the literature. However, the standard approach only covers two special cases of high or low demand, which simplify the treatment by either ignoring the effects of demand rate or test interval on the safety. More detailed treatments in the literature derive Markov models, which can be numerically analyzed, or approximate solutions using Taylor series expansions etc. This paper introduces closed-form exact formulas for the average probability of failure on demand (PFD) and the resulting hazardous event frequency (HEF, or accident rate), taking into account demand rate and test interval. It integrates all cases of low, high and medium demand in one formula. The derivation is based on an analysis of the cyclostationary semi-Markov stochastic process of the safety-integrated system and its symbolic transient analysis over the test interval.

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Modeling of Sensor Enabled IrrigationManagement for Intelligent Agriculture Using Hybrid Deep Belief Network

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computer systems Science & engineering 2023年第8期46卷 2319-2335页

作者： Saud Yonbawi Sultan Alahmari B.R.S.S.Raju Chukka Hari Govinda Rao Mohamad Khairi Ishak Hend Khalid Alkahtani JoséVarela-Aldás Samih M.Mostafa Department of Software Engineering College of Computer Science and EngineeringUniversity of JeddahJeddahSaudi Arabia King Abdul Aziz City for Science and Technology RiyadhKingdom of Saudi Arabia Aditya Engineering College Affiliated to JNTUK(Kakinada) SurampalemIndia Department of MBA Vignan’s Institute of Information and Technology(A)DuvvadaVisakhapatnamAP530049India School of Electrical and Electronic Engineering Engineering CampusUniversiti Sains Malaysia(USM)Nibong TebalPenang14300Malaysia Department of Information Systems College of Computer and Information SciencesPrincess Nourah bint Abdulrahman UniversityRiyadh11564Saudi Arabia SISAu Research Group Universidad Tecnológica IndoaméricaAmbato180103Ecuador Faculty of Computers and Information South Valley UniversityQena83523Egypt

Artificial intelligence(AI)technologies and sensors have recently received significant interest in intellectual *** the application of AI technologies and agriculture sensors in intellectual agriculture is urgently required for the growth of modern agriculture and will help promote smart *** irrigation scheduling systems were highly required in the agricultural field due to their capability to manage and save water deficit irrigation *** learning systems devise an alternative to conventional irrigation management through the automatic elaboration of predictions related to the learning of an *** this motivation,this study develops a modified black widow optimization with a deep belief network-based smart irrigation system(MBWODBN-SIS)for intelligent *** MBWODBN-SIS algorithm primarily enables the Internet of Things(IoT)based sensors to collect data forwarded to the cloud server for examination ***,the MBWODBN-SIS technique applies the deep belief network(DBN)model for different types of irrigation classification:average,high needed,highly not needed,and not *** MBWO algorithm is used for the hyperparameter tuning process.A wideranging experiment was conducted,and the comparison study stated the enhanced outcomes of the MBWODBN-SIS approach to other DL models with maximum accuracy of 95.73%.

关键词： Agriculture smart farming hyperparameter tuning artificial intelligence irrigation management sensors deep learning

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Powerline Energy Harvesting with Maximum Power Point Tracking for a Wide Current Range

Powerline Energy Harvesting with Maximum Power Point Trackin...

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IEEE International Symposium on Circuits and systems (ISCAS)

作者： Seyed Hossein Hosseini Jack Greer Fariborz Lohrabi Pour Dong Sam Ha Bradley Department of Electrical and Computer Engineering Multifunctional Integrated Circuits and Systems (MICS) Group Virginia Tech Blacksburg Virginia USA

This paper presents a powerline energy harvesting circuit to power wireless sensor nodes for powerline safety monitoring. The magnetic harvester is a ring-shaped nano-crystalline magnetic core, which transforms the ac powerline current to ac voltage. The major building blocks of the circuit are a buck-boost converter operating in discontinuous conduction mode (DCM) and a microcontroller unit (MCU) for maximum power point tracking (MPPT). The MPPT algorithm based on the perturb and observe senses the current flowing into the load and adjusts the duty cycle of the buck-boost converter to match the source impedance. The magnetic core delivers 6.98 W to an optimal $200\ \Omega$ resistor directly attached to the core under the powerline current of 30 A. The output power of the proposed circuit is 4.86 W with the optimal load resistance of $R_{L}=250\ \Omega$ , resulting in the conversion efficiency of 70%.

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2.4 GHz Ultra-Low Power Direct Digital-to-RF CMOS Transmitter for Biosensing Applications

2.4 GHz Ultra-Low Power Direct Digital-to-RF CMOS Transmitte...

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IEEE Biomedical Circuits and systems (BIOCAS)

作者： Fariborz Lohrabi Pour Dong Sam Ha Bradley Department of Electrical and Computer Engineering Multifunctional Integrated Circuits and Systems (MICS) Group Virginia Tech Blacksburg Virginia USA

This paper presents a low-power and low-complexity direct digital-to-RF transmitter architecture, suitable for biosensing applications. The RF front end of the transmitter is based on a ring oscillator, whose output phase is modulated through the charge-to-phase mechanism using a charge injection block. Hence, the phase shift keying (PSK) modulation can be performed directly in the RF domain. Post-layout simulation results show that the transmitter is able to collect, process, and transmit sensed data with the maximum data rate of 20 Mbps and an error vector magnitude (EVM) of smaller than 3.5%, while dissipating the DC power smaller than 0.5 mW. The results demonstrate that the proposed transmitter architecture is effective for wireless biosensing applications.

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Wireless Sensor Node System to Monitor Pig Activities for Behavior Classification

Wireless Sensor Node System to Monitor Pig Activities for Be...

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Midwest Symposium on Circuits and systems (MWSCAS)

作者： Brandon Cheung Yuezhong Xu Dong Sam Ha Bradley Department of Electrical and Computer Engineering Virginia Tech Multifunctional Integrated Circuits and Systems (MICS) Group Blacksburg Virginia USA

Wireless sensor nodes (WSNs) are useful to monitor animals remotely and continuously. The proposed WSN aims to monitor pig activities, and it consists of a 3-axis accelerometer, a 3-axis gyroscope, and a microcontroller with embedded BLE (Bluetooth Low Energy) radio. The WSN was designed and prototyped with a custom PCB and used to collect data from pigs in field for about 131 hours, and the collected data was processed to classify pig behaviors with machine learning models. The sampling rate of the sensors is 10 samples per second. The proposed WSN dissipates 6.29 mW, on average, and the peak power dissipation is 41.01 mW during transmission of the sensed data. The WSN is estimated to operate for about three weeks with a coin cell battery CR2477.

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