IFAC-PapersOnLine最新文献

英文中文

Torque-Minimizing Control Allocation for Overactuated Quadrupedal Locomotion 过驱动四足运动的扭矩最小化控制分配

Q3 Engineering

IFAC-PapersOnLine

Pub Date : 2024-04-05 DOI: 10.1016/j.ifacol.2023.10.419

Mads Erlend Bøe Lysø, E. Grøtli, K. Y. Pettersen

引用次数: 0

Mesh Refinement with Early Termination for Dynamic Feasibility Problems 针对动态可行性问题的网格细化与早期终止

Q3 Engineering

IFAC-PapersOnLine

Pub Date : 2024-03-12 DOI: 10.1016/j.ifacol.2023.10.676

Eduardo M. G. Vila, Eric C. Kerrigan, Paul Bruce

引用次数: 0

Prediction of Placenta Previa from Serial Reading of Serum Human Chorionic Gonadotropin Late in the First Half of Pregnancy. 通过连续读取妊娠前半期晚期血清人类绒毛膜促性腺激素预测前置胎盘。

Q3 Engineering

IFAC-PapersOnLine

Pub Date : 2024-02-01 Epub Date: 2023-07-01 DOI: 10.1007/s13224-023-01786-4

Shatha Sami Hussein, Manal Madany A Qader, Wisam Akram

Background: Abnormally sited placenta is considered a major life-threatening condition for pregnant woman, and many debate about the way of early diagnosis and management to decrease the mortality and morbidity.

Aim of study: To evaluate the role of beta-human chorionic gonadotrophin (B-HCG) level in the first half of pregnancy as a marker for prediction of placenta previa.

Study design: This is a prospective study done in Al-Yarmouk Teaching Hospital from first of January 2020 till first of January 2021.

Material and methods: A total of 57 patients have been recruited. For all participated women in this study were sampled between 14 and 18 weeks of gestational age for serum human chorionic gonadotropins measured in international units. Patients who developed placenta previa were diagnosed on the basis of development of vaginal bleeding either late in the second trimester or early in the second trimester. After developing vaginal bleeding, all patients were sent for routine ultrasound scan to confirm the presence of placenta previa.

Result: After recruiting a total of 57 women among which 14 patients were found to have placenta previa, ANOVA test shows a statistically significant difference between women with normal placenta and women with placenta previa P value < 0.001. Receiver operator characteristics curve was constructed to evaluate the optimum cutoff value for serum HCG between normal women and women with placenta previa sampled at 14-18 weeks of gestation. The optimum cutoff value is mean serum HCG > 105,380 IU in 14 weeks of gestation, and the sensitivity and specificity were calculated as 100% and 72.2%, respectively.

Conclusion: B-HCG level in first half of pregnancy can be used as a predictor marker for placenta previa.

研究背景胎盘位置异常被认为是威胁孕妇生命的主要疾病，许多人都在争论如何通过早期诊断和管理来降低死亡率和发病率：研究目的：评估妊娠前半期β-人绒毛膜促性腺激素（B-HCG）水平作为前置胎盘预测指标的作用：这是一项前瞻性研究，于 2020 年 1 月 1 日至 2021 年 1 月 1 日在 Al-Yarmouk 教学医院进行：共招募了57名患者。所有参与研究的妇女均在胎龄 14 至 18 周之间采样，以国际单位测量血清人类绒毛膜促性腺激素。前置胎盘患者的诊断依据是在妊娠后期或妊娠早期出现阴道出血。在出现阴道出血后，所有患者都被送去进行常规超声波扫描，以确认是否存在前置胎盘：方差分析显示，在妊娠 14 周时，正常胎盘和前置胎盘妇女的 P 值为 105,380 IU，差异有统计学意义，敏感性和特异性分别为 100%和 72.2%：结论：妊娠前半期的 B-HCG 水平可作为前置胎盘的预测指标。

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引用次数: 0

Improving Kernel-Based Nonasymptotic Simultaneous Confidence Bands 改进基于核的非近似同时置信带

Q3 Engineering

IFAC-PapersOnLine

Pub Date : 2024-01-28 DOI: 10.1016/j.ifacol.2023.10.1047

B. C. Csáji, Balint Horvath

引用次数: 0

Sample Complexity of the Sign-Perturbed Sums Identification Method: Scalar Case* 符号扰动和值识别方法的样本复杂性：标量情况*

Q3 Engineering

IFAC-PapersOnLine

Pub Date : 2024-01-28 DOI: 10.1016/j.ifacol.2023.10.1048

Szabolcs Szentpéteri, B. C. Csáji

引用次数: 0

Development of Fine-Tuned Retrieval Augmented Language Model specialized to manual books on machine tools⁎ 开发专门用于机床手册的微调检索增强语言模型⁎

Q3 Engineering

IFAC-PapersOnLine

Pub Date : 2024-01-01 DOI: 10.1016/j.ifacol.2024.09.157

Seongwoo Cho , Jongsu Park , Jumyung Um

This paper aims to reduce potential human errors and loads that arise from the lack of novice human operators and different interfaces in advanced machine tool industries. A digital assistant using generative artificial intelligence is designed to answer questions about machine terminologies, and operation sequences happening in an alarm state. Combining Fine-Tuning, Retrieval Augmented Generation, and Prompt Engineering, it solves problems of common-purpose large language models. The proposed system is implemented on a local server and connected to a mobile device. It shows increasing quantitative accuracy from 51% to 79% and 84% in the fine-tuned and retriever model, and the qualitative score increases from 21 to 25 in the retriever model.

本文旨在减少先进机床行业因缺乏新手操作员和不同界面而产生的潜在人为错误和负荷。本文设计了一种使用生成式人工智能的数字助手，用于回答有关机器术语和警报状态下发生的操作序列的问题。该系统将微调、检索增强生成和提示工程相结合，解决了通用大型语言模型的问题。所提议的系统在本地服务器上实现，并与移动设备相连。结果表明，微调模型和检索模型的定量准确率从 51% 提高到 79% 和 84%，检索模型的定性得分从 21 分提高到 25 分。

引用次数: 0

Sampled-data finite-dimensional boundary control for 1-D Burgers’ equation 一维布尔格斯方程的采样数据有限维边界控制

Q3 Engineering

IFAC-PapersOnLine

Pub Date : 2024-01-01 DOI: 10.1016/j.ifacol.2024.10.149

Lina Pan , Pengfei Wang , Emilia Fridman

In this paper, we are concerned with the regional exponential stabilization of a 1-D Burgers’ equation under Neumann actuation via modal decomposition method and dynamic extension. We consider a sampled-data finite-dimensional boundary control, which is implemented via a generalized hold device. We use Wirtinger-based piecewise continuous-time Lyapunov functional to compensate sampling of the finite-dimensional state, and provide the H¹-stability analysis for the full-order closed-loop system. Given a decay rate, we provide the efficient linear matrix inequality (LMI) conditions for finding the controller dimension and gain, as well as a bound on the domain of attraction. We prove that for some fixed upper bounds on the initial value and sampling intervals, the feasibility of LMIs for some N (dimension of the controller) implies their feasibility for N + 1. Numerical example illustrates the efficiency of the proposed method.

在本文中，我们通过模态分解方法和动态扩展，关注在诺伊曼激励下一维布尔格斯方程的区域指数稳定问题。我们考虑了采样数据有限维边界控制，并通过广义保持装置来实现。我们使用基于 Wirtinger 的片断连续时间 Lyapunov 函数来补偿有限维状态的采样，并提供了全阶闭环系统的 H1 稳定性分析。在给定衰减率的情况下，我们提供了高效的线性矩阵不等式（LMI）条件，用于寻找控制器维数和增益，以及吸引力域的约束。我们证明，对于初始值和采样间隔的某些固定上界，LMI 对于某些 N（控制器维数）的可行性意味着它们对于 N + 1 的可行性。数值示例说明了所提方法的效率。

引用次数: 0

Good Seamanship Score Quantification in Complex and Congested Waterways⁎ 复杂拥堵水道中的良好航海技术得分量化⁎

Q3 Engineering

IFAC-PapersOnLine

Pub Date : 2024-01-01 DOI: 10.1016/j.ifacol.2024.10.077

Yaqub A. Prabowo , Peter N. Hansen , Dimitrios Papageorgiou , Roberto Galeazzi

This paper presents a novel method to quantify seafarers’ good seamanship during navigation scenarios with multi-vessel encounters, in open and confined waters, and to compute COLREG's-compliant path deviations for avoiding collision and grounding. Accurate quantification of good seamanship necessitates comprehensive information about the vessels state and the surrounding environment, obtainable through the AIS system and electronic nautical charts. Our work advances the current state-of-the-art by: (1) incorporating a normalized grounding risk for navigating confined waters, (2) factoring in speed changes for a probabilistic assessment of collision risk, and (3) considering the minimum possible scenario risk based on vessel kinodynamic constraints. The proposed method is evaluated using historical AIS data and sea charts of Danish waters. The evaluation results demonstrate improved fairness scoring by acknowledging that navigators may lack risk-free options.

本文提出了一种新方法，用于量化海员在开放水域和封闭水域多船相遇航行情况下的良好航海技能，并计算符合 COLREG 标准的路径偏差，以避免碰撞和搁浅。要准确量化良好的航海技术，就必须通过 AIS 系统和电子海图获得有关船舶状态和周围环境的全面信息。我们的工作通过以下方式推进了当前最先进技术的发展：(1) 在航行封闭水域时纳入归一化搁浅风险，(2) 考虑速度变化因素以对碰撞风险进行概率评估，(3) 根据船舶动力学约束条件考虑最小可能情况风险。利用丹麦水域的 AIS 历史数据和海图对所提出的方法进行了评估。评估结果表明，通过承认导航员可能缺乏无风险选择，改进了公平性评分。

引用次数: 0

Multi-level Optimal Control with Neural Surrogate Models 利用神经代用模型进行多级优化控制

Q3 Engineering

IFAC-PapersOnLine

Pub Date : 2024-01-01 DOI: 10.1016/j.ifacol.2024.10.184

Dante Kalise , Estefania Loayza-Romero , Kirsten A. Morris , Zhengang Zhong

Optimal actuator and control design is studied as a multi-level optimisation problem, where the actuator design is evaluated based on the performance of the associated optimal closed loop. The evaluation of the optimal closed loop for a given actuator realisation is a computationally demanding task, for which the use of a neural network surrogate is proposed. The use of neural network surrogates to replace the lower level of the optimisation hierarchy enables the use of fast gradient-based and gradient-free consensus-based optimisation methods to determine the optimal actuator design. The effectiveness of the proposed surrogate models and optimisation methods is assessed in a test related to optimal actuator location for heat control.

最优致动器和控制设计是作为一个多层次优化问题来研究的，其中致动器设计是根据相关最优闭环的性能来评估的。对给定执行器实现的最优闭环进行评估是一项计算要求很高的任务，为此提出了使用神经网络代理的建议。使用神经网络代理来替代优化层次结构的下层，可以使用基于梯度和无梯度共识的快速优化方法来确定最佳致动器设计。在一个与热量控制的最佳致动器位置相关的测试中，对所提出的代用模型和优化方法的有效性进行了评估。

引用次数: 0

Nonlinear control design for a spherical Wave Energy Converter 球形波能转换器的非线性控制设计

Q3 Engineering

IFAC-PapersOnLine

Pub Date : 2024-01-01 DOI: 10.1016/j.ifacol.2024.10.085

Habeebullah Abdulkadir , Ossama Abdelkhalik , Mohamed A. Shabara

This paper discusses the development of two nonlinear controls for a nonlinear spherical wave energy converter (WEC) to maximize the energy it harvests from the waves. The first control is a simple nonlinear damping control, which is designed based on the hydrodynamic damping coefficients. These control coefficients are then optimized using a Genetic Algorithm. The second is a nonlinear optimal control derived analytically using the Pontryagin minimum principle for comparison. The study found that the nonlinear optimal control improves the device's performance by effectively leveraging the hydrodynamic nonlinearity from the floater's shape. The nonlinear bang-singular-bang (BSB) control showed an average 20% performance improvement over the nonlinear damping control (NLDC).

本文讨论为非线性球形波浪能转换器（WEC）开发两种非线性控制，以最大限度地利用波浪能量。第一种控制是简单的非线性阻尼控制，它是根据流体动力阻尼系数设计的。然后使用遗传算法对这些控制系数进行优化。第二种是利用庞特里亚金最小原理分析得出的非线性最优控制，以进行比较。研究发现，非线性优化控制能有效利用浮子形状带来的流体力学非线性，从而提高设备的性能。与非线性阻尼控制（NLDC）相比，非线性 bang-singular-bang (BSB) 控制平均提高了 20% 的性能。

引用次数: 0

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