Article
Chemistry, Multidisciplinary
Fidel Aznar, Mar Pujol, Ramon Rizo
Summary: This article discusses a macroscopic swarm foraging behavior achieved through deep reinforcement learning, combining basic fuzzy behaviors to control group movement. The study reveals that this macroscopic behavior can robustly and scalably accomplish foraging tasks in previously unseen situations during training.
APPLIED SCIENCES-BASEL
(2021)
Article
Chemistry, Multidisciplinary
Hebah ElGibreen
Summary: Swarm robotics is an emerging field that offers efficient solutions to real-world problems at minimal cost, but faces challenges in maturity and dynamic deadlines. This paper proposes a novel approach, ED_Foraging, utilizing epidemiological modeling and dynamic task allocation to optimize foraging tasks with time constraints. Experimental results demonstrate the flexibility, scalability, and robustness of the approach in handling dynamic deadlines and improving resource collection efficiency.
APPLIED SCIENCES-BASEL
(2021)
Article
Computer Science, Artificial Intelligence
John Harwell, Angel Sylvester, Maria Gini
Summary: We contribute to swarm engineering by designing an ODE model that captures the behavioral dynamics of Central Place Foraging Problems in various application areas. Our simulation results demonstrate that a hybrid ODE modeling approach can be as effective as a purely post-hoc approach in computing parameters, with less tuning required. This facilitates the design of systems with predictable behavior. Furthermore, the resulting model parameters are more interpretable as they can be traced back to problem features. Lastly, we conduct real-robot experiments to gain further insights from an engineering standpoint into the limitations of our model.
Article
Computer Science, Artificial Intelligence
Zuowen Liao, Fangyang Zhu, Xianyan Mi, Yu Sun
Summary: This article presents a neighborhood information-based adaptive differential evolution (NIADE) algorithm for detecting and tracking multiple roots of nonlinear equation systems. NIADE features a dynamic neighborhood size mechanism, a novel mutation strategy based on neighborhood information, and combines neighborhood information with adaptive parameter adjustment for improved efficiency.
EXPERT SYSTEMS WITH APPLICATIONS
(2023)
Article
Engineering, Electrical & Electronic
Mohammad Soleimani Amiri, Rizauddin Ramli, Norazam Aliman
Summary: The aim of this research is to develop a multi-joint rehabilitation robot using the Lyapunov Adaptive and Swarm-Fuzzy Logic Control strategy. The experiment shows that this strategy has superior performance in trajectory tracking.
Article
Mathematics
Oscar Castillo, Fevrier Valdez, Cinthia Peraza, Jin Hee Yoon, Zong Woo Geem
Summary: This article proposes a method to adjust parameters in fuzzy systems, by using an approximation to the CKM algorithm to replace the high-cost traditional type-2 fuzzy systems, achieving results equivalent to CKM algorithm but in less computing time and allowing efficient dynamic parameter adaptation.
Article
Computer Science, Artificial Intelligence
Marylu L. Lagunes, Oscar Castillo, Jose Soria, Fevrier Valdez
Summary: This study introduces a competitive multi-metaheuristic optimization model, which compares four different metaheuristics to find the best method for optimizing the membership functions of fuzzy controllers.
Article
Computer Science, Artificial Intelligence
Maria Mannone, Valeria Seidita, Antonio Chella
Summary: This study applies quantum computing to swarm robotics and develops a model using quantum circuits to capture the relationship between local and global behavior. By choosing the foraging behavior of ants as an example, the effectiveness of this model is tested. This research is significant in uncovering the potential of quantum computing in swarm robotics.
SWARM AND EVOLUTIONARY COMPUTATION
(2023)
Article
Computer Science, Theory & Methods
Yanfang Lei, Junmin Li, Ailiang Zhao
Summary: This paper mainly investigates the globally asymptotic tracking problem of unknown semi-linear parabolic distributed parameter systems (SLPDPSs) with uncertain external disturbance. Firstly, the well-posedness of the system solution is analyzed based on the operator semigroup theory. Then, a distributed adaptive fuzzy controller (AFC) is designed using the Lyapunov direct method, enabling the unknown SLPDPSs to asymptotically track target systems. Importantly, the globally asymptotic tracking condition is obtained, overcoming the semi-global stability results in existing literature. Several simulation cases are introduced to verify the availability and practicability of the proposed method.
FUZZY SETS AND SYSTEMS
(2023)
Article
Computer Science, Information Systems
Dan Bao, Xiaoling Liang, Shuzhi Sam Ge, Zhiwei Hao, Baolin Hou
Summary: This paper introduces a framework for adaptive fuzzy control and optimization of nonlinear systems under uncertainties and disturbances. The barrier Lyapunov function (BLF) technique is used to determine output constraints. Fuzzy logic systems (FLSs) are applied to approximate nonlinear terms and improve tracking performance. Bayesian optimization and particle swarm optimization (BO-PSO) are combined for gains optimization to enhance control performance. Multilayer neural networks (MNNs) are employed as surrogate models of nonlinear systems with interval parameters to improve the computational efficiency of the optimization process. Two simulations are conducted to demonstrate the effectiveness of the proposed framework.
INFORMATION SCIENCES
(2022)
Article
Computer Science, Artificial Intelligence
Stefania Boffa
Summary: Fuzzy relational formal concept analysis (FRCA) mines collections of fuzzy concept lattices from fuzzy relational context families, which are special datasets made of fuzzy formal contexts and fuzzy relations between objects of different types. FRCA can be applied whenever information needs to be extracted from multirelational datasets including vagueness, and it can be viewed as an extension of both relational concept analysis and fuzzy formal concept analysis. This article contributes to the development of fuzzy relational concept analysis by introducing a new class of fuzzy quantifiers and providing an algorithm to generate fuzzy concept lattices from a special fuzzy relational context family.
IEEE TRANSACTIONS ON FUZZY SYSTEMS
(2023)
Article
Computer Science, Artificial Intelligence
Xuewen Xia, Haojie Song, Yinglong Zhang, Ling Gui, Xing Xu, Kangshun Li, Yuanxiang Li
Summary: This article proposes a new particle swarm optimization algorithm (MFCPSO) that improves the performance on complicated multimodal functions by introducing the novelty of a particle as an additional criterion for selecting exemplars. It uses a multiple-input multiple-output fuzzy logic controller to adjust two parameters of the particle, enhancing its adaptive capability. Experimental results show that MFCPSO exhibits promising characteristics on different types of functions, especially on large scale complicated functions. The effectiveness and efficiency of the fuzzy controlled parameters are also discussed.
IEEE TRANSACTIONS ON FUZZY SYSTEMS
(2023)
Article
Chemistry, Physical
Weiyong Tian, Li Liu, Xiaohui Zhang, Dun Yang
Summary: This study proposes a double-layer fuzzy adaptive nonlinear model predictive control method for energy management and trajectory tracking of hybrid electric fixed wing UAVs. The method effectively solves different problems and improves its adaptability through maneuvering degree and equivalent hydrogen consumption factor adjustment.
INTERNATIONAL JOURNAL OF HYDROGEN ENERGY
(2022)
Article
Chemistry, Multidisciplinary
Jesus-Angel Roman-Gallego, Maria-Luisa Perez-Delgado, Fernando-Jose Cofino-Gavito, Miguel A. Conde, Ruben Rodriguez-Rodrigo
Summary: The importance of big data and its analysis in the field of soccer is undeniable, as professional clubs seek to gain a competitive advantage by employing these techniques. However, there is limited information on the specific use of these tools and the parameters considered. In addition, amateur analyses often lack conclusive findings, focusing mainly on data collection and presentation without deeper analysis or preprocessing. This study presents the implementation of an expert system based on fuzzy logic to assess a soccer player's talent, aptitude, and attitude, aiding their individual and collective professional development.
APPLIED SCIENCES-BASEL
(2023)
Article
Robotics
Huiseok Moon, Roshni Maiti, Kaushik Das Sharma, Yacine Amirat, Patrick Siarry, Samer Mohammed
Summary: A selectively adaptive hybrid fuzzy control employing particle-swarm optimization was used in conjunction with a Lyapunov-theory-based adaptive fuzzy-logic control to control an actuated ankle-foot orthosis (AAFO) during walking. The proposed control strategy significantly reduced both tracking error and required control torque when compared to other competing control schemes. This control strategy was validated through simulations and experiments with five healthy subjects.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Computer Science, Interdisciplinary Applications
O. Nikan, A. Golbabai, J. A. Tenreiro Machado, T. Nikazad
Summary: The paper proposes a novel numerical method, the RBF-FD, to approximate the time-fractional cable model involving two fractional temporal derivatives. The method combines time discretization using the Grunwald-Letnikov expansion and spatial discretization using the RBF-FD. The proposed method is efficient and the numerical results confirm the theoretical formulation.
ENGINEERING WITH COMPUTERS
(2022)
Article
Acoustics
Fakhrodin Mohammadi, Leila Moradi, Jose Antonio Tenreiro Machado
Summary: This study develops an efficient numerical method for solving optimal control problems governed by fractional Volterra integro-differential equations, which has advantages in terms of computational cost and complexity.
JOURNAL OF VIBRATION AND CONTROL
(2022)
Article
Engineering, Multidisciplinary
Zahra Sadat Aghayan, Alireza Alfi, J. A. Tenreiro Machado
Summary: In this article, the delay-dependent robust stability of uncertain fractional order neutral-type systems with distributed delays, nonlinear perturbations, and input saturation is addressed. Using the Lyapunov-Krasovskii functional, criteria on asymptotic robust stability of the systems, expressed in terms of linear matrix inequalities, are constructed to compute the state-feedback controller gains. The controller gains are determined through the cone complementarity linearization algorithm to maximize the domain of attraction. Numerical simulations are conducted to validate the theoretical results.
INTERNATIONAL JOURNAL OF NONLINEAR SCIENCES AND NUMERICAL SIMULATION
(2023)
Article
Public, Environmental & Occupational Health
Micael Couceiro, Goncalo Dias, Duarte Araujo, Keith Davids, Jose Gama, Rui Mendes, Fernando Martins, Vasco Vaz
Summary: This study investigated the (re)organization of putting actions in skilled golfers under the constraints of different distances from the hole. It was found that the coupling of perception and action captured the mutual relationship between the performance environment and the golfers' abilities. The manipulation of distance constraints selectively constrained movement organization variables, resulting in increased backswing, downswing and follow-through amplitude, speed of putter impact, and maximum acceleration with increasing distance. The findings suggest that golfers' behaviors are an emergent process resulting from the perception-action coupling during practice and performance.
JOURNAL OF MENS HEALTH
(2022)
Article
Computer Science, Interdisciplinary Applications
O. Nikan, Z. Avazzadeh, J. A. Tenreiro Machado, M. N. Rasoulizadeh
Summary: This paper presents an accurate localized meshfree collocation technique for solving the second-order two-dimensional telegraph model. The technique involves two steps: discretizing the time variable and discretizing the spatial variable. By decomposing the problem into multiple subdomains, the computational burden is reduced, resulting in a small condition number and limited computational cost.
ENGINEERING WITH COMPUTERS
(2023)
Article
Computer Science, Interdisciplinary Applications
H. Hassani, J. A. Tenreiro Machado, E. Naraghirad, Z. Avazzadeh
Summary: This paper introduces a general class of nonlinear system of fractional partial differential equations with initial and boundary conditions. A hybrid method based on the transcendental Bernstein series and the generalized shifted Chebyshev polynomials is proposed for finding the optimal solution of the nonlinear system of fractional partial differential equations. The solution of the nonlinear system of fractional partial differential equations is expanded in terms of the transcendental Bernstein series and the generalized shifted Chebyshev polynomials, as basis functions with unknown free coefficients and control parameters. The corresponding operational matrices of fractional derivatives are then derived for the basis functions. These basis functions, with their operational matrices of fractional order derivatives and the Lagrange multipliers, transform the problem into a nonlinear system of algebraic equations. By means of Darbo's fixed point theorem and Banach contraction principle, an existence result and a unique result for the solution of the nonlinear system of fractional partial differential equations are obtained, respectively. The convergence analysis is discussed and several illustrative experiments illustrate the efficiency and accuracy of the proposed method.
ENGINEERING WITH COMPUTERS
(2023)
Article
Mathematics
Jocemar Q. Chagas, Jose A. Tenreiro Machado, Antonio M. Lopes
Summary: The main contribution of this paper is the proposal of a closed expression for the Ramanujan constant of alternating series based on the Euler-Boole summation formula. It also highlights the unique choice for the parameter a in Hardy's formula for a series of positive terms to obtain a Ramanujan constant that agrees with other summation methods for divergent series. The paper further derives a closed-formula for the Ramanujan constant of a series with the chosen parameter, under a natural interpretation of the integral term in the Euler-Maclaurin summation formula. Several examples of the Ramanujan constant of divergent series are presented.
Article
Mathematics, Applied
Juan P. Ugarte, J. A. Tenreiro Machado, Catalina Tobon
Summary: This study characterizes rotors using a fractional generalization of the entropy concept and investigates the dynamics of atrial fibrillation propagation in computational models. The results demonstrate that the fractional entropy approach provides a better spatio-temporal characterization of rotor dynamics than conventional entropy analysis under various simulated fibrillation conditions.
APPLIED MATHEMATICS AND COMPUTATION
(2022)
Editorial Material
Mathematics
Antonio M. Lopes, J. A. Tenreiro Machado
Article
Chemistry, Multidisciplinary
Vasco Vaz, Willian Ferrari, Hugo Sarmento, Micael Couceiro, Tiago Sousa, Goncalo Dias
Summary: This study aims to analyze the evolution of finalist teams in the EHF Champions League over five years and compare winning teams with defeated teams. A total of 35 games were analyzed, and tendency lines were created based on offensive indicators. The results showed that winning teams have more constancy during the competition, with increasing tendencies in assists, goals from the 6 m, and effectiveness at 6 m shots. However, the effectiveness of shots, effectiveness of the organized attack, and effectiveness of shots from 9-6 m showed decreasing tendencies.
APPLIED SCIENCES-BASEL
(2023)
Article
Chemistry, Analytical
Panagiotis T. Karfakis, Micael S. Couceiro, David Portugal
Summary: In this study, a cellular SLAM framework based on 5G signals and inertial measurements is proposed for mobile robot localization. The method outputs the robot's pose based on RSSI measurements and generates a radio signal map for correction. The results show that 5G positioning can provide increased robustness in outdoor environments and assist in robot localization when LiDAR methods fail and GNSS data is unreliable.
Article
Chemistry, Analytical
Beril Yalcinkaya, Micael S. Couceiro, Salviano Pinto Soares, Antonio Valente
Summary: This study presents a novel approach to cope with human behavior uncertainty during Human-Robot Collaboration (HRC) in dynamic and unstructured environments. The proposed method addresses this challenge by fuzzifying ambiguous sensory data and developing a combined activity recognition and sequence modelling system using state machines and the LSTM deep learning method.
Article
Engineering, Chemical
Zelia Alves, Paulo Brites, Nuno M. Ferreira, Goncalo Figueiredo, Gonzalo Otero-Irurueta, Idalina Goncalves, Sonia Mendo, Paula Ferreira, Claudia Nunes
Summary: Extension of food shelf life is driving the development of active packaging materials, and the addition of biochar-ZnO composites to polysaccharide-based films shows promising potential with antibacterial, antioxidant, and conductive properties.
JOURNAL OF FOOD ENGINEERING
(2024)
Article
Mathematics, Applied
Zakieh Avazzadeh, Omid Nikan, Jose Tenreiro Machado, Mohammad Navaz Rasoulizadeh
Summary: This paper proposes a local meshless radial basis function method to solve the two-dimensional time-fractional Sobolev equation. The method approximates the spatial operator using RBF and uses a finite-difference algorithm for time stepping. The stability of the technique is examined using the matrix method, and numerical examples are provided to verify the method's performance and efficiency.
ADVANCES IN CONTINUOUS AND DISCRETE MODELS
(2022)
Article
Engineering, Electrical & Electronic
Manuel Duarte Ortigueira, J. A. Tenreiro Machado
Summary: Two different approaches for describing discrete-time fractional linear systems are presented, one based on discrete derivatives and the other on bilinear transformations. Algorithms for obtaining impulse, step, and frequency responses are provided, along with analysis of state-variable representation.
IEEE CIRCUITS AND SYSTEMS MAGAZINE
(2022)
Article
Automation & Control Systems
Runwei Guan, Shanliang Yao, Lulu Liu, Xiaohui Zhu, Ka Lok Man, Yong Yue, Jeremy Smith, Eng Gee, Yutao Yue
Summary: With the development of Unmanned Surface Vehicles (USVs), the perception of inland waterways has become significant. Traditional RGB cameras cannot work effectively in adverse weather and at night, which has led to the emergence of 4D millimeter-wave radar as a new perception sensor. However, the radar suffers from water-surface clutter and irregular shape of point cloud. To address these issues, this paper proposes a high-performance panoptic perception model called Mask-VRDet, which fuses features of vision and radar using graph neural network.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Adrien Le Reun, Kevin Subrin, Anthony Dubois, Sebastien Garnier
Summary: This study aims to evaluate the quality and health of aerospace parts using a high-dimensional robotic cell. By utilizing X-ray Computed Tomography devices, the interior of the parts can be reconstructed and anomalies can be detected. A methodology is proposed to assess both the raw process capability and the improved process capability, with three strategies developed to improve the robot behavior model and calibration.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Weiming Ba, Jung-Che Chang, Jing Liu, Xi Wang, Xin Dong, Dragos Axinte
Summary: This paper proposes a hybrid scheme for kinematic control of continuum robots, which avoids errors through tension supervision and accurate piecewise linear approximation. The effectiveness of the controller is verified on different continuum robotic systems.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Gabriele Abbate, Alessandro Giusti, Viktor Schmuck, Oya Celiktutan, Antonio Paolillo
Summary: In this study, a learning-based approach is proposed to predict the probability of human users interacting with a robot before the interaction begins. By considering the pose and motion of the user, the approach labels the robot's encounters with humans in a self-supervised manner. The method is validated and deployed in various scenarios, achieving high accuracy in predicting user intentions to interact with the robot.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Tiago Cortinhal, Eren Erdal Aksoy
Summary: This work presents a new depth-and semantics-aware conditional generative model, named TITAN-Next, for cross-domain image-to-image translation between LiDAR and camera sensors. The model is able to translate raw LiDAR point clouds to RGB-D camera images by solely relying on semantic scene segments, and it has practical applications in fields like autonomous vehicles.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Marios Krestenitis, Emmanuel K. Raptis, Athanasios Ch. Kapoutsis, Konstantinos Ioannidis, Elias B. Kosmatopoulos, Stefanos Vrochidis
Summary: This paper addresses the issue of informative path planning for a UAV used in precision agriculture. By using a non-uniform scanning approach, the time spent in areas with minimal value is reduced, while maintaining high precision in information-dense regions. A novel active sensing and deep learning-based coverage path planning approach is proposed, which adjusts the UAV's speed based on the quantity and confidence level of identified plant classes.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Shota Kokubu, Pablo E. Tortos Vinocour, Wenwei Yu
Summary: In this study, a new modular soft actuator was proposed to improve the support performance of soft rehabilitation gloves (SRGs). Objective evaluations and clinical tests were conducted to demonstrate the effectiveness and functionality of the proposed actuator and SRG.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Jinliang Zhu, Yuanxi Sun, Jie Xiong, Yiyang Liu, Jia Zheng, Long Bai
Summary: This paper proposes an active prosthetic knee joint with a variable stiffness parallel elastic actuation mechanism. Numerical verifications and practical experiments demonstrate that the mechanism can reduce torque and power, thus reducing energy consumption and improving the endurance of the prosthetic knee joint.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Yong You, Jingtao Wu, Yunlong Meng, Dongye Sun, Datong Qin
Summary: A new power-cycling variable transmission (PCVT) is proposed and applied to construction vehicles to improve transmission efficiency. A shift correction strategy is developed based on identifying the changes in construction vehicles' mass and gradient. Simulation results show that the proposed method can correct shift points, improve operation efficiency, and ensure a safer operation process.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Shaorui Liu, Wei Tian, Jianxin Shen, Bo Li, Pengcheng Li
Summary: This paper proposes a two-objective optimization technique for multi-robot systems, addressing the issue of balancing productivity and machining performance in high-quality machining tasks.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Pengchao Ding, Faben Zhu, Hongbiao Zhu, Gongcheng Wang, Hua Bai, Han Wang, Dongmei Wu, Zhijiang Du, Weidong Wang
Summary: We propose an autonomous approaching scheme for mobile robot traversing obstacle stairwells, which overcomes the restricted field of vision caused by obstacles. The scheme includes stair localization, structural parameter estimation, and optimization of the approaching process.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Pedro Azevedo, Vitor Santos
Summary: Accurate detection and tracking of vulnerable road users and traffic objects are vital tasks for autonomous driving and driving assistance systems. This paper proposes a solution for object detection and tracking in an autonomous driving scenario, comparing different object detectors and exploring the deployment on edge devices. The effectiveness of DeepStream technology and different object trackers is assessed using the KITTI tracking dataset.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Benjamin Beiter, Divya Srinivasan, Alexander Leonessa
Summary: Powered exoskeletons can significantly reduce physical workload and have great potential impact on future labor practices. To truly assist users in achieving task goals, a shared autonomy control framework is proposed to separate the control objectives of the human and exoskeleton. Positive Power control is introduced for the human-based controller, while 'acceptance' is used as a measure of matching the exoskeleton's control objective to the human's. Both control objectives are implemented in an optimization-based Whole-Body-Control structure. The results verify the effectiveness of the control framework and its potential for improving cooperative control for powered exoskeletons.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
