发布求助
文献互助 智能选刊 最新文献

IFAC-PapersOnLine最新文献

筛选
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
IFAC-PapersOnLine Pub Date : 2024-04-05 DOI: 10.1016/j.ifacol.2023.10.419
Mads Erlend Bøe Lysø, E. Grøtli, K. Y. Pettersen
{"title":"Torque-Minimizing Control Allocation for Overactuated Quadrupedal Locomotion","authors":"Mads Erlend Bøe Lysø, E. Grøtli, K. Y. Pettersen","doi":"10.1016/j.ifacol.2023.10.419","DOIUrl":"https://doi.org/10.1016/j.ifacol.2023.10.419","url":null,"abstract":"","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"27 15","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-04-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140738902","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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
IFAC-PapersOnLine Pub Date : 2024-03-12 DOI: 10.1016/j.ifacol.2023.10.676
Eduardo M. G. Vila, Eric C. Kerrigan, Paul Bruce
{"title":"Mesh Refinement with Early Termination for Dynamic Feasibility Problems","authors":"Eduardo M. G. Vila, Eric C. Kerrigan, Paul Bruce","doi":"10.1016/j.ifacol.2023.10.676","DOIUrl":"https://doi.org/10.1016/j.ifacol.2023.10.676","url":null,"abstract":"","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"22 2","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140250913","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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。
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
{"title":"Prediction of Placenta Previa from Serial Reading of Serum Human Chorionic Gonadotropin Late in the First Half of Pregnancy.","authors":"Shatha Sami Hussein, Manal Madany A Qader, Wisam Akram","doi":"10.1007/s13224-023-01786-4","DOIUrl":"10.1007/s13224-023-01786-4","url":null,"abstract":"<p><strong>Background: </strong>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.</p><p><strong>Aim of study: </strong>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.</p><p><strong>Study design: </strong>This is a prospective study done in Al-Yarmouk Teaching Hospital from first of January 2020 till first of January 2021.</p><p><strong>Material and methods: </strong>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.</p><p><strong>Result: </strong>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 <i>P</i> 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.</p><p><strong>Conclusion: </strong>B-HCG level in first half of pregnancy can be used as a predictor marker for placenta previa.</p>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"50 1","pages":"27-30"},"PeriodicalIF":0.0,"publicationDate":"2024-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10902246/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80308670","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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
IFAC-PapersOnLine Pub Date : 2024-01-28 DOI: 10.1016/j.ifacol.2023.10.1047
B. C. Csáji, Balint Horvath
{"title":"Improving Kernel-Based Nonasymptotic Simultaneous Confidence Bands","authors":"B. C. Csáji, Balint Horvath","doi":"10.1016/j.ifacol.2023.10.1047","DOIUrl":"https://doi.org/10.1016/j.ifacol.2023.10.1047","url":null,"abstract":"","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"11 22","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-01-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139592202","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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*
IFAC-PapersOnLine Pub Date : 2024-01-28 DOI: 10.1016/j.ifacol.2023.10.1048
Szabolcs Szentpéteri, B. C. Csáji
{"title":"Sample Complexity of the Sign-Perturbed Sums Identification Method: Scalar Case*","authors":"Szabolcs Szentpéteri, B. C. Csáji","doi":"10.1016/j.ifacol.2023.10.1048","DOIUrl":"https://doi.org/10.1016/j.ifacol.2023.10.1048","url":null,"abstract":"","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"6 12","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-01-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139592243","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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⁎
IFAC-PapersOnLine Pub Date : 2024-01-01 DOI: 10.1016/j.ifacol.2024.09.157
Seongwoo Cho , Jongsu Park , Jumyung Um
{"title":"Development of Fine-Tuned Retrieval Augmented Language Model specialized to manual books on machine tools⁎","authors":"Seongwoo Cho ,&nbsp;Jongsu Park ,&nbsp;Jumyung Um","doi":"10.1016/j.ifacol.2024.09.157","DOIUrl":"10.1016/j.ifacol.2024.09.157","url":null,"abstract":"<div><div>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.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"58 19","pages":"Pages 187-192"},"PeriodicalIF":0.0,"publicationDate":"2024-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142426146","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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
IFAC-PapersOnLine Pub Date : 2024-01-01 DOI: 10.1016/j.ifacol.2024.10.149
Lina Pan , Pengfei Wang , Emilia Fridman
{"title":"Sampled-data finite-dimensional boundary control for 1-D Burgers’ equation","authors":"Lina Pan ,&nbsp;Pengfei Wang ,&nbsp;Emilia Fridman","doi":"10.1016/j.ifacol.2024.10.149","DOIUrl":"10.1016/j.ifacol.2024.10.149","url":null,"abstract":"<div><div><span>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</span> <em>H</em><sup>1</sup><span>-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.</span></div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"58 17","pages":"Pages 172-177"},"PeriodicalIF":0.0,"publicationDate":"2024-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142553232","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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⁎
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
{"title":"Good Seamanship Score Quantification in Complex and Congested Waterways⁎","authors":"Yaqub A. Prabowo ,&nbsp;Peter N. Hansen ,&nbsp;Dimitrios Papageorgiou ,&nbsp;Roberto Galeazzi","doi":"10.1016/j.ifacol.2024.10.077","DOIUrl":"10.1016/j.ifacol.2024.10.077","url":null,"abstract":"<div><div>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.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"58 20","pages":"Pages 341-346"},"PeriodicalIF":0.0,"publicationDate":"2024-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142555610","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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
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
{"title":"Multi-level Optimal Control with Neural Surrogate Models","authors":"Dante Kalise ,&nbsp;Estefania Loayza-Romero ,&nbsp;Kirsten A. Morris ,&nbsp;Zhengang Zhong","doi":"10.1016/j.ifacol.2024.10.184","DOIUrl":"10.1016/j.ifacol.2024.10.184","url":null,"abstract":"<div><div>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.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"58 17","pages":"Pages 292-297"},"PeriodicalIF":0.0,"publicationDate":"2024-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142553434","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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
IFAC-PapersOnLine Pub Date : 2024-01-01 DOI: 10.1016/j.ifacol.2024.10.085
Habeebullah Abdulkadir , Ossama Abdelkhalik , Mohamed A. Shabara
{"title":"Nonlinear control design for a spherical Wave Energy Converter","authors":"Habeebullah Abdulkadir ,&nbsp;Ossama Abdelkhalik ,&nbsp;Mohamed A. Shabara","doi":"10.1016/j.ifacol.2024.10.085","DOIUrl":"10.1016/j.ifacol.2024.10.085","url":null,"abstract":"<div><div>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).</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"58 20","pages":"Pages 392-397"},"PeriodicalIF":0.0,"publicationDate":"2024-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142555626","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：481959085
Book学术官方微信