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All Journal Bulletin of Electrical Engineering and Informatics Journal of Robotics and Control (JRC)
Pham, Trung Kien
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Aerospace Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Mechanical Engineering

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Adaptive Single-Input Recurrent WCMAC-Based Supervisory Control for De-icing Robot Manipulator Ngo, Thanh Quyen; Le, Tong Tan Hoa; Lam, Binh Minh; Pham, Trung Kien
Journal of Robotics and Control (JRC) Vol 4, No 4 (2023)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v4i4.18464

Abstract

The control of any robotic system always faces many great challenges in theory and practice. Because between theory and reality, there is always a huge difference in the uncertainty components in the system. That leads to the accuracy and stability of the system not being guaranteed with the set requirements. This paper presents a novel adaptive single-input recurrent wavelet differentiable cerebellar model articulation controller (S-RWCMAC)-based supervisory control system for an m-link robot manipulator to achieve precision trajectory tracking. This adaptive S-RWCMAC-based supervisory control system consists of a main adaptive S-RWCMAC, a supervisory controller, and an adaptive robust controller. The S-RWCMAC incorporates the advantages of the wavelet decomposition property with a CMAC fast learning ability, dynamic response, and input space dimension of RWCMAC can be simplified; and it is used to control the plant. The supervisory controller is appended to the adaptive S-RWCMAC to force the system states within a predefined constraint set and the adaptive robust controller is developed to dispel the effect of the approximate error. In this scheme, if the adaptive S-RWCMAC can not maintain the system states within the constraint set. Then, the supervisory controller will work to pull the states back to the constraint set and otherwise is idle. The online tuning laws of S-RWCMAC and the robust controller parameters are derived from the gradient-descent learning method and Lyapunov function so that the stability of the system can be guaranteed. The simulation and experimental results of the novel three-link De-icing robot manipulator are provided to verify the effectiveness of the proposed control methodology. The results indicate that the proposed model has superior accuracy compared to that of the Standalone CMAC Controller. The parameters of the average squared error in the S-RWCMAC -based 3 robot joints are lower than those of the Standalone CMAC Controller by 0.023%, 0.029%, and 0.032%, respectively.
Combining dual attention mechanism and efficient feature aggregation for road and vehicle segmentation from UAV imagery Nguyen, Trung Dung; Pham, Trung Kien; Ha, Chi Kien; Le, Long Ho; Ngo, Thanh Quyen; Nguyen, Hoanh
Bulletin of Electrical Engineering and Informatics Vol 13, No 3: June 2024
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/eei.v13i3.6742

Abstract

Unmanned aerial vehicles (UAVs) have gained significant popularity in recent years due to their ability to capture high-resolution aerial imagery for various applications, including traffic monitoring, urban planning, and disaster management. Accurate road and vehicle segmentation from UAV imagery plays a crucial role in these applications. In this paper, we propose a novel approach combining dual attention mechanisms and efficient multi-layer feature aggregation to enhance the performance of road and vehicle segmentation from UAV imagery. Our approach integrates a spatial attention mechanism and a channel-wise attention mechanism to enable the model to selectively focus on relevant features for segmentation tasks. In conjunction with these attention mechanisms, we introduce an efficient multi-layer feature aggregation method that synthesizes and integrates multi-scale features at different levels of the network, resulting in a more robust and informative feature representation. Our proposed method is evaluated on the UAVid semantic segmentation dataset, showcasing its exceptional performance in comparison to renowned approaches such as U-Net, DeepLabv3+, and SegNet. The experimental results affirm that our approach surpasses these state-of-the-art methods in terms of segmentation accuracy.
Co-Authors Ha, Chi Kien Lam, Binh Minh Le, Long Ho Le, Tong Tan Hoa Ngo, Thanh Quyen Nguyen, Hoanh Nguyen, Trung Dung