Diabetes is one of the most rapidly increasing health threats worldwide. One further abnormalities on retina (diabetic retinopathy). Early treatment can be conduct from detection microaneurysms. The main concentration this paper algorithm to detect microaneurysm with mathematical morphology. morphology choosen because microaneurysms tend have typical shape. Generally, consist three stages. first preprocessing, second detecting candidate microaneurysms, and third postprocessing handling...

In this paper, we propose a cooperative control law of human-robotic networks in the presence inter-robot communication delays. The objective is to guarantee human enabled synchronization positions robotic network desired reference. We first design controller be implemented on each robot so that their motion are synchronized reference by operator. Then, point out ensures passivity. Furthermore, channels designed via so-called scattering transformation which technique passify delayed channel....

One reason why multirobot systems are preferred, in some contexts, over their single-robot counterparts is that they admit a larger spatial footprint. With multiple robots, it possible to span large area, which desirable applications such as search and rescue, environmental monitoring, perimeter patrol [1]. However, interrobot distances grow, so do the communication delays experienced among making precise, coordinated control hard achieve [2]-[5].

The deployment of a group robots equipped with sensors for monitoring, also known as robotic sensor network, is promising technological solution to solve time-critical societal and environmental issues. This paper considers the problem deploying network persistently effectively monitor multiple locations interest in large field represented by grids. To this end, we propose novel two-layer control framework where first layer (i.e., task allocation strategy) encapsulates targeted grids into...

This paper analyzes perceived workload and passivity-shortage of human operators for a class semi-autonomous robotic swarms. First, we briefly introduce the passivity-short-based architecture presented in one our previous works, which guarantees human-enabled motion synchronization to desired position/velocity references under assumption that operator's thought process is passivity-short system. It observed changes parameter affects visual feedback operator also complexity setups. Through...

The strong connectivity of a directed graph associated with the communication network topology is crucial in ensuring convergence many distributed estimation/control/optimization algorithms. However, assumption on network's may not always be satisfied practice. In addition, information overall often available, e.g., due to privacy concerns or geographical constraints which calls for algorithm. This paper aims fill gap literature absence fully algorithm verify and ensure finite-time network....

This paper considers the use of static and mobile sensors (quadrotors) for persistent monitoring in an indoor farming scenario. The focus is on autonomous navigation quadrotors to monitor coverage holes generated by a number broken sensors. To that end, three-layer strategy proposed (i) dividing into several region-of-interests (ROIs); (ii) selecting quadrotor(s) responsible each ROI using novel Modified Ant Colony Optimization; (iii) designing control with time-varying density function...

This paper gives an overview of classical gainscheduling design applicable to three-loop attitude autopilot. Three-loop autopilot is a classic linear flight control scheme that still being used nowadays. With the help method it expected implementation can improve response system. The scopes this include procedures and analysis from model linear, autopilot, until addition anti-windup effects discretization delay are also included in discussion. results showed designed gain scheduled stable...

In this paper, we propose a robotic network cooperative control law under inter-robot communication delay. This controller guarantees human operator enabled positions/velocities synchronization of to desired values. First, show passivity the interconnected system each robot and proposed law. Furthermore, is also shown by applying scattering transformation channels between robot. Then, values are proved with input strict assumptions human's decision making process. Finally, demonstrate...

Presence of a human operator in cooperation with robotic swarm could enhance the mission performance and accommodate sudden changes environments or goals. This paper investigates two similar architectures for semi-autonomous under passivity-short assumption operator. The differ only visual feedback given to In addition, we present proofs that both ensure objective which is position/velocity synchronization references determined by human. Further analysis differences between then presented,...

This paper focuses on the development of a resilient cooperative control system for leader-follower consensus problems prone to external cyber-attacks. The attackers are assumed adversely impact data integrity and privacy by (i) injecting unknown bounded exogenous signals actuators (ii) eavesdropping physical states followers. To mitigate adverse effects such attacks consensus, privacy, stability systems, we develop introducing virtual interconnected with in way that is guaranteed under...

Abstract The Traveling Salesman Problem (TSP) involves optimizing a route to find the most efficient path. In agricultural scenarios, practical example of TSP arises when Unmanned Aerial Vehicles (UAVs) are required traverse multiple locations (nodes) execute specific tasks such as monitoring or fertilization. One algorithms employed for solving is Ant-Colony Optimization (ACO). ACO algorithm operates by utilizing “ants” virtual agents exploring potential routes and storing information in...

State-of-charge (SOC) estimation is particularly important as it provides information about the remaining energy capacity of battery, allowing for better planning and utilization. Accurate SOC challenging because cannot be directly measured from battery. Instead, estimated by analyzing measurable variables such current voltage. To address this challenge, a discrete-time observer-based approach proposed in paper. This utilizes second-order equivalent circuit model piecewise linear...

This paper considers the problem of distributively verifying and ensuring strong connectivity directed networks. Strong a graph associated with communication network topology is crucial in convergence many distributed algorithms. Specifically, inspired by maximum consensus algorithm, we first propose algorithm that enables nodes networked system to verify graph. Then, given an arbitrary weakly connected graph, develop augment additional links ensure graph's connectivity. Both algorithms are...

This paper focused on the design and implementation of guidance gain-scheduling autopilot for modeled rocket. Autopilot implemented by using classical method that designed to work within certain velocity angle-of-attack (AOA). Input command is provided system which processed kinematic dynamic rocket, so it could follow desired trajectory. Guidance were together with navigation nonlinear model rocket Hardware-in Loop Simulation (HILS) PC/104. Results showed stable tests also delay effect...

This paper presents a novel extension of the Control Barrier Function (CBF) as low-level safety controller for autonomous mobile robots navigating in unknown environments. The main challenges implementing CBF real-world situations arise from absence model or lack an exact one environment. Additionally, online learning is needed robot to maneuver environment which leads dealing with sampled data set size, memory, and computational complexity. We address these by designing non-parametric...

Persistent monitoring is important in indoor farming to maintain a safe environment for plant growth. Typically, various static sensors are employed ensure continuous surveillance within farming. However, these susceptible damage, and repairing them can be time-consuming. Such repairs disrupt the real-time process. In this study, we employ Crazyflie swarmUAVs substitute malfunctioning while they undergo or replacements. The primary objective of research develop Ant Colony Optimization (ACO)...

Multi-UAV systems have been widely used in various fields, including agriculture. Effective coordination and task allocation are essential components of these systems. This study focuses on optimizing the multi-UAVs by adapting Modified Ant Colony Optimization (M-ACO) K-Means Algorithms. Prior to implementing algorithms, it is necessary configure a multi/swarm-UAV system. In this study, we configured Crazyflie UAVs Crazyswarm software for laboratory experiment. Subsequently, swarm-UAV system...

State-of-charge is an important variable in a battery management system. However, it cannot be measured directly from battery. Instead, estimated measurable variables like current and voltage. This paper addresses discrete-time observer-based SOC estimation such that has asymptotic stability guarantee with some assumptions. The second-order equivalent circuit model piecewise linear approximation representing relationship between the state-of-charge open voltage are utilized. Simulations...