Safe Robust Adaptive Motion Control for Underactuated Marine Robots.

This article presents an innovative approach to the design of a safe adaptive backstepping control system. Tailored specifically for underactuated marine robots, the system utilizes simple sensors for enhanced practicality and efficiency. Given their operation in diverse oceanic environments fraught with various sources of uncertainties, ensuring the system's safe and robust behavior holds paramount importance in the control literature. To address this concern, this paper introduces a control strategy designed to ensure robustness at both the kinematic and dynamic levels. By emphasizing the compensation for the system uncertainties, the design integrates a straightforward fuzzy system structure. To further ensure the system's safety, a funnel surface is defined, followed by the design of a suitable nonlinear sliding surface as a function of the funnel and tracking error. Using Lyapunov theory, the study formally establishes the Semi-globally Practically Finite-time Stability of the closed-loop system, validated through simulations conducted on underactuated marine robots.

Advancing psychiatric nosology through philosophical inquiry.

Here, we have utilised the concept of fuzzy logic and Karl Popper's notion of verisimilitude to advocate navigating the complexity of psychiatric nosology, emphasising that psychiatric disorders defy Boolean logic. We underscore the importance of embracing imprecision and collecting extensive data for a more nuanced understanding of psychiatric disorders, asserting that falsifiability is crucial for scientific progress. We encourage the advancement of personalised psychiatric taxonomy, urging the continual accumulation of data to inform emerging advancements like artificial intelligence in reshaping current psychiatric nosology.

Wearable Cardiorespiratory Sensors for Aerospace Applications.

Emerging Air Traffic Management (ATM) and avionics human-machine system concepts require the real-time monitoring of the human operator to support novel task assessment and system adaptation features. To realise these advanced concepts, it is essential to resort to a suite of sensors recording neurophysiological data reliably and accurately. This article presents the experimental verification and performance characterisation of a cardiorespiratory sensor for ATM and avionics applications. In particular, the processed physiological measurements from the designated commercial device are verified against clinical-grade equipment. Compared to other studies which only addressed physical workload, this characterisation was performed also looking at cognitive workload, which poses certain additional challenges to cardiorespiratory monitors. The article also addresses the quantification of uncertainty in the cognitive state estimation process as a function of the uncertainty in the input cardiorespiratory measurements. The results of the sensor verification and of the uncertainty propagation corroborate the basic suitability of the commercial cardiorespiratory sensor for the intended aerospace application but highlight the relatively poor performance in respiratory measurements during a purely mental activity.

Fuzzy System to Assess Dangerous Driving: A Multidisciplinary Approach.

Dangerous driving can cause accidents, injuries and loss of life. An efficient assessment helps to identify the absence or degree of dangerous driving to take the appropriate decisions while driving. Previous studies assess dangerous driving through two approaches: (i) using electronic devices or sensors that provide objective variables (acceleration, turns and speed), and (ii) analyzing responses to questionnaires from behavioral science that provide subjective variables (driving thoughts, opinions and perceptions from the driver). However, we believe that a holistic and more realistic assessment requires a combination of both types of variables. Therefore, we propose a three-phase fuzzy system with a multidisciplinary (computer science and behavioral sciences) approach that draws on the strengths of sensors embedded in smartphones and questionnaires to evaluate driver behavior and social desirability. Our proposal combines objective and subjective variables while mitigating the weaknesses of the disciplines used (sensor reading errors and lack of honesty from respondents, respectively). The methods used are of proven reliability in each discipline, and their outputs feed a combined fuzzy system used to handle the vagueness of the input variables, obtaining a personalized result for each driver. The results obtained using the proposed system in a real scenario were efficient at 84.21%, and were validated with mobility experts' opinions. The presented fuzzy system can support intelligent transportation systems, driving safety, or personnel selection.

A Taxonomy of Food Supply Chain Problems from a Computational Intelligence Perspective.

In the last few years, the Internet of Things, and other enabling technologies, have been progressively used for digitizing Food Supply Chains (FSC). These and other digitalization-enabling technologies are generating a massive amount of data with enormous potential to manage supply chains more efficiently and sustainably. Nevertheless, the intricate patterns and complexity embedded in large volumes of data present a challenge for systematic human expert analysis. In such a data-driven context, Computational Intelligence (CI) has achieved significant momentum to analyze, mine, and extract the underlying data information, or solve complex optimization problems, striking a balance between productive efficiency and sustainability of food supply systems. Although some recent studies have sorted the CI literature in this field, they are mainly oriented towards a single family of CI methods (a group of methods that share common characteristics) and review their application in specific FSC stages. As such, there is a gap in identifying and classifying FSC problems from a broader perspective, encompassing the various families of CI methods that can be applied in different stages (from production to retailing) and identifying the problems that arise in these stages from a CI perspective. This paper presents a new and comprehensive taxonomy of FSC problems (associated with agriculture, fish farming, and livestock) from a CI approach; that is, it defines FSC problems (from production to retail) and categorizes them based on how they can be modeled from a CI point of view. Furthermore, we review the CI approaches that are more commonly used in each stage of the FSC and in their corresponding categories of problems. We also introduce a set of guidelines to help FSC researchers and practitioners to decide on suitable families of methods when addressing any particular problems they might encounter. Finally, based on the proposed taxonomy, we identify and discuss challenges and research opportunities that the community should explore to enhance the contributions that CI can bring to the digitization of the FSC.

SuFMoFPA: A superpixel and meta-heuristic based fuzzy image segmentation approach to explicate COVID-19 radiological images.

Coronavirus disease 2019 or COVID-19 is one of the biggest challenges which are being faced by mankind. Researchers are continuously trying to discover a vaccine or medicine for this highly infectious disease but, proper success is not achieved to date. Many countries are suffering from this disease and trying to find some solution that can prevent the dramatic spread of this virus. Although the mortality rate is not very high, the highly infectious nature of this virus makes it a global threat. RT-PCR test is the only means to confirm the presence of this virus to date. Only precautionary measures like early screening, frequent hand wash, social distancing use of masks, and other protective equipment can prevent us from this virus. Some researches show that the radiological images can be quite helpful for the early screening purpose because some features of the radiological images indicate the presence of the COVID-19 virus and therefore, it can serve as an effective screening tool. Automated analysis of these radiological images can help the physicians and other domain experts to study and screen the suspected patients easily and reliably within the stipulated amount of time. This method may not replace the traditional RT-PCR method for detection but, it can be helpful to filter the suspected patients from the rest of the community that can effectively reduce the spread in the of this virus. A novel method is proposed in this work to segment the radiological images for the better explication of the COVID-19 radiological images. The proposed method will be known as SuFMoFPA (Superpixel based Fuzzy Modified Flower Pollination Algorithm). The type 2 fuzzy clustering system is blended with this proposed approach to get the better-segmented outcome. Obtained results are quite promising and outperforming some of the standard approaches which are encouraging for the practical uses of the proposed approach to screening the COVID-19 patients.

Dynamic Event-Triggered Predictive Control for Interval Type-2 Fuzzy Systems with Imperfect Premise Matching.

This paper investigates the dynamic event-triggered predictive control problem of interval type-2 (IT2) fuzzy systems with imperfect premise matching. First, an IT2 fuzzy systems model is proposed, including a dynamic event-triggered mechanism, which can save limited network resources by reducing the number of data packets transmitted, and a predictive controller, which can predict the state of the system between the two successful transmitted instants to deal with unreliable communication networks. Then, according to the Lyapunov stability theory and imperfect premise matching method, sufficient conditions for system stabilization and the controller gain are obtained. Finally, the validity of the proposed method is demonstrated by the numerical examples.

Evolving dynamic self-adaptation policies of mHealth systems for long-term monitoring.

Tele-rehabilitation can complement traditional rehabilitation therapies by providing valuable information that can help in the evaluation, monitoring, and treatment of patients. Many patient tele-monitoring systems that integrate wearable technology are emerging as an effective tool for the long-term surveillance of rehabilitation progression, enabling continuous sampling of patient real-time movement in a non-invasive way, without affecting the normal daily activity of the outpatient, who, therefore, will not need to make frequent clinic visits. One of the main challenges of tele-rehabilitation systems is to pay special attention to the diversity of dysfunctions in patients by offering devices with customized behaviours adaptable to the physical conditions of each patient at the different stages of the rehabilitation therapy. Long-term monitoring systems need an adaptation policy to autonomously reconfigure their behaviour according to vital signs read during the physical activity of the patient, the remaining battery level, or the required accuracy of collected data. However, it would alsobe desirable to adjust such adaptation policies over time, according to the patient's evolution. This work presents a wearable patient-monitoring system for tele-rehabilitation that is able to dynamically self-configure its internal behaviour to the current context of the outpatient according to a set of adaptation policies that optimize battery consumption, taking into account other QoS parameters at the same time. Our system is also able to self-adapt its internal adaptation policies as a patient's condition improves, while maintaining the system's efficiency. We illustrate our proposal with a real mHealth case study. The results of the experiments show that the system updates the adaptation policies, taking into account specific indicators of the disease. The validation results show that the evolution of the self-adaptation policies correlates with the progression of different patients.

Neuro-Fuzzy Networks and Their Applications in Medical Fields.

The fusion of artificial neural networks and fuzzy logic systems allows researchers to model real-world problems through the development of intelligent and adaptive systems. Artificial neural networks are able to adapt and learn by adjusting the interconnections between layers, while fuzzy logic inference systems provide a computing framework based on the concept of fuzzy set theory, fuzzy if-then rules, and fuzzy reasoning. The combined use of those adaptive structures is known as "neuro-fuzzy" systems. In this paper, the basic elements of both approaches are analyzed, noticing that this blending could be applied for pattern recognition in medical applications.

A Fuzzy Cooperative Localisation Framework for Underwater Robotic Swarms.

This article proposes a holistic localisation framework for underwater robotic swarms to dynamically fuse multiple position estimates of an autonomous underwater vehicle while using fuzzy decision support system. A number of underwater localisation methods have been proposed in the literature for wireless sensor networks. The proposed navigation framework harnesses the established localisation methods in order to provide navigation aids in the absence of acoustic exteroceptive sensors navigation aid (i.e., ultra-short base line) and it can be extended to accommodate newly developed localisation methods by expanding the fuzzy rule base. Simplicity, flexibility, and scalability are the main three advantages that are inherent in the proposed localisation framework when compared to other traditional and commonly adopted underwater localisation methods, such as the Extended Kalman Filter. A physics-based simulation platform that considers environment's hydrodynamics, industrial grade inertial measurement unit, and underwater acoustic communications characteristics is implemented in order to validate the proposed localisation framework on a swarm size of 150 autonomous underwater vehicles. The proposed fuzzy-based localisation algorithm improves the entire swarm mean localisation error and standard deviation by 16.53% and 35.17%, respectively, when compared to the Extended Kalman Filter based localisation with round-robin scheduling.

Towards Simultaneous Actuator and Sensor Faults Estimation for a Class of Takagi-Sugeno Fuzzy Systems: A Twin-Rotor System Application.

The paper is devoted to the problem of estimating simultaneously states, as well as actuator and sensor faults for Takagi-Sugeno systems. The proposed scheme is intended to cope with multiple sensor and actuator faults. To achieve such a goal, the original Takagi-Sugeno system is transformed into a descriptor one containing all state and fault variables within an extended state vector. Moreover, to facilitate the overall design procedure an auxiliary fault vector is introduced. In comparison to the approaches proposed in the literature, a usual restrictive assumption concerning fixed fault rate of change is removed. Finally, the robust convergence of the whole observer is guaranteed by the so-called quadratic boundedness approach which assumes that process and measurement uncertainties are unknown but bounded within an ellipsoid. The last part of the paper portrays an exemplary application concerning a nonlinear twin-rotor system.

Machine Learning for Modeling the Singular Multi-Pantograph Equations.

In this study, a new approach to basis of intelligent systems and machine learning algorithms is introduced for solving singular multi-pantograph differential equations (SMDEs). For the first time, a type-2 fuzzy logic based approach is formulated to find an approximated solution. The rules of the suggested type-2 fuzzy logic system (T2-FLS) are optimized by the square root cubature Kalman filter (SCKF) such that the proposed fineness function to be minimized. Furthermore, the stability and boundedness of the estimation error is proved by novel approach on basis of Lyapunov theorem. The accuracy and robustness of the suggested algorithm is verified by several statistical examinations. It is shown that the suggested method results in an accurate solution with rapid convergence and a lower computational cost.

Non-Fragile Robust H∞ Filtering of Takagi-Sugeno Fuzzy Networked Control Systems with Sensor Failures.

The fault-tolerant robust non-fragile H∞ filtering problem for networked control systems with sensor failures is studied in this paper. The Takagi-Sugeno fuzzy model which can appropriate any nonlinear systems is employed. Based on the model, a filter which can maintain stability and H∞ performance level under the influence of gain perturbation of the filter and sensor failures is designed. Moreover, the gain matrix of sensor failures is converted into a dynamic interval to expand the range of allowed failures. And the sufficient condition for the existence of the desired filter is derived in terms of linear matrix inequalities (LMIs) solutions. Finally a simulation example is given to illustrate the effectiveness of the proposed method.

Development and Control of a Pneumatic-Actuator 3-DOF Translational Parallel Manipulator with Robot Vision.

A vision-based three degree-of-freedom translational parallel manipulator (TPM) was developed. The developed TPM has the following characteristics. First, the TPM is driven by three rodless pneumatic actuators and is designed as a horizontal structure to enlarge its horizontal working space to cover a conveyor. Then, a robot-vision system (including a webcam mounted on the TPM) collects images of objects on the conveyor and transfers them through the LabVIEW application programming interface for image processing. Since it is very difficult to achieve precise position control of the TPM due to the nonlinear couplings among the robot axes, feedback linearization is utilized to design an adaptive interval type-2 fuzzy controller with self-tuning fuzzy sliding-mode compensation (AIT2FC-STFSMC) for each rodless pneumatic actuator to attenuate nonlinearities, function approximation errors, and external disturbances. Finally, experiments proved that the vision-based three degree-of-freedom TPM was capable of accurately tracking desired trajectories and precisely executing pick-and-place movement in real time.

Improved quantification of important beer quality parameters based on nonlinear calibration methods applied to FT-MIR spectra.

During the production process of beer, it is of utmost importance to guarantee a high consistency of the beer quality. For instance, the bitterness is an essential quality parameter which has to be controlled within the specifications at the beginning of the production process in the unfermented beer (wort) as well as in final products such as beer and beer mix beverages. Nowadays, analytical techniques for quality control in beer production are mainly based on manual supervision, i.e., samples are taken from the process and analyzed in the laboratory. This typically requires significant lab technicians efforts for only a small fraction of samples to be analyzed, which leads to significant costs for beer breweries and companies. Fourier transform mid-infrared (FT-MIR) spectroscopy was used in combination with nonlinear multivariate calibration techniques to overcome (i) the time consuming off-line analyses in beer production and (ii) already known limitations of standard linear chemometric methods, like partial least squares (PLS), for important quality parameters Speers et al. (J I Brewing. 2003;109(3):229-235), Zhang et al. (J I Brewing. 2012;118(4):361-367) such as bitterness, citric acid, total acids, free amino nitrogen, final attenuation, or foam stability. The calibration models are established with enhanced nonlinear techniques based (i) on a new piece-wise linear version of PLS by employing fuzzy rules for local partitioning the latent variable space and (ii) on extensions of support vector regression variants (𝜖-PLSSVR and ν-PLSSVR), for overcoming high computation times in high-dimensional problems and time-intensive and inappropriate settings of the kernel parameters. Furthermore, we introduce a new model selection scheme based on bagged ensembles in order to improve robustness and thus predictive quality of the final models. The approaches are tested on real-world calibration data sets for wort and beer mix beverages, and successfully compared to linear methods, showing a clear out-performance in most cases and being able to meet the model quality requirements defined by the experts at the beer company. Figure Workflow for calibration of non-Linear model ensembles from FT-MIR spectra in beer production .

A Metaheuristically Tuned Interval Type 2 Fuzzy System to Reduce Segmentation Uncertainty in Brain MRI Images.

Precise segmentation of magnetic resonance image (MRI) seems challenging because of the complex structure of the brain, non-uniform field in images, and noise. As a result, decision-making is associated with uncertainty. Fuzzy based approaches have been developed to overcome this problem, though most of them use fuzzy type 1 method, and sometimes contain a pre-processing step. This paper "modified type 2 fuzzy system" (MT2FS) declares a state-of-the-art method to segment MRI images using interval fuzzy type-2. Furthermore, Genetic algorithm has been employed to specify the best values for mean and variance of upper and lower membership functions. This strategy will determine discrimination boundaries for different brain tissues to be less independent from the training set. Finally, the result of fuzzy rules is extracted by using Dempster-Shafer rule combination method. Simulation results demonstrate a satisfactory output on both simulated and real MRI images in comparison with previously conducted research works without the need for a pre-processing stage.

An Artificial Intelligence Approach for Gears Diagnostics in AUVs.

In this paper, an intelligent scheme for detecting incipient defects in spur gears is presented. In fact, the study has been undertaken to determine these defects in a single propeller system of a small-sized unmanned helicopter. It is important to remark that although the study focused on this particular system, the obtained results could be extended to other systems known as AUVs (Autonomous Unmanned Vehicles), where the usage of polymer gears in the vehicle transmission is frequent. Few studies have been carried out on these kinds of gears. In this paper, an experimental platform has been adapted for the study and several samples have been prepared. Moreover, several vibration signals have been measured and their time-frequency characteristics have been taken as inputs to the diagnostic system. In fact, a diagnostic system based on an artificial intelligence strategy has been devised. Furthermore, techniques based on several paradigms of the Artificial Intelligence (Neural Networks, Fuzzy systems and Genetic Algorithms) have been applied altogether in order to design an efficient fault diagnostic system. A hybrid Genetic Neuro-Fuzzy system has been developed, where it is possible, at the final stage of the learning process, to express the fault diagnostic system as a set of fuzzy rules. Several trials have been carried out and satisfactory results have been achieved.

A PSO-based rule extractor for medical diagnosis.

One of the major bottlenecks in applying conventional neural networks to the medical field is that it is very difficult to interpret, in a physically meaningful way, because the learned knowledge is numerically encoded in the trained synaptic weights. In one of our previous works, we proposed a class of Hyper-Rectangular Composite Neural Networks (HRCNNs) of which synaptic weights can be interpreted as a set of crisp If-Then rules; however, a trained HRCNN may result in some ineffective If-Then rules which can only justify very few positive examples (i.e., poor generalization). This motivated us to propose a PSO-based Fuzzy Hyper-Rectangular Composite Neural Network (PFHRCNN) which applies particle swarm optimization (PSO) to trim the rules generated by a trained HRCNN while the recognition performance will not be degraded or even be improved. The performance of the proposed PFHRCNN is demonstrated on three benchmark medical databases including liver disorders data set, the breast cancer data set and the Parkinson's disease data set.

Population diversity control based differential evolution algorithm using fuzzy system for noisy multi-objective optimization problems.

The objective measurements of the real-world optimization problems are mostly subject to noise which occurs due to several reasons like human measurement or environmental factors. The performance of the optimization algorithm gets affected if the effect of noise is higher than the negligible limit. The previous noise handling optimization algorithms use a large population size or multiple sampling at same region which increases the total count of function evaluations, and few methods work for a particular problem type. To address the above challenges, a Differential Evolution based Noise handling Optimization algorithm (NDE) to solve and optimize noisy bi-objective optimization problems is proposed. NDE is a Differential Evolution (DE) based optimization algorithm where the strategies for trial vector generation and the control parameters of DE algorithm are self-adapted using fuzzy inference system to improve the population diversity along the evolution process. In NDE, explicit averaging based method for denoising is used when the noise level is higher than negligible limit. Extending noise handling method enhances the performance of the optimization algorithm in solving real world optimization problems. To improve the convergence characteristics of the proposed algorithm, a restricted local search procedure is proposed. The performance of NDE algorithm is experimented using DTLZ and WFG problems, which are benchmark bi-objective optimization problems. The obtained results are compared with other SOTA algorithm using modified Inverted Generational Distance and Hypervolume performance metrics, from which it is confirmed that the proposed NDE algorithm is better in solving noisy bi-objective problems when compared to the other methods. To further strengthen the claim, statistical tests are conducted using the Wilcoxon and Friedman rank tests, and the proposed NDE algorithm shows significance over the other algorithms rejecting the null hypothesis.

A novel fuzzy programming approach for piece selection problem in P2P content distribution network.

Piece selection policy in dynamic P2P networks play crucial role and avoid the last piece problem. BitTorrent uses rarest-first piece selection mechanism to deal with this problem, but its efficacy is limited because each peer only has a local view of piece rareness. The problem of piece section is multiple objectives. A novel fuzzy programming approach is introduced in this article to solve the multiple objectives piece selection problem in P2P network, in which some of the factors are fuzzy in nature. Piece selection problem has been prepared as a fuzzy mixed integer goal programming piece selection problem that includes three primary goals such as minimizing the download cost, time, maximizing speed and useful information transmission subject to realistic constraints regarding peer's demand, capacity and dynamicity. The proposed approach has the ability to handle practical situations in a fuzzy environment and offers a better decision tool to each peer to select optimal pieces to download from other peers in dynamic P2P network. Extensive simulations are carried out to demonstrate the effectiveness of the proposed model. It is proved that proposed system outperforms existing with respect to download cost, time and meaningful exchange of useful information.