Control and Model-Aided Inertial Navigation of a Nonholonomic Vehicle

International audienceThe present work deals with the control and localization problem of wheeled-mobile robots with nonholonomic constraints. In the proposed method a simple nonlinear control law, composed of a position and heading direction controller, is designed to asymptotically stabilize the position error. The control law takes into account the constraints on the control signals in order to avoid saturation of the actuators. Furthermore, this paper considers a method of using the dynamic vehicle model and vehicle's nonholonomic constraints in order to aid position and attitude estimates provided by an Inertial Navigation System (INS). It is shown that dynamic model and vehicle's nonholonomic constraints can reduce the error growth in robot position estimates. Simulations are included to confirm the effectiveness of the proposed scheme

Efecto de las soluciones irrigantes de quitosano en la liberación de proteínas bioactivas de la dentina radicular

Objetivo Identificar el efecto de dos soluciones de quitosano en la liberación de proteínas de la matriz dentinaria radicular y describir los cambios químicos observados tras el acondicionamiento con agentes quelantes. Materiales y métodos Se investigó la liberación de sialoproteína dentinaria (DSP), factor de crecimiento transformante-beta 1 (TGF-β1), factor de crecimiento endotelial vascular (VEGF) y factor de crecimiento derivado de plaquetas-BB (PDGF-BB) con diferentes agentes quelantes, incluyendo ácido etilendiaminotetraacético (EDTA), solución de quitosano (CS) y quitosano nanoparticulado (CSnp). La DSP se cuantificó mediante un ensayo inmunoenzimático (ELISA). El TGF-β1, el VEGF y el PDGF-BB se cuantificaron mediante un panel de microesferas de citoquinas (CBA). Se realizó espectroscopia Raman para identificar cambios químicos en la superficie. El análisis estadístico se realizó mediante la prueba de Kruskal-Wallis con la prueba de suma de rangos de Mann-Whitney-Wilcoxon (p<0,05). Resultados El TGF-β1, el VEGF y el DSP se solubilizaron en todos los irrigantes probados. CSnp mostró la mayor concentración de DSP. El PDGFBB no superó los límites de detección. La espectroscopia Raman reveló una disminución de los picos de fosfato y carbonato, lo que representa el efecto quelante del EDTA, CS y CSnp. Además, la CSnp mostró la mayor preservación del contenido de amidas I y III. Conclusión Las proteínas pueden liberarse de la dentina mediante el acondicionamiento con EDTA, CS y CSnp. La espectroscopia Raman reveló cambios en el contenido inorgánico de la dentina radicular tras la quelación. Además, el uso de CSnp facilitó la conservación del contenido orgánico. Importancia clínica La quelación permite la liberación de proteínas, lo que justifica el uso de agentes quelantes en endodoncia regenerativa. La interacción quitosano-matriz dentinaria también promueve la protección del contenido orgánico como un beneficio adicional a su efecto liberador de proteínas.Objective To identify the efect of two chitosan solutions on the release of root dentin matrix proteins and to describe the chemical changes observed following conditioning with chelating agents. Materials and methods The release of dentin sialoprotein (DSP), transforming growth factor-beta 1 (TGF-β1), vascular endothelial growth factor (VEGF), and platelet-derived growth factor-BB (PDGF-BB) with diferent chelating agents, including ethylenediaminetetraacetic acid (EDTA), chitosan solution (CS), and nanoparticulate chitosan (CSnp), was investigated. DSP was quantifed using an enzyme-linked immunosorbent assay (ELISA). TGF-β1, VEGF, and PDGF-BB were quantifed using a cytokine bead panel (CBA). Raman spectroscopy was performed to identify surface chemical changes. Statistical analysis was performed using Kruskal–Wallis test with Mann–Whitney–Wilcoxon rank-sum test (p<0.05). Results TGF-β1, VEGF, and DSP solubilized in all irrigants tested. CSnp showed the highest concentration of DSP. PDGFBB did not exceed the detection limits. Raman spectroscopy revealed a decrease in the phosphate and carbonate peaks, representing the chelating efect of EDTA, CS, and CSnp. Additionally, CSnp showed the greatest preservation of the amide I and III content. Conclusion Proteins can be released from dentin via EDTA, CS, and CSnp conditioning. Raman spectroscopic revealed changes in the inorganic content of the root dentin after chelation. Furthermore, use of CSnp facilitated a preservation of the organic content. Clinical relevance Chelation allows the release of proteins, justifying the use of chelating agents in regenerative endodontics. The chitosan–dentin matrix interaction also promotes the protection of the organic content as an additional beneft to its protein releasing efect

Decentralized event-based leader-following consensus for a group of two-wheeled self-balancing robots

[EN] This paper deals with the development of a decentralized event-based control strategy applied to the leader-following consensus problem of a group of two-wheeled self-balancing robots so called mobile inverted pendulum (MIP). The MIP’s nonlinear mathematical model which includes the dynamics of the actuators is presented. Then, the model around an operating point is considered which allows to exploit the differential flatness property of the system, permitting a complete parametrization in terms of the flat output. Assuming that the vehicle network exchange information through a directed and strongly connected graph, a decentralized control law is designed, and an event-based algorithm is developed. Then each MIP decides, based on the difference of its current state and its latest broadcast state, when it has to send a new value to its neighbors. The stability of the complete system is carried out in the Lyapunov sense together with the ISS (Input-to-State Stability) approach. Numerical results show the advantages \textit{wrt} information exchange between MIPs, as well as a good performance in the angular stabilization under two scenarios: regulation and tracking problem.[ES] El trabajo presenta el diseno de una estrategia de control distribuido con comunicación activada por eventos, que resuelve el problema de consenso líder-seguidor, de un conjunto de robots móviles tipo péndulo invertido (RMPI). La linealización de las ecuaciones de movimiento de los RMPI, alrededor del punto de equilibrio, permiten explotar las propiedades de planitud diferencial, dando lugar a una reparametrización del sistema mediante la salida plana. Asumiendo que los vehículos se comunican mediante una red, cuya topología es representada por un grafo no dirigido y fuertemente conectado, se disena una ley de control distribuido y una funcion de evento que indica el instante en el que el i-ésimo vehículo debe transmitir informacion (su estado) a sus vecinos. El resultado es un intercambio asíncrono de información entre vehículos y donde el tiempo entre eventos no es equidistante. El análisis de estabilidad se lleva a cabo en el sentido de Lyapunov y en el sentido entrada-estado ISS (Input-to-State Stability). Los resultados en simulación numérica muestran el buen desempeño del consenso de la red de vehículos en dos escenarios representativos: regulación y seguimiento de trayectoria.Ramírez-Cárdenas, O.; Guerrero-Castellanos, J.; Linares-Flores, J.; Durand, S.; Guerrero-Sánchez, W. (2019). Control descentralizado basado en eventos para el consenso de múltiples robots tipo péndulo invertido en el esquema líder-seguidor. Revista Iberoamericana de Automática e Informática. 16(4):435-446. https://doi.org/10.4995/riai.2019.11113SWORD435446164Ahmed, N., Cortes, J., Martinez, S., 2016a. Distributed control and estimation of robotic vehicle networks: Overview of the special issue. IEEE Control Systems 36 (2), 36-40. https://doi.org/10.1109/MCS.2015.2512030Ahmed, N., Cortes, J., Martinez, S., 2016b. Distributed control and estimation of robotic vehicle networks: Overview of the special issue-part II. IEEE Control Systems 36 (4), 18-21. https://doi.org/10.1109/MCS.2016.2558398Aström, K. J., Murray, R. M., 2010. Feedback systems: an introduction for scientists and engineers. Princeton University Press. https://doi.org/10.2307/j.ctvcm4gdkBrisilla, R., Sankaranarayanan, V., 2015. Nonlinear control of mobile inverted pendulum. Robotics and Autonomous Systems 70, 145 - 155. https://doi.org/10.1016/j.robot.2015.02.012Bullo, F., Cortés, J., Martinez, S., 2009. Distributed Control of Robotic Networks: A Mathematical Approach to Motion Coordination Algorithms: A Mathematical Approach to Motion Coordination Algorithms. Princeton University Press. https://doi.org/10.1515/9781400831470Chung, T. L., Bui, T. H., Nguyen, T. T., Kim, S. B., Jul 2004. Sliding mode control of two-wheeled welding mobile robot for tracking smooth curved welding path. KSME International Journal 18 (7), 1094-1106. https://doi.org/10.1007/BF02983284Dimarogonas, D. V., Frazzoli, E., Johansson, K. H., 2012. Distributed eventtriggered control for multi-agent systems. IEEE Transactions on Automatic Control 57 (5), 1291-1297. https://doi.org/10.1109/TAC.2011.2174666Durand, S., Marchand, N., Aug 2009. Further results on event-based pid controller. In: Control Conference (ECC), 2009 European. pp. 1979-1984. https://doi.org/10.23919/ECC.2009.7074694Frías, O. O. G., 2013. Estabilización del péndulo invertido sobre dos ruedas mediante el método de lyapunov. Revista Iberoamericana de Automática e Informática Industrial RIAI 10 (1), 30 - 36. https://doi.org/10.1016/j.riai.2012.11.003Garcia, E., Cao, Y., Wang, X., Casbeer, D. W., July 2015. Decentralized eventtriggered consensus of linear multi-agent systems under directed graphs. In: 2015 American Control Conference (ACC). pp. 5764-5769. https://doi.org/10.1109/ACC.2015.7172242Ge, X., Han, Q. L., 2017. Distributed formation control of networked multiagent systems using a dynamic event-triggered communication mechanism. IEEE Transactions on Industrial Electronics PP (99), 1-1.Grasser, F., D'Arrigo, A., Colombi, S., Rufer, A. C., Feb 2002. Joe: a mobile, inverted pendulum. IEEE Transactions on Industrial Electronics 49 (1), 107-114. https://doi.org/10.1109/41.982254Guerrero Castellanos, J. F., Vega-Alonzo, A., Marchand, N., Durand, S., Linares-Flores, J., Mino-Aguilar, G., 2017. Real-time event-based formation control of a group of vtol-uavs. In: Proceedings of the 3rd IEEE International Conference on Event-Based Control, Communication and Signal Processing (EBCCSP). Hal-01527633. https://doi.org/10.1109/EBCCSP.2017.8022817Guinaldo, M., Fábregas, E., Farias, G., Dormido-Canto, S., Chaos, D., Sánchez, J., Dormido, S., 2013. A mobile robots experimental environment with event-based wireless communication. Sensors 13 (7), 9396-9413. https://doi.org/10.3390/s130709396Hebertt Sira-Ramírez, Alberto Luviano-Juárez, M. R.-N. E.-W. Z.-B., 2017. Active Disturbance Rejection Control of Dynamic Systems. Butterworth- Heinemann.Lewis, F. L., Zhang, H., Hengster-Movric, K., Das, A., 2013. Cooperative control of multi-agent systems: optimal and adaptive design approaches. Springer Science & Business Media. https://doi.org/10.1007/978-1-4471-5574-4Li, Z., Yang, C., Fan, L., 2003. Advanced Control of Wheeled Inverted Pendulum Systems. Springer-Verlag London.Marchand, N., Durand, S., Guerrero-Castellanos, J. F., 2013. A general formula for event-based stabilization of nonlinear systems. Automatic Control, IEEE Transactions on 58 (5), 1332-1337. https://doi.org/10.1109/TAC.2012.2225493Müllhaupt, P., 2009. Introduction à l'analyse et à la commande des systèmes non linéaires. PPUR Presses polytechniques.Olfati-Saber, R., Murray, R. M., 2004. Consensus problems in networks of agents with switching topology and time-delays. Automatic Control, IEEE Transactions on 49 (9), 1520-1533. https://doi.org/10.1109/TAC.2004.834113Pathak, K., Franch, J., Agrawal, S. K., June 2005. Velocity and position control of a wheeled inverted pendulum by partial feedback linearization. IEEE Transactions on Robotics 21 (3), 505-513. https://doi.org/10.1109/TRO.2004.840905Ren, W., Beard, R. W., 2008. Distributed consensus in multi-vehicle cooperative control. Springer. https://doi.org/10.1007/978-1-84800-015-5Salerno, A., Angeles, J., Sept 2003. On the nonlinear controllability of a quasiholonomic mobile robot. In: 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422). Vol. 3. pp. 3379-3384 vol.3.Sánchez, J., Guarnes, M., Dormido, S., 2009. On the application of different event-based sampling strategies to the control of a simple industrial process. Sensors 9, 6795-6818. https://doi.org/10.3390/s90906795Sanchez-Santana, J., Guerrero-Castellanos, J., Villarreal-Cervantes, M., Ramírez-Martínez, S., 2018. Control distribuido y disparado por eventos para la formación de robots móviles tipo (3, 0) ' ?. In: Congreso Nacional de Control Automático.Schinstock, D., McGahee, K., Smith, S., July 2016. Engaging students in control systems using a balancing robot in a mechatronics course. In: 2016 American Control Conference (ACC). pp. 6658-6663. https://doi.org/10.1109/ACC.2016.7526719Segway, 2018. Segway human transporter. URL: http://www.segway.comSeyboth, G. S., Dimarogonas, D. V., Johansson, K. H., 2013. Event-based broadcasting for multi-agent average consensus. Automatica 49 (1), 245- 252. https://doi.org/10.1016/j.automatica.2012.08.042Sira-Ramírez, H., Agrawal, S. K., 2004. Differentially Flat Systems. Marcel Dekker, Inc. https://doi.org/10.1201/9781482276640Tabuada, P., 2007. 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Contraction Based Nonlinear Controller for a Laser Beam Stabilization System using a Variable Gain

In this letter, we propose a contraction-based variable gain nonlinear control scheme for the laser-beam stabilizing (LBS) servo-system, which guarantees that the closed-loop system is convergent. With the variable gain acting on the velocity error, the well known waterbed effect of the low-frequency/bandwidth trade-off can be overcome. Moreover, the contraction-based framework allows us to extend the linear control performance metrics for analyzing the closed-loop nonlinear system behavior. The closed-loop system’s performance is evaluated in numerical simulations under input disturbances and/or white noise measurements and its efficacy is compared to that using PID and LQG controllers

Nonlinear control of a nano-hexacopter carrying a manipulator arm

International audienceThis paper proposes a simple solution for stabilization of a nano-hexacopter carrying a manipulator arm in order to increase the type of missions achievable by these types of systems. The manipulator arm is attached to the lower part of the hexacopter. The motion of the arm induces a change of the center of mass of the whole body, which induces torques which can produce the loss of stability. The present work deals with the stabilization of the whole system-that is hexacopter and arm-by means of a set of nonlinear control laws. First, an attitude control, stabilizes the hexacopter to a desired attitude taking into account the movement of the arm. Then, a suitable virtual control and the translational dynamics allow the formulation of a nonlinear controller, which drives the aerial vehicle to a desired position. Both controls consist in saturation functions. Experimental results validate the proposed control strategy and compares the results when the motion of the arm is taken into account or not

Distributed event-triggered communication for angular speed synchronization of networked BLDC motors

[EN] This work presents the design and implementation of a collaborative and decentralized control for synchronizing the angular velocity of a group of spatially distributed brushless direct current (BLDC) motors. Via an Active Disturbance Rejection Control (ADRC), acting as an internal-loop, the dynamics of the BLDC can be assimilated to that of a first-order integrator, which is considered an agent. Then, a decentralized collaborative control strategy with event-triggered communication is proposed, which solves the problem of leader-follower consensus for the multi-agent system and thus speed synchronization. The communication topology between agents is modeled using an undirected and connected graph. The decentralized control law incorporates an event function, which indicates the instant at which the i-th agent transmits the angular velocity information to its neighbor. An experimental platform using two BLDC and a virtual leader was developed to validate the proposed approach. The experimental results show excellent performance for angular velocity consensus for regulation tasks, while the bandwidth usage is only 1.25 % regarding a periodic communication implementation.[ES] Este trabajo presenta el diseño e implementación de un control colaborativo descentralizado para la sincronización de velocidad angular de un conjunto de motores de corriente continua sin escobillas (BLDC) distribuidos espacialmente. Apoyándose de un control por rechazo activo de perturbaciones, actuando como un bucle interno, la dinámica del BLDC puede asimilarse a la de un integrador de primer orden y el cual será considerado un agente. Se propone entonces una estrategia de control colaborativo descentralizado con una comunicación activada por eventos, que resuelve el problema del consenso líder-seguidor del sistema multi-agente y, con ello, la sincronización de velocidades entre motores. La topología de comunicación entre agentes se modela usando un grafo conectado y no dirigido. La ley de control descentralizado incorpora una función de evento, que indica el instante en el que $i$-ésimo agente transmite la información de velocidad angular a su vecino. El intercambio asíncrono de información permite reducir el tráfico de datos en la red de comunicaciones, lo que permite aprovechar el ancho de banda. Al analizar la dinámica de la trayectoria del error del sistema, se establece que el vector de error del sistema multi-agente tiende de forma exponencial y permanece confinado a una vecindad del origen del espacio de estados de error. Aunque la estrategia está diseñada para n-agentes, se desarrolló una plataforma experimental compuesta por dos motores y un líder virtual, permitiendo validar la estrategia. Los resultados experimentales muestran un excelente desempeño del consenso de velocidad angular de ambos motores BLDC para tareas de regulación, mientras que el uso del ancho de banda es de solamente 1.25 % con respecto a una implementación de comunicación periódica.Hernández-Méndez, A.; Guerrero-Castellanos, J.; Orozco-Urbieta, T.; Linares-Flores, J.; Mino-Aguilar, G.; Curiel, G. (2021). Comunicación distribuida activada por eventos para la sincronización de velocidad angular de motores BLDC en red. Revista Iberoamericana de Automática e Informática industrial. 18(4):360-370. https://doi.org/10.4995/riai.2021.14989OJS360370184Ahmed, N., Cortes, J., Martinez, S., 2016. Distributed control and estimation of robotic vehicle networks: Overview of the special issue-part II. IEEE Control Systems 36 (4), 18-21. https://doi.org/10.1109/MCS.2016.2558398Aranda-Escolástico, E., Guinaldo, M., Heradio, R., Chacon, J., Vargas, H., Sánchez, J., Dormido, S., 2020. Event-based control: A bibliometric analysis of twenty years of research. IEEE Access 8, 47188-47208. https://doi.org/10.1109/ACCESS.2020.2978174Bullo, F., Cortés, J., Martinez, S., 2009. Distributed Control of Robotic Networks: A Mathematical Approach to Motion Coordination Algorithms: A Mathematical Approach to Motion Coordination Algorithms. Princeton University Press.https://doi.org/10.1515/9781400831470Chaari, R., Ellouze, F., Koubaa, A., Qureshi, B., Pereira, N., Youssef, H., Tovar, E., 2016. Cyber-physical systems clouds: A survey. Computer Networks 108, 260 - 278. https://doi.org/10.1016/j.comnet.2016.08.017Dimarogonas, D. V., Frazzoli, E., 2009. Distributed event-triggered control strategies for multi-agent systems. In: Communication, Control, and Computing, 2009. Allerton 2009. 47th Annual Allerton Conference on. IEEE, pp. 906-910. https://doi.org/10.1109/ALLERTON.2009.5394897Fuentes, G. A. R., Cortés-Romero, J. A., Zou, Z., Costa-Castelló, R., Zhou, K., 2015. Power active filter control based on a resonant disturbance observer. IET Power Electronics 8 (4), 554-564. https://doi.org/10.1049/iet-pel.2014.0032Garcia, E., Cao, Y., Wang, X., Casbeer, D. W., July 2015. Decentralized eventtriggered consensus of linear multi-agent systems under directed graphs. In: 2015 American Control Conference (ACC). pp. 5764-5769. https://doi.org/10.1109/ACC.2015.7172242Guerrero-Castellanos, J., Rifaï, H., Arnez-Paniagua, V., Linares-Flores, J., Saynes-Torres, L., Mohammed, S., 2018. Robust active disturbance rejection control via control lyapunov functions: Application to actuated-ankle-footorthosis. Control Engineering Practice 80, 49 - 60. https://doi.org/10.1016/j.conengprac.2018.08.008Guerrero-Castellanos, J., Vega-Alonzo, A., Durand, S., Marchand, N., Gonzalez-Diaz, V., Casta˜neda-Camacho, J., Guerrero-Sánchez, W., 2019. Leader-following consensus and formation control of vtol-uavs with eventtriggered communications. Sensors 19 (24), 1-26. https://doi.org/10.3390/s19245498Guinaldo, M., Dimarogonas, D. V., Johansson, K. H., S'anchez, J., Dormido, S., 2013. Distributed event-based control strategies for interconnected linear systems. Control Theory & Applications, IET 7 (6), 877-886. https://doi.org/10.1049/iet-cta.2012.0525Guzey, H. M., Dumlu, A., Guzey, N., Alpay, A., April 2018. Optimal synchronizing speed control of multiple dc motors. In: 2018 4th International Conference on Optimization and Applications (ICOA). pp. 1-5. https://doi.org/10.1109/ICOA.2018.8370508Han, J., 2009. From pid to active disturbance rejection control. Transactions on Industry Electronics 56 (3), 900-906. https://doi.org/10.1109/TIE.2008.2011621Hebertt Sira-Ramírez, Alberto Luviano-Juárez, M. R.-N. E.-W. Z.-B., 2017. Active Disturbance Rejection Control of Dynamic Systems. Butterworth- Heinemann.Hernandez-Méndez, A., Linares-Flores, J., Sira-Ramírez, H., Guerrero-Castellanos, J., Mino-Aguilar, G., 2017. A backstepping approach to decentralized active disturbance rejection control of interacting boost converters. Transactions on Industry Applications 53 (4), 4063-4072. https://doi.org/10.1109/TIA.2017.2683441Lee, J., Bagheri, B., Kao, H.-A., 2015. A cyber-physical systems architecture for industry 4.0-based manufacturing systems. Manufacturing Letters 3, 18- 23. https://doi.org/10.1016/j.mfglet.2014.12.001Lewis, F. L., Zhang, H., Hengster-Movric, K., Das, A., 2013. Cooperative control of multi-agent systems: optimal and adaptive design approaches. Springer Science & Business Media. https://doi.org/10.1007/978-1-4471-5574-4Marchand, N., Durand, S., Guerrero-Castellanos, J. F., 2013. A general formula for event-based stabilization of nonlinear systems. Automatic Control, IEEE Transactions on 58 (5), 1332-1337. https://doi.org/10.1109/TAC.2012.2225493Miskowicz, M., 2015. Event-Based Control and Signal Processing. CRC Press.Neenu, T., Poongodi, P., 07 2009. Position control of dc motor using genetic algorithm based pid controller. Lecture Notes in Engineering and Computer Science 2177.Olfati-Saber, R., Murray, R. M., 2004a. Consensus problems in networks of agents with switching topology and time-delays. Automatic Control, IEEE Transactions on 49 (9), 1520-1533. https://doi.org/10.1109/TAC.2004.834113Olfati-Saber, R., Murray, R. M., Sep. 2004b. Consensus problems in networks of agents with switching topology and time-delays. IEEE Transactions on Automatic Control 49 (9), 1520-1533. https://doi.org/10.1109/TAC.2004.834113Ren, W., Beard, R. W., 2008. Distributed consensus in multi-vehicle cooperative control. Springer. https://doi.org/10.1007/978-1-84800-015-5Sánchez-Santana, J., Guerrero-Castellanos, J., Villarreal-Cervantes, M., Ramırez-Martınez, S., 2018. Control distribuido y disparado por eventos para la formación de robots m'oviles tipo (3, 0)?. In: Congreso Nacional de Control Automático.Seyboth, G. S., Dimarogonas, D. V., Johansson, K. H., 2013. Event-based broadcasting for multi-agent average consensus. Automatica 49 (1), 245-252. https://doi.org/10.1016/j.automatica.2012.08.042Shi, T., Liu, H., Geng, Q., Xia, C., 2016. Improved relative coupling control structure for multi-motor speed synchronous driving system. IET Electric Power Applications 10 (6), 451-457. https://doi.org/10.1049/iet-epa.2015.0515Sira-Ramírez, H., Hernández-Méndez, A., Linares-Flores, J., Luviano-Juarez, A., 2016. Robust flat filtering dsp based control of the boost converter. Control Theory and Technology 14 (3), 224-236. https://doi.org/10.1007/s11768-016-6025-6Sira-Ramírez, H., Linares-Flores, J., Luviano-Juárez, A., Cortés-Romero, J., 2015. Ultramodelos globales y el control por rechazo activo de perturbaciones en sistemas no lineales diferencialmente planos. Revista Iberoamericanade Automática e Informática Industrial RIAIg 12 (2), 133 - 144. https://doi.org/10.1016/j.riai.2015.02.001Song, H., Rawat, D. 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Computational approaches to explainable artificial intelligence: Advances in theory, applications and trends

Deep Learning (DL), a groundbreaking branch of Machine Learning (ML), has emerged as a driving force in both theoretical and applied Artificial Intelligence (AI). DL algorithms, rooted in complex and non-linear artificial neural systems, excel at extracting high-level features from data. DL has demonstrated human-level performance in real-world tasks, including clinical diagnostics, and has unlocked solutions to previously intractable problems in virtual agent design, robotics, genomics, neuroimaging, computer vision, and industrial automation. In this paper, the most relevant advances from the last few years in Artificial Intelligence (AI) and several applications to neuroscience, neuroimaging, computer vision, and robotics are presented, reviewed and discussed. In this way, we summarize the state-of-the-art in AI methods, models and applications within a collection of works presented at the 9th International Conference on the Interplay between Natural and Artificial Computation (IWINAC). The works presented in this paper are excellent examples of new scientific discoveries made in laboratories that have successfully transitioned to real-life applications.MCIU - Nvidia(UMA18-FEDERJA-084

Computational Approaches to Explainable Artificial Intelligence:Advances in Theory, Applications and Trends

Deep Learning (DL), a groundbreaking branch of Machine Learning (ML), has emerged as a driving force in both theoretical and applied Artificial Intelligence (AI). DL algorithms, rooted in complex and non-linear artificial neural systems, excel at extracting high-level features from data. DL has demonstrated human-level performance in real-world tasks, including clinical diagnostics, and has unlocked solutions to previously intractable problems in virtual agent design, robotics, genomics, neuroimaging, computer vision, and industrial automation. In this paper, the most relevant advances from the last few years in Artificial Intelligence (AI) and several applications to neuroscience, neuroimaging, computer vision, and robotics are presented, reviewed and discussed. In this way, we summarize the state-of-the-art in AI methods, models and applications within a collection of works presented at the 9 International Conference on the Interplay between Natural and Artificial Computation (IWINAC). The works presented in this paper are excellent examples of new scientific discoveries made in laboratories that have successfully transitioned to real-life applications

Computational approaches to Explainable Artificial Intelligence:Advances in theory, applications and trends

Deep Learning (DL), a groundbreaking branch of Machine Learning (ML), has emerged as a driving force in both theoretical and applied Artificial Intelligence (AI). DL algorithms, rooted in complex and non-linear artificial neural systems, excel at extracting high-level features from data. DL has demonstrated human-level performance in real-world tasks, including clinical diagnostics, and has unlocked solutions to previously intractable problems in virtual agent design, robotics, genomics, neuroimaging, computer vision, and industrial automation. In this paper, the most relevant advances from the last few years in Artificial Intelligence (AI) and several applications to neuroscience, neuroimaging, computer vision, and robotics are presented, reviewed and discussed. In this way, we summarize the state-of-the-art in AI methods, models and applications within a collection of works presented at the 9th International Conference on the Interplay between Natural and Artificial Computation (IWINAC). The works presented in this paper are excellent examples of new scientific discoveries made in laboratories that have successfully transitioned to real-life applications.</p