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In this study, Active Disturbance Rejection Control (ADRC) has been designed for motion control of knee-joint based on exoskeleton medical robot. The extended state observer (ESO) is the main part of ADRC structure, which is responsible for estimating both actual states and system uncertainties. The proposed control scheme has adopted two versions of observers as disturbance estimators: linear extended state observer (LESO) and nonlinear extended state observer (NESO). The efficacy of proposed ADRC is strongly related to the performance of used ESO. As such, a comparison study has been conducted to evaluate the performance of two ADRCs in terms of disturbance-rejection capability and robustness to variation in system parameters under two version of ESO (LSO and NLESO). In order to enhance the dynamic performance of ADRC, Particle Swarm Optimization (PSO) algorithm has been used to optimally tune the design parameters of control scheme. To show the effectiveness of proposed LESO-based ADRC and NLESO-based ADRC, numerical simulation have been conducted. The proposed controllers have tested for an uncertain exoskeleton-knee system, where a 20% change in parameters was permitted over their nominal values. The results indicate that the ADRC algorithm based on LESO outperforms the one based on NESO in terms of disturbances rejection ability and robustness to parameters' variations.

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In this study, a hybrid control strategy is proposed to improve the tracking performance of lower limb exoskeleton system dedicated for rehabilitation the motion of hip and knee limbs in disabled persons. The proposed controller together with exoskeleton device is practically instructive to make exercises for people suffering weakness in their lower limbs. The proposed controller combined both active disturbance rejection control (ADRC) with sliding mode control (SMC) to get their powerful characteristics in terms of rejection capability and robustness characteristics. The dynamic modelling of swinging lower limbs are developed and the controller has been designed accordingly. The numerical simulations have been conducted to validate the effectiveness of proposed controller. A comparison study in performance has been performed between the proposed controller and the traditional controller ADRC based on proportional-derivative controller. The simulated results showed that the proposed controller has better tracking performance than conventional version. In addition, the results showed that the sliding mode-based ADRC can considerably reduce the chattering level and better rejection capability, fast tracking behavior and less control effort.

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Lung auscultation has long been used as a valuable medical tool to assess respiratory health and has gotten a lot of attention in recent years, notably following the coronavirus epidemic. Lung auscultation is used to assess a patient's respiratory role. Modern technological progress has guided the growth of computer-based respiratory speech investigation, a valuable tool for detecting lung abnormalities and diseases. Several recent studies have reviewed this important area, but none are specific to lung sound-based analysis with deep-learning architectures from one side and the provided information was not sufficient for a good understanding of these techniques. This paper gives a complete review of prior deep-learning-based architecture lung sound analysis. Deep-learning-based respiratory sound analysis articles are found in different databases including the Plos, ACM Digital Libraries, Elsevier, PubMed, MDPI, Springer, and IEEE. More than 160 publications were extracted and submitted for assessment. This paper discusses different trends in pathology/lung sound, the common features for classifying lung sounds, several considered datasets, classification methods, signal processing techniques, and some statistical information based on previous study findings. Finally, the assessment concludes with a discussion of potential future improvements and recommendations.

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In order to extract efficient power generation, a wind turbine (WT) system requires an accurate maximum power point tracking (MPPT) technique. Therefore, a novel robust variable-step perturb-and-observe (RVS-P&O) algorithm was developed for the machine-side converter (MSC). The control strategy was applied on a WT based permanent-magnet synchronous generator (PMSG) to overcome the downsides of the currently published P&O MPPT methods. Particularly, two main points were involved. Firstly, a systematic step-size selection on the basis of power and speed measurement normalization was proposed; secondly, to obtain acceptable robustness for high and long wind-speed variations, a new correction to calculate the power variation was carried out. The grid-side converter (GSC) was controlled using a second-order sliding mode controller (SOSMC) with an adaptive-gain super-twisting algorithm (STA) to realize the high-quality seamless setting of power injected into the grid, a satisfactory power factor correction, a high harmonic performance of the AC source, and removal of the chatter effect compared to the traditional first-order sliding mode controller (FOSMC). Simulation results showed the superiority of the suggested RVS-P&O over the competing based P&O techniques. The RVS-P&O offered the WT an efficiency of 99.35%, which was an increase of 3.82% over the variable-step P&O algorithm. Indeed, the settling time was remarkably enhanced; it was 0.00794 s, which was better than for LS-P&O (0.0841 s), SS-P&O (0.1617 s), and VS-P&O (0.2224 s). Therefore, in terms of energy efficiency, as well as transient and steady-state response performances under various operating conditions, the RVS-P&O algorithm could be an accurate candidate for MPP online operation tracking.

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Multi-Inputs-Multi-Outputs (MIMO) systems are recognized mainly in industrial applications with both input and state couplings, and uncertainties. The essential principle to deal with such difficulties is to eliminate the input couplings, then estimate the remaining issues in real-time, followed by an elimination process from the input channels. These difficulties are resolved in this research paper, where a decentralized control scheme is suggested using an Improved Active Disturbance Rejection Control (IADRC) configuration. A theoretical analysis using a state-space eigenvalue test followed by numerical simulations on a general uncertain nonlinear highly coupled MIMO system validated the effectiveness of the proposed control scheme in controlling such MIMO systems. Time-domain comparisons with the Conventional Active Disturbance Rejection Control (CADRC)-based decentralizing control scheme are also included.

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In the last few years, the deep learning (DL) computing paradigm has been deemed the Gold Standard in the machine learning (ML) community. Moreover, it has gradually become the most widely used computational approach in the field of ML, thus achieving outstanding results on several complex cognitive tasks, matching or even beating those provided by human performance. One of the benefits of DL is the ability to learn massive amounts of data. The DL field has grown fast in the last few years and it has been extensively used to successfully address a wide range of traditional applications. More importantly, DL has outperformed well-known ML techniques in many domains, e.g., cybersecurity, natural language processing, bioinformatics, robotics and control, and medical information processing, among many others. Despite it has been contributed several works reviewing the State-of-the-Art on DL, all of them only tackled one aspect of the DL, which leads to an overall lack of knowledge about it. Therefore, in this contribution, we propose using a more holistic approach in order to provide a more suitable starting point from which to develop a full understanding of DL. Specifically, this review attempts to provide a more comprehensive survey of the most important aspects of DL and including those enhancements recently added to the field. In particular, this paper outlines the importance of DL, presents the types of DL techniques and networks. It then presents convolutional neural networks (CNNs) which the most utilized DL network type and describes the development of CNNs architectures together with their main features, e.g., starting with the AlexNet network and closing with the High-Resolution network (HR.Net). Finally, we further present the challenges and suggested solutions to help researchers understand the existing research gaps. It is followed by a list of the major DL applications. Computational tools including FPGA, GPU, and CPU are summarized along with a description of their influence on DL. The paper ends with the evolution matrix, benchmark datasets, and summary and conclusion.

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Deep learning requires a large amount of data to perform well. However, the field of medical image analysis suffers from a lack of sufficient data for training deep learning models. Moreover, medical images require manual labeling, usually provided by human annotators coming from various backgrounds. More importantly, the annotation process is time-consuming, expensive, and prone to errors. Transfer learning was introduced to reduce the need for the annotation process by transferring the deep learning models with knowledge from a previous task and then by fine-tuning them on a relatively small dataset of the current task. Most of the methods of medical image classification employ transfer learning from pretrained models, e.g., ImageNet, which has been proven to be ineffective. This is due to the mismatch in learned features between the natural image, e.g., ImageNet, and medical images. Additionally, it results in the utilization of deeply elaborated models. In this paper, we propose a novel transfer learning approach to overcome the previous drawbacks by means of training the deep learning model on large unlabeled medical image datasets and by next transferring the knowledge to train the deep learning model on the small amount of labeled medical images. Additionally, we propose a new deep convolutional neural network (DCNN) model that combines recent advancements in the field. We conducted several experiments on two challenging medical imaging scenarios dealing with skin and breast cancer classification tasks. According to the reported results, it has been empirically proven that the proposed approach can significantly improve the performance of both classification scenarios. In terms of skin cancer, the proposed model achieved an F1-score value of 89.09% when trained from scratch and 98.53% with the proposed approach. Secondly, it achieved an accuracy value of 85.29% and 97.51%, respectively, when trained from scratch and using the proposed approach in the case of the breast cancer scenario. Finally, we concluded that our method can possibly be applied to many medical imaging problems in which a substantial amount of unlabeled image data is available and the labeled image data is limited. Moreover, it can be utilized to improve the performance of medical imaging tasks in the same domain. To do so, we used the pretrained skin cancer model to train on feet skin to classify them into two classes-either normal or abnormal (diabetic foot ulcer (DFU)). It achieved an F1-score value of 86.0% when trained from scratch, 96.25% using transfer learning, and 99.25% using double-transfer learning.

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This paper suggests a new control design based on the concept of Synergetic Control theory for controlling a one-link robot arm actuated by Pneumatic artificial muscles (PAMs) in opposing bicep/tricep positions. The synergetic control design is first established based on known system parameters. However, in real PAM-actuated systems, the uncertainties are inherited features in their parameters and hence an adaptive synergetic control algorithm is proposed and synthesized for a PAM-actuated robot arm subjected to perturbation in its parameters. The adaptive synergetic laws are developed to estimate the uncertainties and to guarantee the asymptotic stability of the adaptive synergetic controlled PAM-actuated system. The work has also presented an improvement in the performance of proposed synergetic controllers (classical and adaptive) by applying a modern optimization technique based on Particle Swarm Optimization (PSO) to tune their design parameters towards optimal dynamic performance. The effectiveness of the proposed classical and adaptive synergetic controllers has been verified via computer simulation and it has been shown that the adaptive controller could cope with uncertainties and keep the controlled system stable. The proposed optimal Adaptive Synergetic Controller (ASC) has been validated with a previous adaptive controller with the same robot structure and actuation, and it has been shown that the optimal ASC outperforms its opponent in terms of tracking speed and error.

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A consensus control law is proposed for a multi-agent system of quadrotors with leader-follower communication topology for three quadrotor agents. The genetic algorithm (GA) is the proposed optimization technique to tune the consensus control parameters. The complete nonlinear model is used without any further simplifications in the simulations, while simplification in the model is used to theoretically design the controller. Different case studies and tests are done (i.e., trajectory tracking formation and switching topology) to show the effectiveness of the proposed controller. The results show good performance in all tests while achieving the consensus of the desired formations.

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Planning an optimal path for a mobile robot is a complicated problem as it allows the mobile robots to navigate autonomously by following the safest and shortest path between starting and goal points. The present work deals with the design of intelligent path planning algorithms for a mobile robot in static and dynamic environments based on swarm intelligence optimization. A modification based on the age of the ant is introduced to standard ant colony optimization, called modified aging ant colony optimization (AACO). The AACO was implemented in association with grid-based modeling for the static and dynamic environments to solve the path planning problem. The simulations are run in the MATLAB environment to test the validity of the proposed algorithms. Simulations showed that the proposed path planning algorithms result in superior performance by finding the shortest and the most free-collision path under various static and dynamic scenarios. Furthermore, the superiority of the proposed algorithms was proved through comparisons with other traditional path planning algorithms with different static environments.

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