Daulet Baimukashev

Ideally, accurate sensor measurements are needed to achieve a good performance in the closed-loop control of mechatronic systems. As a consequence, sensor faults will prevent the system from working correctly, unless a fault-tolerant control (FTC) architecture is adopted. As model-based FTC algorithms for nonlinear systems are often challenging to design, this article focuses on a new method for FTC in the presence of sensor faults, based on deep learning. The considered approach replaces the phases of fault detection and isolation and controller design with a single recurrent neural network, which has the value of past sensor measurements in a given time window as input and the current values of the control variables as output. This end-to-end deep FTC method is applied to a mechatronic system composed of a spherical inverted pendulum, whose configuration is changed via reaction wheels, in turn actuated by electric motors. The simulation and experimental results show that the proposed method can handle abrupt faults occurring in link position/velocity sensors.

Goal: The COVID-19 pandemic has emerged as the most severe public health crisis in over a century. As of January 2021, there are more than 100 million cases and 2.1 million deaths. For informed decision making, reliable statistical data and capable simulation tools are needed. Our goal is to develop an epidemic simulator that can model the effects of random population testing and contact tracing. Methods: Our simulator models individuals as particles with the position, velocity, and epidemic status states on a 2D map and runs an SEIR epidemic model with contact tracing and testing modules. The simulator is available on GitHub under the MIT license. Results: The results show that the synergistic use of contact tracing and massive testing is effective in suppressing the epidemic (the number of deaths was reduced by 72%). Conclusions: The Particle-based COVID-19 simulator enables the modeling of intervention measures, random testing, and contact tracing, for epidemic mitigation and suppression.

Goal: The COVID-19 pandemic has emerged as the most severe public health crisis in over a century. As of January 2021, there are more than 100 million cases and 2.1 million deaths. For informed decision making, reliable statistical data and capable simulation tools are needed. Our goal is to develop an epidemic simulator that can model the effects of random population testing and contact tracing. Methods: Our simulator models individuals as particles with the position, velocity, and epidemic status states on a 2D map and runs an SEIR epidemic model with contact tracing and testing modules. The simulator is available on GitHub under the MIT license. Results: The results show that the synergistic use of contact tracing and massive testing is effective in suppressing the epidemic (the number of deaths was reduced by 72%). Conclusions: The Particle-based COVID-19 simulator enables the modeling of intervention measures, random testing, and contact tracing, for epidemic mitigation and suppression. Impact Statement: Our particle-based epidemic simulator, calibrated with COVID-19 data, models each individual as a unique particle with a location, velocity, and epidemic state, enabling the consideration of contact tracing and testing measures.

In this work, we present an open-source stochastic epidemic simulator calibrated with extant epidemic experience of COVID-19. The simulator models a country as a network representing each node as an administrative region. The transportation connections between the nodes are modeled as the edges of this network. Each node runs a Susceptible-Exposed-Infected-Recovered (SEIR) model and population transfer between the nodes is considered using the transportation networks which allows modeling of the geographic spread of the disease. The simulator incorporates information ranging from population demographics and mobility data to health care resource capacity, by region, with interactive controls of system variables to allow dynamic and interactive modeling of events. The single-node simulator was validated using the thoroughly reported data from Lombardy, Italy. Then, the epidemic situation in Kazakhstan as of 31 May 2020 was accurately recreated. Afterward, we simulated a number of scenarios for Kazakhstan with different sets of policies. We also demonstrate the effects of region-based policies such as transportation limitations between administrative units and the application of different policies for different regions based on the epidemic intensity and geographic location. The results show that the simulator can be used to estimate outcomes of policy options to inform deliberations on governmental interdiction policies.

In this work, we present an open-source stochastic epidemic simulator, calibrated with extant epidemic experience of COVID-19. Our simulator incorporates information ranging from population demographics and mobility data to health care resource capacity, by region, with interactive controls of system variables to allow dynamic and interactive modeling of events. The simulator can be generalized to model the propagation of any disease, in any territory, but for this experiment was customized to model the spread of COVID-19 in the Republic of Kazakhstan, and estimate outcomes of policy options to inform deliberations on governmental interdiction policies.

Recognizing objects and estimating their poses have a wide range of application in robotics. For instance, to grasp objects, robots need the position and orientation of objects in 3D. The task becomes challenging in a cluttered environment with different types of objects. A popular approach to tackle this problem is to utilize a deep neural network for object recognition. However, deep learning-based object detection in cluttered environments requires a substantial amount of data. Collection of these data requires time and extensive human labor for manual labeling. In this study, our objective was the development and validation of a deep object recognition framework using a synthetic depth image dataset. We synthetically generated a depth image dataset of 22 objects randomly placed in a 0.5 m × 0.5 m × 0.1 m box, and automatically labeled all objects with an occlusion rate below 70%. Faster Region Convolutional Neural Network (R-CNN) architecture was adopted for training using a dataset of 800,000 synthetic depth images, and its performance was tested on a real-world depth image dataset consisting of 2000 samples. Deep object recognizer has 40.96% detection accuracy on the real depth images and 93.5% on the synthetic depth images. Training the deep learning model with noise-added synthetic images improves the recognition accuracy for real images to 46.3%. The object detection framework can be trained on synthetically generated depth data, and then employed for object recognition on the real depth data in a cluttered environment. Synthetic depth data-based deep object detection has the potential to substantially decrease the time and human effort required for the extensive data collection and labeling.