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Global solution to sensor network localization: A non-convex potential game approach and its distributed implementation

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arXiv 2024年

作者： Xu, Gehui Chen, Guanpu Hong, Yiguang Fidan, Baris Parisini, Thomas Johansson, Karl H. Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Beijing100190 China The Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Sweden Digital Futures StockholmSE-10044 Sweden Department of Control Science and Engineering Tongji University Shanghai201804 China Shanghai Research Institute for Intelligent Autonomous Systems Shanghai201210 China The Department of Mechanical and Mechatronics Engineering University of Waterloo WaterlooONN2L 3G1 Canada The Department of Electrical and Electronic Engineering Imperial College London LondonSW7 2AZ United Kingdom The Department of Engineering and Architecture University of Trieste Trieste34127 Italy

Consider a sensor network consisting of both anchor and non-anchor nodes. We address the following sensor network localization (SNL) problem: given the physical locations of anchor nodes and relative measurements among all nodes, determine the locations of all non-anchor nodes. The solution to the SNL problem is challenging due to its inherent non-convexity. In this paper, the problem takes on the form of a multi-player nonconvex potential game in which canonical duality theory is used to define a complementary dual potential function. After showing the Nash equilibrium (NE) correspondent to the SNL solution, we provide a necessary and sufficient condition for a stationary point to coincide with the NE. An algorithm is proposed_ to reach the NE and shown to have convergence rate O(1/√k). With the aim of reducing the information exchange within a network, a distributed algorithm for NE seeking is implemented and its global convergence analysis is provided. Extensive simulations show the validity and effectiveness of the proposed approach to solve the SNL problem. Copyright © 2024, The Authors. All rights reserved.

关键词： Game theory

Splitting algorithms and circuits analysis

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arXiv 2022年

作者： Chaffey, Thomas Das, Amritam Sepulchre, Rodolphe University of Cambridge Department of Engineering Trumpington Street CambridgeCB2 1PZ United Kingdom Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm100 44 Sweden

The splitting algorithms of monotone operator theory find zeros of sums of relations. This corresponds to solving series or parallel one-port electrical circuits, or the negative feedback interconnection of two subsystems. One-port circuits with series and parallel interconnections, or block diagrams with multiple forward and return paths, give rise to current-voltage relations consisting of nested sums and inverses. In this extended abstract, we present new splitting algorithms specially suited to these structures, for interconnections of monotone and anti-monotone *** Codes 93C10, 47H05, 47N70 © 2022, CC BY-SA.

关键词： Timing circuits

Konjac glucomannan (KGM) aerogel immobilized microalgae: A new way for marine oil spills remediation

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Marine Pollution Bulletin 2025年 218卷 118158页

作者： Wang, Xudong Du, Zhuorong Song, Zhao Liu, Mei He, Pengfei Feng, Lijuan Chen, Zhi Chen, Qingguo Zhejiang Key Laboratory of Pollution Control for Port-Petrochemical Industry Zhejiang Ocean University Zhoushan316022 China National & local Joint Engineering Research Center of Harbor Oil & Gas Storage and Transportation Technology Zhejiang Ocean University Zhoushan316022 China School of Marine Science & Technology Zhejiang Ocean University Zhoushan316022 China Zhejiang Marine Fisheries Research Institute Zhoushan316021 China Department of Building Civil and Environmental Engineering Faculty of Engineering & Computer Sciences Concordia University MontrealQCH3G1M8 Canada

This study investigated the oil pollution remediation ability of konjac glucomannan (KGM) aerogel immobilized Chlorella vulgaris LH-1 (C. vulgaris). The KGM aerogel exhibited a high porosity of 86.83 %, and with the change of crude oil concentration (1–10 g/L), the crude oil adsorption efficiency of KGM aerogel was up to 18.75 %. The KGM aerogel carrier enhanced the crude oil biodegradation efficiency of C. vulgaris by 13.86 %. The concentration of residual n-alkanes of the immobilized C. vulgaris group was only 36.83 % of that of the free C. vulgaris group after 14 days of cultivation. In the crude oil metabolites of immobilized C. vulgaris, the concentrations of benzoic acid, phthalic acid, and benzophenone were 1.35, 21.18 and 3.43 times higher than those of the free C. vulgaris, respectively. Compared with free C. vulgaris group, 9 monooxygenase genes, 11 dioxygenase genes and 2 cytochrome P450 genes of immobilized C. vulgaris group were up-regulation and the "hydrocarbon metabolism process" was significantly enriched (enrichment factor is 0.85) in the gene ontology (GO) analysis of the transcriptome of C. vulgaris. These results showed that the ability of C. vulgaris to degrade crude oil was improved due to the existence of the KGM aerogel immobilized carrier. © 2025 Elsevier Ltd

关键词： Marine pollution

Supervised Representation Learning From Problem-Solving Behavior in Virtual Reality Manufacturing Environment Via Long Short-Term Memory

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SSRN

SSRN 2024年

作者： Zhu, Rui Aqlan, Faisal Zhao, Richard Yang, Hui Li, Yifu School of Industrial and Systems Engineering The University of Oklahoma NormanOK73019 United States Department of Industrial Engineering University of Louisville LouisvilleKY40292 United States Department of Computer Science University of Calgary CalgaryABT2N 1N4 Canada Complex Systems Monitoring Modeling and Control Laboratory The Pennsylvania State University University ParkPA16802 United States

The number of manufacturing jobs has been consistently increasing thanks to the rapidly evolving landscape and the newly adopted strategic plan of US manufacturing. However, there have been rising concerns in recent years about the problem-solving skills of engineering students, who will soon become the next generation of the US workforce. Such circumstances call for systematic evaluation and a better understanding of engineering students’ problem-solving. This paper builds a virtual reality (VR)-based manufacturing environment and adopts a data-driven analytical workflow to evaluate engineering students’ problem-solving performance. Specifically, students perform assembly tasks to produce car toys that satisfy the pre-defined requirements within the VR craft-production manufacturing system. We collect in situ eye-tracking data containing spatial-temporal dynamics of eye movements and abstract their latent features via a long short-term memory (LSTM)-based supervised representation learning for problem-solving performance evaluation. This work outperforms the traditional performance metrics-based evaluation by incorporating the nonlinear dynamics summarized from the in situ production process. Experimental results show that learned feature representations provide significantly more distinguishable patterns when categorizing the students’ problem-solving performance than traditional performance metrics. The proposed evaluation workflow has a broader impact on facilitating the problem-solving assessment across a wide range of manufacturing systems and worker training programs. © 2024, The Authors. All rights reserved.

关键词： Eye tracking

Nonsingular Adaptive Barrier Function-Based Finite Time control for Uncertain Nonlinear Systems

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SSRN

SSRN 2023年

作者： Mobayen, Saleh Zhang, Jianhua Zhu, Quanmin Fekih, Afef Future Technology Research Center Taiwan Graduate School of Intelligent Data Science National Yunlin University of Science and Technology Douliu Taiwan School of Information and Control Engineering Qingdao University of Technology Qingdao266520 China Department of Engineering Design and Mathematics University of the West of England Frenchy Campus Coldharbour Lane BristolBS16 1QY United Kingdom Department of Electrical and Computer Engineering University of Louisiana at Lafayette LafayetteLA70504 United States

This study presents a novel approach for using sliding mode control (SMC) for uncertain nonlinear systems with external unknown disturbances. A nonsingular adaptive barrier function-based finite time control is developed to deal with such systems. In technical implementation, first a novel sliding surface is designed based on the Hurwitz condition, then, using the finite-time stability method, a novel nonsingular terminal sliding manifold is established and the barrier function is obtained, which can guarantee the sliding surface convergence to the origin in finite time. For functional and numerical validation, two examples of uncertain nonlinear systems are selected to illustrate the effectiveness of the proposed method in comparison with the other representative approaches. © 2023, The Authors. All rights reserved.

关键词： Sliding mode control

Active Simultaneously Transmitting and Reflecting Surface Assisted NOMA Networks

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arXiv 2024年

作者： Yue, Xinwei Xie, Jin Ouyang, Chongjun Liu, Yuanwei Shen, Xia Ding, Zhiguo The Key Laboratory of Information and Communication Systems Ministry of Information Industry Beijing Information Science and Technology University Beijing100101 China The Key Laboratory of Modern Measurement & Control Technology Ministry of Education Beijing Information Science and Technology University Beijing100101 China The School of Information and Communication Engineering Beijing University of Posts and Telecommunications Beijing100876 China The School of Electronic Engineering and Computer Science Queen Mary University of London LondonE1 4NS United Kingdom Beijing100191 China The Department of Electrical Engineering and Computer Science Khalifa University Abu Dhabi United Arab Emirates Department of Electrical Engineering Princeton University Princeton United States

The novel active simultaneously transmitting and reflecting surface (ASTARS) has recently received a lot of attention due to its capability to conquer the multiplicative fading loss and achieve full-space smart radio environments. This paper introduces the ASTARS to assist non-orthogonal multiple access (NOMA) communications, where the stochastic geometry theory is used to model the spatial positions of pairing users. We design the independent reflection/transmission phase-shift controllers of ASTARS to align the phases of cascaded channels at pairing users. We derive new closed-form and asymptotic expressions of the outage probability and ergodic data rate for ASTARS-NOMA networks in the presence of perfect/imperfect successive interference cancellation (pSIC). The diversity orders and multiplexing gains for ASTARS-NOMA are derived to provide more insights. Furthermore, the system throughputs of ASTARS-NOMA are investigated in both delay-tolerant and delay-limited transmission modes. The numerical results are presented and show that: 1) ASTARS-NOMA with pSIC outperforms ASTARS assisted-orthogonal multiple access (ASTARS-OMA) in terms of outage probability and ergodic data rate;2) The outage probability of ASTARS-NOMA can be further reduced within a certain range by increasing the power amplification factors;3) The system throughputs of ASTARS-NOMA are superior to that of ASTARS-OMA in both delay-limited and delay-tolerant transmission modes. Copyright © 2024, The Authors. All rights reserved.

关键词： Stochastic systems

A Dynamic Adaptive Search Algorithm for CoSpace Rescue Robot 6

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A Dynamic Adaptive Search Algorithm for CoSpace Rescue Robot

6th International Conference on Robotics and Automation engineering, ICRAE 2021

作者： Chengbo, Li Xiaoming, Wang Zixi, Huang Guangyao, Pang Xinyu, Han Yaguang, Lin Dalian Free Trade Zone No. 1 High School Dalian China Key Laboratory of Modern Teaching Technology Ministry of Education Xi'an China School of Computer Science Shaanxi Normal University Xi'an710119 China Shenzhen Middle School Shenzhen China Wuzhou University School of Data Science and Software Engineering Wuzhou China Singapore Polytechnic Advanced Robotics and Intelligent Control Centre Singapore

ISBN: (纸本)9781665406970

The application of robots to assist humans in earthquake rescue has always been an important topic that researchers are constantly studying. CoSpace Rescue is an abstract modeling and simulation of earthquake rescue and a simulation platform for studying robot rescue search algorithms. Its mathematical model is a multi-objective optimization problem. In this paper, we propose a search algorithm design framework for the CoSpace Rescue robot. Based On this framework and the idea of the heuristic search algorithm, we design and implement the 'Multi-objective Optimal Dynamic Adaptive On-Demand Search Algorithm'. The results of the experiment show that the algorithm can dynamically adapt to the changes in the environment and significantly improve the search efficiency of the rescue robot. © 2021 IEEE.

关键词： Earthquakes

Peculiarities of Wavelet Transform Application for EEG Signal Analysis During Vibration Influence

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Peculiarities of Wavelet Transform Application for EEG Signa...

Digital Signal Processing and its Applications (DSPA), International Conference on

作者： Tatyana N. Matveeva Andrey N. Brysin Alexandra V. Torchinskaya Daniel G. Kornilov Egor I. Spivak School No. 6: Aerospace Moscow Aviation Institute (National Research University) (MAI Moscow Aviation Institute) Moscow Russia CS 1 «Data protection» MIREA - Russian Technological University (RTU MIREA Moscow Russia School No. 3: Control Systems Computer Science and Power Engineering Moscow Aviation Institute (National Research University) (MAI Moscow Aviation Institute) Moscow Russia «RZD-TECHSERVICE» LLC Moscow Russia «BOKSMETR» LLC Moscow Russia

ISBN: (数字)9798331518752

ISBN: (纸本)9798331518769

The paper deals with the reaction of the vehicle operator's organism to external vibration and the development of a monitoring system at the early stages of vibration effects. The choice of wavelet transform as the main method of signal processing is justified. The zones of organism reaction to external overloads are singled out, and the application of Gaussian mother wavelets for electroencephalogram analysis, except Morlet wavelet, at vibration impact on the vehicle operator is evaluated. Experimental work was carried out on the EGV 10–100 stand of the vibromechanics laboratory of IMASH RAS.

关键词： Wavelet transforms Vibrations Digital signal processing Wavelet analysis Organisms Electroencephalography Signal analysis Monitoring

Guarding Force: Safety-Critical Compliant control for Robot-Environment Interaction

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arXiv 2024年

作者： Wang, Xinming Yang, Jun Mao, Jianliang Liang, Jinzhuo Li, Shihua Yan, Yunda The Key Laboratory of Measurement and Control of CSE Ministry of Education School of Automation Southeast University Nanjing210096 China The Department of Aeronautical and Automotive Engineering Loughborough University LoughboroughLE11 3TU United Kingdom The College of Automation Engineering Shanghai University of Electric Power Shanghai201306 China The Department of Computer Science University College London LondonWC1E 6BT United Kingdom

In this study, we propose a safety-critical compliant control strategy designed to strictly enforce interaction force constraints during the physical interaction of robots with unknown environments. The interaction force constraint is interpreted as a new force-constrained control barrier function (FC-CBF) by exploiting the generalized contact model and the prior information of the environment, i.e., the prior stiffness and rest position, for robot kinematics. The difference between the real environment and the generalized contact model is approximated by constructing a tracking differentiator, and its estimation error is quantified based on Lyapunov theory. By interpreting strict interaction safety specification as a dynamic constraint, restricting the desired joint angular rates in kinematics, the proposed approach modifies nominal compliant controllers using quadratic programming, ensuring adherence to interaction force constraints in unknown environments. The strict force constraint and the stability of the closed-loop system are rigorously analyzed. Experimental tests using a UR3e industrial robot with different environments verify the effectiveness of the proposed method in achieving the force constraints in unknown environments. Note to Practitioners—Robotic manipulators are increasingly involved in complex interaction missions with humans and various environments. As these interactions become more prevalent, ensuring the safety of both robots and their human and environmental counterparts has become imperative. Although advanced controllers with safety constraints have been explored, ensuring strict interaction force guarantees remains challenging, particularly in unknown environments. To address this challenge, this paper proposes a new safety-critical compliant control scheme using the control barrier function (CBF) technique. By formulating the approach as quadratic programming and dynamically adjusting the nominal compliant controller online, the propose

关键词： controllers