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SSRN 2024年

作者： Cao, Yuxue Zhao, Wenbo Wang, Shengjie Zheng, Xiang Ma, Wenke Zhao, Jiawei Zhang, Tao Beijing Institute of Control Engineering China Department of Automation Tsinghua University China Institute for Interdisciplinary Information Sciences Tsinghua University China Department of Computer Science City University of Hong Kong Hong Kong Qian Xuesen Laboratory of Space Technology China Department of Automatic Control Xi’an Research Institute of Hi-tech China

Symmetric bi-manual manipulation is an essential skill in on-orbit operations due to its potent load capacity. Previous works have applied compliant control to maintain the stability of manipulations. However, traditional methods have viewed motion planning and compliant control as two separate modules, which can lead to conflicts with the simultaneous change of the desired trajectory and impedance parameters in the presence of external forces and disturbances. Additionally, the joint usage of these two modules requires experts to manually adjust parameters. To achieve high efficiency while enhancing adaptability, we propose a novel Learning-based Adaptive Compliance algorithm (LAC) that improves the efficiency and robustness of symmetric bi-manual manipulation. Specifically, the algorithm framework integrates desired trajectory generation and impedance-parameter adjustment under a unified framework to mitigate contradictions and improve efficiency. Second, we introduce a centralized Actor-Critic framework with LSTM networks preprocessing the force states, enhancing the synchronization of bi-manual manipulation. When evaluated in dual-arm cooperative handling and peg-in-hole assembly experiments, our method outperforms baseline algorithms in terms of optimality and robustness. © 2024, The Authors. All rights reserved.

关键词： Motion planning

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Passivity-Based Distributed Event-Triggered Flocking control of Port-Hamiltonian Systems

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IEEE control Systems Letters 2025年 9卷 342-347页

作者： Aranda-Escolástico, Ernesto Abdelrahim, Mahmoud Fernández-Amorós, David Guinaldo, María Colombo, Leonardo Department of Software and Systems Engineering Universidad Nacional de Educación a Distancia (UNED) Juan del Rosal 16 Madrid 28040 Spain Prince Sultan University Renewable Energy Laboratory College of Engineering Riyadh 11586 Saudi Arabia Computer Science and Automatic Control Department Universidad Nacional de Educación a Distancia (UNED) Juan del Rosal 16 Madrid 28040 Spain Centre for Automation and Robotics (CSIC-UPM) Ctra. M300 Campo Real Km 0200 Madrid Arganda del Rey 28500 Spain

This letter addresses the problem of flocking motion in the context of port-Hamiltonian systems. The port-Hamiltonian framework offers advantages in modeling networks, dissipation, and heterogeneous agents. In this regard, designing flocking controllers in port-Hamiltonian form significantly increases their practical applications. Additionally, event-triggered control has proven effective in reducing bandwidth consumption. However, challenges remain in combining flocking requirements with energy-dissipating terms. Therefore, we propose a novel event-triggered flocking controller suitable for port-Hamiltonian systems. The method is validated through numerical simulations of a group of hexarotors. © 2017 IEEE.

关键词： flocking passivity Port-Hamiltonian systems event-triggered control multi-agent systems

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Do We Run Large-scale Multi-Robot Systems on the Edge? More Evidence for Two-Phase Performance in System Size Scaling

Do We Run Large-scale Multi-Robot Systems on the Edge? More ...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Jonas Kuckling Robin Luckey Viktor Avrutin Andrew Vardy Andreagiovanni Reina Heiko Hamann Department of Computer and Information Science University of Konstanz Konstanz Germany Centre for the Advanced Study of Collective Behaviour University of Konstanz Germany Institute of Computer Engineering University of Lübeck Lübeck Germany Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart Germany Department of Computer Science and the Department of Electrical and Computer Engineering Memorial University of Newfoundland St. John’s Canada IRIDIA Université Libre de Bruxelles Brussels Belgium

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

With increasing numbers of mobile robots arriving in real-world applications, more robots coexist in the same space, interact, and possibly collaborate. Methods to provide such systems with system size scalability are known, for example, from swarm robotics. Example strategies are self-organizing behavior, a strict decentralized approach, and limiting the robot-robot communication. Despite applying such strategies, any multi-robot system breaks above a certain critical system size (i.e., number of robots) as too many robots share a resource (e.g., space, communication channel). We provide additional evidence based on simulations, that at these critical system sizes, the system performance separates into two phases: nearly optimal and minimal performance. We speculate that in real-world applications that are configured for optimal system size, the supposedly high-performing system may actually live on borrowed time as it is on a transient to breakdown. We provide two modeling options (based on queueing theory and a population model) that may help to support this reasoning.

关键词： Limiting System performance Space communications Scalability Sociology Swarm robotics Mobile robots

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HRTS: Hierarchical Rauch-Tung-Striebel Smoother With Online Learning Priors for EEG Denoising

Journal of Network Intelligence

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Journal of Network Intelligence 2024年第2期9卷 673-688页

作者： Wang, Chuan-Sheng Zhang, Ling Fu, Tian-Lin Chen, Zhao-Qi Zhang, Fu-Quan Department of Automatic Control Technical Polytechnic University of Catalonia Autonomous Region of Catalonia Barcelona Spain School of Computer and Data Science Minjiang University No.200 Xiyuangong Road Fuzhou University Town Fujian Province Fuzhou City China College of Computer and Big Data Fuzhou University No.2 Wulongjiang North Road Fuzhou University Town Fujian Province Fuzhou City China Digital Media Art Key Laboratory of Sichuan Province Sichuan Conservatory of Music Fuzhou Technology Innovation Center of Intelligent Manufacturing Information System Minjiang University No.200 Xiyuangong Road Fuzhou University Town Fujian Province Fuzhou City China Fujian Province University No.1 Campus New Village Longjiang Street Fujian Province Fuqing City China

Electroencephalogram (EEG) is a nonlinear signal that reflects the physio-logical state of the brain at different times, containing rich information. However, the possible interference during the collection and transmission process often leads to a large amount of unnecessary noise in the EEG signal. Traditional denoising methods may face difficulties in high-dimensional data processing and the inability to effectively handle different types of Gaussian white noise. To better eliminate the interference of Gaussian white noise, this article specifically adopts the Hierarchical Rauch-Tung-Striebel Smoother (HRTS) method. This method can effectively integrate the learned structural prior EEG signals into the state space model, thereby describing the relationship between EEG signals and noise. Capture the spatiotemporal characteristics of EEG signals through hierarchical modeling, and optimize the components of EEG signals through estimation and prediction of hidden variables. Finally, the mean square error (MSE) is used as an evaluation indicator to compare and evaluate the denoising results. Empirical research has shown that the HRTS algorithm can not only effectively reduce runtime and better process high-dimensional data, but also significantly improve the quality of EEG signals, effectively suppress noise interference, and more accurately reflect the characteristics of brain activity. Compared to denoising algorithms such as Kalman filtering and Kalman wavelet filtering, the HRTS algorithm has more advantages in denoising EEG signals. © 2024, J. Network Intell. All rigjts reserved.

关键词： Electroencephalography

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An iterative Jacobi-like algorithm to compute a few sparse eigenvalue-eigenvector pairs

arXiv

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arXiv 2021年

作者： Rusu, Cristian Faculty of Automatic Control and Computer Science University Politehnica of Bucharest Romania Department of Computer Science Faculty of Mathematics and Computer Science University of Bucharest Romania

In this paper, we describe a new algorithm to compute the extreme eigenvalue/eigenvector pairs of a symmetric matrix. The proposed algorithm can be viewed as an extension of the Jacobi transformation method for symmetric matrix diagonalization to the case where we want to compute just a few eigenvalues/eigenvectors. The method is also particularly well suited for the computation of sparse eigenspaces. We show the effectiveness of the method for sparse low-rank approximations and show applications to random symmetric matrices, graph Fourier transforms, and with the sparse principal component analysis in image classification experiments. Copyright © 2021, The Authors. All rights reserved.

关键词： Eigenvalues and eigenfunctions

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PoRF: Proof-of-Reputation-based Consensus Scheme for Fair Transaction Ordering 13

PoRF: Proof-of-Reputation-based Consensus Scheme for Fair Tr...

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13th International Conference on Electronics, computers and Artificial Intelligence, ECAI 2021

作者： Shyamsukha, Sidharth Bhattacharya, Pronaya Patel, Farnazbanu Tanwar, Sudeep Gupta, Rajesh Pricop, Emil Nirma University Dept. of Computer Science and Engg. AhmedabadGujarat India Institute of Technology Nirma University Dept. of Computer Science and Engg. AhmedabadGujarat India Petroleum-Gas University of Ploiesti Automatic Control Comp. and Elect. Dept Romania

ISBN: (纸本)9781665425346

Blockchain (BC)-driven applications ensure trust and transparency among multiple stakeholders through different consensus mechanisms. In consensus mechanisms, a dishonest node (or application), might collude with peer nodes, or miners, to prioritize its transactions over other node transactions, thereby reducing its latency and improving its quality-of-service (QoS). To address the above limitation, this paper proposes a consensus scheme, PoRF, based on a reputation-based consensus scheme that allows fair and random transaction selection. The scheme proposes that a sharded BC is considered, managed through shard managers (SM), to address latency and bandwidth issues. A reputation coefficient score is generated, and a reward-penalty setup is considered for nodes based on honest, or dishonest transaction proposals. Based on the reward-penalty outcome, the reputation score for nodes is modified. The scheme is compared with fixed transaction ordering scheme, Helix scheme, and practical byzantine fault tolerance (PBFT) consensus for transaction fairness, transaction time, and epochs required for consensus formations. The scheme outperforms the considered schemes for the considered parameters. For example, for 50% dishonest nodes, an improvement of 70 % is recorded against a fixed transaction scheme, and at 4000 nodes, the proposed scheme takes 130 milliseconds (ms) less for the execution of transactions. For consensus formation, at 250 nodes, PBFT takes 167 epochs for consensus, compared to 24 epochs in the proposed scheme, which indicates the scheme's viability in real-world setups. © 2021 IEEE.

关键词： Blockchain

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Vehicle type recognition based on audio data 58

Vehicle type recognition based on audio data

引用

58th Hawaii International Conference on System sciences, HICSS 2025

作者： Kobiela, Dariusz Hajdasz, Michal Erezman, Mateusz Nurzyńska, Karolina Zaporowski, Szymon Kurowski, Adam Weichbroth, Pawel Department of Software Engineering Faculty of Electronics Telecommunication and Informatics Gdańsk University of Technology Gabriela Narutowicza 11/12 Gdańsk80-233 Poland Department of Multimedia Systems Faculty of Electronics Telecommunication and Informatics Gdańsk University of Technology Gabriela Narutowicza 11/12 Gdańsk80-233 Poland Department of Algorithmics and Software Faculty of Automatic Control Electronics and Computer Science Silesian University of Technology Akademicka 16 Gliwice44-100 Poland

ISBN: (纸本)9780998133188

Identifying different vehicle types can help manage traffic more efficiently, reduce congestion, and improve public safety. This study aims to create a classification model that can recognize vehicle types based on the sound of passing vehicles. To achieve this, a database of raw audio files containing 1763 samples from two sources was assembled. The time-domain signals were converted to a time-frequency representation using the short-time Fourier transform to generate Mel Spectrograms. Mel-frequency Cepstral Coefficients (MFCCs) were also generated using the discrete cosine transform. In our experiments we compared these approaches. Since the data was imbalanced we applied online augmentation. Based on the literature review, we chose a Convolutional Neural Network (CNN) classifier because it is particularly well suited for analyzing large datasets due to its automatic feature extraction, parameter sharing and sparsity. The results showed that Mel Spectrograms were more effective for audio data preprocessing in this particular use case, achieving the highest accuracy of 0.875 and the highest f1-score of 0.877 compared to MFCCs. © 2025 IEEE computer Society. All rights reserved.

关键词： Image coding

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An iterative coordinate descent algorithm to compute sparse low-rank approximations

arXiv

引用

arXiv 2021年

作者： Rusu, Cristian The Faculty of Automatic Control and Computer Science University Politehnica of Bucharest Romania Department of Computer Science Faculty of Mathematics and Computer Science University of Bucharest Romania

In this paper, we describe a new algorithm to build a few sparse principal components from a given data matrix. Our approach does not explicitly create the covariance matrix of the data and can be viewed as an extension of the Kogbetliantz algorithm to build an approximate singular value decomposition for a few principal components. We show the performance of the proposed algorithm to recover sparse principal components on various datasets from the literature and perform dimensionality reduction for classification applications. Copyright © 2021, The Authors. All rights reserved.

关键词： Singular value decomposition

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MuS2: A Real-World Benchmark for Sentinel-2 Multi-Image Super-Resolution

arXiv

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arXiv 2022年

作者： Kowaleczko, Pawel Tarasiewicz, Tomasz Ziaja, Maciej Kostrzewa, Daniel Nalepa, Jakub Rokita, Przemyslaw Kawulok, Michal KP Labs Gliwice Poland Warsaw University of Technology Warsaw Poland Silesian University of Technology Faculty of Automatic Control Electronics and Computer Science Gliwice Poland

Insufficient image spatial resolution is a serious limitation in many practical scenarios, especially when acquiring images at a finer scale is infeasible or brings higher costs. This is inherent to remote sensing, including Sentinel-2 satellite images that are available free of charge at a high revisit frequency, but whose spatial resolution is limited to 10 m ground sampling distance. The resolution can be increased with super-resolution algorithms, in particular when performed from multiple images captured at subsequent revisits of a satellite, taking advantage of information fusion that leads to enhanced reconstruction accuracy. One of the obstacles in multi-image super-resolution consists in the scarcity of real-world benchmarks—commonly, simulated data are exploited which do not fully reflect the operating conditions. In this paper, we introduce a new MuS2 benchmark for super-resolving multiple Sentinel-2 images, with WorldView-2 imagery used as the high-resolution reference. Within MuS2, we publish the first end-to-end evaluation procedure for this problem which we expect to help the researchers in advancing the state of the art in multi-image super-resolution. Copyright © 2022, The Authors. All rights reserved.

关键词： Remote sensing

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FQSqueezer: k-mer-based compression of sequencing data (vol 10, 578, 2020)

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SCIENTIFIC REPORTS 2020年第1期10卷 1-9页

作者： Deorowicz, Sebastian Faculty of Automatic Control Electronics and Computer Science Silesian University of Technology Akademicka 16 44-100 Gliwice Poland. sebastian.deorowicz@polsl.pl.

The amount of data produced by modern sequencing instruments that needs to be stored is huge. Therefore it is not surprising that a lot of work has been done in the field of specialized data compression of FASTQ files. The existing algorithms are, however, still imperfect and the best tools produce quite large archives. We present FQSqueezer, a novel compression algorithm for sequencing data able to process single- and paired-end reads of variable lengths. It is based on the ideas from the famous prediction by partial matching and dynamic Markov coder algorithms known from the general-purpose-compressors world. The compression ratios are often tens of percent better than offered by the state-of-the-art tools. The drawbacks of the proposed method are large memory and time requirements.

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