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International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Andrzej M.J. Skulimowski Department of Automatic Control and Robotics Decision Sciences Laboratory Krakow Poland

This paper investigates sensitivity and optimality of distance scalarizing solutions in multicriteria problems with reference sets. When approaching reference values, this preference requirement results in solving an equivalent second-level scalar optimization problem with a certain distance measure to be minimized. In a situation where the reference set contains values to be avoided within the solution process, distance maximization with respect to this set is a natural technique. The reference sets may arise as relaxed criteria space constraints and are non-precisely defined. Therefore, we provide sufficient conditions ensuring the stability of solutions with respect to reference set perturbations. For various reasons, including trajectory safety, the above problem may be particularly relevant in the case of avoidance values, which are usually defined with a native uncertainty. We propose a sensitivity analysis method based on investigating the properties of attainable criteria values minimizing the distance to perturbed reference sets. Two problems of this kind are formulated and solved. An application to selecting compromise trajectories in multicriteria optimal control with two reference multifunctions is outlined in the final part of this paper.

关键词： Optimization Sensitivity Trajectory Optimal control Reservoirs Minimization Stability criteria

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Realization of anchors selflocalization during preparation stage of the radiolocalization system

Realization of anchors selflocalization during preparation s...

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International Conference on Methods and Models in Automation and robotics

作者： Slawomir Romaniuk Zdzislaw Gosiewski Automatic Control and Robotics Department Bialystok University of Technology Bialystok Poland

An approach for realization of the anchors self-localization algorithm in real time radiolocalization system is presented in the following paper. Distance measurements taken by the radio modules are used to estimate their positions. The proposed selflocalization algorithm utilizes anchors stationary model and is combined with Extended Kalman filter. Methodology including the mathematical model is presented, implemented and evaluated during the simulation and experimental test. Achieved results confirms applicability of the designed algorithm in the preparation of radiolocalization systems, by providing effective tool to case the process of the anchors position determination.

关键词： Mathematical model Estimation Noise measurement Distance measurement Position measurement Time measurement Covariance matrices

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Minimizing regret in bandit online optimization in unconstrained and constrained action spaces

arXiv

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arXiv 2018年

作者： Tatarenko, Tatiana Kamgarpour, Maryam Department of Control Theory and Robotics Tu Darmstadt Automatic Control Laboratory Eth Zürich

We consider online convex optimization with a zero-order oracle feedback. In particular, the decision maker does not know the explicit representation of the time-varying cost functions, or their gradients. At each time step, she observes the value of the cost function evaluated at her chosen action (zero-order oracle). The objective is to minimize the regret, that is, the difference between the sum of the costs she accumulates and that of the static optimal action had she known the sequence of cost functions a priori. We present a novel algorithm to minimize the regret in both unconstrained and constrained action spaces. Our algorithm hinges on a classical idea of one-point estimation of the gradients of the cost functions based on their observed values. However, our choice of the randomization introduced and consequently the proof techniques differ from those of past work. Letting T denote the number of queries of the zero-order oracle and n the problem dimension, the regret rate achieved is O(nT2/3) for both constrained and unconstrained action spaces. Moreover, we adapt the presented algorithm to the setting with two-point feedback and demonstrate that the adapted procedure achieves the theoretical lower bound on the regret of Θ(n√T). Copyright © 2018, The Authors. All rights reserved.

关键词： Cost functions

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The throughput of technical channels as an indicator of protection discrete sources from information leakage 2

The throughput of technical channels as an indicator of prot...

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2nd International Workshop on Computer Modeling and Intelligent Systems, CMIS 2019

作者： Korobiichuk, Igor Ivanchenko, Serhii Roma, Oleksandr Golishevsky, Anatolij Hryshchuk, Ruslan Warsaw University of Technology Institute of Automatic Control and Robotics Warsaw02-525 Poland National Technical University of Ukraine Igor Sikorsky Kyiv Polytechnic Institute Institute of Special Communication and Information Protection Kyiv03056 Ukraine Natl. Scientific Research Institute of Special Communications and Information Protection of Ukraine Kyiv03142 Ukraine Sergey Korolyov Zhytomyr Military Institute Cybersecurity Department of the Research Center Zhytomyr10004 Ukraine

Considered the theoretical conditions of discrete information sources security, analyzed the throughput as an indicator of its protection from information leaks. Introduced the notion of throughput limit values of information leaks channel, proposed its use as a security norms. The resulting values establish a connection of specified index with the desired probability of error in the channel. © 2019 CEUR-WS. All rights reserved.

关键词： Security of data

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Integration technology for replacing damaged brain areas with artificial neuronal networks 4

Integration technology for replacing damaged brain areas wit...

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4th Scientific School on Dynamics of Complex Networks and their Application in Intellectual robotics, DCNAIR 2020

作者： Lebedeva, Albina Mishchenko, Mikhail Bardina, Polina Fedulina, Anastasiya Mironov, Andrey Zhuravleva, Zoia Gerasimova, Svetlana Mikhaylo, Alexey Pisarchik, Alexander Kazantsev, Victor Laboratory of Functional Imaging Department of Fundamental and Applied Research N.I. Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia Department of Theory of Oscillations and Automatic Control Faculty of Radiophysics N.I. Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia Neurotechnologies Department N.I. Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia Laboratory of Physics and Technology of Thin Films Department of Solid State Electronics and Optoelectronics Research Institute of Physics and Technology N.I. Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia Center for Biomedical Technology Technical University of Madrid Pozuelo de Alarcón Madrid Spain Center for Technologies in Robotics and Mechatronics Component Innopolis University Innopolis Russia

ISBN: (纸本)9781728172866

We present a novel integration technology for replacing damaged microcircuits in the rat brain with electronic neuronal networks. This technology will allow simulating important brain functions, such as memory, through the adaptive stimulating effects of neural interfaces at cellular and neuronal network levels. The proposed system includes electronic devices to register and process neuronal signals and to adaptively stimulate damaged brain areas according to the online algorithm decoding the registered neuronal activity. The stimulation algorithm is implemented in hardware neural network with memristive connections that allows both network learning and adaptive *** basic idea is to develop components of hardware neural network with memristive connections for adaptive generation of electrical signals to stimulate particular brain areas. Moreover, the uniqueness of the system is adaptive closed-loop connection between two hippocampal neuronal networks. Such a system is very promising for restoring functionality of damaged areas in the human brain to replace lost functions in patients with brain pathologies or trauma. © 2020 IEEE.

关键词： Brain

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Preface

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Studies in Computational Intelligence 2022年第4期1034卷 v-ix页

作者： Borangiu, Theodor Trentesaux, Damien Leitão, Paulo Cardin, Olivier Joblot, Laurent Faculty of Automatic Control and Computer Science University Politehnica of Bucharest Bucharest Romania LAMIH UMR CNRS 8201 Polytechnic University Hauts de France Valenciennes France Research Centre in Digitalization and Intelligent Robotics Polytechnic Institute of Bragança Bragança Portugal LS2N UMR CNRS 6004 IUT de Nantes University of Nantes Carquefou France Arts et Métiers Institute of Technology LISPEN HESAM Université UBFC Cluny France

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Investigation of the diagnostic properties of sensors and features in a multiphase flow facility case study ⁎

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IFAC-PapersOnLine 2019年第1期52卷 772-777页

作者： Anna Stief James R. Ottewill Jerzy Baranowski ABB Corporate Research Center ul. Starowislna 13a 31-038 Krakow Poland Department of Automatic Control and Robotics Faculty of Electrical Engineering Automatics Computer Science and Biomedical Engineering AGH University of Science and Technology Al. A. Mickiewicza 30 30-059 Krakow Poland

Feature design and selection is one of the first steps towards successful fault detection and diagnosis. Data from different sources can contain complimentary information about a monitored system. Hence methods which fuse features from multiple sources can often detect and diagnose a greater number of fault modes with higher confidence. However, solutions that require data from multiple sensors as inputs can be susceptible to failure if one or more of those sensors cease to function. Optimally a solution will fuse data from a sufficient number of sensors so that the advantages of sensor fusion are realized, while the robustness of the system is retained. In this paper the authors investigate how the best subset of features might differ for fault detection and fault severity diagnosis in a multiphase flow facility case study. ReliefF, which is a K-nearest neighbors-based feature selection filter, is used to rank the features for different problems. The dataset used for the analysis contains data from various operating conditions and induced faults with various severities. It was found that the optimal subset of features varied for different monitoring problems. It was also shown that including features that are ranked as being uninformative into a fault classifier can also impact the robustness of the classifier to sensor failures.

关键词： Signal processing Feature extraction Feature selection Process monitoring

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Protection of information from leakage by technical channels for sources with non range distribution of probability 2

Protection of information from leakage by technical channels...

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2nd International Workshop on Computer Modeling and Intelligent Systems, CMIS 2019

作者： Korobiichuk, Igor Ivanchenko, Serhii Havrylenko, Oleksii Golishevsky, Anatolij Hnatiuk, Serhii Hryshchuk, Ruslan Warsaw University of Technology Institute of Automatic Control and Robotics Warsaw02-525 Poland National Technical University of Ukraine 'Igor Sikorsky Kyiv Polytechnic Institute' Institute of Special Communication and Information Protection Kyiv03056 Ukraine National Aviation University Kyiv03058 Ukraine Natl. Scientific Research Institute of Special Communications and Information Protection of Ukraine Kyiv03142 Ukraine Sergey Korolyov Zhytomyr Military Institute Cybersecurity Department of the Research Center Zhytomyr10004 Ukraine

Made reasoning of the information protection from leakage through technical channels for uneven distribution of source probabilities and set the negative sequences in case of its non-consideration. Shown relations of probability information security risk conditions with power at the input of intercept receiver and given requires analytical values, which allow to assess the risk relative to the current signal/noise ratio and for the given probability of the safety risk of the required values of the maximum allowable indicators, namely the throughput of the technical channel of leakage, the probability of correct reception with possible interception and the signal/noise ratio. These ratios differ from previously known by those that take into account the uneven distribution of the signs probability on output of the source of leakage. Ratios allow automated analysis of information security risk in real time with the use of modern information systems and technologies. © 2019 CEUR-WS. All rights reserved.

关键词： Probability distributions

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Towards an intelligent wearable ankle robot for assistance to foot drop

Towards an intelligent wearable ankle robot for assistance t...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Uriel Martinez-Hernandez Adrian Rubio-Solis Victor Cedeno-Campos Abbas A. Dehghani-Sanij Department of Electronic and Electrical Engineering and the Centre for Autonomous Robotics (CENTAUR) the University of Bath Bath UK Department of Automatic Control and Systems Engineering and the Department of Mechanical Engineering the University of Sheffield Sheffield UK School of Mechanical Engineering the University of Leeds Leeds UK

ISBN: (纸本)9781728145709

A wearable ankle robot prototype for assistance to foot drop is presented in this work. This device is built with soft and hard materials and employs one inertial sensor. First, the ankle robot uses a high-level method, developed with a Bayesian formulation, for recognition of walking activities and gait periods. Second, a low-level method, with a proportional-integral-derivative controller (PID), controls the wearable device to operate in assistive and transparent modes. In an assistive mode, activated by the toe-off detection, the wearable device assists the human foot in dorsiflexion orientation to reduce the effect of foot drop abnormality. In a transparent mode, activated by the heel-contact detection, the robot device follows the movements performed by the human foot. The wearable prototype is validated with experiments, in simulation and real-time modes, for recognition of walking activity and control of assistive and transparent modes during walking. Experiments achieved 99.87% and 99.20% accuracies for recognition of walking activity and gait periods. Results also show the ability of the wearable robot to operate according to the gait period recognised during walking. Overall, this work offers a wearable robot prototype with the potential to assist the human foot during walking, which is important to allow subjects to recover their confidence and quality of life.

关键词： Legged locomotion Foot Robot sensing systems Bayes methods Wearable robots Angular velocity

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Distributed algorithms that solve boolean equations with local and differential privacies

arXiv

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arXiv 2020年

作者： Qi, Hongsheng Li, Bo Jing, Rui-Juan Wang, Lei Proutiere, Alexandre Shi, Guodong Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China School of Mathematical Sciences University of Chinese Academy of Sciences Beijing100049 China Key Laboratory of Mathematics Mechanization Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China Faculty of Science Jiangsu University Zhenjiang212013 China Australian Center for Field Robotics School of Aerospace Mechanical and Mechatronic Engineering University of Sydney NSW2006 Australia Department of Automatic Control Kth Royal Institute of Technology Stockholm100-44 Sweden

In this paper, we propose distributed algorithms that solve a system of Boolean equations over a network, where each node in the network possesses only one Boolean equation from the system. The Boolean equation assigned at any particular node is a private equation known to this node only, and the nodes aim to compute the exact set of solutions to the system without exchanging their local equations. We show that each private Boolean equation can be locally lifted to a linear algebraic equation under a basis of Boolean vectors, leading to a network linear equation that is distributedly solvable using existing distributed linear equation algorithms as a subroutine. A number of exact or approximate solutions to the induced linear equation are then computed at each node from different initial values. The solutions to the original Boolean equations are eventually computed locally via a Boolean vector search algorithm. We prove that given solvable Boolean equations, when the initial values of the nodes for the distributed linear equation solving step are i.i.d selected according to a uniform distribution in a high-dimensional cube, our algorithms return the exact solution set of the Boolean equations at each node with high probability. Furthermore, we present an algorithm for distributed verification of the satisfiability of Boolean equations, and prove its correctness. Finally, we show that by utilizing linear equation solvers with differential privacy to replace the in-network computing routines, the overall distributed Boolean equation algorithms can be made differentially private. Under the standard Laplace mechanism, we prove an explicit level of noises that can be injected in the linear equation steps for ensuring a prescribed level of differential privacy. Copyright © 2020, The Authors. All rights reserved.

关键词： Linear equations

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