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Network system capacity:Towards integrating sensing,communication and control

National Science Open 2024年第1期3卷 147-149页

作者： Xinping Guan Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai 200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240China

Network systems refer to a new generation of systems with integrated information perception,transmission and utilization capabilities through communication networks,which are adopted to achieve desirable objectives under physical and information related uncertainties and/or adversary *** the information-rich era[1,2],one of the fundamental issues is to exploit the limit of feedback control on dissipating such uncertainties in the scenarios of networked sensing and communication[3].

关键词： communication integrating system

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Quantum gyroscopes based on double-mode surface-acoustic-wave cavities

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Physical Review Applied 2024年第1期22卷 014061-014061页

作者： Yuting Zhu Shibei Xue Fangfang Ju Haidong Yuan Department of Automation Key Laboratory of System Control and Information Processing Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240 People’s Republic of China School of Physics and Electronics Department of Mechanical and Automation Engineering

Recent progress shows that a surface-acoustic-wave (SAW) cavity can not only induce quantum acoustic dynamics, but can also form optomechanical-like systems. Its operating frequencies in the microwave band make it resistant to the thermal noise of surrounding environments, while its radiation-pressure couplings make it susceptible to weak forces. Based on these advantages, we propose a gyroscope comprising coupled microwave-SAW cavities. In this paper we systematically consider the range, signal-to-noise ratio, and sensitivity, which are the three most important indices to gyroscopes, but only partially considered in existing works. Additionally, we establish the fundamental limits of sensitivity when the quantum input is in the vacuum state and the squeezed vacuum state. We find that squeezing improves sensitivity and can surpass the standard quantum limit. However, this improvement can only reach up to 2/2 even as the squeezed parameter approaches infinity, which is rarely noted in recent works. Finally, we also offer analytical constraints for cooperativity and squeezed parameters. These constraints can be utilized to design gyroscopes based on coupled cavities in experiments.

关键词： Open quantum systems & decoherence Quantum sensing Rotation sensing Coupled oscillators Cavity resonators Homodyne & heterodyne detection Microwave techniques Surface acoustic wave

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Swarm-Based Dynamic Coverage of Multi-ASV systems in the Presence of Measurement Noises

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IEEE Transactions on Vehicular Technology 2025年第5期74卷 7237-7250页

作者： Liu, Lu Jiao, Shijian Han, Bing Li, Tieshan Peng, Zhouhua Dalian Maritime University School of Marine Electrical Engineering Dalian116026 China Dalian Key Laboratory of Swarm Control and Electrical Technology for Intelligent Ships Dalian116026 China State Key Laboratory of Maritime Technology and Safety Dalian116026 China Shanghai Ship and Shipping Research Institute National Engineering Research Center of Ship & Shipping Control System Shanghai200135 China University of Electronic Science and Technology of China School of Automation Engineering Chengdu611731 China

This paper is concerned with the dynamic coverage of multiple autonomous surface vehicles (ASVs) in the presence of static and dynamic obstacles, limited communication distance, and measurement noises. A modular control method including planning, guidance, and control is proposed. At the planning level, a swarm-based dynamic coverage strategy is developed to achieve the coverage of a given domain. Both the collision avoidance and connectivity preservation issues are solved by using artificial potential fields. At the kinematic level, novel adaptive line-of-sight guidance laws are presented based on cascade extended state observers (CESOs), such that accurate guidance signals are given by compensating for time-varying sideslip angle and suppressing measurement noises. At the kinetic level, two CESOs are developed to estimate the internal model uncertainties and external environmental disturbance, and antidisturbance kinetic control laws are designed subsequently. The proposed CESOs overcome the noises sensitivity problem of classical observers, and thus facilitate the practical implementation under measurement noises. The input-to-state stability of the closed-loop system is confirmed by the Lyapunov theory and cascade stability theory. Simulation and hardware-in-the-loop experiment results are provided to demonstrate the effectiveness of the proposed swarm-based dynamic coverage method. © 1967-2012 IEEE.

关键词： Velocity measurement

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Vulnerability of EV Charging Stations to Cyber Attacks Manipulating Prices

Vulnerability of EV Charging Stations to Cyber Attacks Manip...

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2023 International Conference on Future Energy Solutions, FES 2023

作者： Akbarian, Amirhossein Bahrami, Mahdi Vakilian, Mehdi Lehtonen, Matti Sharif University of Technology Center of Excellence in Power System Management and Control Electrical Engineering Department Tehran Iran Aalto University Department of Electrical Engineering and Automation Espoo Finland

ISBN: (纸本)9798350332308

Electric vehicles (EVs) have experienced an unprecedented increase in their penetration;in well developed countries;due to the advancement of battery technology and the need to make transportation more environmentally friendly. As a result of this trend, EVs have become an integral part of those countries power grid ecosystem, where they may be used as both a source, and a consumer of energy. However, cybersecurity risks associated with large fleets of EVs within the power grids can significantly impact the normal operation of distribution systems. This paper considers the cyber-attack consequences, from attackers' perspective. The cyber attackers under study target the charging price (CP) by increasing the CP in off-peak hours and accordingly subsiding it in on-peak hours. A two-stage optimization framework is proposed to identify the most important ultra-fast charging stations (XFCs) under the cyber-attack, meanwhile, the EV users' response to the compromised CP is considered. Then, the proposed model is implemented on a modified IEEE 123-bus distribution test system, and the effectiveness of the model is proved through some case studies. In particular, they demonstrated that the amount of load shedding is increased by 8.198 MW when the EV user response is taken into account. © 2023 IEEE.

关键词： Crime

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Towards Efficient Path Finding and Moving Stability-Focused Trajectory Planning for Mobile Robots

Towards Efficient Path Finding and Moving Stability-Focused ...

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2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Hou, Muyang Lei, Zhenya Hu, Haidong Wang, Zhong Wang, Yong Xie, Le Wang, Hesheng Shanghai Jiao Tong University Department of Automation Shanghai200240 China School of Information and Control Engineering China University of Mining and Technology Xuzhou221116 China Beijing Institute of Control Engineering Beijing100190 China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Department of Automation Shanghai200240 China

ISBN: (纸本)9781665481090

Nowadays, mobile robots play an important role in a variety of service scenarios. They need to plan and track trajectories to accomplish tasks such as delivery or guided tours. In such tasks, there are two remaining challenges: on one hand, the time and memory consumption of present path planners are still significant;on the other hand, service robots, which have a higher center of gravity, demand greater moving stability than that of current trajectory planners provide. To address these two challenges. Firstly, we propose a safety boundary first A∗ which fully utilizes environmental obstacle information to create a safety boundary and searches in it to quickly find an initial path. Secondly, we formulate the trajectory optimization problem as a nonlinear optimization problem, where the smoothness, safety, feasibility, and moving stability of the robot are taken into account. Furthermore, to constrain the robot's lateral acceleration, we design a time allocation algorithm based on non-uniform B-spline, enhancing the quality of the resulting trajectory. Simulations and real-world experiments demonstrate that our algorithms significantly improve path search efficiency, enhance moving stability, reduce the difficulty of tracking, and improve the quality of task completion. © 2024 IEEE.

关键词： Trajectories

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Semi-Autonomous Navigation Based on Local Semantic Map for Mobile Robot

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Journal of Shanghai Jiaotong university(Science) 2025年第1期30卷 27-33页

作者： ZHAO Yanfei XIAO Peng WANG Jingchuan GUO Rui Department of Automation Institute of Medical RoboticsShanghai Jiao Tong UniversityShanghai200240China State Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240China State Grid Intelligence Technology Co. Ltd.Jinan250013China

Mobile robots represented by smart wheelchairs can assist elderly people with mobility *** paper proposes a multi-mode semi-autonomous navigation system based on a local semantic map for mobile robots,which can assist users to implement accurate navigation(e.g.,docking)in the environment without prior *** order to overcome the problem of repeated oscillations during the docking of traditional local path planning algorithms,this paper adopts a mode-switching method and uses feedback control to perform docking when approaching semantic *** last,comparative experiments were carried out in the real *** show that our method is superior in terms of safety,comfort and docking accuracy.

关键词： semi-autonomous navigation mobile robot semantic map voice interaction

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Extended NNs-Based Adaptive Event-Triggered Asymptotic control for Nonlinear systems Against Actuator Faults 7

Extended NNs-Based Adaptive Event-Triggered Asymptotic Contr...

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7th International Symposium on Autonomous systems, ISAS 2024

作者： Liu, Shanlin Zhang, Yingwei Zhao, Xudong Wang, Hesheng Northeastern University College of Information Science and Engineering Shenyang China Northeastern University State Laboratory of Synthesis Automation of Process Industry Shenyang China Dalian University of Technology Faculty of Electronic Information and Electrical Engineering Dalian China Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China

ISBN: (纸本)9798350363173

In this article, an adaptive event-triggered asymp¬totically fault-tolerant control (FTC) issue for nonlinear systems with actuator faults is investigated. An extended neural networks (NNs) technique is introduced to estimate unknown functions of the system under consideration. Compared with traditional NNs that ignore approximation errors, the proposed extended NNs further processes approximation errors, reducing the conservatism of the proposed algorithm. Then, within the framework of backstepping method, a new adaptive control strategy is developed by combining event-triggered mechanism (ETM) and bound estimation (BE) approach, which ensures the asymptotic convergence of system states while also reducing the transmission of unnecessary information, thus improving the utilization of communication resources. At the same time, the designed controller eliminates the adverse effects of actuator failures and system nonlinear terms. Finally, a simulation example of a single-link robot system is provided to demonstrate that the developed control strategy can ensure that all signals are bounded and system states are asymptotically convergent. © 2024 IEEE.

关键词： Approximation algorithms

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An Adaptive Physics-Informed Neural Network with Two-Stage Learning Strategy to Solve Partial Differential Equations

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Numerical Mathematics(Theory,Methods and Applications) 2023年第2期16卷 298-322页

作者： Shuyan Shi Ding Liu Ruirui Ji Yuchao Han School of Automation and Information Engineering Xi‘an University of TechnologyXi‘an 710048P.R.China National&Local Joint Engineering Research Center of Crystal Growth Equipment and System Integration Xi‘an 710048P.R.China Xi’an University of Technology Shannxi Key Laboratory of Complex System Control and Intelligent Information ProcessingXi‘an 710048P.R.China

Physics-Informed Neural Network(PINN)represents a new approach to solve Partial Differential Equations(PDEs).PINNs aim to solve PDEs by integrating governing equations and the initial/boundary conditions(I/BCs)into a loss ***,the imbalance of the loss function caused by parameter settings usually makes it difficult for PINNs to converge,*** they fall into local *** other words,the presence of balanced PDE loss,initial loss and boundary loss may be critical for the *** addition,existing PINNs are not able to reveal the hidden errors caused by non-convergent boundaries and conduction errors caused by the PDE near the ***,these problems have made PINN-based methods of limited use on practical *** this paper,we propose a novel physics-informed neural network,*** adaptive physics-informed neural network with a two-stage training *** algorithm adds spatio-temporal coefficient and PDE balance parameter to the loss function,and solve PDEs using a two-stage training process:pre-training and formal *** pre-training step ensures the convergence of boundary loss,whereas the formal training process completes the solution of PDE by balancing various loss *** order to verify the performance of our method,we consider the imbalanced heat conduction and Helmholtz equations often appearing in practical *** Klein-Gordon equation,which is widely used to compare performance,reveals that our method is able to reduce the hidden *** results confirm that our algorithm can effectively and accurately solve models with unbalanced loss function,hidden errors and conduction *** codes developed in this manuscript are publicy available at https://***/callmedrcom/ATPINN.

关键词： Physics informed neural networks partial differential equations two-stage learning scientific computing

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Formal Verification of Key Function of a New Type of Train control system Based on Timed Automata 27

Formal Verification of Key Function of a New Type of Train C...

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27th IEEE International Conference on Intelligent Transportation systems, ITSC 2024

作者： Li, Aiying Liu, Yu Yuan, Lei Wei, Guodong Beijing Jiaotong University National Engineering Research Center of Rail Transportation Operation and Control System Beijing China 100044 School of Automation and Intelligence Beijing Jiaotong University Beijing China 100044

ISBN: (纸本)9798331505929

Due to the harsh environment and rare human presence in the western region, compared with existing train control systems, a new type of train control system(CTCSn) no longer has interval trackside circuits and changes the traditional structure of 'ground equipment as the core'. In order to verify the correctness of CTCS-n specifications and verify whether the system meets reliability requirements, this paper proposes a modeling and validation method based on SysML and timed automata(TA). Firstly, the newly added train integrity inspection function in CTCS-n is selected as the research object, and the SysML sequence diagram and activity diagram are used for modeling based on its scene characteristics. According to the conversion rules, the SysML model is converted into the corresponding timed automata network model, which is simulated and verified by using the UPPAAL verification tool. Then the faults of the train integrity function are categorized, and each type of faults is injected into its scenario model to verify its scenario function failure. And the integrity loss fault is injected into the level conversion scenario to verify the impact of the faults on the scenario realization. The results show that the system functional requirements and fault handling meet the system specification requirements. © 2024 IEEE.

关键词： Formal verification

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Research on the identification method of heavy haul railway rail surface injury study based on the fusion of vibration and profile data 6

Research on the identification method of heavy haul railway ...

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6th International Conference on Information Science, Electrical, and automation engineering, ISEAE 2024

作者： Meng, Xiangrui Sun, Yongkui Luo, Chenshuo Yang, Fengbin An, Yuntong School of Automation and Intelligence Beijing Jiaotong University Beijing100044 China National Engineering Research Center of Rail Transportation Operation and Control System Beijing Jiaotong University Beijing100044 China

ISBN: (纸本)9781510682924

Due to the heavy haul rail's large single train capacity and strong impact on the track, the rails of heavy haul rail are prone to injuries, and the accurate detection and identification of injuries is the basis of intelligent operation and maintenance of the rails of heavy haul rail. However, the existing rail surface injury recognition methods mainly based on machine vision have the disadvantages of strong noise and limited field of view. Therefore, this paper proposes a detection method based on the fusion of profile data and vibration signals. The profile data has high accuracy, but it has the disadvantages of low detection rate and low accuracy of a single profile. The vibration signal is easy to measure, but it is easy to be interfered, and the vibration signals of some injuries will reflect the same characteristics. The respective defects are overcome by fusion of the two. The experimental results show that the detection accuracy is effectively improved after the fusion of the two. The vibration signals are extracted and dimensionality reduced using stacked self-coding network, and then input into the classifier to obtain the classification results based on the vibration data. At the same time, the profile data and standard rails are matched, and then the wear sequence is generated by the DTW algorithm, and then the features are extracted by the PCA algorithm and classified to obtain the results based on the profile data. Finally, the two methods are fused at the decision level to obtain a new rail surface injury recognition and detection method based on the fusion of the two. © 2024 SPIE.

关键词： Data fusion

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