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arXiv 2022年

作者： Sun, Junchang Ma, Shuai Li, Shiyin Yang, Ruixin Min, Minghui Seco-Granados, Gonzalo The School of Information and Control Engineering China University of Mining and Technology Xuzhou221116 China The Department of Telecommunications and Systems Engineering Universitat Autònoma de Barcelona Barcelona08193 Spain The Engineering Research Center of Intelligent Control for Underground Space Ministry of Education China University of Mining and Technology Xuzhou221116 China The National Mobile Communications Research Laboratory Southeast University Nanjing210096 China The Shanxi Key Laboratory of Information Communication Network and Security Xian University of Posts and Telecommunications Xian710121 China

In this letter, we investigate a robust beamforming problem for localization-aided millimeter wave (mmWave) communication systems. To handle this problem, we propose a novel restriction and relaxation (R&R) method. The proposed R&R method aims at minimizing the total transmit power while the positioning error follows a Gaussian distribution. Specifically, in the restriction phase of R&R, the probabilistic constraint is transformed into the deterministic form by using the Bernstein-type inequality. In the relaxation phase of R&R, the non-convex optimization problem is reformulated into a convex semidefinite program (SDP) by using semidefinite relaxation (SDR) and first-order Taylor expansion methods. To the best of our knowledge, we first consider the impact of the distribution of the positioning error on the channel state information (CSI), which further influences the data rate. Numerical results present the trade-off of the beamforming between the communication and positioning. © 2022, CC BY.

关键词： Beamforming

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Opportunistic Wiretapping/Jamming: A New Attack Model in Millimeter-Wave Wireless networks

TechRxiv

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TechRxiv 2022年

作者： Zhang, Yuanyu Zheng, Zhumeng He, Ji Zhao, Shuangrui Qu, Qianyue Shen, Yulong Jiang, Xiaohong School of Computer Science and Technology Xidian University Shaanxi Xi’an China Shannxi Key Laboratory of Network and System Security China The Beijing Sunwise Information Technology Ltd Beijing Institute of Control Engineering Beijing China The Division of Information Science Graduate School of Science and Technology Nara Institute of Science and Technology Nara Ikoma Japan School of Systems Information Science Future University Hakodate Hokkaido Hakodate Japan

While the millimeter-wave (mmWave) communication is robust against the conventional wiretapping attack due to its short transmission range and directivity, this paper proposes a new opportunistic wiretapping and jamming (OWJ) attack model in mmWave wireless networks. With OWJ, an eavesdropper can opportunistically conduct wiretapping or jamming to initiate a more hazardous attack based on the instantaneous costs of wiretapping and jamming. We also provide three realizations of the OWJ attack, which are mainly determined by the cost models relevant to distance, path loss and received power, respectively. To understand the impact of the new attack on mmWave network security, we first develop novel approximation techniques to characterize the irregular distributions of wiretappers, jammers and interferers under three OWJ realizations. With the help of the results of node distributions, we then derive analytical expressions for the secrecy transmission capacity to depict the network security performance under OWJ. Finally, we provide extensive numerical results to illustrate the effect of OWJ and to demonstrate that the new attack can more significantly degrade the network security performance than the pure wiretapping or jamming attack. © 2022, CC BY.

关键词： Millimeter waves

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Opportunistic Wiretapping/Jamming: A New Attack Model in Millimeter-Wave Wireless networks

arXiv

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arXiv 2022年

作者： Zhang, Yuanyu Zheng, Zhumeng He, Ji Zhao, Shuangrui Qu, Qianyue Shen, Yulong Jiang, Xiaohong School of Computer Science and Technology Xidian University Shaanxi Xi’an China Shannxi Key Laboratory of Network and System Security China Beijing Sunwise Information Technology Ltd Beijing Institute of Control Engineering Beijing China Division of Information Science Graduate School of Science and Technology Nara Institute of Science and Technology Nara Ikoma Japan School of Systems Information Science Future University Hakodate Hokkaido Hakodate Japan

关键词： Millimeter waves

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The Resistive Ground Fault of PWM Voltage Inverter In The EV Charging Station

Research Square

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Research Square 2021年

作者： Zurek-Mortka, Marta Szymanski, Jerzy Ryszard Lukasiewicz Research Network – Institute for Sustainable Technologies Department of Control Systems Radom26-600 Poland Kazimierz Pulaski University of Technology and Humanities Faculty of Transport Electrical Engineering and Computer Science Radom26-600 Poland

During the direct touch of the inverter output voltage, the nonsinusoidal ground currents with a basic harmonic frequency between 1.5 kHz and 16 kHz, flow via a human’s body. Here was proved that Residual Current Device (RCD) type AC/I∆n = 30 mA does not switch off the power supply when a ground current with a value of about some hundred milliamps occurs. Because RCDs do not disconnect the power supply, the touch on the inverter’s voltage is dangerous to the health and life. For the authors, RCD usage in Voltage Frequency Converters is not a good engineer practice. The article presents tests of RCD operation in the event of a ground fault during EV battery charging. © 2021, CC BY.

关键词： Charging (batteries)

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AI agents in emergency response applications

arXiv

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arXiv 2021年

作者： Naim, Aryan Alimo, Ryan Braun, Jay The Mission Control Systems Deep Learning Group Jet Propulsion Laboratory California Institute of Technology UC San Diego CA United States The Centerfor Autonomous Systems and Technology California Institute of Technology The Deep Learning Technology Group Jet Propulsion Laboratory California Institute of Technology Deep Space Network Tracking and Telemetry Command at Jet Propulsion Laboratory California Institute of Technology

Emergency personnel respond to various situations ranging from fire, medical, hazardous materials, industrial accidents, to natural disasters. Situations such as natural disasters or terrorist acts require a multifaceted response of firefighters, paramedics, hazmat teams,and other agencies. Engineering AI systems that aid emergencypersonnel proves to be a difficult system engineering problem. Mission-critical"edge AI" situations require low-latency, reliable analytics. To further add complexity, a high degree of model accuracyis required when lives are at stake, creating a need for the deployment of highly accurate, however computationally intensive models to *** address all these issues, we propose an agent-based architecture for deployment of AI agents via 5G service-based architecture. © 2021, CC BY.

关键词： Occupational diseases

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Facade-Integrated Semi-Active Vibration control for Wind-Excited Super-Slender Tall Buildings

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IFAC-PapersOnLine 2020年第2期53卷 8395-8400页

作者： Yangwen Zhang Thomas Schauer Laurenz Wernicke Wulf Wulff Achim Bleicher Chair of Hybrid Structures - Structural Concrete Brandenburg University of Technology 03046 Cottbus Germany Control Systems Group Technische Universität Berlin 10587 Berlin Germany

Nowadays, skyscrapers are getting higher and more slender due to inner-city concentration, which makes the structure more susceptible to dynamic excitations. The design of super-slender skyscrapers is governed primarily by wind excitation. A traditional Tuned Mass Damper (TMD) has been installed in many skyscrapers to mitigate wind-induced vibrations, which has been proven to be very reliable. However, it needs large additional mass and huge installation space near the top of the building, which makes TMD not optimal for super-slender skyscrapers. In this paper, a semi-active distributed-Multiple Tuned Facade Damper (d-MTFD) using movable facade elements as damping mass is investigated. The facade elements at the upper stories of the building are parallel movable to the primary structure. Electrical Machines (EM) as variable damper are integrated in their connections to realize semi-active vibration control, which makes the system more effective and robust. For real application, a practical design criterion is that the relative displacement of the facade elements cannot be too large, otherwise it makes the occupants feel uncomfortable. Therefore, multi-objective Genetic Algorithm (GA)-optimized on-off groundhook semi-active control is applied, where two control objectives are optimized. One control objective is to minimize the peak top floor acceleration and the other control objective is to minimize the maximum peak relative displacement of all the facade elements. As a result, a Pareto Front shows that better vibration suppression performance and smaller facade relative displacement can be achieved using the multi-objective optimized controller.

关键词： distributed-Multiple Tuned Facade Damper(d-MTFD) multi-objective optimization Genetic Algorithm(GA) groundhook semi-active control

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Genetic Informed Trees (GIT*): Path planning via reinforced genetic programming heuristics

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Biomimetic Intelligence and Robotics 2025年

作者： Liding Zhang Kuanqi Cai Zhenshan Bing Chaoqun Wang Alois Knoll Chair of Robotics Artificial Intelligence and Real-time Systems TUM School of Computation Information and Technology (CIT) Technical University of Munich Munich 85748 Germany Chair of Robotics and Systems Intelligence Munich Institute of Robotics and Machine Intelligence (MIRMI) Technical University of Munich Munich 80992 Germany School of Control Science and Engineering Shandong University Jinan 250100 China

Optimal path planning involves finding a feasible state sequence between a start and a goal that optimizes an objective. This process relies on heuristic functions to guide the search direction. While a robust function can improve search efficiency and solution quality, current methods often overlook available environmental data and simplify the function structure due to the complexity of information relationships. This study introduces Genetic Informed Trees (GIT*), which improves upon Effort Informed Trees (EIT*) by integrating a wider array of environmental data, such as repulsive forces from obstacles and the dynamic importance of vertices, to refine heuristic functions for better guidance. Furthermore, we integrated reinforced genetic programming (RGP), which combines genetic programming with reward system feedback to mutate genotype-generative heuristic functions for GIT*. RGP leverages a multitude of data types, thereby improving computational efficiency and solution quality within a set timeframe. Comparative analyses demonstrate that GIT* surpasses existing single-query, sampling-based planners in problems ranging from R 4 to R 16 and was tested on a real-world mobile manipulation task. A video showcasing our experimental results is available at A video showcasing our experimental results is available at https://***/URjXbc_BiYg .

关键词： Genetic algorithm Reinforced genetic programming Generative heuristics Optimal path planning

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Residual Squeeze-and-Excitation network with Multi-scale Spatial Pyramid Module for Fast Robotic Grasping Detection

Residual Squeeze-and-Excitation Network with Multi-scale Spa...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Hu Cao Guang Chen Zhijun Li Jianjie Lin Alois Knoll Chair of Robotics Artificial Intelligence and Real-Time Systems Technische Universität München München Germany State Key Laboratory of Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Tongji University Shanghai China University of Science and Technology of China China

This paper proposes an efficient, fully convolutional neural network to generate robotic grasps by using 300×300 depth images as input. Specifically, a residual squeeze-and-excitation network (RSEN) is introduced for deep feature extraction. Following the RSEN block, a multi-scale spatial pyramid module (MSSPM) is developed to obtain multi-scale contextual information. The outputs of each RSEN block and MSSPM are combined as inputs for hierarchical feature fusion. Then, the fused global features are upsampled to perform pixel-wise learning for grasping pose estimation. The experimental results on Cornell and Jacquard grasping datasets indicate that the proposed method has a fast inference speed of 5ms while achieving high grasp detection accuracy of 96.4% and 94.8% on Cornell and Jacquard, respectively, which strikes a balance between accuracy and running speed. Our method also gets a 90% physical grasp success rate with a UR5 robot arm.

关键词： Automation Conferences Pose estimation Grasping Manipulators Feature extraction Inference algorithms

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Preface

Lecture Notes in Electrical Engineering

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Lecture Notes in Electrical Engineering 2024年 1148 LNEE卷 v页

作者： Sikander, Afzal Zurek-Mortka, Marta Chanda, Chandan Kumar Mondal, Pranab Kumar Department of Instrumentation and Control Engineering Dr. B. R. Ambedkar Nati onal Institute of Technology Jalandhar Punjab Jalandhar India Department of Control Systems Lukasiewicz Research Network—Institute for Sustainable Technologies Radom Poland Department of Electrical Engineering Indian Institute of Engineering Science West Bengal Howrah India Department of Mechanical Engineering Indian Institute of Technology Guwahati Assam Guwahati India

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Flatness-based tracking control for a pneumatic system with distributed parameters

引用

IFAC-PapersOnLine 2018年第2期51卷 487-492页

作者： Gehring, Nicole Kern, Richard Institute of Automatic Control and Control Systems Technology Johannes Kepler University Linz Linz Austria Chair of Automatic Control Technical University of Munich Garching Germany

This paper considers the flatness-based tracking control design for a pneumatic system, where a tank and a proportional valve are connected via a long transmission line of approximately 20 m. Motivated by this test bench set-up and the aim to implement fast pressure changes in the tank, three distributed-parameter models of different complexity and physical accuracy are presented, involving linear and quasi-linear hyperbolic partial differential equations. A flatness-based state feedback control is derived based on a linear distributed-parameter model of the pneumatic system. In combination with flatness-based feedforward controllers, designed for two of the three models, tracking controllers are obtained. Based on a simulation model of the test bench, verified to match the measurement data almost perfectly, the controllers are shown to execute fast pressure changes in the tank very accurately. © 2018

关键词： Distributed parameter control systems controllers Feedback control Feedforward control Navigation Partial differential equations Pneumatic control Pneumatic control equipment Pneumatic equipment State feedback Tanks (containers) Distributed parameter systems Distributed parameter model Feed forward controllers flatness Hyperbolic partial differential equation Long transmission lines Model based controls Pneumatic system

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