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arXiv 2021年

作者： He, Xingkang Hashemi, Ehsan Johansson, Karl H. Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Sweden Department of Mechanical Engineering University of Alberta Canada

—This paper proposes a method to navigate a mobile robot by estimating its state over a number of distributed sensor networks (DSNs) such that it can successively accomplish a sequence of tasks, i.e., its state enters each targeted set and stays inside no less than the desired time, under a resource-aware, time-efficient, and computation- and communication-constrained setting. We propose a new robot state estimation and navigation architecture, which integrates an event-triggered task-switching feedback controller for the robot and a two-time-scale distributed state estimator for each sensor. The architecture has three major advantages over existing approaches: First, in each task only one DSN is active for sensing and estimating the robot state, and for different tasks the robot can switch the active DSN by taking resource saving and system performance into account;Second, the robot only needs to communicate with one active sensor at each time to obtain its state information from the active DSN;Third, no online optimization is required. With the controller, the robot is able to accomplish a task by following a reference trajectory and switch to the next task when an event-triggered condition is fulfilled. With the estimator, each active sensor is able to estimate the robot state. Under proper conditions, we prove that the state estimation error and the trajectory tracking deviation are upper bounded by two time-varying sequences respectively, which play an essential role in the event-triggered condition. Furthermore, we find a sufficient condition for accomplishing a task and provide an upper bound of running time for the task. Numerical simulations of an indoor robot’s localization and navigation are provided to validate the proposed architecture. Copyright © 2021, The Authors. All rights reserved.

关键词： Navigation

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Multi-Head Attention Spatial-Temporal Graph Neural Networks for Traffic Forecasting

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Journal of computer and Communications 2024年第3期12卷 52-67页

作者： Xiuwei Hu Enlong Yu Xiaoyu Zhao School of Computer Science and Technology Shandong University of Technology Zibo China Shandong Deyun Land Real Estate Appraisal Consulting Co. Zibo China College of Computer and Control Engineering Qiqihar University Qiqihar China

Accurate traffic prediction is crucial for an intelligent traffic system (ITS). However, the excessive non-linearity and complexity of the spatial-temporal correlation in traffic flow severely limit the prediction accuracy of most existing models, which simply stack temporal and spatial modules and fail to capture spatial-temporal features effectively. To improve the prediction accuracy, a multi-head attention spatial-temporal graph neural network (MSTNet) is proposed in this paper. First, the traffic data is decomposed into unique time spans that conform to positive rules, and valuable traffic node attributes are mined through an adaptive graph structure. Second, time and spatial features are captured using a multi-head attention spatial-temporal module. Finally, a multi-step prediction module is used to achieve future traffic condition prediction. Numerical experiments were conducted on an open-source dataset, and the results demonstrate that MSTNet performs well in spatial-temporal feature extraction and achieves more positive forecasting results than the baseline methods.

关键词： Traffic Prediction Intelligent Traffic System Multi-Head Attention Graph Neural Networks

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LSS target threat estimation and capture prediction trajectory simulation

LSS target threat estimation and capture prediction trajecto...

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International Conference on Information science and control engineering (ICISCE)

作者： Haotong Wang Bailin Liu Zhiping Liu Jun Shi Pengrui Wang New Network and Testing Control National and Local Joint Engineering Laboratory Xi'an China School of Computer Science and Engineering Xi'an Technological University Xi'an China

To address the potential airspace security threats of "low, slow, and small" targets, a dynamic Bayesian network model is used to determine the multi-target potential threat value’ and then establish the threat level. The target with the highest threat value is captured, and the improved A-Star algorithm is used. The size of the search space is reduced by combining with the maneuvering performance of the rotor-type UAV to improve the efficiency of real-time capture trajectory planning. Through simulation experiment analysis and verification, the multi-target threat value given by the dynamic Bayesian network was consistent with that in the expert experience evaluation. At the same time, the improved A-Star algorithm can give the optimal capture trajectory of the target with the greatest potential threat.

关键词： Trajectory planning Heuristic algorithms Estimation Predictive models Real-time systems Trajectory Bayes methods

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Enacted visual perception: A computational model based on piaget equilibrium

arXiv

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arXiv 2021年

作者： Hakimzadeh, Aref Xue, Yanbo Setoodeh, Peyman The School of Electrical and Computer Engineering Shiraz University Shiraz Iran The Career Science Lab Beijing China The Department of Control Engineering Northeastern University Qinhuangdao China

In Maurice Merleau-Ponty’s phenomenology of perception, analysis of perception accounts for an element of intentionality, and in effect therefore, perception and action cannot be viewed as distinct procedures. In the same line of thinking, Alva Noë considers perception as a thoughtful activity that relies on capacities for action and thought. Here, by looking into psychology as a source of inspiration, we propose a computational model for the action involved in visual perception based on the notion of equilibrium as defined by Jean Piaget. In such a model, Piaget’s equilibrium reflects the mind’s status, which is used to control the observation process. The proposed model is built around a modified version of convolutional neural networks (CNNs) with enhanced filter performance, where characteristics of filters are adaptively adjusted via a high-level control signal that accounts for the thoughtful activity in perception. While the CNN plays the role of the visual system, the control signal is assumed to be a product of mind. Copyright © 2021, The Authors. All rights reserved.

关键词： Vision

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Design of the adaptive Smith Predictor for the time-varying network control system

Design of the adaptive Smith Predictor for the time-varying ...

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SICE Annual Conference

作者： Chien-Liang Lai Pau-Lo Hsu Bor-Chyun Wang Department of Electrical and Control Engineering National Chiao Tung University Hsinchu Taiwan Department of Computer Science and Information Engineering China University of Technology Hukou Taiwan

ISBN: (纸本)9784907764302

This paper integrates Ethernet and control area network (CAN) with the TCP/IP communication gateway. The developed system has been applied to a remote control system for an AC 400 W servo motor to verify the proposed adaptive Smith Predictor control method with the time-delay estimation algorithm. The time delay effect, defined as the round-trip time (RTT), between the application layer of the server and the application layer of the client, has been measured and analyzed. Moreover, results indicate that NCS performance is degraded, and may even become unstable mainly due to the serious network time delay in a stochastic nature mainly occurred in the Ethernet. The Smith predictor is adopted to eliminate the constant time delay. However, the delay in a commercial network is time varying and it depends on the number of end users. An adaptive Smith predictor control scheme is developed in this paper by applying the on-line estimation to further improve control performance of the proposed NCS with the integrated Ethernet and CAN buses. Experimental results indicate that the time delay is drifting in both bounded and random natures for the integrated Ethernet+CAN network and the proposed control approach significantly improves motion accuracy as in the NCS for an AC motor-based motion system.

关键词： NCS Time delay Adaptive Smith predictor Integration Ethernet CAN Ethernet networks Smith predictors application layer time delay NUCLEOPORIN, 214-KD calcium ammonium nitrate End users DNA Integration integration Networked control systems control area network Remote control systems kinematic accuracy Time varying networks

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An Adaptive Tracking control Approach for a Quadrotor Transporting a Cable-Suspended Payload

An Adaptive Tracking Control Approach for a Quadrotor Transp...

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Youth Academic Annual Conference of Chinese Association of Automation (YAC)

作者： Jianzhe Fu Yanmei Jia Zongyang Lv Yuhu Wu School of Control Science and Engineering Dalian University of Technology Dalian China School of Science Dalian Minzu University Dalian China Department of Electrical and Computer Engineering University of Alberta Edmonton Canada

ISBN: (数字)9798350379228

ISBN: (纸本)9798350390780

This study presents an adaptive control system for controlling the motion of a quadrotor transporting a cable-suspended payload. The technique uses adaptive updating rules to estimate the unknown disturbance operating on the pay-load. This work employs the Lyapunov method and LaSalle’s invariance theorem to examine and demonstrate that the suggested algorithm ensures the control system’s asymptotic stability. The simulation at the end of the paper validates the performance of the constructed adaptive controller.

关键词： Asymptotic stability Estimation error Automation Stability analysis Closed loop systems Adaptive control Payloads

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Pseudo virtual passive dynamic walking and effect of upper body as counterweight

Pseudo virtual passive dynamic walking and effect of upper b...

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2008 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Fumihiko Asano Zhi-Wei Luo RIKEN Bio Mimetic Control Research Center Nagoya Japan Department of Computer Science and Systems Engineering Graduate School of Engineering Kobe University Kobe Japan

ISBN: (纸本)9781424420575

This paper investigates the effect of an upper body on efficient dynamic bipedal walking utilizing its natural dynamics. We introduce an upper body as a one-link torso and add it to a simple biped model by means of a bisecting hip mechanism (BHM). We first mathematically analyze the effect of the upper body with the BHM as a counterweight and discuss how it affects natural swinging motion of the swing leg. Second, we propose a simple method for generating efficient dynamic bipedal gait imitating the property of virtual passive dynamic walking, and numerically analyze the gait efficiency. Simulation results show that the walking system exhibits period-doubling bifurcation, and we discuss how the efficiency changes in the multiple-period gait.

关键词： Legged locomotion Robots Mechanical energy Leg Hip Torso Joints

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Research on Recognizing Power Cable Fault Based on the ACCLN

Research on Recognizing Power Cable Fault Based on the ACCLN

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International Symposium on computer, Consumer and control (IS3C)

作者： Xuebin Qin Mei Wang Xiaowei Li Jzau Sheng Lin College of Electrical and Control Engineering Dept. Xi'an University of Science and Technology Xi'an China Computer Science & Information Engineering Dept. Chin-Yi University of Technology Taizhong Taiwan

Power cable problem under the normal operating condition is very important in electric power systems. In practical operation, Various cable faults will happen. Recognizing the cable faults correctly and timely is very crucial. A method is proposed that an annealed chaotic competitive learning network (ACCLN) recognizes power cable types in this paper. The result shows a better performance than SVM and IPSO-SVM method. The result shows that the fault recognition accuracy reached 96.2% by 54 data test sample data. The network training time is about 0.032 second. The proposed method is applied for the cable fault classification effectively.

关键词： Power cables Annealing Entropy Circuit faults Neurons Training Support vector machines

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The behavioural pole structure of nD systems

The behavioural pole structure of nD systems

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IEEE Conference on Decision and control

作者： J. Wood E. Rogers D.H. Owens ISIS Group Department Elect. and Computer Science University of Southampton Southampton UK Centre for Systems and Control Engineering School of Engineering University of Exeter UK

We discuss the pole structure of nD linear systems from a behavioural point of view. We define the notions of irreducible, reducible, manifest and latent poles, which correspond in the classical 1D setting to controllable poles, input decoupling zeros, observable poles and output decoupling zeros. Our definition of poles can be interpreted in terms of kernel representations, and also allows an integral representation of any zero-input trajectory in terms of system poles.

关键词： Neodymium Poles and zeros Linear systems Kernel Frequency Polynomials Intersymbol interference Multidimensional systems control systems Filtering theory

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Multiobjective control for continuous time MIMO systems via deadbeat regulation

Multiobjective control for continuous time MIMO systems via ...

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IEEE Conference on Decision and control

作者： K. Tsumura H. Nakanishi E. Nobuyama Department of Information and Computer Sciences Faculty of Engineering Chiba University Inage Chiba Japan Department of Control Engineering and Science Kyushu Institute of Technology Fukuoka Japan

We extend the framework of continuous time deadbeat control, which is given by Nobuyama et al. to multi-constraints control in time and frequency domains for continuous time MIMO systems. Two conditions for the free parameter of H/sub /spl infin// suboptimal controllers are shown, which correspond to a deadbeat control interpolation condition and H/sub /spl infin// norm constraint. By restricting modified free parameters of H/sub /spl infin// controllers to commensurate time delay functions, we give all controllers which satisfy the two conditions simultaneously. Moreover, we show that time domain constraints of L/sub 2/ or L/sub 1/ norms are also reduced to finite dimensional convex problems and these mixed problems can be solved numerically.

关键词： control systems MIMO Interpolation Continuous time systems Strain control Transfer functions control engineering Delay effects Error correction Servomechanisms

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