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IEEE International Conference on Robotics and Biomimetics

作者： Zhiyuan Yang Qingjie Zhao Xingchen Lv Lei Wang Wangwang Liu School of Computer Science and Technology Beijing Institute of Technology Beijing China Beijing Institute of Control Engineering Beijing China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

This paper presents an autonomous task planning method for multiple collecting robots on improved genetic algorithm. Considering the limited capacity of collecting robots and the suitability of hopping robots in the microgravity environment of small celestial bodies, we developed a task planning model based on the Capacitated Vehicle Routing Problem (CVRP) and proposed an improved genetic algorithm to simultaneously allocate tasks and plan paths for multiple collecting robots. During robot movement, the A * algorithm is employed for active obstacle avoidance when unknown obstacles are encountered. Experimental results demonstrated that our algorithm, can efficiently allocate tasks for the robot group, and each robot actively avoiding obstacles during movement.

关键词： Vehicle routing Wheels Path planning Planning Safety Resource management Mobile robots Robots Genetic algorithms Capacity planning

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Encrypted Finite-Horizon Energy-to-Peak State Estimation for Time-Varying Systems Under Eavesdropping Attacks: Tackling Secrecy Capacity

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IEEE/CAA Journal of Automatica Sinica 2023年第4期10卷 985-996页

作者： Lei Zou Zidong Wang Bo Shen Hongli Dong Guoping Lu College of Information Science and Technology Donghua UniversityShanghai 201620 Engineering Research Center of Digitalized Textile and Fashion Technology Ministry of EducationShanghai 201620China College of Electrical Engineering and Automation Shandong University of Science and TechnologyQingdao 266590China Department of Computer Science Brunel University LondonUxbridgeMiddlesex UB83PHUK Intelligence Energy Research Institute Northeast Petroleum UniversityDaqing 163318 Heilongjiang Provincial Key Laboratory of Networking and Intelligent Control Northeast Petroleum UniversityDaqing 163318 Sanya Offshore Oil&Gas Research Institute Northeast Petroleum UniversitySanya 572024China School of Electrical Engineering Nantong UniversityNantong 226019China

This paper is concerned with the problem of finitehorizon energy-to-peak state estimation for a class of networked linear time-varying *** to the inherent vulnerability of network-based communication,the measurement signals transmitted over a communication network might be intercepted by potential *** avoid information leakage,by resorting to an artificial-noise-assisted method,we develop a novel encryption-decryption scheme to ensure that the transmitted signal is composed of the raw measurement and an artificial-noise term.A special evaluation index named secrecy capacity is employed to assess the information security of signal transmissions under the developed encryption-decryption *** purpose of the addressed problem is to design an encryptiondecryption scheme and a state estimator such that:1)the desired secrecy capacity is ensured;and 2)the required finite-horizon–l_(2)-l_(∞)performance is *** conditions are established on the existence of the encryption-decryption mechanism and the finite-horizon state ***,simulation results are proposed to show the effectiveness of our proposed encryption-decryption-based state estimation scheme.

关键词： Artificial-noise-assisted technique eavesdropping encryption-decryption scheme energy-to-peak state estimation finitehorizon state estimation

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On Space-Filling Input Design for Nonlinear Dynamic Model Learning: A Gaussian Process Approach

arXiv

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arXiv 2025年

作者： Liu, Yuhan Kiss, Máté Tóth, Roland Schoukens, Maarten Control Systems Group Department of Electrical Engineering Eindhoven University of Technology Eindhoven5600 MB Netherlands Systems and Control Laboratory HUN-REN Institute for Computer Science and Control Budapest1111 Hungary

While optimal input design for linear systems has been well-established, no systematic approach exists for nonlinear systems, where robustness to extrapolation/interpolation errors is prioritized over minimizing estimated parameter variance. To address this issue, we develop a novel identification-oriented space-filling input design strategy for efficient covering of a well-defined region of interest. By placing a Gaussian Process (GP) prior on the joint input-state space, the proposed strategy leverages the GP posterior variance to construct a space-filling promoting input design cost function from the Bayesian point of view. This accordingly enables maximization of the coverage in the region of interest, thereby facilitating the generation of informative datasets. Furthermore, we theoretically prove that minimization of the cost function indicates the space-filling behavior. The effectiveness of the proposed strategy is demonstrated on both an academic example and a mass-spring-damper system, highlighting its potential practical impact on efficient exploration in identification scenarios for nonlinear dynamical systems. © 2025, CC BY-NC-SA.

关键词： Cost functions

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High-Capacity DWDM Transmission System for Free-Space Optical Network

High-Capacity DWDM Transmission System for Free-Space Optica...

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International Conference on Electrical, control and Instrumentation engineering (ICECIE)

作者： M.T Rahman M.A Jahid S.Y Anha Md. Shohanur Rahman F. Azmi Orpy A. S. M. Bakibillah Department of Computer Science and Engineering University Asia Pacific (UAP) Bangladesh Department of Systems and Control Engineering Tokyo Institute of Technology Tokyo Japan

ISBN: (数字)9798350380040

ISBN: (纸本)9798350380057

This study presents the architecture and performance evaluation of a high-capacity free-space optical (FSO) communication system that makes use of dense wavelength division multiplexing (DWDM) and a 1.28 Tb/s link. The system under consideration comprises 64 individual channels, each of which is capable of transferring data streams at a speed of 20 Gbps. A return-to-zero (RZ) line coding algorithm is incorporated to maximize performance across 2.0 km of FSO link. Important parameters that affect the system's performance, like beam divergence and atmosphere attenuation, are taken into account in the analysis. The signals' bit-error-rate (BER), quality factor (Q), and eye diagrams are calculated and examined to assess the system's performance. For future optical-wireless networks that require significant bandwidth capabilities, cost-effective implementation, and increased flexibility, this novel high-capacity design offers a promising solution. The results aid in the development of dependable and useful high-speed FSO communication systems.

关键词： Q-factor Wireless communication Performance evaluation Free-space optical communication System performance Bit error rate Optical fiber networks Wavelength division multiplexing Encoding Streams

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Variational Bayesian Based Adaptive CKF-SLAM Algorithm under Non-steady Noise *

Variational Bayesian Based Adaptive CKF-SLAM Algorithm under...

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WRC Symposium on Advanced Robotics and Automation (WRC SARA)

作者： Feng Zhang Aichun Li Shuai Yuan School of Electrical and Control Engineering Shenyang Jianzhu University Shenyang China School of Computer Science and Engineering Shenyang Jianzhu University Shenyang China

ISBN: (数字)9798331506100

ISBN: (纸本)9798331506117

The variational Bayesian based adaptive CKF-SLAM algorithm is proposed to resolve the challenge of non-steady noise caused by erratic wheel slippage and sensor performance variances in mobile robot systems. First of all, the inverse Wishart distribution is adopted to establish a prior model for the observation noise matrix. Then, according to orthogonality principle, an adaptive factor is derived to participate in the iterative filtration calculation by using the provided measurement value. Furthermore, the posterior distribution is approximated precisely through variational inference. The pose optimal estimation is obtained by using the Cubature Kalman filter algorithm to literately update the relevant parameters. Finally, simulations under non-steady noise are performed to illustrate VBACKF-SLAM superiority over UKF-SLAM, CKF-SLAM and VBCKF-SLAM. The simulation results represent that the accuracy of mobile robot state estimation is improved by the proposed algorithm, and significant enhancement in positioning and mapping precision is obtained, which could be a valid solution for the real-time localization and map building of mobile robots.

关键词： Adaptation models Simulation Noise Wheels Approximation algorithms Robot sensing systems Real-time systems

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Improving fNIRS Signal Quality Using Smoothing Filtering

Improving fNIRS Signal Quality Using Smoothing Filtering

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2023 Progress in Applied Electrical engineering, PAEE 2023

作者： Kawala-Sterniuk, Aleksandra Mikolajewski, Dariusz Leiva, Luis A. Ruotsalo, Tuukka Lysiak, Adam Grochowicz, Barbara Jacek Gorzenariczyk, Edward Luckiewicz, Adrian Wieczorek, Anna Pelc, Mariusz Automatic Control and Informatics Opole University of Technology Faculty of Electrical Engineering Opole Poland Institute of Computer Science Kazimierz Wielki University Bydgoszcz Poland University of Luxembourg Luxembourg Department of Computer Science Luxembourg Luxembourg University of Helsinki Denmark University of Copenhagen Finland Institute of Philosophy Kazimiez Wielki University Bydgoszcz Poland

ISBN: (纸本)9798350316254

Biomedical signals are extremely difficult to analyze, mainly due to the non-stationary nature of these signals. Filtering does not always bring the desired results, because often the desired information is filtered out. In the case of EEG signals, smoothing filters gave very good results. In this paper, various types of smoothing filters for the analysis of infrared spectroscopy signals were compared. © 2023 IEEE.

关键词： Information filtering

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Landing location planning based on genetic cooperative particle swarm optimization

Landing location planning based on genetic cooperative parti...

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International Symposium on Autonomous Systems (ISAS)

作者： Xinyu Yao Qingjie Zhao Xingchen Lv Lei Wang Wangwang Liu School of Computer Science & Technology Beijing Institute of Technology Beijing China Beijing Institute of Control Engineering Beijing China

ISBN: (数字)9798350363173

ISBN: (纸本)9798350363180

Being able to safely land on the surface is one of the primary challenges when a probe exploring an asteroid. In order to ensure landing safety, the landing location planning needs to comprehensively consider the terrain characteristics and avoid obstacles such as protruding rocks, craters and slopes. Relatively flat areas are suitable for landing. If multiple landers are landing together, in order to avoid collisions and maintain good communication, appropriate distance should be maintained between the landers. In this paper, we first establish a landing environment model, and then propose a landing location planning method for a lander-group using genetic cooperative particle swarm optimization (GCPSO), which ensures the autonomous movement of individual landers while maintaining a certain safe landing distance between them. Taking a group of three landers as an example, simulation experiments show that the algorithm proposed in this paper can ensure the group to achieve stable landing and keep safe distances between them.

关键词： Collaboration Land surface Genetics Rocks Planning Solar system Safety

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A Registration and Fusion Method of 3D Cross-source Point Cloud Data for Modeling Accurate Models of Small Celestial Bodies

A Registration and Fusion Method of 3D Cross-source Point Cl...

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IEEE International Conference on Robotics and Biomimetics

作者： Xuan He Qingjie Zhao Xingchen Lv Lei Wang Wangwang Liu School of Computer Science and Technology Beijing Institute of Technology Beijing China Beijing Institute of Control Engineering Beijing China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

High-precision three-dimensional models of small celestial bodies are important for deep space exploration tasks. The homologous point cloud obtained from a single sensor has limitations in terms of accuracy and density. For example, the point cloud obtained by RGB camera has rich information and high density, but low precision. The point cloud obtained by laser scanning has high precision but low density. Therefore, we hope to register and fuse the point clouds obtained from different sensors, synthesize the advantages of cross-source point clouds obtained from different source domains, and improve the density, accuracy and other aspects of small celestial point clouds. To solve the common problems of cross-source point clouds, we adopt an end-to-end feature measurement point cloud registration framework, which does not need to search the corresponding points between two point clouds, and reduces the difficulty of processing cross-source point cloud data. Aiming at the problem that some stray points on the registered point cloud surface affect the accuracy of the point cloud, a point cloud fusion optimization method based on Euclidean distance is proposed. The stray points around the point cloud are removed to reduce the loss of normal points. The accuracy of point cloud is improved by the fusion after registration. Experiments show that the proposed method can effectively improve the density and accuracy of small celestial body models.

关键词： Point cloud compression Solid modeling Accuracy Three-dimensional displays Euclidean distance Feature extraction Data models Space exploration Laser fusion Surface treatment

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Document-level Event Extraction combined with Writing Style and Argument Role RelationA Document-level Event Extraction model DEEWR 23

Document-level Event Extraction combined with Writing Style ...

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Proceedings of the 4th International Conference on Artificial Intelligence and computer engineering

作者： Jingsheng Zhao Shuai Yan Qihui Ni Yongzheng Wang Qiaoming Zhu School of Information and Control Engineering Qingdao University of Technology China School of Computer Science and Technology Soochow University China

ISBN: (纸本)9798400708831

Document-level event extraction is an important task in natural language processing, which faces the challenges of arguments-scattering and multi-events. The current mainstream method is to decompose document-level event extraction into three subtasks: entity extraction, event type recognition, and argument-filling. However, existing methods flew consider the impact of writing style on event extraction, and have complex models with high training costs. To address these problems, this paper proposes a document-level event extraction model that incorporates both writing style and argument role relation. First, Roberta is used to encode the document sentences to obtain semantic features, and BiLSTM-CRF is used to identify candidate entities. Second, the writing style is modeled as the relative distribution of argument roles in the document and is used to supervise the event type recognition results. Third, argument-filling is simplified to the relation judgment between the argument roles. This method effectively addresses the problem of scattered arguments by constructing event clusters based on the relation of argument roles. It also deals with the multi-event problem through event cluster division. Compared with previous path expansion-based methods, experimental results show that the model has lower training costs and performs better in low training epochs.

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Deep Reinforcement Learning for Job Scheduling and Resource Management in Cloud Computing: An Algorithm-Level Review

arXiv

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arXiv 2025年

作者： Gu, Yan Liu, Zhaoze Dai, Shuhong Liu, Cong Wang, Ying Wang, Shen Theodoropoulos, Georgios Cheng, Long The School of Control and Computer Engineering North China Electric Power University Beijing China The School of Computer Science and Technology Shandong University of Technology China The Institute of Computing Technology Chinese Academy of Sciences Beijing China The School of Computer Science University College Dublin Ireland Department of Computer Science and Engineering Southern University of Science and Technology Shenzhen China

Cloud computing has revolutionized the provisioning of computing resources, offering scalable, flexible, and on-demand services to meet the diverse requirements of modern applications. At the heart of efficient cloud operations are job scheduling and resource management, which are critical for optimizing system performance and ensuring timely and cost-effective service delivery. However, the dynamic and heterogeneous nature of cloud environments presents significant challenges for these tasks, as workloads and resource availability can fluctuate unpredictably. Traditional approaches, including heuristic and meta-heuristic algorithms, often struggle to adapt to these real-time changes due to their reliance on static models or predefined rules. Deep Reinforcement Learning (DRL) has emerged as a promising solution to these challenges by enabling systems to learn and adapt policies based on continuous observations of the environment, facilitating intelligent and responsive decision-making. This survey provides a comprehensive review of DRL-based algorithms for job scheduling and resource management in cloud computing, analyzing their methodologies, performance metrics, and practical applications. We also highlight emerging trends and future research directions, offering valuable insights into leveraging DRL to advance both job scheduling and resource management in cloud computing. © 2025, CC BY.

关键词： Job shop scheduling

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