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K-ST: A Formal Executable Semantics of the Structured Text Language for PLCs

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arXiv 2022年

作者： Wang, Kun Wang, Jingyi Poskitt, Christopher M. Chen, Xiangxiang Sun, Jun Cheng, Peng The College of Control Science and Engineering Zhejiang University Zhejiang310027 China The School of Computing and Information Systems Singapore Management University Singapore

Programmable Logic controllers (PLCs) are responsible for automating process control in many industrial systems (e.g. in manufacturing and public infrastructure), and thus it is critical to ensure that they operate correctly and safely. The majority of PLCs are programmed in languages such as Structured Text (ST). However, a lack of formal semantics makes it difficult to ascertain the correctness of their translators and compilers, which vary from vendor-to-vendor. In this work, we develop K-ST, a formal executable semantics for ST in the K framework. Defined with respect to the IEC 61131-3 standard and PLC vendor manuals, K-ST is a high-level reference semantics that can be used to evaluate the correctness and consistency of different ST implementations. We validate K-ST by executing 567 ST programs extracted from GitHub and comparing the results against existing commercial compilers (i.e., CODESYS, CX-Programmer, and GX Works2). We then apply K-ST to validate the implementation of the open source OpenPLC platform, comparing the executions of several test programs to uncover five bugs and nine functional defects in the compiler. © 2022, CC BY.

关键词： Programmable logic controllers

Act Now: A Novel Online Forecasting Framework for Large-Scale Streaming Data

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arXiv 2024年

作者： Liang, Daojun Zhang, Haixia Wang, Jing Yuan, Dongfeng Zhang, Minggao School of Information Science and Engineering Shandong University China School of Control Science and Engineering Shandong University China Ocean College Jiangsu University of Science and Technology China School of Qilu Transportation Shandong University China Shandong Key Laboratory of Intelligent Communication and Sensing-Computing Integration China

In this paper, we find that existing online forecasting methods have the following issues: 1) They do not consider the update frequency of streaming data and directly use labels (future signals) to update the model, leading to information leakage. 2) Eliminating information leakage can exacerbate concept drift and online parameter updates can damage prediction accuracy. 3) Leaving out a validation set cuts off the model’s continued learning. 4) Existing GPU devices cannot support online learning of large-scale streaming data. To address the above issues, we propose a novel online learning framework, Act-Now, to improve the online prediction on large-scale streaming data. Firstly, we introduce a Random Subgraph Sampling (RSS) algorithm designed to enable efficient model training. Then, we design a Fast Stream Buffer (FSB) and a Slow Stream Buffer (SSB) to update the model online. FSB updates the model immediately with the consistent pseudo- and partial labels to avoid information leakage. SSB updates the model in parallel using complete labels from earlier times. Further, to address concept drift, we propose a Label Decomposition model (Lade) with statistical and normalization flows. Lade forecasts both the statistical variations and the normalized future values of the data, integrating them through a combiner to produce the final predictions. Finally, we propose to perform online updates on the validation set to ensure the consistency of model learning on streaming data. Extensive experiments demonstrate that the proposed Act-Now framework performs well on large-scale streaming data, with an average 28.4% and 19.5% performance improvement, respectively. Experiments can be reproduced via https://***/Anoise/Act-Now. © 2024, CC BY.

关键词： Spatio-temporal data

Incorporating Extended Reality Technology for Delivering Computer Aided Design and Visualisation Modules

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Incorporating Extended Reality Technology for Delivering Com...

International Conference on Software, Knowledge Information, Industrial Management and Applications (SKIMA)

作者： Parag Vichare Michele Cano Keshav Dahal Tomasz Siewierski Marco Gilardi School of Computing Engineering and Physical Sciences (CEPS) University of the West of Scotland Paisley Faculty of Electrical Electronic Computer and Control Engineering Lodz University of Technology Lodz Poland

ISBN: (纸本)9781665493352

The basic requirement in curriculum design is to review and constructively align programme modules with state-of-the art and trends in the subject area. Extended reality (XR), an umbrella term for emerging technologies such as augmented reality (AR), mixed reality (MR) and virtual reality (VR), is becoming a prominent aspect of design and visualization for architecture, engineering, and construction (AEC) industry. engineering programmes are primary feeders for the AEC industry, delivery of CAD and visualisation modules provide wider opportunities for adapting such emerging technologies in the subject area, as well as use of these technologies for developing novel pedagogical practices. This paper provides a rational behind revising traditional CAD and visualisation modules designed for engineering undergraduate programmes, and constructively incorporate XR within programme modules. A critical literature review is provided on XR subject area as well as XR based pedagogical practices. This review identifies elements of XR as a subject area that can be incorporated in AEC programmes. It also highlights academic and operational considerations in adapting XR technology for delivering CAD and visualisation modules. Similar approach is extended to evaluate integration of XR technologies for Electrical and Power engineering Programmes.

关键词： Industries Visualization Power engineering Three-dimensional displays Extended reality Education Mixed reality

NF-Atlas: Multi-Volume Neural Feature Fields for Large Scale LiDAR Mapping

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arXiv 2023年

作者： Yu, Xuan Liu, Yili Mao, Sitong Zhou, Shunbo Xiong, Rong Liao, Yiyi Wang, Yue The State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China College of Information Science and Electronic Engineering Zhejiang University Hangzhou China Huawei Cloud Computing Technologies Co. Ltd. Shenzhen China

LiDAR Mapping has been a long-standing problem in robotics. Recent progress in neural implicit representation has brought new opportunities to robotic mapping. In this paper, we propose the multi-volume neural feature fields, called NF-Atlas, which bridge the neural feature volumes with pose graph optimization. By regarding the neural feature volume as pose graph nodes and the relative pose between volumes as pose graph edges, the entire neural feature field becomes both locally rigid and globally elastic. Locally, the neural feature volume employs a sparse feature Octree and a small MLP to encode the signed distance function (SDF) of the submap with an option of semantics. Learning the map using this structure allows for end-to-end solving of maximum a posteriori (MAP) based probabilistic mapping. Globally, the map is built volume by volume independently, avoiding catastrophic forgetting when mapping incrementally. Furthermore, when a loop closure occurs, with the elastic pose graph based representation, only updating the origin of neural volumes is required without remapping. Finally, these functionalities of NF-Atlas are validated. Thanks to the sparsity and the optimization based formulation, NF-Atlas shows competitive performance in terms of accuracy, efficiency and memory usage on both simulation and real-world datasets. The project page is: https://***/NFAtlas/ Copyright © 2023, The Authors. All rights reserved.

关键词： Mapping

Depth-Aware Multi-Modal Fusion for Generalized Zero-Shot Learning 22

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Depth-Aware Multi-Modal Fusion for Generalized Zero-Shot Lea...

22nd IEEE International Conference on Industrial Informatics, INDIN 2024

作者： Cao, Weipeng Yao, Xuyang Xu, Zhiwu Pan, Yinghui Sun, Yixuan Li, Dachuan Qiu, Bohua Wei, Muheng Shenzhen China National Engineering Laboratory for Big Data System Computing Technology Shenzhen University Shenzhen China College of Computer Science and Software Engineering Shenzhen University Shenzhen China Stony Brook University New York United States Research Institute of Trustworthy Autonomous Systems Southern University of Science and Technology Shenzhen China Department of Computer Science and Engineering Southern University of Science and Technology Shenzhen China ZhenDui Industry Artificial Intelligence Co. Ltd Shenzhen China Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China

ISBN: (纸本)9798331527471

Realizing Generalized Zero-Shot Learning (GZSL) based on large models is emerging as a prevailing trend. However, most existing methods merely regard large models as black boxes, solely leveraging the features output by the final layer while disregarding potential performance enhancements from other layers. Indeed, numerous researchers have visually depicted variations in the features learned across different layers of neural networks. Motivated by this observation, we propose a Vision Transformer (ViT)-based GZSL method named Depth-Aware Multi-Modal ViT (DAM2ViT), which exploits multi-level features of ViT. DAM2ViT incorporates a multi-modal interaction block to align semantic information of categories across multiple layers, thereby augmenting the model’s capacity to learn associations between visual and semantic spaces. Extensive experiments conducted on three benchmark datasets (i.e., CUB, SUN, AWA2) have showcased that DAM2ViT achieves competitive results compared to state-of-the-art methods. © 2024 IEEE.

关键词： Zero-shot learning

Neighbor Patches Merging Reduces Spatial Redundancy of Nature Images

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SSRN

SSRN 2023年

作者： Jiang, Kai Peng, Peng Lian, Youzao Shao, Weihui Xu, Weisheng Department of Control Science and Engineering College of Electronic and Information Engineering Tongji University No. 4800 Caoan Highway Shanghai201804 China Education Technology and Computing Center Tongji University No. 1239 Siping Road Shanghai200092 China

The introduction of the Transformer architecture in Computer Vision has unified the processing of image and text data. However, Transformer networks encounter the quadratic complexity of computation with respect to the sequence length. To mitigate this challenge, the Vision Transformer (ViT) dissects images into patches, embedding them into tokens for network input and thereby reducing the sequence length. This study leverages spatial redundancy in nature images and incorporates adaptive within images. The proposed solution introduces the Neighbor Patch Merging (NEPAM) method, which merges the image patches at the network’s inception. NEPAM effectively reduces sequence length and accelerates inference without necessitating alterations to the networks. Furthermore, we observe that merging patches leads to the loss of position embeddings and accuracy/ To address this, we propose Multi-Scale Relative Position Embeddings (MS-RPE) to model the position relationship between patches with adaptive sizes. Both the NEPAM method and MS-RPE can be seamlessly integrated into the network, enabling more flexible model deployment. Experiments demonstrate that applying NEPAM and MS-RPE to Deit-Small models results in a 2.26x speedup with an accuracy loss of 2.44%, without the necessaity of retraining for a fixed pruning rate. © 2023, The Authors. All rights reserved.

关键词： Embeddings

MCU-MixQ: A HW/SW Co-optimized Mixed-precision Neural Network Design Framework for MCUs

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arXiv 2024年

作者： Gong, Junfeng Liu, Cheng Cheng, Long Li, Huawei Li, Xiaowei SKLP Institute of Computing Technology Chinese Academy of Sciences Beijing China Dept. of Computer Science University of Chinese Academy of Sciences Beijing China School of Control and Computer Engineering North China Electric Power University Beijing China

Mixed-precision neural network (MPNN) that utilizes just enough data width for the neural network processing is an effective approach to meet the stringent resources constraints including memory and computing of MCUs. Nevertheless, there is still a lack of sub-byte and mixed-precision SIMD operations in MCU-class ISA and the limited computing capability of MCUs remains underutilized, which further aggravates the computing bound encountered in neural network processing. As a result, the benefits of MPNNs cannot be fully unleashed. In this work, we propose to pack multiple low-bitwidth arithmetic operations within a single instruction multiple data (SIMD) instructions in typical MCUs, and then develop an efficient convolution operator by exploring both the data parallelism and computing parallelism in convolution along with the proposed SIMD packing. Finally, we further leverage Neural Architecture Search (NAS) to build a HW/SW co-designed MPNN design framework, namely MCUMixQ. This framework can optimize both the MPNN quantization and MPNN implementation efficiency, striking an optimized balance between neural network performance and accuracy. According to our experiment results, MCU-MixQ achieves 2.1× and 1.4× speedup over CMix-NN and MCUNet respectively under the same resource constraints. © 2024, CC BY-SA.

关键词： Convolution

Interaction-Aware Cut-In Trajectory Prediction and Risk Assessment in Mixed Traffic

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IEEE/CAA Journal of Automatica Sinica 2022年第10期9卷 1752-1762页

作者： Xianglei Zhu Wen Hu Zejian Deng Jinwei Zhang Fengqing Hu Rui Zhou Keqiu Li Fei-Yue Wang the College of Intelligence and Computing Tianjin UniversityTianjin 300350 the China Automotive Technology and Research Center Co.Ltd. Tianjin 300300China the State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body College of Mechanical and Vehicle EngineeringHunan UniversityChangsha 410082China the Department of Mechanical and Mechatronics Engineering University of WaterlooWaterlooON N2L3G1Canada the School of Mechanical Engineering Beijing Institute of TechnologyBeijing 100081China the Macao University of Science and Technology MacaoChina the Waytous Inc. Qingdao 266000China IEEE the State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China

Accurately predicting the trajectories of surrounding vehicles and assessing the collision risks are essential to avoid side and rear-end collisions caused by *** improve the safety of autonomous vehicles in the mixed traffic,this study proposes a cut-in prediction and risk assessment method with considering the interactions of multiple traffic *** integration of the support vector machine and Gaussian mixture model(SVM-GMM)is developed to simultaneously predict cut-in behavior and *** dimension of the input features is reduced through Chebyshev fitting to improve the training efficiency as well as the online inference *** on the predicted trajectory of the cut-in vehicle and the responsive actions of the autonomous vehicles,two risk measurements are introduced to formulate the comprehensive interaction risk through the combination of Sigmoid function and Softmax ***,the comparative analysis is performed to validate the proposed method using the naturalistic driving *** results show that the proposed method can predict the trajectory with higher precision and effectively evaluate the risk level of a cut-in maneuver compared to the methods without considering interaction.

关键词： Cut-in behavior interaction-aware mixed traffic risk assessment trajectory prediction

An overview on the designs of distributed observers in LTI multi-agent systems

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Science China(Technological Sciences) 2021年第11期64卷 2337-2346页

作者： PEI YingQing GU HaiBo LIU KeXin LU JinHu Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of SciencesBeijing 100190China School of Mathematical Sciences University of Chinese Academy of SciencesBeijing 100049China School of Automation Science and Electrical Engineering Beijing Advanced Innovation Center for Big Data and Brain ComputingBeihang UniversityBeijing 100191China

With the rapid development of information technologies and cloud computing, sensor networks play an increasingly important role in our society. Over the past few decades, distributed observer theory has attracted unprecedented attention due to its wide potential applications in different areas. Meanwhile, various approaches and algorithms have been proposed and investigated. The design of distributed observers is one of the frontier topics of system and control research, which has the significant theoretical values and broad application prospects. This paper attempts to review the representative models and the corresponding approaches for distributed observer design in linear time-invariant(LTI) systems. Firstly, the research backgrounds and main advances of distributed observer designs are briefly reviewed. Then, recent results of distributed observer designs for discrete-time and continuous-time LTI multi-agent systems(MASs) are introduced in detail, respectively. Finally, the prospects and the future work directions of the design of distributed observers are put forward. The main purpose of this paper is to promote the emerging topic on the designs of distributed observers, with focuses on the interdisciplinary interest from technological sciences.

关键词： multi-agent system linear time-invarient system distributed observer consensus