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arXiv 2021年

作者： Xu, Gehui Chen, Guanpu Qi, Hongsheng Hong, Yiguang Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Beijing China School of Mathematical Sciences University of Chinese Academy of Sciences Beijing China Department of Control Science and Engineering Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Shanghai China The Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing China

In this paper, we aim to design a distributed approximate algorithm for seeking Nash equilibria of an aggregative game. Due to the local set constraints of each player, projection-based algorithms have been widely employed for solving such problems actually. Since it may be quite hard to get the exact projection in practice, we utilize inscribed polyhedrons to approximate local set constraints, which yields a related approximate game model. We first prove that the Nash equilibrium of the approximate game is the ǫ-Nash equilibrium of the original game, and then propose a distributed algorithm to seek the ǫ-Nash equilibrium, where the projection is then of a standard form in quadratic programming. With the help of the existing developed methods for solving quadratic programming, we show the convergence of the proposed algorithm, and also discuss the computational cost issue related to the approximation. Furthermore, based on the exponential convergence of the algorithm, we estimate the approximation accuracy related to ǫ. Additionally, we investigate the computational cost saved by approximation on numerical examples. © 2021, CC0.

关键词： Computation theory

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Sustainability and Predictive Accuracy Evaluation of Gel and Embroidered Electrodes for ECG Monitoring

SSRN

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SSRN 2024年

作者： Othman, Ghada Ben Kumar, Atal Anil Hassine, Faten Ben Copot, Dana Sidhom, Lilia Kamavuako, Ernest N. Trabelsi, Mohamed Ionescu, Clara Mihaela Chihi, Inès Ghent University Department of Electromechanics Systems and Metal Engineering Research Group on Dynamical Systems and Control Tech Lane Science Park 125 Zwijnaarde9052 Belgium Department Of Engineering Faculty of Science Technology and Medicine University of Luxembourg Kirchberg Luxembourg Faculty of Sciences of Tunis Tunis Tunisia National Engineering School of Bizerte Carthage University Tunis LAPER- Faculty of Sciences of Tunis El Manar University Tunis Tunisia Technical University of Cluj-Napoca Department of Automation Memorandumului no. 28 Cluj-Napoca400114 Romania Department of Informatics King’s College London London United Kingdom Electronics and Communications Engineering Department Kuwait College of Science and Technology Kuwait City Kuwait

Despite standards on electrocardiogram (ECG) monitoring in medical diagnostics, signal acquisition is prone to noisy artefacts and rely greatly on the quality of skin contact and signal transducing interference. Electrodes, serving as indispensable conduits in ECG signal acquisition, act as the crucial interface between the human body and recording instrumentation. The usage of traditional gel electrodes may provoke skin irritation, by contrast, the advent of embroidered electrodes, a contemporary innovation, holds the promise of more comfort monitoring. However, the sustainability quotient and predictive precision of these novel electrodes require more in-depth investigation. This paper endeavors a comprehensive evaluation of both gel and embroidered electrodes concerning ECG signal acquisition. Simultaneously, the study aims to construct a polynomial regression model leveraging advanced machine learning (ML) tools. The inferred model predicts embroidered signals based on experimental data obtained from gel electrodes. The methodology encompasses systematic data collection, preprocessing, insightful analysis, and the application of data-driven techniques. The findings of this study highlight the viability of embroidered electrodes as a compelling alternative, transcending traditional paradigms. Employing ML tools, the developed model achieves predictive accuracy, reflected in robust R2 values extending up to 94.9%. © 2024, The Authors. All rights reserved.

关键词： Electrocardiograms

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PDAVIS: Bio-inspired Polarization Event Camera

PDAVIS: Bio-inspired Polarization Event Camera

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IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops (CVPRW)

作者： Germain Haessig Damien Joubert Justin Haque Moritz B. Milde Tobi Delbruck Viktor Gruev AIT Austrian Institute of Technology Center for Vision Automation & Control High-Performance Vision Systems Vienna Austria Institute of Neuroinformatics University of Zurich and ETH Zurich Switzerland International Centre for Neuromorphic Systems The MARCS Institute Western Sydney University Sydney Australia Department of Electrical and Computer Engineering University of Illinois at Urbana-Champaign Urbana IL USA

The stomatopod (mantis shrimp) visual system has recently provided a blueprint for the design of paradigm-shifting polarization and multispectral imaging sensors, enabling solutions to challenging medical and remote sensing problems. However, these bioinspired frame-based cameras lack the high dynamic range and asynchronous polarization vision capabilities of the stomatopod visual system, limiting temporal resolution to ~12ms and dynamic range to ~72dB. Here we present a novel stomatopod-inspired polarization camera which mimics the sustained and transient biological visual pathways to save power and sample data beyond the maximum Nyquist frame rate. This bio-inspired sensor simultaneously captures both synchronous intensity frames and asynchronous polarization brightness change information with submillisecond latencies over a millionfold range of illumination. Our PDAVIS camera is comprised of 346x260 pixels, organized in 2-by-2 macropixels, which filter the incoming light with four linear polarization filters offset by 45°. Polarization information is reconstructed using both low-cost and low-latency event-based algorithms and more accurate but slower deep neural networks. Our sensor is used to image high dynamic range polarization scenes that vary at high speeds and to observe the dynamical properties of single collagen fibers in a bovine tendon under rapid cyclical ***: https://***/mFuCeTMWEqY

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Guidance control for Parallel Parking Tasks

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IEEE/CAA Journal of Automatica Sinica 2020年第1期7卷 301-306页

作者： Jiyuan Tan Chunling Xu Li Li Fei-Yue Wang Dongpu Cao Lingxi Li Key Laboratory of Urban Intelligent Traffic Control Technology North China University of TechnologyBeijing 100144China Beijing Transport Institute Beijing 100073China Department of Automation BNRistTsinghua UniversityBeijing 100084China Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100080China Driver Cognition and Automated Driving Laboratory University of WaterlooWaterloo N2L 3G1Canada Department of Electrical and Computer Engineering Purdue School of Engineering and TechnologyIndiana University-Purdue University IndianapolisIndiana 46202-5132 USA

Parking into small berths remains difficult for unskilled drivers. Researchers had proposed different automatic parking systems to solve this problem. The first kind of strategies(called parking trajectory planning) designs a detailed reference trajectory that links the start and ending points of a special parking task and let the vehicle track this reference trajectory so as to park into the berth. The second kind of strategies(called guidance control) just characterizes several regimes of driving actions as well as the important switching points in certain rule style and let the vehicle follows the pre-selected series of actions so as to park into the berth. Parking guidance control is simpler than parking trajectory planning. However, no studies thoroughly validated parking guidance control before. In this paper, a new automatic parking method is presented, which could characterize the desired control actions directly. Then the feasibility is examined carefully. Tests show that a simple parking guidance control strategy can work in most parallel parking tasks, if the available parking berth is not too small. This finding helps to build more concise automatic parking systems that can efficiently guide human drivers.

关键词： Automatic parking guidance control trajectory planning

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Learning nonlinear feedforward: a Gaussian Process Approach Applied to a Printer with Friction

arXiv

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arXiv 2021年

作者： van Meer, Max Poot, Maurice Portegies, Jim Oomen, Tom The Control Systems Technology Group Department of Mechanical Engineering Eindhoven University of Technology Netherlands The Delft Center for Systems and Control Delft University of Technology Delft Netherlands The Applied Analysis Group Department of Mathematics and Computer Science Eindhoven University of Technology Netherlands

Feedforward control is essential to achieving good tracking performance in positioning systems. The aim of this paper is to develop an identification strategy for inverse models of systems with nonlinear dynamics of unknown structure using input-output data, which directly delivers feedforward signals for a-priori unknown tasks. To this end, inverse systems are regarded as noncausal nonlinear finite impulse response (NFIR) systems, and modeled as a Gaussian Process with a stationary kernel function that imposes properties such as smoothness and periodicity. The approach is validated experimentally on a consumer printer with friction and shown to lead to improved tracking performance with respect to linear feedforward. Copyright © 2021, The Authors. All rights reserved.

关键词： Friction

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Hardware-in-the-Loop Simulation of Vehicle-Manipulator systems for Physical Interaction Tasks

Hardware-in-the-Loop Simulation of Vehicle-Manipulator Syste...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Hemjyoti Das Bjørn Kåre Sæbø Kristin Y. Pettersen Christian Ott Faculty of Electrical Engineering and Information Technology Automation and Control Institute (ACIN) Technical University of Vienna TU Wien Vienna Austria Department of Engineering Cybernetics Centre for Autonomous Marine Operations and Systems (NTNU AMOS) NTNU Norwegian University of Science and Technology Trondheim Norway German Aerospace Center Institute of Robotics and Mechatronics Wessling Germany

Hardware-in-the-loop simulation (HILS) allows a more realistic evaluation of control approaches than what is possible with pure software simulations, but without the actual complexity of the complete system. This is important for some complex systems such as orbital robots, where testing of the system is typically not possible after its launch, and an on-ground replica is used to validate the performance of such a system. In this article, an impedance-matching approach is presented to match the end-effector dynamics of a fixed-base robot manipulator with that of a target vehicle-manipulator system (VMS), while taking into account the redundant nullspace dynamics in a connected real-time simulation framework. This approach ensures that the forces and torques exerted by the system on the environment matches with that of the simulated system. The contact wrenches used in our approach are not obtained from numerical simulations, but rather from real physical interaction, which is one of the main advantages of our approach. The effectiveness of our method is validated by demonstrating various physical interaction tasks with the environment, using a suspended aerial manipulator as the target system.

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Evolutionary Games on Networks: Phase Transition, Quasi-equilibrium, and Mathematical Principles

arXiv

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arXiv 2023年

作者： Cheng, Jiangjiang Mei, Wenjun Su, Wei Chen, Ge School of Mathematical Sciences University of Chinese Academy of Sciences Beijing100049 China Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China Department of Mechanics and Engineering Science Peking University Beijing100871 China School of Mathematics and Statistics Beijing Jiaotong University Beijing100044 China

The stable cooperation ratio of spatial evolutionary games has been widely studied using simulations or approximate analysis methods. However, sometimes such "stable" cooperation ratios obtained via approximate methods might not be actually stable, but correspond to quasi-equilibriums instead. We find that various classic game models, like the evolutionary snowdrift game, evolutionary prisoner's dilemma, and spatial public goods game on square lattices and scale-free networks, exhibit the phase transition in convergence time to the equilibrium state. Moreover, mathematical principles are provided to explain the phase transition of convergence time and quasi-equilibrium of cooperation ratio. The findings explain why and when cooperation and defection have a long-term coexistence. Copyright © 2023, The Authors. All rights reserved.

关键词： Markov processes

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Secure Set-Based State Estimation for Linear systems under Adversarial Attacks on Sensors

arXiv

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arXiv 2023年

作者： Niazi, Umar M.B. Chong, Michelle S. Alanwar, Amr Johansson, Karl H. Laboratory for Information and Decision Systems Massachusetts Institute of Technology CambridgeMA02139 United States Division of Decision and Control Systems Digital Futures KTH Royal Institute of Technology StockholmSE-100 44 Sweden Department of Mechanical Engineering Eindhoven University of Technology Netherlands School of Computation Information and Technology Technical University of Munich Germany

Set-based state estimation plays a vital role in the safety verification of dynamical systems, which becomes significantly challenging when the system’s sensors are susceptible to cyber-attacks. Existing methods often impose limitations on the attacker’s capabilities, restricting the number of attacked sensors to be strictly less than half of the total number of sensors. This paper proposes a Secure Set-Based State Estimation (S3E) algorithm that addresses this limitation. The S3E algorithm guarantees that the true system state is contained within the estimated set, provided the initialization set encompasses the true initial state and the system is redundantly observable from the set of uncompromised sensors. The algorithm gives the estimated set as a collection of constrained zonotopes, which can be employed as robust certificates for verifying whether the system adheres to safety constraints. Furthermore, we demonstrate that the estimated set remains unaffected by attack signals of sufficiently large and also establish sufficient conditions for attack detection, identification, and filtering. This compels the attacker to inject only stealthy signals of small magnitude to evade detection, thus preserving the accuracy of the estimated set. When a few number of sensors (less than half) can be compromised, we prove that the estimated set remains bounded by a contracting set that converges to a ball whose radius is solely determined by the noise magnitude and is independent of the attack signals. To address the computational complexity of the algorithm, we offer several strategies for complexity-performance trade-offs. The efficacy of the proposed algorithm is illustrated through its application to a three-story building model. © 2023, CC BY.

关键词： State estimation

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Metaheuristic-Based Load Frequency control for EVs-Integrated Hybrid Power systems with Delays

Metaheuristic-Based Load Frequency Control for EVs-Integrate...

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IEEE SSD International Multi-Conference on systems, Signals and Devices

作者： Ghali Ahmad Nezar M. Al-Yazidi Md Shafiullah Mutaz M. Hamdan Control & Instrumentation Engineering Department King Fahd University of Petroleum & Minerals Dhahran Saudi Arabia IRC for Smart Mobility and Logistics King Fahd University of Petroleum & Minerals Dhahran Saudi Arabia IRC for Sustainable Energy Systems King Fahd University of Petroleum & Minerals Dhahran Saudi Arabia K.A.CARE Energy Research & Innovation Center King Fahd University of Petroleum & Minerals Dhahran Saudi Arabia Electrical Engineering Department Faculty of Engineering Al-Ahliyya Amman University Amman Jordan

ISBN: (数字)9798331542726

ISBN: (纸本)9798331542733

This paper proposed a load frequency control (LFC) to ensure power quality of a two-area interconnected hybrid power system (PS) involving integrated electric vehicles (EVs) and communication delay. The control framework consists of three optimization-based proportional-integralderivative (PID) controllers named genetic algorithm (GA-PID), particle swarm optimization (PSO-PID), and grey wolf optimization (GWO-PID) controllers, and fractional order proportional-integral-derivative (FOPID) for improving the system's stability and performance. The performance of the proposed controllers for handling the challenges arising from EV integration, communication delay, and renewable energy sources (RESs) intermittency has been assessed. A thorough performance analysis is subsequently carried out according to the simulation results and various error indices, including integral square error (ISE), integral absolute error (IAE), and integral time absolute error (ITAE). The findings show that the proposed GA-PID controller performs better dynamically than the PSO-PID, GWO-PID, and FOPID controllers in terms of robustness and convergence rate. The results suggest the improvement of LFC in power systems through optimization algorithms.

关键词： Simulation Power quality Stability criteria Power system stability Hybrid power systems Delays Particle swarm optimization Optimization Frequency control Genetic algorithms

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A Novel Coiled Cable-Conduit-Driven Hyper-Redundant Manipulator for Remote Operating in Narrow Spaces

A Novel Coiled Cable-Conduit-Driven Hyper-Redundant Manipula...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Mingrui Luo Yunong Tian En Li Minghao Chen Cunfeng Kang Guodong Yang Min Tan School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Engineering Laboratory of Industrial Vision and Intelligent Equipment Technology Chinese Academy of Sciences Beijing China Beijing-University of Technology Beijing China

Operating in narrow spaces is an important challenge in the development of robots. Redundant manipulators are one way to solve this problem, but their mechanism design and control method still have much room for improvement. In this paper, we propose a coiled cable-conduit-driven hyper-redundant manipulator (C-CDHRM) with great slenderness and flexibility. In terms of mechanism design, it considers both compactness and operability. By imitating the structure and behavior of a constricting snake, it can be uncoiled sequentially from a coiled storage state, led by the head. In terms of control methods, we propose a multi-layer control system that can make remote operations more accurate and reliable. On the one hand, guiding, segmenting, and following the path overcome the planning ambiguity caused by redundancy. On the other hand, conduit transmission modeling and cable length correction overcome the nonlinear mapping of cable-driven joints and were verified in experiments. Through tests, the mobile integrated system composed of C-CDHRM has an excellent performance in operation precision and accuracy, ensuring safety and accessibility in narrow spaces. Finally, in field experiments, the inspection and cleaning of various types of electrical equipment have been successfully completed, showing excellent application prospects.

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