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arXiv 2023年

作者： Chen, Long Teng, Siyu Li, Bai Na, Xiaoxiang Li, Yuchen Li, Zixuan Wang, Jinjun Cao, Dongpu Zheng, Nanning Wang, Fei-Yue The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Waytous Ltd United Kingdom BNU-HKBU United International College Zhuhai519087 China Hong Kong Baptist University Kowloon999077 Hong Kong The College of Mechanical and Vehicle Engineering Hunan University China The Department of Engineering University of Cambridge United Kingdom The College of Artificial Intelligence Xi’an Jiaotong University China The School of Mechanical Engineering Tsinghua University China

Growing interest in autonomous driving (AD) and intelligent vehicles (IVs) is fueled by their promise for enhanced safety, efficiency, and economic benefits. While previous surveys have captured progress in this field, a comprehensive and forward-looking summary is needed. Our work fills this gap through three distinct articles. The first part, a"Survey of Surveys" (SoS), outlines the history, surveys, ethics, and future directions of AD and IV technologies. The second part,"Milestones in Autonomous Driving and Intelligent Vehicles Part I: control, Computing System Design, Communication, HD Map, Testing, and Human Behaviors" delves into the development of control, computing system, communication, HD map, testing, and human behaviors in IVs. This part, the third part, reviews perception and planning in the context of IVs. Aiming to provide a comprehensive overview of the latest advancements in AD and IVs, this work caters to both newcomers and seasoned researchers. By integrating the SoS and Part I, we offer unique insights and strive to serve as a bridge between past achievements and future possibilities in this dynamic field. Copyright © 2023, The Authors. All rights reserved.

关键词： Autonomous vehicles

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Obstacle avoidance via hybrid feedback

arXiv

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arXiv 2021年

作者： Berkane, Soulaimane Bisoffi, Andrea Dimarogonas, Dimos V. The Department of Computer Science and Engineering University of Quebec in Outaouais Gatineau Canada ENTEG The J.C. Willems Center for Systems and Control University of Groningen Groningen Netherlands The Division of Decision and Control Systems KTH Royal Institute of Technology Stockholm Sweden

In this paper we present a hybrid feedback approach to solve the navigation problem of a point mass in the n−dimensional space containing an arbitrary number of ellipsoidal shape obstacles. The proposed hybrid control algorithm guarantees both global asymptotic stabilization to a reference and avoidance of the obstacles. The intuitive idea of the proposed hybrid feedback is to switch between two modes of control: stabilization and avoidance. The geometric construction of the flow and jump sets of the proposed hybrid controller, exploiting hysteresis regions, guarantees Zeno-free switching between the stabilization and the avoidance modes. Simulation results illustrate the performance of the proposed hybrid control approach for 2-dimensional and 3-dimensional scenarios. © 2021, CC BY.

关键词： Stabilization

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Low-Cost Approach for Improving Video Transmission Efficiency in WVSN

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Journal of Shanghai Jiaotong university(Science) 2020年第5期25卷 600-605页

作者： LIU Min DENG Bin TANG Ying WU Minghu WANG Juan Hubei Key Laboratory for High-Efficiency Utilization of Solar Energy and Operation Control of Energy Storage System.Hubei University of Technology Wuhan 430068.China Department of Electrical and Computer Engineering.Rowan University GlassboroNJ 08028USA State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Institute of Smart Education Qingdao Academy of Intelligent IndustriesQingdao 266041ShandongChina

The wireless visual sensor network(WVSN)as a new emerged intelligent visual system,has been applied in many video monitoring ***,there is still great challenge because of the limited wireless network *** resolve the problem,we propose a real-time dynamic texture approach which can detect and reduce the temporal redundancy during many successive image ***,an adaptively learning background model is improved to discover successive similar image frames from the inputting video ***,the dynamic texture model based on the singular value decomposition is adopted to distinguish foreground and background element ***,a background discarding strategy based on visual motion coherence is proposed to determine whether each image frame is streamed or *** evaluate the trade-off performance of the proposed method,it is tested on the CDW-2014 dataset,which can accurately detect the first foreground frame when the moving objects of interest appear in the field of view in the most tested dynamic scenes,and the misdetection rate of the undetected foreground frames is near to *** to the original stream,it can reduce the occupied bandwidth a lot and its computational cost is relatively lower than the state-of-the-art methods.

关键词： wireless visual sensor network(WVSN) temporal redundancy foreground background dynamic texture

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Nitrous Oxide Reduction in Wastewater Treatment Plants by the Regulation of the Internal Recirculation Flow Rate with a Fuzzy controller

SSRN

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SSRN 2022年

作者： Santín, Ignacio Meneses, Montse Pedret, Carles Barbu, Marian Vilanova, Ramon Salesian University School of Sarrià Passeig Sant Joan Bosco 74 Barcelona08017 Spain Department of Telecommunications and Systems Engineering School of Engineering Autonomous University of Barcelona Bellaterra Barcelona08193 Spain Department of Automatic Control and Electrical Engineering Dunarea de Jos" University of Galati Galati800008 Romania

The reduction of greenhouse gas emissions due to anthropogenic causes is one of the world's main challenges to face climate change. Wastewater treatment plants are necessary to improve the quality of wastewater before it is discharged into the receiving environment, but they have the disadvantage of generating nitrous oxide emissions during the biological treatment, which is a potent greenhouse gas. Avoiding partial nitrification by increasing dissolved oxygen is one of the ways to reduce these emissions. However, this article proposes to face a reduction of nitrous oxide emissions by reducing oxygen to minimum levels causing heterotrophic microorganisms to reduce nitrous oxide to dinitrogen. To achieve this objective, the present work proposes a regulation of the internal recirculation flow rate of the biological treatment by means of a fuzzy controller. This regulation is added to a usual control strategy in wastewater treatment plants, which achieves satisfactory results with respect to water quality and operational costs but that generates high nitrous oxide emissions. The Benchmark Simulation Model no. 2 Gas is used as working scenario, which includes the two main nitrous oxide emission pathways: heterotrophic denitrification and ammonia oxidizing bacteria denitrification. The proposed internal recirculation manipulation is shown to achieve nitrous oxide reductions of 26.70 and 30.83% in different time periods with a slight effluent quality improvement and an operational cost reduction. © 2022, The Authors. All rights reserved.

关键词： Dissolved oxygen

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A Sample-Based Algorithm for Approximately Testing r-Robustness of a Digraph

A Sample-Based Algorithm for Approximately Testing r-Robustn...

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IEEE Conference on Decision and control

作者： Yuhao Yi Yuan Wang Xingkang He Stacy Patterson Karl H. Johansson Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Digital Futures Stockholm Sweden Department of Electrical Engineering University of Notre Dame Notre Dame IN USA Department of Computer Science Rensselaer Polytechnic Institute Troy NY USA

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

One of the intensely studied concepts of network robustness is r-robustness, which is a network topology property quantified by an integer r. It is required by mean subsequence reduced (MSR) algorithms and their variants to achieve resilient consensus. However, determining r-robustness is intractable for large networks. In this paper, we propose a sample-based algorithm to approximately test r-robustness of a digraph with n vertices and m edges. For a digraph with a moderate assumption on the minimum in-degree, and an error parameter 0

关键词： Network topology Approximation algorithms Robustness Testing

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A State Feedback controller for Mitigation of Continuous-Time Networked SIS Epidemics

arXiv

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arXiv 2022年

作者： Wang, Yuan Gracy, Sebin Uribe, César A. Ishii, Hideaki Johansson, Karl Henrik Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology and Digital Futures Stockholm Sweden Department of Electrical and Computer Engineering Rice University HoustonTX United States Department of Computer Science Tokyo Institute of Technology Yokohama Japan

The paper considers continuous-time networked susceptible-infected-susceptible (SIS) diseases spreading over a population. Each agent represents a sub-population and has its own healing rate and infection rate;the state of the agent at a time instant denotes what fraction of the said sub-population is infected with the disease at the said time instant. By taking account of the changes in behaviors of the agents in response to the infection rates in real-time, our goal is to devise a feedback strategy such that the infection level for each agent strictly stays below a pre-specified value. Furthermore, we are also interested in ensuring that the closed-loop system converges either to the disease-free equilibrium or, when it exists, to the endemic equilibrium. The upshot of devising such a strategy is that it allows health administration officials to ensure that there is sufficient capacity in the healthcare system to treat the most severe cases. We demonstrate the effectiveness of our controller via numerical examples. © 2022, CC BY.

关键词： Closed loop systems

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Distributed No-Regret Learning for Stochastic Aggregative Games over Networks

Distributed No-Regret Learning for Stochastic Aggregative Ga...

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第40届中国控制会议

作者： Jinlong Lei Peng Yi Li Li The Department of Control Science and Engineering Tongji University The Institute for Advanced Study Tongji University Shanghai Research Institute for Intelligent Autonomous Systems

In this work, we propose a distributed no-regret learning for stochastic aggregative games over time-varying *** consider a finite set of players repeatedly playing the network aggregative game in stochastic regimes, where each player has an expectation-valued objective function depending on its own strategy and the aggregate of all player strategies, and the players can estimate gradients of their objective functions up to a zero-mean error with bounded variance. We consider the scenario in which players cannot directly obtain the aggregate value, but they are able to share their estimates of the aggregate with their neighbors without disclosing their own strategies. We design a distributed learning algorithm based on the mirror descent and dynamical averaging tracking. We then provide analysis for both the variational regret and the cost r√egret for aggregative games These analyses indicate the key correlations between the regret bounds, the network connectivity, and game structures, etc. In addition, we validate the almost sure convergence to the Nash equilibrium for the class of strictly monotone games. Finally, we present preliminary numerics by applying the proposed scheme to the Nash-Cournot competition problem.

关键词： Network Aggregative Games Distributed Learning No-regret Learning Mirror Descent

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Outlier-resistant distributed fusion filtering for nonlinear discrete-time singular systems under a dynamic event-triggered scheme

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Frontiers of Information Technology & Electronic engineering 2024年第2期25卷 237-249页

作者： Zhibin HU Jun HU Cai CHEN Hongjian LIU Xiaojian YI Department of Applied Mathematics Harbin University of Science and TechnologyHarbin150080China Heilongjiang Provincial Key Laboratory of Optimization Control and Intelligent Analysis for Complex Systems Harbin University of Science and TechnologyHarbin150080China School of Automation Harbin University of Science and TechnologyHarbin150080China School of Mathematics and Physics Anhui Polytechnic UniversityWuhu241000China School of Mechatronical Engineering Beijing Institute of TechnologyBeijing100081China Yangtze Delta Region Academy of Beijing Institute of Technology Jiaxing314003China Tangshan Research Institute Beijing Institute of TechnologyTangshan063099China

This paper investigates the problem of outlier-resistant distributed fusion filtering(DFF)for a class of multi-sensor nonlinear singular systems(MSNSSs)under a dynamic event-triggered scheme(DETS).To relieve the effect of measurement outliers in data transmission,a self-adaptive saturation function is ***,to further reduce the energy consumption of each sensor node and improve the efficiency of resource utilization,a DETS is adopted to regulate the frequency of data *** the addressed MSNSSs,our purpose is to construct the local outlier-resistant filter under the effects of the measurement outliers and the DETS;the local upper bound(UB)on the filtering error covariance(FEC)is derived by solving the difference equations and minimized by designing proper filter ***,according to the local filters and their UBs,a DFF algorithm is presented in terms of the inverse covariance intersection fusion *** such,the proposed DFF algorithm has the advantages of reducing the frequency of data transmission and the impact of measurement outliers,thereby improving the estimation ***,the uniform boundedness of the filtering error is discussed and a corresponding sufficient condition is ***,the validity of the developed algorithm is checked using a simulation example.

关键词： Distributed fusion filtering Multi-sensor nonlinear singular systems Dynamic event-triggered scheme Outlier-resistant filter Uniform boundedness

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MOREALIS – A HOLISTIC APPROACH TO ENHANCE SAFETY FOR MICRO-AIRCRAFT OPERATIONS 34th

MOREALIS – A HOLISTIC APPROACH TO ENHANCE SAFETY FOR MICRO-...

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34th Congress of the International Council of the Aeronautical Sciences, ICAS 2024

作者： Kuchar, R.O. Scholz, W. Dörfler, B. Herrmann, P. Jamakatel, P. Karger, J. Kiam, J.J. Klennert, J. Klennert, M. Lindlar, M. May, M.S. Milz, D. Mumm, N. Nospes, D. Peter, L. Looye, G. Schulte, A. Stütz, P. Institute of System Dynamics and Control Münchener Strasse 20 Weßling82234 Germany SFL GmbH Baumwiesenweg 6b Stuttgart70569 Germany Rödel Aircraft Systems Lausangerweg 4 Tussenhausen86874 Germany University of the Bundeswehr Munich Professorship of Aircraft Dynamics and Flight Guidance Werner-Heisenberg-Weg 39 Neubiberg85579 Germany University of the Bundeswehr Munich Professorship for Aeronautical Engineering Werner-Heisenberg-Weg 39 Neubiberg85579 Germany Institute of Aerospace Medicine Linder Hoehe Cologne51147 Germany STAR Healthcare Management GmbH Pierstraße 8 Cologne50997 Germany Amazilia Aerospace GmbH Nymphenburger Str. 84 München80636 Germany

Introduced by various European Union member states in recent years, the very lightweight, single-seat microlight aircraft category (the German "Leichte Luftsportgeräte"-class), with an empty mass of up to 120 kg gained broad popular interest. This is probably caused due to the fact that this class envisions the basic ideas of recreational flight: simplicity through strict weight limitation and low administrative effort, thus low acquisition and operational costs. Furthermore, "LL" aircraft are not required to undergo annual inspections, whereas pilots of this aircraft category are not obliged to pass annual medical examinations, but remain self-responsible for these matters. Despite massive improvement in safety features for general aviation over the last decades, serious or even fatal accidents remain one of the major concerns and require constant improvement. Taking these conditions into account, the MOREALIS project aims towards increasing safety for "LL" aircraft configurations by means ranging from improved structural concepts of the airframe, aircraft and pilot health monitoring up to fault-tolerant flight control laws and finally a dedicated automatic emergency landing procedure. This paper therefore presents an overview of the employed methods and respective partner contributions. © 2024, International Council of the Aeronautical Sciences. All rights reserved.

关键词： Fault tolerance

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Corrigendum to "controllability and accessibility analysis of nonlinear biosystems" [Computer Methods and Programs in Biomedicine 242 (2023) 107837]

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Computer methods and programs in biomedicine 2024年 245卷 108015页

作者： Sandra Díaz-Seoane Antonio Barreiro Blas Alejandro F Villaverde Universidade de Vigo Department of Systems Engineering & Control 36310 Vigo Galicia Spain. Universidade de Vigo Department of Systems Engineering & Control 36310 Vigo Galicia Spain CITMAga 15782 Santiago de Compostela Galicia Spain. Electronic address: afvillaverde@uvigo.gal.

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