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Study on Decentralization of Spherical Amphibious Multi-robot control System Based on Smart Contract and Blockchain

Journal of Bionic engineering 2021年第6期18卷 1317-1330页

作者： Shuxiang Guo Sheng Cao Jian Guo Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems and Intelligent Robot Laboratory Tianjin University of TechnologyBinshui Xidao Extension 391Tianjin300384China Intelligent Mechanical Systems Engineering Department Faculty of Engineering Kagawa UniversityTakamatsuKagawaJapan

With the development of intelligent bionic robots and the improvement of military application,a single robot cannot meet the requirements of the tasks of the current *** more complex tasks require not only that the robot be able to pass through the field barriers and the amphibious environment,but also that the robot be able to collaborate in a multi-robot ***,research on the multi-robot control system of spherical amphibious robots is very ***,the main research on amphibious robots is to improve the functions of a single robot,in the absence of the study of the multi-robot control *** systems primarily use a centralized control *** the transfer of central node can be achieved,there is still a problem of Byzantine fault tolerance in military applications,that is,when the amphibious multi-robot system is invaded by the *** central node may not only fail to accomplish the task,but also lose control of other robots,with severe *** solve the above problems,this paper proposed a decentralized method of spherical amphibious multi-robot control system based on blockchain ***,the point-to-point information network based on long range radio technology of low power wide area network was set up,we designed the blockchain system for embedded application environment and the decentralized hardware and software architecture of multi-robot control *** this basis,the consensus plugin,smart contract and decentralized multi-robot control algorithm were designed to achieve *** experimental results of consensus of spherical amphibious multi-robot showed the effectiveness of the decentralization.

关键词： Amphibious robot Blockchain Smart contract control system Decentralization

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Optimal Design of Disturbance Attenuation Feedback controllers for Linear Dynamical Systems

Optimal Design of Disturbance Attenuation Feedback Controlle...

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American control Conference (ACC)

作者： Davide Mannini Robin Strässer James B. Rawlings Department of Chemical Engineering University of California Santa Barbara Santa Barbara CA USA Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart Germany

ISBN: (数字)9798350382655

ISBN: (纸本)9798350382662

This paper finds the optimal feedback controller for the discrete time, finite horizon disturbance attenuation problem under bounded disturbances. We consider a linear dynamical system and a quadratic objective function with a resulting nonlinear optimization and optimal nonlinear controller. In the space of initial states, two regions are identified. One region, containing the zero initial state, features the linear optimal $H_{\infty}$ controller, while the other region features nonlinear optimal control, and converges to the linear quadratic regulator (LQR) controller for large initial states. The transition between the two regions offers a unified framework that spans from $H_{\infty}$ control to LQR control as a function of the relative magnitude of the initial state and the imposed disturbance. This study enhances the versatility of disturbance attenuation feedback controllers and expands on the previous work on the dynamic game theory approach to optimal robust control design.

关键词： Science - general Robust control Regulators Optimal control US Government Attenuation Adaptive control

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Combined Spacecraft Attitude Tracking control with Prescribed Performance via A Fully Actuated System Approach

Combined Spacecraft Attitude Tracking Control with Prescribe...

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第42届中国控制会议

作者： Guang-Quan Duan Guo-Ping Liu Yan-Ming Fu Center for Control Theory and Guidance Technology Harbin Institute of Technology Department of Electronic and Electrical Engineering Southern University of Science and Technology

In this paper,a fully-actuated system prescribed performance controller is proposed to achieve attitude tracking control of the combined *** order to make the combined spacecraft satisfy the required steadystate and transient performance in the attitude tracking control process,a fully actuated system controller with prescribed performance is *** attitude dynamics model of the combined spacecraft is transformed into a tracking error ***,the controller of the fully actuated system is designed according to the error function to realize the attitude tracking control of the combined *** function is introduced to prove the stability of the *** the presented way of designing fully actuated system prescribed performance controller,the numerical simulation results verify the effectiveness of the proposed method.

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Fully Actuated System Approaches: theory and Applications

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Journal of Systems Science & Complexity 2022年第2期35卷 437-440页

作者： WU Ai-Guo ZHOU Bin HOU Mingzhe ZHANG Ying Harbin Institute of Technology(Shenzhen) Shenzhen 518055China HIT Wuhu Robot Technology Research Institute Wuhu 241008China The Center for Control Theory and Guidance Technology Harbin Institute of TechnologyHarbin 150001China School of Mechanical Engineering and Automation Harbin Institute of Technology(Shenzhen)Shenzhen 518055China

Since 1960s,the first-order state space approach has been dominant in analysis and design of control *** a state-space model of a dynamical system,the state variable is ***,some problems relevant to state estimation and the seeking of state solution can be conveniently ***,the control variable is the core in the design of controllers.

关键词： state conveniently seeking

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Trajectory Following control for Automated Driving 1

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6. Internationalen ATZ-Fachtagung Automatisiertes Fahren, 2020

作者： Homann, Andreas Buss, Markus Keller, Martin Bertram, Torsten Institute of Control Theory and Systems Engineering TU Dortmund University Germany ZF Group Germany

ISBN: (数字)9783658347529

ISBN: (纸本)9783658347512

In the contribution, a model predictive trajectory tracking approach is presented. Due to the utilization of an accurate prediction model, which considers not only the vehicle dynamics but also the limited actuator dynamics, the approach can be used even in emergency collision avoidance systems. The approach explicitly predicts a trajectory set for defined control inputs. Out of the set, the trajectory which is closest to the reference is selected. Two different objective functions are defined, each of them selecting the optimum input variable for trajectory tracking. On the one hand, the selection is based on the predicted position trajectories and, on the other hand, on the speed and yaw rate of the trajectory set. The evaluation is carried out in the simulation with a vehicle model for which different error sources, like sensor errors, sensor noise, and static friction are modeled using data from a real vehicle. This development method allows a direct and fast transferability into the real test vehicle. © Springer Fachmedien Wiesbaden GmbH, ein Teil von Springer Nature 2021.

关键词： Predictive control systems

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Tissue Surface-enhanced Raman Spectroscopy Combined with Machine Learning Algorithms for Rapid Detection of Alveolar Echinococcosis 25

Tissue Surface-enhanced Raman Spectroscopy Combined with Mac...

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25th IEEE China Conference on System Simulation Technology and its Application, CCSSTA 2024

作者： Huang, Jiahui Zheng, Xiangxiang Lv, Guodong Li, Xiaojing Wu, Guohua Xu, Liang Tianjin University of Technology Tianjin Key Laboratory of Complex System Control Theory and Application Tianjin China The First Affiliated Hospital of Xinjiang Medical University State Key Laboratory of Pathogenesis Prevention and Treatment of High Incidence Diseases in Central Asia Urumqi China Beijing University of Posts and Telecommunications School of Electronic Engineering Beijing China

ISBN: (纸本)9798350366600

Alveolar echinococcosis (AE) remains a serious worldwide public health problem as a very harmful human tapeworm disease. Rapid and accurate diagnosis of AE is crucial for treatment and postoperative recovery. This study explored the applicability of tissue surface Raman spectroscopy (SERS) combined with machine learning for rapid AE detection. Specifically, liver tissue section samples were obtained by creating an AE mouse model and SERS spectra were acquired. Five kinds of machine learning methods were used to construct AE diagnosis model, among which the linear kernel support vector machine (SVM) model had the best classification result, and the accuracy rate reached 95.7%. Then, the linear SVM model was subjected to feature significance analysis, which demonstrated that the biochemicals corresponding to the spectra of 641,716 and 1372 cm-1 might be potential biomarkers. Gaussian noise is further added to test the noise interference resistance of different machine learning algorithms, and it is found that SVM with Gaussian radial basis function (RBF) kernel function has better noise interference resistance. The results show that tissue SERS spectroscopy combined with SVM algorithm for rapid detection of AE has a promising application. © 2024 IEEE.

关键词： Raman scattering

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Potential of A Yogurt Enriched with Synbiotics for Influenza Prevention and Treatment

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Food Science and Human Wellness 2024年

作者： Liqiong Song Bin Liu Yuangming Huang Junying Zhao Xianping Li Weicang Qiao Siqin He Hanyu Ma Yanpin Liu Weicheng Nie Lijun Chen Zhihing Ren National Key Laboratory of Intelligent Tracking and Forecasting for Infectious Diseases， National Institute for Communicable Disease Control and Prevention， Chinese Center for Disease Control and Prevention National Engineering Research Center of Dairy Health for Maternal and Child， Beijing Sanyuan Foods Co.Ltd. Beijing Engineering Research Center of Dairy， Beijing Technical Innovation Center of Human Milk Research， Beijing Sanyuan Foods Co.Ltd. Institute of Basic Theory for Chinese Medicine， China Academy of Chinese Medical Sciences Beijing University of Chinese Medicine Third Affiliated Hospital

Probiotics show anti-influenza activity， offering a potential variant-resistant alternative for infection prevention and control. In this study， we evaluated whether a specially formulated yogurt enriched with synbiotics (named yogurt 1 in this study) with seven probiotics and six prebiotics， has anti-influenza effects and its underlying mechanisms using a mouse model challenged with influenza virus H1N1 PR8 strain. The mice were treated with phosphate-buffered saline (negative control)， yogurt matrix， yogurt 1， and oseltamivir (positive control)， respectively. yogurt 1 treatment improved the survival of infected mice (from 0% to 30%)， alleviated pathological injuries in the lungs and colon， and reduced the viral load of influenza virus on days 3 and 7 post-infection. yogurt 1 also downregulated some inflammation-related signaling pathways and reduced the levels of proinflammatory cytokines or chemokines in the lungs or serum， including interleukin (IL)-1β， IL-6， tumor necrosis factor-α (TNF-α) and keratinocyte chemoattractant (KC). The levels of short-chain fatty acids in the cecal content were increased， the diversity of the intestinal flora was partially restored， and influenza-specific IgG and interferon-secreting lymphocytes were enhanced following yogurt 1 administration. Thus， yogurt 1， as a commercial and easily accessible dairy product， demonstrated a notable anti-influenza effect in mice by inhibiting viral proliferation， suppressing excessive inflammatory responses， and promoting influenza virus-specific adaptive humoral and cellular immune responses， demonstrating its potential for influenza epidemic prevention and control.

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Application of Enhanced Feature Fusion Applied to YOLOv5 for Ship Detection 33

Application of Enhanced Feature Fusion Applied to YOLOv5 for...

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第33届中国控制与决策会议

作者： Shuaiyu Jin Lei Sun School of Electrical and Electronic Engineering Tianjin University of Technology Tianjin Key Laboratory for Control Theory and Complicated Industry Systems Tianjin University of Technology

ISBN: (纸本)9781665431293

Ship detection is very important in improving navigation *** recent years,YOLO series object detection algorithm has achieved remarkable *** the representative work of the YOLO series,version 5（YOLOv5） is widely used in target recognition tasks for its high recognition accuracy and lightweight model. However,the sea scene background is complex and variable,which is greatly affected by extreme weather such as light,rain and *** this reason,an improved YOLOv5s algorithm with attention mechanism is proposed to enhance the feature fusion ***,the feature map extracted from different layers was aligned on the number of ***,different weight coefficients were added to the corresponding feature ***,the experimental results demonstrate that the improved algorithm obtain 3.1% higher mAP.5 than YOLOv5s on MS-COCO *** the meanwhile,the performance on BOAT data is also competitive in terms of quality.

关键词： Ship Detection Convolution Neural Network Attention Mechanism YOLOv5

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THE MODULATING FUNCTION METHOD FOR STATE ESTIMATION AND FEEDBACK OF INFINITE-DIMENSIONAL SYSTEMS

arXiv

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arXiv 2024年

作者： Friedrich, Folke Reger, Johann Reis, Timo Control Engineering Group Technische Universität Ilmenau Ilmenau Germany Systems Theory and Partial Differential Equations Group Technische Universität Ilmenau Ilmenau Germany

We investigate state feedback and observation for infinite-dimensional linear systems, including a variety of partial differential equations with boundary control and observation. We extend the modulating function approach to infinite-dimensional systems. This approach, simply put, involves reconstructing part of the state by convolving with null controls of the adjoint system. We show how this method aids in state reconstruction, and we also examine distributional solutions of the adjoint system, showing their ability to handle unbounded feedback operators. This enables us to use feedback from spatial point evaluations in partial differential equations. © 2024, CC BY.

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LipKernel: Lipschitz-Bounded Convolutional Neural Networks via Dissipative Layers

arXiv

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arXiv 2024年

作者： Pauli, Patricia Wang, Ruigang Manchester, Ian Allgöwer, Frank Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart70550 Germany Australian Centre for Robotics School of Aerospace Mechanical and Mechatronic Engineering The University of Sydney Australia

We propose a novel layer-wise parameterization for convolutional neural networks (CNNs) that includes built-in robustness guarantees by enforcing a prescribed Lipschitz bound. Each layer in our parameterization is designed to satisfy a linear matrix inequality (LMI), which in turn implies dissipativity with respect to a specific supply rate. Collectively, these layer-wise LMIs ensure Lipschitz boundedness for the input-output mapping of the neural network, yielding a more expressive parameterization than through spectral bounds or orthogonal layers. Our new method LipKernel directly parameterizes dissipative convolution kernels using a 2-D Roesser-type state space model. This means that the convolutional layers are given in standard form after training and can be evaluated without computational overhead. In numerical experiments, we show that the run-time using our method is orders of magnitude faster than state-of-the-art Lipschitz-bounded networks that parameterize convolutions in the Fourier domain, making our approach particularly attractive for improving robustness of learning-based real-time perception or control in robotics, autonomous vehicles, or automation systems. We focus on CNNs, and in contrast to previous works, our approach accommodates a wide variety of layers typically used in CNNs, including 1-D and 2-D convolutional layers, maximum and average pooling layers, as well as strided and dilated convolutions and zero padding. However, our approach naturally extends beyond CNNs as we can incorporate any layer that is incrementally dissipative. Copyright © 2024, The Authors. All rights reserved.

关键词： Parameterization

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