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Privacy-preserving filtering, control and optimization for industrial cyber-physical systems

Science China(Information Sciences) 2025年第4期68卷 267-283页

作者： Derui DING Qing-Long HAN Xiaohua GE Xian-Ming ZHANG Jun WANG Department of Control Science and Engineering University of Shanghai for Science and Technology School of Engineering Swinburne University of Technology Department of Computer Science City University of Hong Kong

Industrial cyber-physical systems closely integrate physical processes with cyberspace, enabling real-time exchange of various information about system dynamics, sensor outputs, and control decisions. The connection between cyberspace and physical processes results in the exposure of industrial production information to unprecedented security risks. It is imperative to develop suitable strategies to ensure cyber security while meeting basic performance *** the perspective of control engineering, this review presents the most up-to-date results for privacy-preserving filtering,control, and optimization in industrial cyber-physical systems. Fashionable privacy-preserving strategies and mainstream evaluation metrics are first presented in a systematic manner for performance evaluation and engineering *** discussion discloses the impact of typical filtering algorithms on filtering performance, specifically for privacy-preserving Kalman filtering. Then, the latest development of industrial control is systematically investigated from consensus control of multi-agent systems, platoon control of autonomous vehicles as well as hierarchical control of power systems. The focus thereafter is on the latest privacy-preserving optimization algorithms in the framework of consensus and their applications in distributed economic dispatch issues and energy management of networked power systems. In the end, several topics for potential future research are highlighted.

关键词： industrial cyber-physical systems privacy preservation distributed control distributed optimization power systems

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Enhancing Social Experiences in Immersive Virtual Reality with Artificial Facial Mimicry

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IEEE Transactions on Visualization and computer Graphics 2025年第5期31卷 3325-3335页

作者： Visconti, Alessandro Calandra, Davide Giorgione, Federica Lamberti, Fabrizio Politecnico di Torino Department of Control and Computer Engineering Italy Politecnico di Torino Italy

The growing availability of affordable Virtual Reality (VR) hardware and the increasing interest in the Metaverse are driving the expansion of Social VR (SVR) platforms. These platforms allow users to embody avatars in immersive social virtual environments, enabling real-time interactions using consumer devices. Beyond merely replicating real-life social dynamics, SVR platforms offer opportunities to surpass real-world constraints by augmenting these interactions. One example of such augmentation is Artificial Facial Mimicry (AFM), which holds significant potential to enhance social experiences. Mimicry, the unconscious imitation of verbal and non-verbal behaviors, has been shown to positively affect human-agent interactions, yet its role in avatar-mediated human-to-human communication remains under-explored. AFM presents various possibilities, such as amplifying emotional expressions, or substituting one emotion for another to better align with the context. Furthermore, AFM can address the limitations of current facial tracking technologies in fully capturing users' emotions. To investigate the potential benefits of AFM in SVR, an automated AM system was developed. This system provides AFM, along with other kinds of head mimicry (nodding and eye contact), and it is compatible with consumer VR devices equipped with facial tracking. This system was deployed within a test-bench immersive SVR application. A between-dyads user study was conducted to assess the potential benefits of AFM for interpersonal communication while maintaining avatar behavioral naturalness, comparing the experiences of pairs of participants communicating with AFM enabled against a baseline condition. Subjective measures revealed that AFM improved interpersonal closeness, aspects of social attraction, interpersonal trust, social presence, and naturalness compared to the baseline condition. These findings demonstrate AFM's positive impact on key aspects of social interaction and highlight its pote

关键词： Virtual environments

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Real-time drone detection framework based on advanced texture feature extraction and pattern recognition model using GUI

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Neural Computing and Applications 2025年第5期37卷 3435-3454页

作者： Hussen, Noha Salem, Mofreh Eldesouky, Ali I. Sakr, Noha Elghamrawy, Sally Computers and Control Systems Engineering Department Mansoura University Mansoura Egypt Computer Engineering Department Misr Higher Institute for Engineering and Technology Mansoura Egypt

The increasing prevalence of drones has raised significant concerns regarding their potential for misuse in activities such as smuggling, terrorism, and unauthorized access to restricted airspace. Consequently, the development of robust and efficient drone detection systems has become paramount. Traditional detection methods such as radar and acoustic sensors have limitations in detecting small drones and can be costly to implement. This can lead to lower detection rates and increased security breaches and safety concerns. However, prevailing methodologies often falter in achieving real-time detection with requisite precision and efficacy, particularly within complex operational environments. Motivated by the imperative to surmount these challenges, our research endeavors to introduce a pioneering real-time drone detection framework. Our study encapsulates several seminal advancements. Firstly, we proffer a groundbreaking framework that synergizes advanced integration technique based on texture feature extraction and pattern recognition techniques for real-time drone detection to increase accuracy to detect drones in different conditions such as bad weather and low resolution. Secondly, we introduce an intuitive graphical user interface, enhancing the usability and accessibility of the system in real-time scenario. Lastly, through exhaustive evaluation and comparative analysis, we substantiate the superior performance of our framework in terms of accuracy, precision, and real-time detection capabilities compared to conventional DDS methodologies. Its stability and effectiveness render it a compelling solution for security-focused entities, notably those within air force and military systems. Our experimental results reveal a commendable accuracy rate of 97%, affirming the reliability and precision 98% and recall parameter 98% of our framework in accurately identifying and detecting drones, thus surpassing recent models in the field. © The Author(s), under exclusive

关键词： Graphical user interfaces

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Aerial Robots Carrying Flexible Cables: Dynamic Shape Optimal control via Spectral Method Model

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IEEE Transactions on Robotics 2025年 41卷 3162-3182页

作者： Shen, Yaolei Franchi, Antonio Gabellieri, Chiara Faculty AE Enschede7500 Netherlands Sapienza University of Rome Department of Computer Control and Management Engineering Rome00185 Italy

In this work, we present a model-based optimal boundary control design for an aerial robotic system composed of a quadrotor carrying a flexible cable. The whole system is modeled by partial differential equations (PDEs) combined with boundary conditions described by ordinary differential equations (ODEs). The proper orthogonal decomposition (POD) method is adopted to project the original infinite-dimensional system on a finite low-dimensional space spanned by orthogonal basis functions. Based on such a reduced order model, nonlinear model predictive control (NMPC) is implemented online to realize both position and shape trajectory tracking of the flexible cable in an optimal predictive fashion. The proposed POD-based reduced modeling and optimal control paradigms are verified in simulation using an accurate high-dimensional finite difference method- (FDM) based model and experimentally using a real quadrotor and a cable. The results show the viability of the POD-based predictive control approach (allowing to close the control loop on the full system state) and its superior performance compared to an optimally tuned PID controller (allowing to close the control loop on the quadrotor state only). © 2004-2012 IEEE.

关键词： Orthogonal functions

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An enhanced neuro-adaptive PID sliding mode control for robot manipulators:promoting sustainable automation

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Neural Computing and Applications 2025年第9期37卷 6877-6898页

作者： Elmogy, Ahmed Alhemaly, Nagah El-Ghaish, Hany Elawady, Wael Computer Engineering Deptartment Prince Sattam Ibn Abdelaziz University Alkharj16273 Saudi Arabia Computers & Control Engineering Department Tanta University Tanta31527 Egypt

The control of robot manipulators presents significant challenges, primarily due to their complex, nonlinear dynamics. Another major difficulty arises from environmental and operational disturbances. Numerous control frameworks and approaches have been proposed in the literature to address these issues. However, many of these approaches are discontinuous or non-adaptive, which negatively affects their performance and makes them unsuitable for real-time applications. This paper proposes a novel integrated control scheme that combines adaptive control with an improved continuous second-order sliding mode control (CSOS), utilizing generalized artificial neural networks (GANN) for enhanced performance in robot manipulators. The proposed control method consists of two key components: An adaptive proportional-integral-derivative (PID) controller and an adaptive CSOS-based control module (CSOSSD-APID), designed to deliver superior transient and steady-state performance. In this approach, the adaptive CSOS benefits from GANN’s strong noise handling capabilities and its ability to estimate uncertainties effectively. This integration significantly enhances the robustness of robot manipulator control across various tracking tasks, using a single pre-trained GANN model with fine-tuned weights tailored to each task. Numerical simulations demonstrate the effectiveness and versatility of the proposed control scheme, particularly in managing highly time-varying trajectories while contributing to more sustainable and efficient automation practices. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2025.

关键词： Adaptive control systems

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Green hydrogen as a sustainable operations strategy: A socio-economic perspective

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Sustainable Operations and computers 2025年第1期6卷 1-14页

作者： Bonesso, Francesco D'Adamo, Idiano Gastaldi, Massimo Giannini, Marco Sapienza University of Rome Rome Italy Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy Department of Industrial and Information Engineering and Economics University of L'Aquila L'Aquila Italy

Hydrogen is an energy carrier that can support the development of sustainable and flexible energy systems. However, decarbonization can occur when green sources are used for energy production and appropriate water use is manifested. This work aims to propose a socio-economic analysis of hydrogen production from an integrated wind and electrolysis plant in southern Italy. The estimated production amounts to about 1.8 million kg and the LCOH is calculated to be 3.60 €/kg in the base scenario. Analyses of the alternative scenarios allow us to observe that with a high probability the value ranges between 3.20–4.00 €/kg and that the capacity factor is the factor that most affects the economic results. Social analysis, conducted through an online survey, shows a strong knowledge gap as only 27.5 % claim to know the difference between green and grey hydrogen. There is a slight propensity to install systems near their homes, but this tends to increase due to increased knowledge on the topic. Respondents state sustainable behaviours, and this study suggests that these aspects should also be transformed into the energy choices that are implemented every day. The study suggests information to policy-makers, businesses and citizens as it outlines that green hydrogen is an operations strategy that moves toward sustainable development. © 2024 The Author(s)

关键词： Green development

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IMC Based PID controller for Spherical Tank Liquid Level control 1

IMC Based PID Controller for Spherical Tank Liquid Level Con...

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1st International Conference on AIML-Applications for engineering and Technology, ICAET 2025

作者： Kadu, C.B. Bhosale, V.P. Vikhe, P.S. Mandhare, V.V. Pravara Rural Engineering College Department of Instrumentation & Control Engineering Loni India Pravara Rural Engineering College Department of Computer Engineering Loni India

ISBN: (纸本)9798350355611

In the process industries, it's hard to control a non-linear process. Nonlinear behavior is frequently seen in real processes. The challenging problem of controlling a spherical tank is result of its nonlinearity caused by the continuously varying cross section. An IMC-based PID controller is employed to improve efficiency of controlling the level of spherical tanks which exhibit nonlinear dynamics. For processes up to second-order with dead time and first-order numerator dynamics, a single tuning parameter will be offered. The process model is determined employing mathematical modeling and standard step response-based system identification. The laboratory model of an interacting and non-interacting nonlinear system is introduced, which is capable of performing more complex tasks. To verify the effectiveness of the suggested IMC based PID controller, results of real-time experiments and a simulation study on spherical tank level control are incorporated. © 2025 IEEE.

关键词： Three term control systems

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Assembling Solar Panels by Dual Robot Arms Towards Full Autonomous Lunar Base Construction

Assembling Solar Panels by Dual Robot Arms Towards Full Auto...

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2025 IEEE/SICE International Symposium on System Integration, SII 2025

作者： Nunziante, Luca Uno, Kentaro Diaz, Gustavo H. Santra, Shreya De Luca, Alessandro Yoshida, Kazuya Sapienza University of Rome Department of Computer Control and Management Engineering Italy Department of Aerospace Engineering Sendai980-8579 Japan

ISBN: (纸本)9798331531614

Since the successful Apollo program, humanity is once again aiming to return to the Moon for scientific discovery, resource mining, and inhabitation. Upcoming decades focus on building a lunar outpost, with robotic systems playing a crucial role to safely and efficiently establish essential infrastructure such as solar power generating towers. Similar to the construction of the International Space Station (ISS), shipping necessary components via modules and assembling them in situ should be a practical scenario. In this context, this paper focuses on the integration of vision, control, and hardware systems within an autonomous sequence for a dual-arm robot system. We explore a perception and control pipeline specifically designed for assembling solar panel modules, one of the benchmark tasks. Ad hoc hardware was designed and tested in real-world experiments. A mock-up of modular solar panels and active-passive connectors are employed, with the control of this grappling fixture integrated into the proposed pipeline. The successful implementation of our method demonstrates that the two robot manipulators can effectively connect arbitrarily placed panels, highlighting the seamless integration of vision, control, and hardware systems in complex space applications. © 2025 IEEE.

关键词： Space applications

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Data-driven output regulation control for constrained linear systems

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Science China(Information Sciences) 2025年第3期68卷 338-353页

作者： Chaoyu XIA Yi DONG Chaoli WANG Shengyuan XU Shanghai Research Institute for Intelligent Autonomous Systems Tongji University College of Electronic and Information Engineering Shanghai Research Institute for Intelligent Autonomous SystemsTongji University Department of Control Science and Engineering School of Optical-Electrical and Computer EngineeringUniversity of Shanghai for Science and Technology Department of Automation Nanjing University of Science and Technology

This study introduces a data-driven approach for state and output feedback control addressing the constrained output regulation problem in unknown linear discrete-time systems. Our method ensures effective tracking performance while satisfying the state and input constraints, even when system matrices are not available. We first establish a sufficient condition necessary for the existence of a solution pair to the regulator equation and propose a data-based approach to obtain the feedforward and feedback control gains for state feedback control using linear programming. Furthermore, we design a refined Luenberger observer to accurately estimate the system state, while keeping the estimation error within a predefined set. By combining output regulation theory, we develop an output feedback control strategy. The stability of the closed-loop system is rigorously proved to be asymptotically stable by further leveraging the concept of λ-contractive sets.

关键词： output regulation constrained system data-driven.

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Architecture of AC-DC Energy Nodes in Supergrids: A Technical Foundation for Future Renewable Integration 5

Architecture of AC-DC Energy Nodes in Supergrids: A Technica...

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5th National and the 1st International Conference on Applied Research in Electrical engineering, AREE 2025

作者： Mousavi, Mohammad Hossein Moradi, Hassan Rouzbehi, Kumars Razi University Department of Computer and Electrical Engineering Kermanshah Iran University of Seville Department of System Engineering and Automatic Control Seville Spain

ISBN: (纸本)9798350377170

The AC-DC Energy Nodes (ADENs) concept offers a transformative approach to modernizing power grids, particularly in the context of supergrids. By centralizing power flows from diverse renewable energy sources, such as offshore wind farms, ADENs enable efficient long-distance power transmission through HVDC technology. This design enhances the balance of supply and demand across regions and countries, significantly improving grid stability and resilience. However, the implementation of ADENs presents substantial technical, regulatory, and cybersecurity challenges. This study delves into these challenges while also addressing the geopolitical complexities of transnational connections, underscoring the critical importance of policy alignment for successful deployment. © 2025 IEEE.

关键词： Wind power integration

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