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arXiv 2023年

作者： Bajaj, Shivam Bopardikar, Shaunak D. Moll, Alexander Von Torng, Eric Casbeer, David W. Department of Electrical and Computer Engineering Michigan State University United States Department of Computer Science and Engineering Michigan State University United States Control Science Center Air Force Research Laboratory United States

We consider a perimeter defense problem in a planar conical environment comprising a single turret that has a finite range and non-zero service time. The turret seeks to defend a concentric perimeter against N ≥ 2 intruders. Upon release, each intruder moves radially towards the perimeter with a fixed speed. To capture an intruder, the turret’s angle must be aligned with that of the intruder’s angle and must spend a specified service time at that orientation. We address offline and online versions of this optimization problem. Specifically, in the offline version, we establish that in general parameter regimes, this problem is equivalent to solving a Travelling Repairperson Problem with Time Windows (TRP-TW). We then identify specific parameter regimes in which there is a polynomial time algorithm that maximizes the number of intruders captured. In the online version, we present a competitive analysis technique in which we establish a fundamental guarantee on the existence of at best (N − 1)-competitive algorithms. We also design two online algorithms that are provably 1 and 2-competitive in specific parameter regimes. © 2023, CC BY-NC-SA.

关键词： Polynomial approximation

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Stress Matrix-Based Formation control of Multi-Agent Systems with Discrete-Time Communication

Stress Matrix-Based Formation Control of Multi-Agent Systems...

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International Conference on Systems and control (ICSC)

作者： Okechi Onuoha Brendan Chijioke Ubochi Suleiman Kurawa Zezhi Tang Changshun Wu Yi Dong School of Physics Engineering and Computer Science (SPECS) University of Hertfordshire UK The Department of Electrical and Electronic Engineering Federal University of Technology Akure Nigeria The Department of Electrical Engineering University of Manchester UK The Department of Automatic Control and Systems Engineering University of Sheffield UK University Grenoble Alpes Grenoble France The School of Electronics & Computer Science University of Southampton UK

ISBN: (数字)9798331531812

ISBN: (纸本)9798331531829

This study addresses the affine formation maneuver control of cooperative multi-agent systems (MAS) having periodic inter-agent communication for both static and dynamic leader cases. Here, we focus on the leader-follower MASs. The primary aim of the control system is to steer the entire collection of agents to produce required patterns (geometric) along with any required maneuver through the direct control of only few a selected agents referred to as leaders. Most of the existing works are constrained to either the individual agents communicate with each other in continuous-time or the sample-data scenario where the leaders are stationary or have constant acceleration or velocities. Here, we consider the scenarios where the velocities of the leaders can be time-varying or constant. Here, different cases are addressed and some control laws are proposed. Conditions are established to help guarantee the overall stability of the systems. A simulation study is employed for the illustration of our proposed laws.

关键词： Target tracking Simulation Accelerated aging control systems Formation control Stability analysis Stress Time-varying systems Multi-agent systems

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Intelligent Execution of computer Vision Tasks in Delay-Constrained UAV-Aided Networks

Intelligent Execution of Computer Vision Tasks in Delay-Cons...

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IEEE Globecom Workshops

作者： Nancy Varshney Corrado Puligheddu Carla Fabiana Chiasserini Claudio Casetti Swades De Department of Electrical Engineering Indian Institute of Technology Delhi India Department of Electronics and Telecommunications Politecnico di Torino Italy Department of Control and Computer Engineering Politecnico di Torino Italy

Autonomous unmanned aerial vehicles (UAVs) are crucial in critical target tracking and disaster management services. However, challenges arise due to limited channel capacity causing large transmission delays and constraints imposed by UAV batteries when running computationally intensive object detection and tracking algorithms. To address this, we propose in-telligent offloading computer vision tasks to a high-computational edge server at millimeter wave (mmWave) frequency. Transmission at mmWave needs large transmission power and is susceptible to blockages that necessitate considering the link quality in the offloading policy. Additionally, the timely processing of frames containing objects of interest is essential for context-based UAV operations to achieve a low frame drop rate. In this work, we present a delayed-reward reinforcement learning framework to determine the offloading policy of computer vision tasks in a delay-constrained environment. This approach considers the importance of the content within frames, which is unknown to the UAV. The objective is to jointly reduce UAV energy consumption and frame drop rates, leveraging statistical information of both the channel and the frame semantics. Through extensive simulations, we demonstrate by considering statistical information of the communication channel and frame semantics, we achieve approximately 45% energy savings compared to the UAV's energy consumption when processing all frames locally and maintaining the drop rate of delay-constrained frames below 5%.

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Personalized Semantic Trajectory Privacy Protection in Location-Based Services: A TD3-Based Approach

Personalized Semantic Trajectory Privacy Protection in Locat...

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IEEE Conference on Wireless Communications and Networking

作者： Jun Ye Minghui Dai Minghui Min Jinling Song Hongliang Zhang Zhu Han School of Information and Control Engineering China University of Mining and Technology Xuzhou China School of Electronics Peking University Beijing China Department of Electrical and Computer Engineering University of Houston Houston TX USA

ISBN: (数字)9798350368369

ISBN: (纸本)9798350368376

The swift advancement of Location-Based Services (LBSs) raises the danger of trajectory privacy being breached, since the location semantic tags can easily disclose users' sensitive information. Additionally, attackers can exploit temporal correlations to infer sensitive personal information. This paper formulates a personalized semantic trajectory privacy protection framework designed to protect locations with varying sensitivities on the trajectory from the attacker with temporal correlation information. We model the trajectory privacy protection problem as a Markov Decision Process (MDP) and introduce the Reinforcement Learning (RL) technique to dynamically adjust the privacy parameters. Specifically, we leverage the Twin Delayed Deep Deterministic Policy Gradient (TD3) algorithm to enhance the stability and accuracy of policy evaluation, enabling efficient learning of optimal policies in continuous action spaces. Simulation results indicate that the TD3-based personalized semantic trajectory privacy protection mechanism effectively balances the Quality of Service and semantic trajectory privacy while realizing personalized trajectory privacy protection.

关键词： Privacy Correlation Sensitivity Simulation Semantics Quality of service Reinforcement learning Stability analysis Trajectory Protection

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Automotive Seat Surface Defect Detection Method Based on Improved YOLOv5 Algorithm

Automotive Seat Surface Defect Detection Method Based on Imp...

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Youth Academic Annual Conference of Chinese Association of Automation (YAC)

作者： Juchao Zhang Changlin Yu Gang Wang Chunling Xu Zaixiang Pang Zhongbo Sun Department of Control Science and Engineering Changchun University of Technology Changchun China Department of Mechanical and Electrical Engineering Changchun University of Technology Changchun China Department of Public and Basic Computer Education Changchun Humanities and Sciences College Changchun China

ISBN: (数字)9798350379228

ISBN: (纸本)9798350390780

A method for detecting surface defects of car seats based on improved YOLOv5 is proposed to address the current issues of low efficiency, high missed detection rate, and difficult cost control in manual inspection of surface defects of car seats. In addition, in order to solve the imbalance problem of various defect images collected by industrial cameras, the methods of translation, cropping and adding noise are used to pre-enhance the images. Train the manually annotated dataset using an improved Yolov5 model, which uses K-means++ clustering anchor boxes to enhance adaptability to the dataset in this paper. At the same time, add a BiFormer module to the network to reduce the loss of small target defects and enhance the network’s feature fusion and extraction capabilities. The experimental results show that the mAP of the whole is increased from 67.1% to 78.2%, and the model can meet the requirements of the identification of car seat surface defects.

关键词： YOLO Deep learning Training Machine vision Noise Inspection Feature extraction

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An Efficient GCD-Based Cancelable Biometric Algorithm for Single and Multiple Biometrics

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computers, Materials & Continua 2021年第11期69卷 1571-1595页

作者： Naglaa F.Soliman Abeer D.Algarni Walid El-Shafai Fathi E.Abd El-Samie Ghada M.El Banby Department of Information Technology College of Computer and Information SciencesPrincess Nourah Bint Abdulrahman UniversityRiyadh84428Saudi Arabia Department of Electronics and Communications Faculty of EngineeringZagazig UniversityZagazig44519Egypt Department of Electronics and Electrical Communications Faculty of Electronic EngineeringMenoufia UniversityMenouf32952Egypt Department of Industrial Electronics and Control Engineering Faculty of Electronic EngineeringMenoufia UniversityMenouf32952Egypt

Cancelable biometrics are required in most remote access applications that need an authentication stage such as the cloud and Internet of Things(IoT)*** objective of using cancelable biometrics is to save the original ones from hacking attempts.A generalized algorithm to generate cancelable templates that is applicable on both single and multiple biometrics is proposed in this paper to be considered for cloud and IoT *** original biometric is blurred with two co-prime ***,it can be recovered as the Greatest Common Divisor(GCD)between its two blurred *** changes if induced in the biometric image prior to processing with co-prime operators prevents the recovery of the original biometric image through a GCD ***,the ability to change cancelable templates is guaranteed,since the owner of the biometric can pre-determine and manage the minimal change induced in the biometric ***,we test the utility of the proposed algorithm in the single-and multi-biometric *** multi-biometric scenario depends on compressing face,fingerprint,iris,and palm print images,simultaneously,to generate the cancelable *** metrics such as Equal Error Rate(EER)and Area and Receiver Operator Characteristic curve(AROC)are *** results on single-and multi-biometric scenarios show high AROC values up to 99.59%,and low EER values down to 0.04%.

关键词： Cloud IoT cancelable biometrics GCD single-and multi-biometrics security applications

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FISS GAN:A Generative Adversarial Network for Foggy Image Semantic Segmentation

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IEEE/CAA Journal of Automatica Sinica 2021年第8期8卷 1428-1439页

作者： Kunhua Liu Zihao Ye Hongyan Guo Dongpu Cao Long Chen Fei-Yue Wang School of Computer Science and Engineering Sun Yat-sen UniversityGuangzhou 510006China State Key Laboratory of Automotive Simulation and Control and the Department of Control Science and Engineering Jilin University(Campus Nanling)Changchun 130025China Mechanical and Mechatronics Engineering Department at the University of Waterloo 200 University Avenue West WaterlooON N2L 3G1Canada State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190 Institute of Systems Engineering Macao University of Science and TechnologyMacao 999078China

Because pixel values of foggy images are irregularly higher than those of images captured in normal weather(clear images),it is difficult to extract and express their *** method has previously been developed to directly explore the relationship between foggy images and semantic segmentation *** investigated this relationship and propose a generative adversarial network(GAN)for foggy image semantic segmentation(FISS GAN),which contains two parts:an edge GAN and a semantic segmentation *** edge GAN is designed to generate edge information from foggy images to provide auxiliary information to the semantic segmentation *** semantic segmentation GAN is designed to extract and express the texture of foggy images and generate semantic segmentation *** on foggy cityscapes datasets and foggy driving datasets indicated that FISS GAN achieved state-of-the-art performance.

关键词： Edge GAN foggy images foggy image semantic segmentation GAN semantic segmentation

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Conformal Prediction for Distribution-free Optimal control of Linear Stochastic Systems

arXiv

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arXiv 2024年

作者： Vlahakis, Eleftherios E. Lindemann, Lars Sopasakis, Pantelis Dimarogonas, Dimos V. The Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm10044 Sweden The Thomas Lord Department of Computer Science The Ming Hsieh Department of Electrical and Computer Engineering Viterbi School of Engineering University of Southern California Los AngelesCA90089 United States The School of Electronics Electrical Engineering and Computer Science Queen's University Northern Ireland Belfast United Kingdom

We address an optimal control problem for linear stochastic systems with unknown noise distributions and joint chance constraints using conformal prediction. Our approach involves designing a feedback controller to maintain an error system within a prediction region (PR). We define PRs as sublevel sets of a nonconformity score over error trajectories, enabling the handling of joint chance constraints. We propose two methods to design feedback control and PRs: one through direct optimization over error trajectory samples, and the other indirectly using the S-procedure with a disturbance ellipsoid obtained from data. By tightening constraints with PRs, we solve a relaxed problem to synthesize a feedback policy. Our method ensures reliable probabilistic guarantees based on marginal coverage, independent of data size. © 2024, CC BY.

关键词： Optimal control systems

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An Efficient CNN-Based Automated Diagnosis Framework from COVID-19 CT Images

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computers, Materials & Continua 2021年第10期69卷 1323-1341页

作者： Walid El-Shafai Noha A.El-Hag Ghada M.El-Banby Ashraf A.M.Khalaf Naglaa F.Soliman Abeer D.Algarni Fathi E.Abd El-Samie Department Electronics and Electrical Communications Faculty of Electronic EngineeringMenoufia UniversityMenouf32952Egypt Department of Electronics and Electrical Communications Faculty of EngineeringMinia UniversityEgypt Department of Industrial Electronics and Control Engineering Faculty of Electronic EngineeringMenoufia UniversityMenouf32952Egypt Department of Information Technology College of Computer and Information SciencesPrincess Nourah Bint Abdulrahman UniversityRiyadh84428Saudi Arabia

Corona Virus Disease-2019(COVID-19)continues to spread rapidly in the *** has dramatically affected daily lives,public health,and the world *** paper presents a segmentation and classification framework of COVID-19 images based on deep ***,the classification process is employed to discriminate between COVID-19,non-COVID,and pneumonia by Convolutional Neural Network(CNN).Then,the segmentation process is applied for COVID-19 and pneumonia CT ***,the resulting segmented images are used to identify the infected region,whether COVID-19 or *** proposed CNN consists of four Convolutional(Conv)layers,four batch normalization layers,and four Rectified Linear Units(ReLUs).The sizes of Conv layer used filters are 8,16,32,and *** maxpooling layers are employed with a stride of 2 and a 2×2 *** classification layer comprises a Fully-Connected(FC)layer and a soft-max activation function used to take the classification decision.A novel saliencybased region detection algorithm and an active contour segmentation strategy are applied to segment COVID-19 and pneumonia CT *** acquired findings substantiate the efficacy of the proposed framework for helping the specialists in automated diagnosis applications.

关键词： Classification segmentation COVID-19 CNN deep learning diagnosis applications

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无人飞行器在不确定扰动下的动态目标跟踪

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engineering 2024年第4期35卷 74-85页

作者： Yanjie Chen Yangning Wu Limin Lan Hang Zhong Zhiqiang Miao Hui Zhang Yaonan Wang School of Mechanical Engineering and Automation Fuzhou UniversityFuzhou 350108China Department of Computer Science Aberystwyth UniversityAberystwyth SY233DBUK School of Robotics Hunan UniversityChangsha 410082China College of Electrical and Information Engineering Hunan UniversityChangsha 410082China National Engineering Research Center of Robot Visual Perception and Control Technology Hunan UniversityChangsha 410082China

This study proposes an image-based visual servoing(IBVS)method based on a velocity observer for an unmanned aerial vehicle(UAV)for tracking a dynamic target in Global Positioning System(GPS)-denied *** proposed method derives the simplified and decoupled image dynamics of underactuated UAVs using a constructed virtual camera and then considers the uncertainties caused by the unpredictable rotations and velocities of the dynamic target.A novel image depth model that extends the IBVS method to track a rotating target with arbitrary orientations is *** depth model ensures image feature accuracy and image trajectory smoothness in rotating target *** relative velocities of the UAV and the dynamic target are estimated using the proposed velocity *** to the velocity observer,translational velocity measurements are not required,and the control chatter caused by noise-containing measurements is *** integral-based filter is proposed to compensate for unpredictable environmental disturbances in order to improve the antidisturbance *** stability of the velocity observer and IBVS controller is analyzed using the Lyapunov *** simulations and multistage experiments are conducted to illustrate the tracking stability,anti-disturbance ability,and tracking robustness of the proposed method with a dynamic rotating target.

关键词： Unmanned aerial vehicle Visual servoing Velocity observer Target tracking

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