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21st Polish control Conference, PCC 2023

作者： Pilat, Adam Krzysztof Milanowski, Hubert Bieszczad, Rafal Sikora, Bartiomiej Faculty of Electrical Engineering Automatics Computer Science and Biomedical Engineering Department of Automatic Control and Robotics AGH-University of Science and Technology Krakow Poland

ISBN: (纸本)9783031351693

This elaboration presents the synthesis of the Takagi-Sugeno type Fuzzy Logic controller realizing the programmable parameters of the state feedback controller together with the steady state current for the active magnetic levitation system. Closed-loop dynamics was calculated precisely with respect to the requested dynamics. Two cases were considered: fixed-and variable-closed-loop dynamics. The Fuzzy Logic controller was considered under four scenarios with linear, nonlinear, and constant in-range output. The study was supported by simulations and experimental investigations. The position of the levitating sphere stands as an illustration of the system in operation. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2023.

关键词： Dynamics

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Microservice Deployment for Satellite Edge AI Inference via Deep Reinforcement Learning 35

Microservice Deployment for Satellite Edge AI Inference via ...

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35th IEEE International Symposium on Personal, Indoor and Mobile Radio Communications, PIMRC 2024

作者： Yu, Zhiyong Cheng, Hei Victor Yang, Zhanpeng Liu, Xin Jiang, Yuning Zhou, Yong Shi, Yuanming ShanghaiTech University School of Information Science and Technology Shanghai201210 China Aarhus University Department of Electrical and Computer Engineering Denmark Automatic Control Laboratory Switzerland

ISBN: (纸本)9798350362244

Artificial intelligence (AI) is critical in evolving 5G and developing 6G networks, running on edge devices, and solving resource management challenges. The burgeoning number of edge devices draws attention to the potential of low-earth orbit (LEO) satellite networks with their onboard computing capabilities for edge inference. This paper explores LEO scenarios where multiple remote sensing edge AI inference tasks concurrently process data from a single source. However, due to there being parts with the same functions between different AI applications, traditional monolithic edge AI architecture must be deployed repeatedly and falls short in efficiently harnessing the heterogeneous resources of LEO satellite networks. To solve this problem, we utilize the microservice architecture to decouple a single AI application into several independent microservices to reuse these same functions. However, due to the high latency caused by multiple microservices' communication, we need to design a deployment strategy to fully utilize resources to reduce the service latency. We present a microservice deployment model to minimize the total service latency across all AI applications and meet resource constraints with the constraints of hardware, energy, and memory limitations. This latency optimization problem is rewritten as a Markov decision process (MDP) to effectively deal with the challenge posed by the time-varying transmission rate caused by satellite mobility. To increase the training data utilization, we employ a Proximal Policy Optimization (PPO) based reinforcement learning algorithm to meet the dynamic environment challenge. Finally, we obtain a sub-optimal solution with minimal accuracy loss and an acceptable solution time. © 2024 IEEE.

关键词： Markov processes

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Attack Stealthiness and Detection of Multiagent Systems: A Zero-Sum Formulation 63

Attack Stealthiness and Detection of Multiagent Systems: A Z...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Zhu, Shiyong Wang, Miaomiao Chen, Jie Rantzer, Anders City University of Hong Kong Department of Electrical Engineering Hong Kong Hong Kong University of Science and Technology Department of Electronic and Computer Engineering Hong Kong Lund University Department of Automatic Control Lund Sweden

ISBN: (纸本)9798350316339

Cybersecurity has in recent years emerged as a paramount concern in the design and operation of industrial systems and civil infrastructures, due mainly to their susceptibility to malicious cyber attacks which take advantage of the vulnerability of communication networks and IT devices. In this paper, we investigate such an attack and counter attack scenario by considering multiagent systems, a somewhat basic prototype of cyberphysical systems. We study false data injection attacks launched on the agent sensors, and possible defense of such attacks at the agent actuators. The primary issue under consideration is the stealthiness of the attacks, while steering a multiagent system away from its consensual state. We propose a metric to quantify the stealthiness, and formulate the stealthiness problem as one of zero-sum games. We solve the problem explicitly, which gives rise to a fundamental bound on the stealthiness achievable, and as well optimal attack and defense strategies that achieve the optimal stealthiness, both of which can be obtained in terms of certain augmented controllability Gramians associated with the agents. The stealthiness bound is seen to depend on agent dynamics and network characteristics including a measure of connectivity. © 2024 IEEE.

关键词： Cyber attacks

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Behavioural Swarm Optimisation for Stable Slung-Load Aerial Transportation

Behavioural Swarm Optimisation for Stable Slung-Load Aerial ...

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2023 IEEE Congress on Evolutionary Computation, CEC 2023

作者： Chen, Jingyu Oyekan, John The University of Sheffield Department of Automatic Control and Systems Engineering Sheffield United Kingdom University of York Department of Computer Science York United Kingdom

ISBN: (纸本)9798350314588

Collaboration of agents in a natural swarm enables the accomplishment of tasks that would be difficult or impossible for a single agent to complete alone. For example, a swarm of autonomous Unmanned Aerial Vehicles (UAVs) enables the collaborative sensing of bulky loads for transportation over impassable terrains when the load weighs several times more than each UAV. In this work, we propose a hierarchical algorithmic architecture that supports the search and coverage of various unknown payload profiles for subsequent transportation. The grasping formation of UAVs over the payload emerges from the synthetic behaviours in the architecture without any path planning. Experiments show that our proposed design can be successfully applied in searching and coverage of various loads and has been validated in the real world through the use of Crazyflie micro-UAVs. Furthermore, the proposed grasping formation satisfies static equilibrium thereby reducing orientation changes in the load-swarm system during transportation. © 2023 IEEE.

关键词： Motion planning

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Enhanced cyber-physical system with semantic technologies and machine learning to support smart farming 24

Enhanced cyber-physical system with semantic technologies an...

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24th International Conference on control Systems and computer Science, CSCS 2023

作者： Ciolofan, Sorin N. Dragoicea, Monica Popeanga, Daniel-Catalin Politehnica University of Bucharest Department of Computer Science Bucharest Romania Politehnica University of Bucharest Department of Automatic Control and Systems Engineering Bucharest Romania

ISBN: (纸本)9798350313390

An important aspect related to the effects of agricultural activities on the environment is represented by the nutrient loss in water and air (specifically nitrogen). The interactions between catchments hydrological processes, management of farm activities, climate changes and nitrogen losses constitute a complex phenomenon yet not well understood, being an important concern from the sustainable agriculture perspective. Nitrogen can be lost with water as leaching or runoff, or as gas as ammonia volatilization. Nitrous oxide (N2O) is particularly problematic because it is also a powerful greenhouse gas. The goal of the current article is to present innovative digital techniques to advance in understanding of this phenomena through an Information System that integrates Artificial Intelligence techniques such as Semantic Technologies and Machine Learning (ML) into Cyber-Physical Systems (CPS) to support smart farming and sustainable agriculture. © 2023 IEEE.

关键词： Semantics

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Reinforcement Learning-Based Output Stabilization control for Nonlinear Systems With Generalized Disturbances 25

Reinforcement Learning-Based Output Stabilization Control fo...

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25th IEEE International Conference on Industrial Technology, ICIT 2024

作者： Tang, Zezhi Rossiter, J Anthony Dong, Yi Panoutsos, George University Of Sheffield Department Of Automatic Control And Systems Engineering SheffieldS13JD United Kingdom University Of Southampton Department Of Electronics And Computer Science Southampton United Kingdom

ISBN: (纸本)9798350340266

This paper proposes a new disturbance observer (DO)-based reinforcement learning (RL) control approach for nonlinear systems with unmatched (generalized) disturbances. While a nonlinear disturbance observer (NDO) is utilized to measure the plant uncertainties, disturbances can exist in the plant via distinct channels from those of the control signals;so-called mismatched disturbances are theoretically difficult to attenuate within the channel of the system's states. A generalized disturbance observer-based compensator is implemented to address the uncertainty cancellation problem by removing the influence of uncertainties from the output channels. Con-currently, a composite actor-critic RL scheme is utilized for approximating the optimal control policy as well as the ideal value function pertaining to the compensated system by solving a Hamilton-Jacobi-Bellman (HJB) equation for both online and offline iterations simultaneously. Stability analysis verifies the convergence of the proposed framework. Simulation results are included to illustrate the effectiveness of the proposed scheme. © 2024 IEEE.

关键词： Nonlinear systems

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Ante-Hoc Generation of Task-Agnostic Interpretation Maps

Ante-Hoc Generation of Task-Agnostic Interpretation Maps

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2023 IEEE/CVF Conference on computer Vision and Pattern Recognition Workshops, CVPRW 2023

作者： Akash Guna, R.T. Benitez, Raul Sikha, O.K. Amrita School of Engineering Department of Computer Science and Engineering Coimbatore India Universitat Politècnica de Catalunya BarcelonaTech Departament of Automatic Control Spain

ISBN: (纸本)9798350302493

Existing explainability approaches for convolutional neural networks (CNNs) are mainly applied after training (post-hoc) which is generally unreliable. Ante-hoc explainers trained simultaneously with the CNN are more reliable. However, current ante-hoc explanation methods mainly generate inexplicit concept-based explanations tailored to specific tasks. To address these limitations, we propose a task-agnostic ante-hoc framework that can generate interpretation maps to visually explain any CNN. Our framework simultaneously trains the CNN and a weighting network - an explanation generation module. The generated maps are self-explanatory, eliminating the need for manual identification of concepts. We demonstrate that our method can interpret classification, facial landmark detection, and image captioning tasks. We show that our framework is explicit, faithful, and stable through experiments. To the best of our knowledge, this is the first ante-hoc CNN explanation strategy that produces visual explanations generic to CNNs for different tasks. © 2023 IEEE.

关键词： computer vision

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The value of formative evaluation in an education program

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International Journal of Applied Systemic Studies 2022年第4期9卷 381-388页

作者： Tsipianitis, Dimitris Mandellos, Georgios Systems and Automatic Control Division Electrical and Computer Engineering Department University of Patras RionGR-26504 Greece Telecommunications and Information Technology Division Electrical and Computer Engineering Department University of Patras RionGR-26504 Greece

Evaluation is a process that compares the results with the target, an initial situation with the final one. ‘Evaluate’ means making an assessment based on some measure or information and referring to some criteria. The Formative evaluation is a process which is used by trainers and trainees and provides feedback on updating current teaching and learning methods in order to improve trainer’s achievement in relation of teaching goals. In this case study a research was carried out using the technique of formative evaluation in order to evaluate two thematic areas with the cooperation of the program’s leaders. The aim of the study was to extract conclusions and opinions about the program’s value, the achievement goals and the organisation implementation requirements and how all this results will been feed backed to program managers and policymakers with the appropriate information which are necessary to adopt appropriate corrective interventions for programs quality improvement. Copyright © 2022 Inderscience Enterprises Ltd.

关键词： Quality control

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Business intelligent connection between quality and evaluation methods: a case study

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International Journal of Applied Systemic Studies 2022年第4期9卷 330-343页

作者： Mandellos, Georgios Tsipianitis, Dimitris Telecommunications and Information Technology Division Electrical and Computer Engineering Department University of Patras RionGR-26504 Greece Systems and Automatic Control Division Electrical and Computer Engineering Department University of Patras RionGR-26504 Greece

Nowadays, information and knowledge represent the fundamental wealth of an organisation. Enterprises try to utilise this wealth to gain advantage when making decisions such as a project’s acceptance. After a project finishes, a quality management plan defines its quality level. The business intelligence theories help the individual to evaluate the proposed plan in order to target the project’s results. But, do all the evaluation methods have the same reliability? We check the project’s quality by using paper and online questionnaire administration. Although the scope is the same, there are differences, giving different results. So, we intelligently investigated the quality of the university educational process. The results show that the administration method has a significant effect on overall results. Thus, the quality check of a project using questionnaires needs to have an attentive design, avoid points that introduce uncertainties and able to show the real opinion of the respondents. Copyright © 2022 Inderscience Enterprises Ltd.

关键词： Surveys

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Guidance of Agricultural Ground Robots Team with an Aerial Vehicle: A Cost-Effective Solution 56

Guidance of Agricultural Ground Robots Team with an Aerial V...

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56th International Symposium on Robotics, ISR Europe 2023

作者： Ugurlu, Halil Ibrahim Bardakci, Deniz Pham, Huy Xuan Kayacan, Erdal The Department of Electrical and Computer Engineering Aarhus University Aarhus C8000 Denmark Automatic Control Group Department of Electrical Engineering and Information Technology Paderborn University Paderborn Germany

ISBN: (纸本)9783800761418

Increasing the operational efficiency of agricultural machines is essential by the use of artificial intelligence (AI)-based navigation, planning, and control algorithms to handle the increasing demand for food production without compromising sustainability. In this study, an end-to-end path planning algorithm (AgroRL) is proposed for aerial-ground robots team collaboration. In the proposed solution, while main operations in the field are handled by the ground vehicle, the aerial robot is responsible for re-planning a collision-free trajectory for the ground robot when the robot faces an obstacle. Deep reinforcement learning is used for training the end-to-end policy for local re-planning of the aerial robot. The agent, informed by the global trajectory, generates local plans based on depth images. Variational autoencoders are also investigated for dimension reduction of the depth images in obstacle avoidance context to speed up deep reinforcement learning and alleviate the computational complexity of the policy network. The agriculture environment is developed in the Webots open-source robot simulator for training and testing purposes. The efficiency and efficacy of the end-to-end planner are evaluated over a number of cluttered field scenarios. The simulation experiments demonstrate a single aerial vehicle guiding multiple ground robots in agricultural operations. © VDE VERLAG GMBH Berlin Offenbach.

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