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Consensus control of Leader-Following Multi-Agent systems in Directed Topology With Heterogeneous Disturbances

IEEE/CAA Journal of Automatica Sinica 2021年第2期8卷 423-431页

作者： Qinglai Wei Xin Wang Xiangnan Zhong Naiqi Wu the State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190 the School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049and also with Qingdao Academy of Intelligent IndustriesQingdao 266109China the Department of Computer and Electrical Engineering and Computer Science Florida Atlantic UniversityBoca Raton FL33431 USA the Institute of Systems Engineering and Collaborative Laboratory for Intelligent Science and SystemsMacao University of Science and TechnologyMacao 999078China

This paper investigates the consensus problem for linear multi-agent systems with the heterogeneous disturbances generated by the Brown *** main contribution is that a control scheme is designed to achieve the dynamic consensus for the multi-agent systems in directed topology interfered by stochastic *** traditional ways,the coupling weights depending on the communication structure are static.A new distributed controller is designed based on Riccati inequalities,while updating the coupling weights associated with the gain matrix by state errors between adjacent *** introducing time-varying coupling weights into this novel control law,the state errors between leader and followers asymptotically converge to the minimum value utilizing the local *** the Lyapunov directed method and It?formula,the stability of the closed-loop system with the proposed control law is *** simulation results conducted by the new and traditional schemes are presented to demonstrate the effectiveness and advantage of the developed control method.

关键词： Consensus control directed topology external disturbance multi-agent(MA)systems

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Understanding the Resilience of Urban Rail Transit:Concepts,Reviews,and Trends

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engineering 2024年第10期41卷 7-18页

作者： Yun Wei Xin Yang Xiao Xiao Zhiao Ma Tianlei Zhu Fei Dou Jianjun Wu Anthony Chen Ziyou Gao Beijing Mass Transit Railway Operation Corporation Ltd. Beijing 100044China School of Systems Science Beijing Jiaotong UniversityBeijing 100044China Traffic Control Technology Corporation Ltd. Beijing 100160China Department of Civil and Environmental Engineering The Hong Kong Polytechnic UniversityHong Kong 999077China

As the scale of urban rail transit(URT)networks expands,the study of URT resilience is essential for safe and efficient *** paper presents a comprehensive review of URT resilience and highlights potential trends and directions for future ***,URT resilience is defined by three primary abilities:absorption,resistance,and recovery,and four properties:robustness,vulnerability,rapidity,and ***,the metrics and assessment approaches for URT resilience were *** metrics are divided into three categories:topology-based,characteristic-based,and performance-based,and the assessment methods are divided into four categories:topological,simulation,optimization,and *** of various metrics and assessment approaches revealed that the current research trend in URT resilience is increasingly favoring the integration of traditional methods,such as conventional complex network analysis and operations optimization theory,with new techniques like big data and intelligent computing technology,to accurately assess URT ***,five potential trends and directions for future research were identified:analyzing resilience based on multisource data,optimizing train diagram in multiple scenarios,accurate response to passenger demand through new technologies,coupling and optimizing passenger and traffic flows,and optimal line design.

关键词： Urban rail transit Resilience assessment Resilience improvement Network disruption

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Skeleton-Based Multi-Stream Adaptive Graph Convolutional Network for Indoor Scene Action Recognition

Skeleton-Based Multi-Stream Adaptive Graph Convolutional Net...

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2023 China Automation Congress, CAC 2023

作者： Li, Jiazhuo Chen, Luefeng Li, Min Wu, Min Pedrycz, Witold Hirota, Kaoru The School of Automation The Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems The Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education China University of Geosciences Wuhan430074 China The Department of Electrical and Computer Engineering University of Alberta EdmontonABT6G 2R3 Canada The Systems Research Institute Polish Academy of Sciences Warsaw00-901 Poland The Department of Computer Engineering Istinye University Sariyer Istanbul34396 Turkey The Tokyo Institute of Technology Tokyo226-8502 Japan

ISBN: (纸本)9798350303759

With the rapid advances in computer vision, human action recognition has gradually received attention, but the current methods still exhibit some problems in indoor environments. The human skeleton, as the framework of human motion, contains high-quality actional feature information, and the skeleton-based action recognition method effectively avoid the interference of interior background noise and has advantages in indoor action recognition. The outstanding effect of graph convolutional networks on graph structure data processing has led to its rapid development and wide application in skeleton-based action recognition. Second-order skeletal information also contains a large number of actional features but is not effectively utilized. The artificial predefined topology of the human skeleton map has limitations, and cannot reflect the interaction between limbs. To solve the above problems, this article designs an adaptive weighted multi-stream graph convolutional network (AM-GCN) based on skeletal information, using an attention mechanism to enhance the network's ability to extract actional features, and an adaptive layer to make the construction graph more flexible, incorporating second-order skeletal features through a dual-stream architecture. In this article, the NTU-RGB+D dataset has been used for the experiments, the results show that the method in this article has good results. © 2023 IEEE.

关键词： Convolution

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HelmetPoser: A Helmet-Mounted IMU Dataset for Data-Driven Estimation of Human Head Motion in Diverse Conditions

arXiv

引用

arXiv 2024年

作者： Li, Jianping Leng, Qiutong Liu, Jinxin Xu, Xinhang Jin, Tongxin Cao, Muqing Nguyen, Thien-Minh Yuan, Shenghai Cao, Kun Xie, Lihua School of Electrical and Electronic Engineering Nanyang Technological University 50 Nanyang Avenue Singapore639798 Singapore Department of Control Science and Engineering College of Electronics and Information Engineering Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Shanghai China

Helmet-mounted wearable positioning systems are crucial for enhancing safety and facilitating coordination in industrial, construction, and emergency rescue environments. These systems, including LiDAR-Inertial Odometry (LIO) and Visual-Inertial Odometry (VIO), often face challenges in localization due to adverse environmental conditions such as dust, smoke, and limited visual features. To address these limitations, we propose a novel head-mounted Inertial Measurement Unit (IMU) dataset with ground truth, aimed at advancing data-driven IMU pose estimation. Our dataset captures human head motion patterns using a helmet-mounted system, with data from ten participants performing various activities. We explore the application of neural networks, specifically Long Short-Term Memory (LSTM) and Transformer networks, to correct IMU biases and improve localization accuracy. Additionally, we evaluate the performance of these methods across different IMU data window dimensions, motion patterns, and sensor types. We release a publicly available dataset, demonstrate the feasibility of advanced neural network approaches for helmet-based localization, and provide evaluation metrics to establish a baseline for future studies in this field. Data and code can be found at https://***/HelmetPoser. ***/. © 2024, CC BY.

关键词： Helmet mounted displays

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Estimating Person Location in Bathroom with Spatial Ultrasound and Variational autoencoder

Estimating Person Location in Bathroom with Spatial Ultrasou...

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IEEE Symposium (IUS) Ultrasonics

作者： Shun Sato Yuto Yasuda Ryotaro Ohara Riku Hamabe Takayuki Genda Shoya Imanaka Shintaro Izumi Hiroshi Kawaguchi Graduate School of System Informatics Kobe University Kobe Japan Department of Computer Science and Systems Engineering Kobe University Kobe Japan Graduate School of Science Technology and Innovation Kobe University Kobe Japan

In bathrooms, a fall can lead to severe injuries or even drowning. While taking preventive measures against such accidents is crucial, it's equally important to swiftly detect and request rescue when they occur. In such scenarios, knowing the exact location of the person in the bathroom becomes critical. However, concerns related to privacy and costs make the use of cameras and lidar impractical. To address these issues, we propose a method for estimating the 3D location of a person within the bathroom using ultrasound correlation values as input for a deep neural network. To validate our approach, we conduct experiments using two sensors in this study. The results are promising, as we achieved a mean square error of just 10.48 cm.

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A review of smartphones-based indoor positioning:Challenges and applications

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IET Cyber-systems and Robotics 2021年第1期3卷 1-30页

作者： Khuong An Nguyen Zhiyuan Luo Guang Li Chris Watkins School of Computing Engineering and MathematicsUniversity of BrightonBrightonUK Computer Science Department Royal HollowayUniversity of LondonEghamUK Institute of Cyber-Systems and Control Zhejiang UniversityHangzhouChina

The continual proliferation of mobile devices has encouraged much effort in using the smartphones for indoor *** article is dedicated to review the most recent and interesting smartphones-based indoor navigation systems,ranging from electromagnetic to inertia to visible light ones,with an emphasis on their unique challenges and potential realworld applications.A taxonomy of smartphone sensors will be introduced,which serves as the basis to categorise different positioning systems for reviewing.A set of criteria to be used for the evaluation purpose will be *** each sensor category,the most recent,interesting,and practical systems will be examined,with detailed discussion on the open research questions for the academics,and the practicality for the potential clients.

关键词： client smart taxonomy

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Uncertainty analysis of virtualized systems with live migration

Uncertainty analysis of virtualized systems with live migrat...

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12th International Conference on Quality, Reliability, Risk, Maintenance, and Safety engineering (QR2MSE 2022)

作者： J. Zhang J. Zheng H. Okamura T. Dohi Graduate School of Advanced Science and Engineering Hiroshima University Higashihiroshima Japan Department of Information Science and Engineering Ritsumeikan University Kusatsu Japan

Benefiting from the advantages of virtualization technology, virtualized systems have been widely studied and adopted in enterprise systems, aimed at reducing resource usage and enhancing system reliability. An important feature of virtualized systems is the virtual machine (VM) live migration, which brings convenience to transfer running VMs from one physical server to another without service interruption. To achieve a high available/reliable virtualized system, it is crucial to evaluate its system availability/reliability. The model-based approach is commonly used and proved effective. However, it is well-known that the model parameters typically involve estimation error due to the limitation of data samples or expert's knowledge, so-called uncertainty. In this paper, we analyze the uncertainty propagation in the availability model of a virtualized system with live migration through a momentbased approximation method. A numerical experiment is conducted to quantify the impact of the parameter uncertainty on the system availability.

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Improved Method of Preparation for Shape-memory Polymer Sheet with Embedded Electrical Heating Wire for Use in Pneumatic Artificial Rubber Muscle

Improved Method of Preparation for Shape-memory Polymer Shee...

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SICE Annual Conference

作者： Yuta Okamura Kazuto Takashima Toshiro Noritsugu Toshiharu Mukai Graduate School of Life Science and Systems Engineering Kyushu Institute of Technology Kitakyushu Japan Mimasaka University Tsuyama Japan Department of Information Engineering Faculty of Information Engineering Meijo University Nagoya Japan

We improved the structure of a shape-memory polymer (SMP) sheet with an embedded electrical heating wire, thus enhancing the manufacturing reproducibility and durability of flexible and multi-degree-of-freedom pneumatic artificial rubber muscles. We prepared two types of SMP sheets using the previous and improved methods and compared the mechanical properties via bending and tensile tests. The SMP sheets were then attached to a pneumatic artificial rubber muscle, and subjected to a bending angle test and an isometric test to evaluate their bending properties.

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Output consensus control for linear port-Hamiltonian systems

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IFAC-PapersOnLine 2022年第30期55卷 230-235页

作者： Shuai Feng Yu Kawano Michele Cucuzzella Jacquelien M.A. Scherpen School of Automation Nanjing University of Science and Technology Nanjing 210094 China Graduate School of Advanced Science and Engineering Hiroshima University Higashi-Hiroshima 739-8527 Japan Department of Electrical Computer and Biomedical Engineering University of Pavia 27100 Pavia PV Italy Jan C. Willems Center for Systems and Control ENTEG Faculty of Science and Engineering University of Groningen 9747 AG Groningen the Netherlands

In this paper, we study output consensus of coupled linear port-Hamiltonian systems on graphs in the presence of constant disturbances, where couplings are allowed to be both static and dynamic. Utilizing port-Hamiltonian structures, we present dynamic controllers achieving output consensus where the consensus values are determined by the disturbances. Finally, the utility of the proposed controller is illustrated by applying it to current sharing of DC microgrids.

关键词： port-Hamiltonian systems networked systems output consensus

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Adaptive Sampling of Algal Blooms Using Autonomous Underwater Vehicle and Satellite Imagery: Experimental Validation in the Baltic Sea

arXiv

引用

arXiv 2023年

作者： Fonseca, Joana Bhat, Sriharsha Lock, Matthew Stenius, Ivan Johansson, Karl H. The Division of Decision and Control Systems School of Electrical Engineering and Computer Science and Digital Futures Sweden The Department of Aeronautical and Vehicle Engineering School of Engineering Sciences Kth Royal Institute of Technology StockholmSE-100 44 Sweden

This paper investigates using satellite data to improve adaptive sampling missions, particularly for front tracking scenarios such as with algal blooms. Our proposed solution to find and track algal bloom fronts uses an Autonomous Underwater Vehicle (AUV) equipped with a sensor that measures the concentration of chlorophyll a and satellite data. The proposed method learns the kernel parameters for a Gaussian process (GP) model using satellite images of chlorophyll a from the previous days. Then, using the data collected by the AUV, it models chlorophyll a concentration online. We take the gradient of this model to obtain the direction of the algal bloom front and feed it to our control algorithm. The performance of this method is evaluated through realistic simulations for an algal bloom front in the Baltic sea, using the models of the AUV and the chlorophyll a sensor. We compare the performance of different estimation methods, from GP to curve interpolation using least squares. Sensitivity analysis is performed to evaluate the impact of sensor noise on the methods' performance. We implement our method on an AUV and run experiments in the Stockholm archipelago in the summer of 2022. Copyright © 2023, The Authors. All rights reserved.

关键词： Autonomous underwater vehicles

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