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arXiv 2024年

作者： Huo, Wei Chen, Xiaomeng Huang, Lingying Johansson, Karl Henrik Shi, Ling Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong School of Electrical and Electronic Engineering Nanyang Technology University Singapore639798 Singapore Division of Decision and Control Systems KTH Royal Institute of Technology Stockholm Sweden

This paper investigates privacy issues in distributed resource allocation over directed networks, where each agent holds a private cost function and optimizes its decision subject to a global coupling constraint through local interaction with other agents. Conventional methods for resource allocation over directed networks require all agents to transmit their original data to neighbors, which poses the risk of disclosing sensitive and private information. To address this issue, we propose an algorithm called differentially private dual gradient tracking (DP-DGT) for distributed resource allocation, which obfuscates the exchanged messages using independent Laplacian noise. Our algorithm ensures that the agents’ decisions converge to a neighborhood of the optimal solution almost surely. Furthermore, without the assumption of bounded gradients, we prove that the cumulative differential privacy loss under the proposed algorithm is finite even when the number of iterations goes to infinity. To the best of our knowledge, we are the first to simultaneously achieve these two goals in distributed resource allocation problems over directed networks. Finally, numerical simulations on economic dispatch problems within the IEEE 14-bus system illustrate the effectiveness of our proposed algorithm. © 2024, CC BY.

关键词： Differential privacy

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A "BREATHING" MOBILE COMMUNICATION NETWORK

arXiv

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arXiv 2024年

作者： Ge, Chao Chen, Ge Jiang, Zhipeng Department of Electronic Engineering Tsinghua University Beijing China Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing China School of Mathematical Sciences University of Chinese Academy of Sciences Beijing China

The frequent migration of large-scale users leads to the load imbalance of mobile communication networks, which causes resource waste and decreases user experience. To address the load balancing problem, this paper proposes a dynamic optimization framework for mobile communication networks inspired by the average consensus in multi-agent systems. In this framework, all antennas cooperatively optimize their CPICH (Common Pilot Channel) transmit power in real-time to balance their busy-degrees. Then, the coverage area of each antenna would change accordingly, and we call this framework a "breathing" mobile communication network. To solve this optimization problem, two algorithms named BDBA (Busy-degree Dynamic Balancing Algorithm) and BFDBA (Busy-degree Fast Dynamic Balancing Algorithm) are proposed. Moreover, a fast network coverage calculation method is introduced, by which each antenna's minimum CPICH transmit power is determined under the premise of meeting the network coverage requirements. Besides, we present the theoretical analysis of the two proposed algorithms' performance, which prove that all antennas' busy-degrees will reach consensus under certain assumptions. Furthermore, simulations carried out on three large datasets demonstrate that our cooperative optimization can significantly reduce the unbalance among antennas as well as the proportion of over-busy antennas. © 2024, CC BY.

关键词： Mobile telecommunication systems

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Environment-Driven Online LiDAR-Camera Extrinsic Calibration

arXiv

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arXiv 2025年

作者： Huang, Zhiwei Li, Jiaqi Zhong, Ping Fan, Rui The Department of Control Science & Engineering The College of Electronics & Information Engineering Tongji University Shanghai201804 China The School of Computer Science and Engineering Central South University Hunan Changsha410083 China The National Key Laboratory of Science and Technology on Automatic Target Recognition National University of Defense Technology Hunan Changsha410073 China The Department of Control Science & Engineering The College of Electronics & Information Engineering Shanghai Research Institute for Intelligent Autonomous Systems The State Key Laboratory of Intelligent Autonomous Systems Frontiers Science Center for Intelligent Autonomous Systems Tongji University Shanghai201804 China The National Key Laboratory of Human-Machine Hybrid Augmented Intelligence Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Shaanxi Xi’an710049 China

LiDAR-camera extrinsic calibration (LCEC) is the core for data fusion in computer vision. Existing methods typically rely on customized calibration targets or fixed scene types, lacking the flexibility to handle variations in sensor data and environmental contexts. This paper introduces EdO-LCEC, the first environment-driven, online calibration approach that achieves human-like adaptability. Inspired by the human perceptual system, EdO-LCEC incorporates a generalizable scene discriminator to actively interpret environmental conditions, creating multiple virtual cameras that capture detailed spatial and textural information. To overcome cross-modal feature matching challenges between LiDAR and camera, we propose dual-path correspondence matching (DPCM), which leverages both structural and textural consistency to achieve reliable 3D-2D correspondences. Our approach formulates the calibration process as a spatial-temporal joint optimization problem, utilizing global constraints from multiple views and scenes to improve accuracy, particularly in sparse or partially overlapping sensor views. Extensive experiments on real-world datasets demonstrate that EdO-LCEC achieves state-of-the-art performance, providing reliable and precise calibration across diverse, challenging environments. Copyright © 2025, The Authors. All rights reserved.

关键词： Spatio-temporal data

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Learning of Nash Equilibria in Risk-Averse Games

Learning of Nash Equilibria in Risk-Averse Games

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American control Conference (ACC)

作者： Zifan Wang Yi Shen Michael M. Zavlanos Karl H. Johansson Division of Decision and Control Systems School of Electrical Enginnering and Computer Science KTH Royal Institute of Technology and also with Digital Futures Stockholm Sweden Department of Mechanical Engineering and Materials Science Duke University Durham NC USA

ISBN: (数字)9798350382655

ISBN: (纸本)9798350382662

This paper considers risk-averse learning in convex games involving multiple agents that aim to minimize their individual risk of incurring significantly high costs. Specifically, the agents adopt the conditional value at risk (CVaR) as a risk measure with possibly different risk levels. To solve this problem, we propose a first-order risk-averse leaning algorithm, in which the CVaR gradient estimate depends on an estimate of the Value at Risk (VaR) value combined with the gradient of the stochastic cost function. Although estimation of the CVaR gradients using finitely many samples is generally biased, we show that the accumulated error of the CVaR gradient estimates is bounded with high probability. Moreover, assuming that the risk-averse game is strongly monotone, we show that the proposed algorithm converges to the risk-averse Nash equilibrium. We present numerical experiments on a Cournot game example to illustrate the performance of the proposed method.

关键词： Reactive power Costs Estimation Games Nash equilibrium Numerical simulation Cost function

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SLAM-based Joint Calibration of Multiple Asynchronous Microphone Arrays and Sound Source Localization

arXiv

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arXiv 2024年

作者： Wang, Jiang He, Yuanzheng Su, Daobilige Itoyama, Katsutoshi Nakadai, Kazuhiro Wu, Junfeng Huang, Shoudong Li, Youfu Kong, He The Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and Technology No. 1088 Xueyuan Avenue Shenzhen China The College of Engineering China Agricultural University Beijing China The Department of Systems and Control Engineering Tokyo Institute of Technology Tokyo Japan The School of Data Science The Chinese University of Hong Kong Shenzhen China The Robotics Institute University of Technology Sydney Sydney Australia The Department of Mechanical Engineering City University of Hong Kong Hong Kong

Robot audition systems with multiple microphone arrays have many applications in practice. However, accurate calibration of multiple microphone arrays remains challenging because there are many unknown parameters to be identified, including the relative transforms (i.e., orientation, translation) and asynchronous factors (i.e., initial time offset and sampling clock difference) between microphone arrays. To tackle these challenges, in this paper, we adopt batch simultaneous localization and mapping (SLAM) for joint calibration of multiple asynchronous microphone arrays and sound source localization. Using the Fisher information matrix (FIM) approach, we first conduct the observability analysis (i.e., parameter identifiability) of the above-mentioned calibration problem and establish necessary/sufficient conditions under which the FIM and the Jacobian matrix have full column rank, which implies the identifiability of the unknown parameters. We also discover several scenarios where the unknown parameters are not uniquely identifiable. Subsequently, we propose an effective framework to initialize the unknown parameters, which is used as the initial guess in batch SLAM for multiple microphone arrays calibration, aiming to further enhance optimization accuracy and convergence. Extensive numerical simulations and real experiments have been conducted to verify the performance of the proposed method. The experiment results show that the proposed pipeline achieves higher accuracy with fast convergence in comparison to methods that use the noise-corrupted ground truth of the unknown parameters as the initial guess in the optimization and other existing frameworks. © 2024, CC BY.

关键词： Mapping

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Understanding ADC variation by fat content effect using a dual-function MRI phantom

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European Radiology Experimental 2024年第1期8卷 1-11页

作者： Liu, Yi-Jui Tsai, Tung-Sheng Li, Ya-Hui Peng, Jo-Hua Chang, Hing-Chiu Peng, Hsu-Hsia Lee, Ying-Chieh Lee, Tung-Yang Liou, Chang-Hsien Lin, Tz-Feng Chew, Fatt-Yang Chou, Ruey-Hwang Juan, Chun-Jung Department of Automatic Control Engineering Feng Chia University Taichung Taiwan Ph.D. Program in Electrical and Communication Engineering Feng Chia University Taichung Taiwan Department of Medical Imaging China Medical University Hsinchu Hospital 199 Sec. 1 Xinglong Rd. Hsinchu County Zhubei City 302 Taiwan Department of Biomedical Engineering and Environmental Sciences National Tsing Hua University Hsinchu Taiwan Department of Biomedical Engineering Chinese University of Hong Kong Hong Kong Master’s Program of Biomedical Informatics and Biomedical Engineering Feng Chia University Taichung Taiwan Cheng Ching Hospital Taichung Taiwan Institute of Nuclear Engineering and Science National Tsing Hua University Hsinchu Taiwan Department of Fiber and Composite Materials Feng Chia University Taichung Taiwan Department of Medical Imaging China Medical University Hospital Taichung Taiwan Department of Radiology School of Medicine China Medical University Taichung Taiwan Graduate Institute of Biomedical Sciences China Medical University Taichung 406 Taiwan Center for Molecular Medicine China Medical University Hospital Taichung Taiwan Department of Medical Laboratory and Biotechnology Asia University Taichung Taiwan

Background: A dual-function phantom designed to quantify the apparent diffusion coefficient (ADC) in different fat contents (FCs) and glass bead densities (GBDs) to simulate the human tissues has not been documented yet. We propose a dual-function phantom to quantify the FC and to measure the ADC at different FCs and different GBDs. Methods: A fat-containing diffusion phantom comprised by 30 glass-bead-containing fat-water emulsions consisting of six different FCs (0, 10, 20, 30, 40, and 50%) multiplied by five different GBDs (0, 0.1, 0.25, 0.5, and 1.0 g/50 mL). The FC and ADC were measured by the “iterative decomposition of water and fat with echo asymmetry and least squares estimation-IQ,” IDEAL-IQ, and single-shot echo-planar diffusion-weighted imaging, SS-EP-DWI, sequences, respectively. Linear regression analysis was used to evaluate the relationship among the fat fraction (FF) measured by IDEAL-IQ, GBD, and ADC. Results: The ADC was significantly, negatively, and linearly associated with the FF (the linear slope ranged from -0.005 to -0.017, R² = 0.925 to 0.986, all p < 0.001). The slope of the linear relationship between the ADC and the FF, however, varied among different GBDs (the higher the GBD, the lower the slope). ADCs among emulsions across different GBDs and FFs were overlapped. Emulsions with low GBDs plus high FFs shared a same lower ADC range with those with median or high GBDs plus median or lower FFs. Conclusions: A novel dual-function phantom simulating the human tissues allowed to quantify the influence of FC and GBD on ADC. Relevance statement: The study developed an innovative dual-function MRI phantom to explore the impact of FC on ADC variation that can affect clinical results. The results revealed the superimposed effect on FF and GBD density on ADC measurements. Key points: • A dual-function phantom made of glass bead density (GBD) and fat fraction (FF) emulsion has been developed. • Apparent diffusion coefficient (ADC) values

关键词： Adipose tissue Diffusion magnetic resonance imaging Phantoms (imaging) Quality assurance (healthcare) Quality control

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Research on Series Elastic Damping Actuator control System Based on BP Fuzzy Neural Network PID control

Research on Series Elastic Damping Actuator Control System B...

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Cognitive Computing and Complex Data (ICCD), International Conference on the

作者： Chenglong Zhao Zhen Liu Liucun Zhu Yuefei Wang School of Mechanical and Marine Engineering Beibu Gulf University Qinzhou China Department of Integrated Systems Engineering Nagasaki Institute of Applied Science Nagasaki Japan Advanced Science and Technology Research Institute Beibu Gulf University Qinzhou China

The series elastic damping actuator (SEDA) is a crucial mechanical configuration in lower limb exoskeleton rehabilitation robots. It is based on the utilization of elastic elements to enable the system to adapt to external changes and impacts to a certain extent. However, maintaining the stability of the driver is essential during its usage. Addressing the issue of vibrations in SEDA control, this study proposes a hybrid control method that combines fuzzy control, back propagation (BP) neural networks, and proportional-integral-derivative (PID) control. This hybrid approach forms a BP fuzzy neural network PID control method. A network model is established, and MATLAB is employed for simulation analysis. A comparison is made against traditional PID control and fuzzy PID control. The results indicate that the BP fuzzy neural network PID control method achieves the highest precision, ensuring a stable system with no overshooting. Moreover, it exhibits the fastest dynamic response speed when subjected to disturbances.

关键词：

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Holographic acoustic-signal authenticator

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Photonics Research 2024年第10期12卷 2104-2114页

作者： SUDHEESH K.RAJPUT ALLARAKHA SHIKDER NAVEEN KNISHCHAL RYUJU TODO OSAMU MATOBA YASUHIRO AWATSUJI Faculty of Electrical Engineering and Electronics Kyoto Institute of TechnologyKyoto 606-8585Japan Department of Physics Indian Institute of Technology PatnaBihta 801106India Graduate School of Science and Technology Kyoto Institute of TechnologyKyoto 606-8585Japan Center of Optical Scattering Image Science Kobe UniversityKobe 657-850Japan Organization for Advanced and Integrated Research Kobe UniversityKobe 657-850Japan

Most optical information processors deal with text or image data,and it is very difficult to deal experimentally with acoustic ***,optical advances that deal with acoustic data are highly desirable in this *** particular,the development of a voice or acoustic-signal authentication technique using optical correlation can open a new line of research in the field of optical security and could also provide a tool for other applications where comparison of acoustic signals is ***,we report holographic acoustic-signal authentication by integrating the holographic microphone recording with optical correlation to meet some of the above *** reported method avails the flexibility of 3D visualization of acoustic signals at sensitive locations and parallelism offered by an optical correlator/*** demonstrate text-dependent optical voice correlation that can determine the authenticity of acoustic signal by discarding or accepting it in accordance with the reference *** developed method has applications in security screening and industrial quality control.

关键词： holographic integrating recording

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Distributed Event-Triggered Formation control for a Multi-robotic Fish System

Distributed Event-Triggered Formation Control for a Multi-ro...

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International Conference on Guidance, Navigation and control, ICGNC 2022

作者： Dai, Shijie Wu, Zhengxing Tan, Min Yu, Junzhi School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China State Key Laboratory for Turbulence and Complex System Department of Advanced Manufacturing and Robotics BIC-ESAT College of Engineering Peking University Beijing100871 China

ISBN: (纸本)9789811966125

This paper investigates the formation control problem for a multi-robotic fish system and a distributed event-triggered-based formation control framework is proposed. The framework consists of a communication topology, a distributed formation control law, and a dynamic event-triggered communication mechanism. In particular, a position-based formation control law is presented to drive the multi-robotic fish system to an anticipated configuration based on local measurements while keeping pace with a moving target. Meanwhile, a dynamic event-triggered mechanism is utilized to measure importance of the interactive information and decide the communication timing. The proposed formation control method shows its merits to greatly reduce communication consumption with a limited loss of formation control performance. Finally, simulations with quantitative comparisons are presented to verify the effectiveness of the proposed framework. This formation control framework provides a solid foundation for future marine cooperative control of the multi-robotic fish system. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Multi agent systems

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Sustainable treatment of nitrate-containing wastewater by an autotrophic hydrogen-oxidizing bacterium

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Environmental science and Ecotechnology 2022年第1期9卷 53-59页

作者： Yi-Zhen Chen Li-Juan Zhang Ling-Yun Ding Yao-Yu Zhang Xi-Song Wang Xue-Jiao Qiao Bao-Zhu Pan Zhi-Wu Wang Nan Xu Hu-Chun Tao Key Laboratory for Heavy Metal Pollution Control and Reutilization School of Environment and EnergyPeking University Shenzhen Graduate SchoolShenzhen518055GuangdongChina College of Health Science and Environmental Engineering Shenzhen Technology UniversityShenzhen518118GuangdongChina State Key Laboratory of Eco-hydraulic in Northwest Arid Region of China Xi'an University of TechnologyXi'an710048ShaanxiChina Department of Civil and Environmental Engineering Virginia Polytechnic Institute and State UniversityManassas20147VirginiaUSA

Bacteria are key denitrifiers in the reduction of nitrate(NO_(3)^(-)N),which is a contaminant in wastewater treatment plants(WWTPs).They can also produce carbon dioxide(CO_(2))and nitrous oxide(N2O).In this study,the autotrophic hydrogen-oxidizing bacterium Rhodoblastus ***_(2)0 was isolated for sustainable treatment of NO_(3)^(-)N in *** removal of NO_(3)^(-)N and recovery of biomass nitrogen were *** to 99%of NO_(3)^(-)N was removed without accumulation of nitrite and N2O,consuming CO_(2)of 3.25 mol for each mole of NO_(3)^(-)N *** overall removal rate of NO_(3)^(-)N reached 1.1 mg L^(-1)h^(-1)with a biomass content of approximately 0.71 g L^(-1)within 72 ***20 participated in NO_(3)^(-)N assimilation and aerobic *** from 15N-labeled-nitrate test indicated that removed NO_(3)^(-)N was assimilated into organic nitrogen,showing an assimilation efficiency of 58%.Seventeen amino acids were detected,accounting for 43%of the *** loss through aerobic denitrification was only approximately 42%of total *** study suggests that TH_(2)0 can be applied in WWTP facilities for water purification and production of valuable biomass to mitigate CO_(2)and N_(2)O emissions。

关键词： Wastewater Nitrate Hydrogen-oxidizing bacteria Autotrophic assimilation Aerobic denitrification

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