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arXiv 2021年

作者： He, Xingkang Hashemi, Ehsan Johansson, Karl H. Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Sweden Department of Mechanical Engineering University of Alberta Canada

—This paper proposes a method to navigate a mobile robot by estimating its state over a number of distributed sensor networks (DSNs) such that it can successively accomplish a sequence of tasks, i.e., its state enters each targeted set and stays inside no less than the desired time, under a resource-aware, time-efficient, and computation- and communication-constrained setting. We propose a new robot state estimation and navigation architecture, which integrates an event-triggered task-switching feedback controller for the robot and a two-time-scale distributed state estimator for each sensor. The architecture has three major advantages over existing approaches: First, in each task only one DSN is active for sensing and estimating the robot state, and for different tasks the robot can switch the active DSN by taking resource saving and system performance into account;Second, the robot only needs to communicate with one active sensor at each time to obtain its state information from the active DSN;Third, no online optimization is required. With the controller, the robot is able to accomplish a task by following a reference trajectory and switch to the next task when an event-triggered condition is fulfilled. With the estimator, each active sensor is able to estimate the robot state. Under proper conditions, we prove that the state estimation error and the trajectory tracking deviation are upper bounded by two time-varying sequences respectively, which play an essential role in the event-triggered condition. Furthermore, we find a sufficient condition for accomplishing a task and provide an upper bound of running time for the task. Numerical simulations of an indoor robot’s localization and navigation are provided to validate the proposed architecture. Copyright © 2021, The Authors. All rights reserved.

关键词： Navigation

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Tracking-in-Formation of Multiple Autonomous Marine Vehicles under Proximity and Collision-Avoidance Constraints

Tracking-in-Formation of Multiple Autonomous Marine Vehicles...

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European control Conference (ECC)

作者： Esteban Restrepo Josef Matouš Kristin Y. Pettersen DTIS ONERA Univ. Paris-Saclay Palaiseau France Laboratoire des Signaux et Syst&#x00E8 mes Univ. Paris-Saclay Saclay France Division of Decision and Control Systems KTH Royal Institute of Technology Stockholm Sweden Department of Engineering Cybernetics Centre for Autonomous Marine Operations and Systems Norwegian University of Science and Technology (NTNU) Trondheim Norway

ISBN: (数字)9783907144077

ISBN: (纸本)9781665497336

We propose a distributed control law that solves the tracking-in-formation problem for a group of underactuated autonomous marine vehicles interconnected over an undirected graph and subject to inter-agent collision-avoidance and connectivity constraints. The control approach is based on input-output feedback linearization using the so-called hand-position point as the output. Moreover, the control strategy is able to deal with limited knowledge on the target's state and dynamics as well as with disturbances in the form of unknown irrotational ocean currents. We establish almost-everywhere uniform asymptotic stability of the output dynamics with guaranteed respect of the inter-agent constraints. A numerical simulation illustrates the effectiveness of the proposed approach.

关键词： Asymptotic stability Target tracking Oceans Decentralized control Europe Numerical simulation Feedback linearization

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A Sample-Based Algorithm for Approximately Testing r-Robustness of a Digraph

A Sample-Based Algorithm for Approximately Testing r-Robustn...

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IEEE Conference on Decision and control

作者： Yuhao Yi Yuan Wang Xingkang He Stacy Patterson Karl H. Johansson Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Digital Futures Stockholm Sweden Department of Electrical Engineering University of Notre Dame Notre Dame IN USA Department of Computer Science Rensselaer Polytechnic Institute Troy NY USA

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

One of the intensely studied concepts of network robustness is r-robustness, which is a network topology property quantified by an integer r. It is required by mean subsequence reduced (MSR) algorithms and their variants to achieve resilient consensus. However, determining r-robustness is intractable for large networks. In this paper, we propose a sample-based algorithm to approximately test r-robustness of a digraph with n vertices and m edges. For a digraph with a moderate assumption on the minimum in-degree, and an error parameter 0

关键词： Network topology Approximation algorithms Robustness Testing

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Atmospheric waves disturbances from the solar terminator according to the VLF radio stations data

arXiv

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arXiv 2023年

作者： Cheremnykh, Oleg Fedorenko, Alla Voitsekhovska, Anna Selivanov, Yuriy Ballai, Istvan Verth, Gary Fedun, Viktor Space Research Institute 40 Acad. Glushkov Ave. Kyiv03187 Ukraine Plasma Dynamics Group School of Mathematics and Statistics The University of Sheffield Hicks Building Hounsfield Road SheffieldS3 7RH United Kingdom Plasma Dynamics Group Department of Automatic Control and Systems Engineering The University of Sheffield Mappin Street SheffieldS1 3JD United Kingdom

The perturbations from the solar terminator in the range of acoustic-gravity waves (AGWs) periods from 5 minutes to 1 hour were analysed with the use of measurements of VLF radio signals amplitudes on the European radio path GQD-A118 (Great Britain-France). These observations provide information on the propagation of waves at altitudes near the mesopause (∼ 90 km), where VLF radio waves are reflected. On the considered radio path a systematic increase in fluctuations in the amplitudes of radio waves was observed within a few hours after the passage of the evening terminator. For April, June, October 2020 and February 2021 events, the distribution of the number of wave perturbations with large amplitudes over AGWs time periods has been studied. Our results show that the evening terminator for different seasons is dominated by waves in the range of periods of 15-20 minutes. The amplitudes of the AGWs from the terminator at the heights of the mesosphere (fluctuations in the concentration of neutral particles, velocity components and vertical displacement of the volume element) are approximately determined by the fluctuations of the amplitudes of the VLF radio signals. The amplitudes of the AGWs on the terminator are 12-14% in relative concentration fluctuations, which correspond to the vertical displacement of the atmospheric gas volume of 1.1-1.3 km. Based on the analysis of the AGW energy balance equation, it was concluded that the waves predominantly propagate in a quasi-horizontal direction at the terminator. The possibility of studying the long-term changes in the mesosphere parameters using fluctuations in the amplitudes of VLF radio waves at the terminator is shown. © 2023, CC BY.

关键词： Radio waves

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Application of the Augmented Reality technology to Training Future Electrical Engineers 25

Application of the Augmented Reality Technology to Training ...

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25th IEEE International Conference on Problems of Automated Electric Drive. Theory and Practice, PAEP 2020

作者： Poyasok, Tamara Chenchevoi, Volodymyr Bespartochna, Olena Chencheva, Olha Kremenchuk Mykhailo Ostrohradskyi National University Department of Psychology Pedagogy and Philosophy Kremenchuk Ukraine Kremenchuk Mykhailo Ostrohradskyi National University Systems of Automatic Control and Electric Drive Department Kremenchuk Ukraine Kremenchuk Mykhailo Ostrohradskyi National University Machine Tools and Machine Complexes Department Kremenchuk Ukraine

ISBN: (纸本)9781728199351

The features of professional training future electrical engineers are analyzed. Advantages and disadvantages of the introduction of AR technology in the educational process are researched. Approaches to the design and implementation of the augmented reality technology are studied. A model of realization of the access to the augmented reality technology based on dynamic markers and mobile devices is developed. The methodology of application of augmented reality supplements in the guidelines and manuals for teaching students of electromechanical specialties is described. The results of the research of the effectiveness of augmented reality application to the professional training of future electrical engineers are presented. © 2020 IEEE.

关键词： Personnel training

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Parallel Theaters in CPSS: From Shadows of ISDOS to Intelligence of Decision Theaters

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IEEE/CAA Journal of automatica Sinica 2025年第6期12卷 1059-1062页

作者： Qinghua Ni Buday Viktória Fei Lin Jun Huang Levente Kovács Nan Zheng Fei-Yue Wang Department of Engineering Science Faculty of Innovation Engineering Macau University of Science and Technology Macau China Innovation Management Doctoral School Obuda University Budapest Hungary John von Neumann Faculty of Informatics Obuda University Budapest Hungary State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China DeSci Center of Parallel Intelligence and the University Research and Innovation Center at Obuda University State Key Laboratory for Management and Control of Complex Systems Chinese Academy of Sciences Beijing China

As Artificial Intelligence (AI) is moving fast from Large Language Models (LLMs) to AI Agents and Agentic Intelligence, the need to incorporate new AI into Decision Intelligence (DI) is becoming more and more urgent for both practical and theoretic reasons: both decision and process complexities would be significantly increased due to the use of advanced AI tools and agents, and both traditional and recent thinking must be rethought and reconstructed accordingly. Our perspective would like to address this important issue based on some historical milestone developments in Computer-Aided Software Engineering (CASE) and recent efforts in digital theatrical technology [1].

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Machine learning and robust MPC for frequency regulation with heat pumps

arXiv

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arXiv 2020年

作者： Bünning, Felix Warrington, Joseph Heer, Philipp Smith, Roy S. Lygeros, John Automatic Control Laboratory Department of Electrical Engineering and Information Technology ETH Zürich Switzerland Urban Energy Systems Laboratory Swiss Federal Laboratories for Materials Science and Technology Empa Dübendorf Switzerland Automatic Control Laboratory ETH Zürich Urban Energy Systems Laboratory Empa Dübendorf Switzerland

With the increased amount of volatile renewable energy sources connected to the electricity grid, there is an increased need for frequency regulation. On the demand side, frequency regulation services can be offered by buildings that are equipped with electric heating or cooling systems, by exploiting the thermal inertia of the building. Existing approaches for tapping into this potential typically rely on a first-principles building model, which in practice can be expensive to obtain and maintain. Here, we use the thermal inertia of a buffer storage instead, reducing the model of the building to a demand forecast. By combining a control scheme based on robust Model Predictive control, with heating demand forecasting based on Artificial Neural Networks and online correction methods, we offer frequency regulation reserves and maintain user comfort with a system comprising a heat pump and a storage tank. We improve the exploitation of the small thermal capacity of buffer storage by using affine policies on uncertain variables. These are chosen optimally in advance, and modify the planned control sequence as the values of uncertain variables are discovered. In a three day experiment with a real multi-use building we show that the scheme is able to offer reserves and track a regulation signal while meeting the heating demand of the building. In additional numerical studies, we demonstrate that using affine policies significantly decreases the cost function and increases the amount of offered reserves and we investigate the suboptimality in comparison to an omniscient control system. Copyright © 2020, The Authors. All rights reserved.

关键词： Forecasting

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Synthesis of the Launch Trajectory of an Unmanned Space Vehicle Based on Sufficient Conditions of Optimal control 6

Synthesis of the Launch Trajectory of an Unmanned Space Vehi...

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6th IEEE International Conference on Actual Problems of Unmanned Aerial Vehicles Development, APUAVD 2021

作者： Lysenko, O.I. Shevchenko, V.L. Tachinina, O.M. Ponomarenko, S.O. National Technical University of Ukraine Igor SikorskyKyiv Polytechnic Institute Department of Telecommunication Kyiv Ukraine Faculty of Information Technology Taras Shevchenko National University of Kyiv Kyiv Ukraine National Aviation University Department of Aerospace Control Systems Kyiv Ukraine Institute of Aerospace Technologie National Technical University of Ukraine 'Igor Sikorsky Kyiv Polytechnic Institute' Kyiv Ukraine

ISBN: (纸本)9781665438223

In the theory of automatic control of complex dynamic objects, the necessary conditions for optimality of control are widely used on the basis of the method of L. S. Pontryagin, necessary and sufficient conditions for optimality of control based on the method of R. Bellman and sufficient conditions for optimality of control based on the method of V. F. Krotova. To date, control objects are becoming more complex and the development of optimal control methods themselves continues. Of particular interest for complex objects is the development of control synthesis methods based on sufficient optimality conditions. A modification of V. F. Krotova-M. M. Khrustaleva method, which consists in a conditional change in the characteristics of the object under study. This technique makes it possible, with minor changes, to apply the already known technique for synthesizing the suboptimal launch trajectory, obtaining better estimates of the final mass in comparison with the known method. © 2021 IEEE.

关键词： Angle of attack

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Knowledge-aware Graph Transformer for Pedestrian Trajectory Prediction

Knowledge-aware Graph Transformer for Pedestrian Trajectory ...

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International Conference on Intelligent Transportation

作者： Yu Liu Yuexin Zhang Kunming Li Yongliang Qiao Stewart Worrall You-Fu Li He Kong Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and Technology (SUSTech) Shenzhen China Department of Mechanical Engineering City University of Hong Kong Hong Kong SAR China School of Automation Guangdong Polytechnic Normal University Guangzhou China Australian Centre for Field Robotics The University of Sydney NSW Australia Australian Institute for Machine Learning The University of Adelaide SA Australia Department of Mechanical Engineering City University of Hong Kong Hong Kong SAR China Shenzhen Key Laboratory of Control Theory and Intelligent Systems SUSTech Shenzhen China Guangdong Provincial Key Laboratory of Human-Augmentation Rehabilitation Robotics in Universities SUSTech Shenzhen China

Predicting pedestrian motion trajectories is crucial for path planning and motion control of autonomous vehicles. Accurately forecasting crowd trajectories is challenging due to the uncertain nature of human motions in different environments. For training, recent deep learning-based prediction approaches mainly utilize information like trajectory history and interactions between pedestrians, among others. This can limit the prediction performance across various scenarios since the discrepancies between training datasets have not been properly incorporated. To overcome this limitation, this paper proposes a graph transformer structure to improve prediction performance, capturing the differences between the various sites and scenarios contained in the datasets. In particular, a self-attention mechanism and a domain adaption module have been designed to improve the generalization ability of the model. Moreover, an additional metric considering cross-dataset sequences is introduced for training and performance evaluation purposes. The proposed framework is validated and compared against existing methods using popular public datasets, i.e., ETH and UCY. Experimental results demonstrate the improved performance of our proposed scheme.

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Antenna Arrays Calibration Using Recursive Least Squares Adaptive Filtering Algorithms Based on Inverse QR Decomposition

Antenna Arrays Calibration Using Recursive Least Squares Ada...

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2020 IEEE East-West Design and Test Symposium, EWDTS 2020

作者： Djigan, Victor Kurganov, Vladislav Institute for Design Problems in Microelectronics of Ras Department of Integrated Circuits Design Methodology Moscow Russia Institute of Microdevices and Control Systems National Research University of Electronic Technology Moscow Russia

ISBN: (纸本)9781728198996

This paper considers the antenna arrays calibration by the using of the Recursive Least Squares (RLS) adaptive filtering algorithms. An algorithm, based on the inverse QR decomposition, has been selected among the diversity of the RLS algorithms. This is caused by its stable operation. Because the algorithm contains the computationally heavy square root operations, a square root free version of the algorithm is also presented. Both versions of the QR RLS algorithms are mathematically identical to each other if they operate in float point arithmetic. The proposed calibration can be used in the antenna arrays with digital beamforming, because the algorithms usage requires the access to the array channel signals. The calibration requires a known training signal, which can be easily provided not only in a laboratory environment, but also in a field operation, if an array is used as a directional antenna of the digital communication system equipment. In the second case, the calibration can be also conducted even in the presence of the interference signal sources. Simulation validates the proposed calibration algorithm, using linear antenna arrays with 4, 8 and 16 antennas with a half wavelength distance between the neighbor antennas. In this simulation, the array channel noise has been varied in 0.. 30 dB range of the Signal-to-Noise Ratio. Two interference sources with the-30 dB Signal-to-Interference Ratio each have been simulated. These sources were located symmetrically relatively the required main lobe direction of the array radiation pattern. A training signal has been simulated as a random one with no specific autocorrelation properties. The signal has been modulated by the Phase Shift Keying (PSK) and the Quadrature Amplitude Modulation. © 2020 IEEE.

关键词： Beamforming

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