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arXiv 2022年

作者： Rikos, Apostolos I. Oliva, Gabriele Hadjicostis, Christoforos N. Johansson, Karl H. The Division of Decision and Control Systems KTH Royal Institute of Technology StockholmSE-100 44 Sweden The Unit of Automatic Control Department of Engineering Università Campus Bio-Medico di Roma via Álvaro del Portillo 21 Rome00128 Italy The Department of Electrical and Computer Engineering University of Cyprus Nicosia1678 Cyprus

In this paper, we present a distributed algorithm which implements the k-means algorithm in a distributed fashion for multi-agent systems with directed communication links. The goal of k-means is to partition the network’s agents in mutually exclusive sets (groups) such that agents in the same set have (and possibly share) similar information and are able to calculate a representative value for their group. During the operation of our distributed algorithm, each node (i) transmits quantized values in an event-driven fashion, and (ii) exhibits distributed stopping capabilities. Transmitting quantized values leads to more efficient usage of the available bandwidth and reduces the communication bottleneck. Also, in order to preserve available resources, nodes are able to distributively determine whether they can terminate the operation of the proposed algorithm. We characterize the properties of the proposed distributed algorithm and show that its execution (on any static and strongly connected digraph) will partition all agents to mutually exclusive clusters in finite time. We conclude with examples that illustrate the operation, performance, and potential advantages of the proposed algorithm. © 2022, CC BY.

关键词： K-means clustering

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A social power game for the concatenated Friedkin-Johnsen model

A social power game for the concatenated Friedkin-Johnsen mo...

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IEEE Conference on Decision and control

作者： Lingfei Wang Guanpu Chen Yiguang Hong Guodong Shi Claudio Altafini Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences and also with the University of Chinese Academy of Sciences Beijing China JD Explore Academy Beijing China Department of Control Science and Engineering Tongji University Shanghai China Australian Center for Field Robotics School of Aerospace Mechanical and Mechatronic Engineering The University of Sydney NSW Sydney Department of Electrical Engineering Division of Automatic Control Linköping University Linköping Sweden

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

If a concatenated Friedkin-Johnsen model is used to describe the evolution of the opinions of stubborn agents in a sequence of discussion events, then the social power achieved by the agents at the end of the discussions depends from the stubbornness coefficients adopted by the agents through the sequence of events. In this paper we assume that the agents are free to choose their stubbornness profiles, and ask ourselves what strategy should an agent follow in order to maximize its social power. Formulating the problem as a strategic game, we show that choosing the highest possible values of stubbornness in the early discussions leads to the highest possible social power.

关键词： Games

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Electrohydraulic Complex Parameters Determination Based on the Energy Balance Equations 25

Electrohydraulic Complex Parameters Determination Based on t...

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

作者： Kovalchuk, Viktoriya Korenkova, Tetyana Almashakbeh, Atef Saleh Kremenchuk Mykhailo Ostrohradskyi National University Department of Systems of Automatic Control and Electric Drive Kremenchuk Ukraine Tafila Technical University Department of Electrical Engineering Tafila Jordan

ISBN: (纸本)9781728199351

it is shown that long-term operation of electrohydraulic complexes is accompanied by a change in the parameters of the hydraulic system: the resistance and reactance of the pump and the pipeline network. It is noted that the existing methods for determining hydraulic resistances are approximate and do not take into account the properties of the pumped liquid and an increase in pipe roughness caused by wear. The possibility of determining the parameters of the electrohydraulic complexes based on the equations of the energy balance, formulated for the equivalent electrical circuit based on the method of electrohydraulic analogy, is shown. It is found out that the system of identification equations should be grounded on the equations of the energy balance of the harmonic power components between the hydraulic power source and the elements of the hydraulic system. To expand the number of identification equations at the input of the system, it is necessary to generate a test signal including constant and time-variable components. © 2020 IEEE.

关键词： Energy balance

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Attacking Digital Twins of Robotic systems to Compromise Security and Safety

arXiv

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arXiv 2022年

作者： Carr, Christopher Wang, Shenglin Wang, Peng Han, Liangxiu Department of Mathematics and Computing Manchester Metropolitan University M15 6BH United Kingdom Department of Automatic Control and Systems Engineering The University of Sheffield SheffieldS10 2TN United Kingdom

Security and safety are of paramount importance to human-robot interaction, either for autonomous robots or human-robot collaborative manufacturing. The intertwined relationship of security and safety has imposed new challenges on the emerging digital twin systems of various types of robots. To be specific, the attack of either the cyber-physical system or the digital-twin system could cause severe consequences to the other. Particularly, the attack of a digital-twin system that is synchronised with a cyber-physical system could cause lateral damage to humans and other surrounding facilities. This paper demonstrates that for Robot Operating System (ROS) driven systems, attacks such as the person in the middle attack of the digital-twin system could eventually lead to a collapse of the cyber-physical system, whether it is an industrial robot or an autonomous mobile robot, causing unexpected consequences. We also discuss potential solutions to alleviate such attacks. Copyright © 2022, The Authors. All rights reserved.

关键词： Cyber Physical System

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UAV-miniUGV Hybrid System for Hidden Area Exploration and Manipulation

arXiv

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arXiv 2022年

作者： Pushp, Durgakant Kalhapure, Swapnil Das, Kaushik Liu, Lantao School of Informatics Computing and Engineering Indiana University BloomingtonIN47408 United States Automatic Control and Systems Engineering Department University of Sheffield Mappin St SheffieldS1 3JD United Kingdom TCS Research India

— We propose a novel hybrid system (both hardware and software) of an Unmanned Aerial Vehicle (UAV) carrying a miniature Unmanned Ground Vehicle (miniUGV) to perform a complex search and manipulation task. This system leverages heterogeneous robots to accomplish a task that cannot be done using a single robot system. It enables the UAV to explore a hidden space with a narrow opening through which the miniUGV can easily enter and escape. The hidden space is assumed to be navigable for the miniUGV. The miniUGV uses Infrared (IR) sensors and a monocular camera search for an object in the hidden space. The proposed system takes advantage of a wider field of view (fov) of the camera as well as the stochastic nature of the object detection algorithms to guide the miniUGV in the hidden space to find the object. Upon finding the object the miniUGV grabs it using visual servoing and then returns back to its start point from where the UAV retracts it back and transports the object to a safe place. In case there is no object found in the hidden space, UAV continues the aerial search. The tethered miniUGV gives the UAV an ability to act beyond its reach and perform a search and manipulation task which was not possible before for any of the robots individually. The system has a wide range of applications and we have demonstrated its feasibility through repetitive experiments. Copyright © 2022, The Authors. All rights reserved.

关键词： Antennas

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A Sparse Autoencoder Based Adversarial Open Set Domain Adaptation Model for Fault Diagnosis of Rotating Machinery

A Sparse Autoencoder Based Adversarial Open Set Domain Adapt...

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Sensing, Measurement & Data Analytics in the era of Artificial Intelligence (ICSMD), International Conference on

作者： Zhao-Hua Liu Lin-Bo Jiang Hua-Liang Wei Chang-Tong Wang Ming-Yang Lv Lei Chen School of Information and Electrical Engineering Hunan University of Science and Technology Xiangtan China Department of Automatic Control and Systems Engineering The University of Sheffield Sheffield U.K Harbin Electric Corporation Wind Power Co. Ltd Xiangtan China

Rotating machinery is an integral part of many industrial systems. Domain adaptation technique provides a powerful tool to detect faults under different working conditions. However, there is still a challenge: conventional domain adaptation approach only works under the ‘closed set’ assumption that all test classes are known at training time. In practice, a more realistic situation is ‘open set’, i.e., knowledge is incomplete in the training process, resulting in unknown classes during the testing. In this paper, a sparse autoencoder based adversarial open set domain adaptation (SAOSDA) model is proposed for rotating machinery fault diagnosis under open set scenarios, which can recognize the unknown faults and detect the known faults under different working conditions. This model utilizes adversarial learning to reduce the discrepancies between source samples and known target samples and reject the unknown target samples simultaneously. Experimental results of the actual bearing dataset verify the superiority and effectiveness of this method.

关键词： Fault diagnosis Employee welfare Training Adaptation models Data analysis Target recognition Adversarial machine learning

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A Human-friendly Verbal Communication Platform for Multi-Robot systems: Design and Principles

arXiv

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arXiv 2022年

作者： Carr, Christopher Wang, Peng Wang, Shenglin The Department of Mathematics and Computing Manchester Metropolitan University M15 6BH United Kingdom The Department of Automatic Control and Systems Engineering The University of Sheffield SheffieldS10 2TN United Kingdom

While multi-robot systems have been broadly researched and deployed, their success is built chiefly upon the dependency on network infrastructures, whether wired or wireless. Aiming at the first steps toward de-coupling the application of multi-robot systems from the reliance on network infrastructures, this paper proposes a human-friendly verbal communication platform for multi-robot systems, following the deliberately designed principles of being adaptable, transparent, and secure. The platform is network independent and is subsequently capable of functioning in network infrastructure lacking environments from underwater to planet explorations. A series of experiments were conducted to demonstrate the platform’s capability in multi-robot systems communication and task coordination, showing its potential in infrastructure-free applications. To benefit the community, we have made the codes open source at GitHub. Copyright © 2022, The Authors. All rights reserved.

关键词： Multipurpose robots

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IFAC-PapersOnLine 2022年第7期55卷 821-826页

作者： Daniel Montes José Luis Pitarch Cesar de Prada Department of Systems Engineering and Automatic Control Universidad de Valladolid Spain Instituto U. de Automática e Informática Industrial (ai2) Universitat Politècnica de Valencia Spain Institute of Sustainable Processes Universidad de Valladolid Spain

Two-stage stochastic scheduling problems often involve a large number of continuous and discrete variables, so fnding solutions in short time periods is challenging and computationally expensive. However, for online or closed-loop scheduling implementations, optimal or near-optimal solutions are required in real-time. We propose a decomposition method based on the so-called Similarity Index (SI). An iterative procedure is set up so that each sub-problem (corresponding to a scenario) is solved independently, aiming to optimize the original cost function while maximizing the similarity of the frst-stage variables among the scenarios solutions. The SI is incorporated into each subproblem cost function, multiplied by a penalty parameter that is updated in each iteration until reaching complete similarity in the frst-stage variables among all subproblems. The method is applied to schedule production and maintenance tasks in an evaporation network. The tests show that signifcant benefts are expected in terms of computational demands as the number of scenarios increases.

关键词： Decomposition Online Scheduling Uncertainty Mixed-Integer Optimization

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Development of the System of Initial Excitation of the Autonomous Induction Generator 2nd

Development of the System of Initial Excitation of the Auton...

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2nd Electric Power and Renewable Energy Conference, EPREC 2021

作者： Chenchevoi, Volodymyr Kuznetsov, Valeriy Zachepa, Iurii Chornyi, Oleksii Chencheva, Olga Kuznetsov, Vitaliy Yatsiuk, Rostyslav Luhova, Olha Department of Systems of Automatic Control and Electric Drive Kremenchuk Mykhailo Ostrohradskyi National University Kremenchuk Kremenchuk Ukraine Electric Power Department Railway Research Institute Chlopickiego str. 50 Warsaw Poland Manufacturing Engineering Department Kremenchuk Mykhailo Ostrohradskyi National University Kremenchuk Kremenchuk Ukraine Department of the Electrical Engineering and Electromechanic National Metallurgical Academy of Ukraine Gagarina ave. 4 Dnipro Ukraine Department of Automation and Computer-Integrated Technologies Kremenchuk Mykhailo Ostrohradskyi National University Kremenchuk Kremenchuk Ukraine Department of Electric Machines and Devices Kremenchuk Mykhailo Ostrohradskyi National University Kremenchuk Kremenchuk Ukraine

ISBN: (纸本)9789811692383

The article defines the conditions of self-excitation of an inductive generator with capacitor excitation as part of an autonomous power source. Recommendations for the design of an autonomous power source based on an asynchronous machine in terms of the implementation of self-excitation conditions and optimal operating modes are formulated. A simulation model of an autonomous inductive generator and a solar battery for the analysis of transient, static and dynamic modes of operation has been developed. The conducted theoretical studies of capacitive self-excitation of inductive machines have created a good basis for solving problems related to the practical use of autonomous sources based on an inductive generator. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Asynchronous generators

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Gramian Preserving Moment Matching for Linear systems*

Gramian Preserving Moment Matching for Linear Systems*

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European control Conference (ECC)

作者： Yu Kawano Tudor C. Ionescu Orest V. Iftime Graduate School of Advanced Science and Engineering Hiroshima University Higashi-hiroshima Japan Department of Automatic Control and Systems Engineering University Politehnica Bucharest Bucharest Romania “Gheorghe Mihoc-Caius Iacob” Institute of Mathematical Statistics and Applied Mathematics of the Romanian Academy Bucharest Romania Department of Economics Econometrics and Finance Faculty of Economics and Business University of Groningen Nettelbosje 2 Groningen The Netherlands

Time-domain moment matching-based model order reduction is an efficient technique that provides a family of parametrized reduced order models with identical moments evaluated in a set of points. The free parameters provide flexibility to impose additional constraints such as stability, passivity, and derivative matching. In this paper, for a single-input and single-output linear time-invariant system, we consider the problem of constructing a reduced-order model by balanced truncation via moment matching. We show that there exists an exo-system yielding a reduced order model with a desired controllability Gramian. Similarly, an exo-system of dual moment matching provides a reduced order model with a desired observability Gramian. Therefore, combining the two moment matching methods can yield a reduced order model by balanced truncation, opening a door to achieve model reduction by balanced truncation via moment matching

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