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22nd IEEE International Conference on Industrial Informatics, INDIN 2024

作者： Han, Mengqi Yang, Bo Liu, Yuxiang Liu, Sicheng Liu, Qi Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (纸本)9798331527471

With the rapid development of smart manufacturing, existing microservice deployment strategies based on the TCP protocol tend to encounter problems such as network latency, excessive header length, and port exhaustion in high concurrency scenarios. MQTT Broker can relay data between microservices, effectively alleviating these issues. However, the communication overhead of the Broker is significantly related to its deployment and the dependency of microservices. An appropriate deployment solution can significantly improve service quality. To address this issue, this paper models the deployment of MQTT Broker and microservices as a graph with cycles. By introducing auxiliary variables, the NP-hard problem is transformed into a mixed-integer quadratic programming problem, improving problem-solving efficiency and optimizing the microservices deployment strategy to reduce communication overhead. Meanwhile, a real-world heterogeneous cluster was constructed to experiment on fault detection applications, elaborating on the superiority of the microservice deployment strategy designed in this paper. Experimental results demonstrate that our approach reduces communication overhead by 20% in comparison to both the greedy strategy and the K8s strategy. This suggests that achieving an optimal balance between the number of Brokers and microservices is vital for ensuring efficient resource utilization and maintaining low communication latency, particularly as the scale of services expands. © 2024 IEEE.

关键词： Smart manufacturing

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Network system capacity:Towards integrating sensing,communication and control

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National Science Open 2024年第1期3卷 147-149页

作者： Xinping Guan Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai 200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240China

Network systems refer to a new generation of systems with integrated information perception,transmission and utilization capabilities through communication networks,which are adopted to achieve desirable objectives under physical and information related uncertainties and/or adversary *** the information-rich era[1,2],one of the fundamental issues is to exploit the limit of feedback control on dissipating such uncertainties in the scenarios of networked sensing and communication[3].

关键词： communication integrating system

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Towards Efficient Path Finding and Moving Stability-Focused Trajectory Planning for Mobile Robots

Towards Efficient Path Finding and Moving Stability-Focused ...

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2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Hou, Muyang Lei, Zhenya Hu, Haidong Wang, Zhong Wang, Yong Xie, Le Wang, Hesheng Shanghai Jiao Tong University Department of Automation Shanghai200240 China School of Information and Control Engineering China University of Mining and Technology Xuzhou221116 China Beijing Institute of Control Engineering Beijing100190 China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Department of Automation Shanghai200240 China

ISBN: (纸本)9781665481090

Nowadays, mobile robots play an important role in a variety of service scenarios. They need to plan and track trajectories to accomplish tasks such as delivery or guided tours. In such tasks, there are two remaining challenges: on one hand, the time and memory consumption of present path planners are still significant;on the other hand, service robots, which have a higher center of gravity, demand greater moving stability than that of current trajectory planners provide. To address these two challenges. Firstly, we propose a safety boundary first A∗ which fully utilizes environmental obstacle information to create a safety boundary and searches in it to quickly find an initial path. Secondly, we formulate the trajectory optimization problem as a nonlinear optimization problem, where the smoothness, safety, feasibility, and moving stability of the robot are taken into account. Furthermore, to constrain the robot's lateral acceleration, we design a time allocation algorithm based on non-uniform B-spline, enhancing the quality of the resulting trajectory. Simulations and real-world experiments demonstrate that our algorithms significantly improve path search efficiency, enhance moving stability, reduce the difficulty of tracking, and improve the quality of task completion. © 2024 IEEE.

关键词： Trajectories

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Semi-Autonomous Navigation Based on Local Semantic Map for Mobile Robot

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Journal of Shanghai Jiaotong university(Science) 2025年第1期30卷 27-33页

作者： ZHAO Yanfei XIAO Peng WANG Jingchuan GUO Rui Department of Automation Institute of Medical RoboticsShanghai Jiao Tong UniversityShanghai200240China State Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240China State Grid Intelligence Technology Co. Ltd.Jinan250013China

Mobile robots represented by smart wheelchairs can assist elderly people with mobility *** paper proposes a multi-mode semi-autonomous navigation system based on a local semantic map for mobile robots,which can assist users to implement accurate navigation(e.g.,docking)in the environment without prior *** order to overcome the problem of repeated oscillations during the docking of traditional local path planning algorithms,this paper adopts a mode-switching method and uses feedback control to perform docking when approaching semantic *** last,comparative experiments were carried out in the real *** show that our method is superior in terms of safety,comfort and docking accuracy.

关键词： semi-autonomous navigation mobile robot semantic map voice interaction

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A Real-time Local Planner Design for Smart Wheelchairs Based on Koopman Bilinear Model Predictive control

A Real-time Local Planner Design for Smart Wheelchairs Based...

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2024 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2024

作者： Yu, Guanfeng Zhang, Han Wang, Zehao Wang, Jingchuan Shanghai Jiao Tong University Institute of Medical Robotics Department of Automation China Ministry of Education of China Key Laboratory of System Control and Information Processing China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9798350372601

The paper introduces a Koopman bilinear model predictive control (KBMPC) as a local planner for smart wheelchair systems. This approach leverages the Koopman Operator to streamline the nonlinear terms in MPC, aiming to achieve superior real-time performance. In particular, we employ the Extended Dynamic Mode Decomposition (EDMD) method to approximate the infinite dimensional Koopman operator. To tackle the challenge of designing lifting functions, we systematically utilize the derivatives of known nonlinear structures to methodically derive lifting functions. This systematic approach facilitates the identification of a precise bilinear model. Next, we formulate the corresponding Koopman bilinear MPC problem. Finally, an iterative algorithm is employed to efficiently solve the KBMPC problem. This method linearizes the bilinear model around estimations and iteratively solves the resulting quadratic programming problem to refine estimations. This allows KBMPC to function as a real-time local planner for smart wheelchairs. The prediction of nonlinear terms shows that the identified Koopman bilinear model increases the prediction accuracy. Furthermore, experiments demonstrate the advantages of the designed KBMPC local planner, highlighting its superior real-time performance and predictive capabilities. © 2024 IEEE.

关键词： Iterative methods

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LI-DPS: A Long Sequence Dual Prediction Scheme Based on Informer for Efficient High-Frequency Data Transmission 50

LI-DPS: A Long Sequence Dual Prediction Scheme Based on Info...

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50th Annual Conference of the IEEE Industrial Electronics Society, IECON 2024

作者： Wu, Yu Yang, Bo Zhu, Dafeng Chen, Cailian Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China China Shanghai Engineering Research Center of Industrial Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9781665464543

High-frequency time-series data such as vibration signals will consume a lot of communication resources and require very high network bandwidth. Reducing the amount of data transmission while ensuring its availability is particularly important and challenging in high-frequency scenarios. Dual prediction scheme (DPS) can significantly reduce the amount of data transmission while ensuring data accuracy. However, traditional DPS cannot be applied to high-frequency scenarios due to the limitation of the mechanism design and model inference speed. We propose a novel long sequence DPS to efficiently reduce the volume of high-frequency data transmission in real time. To overcome the accuracy degradation due to gradient vanishing in long sequence prediction, we also propose an attention-based prediction model. Furthermore, we propose Informer to reduce the model’s computational complexity and enable fast inference and deployment on resource-constrained edge gateways. Experiments based on the real-world dataset show that the proposed scheme can efficiently cope with high-frequency data, reduce its transmission volume, and ensure data accuracy. © 2024 IEEE.

关键词： Prediction models

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Distributed Neighbor Selection on Matrix-weighted Networks 38

Distributed Neighbor Selection on Matrix-weighted Networks

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38th Youth Academic Annual Conference of Chinese Association of automation, YAC 2023

作者： Wei, Haoyu Pan, Lulu Shao, Haibin Li, Dewei Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Department of Automation Shanghai200240 China

ISBN: (纸本)9798350303636

This paper explores distributed neighbor selection in matrix-weighted networks, where a matrix-valued weight captures the interdependencies among agents' states. We demonstrate the feasibility of preserving and, in certain cases, improving the convergence rate of matrix-weighted networks by having agents exclusively engage with a subset of their neighbors. Leveraging the inherent monotonicity of Laplacian matrix eigenvectors, we introduce a novel neighbor selection criterion that reduces network connections while enhancing convergence rates. Existing neighbor selection strategies often require acquiring information from all nodes before making decisions. In order to propose a distributed neighbor selection strategy for matrix-weighted networks, we establish a numerical relationship between Laplacian eigenvectors and a locally measurable metric. In essence, this paper extends prior findings from scalar-weighted networks to matrix-weighted networks. © 2023 IEEE.

关键词： convergence rate Distributed neighbor selection Laplacian matrix matrix-weighted networks

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Unilateral payoff control is infeasible in network attack-defense interactions

Unilateral payoff control is infeasible in network attack-de...

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2024 China automation Congress, CAC 2024

作者： Zhao, Kaiwen Xia, Yu Su, Qi Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9798350368604

Network resilience generally refers to the ability of a network to maintain normal operation in the face of various failures and disturbances, which has many applications in social, financial, communication, and transportation systems. There is a large amount of research on designing strategies to disrupt the network from the perspective of attack and to protect the network from the defense standpoint. However, attacks and defenses in the real world often occur simultaneously and repeatedly. The study of network resilience should not be limited to the structural characteristics but should consider the functional characteristics of the network. We develop a general game-theoretic framework to study attack-defense repeated interactions on complex networks and examine the possibility of achieving precise control over the payoffs of attackers and defenders. Our findings reveal that neither the attacker nor the defender can unilaterally control their own payoff, the opponent’s payoff, or any linear combination thereof. This work highlights the limitations of unilateral payoff control in real-world interaction scenarios, a consideration often overlooked in numerous theoretical studies. © 2024 IEEE.

关键词： Economic and social effects

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Bearing-Based Containment control of Multi-agent systems with Disturbances 7th

Bearing-Based Containment Control of Multi-agent Systems wi...

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7th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2023

作者： Duan, Mengmeng Yang, Ziwen Zhu, Shanying Chen, Cailian Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9789819733392

In this paper, a bearing-based containment control problem of multi-agent systems with disturbances is studied. The nonlinearity of the bearing results in the existence of nonlinear time-varying parameters in the closed-loop system. When the leaders are stationary, under the sufficient conditions on the disturbances and the connectivity of the directed sensing graph, the boundedness of the nonlinear time-varying parameters is rigorously proved, with which it is shown that the containment error converges to zero asymptotically. When the leaders are moving, by using the properties of the bearing and the projection, it is proved that the containment error is uniformly ultimately bounded and can be reduced by adjusting the edge weight. Numerical examples illustrate the effectiveness of the proposed controller. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Multi agent systems

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ST-Petri: A Visual Executable Semantic Model for PLC Structured Text Language 22

ST-Petri: A Visual Executable Semantic Model for PLC Structu...

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22nd IEEE International Conference on Industrial Informatics, INDIN 2024

作者： Hu, Xiaoyu Liang, Yonghui Zhu, Shibo Li, Hui Zhu, Shanying Department of Automation Shanghai Jiao Tong University Shanghai 200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240 China

ISBN: (纸本)9798331527471

As very important controllers in automated factories, the correctness and safety of Programmable Logic controller (PLC) and their programs determine the stability of the production process. Structured Text (ST) is one of the most widely used PLC programming languages. However, there are not enough formal semantics and different venders may have their own implementations. In this work, a visual executable semantic model ST-Petri for ST has been proposed. The model uses Petri nets to formally represent ST semantics while using graphs to visualise program control flow. To validate the correctness of the semantic model, we use programs from Github and mutations of existing source programs as a test set to execute and compare the results with the open source OpenPLC platform. Experimental results show that ST-Petri has significant advantages in terms of compilation pass rate and error indication as a semantic model and a ST program compiler. © 2024 IEEE.

关键词： Petri nets

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