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Nonconvex Noise-Tolerant Neural Model for Repetitive Motion of Omnidirectional Mobile Manipulators

IEEE/CAA Journal of Automatica Sinica 2023年第8期10卷 1766-1768页

作者： Zhongbo Sun Shijun Tang Jiliang Zhang Junzhi Yu the Department of Control Engineering Changchun University of TechnologyChangchun 130012China IEEE College of Information Science and Engineering Northeastern UniversityShenyang 110819China the State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and RoboticsCollege of EngineeringPeking UniversityBeijing 100871China

Dear Editor,Quadratic programming problems(QPs)receive a lot of attention in various fields of science computing and engineering applications,such as manipulator control[1].Recursive neural network(RNN)is considered t... 详细信息

关键词： directional programming hardware

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Coverage control for Multi-Agent Systems via Curve Arc Length

Coverage Control for Multi-Agent Systems via Curve Arc Lengt...

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2024 China Automation Congress, CAC 2024

作者： Yang, Kaiqi Wang, Xiaoli Yang, Hengyu Xie, Wei Department of Control Science and Engineering Harbin Institute of Technology Harbin China School of Information Science and Engineering Harbin Institute of Technology at Weihai Weihai China School of Aeronautics and Astronautics Tiangong University Tianjin China

ISBN: (纸本)9798350368604

In complex environments, effective and comprehensive information gathering necessitates the strategic deployment of multi-agent systems. Corridor-type regions, characterized as non-convex areas, present substantial challenges in formulating coverage control strategies. To tackle this issue, this paper proposes a novel coverage control methodology for multi-agent systems based on partitioning the coverage area using curve arc lengths. Firstly, the coverage areas for each team is segmented into sequentially arranged subregions based on curve arc lengths. Through adjustments in the virtual leading agent’s position, the range of curve arc lengths for each team’s coverage areas is dynamically managed. Then, a distributed coverage controller is developed for agents, which integrates the movement status of virtual leading agents to guide agents towards the centroid positions of their respective coverage areas. Finally, numerical simulations affirm the efficacy of the proposed coverage control approach. © 2024 IEEE.

关键词： Multi agent systems

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Online Residual Learning from Offline Experts for Pedestrian Tracking 63

Online Residual Learning from Offline Experts for Pedestrian...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Vlachos, Anastasios Tsiamis, Anastasios Karapetyan, Aren Balta, Efe C. Lygeros, John Eth Zürich Automatic Control Laboratory Department of Information Technology and Electrical Engineering Zürich8092 Switzerland Control and Automation Group Inspire ZürichAG 8005 Switzerland The Automatic Control Laboratory Switzerland

ISBN: (纸本)9798350316339

In this paper, we consider the problem of predicting unknown targets from data. We propose Online Residual Learning (ORL), a method that combines online adaptation with offline-trained predictions. At a lower level, we employ multiple offline predictions generated before or at the beginning of the prediction horizon. We augment every offline prediction by learning their respective residual error concerning the true target state online, using the recursive least squares algorithm. At a higher level, we treat the augmented lower-level predictors as experts, adopting the Prediction with Expert Advice framework. We utilize an adaptive softmax weighting scheme to form an aggregate prediction and provide guarantees for ORL in terms of regret. We employ ORL to boost performance in the setting of online pedestrian trajectory prediction. Based on data from the Stanford Drone Dataset, we show that ORL can demonstrate best-of-both-worlds performance. © 2024 IEEE.

关键词： Prediction models

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Multiobjective Multiverse Optimizer for Multirobotic U-Shaped Disassembly Line Balancing Problems

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2024年第2期5卷 882-894页

作者： Qin, Shujin Zhang, Shancheng Wang, Jiacun Liu, Shixin Guo, Xiwang Qi, Liang School of Economics and Management Shangqiu Normal University Shangqiu476000 China School of Information and Control Engineering Liaoning Petrochemical University Fushun113001 China Monmouth University West Long Branch NJ07764 United States College of Information Science and Engineering Northeastern University Shenyang110819 China Department of Computer Science and Technology Shandong University of Science and Technology Qingdao266590 China

The development of technology accelerates the upgrade of products, which results in a significant number of obsolete products. This research aims to solve the multirobotic multiproduct U-shaped disassembly line balancing problem (M2UDP), in which different products are disassembled on a U-shaped model in a preset cycle time and assigned tasks to robots in each workstation reasonably. A linear mixed-integer model is established to maximize disassembly profit and minimize carbon emissions. An improved multiobjective multiverse optimizer (IMMO) that utilizes the sigmoid activation function in neural networks is proposed to find the optimal plan for the model. The improved algorithm is verified via a set of real-life instances and compared with three classical multiobjective optimization algorithms. The experimental results show that the proposed IMMO performs better than those peers in solving the M2UDP problems. © 2023 IEEE.

关键词： Profitability

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A Review on Electric Vehicles Charging Strategies concerning Actors Interests

Periodica polytechnica Electrical engineering and computer s...

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Periodica polytechnica Electrical engineering and computer science 2022年第2期66卷 148-162页

作者： Sabzi, Shahab Vajta, Laszlo Faghihi, Tayebeh Department of Control Engineering and Information Technology Faculty of Electrical Engineering and Informatics Budapest University of Technology and Economics Műegyetem rkp. 3. BudapestH-1111 Hungary

Electric vehicles are becoming increasingly popular in societies and an important part of smart grids. Utility companies should be able to provide them with vital energy as they need electric energy instead of fuel, and this is where new challenges emerge in the network. In order to avoid causing utilities to incur additional energy and economic losses, researchers have proposed smart charging as a way to provide adequate energy to vehicles. When developing a charging schedule for a fleet of EVs, special considerations are made on variables such as energy, cost, and EVs milage. In this review paper, the importance of EVs integration into smart grids is studied, and then different methods to develop EVs charging scheduling are investigated. These methods can vary from optimization algorithms to learning-based, and game theory-based approaches. Then, as the considered system consists of three main actors, including EV users, the utility operator, and aggregators, a systematic review is conducted on these actors, and objectives related to each one are analyzed. Finally, research gaps related to the problem are studied. Researchers can use this review to conduct further research on the integration of EVs into smart grids. © 2022 Budapest University of technology and Economics. All rights reserved.

关键词： Electric vehicles

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Designing Quantum-Resilient Blockchain Frameworks: Enhancing Transactional Security with Quantum Algorithms in Decentralized Ledgers

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International Journal of Advanced Computer Science and Applications 2025年第4期16卷 618-628页

作者： Kale, Meenal R. Baker El-Ebiary, Yousef A. Sathiya, L. Burugari, Vijay Kumar Yulduz, Erkiniy Muniyandy, Elangovan Alanazi, Rakan Department of Humanities Yeshwantrao Chavan College of Engineering Hingna Nagpur India Faculty of Informatics and Computing UniSZA University Malaysia Department of CSE Panimalar Engineering College Chennai India Dept of Computer Science and Engineering Koneru Lakshmaiah Education Foundation Vaddeswaram Andhra Pradesh Guntur India Automatic Control and Computer Engineering Department Turin Polytechnic University in Tashkent Tashkent Uzbekistan Department of Biosciences-Saveetha School of Engineering Saveetha Institute of Medical and Technical Sciences Chennai India Applied Science Research Center Applied Science Private University Amman Jordan Department of Information Technology Faculty of Computing and Information Technology Northern Border University Rafha Saudi Arabia

Quantum computing is progressing at a fast rate and there is a real threat that classical cryptographic methods can be compromised and therefore impact the security of blockchain networks. All of the ways used to secure blockchain like Rivest–Shamir–Adleman (RSA), Elliptic Curve Cryptography (ECC) and Secure Hash Algorithm 256-bit (SHA256) are the characteristic of the traditional cryptographic techniques vulnerable to attack by quantum algorithms: Shor’s and Grover’s algorithms: can efficiently break asymmetric encryption and speed up brute force attacks. Because of this vulnerability, there exists a need to develop an advance quantum resilient blockchain framework to protect the decentralized ledgers from the future threats of the quantum. This research proposes Post-Quantum Cryptography (PQC), Quantum Key Distribution (QKD) and Quantum Random Number Generation (QRNG) as a formidable architectural integration, to fortify security of blockchain. Classical encryption is replaced with PQC, QKD with secure key exchange by detecting eavesdropping, and QRNG with improving cryptographic randomness to remove the predictable key vulnerability. Only with a small loss of transaction efficiency, we increase transaction encryption accuracy, key exchange security, and resistance to quantum attacks. In this quantum enhanced blockchain design, the idea is to preserve the decentralization, transparency and security and at the same time overcome the future quantum threat. By going through rigorous analysis and comparative evaluation, we demonstrate that the approach saves blockchain networks from the emerging quantum risks to make sure that the decentralized finance, smart contracts and cross chain transactions. © (2025), (Science and information Organization). All rights reserved.

关键词： Quantum cryptography

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Analysis and Enhancement Strategies of Private Undergraduate Students' Learning Effect of Principle of Singlechip Based on Online and Offline Mixed-mode Teaching: K-Fold Cross-Validation Method 3

Analysis and Enhancement Strategies of Private Undergraduate...

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3rd International Conference on Intelligent Computing, Communication and Convergence, ICI3C 2023

作者： Ren, Yan Wang, Yunjiang Shenyang Institute of Science and Technology Department of Information and Control Engineering Shenyang China Shenyang Aerospace University School of Mechatronics Engineering Shenyang China

ISBN: (纸本)9798350343922

The principle of single chip microcomputer is a professional basic course with "program design"as the main line, and it is also a very practical course, involving a lot of practical engineering applications. For private undergraduate colleges, there are some difficulties and challenges in the teaching process. In this paper, k-fold cross-verification method is adopted to analyze and improve the learning effect of singlechip microcomputer based on the mixed mode of online and offline teaching. This is a student-centered, teacher-guided, student-independent learning as the purpose, fully mobilize students' subjective initiative and enthusiasm, improve learning efficiency and effect of teaching methods. The experimental results show that this method can improve the students' motivation score to 85 points, which was 12 points higher than the previous maximum score of 73 points. At the same time, innovation ability, practical ability and sense of achievement have also improved. It can be seen that the method adopted in the article has a good effect in improving the learning effect. © 2023 IEEE.

关键词： Microcomputers

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Spatial and Temporal Variations in the Atmospheric Age Distribution of Primary and Secondary Inorganic Aerosols in China

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engineering 2023年第9期28卷 117-129页

作者： Xiaodong Xie Qi Ying Hongliang Zhang Jianlin Hu Jiangsu Key Laboratory of Atmospheric Environment Monitoring and Pollution Control Collaborative Innovation Center of Atmospheric Environment and Equipment TechnologyNanjing University of Information Science&TechnologyNanjing 210044China Zachry Department of Civil Engineering Texas A&M UniversityCollege StationTX 77843USA Department of Environmental Science and Engineering Fudan UniversityShanghai 200438China

The aging timescale of particles is a key parameter in determining their impacts on air quality,human health,and *** this study,a one-year simulation of the age distributions of the primary and secondary inorganic fine particulate matter(PM_(2.5))components was conducted over China using an age-resolved Community Multiscale Air Quality(CMAQ)*** results indicate that primary PM_(2.5)(PPM)and ammonium mainly originate from fresh local emissions,with approximately 60%-80%concentrated in 0-24 h age bins in most of China throughout the *** average age is about15-25 h in most regions in summer,but increases to 40-50 h in southern region of China and the Sichuan Basin(SCB)in *** is more aged than PPM,indicating an enhanced contribution from regional *** sulfate with atmospheric age>48 h account for 30%-50%of total sulfate in most regions and seasons,and the concentrations in the>96 h age bin can reach up to 15μg·m-3 in SCB during *** seasonal variations occur in the Yangtze River Delta,Pearl River Delta,and SCB,with highest average age of 60-70 h in winter and lowest of 40-45 h in *** average age of nitrate is 20-30 h in summer and increases to 40-50 h in *** enhanced deposition rate of nitric acid vapor combined with the faster chemical reaction rate of nitrogen oxides leads to a lower atmospheric age in ***,on pollution days,the contributions of old age bins(>24 h)increase notably for both PPM and secondary inorganic aerosols in most cities and seasons,suggesting that regional transport plays a vital role during haze *** age information of PM_(2.5),provided by the age-resolved CMAQ model,can help policymakers design effective emergent emission control measures to eliminate severe haze episodes.

关键词： Atmospheric age PM_(2.5) CMAQ model control strategy

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A Method for Filtering Data-Driven Predictive control Aimed at Vehicle Lateral Stabilization in Compacted-Snow Rutted Road Conditions 8

A Method for Filtering Data-Driven Predictive Control Aimed ...

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8th CAA International Conference on Vehicular control and Intelligence, CVCI 2024

作者： Zhao, Xu Guo, Hongyan Shi, Wanqing College of Communication Engineering Jilin University Changchun China Jilin Institute of Chemical Technology Department of Aircraft Control and Information Engineering Changchun China College of Communication Engineering Jilin University State Key Laboratory of Automotive Simulation and Control Changchun China

ISBN: (纸本)9798331504892

Designing a data-driven predictive controller for lateral stability of vehicles on compacted-snow rutted roads, especially when the data is subjected to non-stationary noise disturbances, is a significant challenge. This paper introduces a novel subspace predictive equation construction method that incorporates filtering using the inverse of a first-order disturbance model. Based on this, a filtering data-driven predictive controller is designed. The proposed method is tested through numerical simulations and MATLAB/CarSim co-simulation. Simulation results show that the proposed subspace predictive equation with filtering effectively mitigates the variance and bias introduced by non-stationary noise. The co-simulation results demonstrate that the controller ensures the stability and robustness of the vehicle system. © 2024 IEEE.

关键词： Predictive control systems

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Large language models for human–robot interaction:A review

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Biomimetic Intelligence & Robotics 2023年第4期3卷 1-15页

作者： Ceng Zhang Junxin Chen Jiatong Li Yanhong Peng Zebing Mao Department of Mechanical Engineering National University of SingaporeSingapore 119077Singapore School of Mechanical Electronic and Control EngineeringBeijing Jiaotong UniversityBeijing 100044China Department of Information and Communication Engineering Graduate School of EngineeringNagoya UniversityNagoya 464-8603Japan Department of Mechanical Engineering Tokyo Institute of TechnologyTokyo 152-8550Japan

The fusion of large language models and robotic systems has introduced a transformative paradigm in human–robot interaction,offering unparalleled capabilities in natural language understanding and task *** review paper offers a comprehensive analysis of this nascent but rapidly evolving domain,spotlighting the recent advances of Large Language Models(LLMs)in enhancing their structures and performances,particularly in terms of multimodal input handling,high-level reasoning,and plan ***,it probes the current methodologies that integrate LLMs into robotic systems for complex task completion,from traditional probabilistic models to the utilization of value functions and metrics for optimal *** these advancements,the paper also reveals the formidable challenges that confront the field,such as contextual understanding,data privacy and ethical *** our best knowledge,this is the first study to comprehensively analyze the advances and considerations of LLMs in Human–Robot Interaction(HRI)based on recent progress,which provides potential avenues for further research.

关键词： Large language models Human-robot interaction Task completion Considerations and challenges

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