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arXiv 2023年

作者： Aolaritei, Liviu Lanzetti, Nicolas Dörfler, Florian Automatic Control Laboratory Department of Electrical Engineering and Information Technology ETH Zürich Switzerland

We study stochastic dynamical systems in settings where only partial statistical information about the noise is available, e.g., in the form of a limited number of noise realizations. Such systems are particularly challenging to analyze and control, primarily due to an absence of a distributional uncertainty model which: (1) is expressive enough to capture practically relevant scenarios;(2) can be easily propagated through system maps;(3) is invariant under propagation;and (4) allows for computationally tractable control actions. In this paper, we propose to model distributional uncertainty via Optimal Transport ambiguity sets and show that such modeling choice satisfies all of the above requirements. We then specialize our results to stochastic LTI systems, and start by showing that the distributional uncertainty can be efficiently captured, with high probability, within an Optimal Transport ambiguity set on the space of noise trajectories. Then, we show that such ambiguity sets propagate exactly through the system dynamics, giving rise to stochastic tubes that contain, with high probability, all trajectories of the stochastic system. Finally, we show that the control task is very interpretable, unveiling an interesting decomposition between the roles of the feedforward and the feedback control terms. Our results are actionable and successfully applied in stochastic reachability analysis and in trajectory planning under distributional uncertainty. Copyright © 2023, The Authors. All rights reserved.

关键词： Trajectories

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Transfer Route Recommendation for Metro Systems Based on Multi-source Data Fusion 24

Transfer Route Recommendation for Metro Systems Based on Mul...

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24th IEEE International Conference on High Performance Computing and Communications, 8th IEEE International Conference on Data Science and Systems, 20th IEEE International Conference on Smart City and 8th IEEE International Conference on Dependability in Sensor, Cloud and Big Data Systems and Application, HPCC/DSS/SmartCity/DependSys 2022

作者： Yuan, Tailan Xiong, Wen Yun, Lijun School of Information Science and Technology Yunnan Normal University Kunming China Engineering Research Center of Computer Vision and Intelligent Control Technology Department of Education of Yunnan Province Kunming China

ISBN: (纸本)9798350319934

As the network-structure complexity and the passenger volume continuously grow, how to accurately perform passenger flow guidance is a crucial issue for metro operators. Transfer route recommendation is a core approach for passenger flow guidance. Existing works are limited in obtaining route attributes (such as transfer walking time and waiting time, etc.). Furthermore, most of existing methods may not work well in the scenario of sudden passenger flow, because of their limited capability to accurately measure the real-time crowding. To address these issues, a data fusion based transfer route recommendation method (DFTRR) is proposed. Specifically, we first propose a spatio-temporal diversity-based method (STD) to measure the trajectory similarity. Based on that, we fuse two kinds of heterogeneous data, i.e., swiping records of smart cards and Wi-Fi signal records of mobile devices to extract a passenger's complete trip. And then we present the historical median travel time to alleviate the computation issue of route attributes. Meanwhile the mean crowding level is introduced to accurately measure the real-time crowding of routes. Finally, a generalized travel cost based on median travel time, number of transfers and mean crowding level is constructed for transfer route recommendation. The experimental results illustrate that the accuracy of STD algorithm is higher than the baseline 34.92% at maximum;DFTRR can offer the optimal transfer route according to passengers' preferences under sudden passenger flow. © 2022 IEEE.

关键词： Smart cards

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Inspection Area Allocation for Forest Surveillance Based on Different Starting Points of Multi-UAVs 7th

Inspection Area Allocation for Forest Surveillance Based on ...

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

作者： Zhou, Zhengjun Mu, Lingxia Ning, Kaikai Zhang, Youmin Xue, Xianghong Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Xi’an710048 China Department of Mechanical Industrial and Aerospace Engineering Concordia University MontrealQCH3G 1M8 Canada

ISBN: (纸本)9789819733392

An inspection allocation algorithm based on different starting points and endurance capabilities of unmanned aerial vehicles (UAVs) is proposed for the multi-UAVs forest inspection process. Firstly, the area map to be inspected is rasterized, and the distances between the starting points of each UAV and individual grid cells are computed, which will be used for area decomposition. Subsequently, an evaluation function is employed to allocate individual grid cells reasonably to each UAV. Then, the boundary lines of the allocated sub-regions are generated, by which the raster map is converted into an inspection map with continuous boundaries. This ultimately yields the sub-regions for inspection by each UAV. Simulation results demonstrate that this method effectively allocates the forest inspection area to the various UAVs in a rational manner. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Inspection

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Tutorial on Congestion control in Multi-Area Transmission Grids via Online Feedback Equilibrium Seeking

Tutorial on Congestion Control in Multi-Area Transmission Gr...

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IEEE Conference on Decision and control

作者： Giuseppe Belgioioso Saverio Bolognani Giulia Pejrani Florian Dörfler Department of Electrical Engineering and Information Technology Automatic Control Laboratory ETH Zurich Zurich Switzerland

Online feedback optimization (OFO) is an emerging control methodology for real-time optimal steady-state control of complex dynamical systems. This tutorial focuses on the application of OFO for the autonomous operation of large-scale transmission grids, with a specific goal of minimizing renewable generation curtailment and losses while satisfying voltage and current limits. When this control methodology is applied to multi-area transmission grids, where each area independently manages its congestion while being dynamically interconnected with the rest of the grid, a non-cooperative game arises. In this context, OFO must be interpreted as an online feedback equilibrium seeking (FES) scheme. Our analysis incorporates technical tools from game theory and monotone operator theory to evaluate the stability and performance of multi-area grid operation. Through numerical simulations, we illustrate the key challenge of this non-cooperative setting: on the one hand, independent multi-area decisions are suboptimal compared to a centralized control scheme; on the other hand, some areas are heavily penalized by the centralized decision, which may discourage participation in the coordination mechanism.

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A Three-Dimensional Force Estimation Method for the Cable-Driven Soft Robot Based on Monocular Images

A Three-Dimensional Force Estimation Method for the Cable-Dr...

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IEEE International Conference on Robotics and Biomimetics

作者： Xiaohan Zhu Ran Bu Zhen Li Fan Xu Hesheng Wang Department of Automation School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Artificial Intelligence Research Institute and School of Information and Control Engineering China University of Mining and Technology

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Soft manipulators are known for their superiority in coping with high-safety-demanding interaction tasks, e.g., robot-assisted surgeries, elderly caring, etc. Yet the challenges residing in real-time contact feedback have hindered further applications in precise manipulation. This paper proposes an end-to-end network to estimate the 3D contact force of the soft robot, with the aim of enhancing its capabilities in interactive tasks. The presented method features directly utilizing monocular images fused with multidimensional actuation information as the network inputs. This approach simplifies the preprocessing of raw data compared to related studies that utilize 3D shape information for network inputs, consequently reducing configuration reconstruction errors. The unified feature representation module is devised to elevate low-dimensional features from the system's actuation signals to the same level as image features, facilitating smoother integration of multimodal information. The proposed method has been experimentally validated in the soft robot testbed, achieving satisfying accuracy in 3D force estimation (with a mean relative error of 0.84% compared to the best-reported result of 2.2% in the related works).

关键词： Three-dimensional displays Accuracy Shape Force Time series analysis Estimation Surgery Soft robotics Pulse width modulation Real-time systems

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Optimal Strategies Trajectory with Multi-Local-Worlds Graph

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Computers, Materials & Continua 2023年第4期75卷 2079-2099页

作者： Xiang Yu Chonghua Wang Xiaojing Zheng Chaoyu Zeng Brij BGupta School of Electronics and Information Engineering Taizhou UniversityTaizhouZhejiang318000China China Industrial Control Systems Cyber Emergency Response Team Beijing100040China School of Economics and Management Weifang University of Science and TechnologyShouguangShandong262700China National Computer System Engineering Research Institute of China Beijing102699China Department of Computer Science and Information Engineering Asia UniversityTaiwanTaichung413China Research and Innovation Department Skyline University CollegeSharjahP.O.Box 1797United Arab Emirates Staffordshire University Stoke-on-TrentST42DEUK

This paper constructs a non-cooperative/cooperative stochasticdifferential game model to prove that the optimal strategies trajectory ofagents in a system with a topological configuration of a Multi-Local-Worldgraph would converge into a certain attractor if the system’s configuration isfixed. Due to the economics and management property, almost all systems aredivided into several independent Local-Worlds, and the interaction betweenagents in the system is more complex. The interaction between agents inthe same Local-World is defined as a stochastic differential cooperativegame;conversely, the interaction between agents in different Local-Worldsis defined as a stochastic differential non-cooperative game. We construct anon-cooperative/cooperative stochastic differential game model to describethe interaction between agents. The solutions of the cooperative and noncooperativegames are obtained by invoking corresponding theories, and thena nonlinear operator is constructed to couple these two solutions *** last, the optimal strategies trajectory of agents in the system is proven toconverge into a certain attractor, which means that strategies trajectory arecertainty as time tends to infinity or a large positive integer. It is concluded thatthe optimal strategy trajectory with a nonlinear operator of cooperative/noncooperativestochastic differential game between agents can make agentsin a certain Local-World coordinate and make the Local-World paymentmaximize, and can make the all Local-Worlds equilibrated;furthermore, theoptimal strategy of the coupled game can converge into a particular attractorthat decides the optimal property.

关键词： Multi-Local-world graph stochastic differential game optimal strategy attractor

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Hybrid SIC Aided Hybrid NOMA: A New Approach For Improving Energy Efficiency

arXiv

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arXiv 2024年

作者： Sun, Yanshi Cao, Wei Wang, Ning Zhou, Momiao Ding, Zhiguo School of Computer Science and Information Engineering Hefei University of Technology Hefei230009 China School of Information and Control Engineering China University of Mining and Technology Xuzhou221116 China Department of Computer and Information Engineering Khalifa University Abu Dhabi United Arab Emirates

Hybrid non-orthogonal multiple access (NOMA), which organically combines pure NOMA and conventional OMA, has recently received significant attention to be a promising multiple access framework for future wireless communication networks. However, most of the literatures on hybrid NOMA only consider fixed order of successive interference cancellation (SIC), namely FSIC, for the NOMA transmission phase of hybrid NOMA, resulting in limited performance. Differently, this paper aims to reveal the potential of applying hybrid SIC (HSIC) to improve the energy efficiency of hybrid NOMA. Specifically, a HSIC aided hybrid NOMA scheme is proposed, which can be treated as a simple add-on to the legacy orthogonal multiple access (OMA) based network. The proposed scheme offers some users (termed "opportunistic users") to have more chances to transmit by transparently sharing legacy users’ time slots. For a fair comparison, a power reducing coefficient β is introduced to ensure that the energy consumption of the proposed scheme is less than conventional OMA. Given β, the probability for the event that the achievable rate of the proposed HSIC aided hybrid NOMA scheme cannot outperform its OMA counterpart is obtained in closed-form, by considering impact of user pairing. Furthermore, asymptotic analysis shows that the aforementioned probability can approach zero in the high SNR regime under some given conditions, which are compositely determined by the users’ transmit powers, primary user’s target data rate and β, indicating that the energy efficiency of the proposed scheme is almost surely higher than that of OMA for these given conditions. Numerical results are presented to verify the analysis and also demonstrate the benefit of applying HSIC compared to FSIC. Copyright © 2024, The Authors. All rights reserved.

关键词： Hybrid power

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Anomaly Detection with LWE Encrypted control

arXiv

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arXiv 2025年

作者： Alisic, Rijad Kim, Junsoo Sandberg, Henrik the Division of Decision and Control Systems KTH Royal Institute of Technology Sweden the Department of Electrical and Information Engineering Seoul National University of Science and Technology Korea Republic of

Detecting attacks using encrypted signals is challenging since encryption hides its information content. We present a novel mechanism for anomaly detection over Learning with Errors (LWE) encrypted signals without using decryption, secure channels, nor complex communication schemes. Instead, the detector exploits the homomorphic property of LWE encryption to perform hypothesis tests on transformations of the encrypted samples. The specific transformations are determined by solutions to a hard lattice-based minimization problem. While the test’s sensitivity deteriorates with suboptimal solutions, similar to the exponential deterioration of the (related) test that breaks the cryptosystem, we show that the deterioration is polynomial for our test. This rate gap can be exploited to pick parameters that lead to somewhat weaker encryption but large gains in detection capability. Finally, we conclude the paper by presenting a numerical example that simulates anomaly detection, demonstrating the effectiveness of our method in identifying attacks. Copyright © 2025, The Authors. All rights reserved.

关键词： Cryptography

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Physical priors accelerate neural network training for imaging through multimode fiber

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Optics Letters 2025年第10期50卷 3377-3380页

作者： Zhang, Tianhao Liu, Zeqi Zhang, Hengkang Liu, Kaige Fu, Xing Liu, Qiang State Key Laboratory of Precision Space-Time Information Sensing Technology Beijing100084 China Ministry of Education Beijing100084 China Department of Precision Instrument Tsinghua University Beijing100084 China Huazhong Institute of Electron-Optics Wuhan National Laboratory for Optoelectronics Wuhan430223 China Beijing Institute of Control Engineering Beijing100190 China

In multimode fiber (MMF) imaging, neural networks typically require large datasets and extensive training times, which present substantial challenges for both data acquisition and practical deployment. To address this limitation, we propose a pre-training approach that utilizes data generated from a physical model. By incorporating physically based training data, the required training time for actual fiber data is reduced to approximately one-third. Additionally, this method demonstrates superior performance on the test set, with a 0.04 increase in the average structural similarity index measure (SSIM) and a 31.25% reduction in the average mean squared error (MSE) compared to the baseline model. This approach not only accelerates the training process but also improves the model’s accuracy and generalization capabilities, offering a more efficient and effective solution for MMF imaging. © 2025 Optica Publishing Group. All rights, including for text and data mining (TDM), Artificial Intelligence (AI) training, and similar technologies, are reserved.

关键词： Large datasets

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Deep Learning control for Autonomous Robot

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Computers, Materials & Continua 2022年第8期72卷 2811-2824页

作者： Rihem Farkh Saad Alhuwaimel Sultan Alzahrani Khaled Al Jaloud Mohammad Tabrez Quasim College of Engineering Muzahimiyah BranchKing Saud UniversityRiyadh11451Saudi Arabia Laboratory for Analysis Conception and Control of SystemsLR-11-ES20Department of Electrical Engineering National Engineering School of TunisTunis El Manar University1002Tunisia King Abdulaziz City for Science and Technology Saudi Arabia College of Computing and Information Technology University of BishaBisha67714Saudi Arabia

Several applications of machine learning and artificial intelligence,have acquired importance and come to the fore as a result of recent advances and improvements in these *** cars are one such *** is expected to have a significant and revolutionary influence on *** with smart cities,new infrastructure and urban planning with sophisticated cyber-security are some of the current ramifications of self-driving *** autonomous automobile,often known as selfdriving systems or driverless vehicles,is a vehicle that can perceive its surroundings and navigate predetermined routes without human *** are on the verge of evolving into autonomous robots,thanks to significant breakthroughs in artificial intelligence and related technologies,and this will have a wide range of socio-economic ***,in order for these automobiles to become a reality,they must be endowed with the perception and cognition necessary to deal with high-pressure real-life events and make proper judgments and take appropriate *** majority of self-driving car technologies are based on computer systems that automate vehicle control *** forward-collision warning and antilock brakes to lane-keeping and adaptive drive control,to fully automated driving,these technological components have a wide range of capabilities.A self-driving car combines a wide range of sensors,actuators,and *** researches on computer vision and deep learning are used to control autonomous driving *** self-driving automobiles,lane-keeping is *** study presents a deep learning approach to obtain the proper steering angle to maintain the robot in the *** propose an advanced control for a selfdriving robot by using two controllers *** neural networks(CNNs)are employed,to predict the car’and a proportionalintegral-derivative(PID)controller is designed for speed and steering *** stu

关键词： Autonomous car cascade PID control deep learning convolutional neural network differential drive system raspberry PI road lane detector

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