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International Conference on control and Automation (ICCA)

作者： Jing Zhou Jun Shang Tongwen Chen Department of Electrical & Computer Engineering University of Alberta Edmonton Canada Department of Control Science & Engineering Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Shanghai China

ISBN: (数字)9798350354409

ISBN: (纸本)9798350354416

In recent years, stochastic detectors have gained prominence in networked systems for anomaly detection. These detectors have demonstrated advantages over their traditional counterparts, particularly in safe-guarding against data integrity attacks targeting state estimation. Despite these advancements, the impact of the detector on alarm performance-such as alarm-triggering rates at normal conditions-remains under-explored, especially in scenarios where delay timers are applied to the raw alarm sequence. This study delves into the monitoring of a correlated Gaussian process variable using stochastic detectors. An explicit formula for the alarm performance is given, highlighting how it is influenced by the duration of delay timers. The efficacy of the proposed approach is validated through numerical examples and a simplified process model.

关键词： Automation Data integrity Detectors Gaussian processes Delays Numerical models State estimation

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Efficient Time-Delay System Optimization with Auto-Configured Metaheuristics

Efficient Time-Delay System Optimization with Auto-Configure...

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2023 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2023

作者： Senkerik, Roman Byrski, Aleksander Guzowski, Hubert Janku, Peter Kadavy, Tomas Oplatkova, Zuzana Kominkova Matusu, Radek Pluhacek, Michal Pekar, Libor Smolka, MacIej Viktorin, Adam Tomas Bata University A.I. Lab Faculty of Applied Informatics Department of Informatics and Artificial Intelligence Zlin Czech Republic Tomas Bata University Faculty of Applied Informatics Department of Automation and Control Engineering Zlin Czech Republic Institute of Computer Science Agh University of Science and Technology Krakow Poland

ISBN: (纸本)9798350337020

This paper presents an experimental study that compares the performance of four selected metaheuristic algorithms for optimizing a time delay system model. Time delay system models are complex and challenging to optimize due to their inherent characteristics, such as non-linearity, multi-modality, and constraints. The study includes an explanation of the choice and core functionality of the selected algorithms, which are both baseline and state-of-the-art variants of self-organizing migrating algorithm (SOMA), state-of-the-art variant from the Success-History-based Adaptive Differential Evolution family of algorithms, with emphasis on diverse search (DISH algorithm), and Covariance Matrix Adaptation Evolution Strategy (CMA-ES) algorithm. The hyperparameters of the metaheuristic algorithms were set using the iRace automatic algorithm configuration framework. The paper emphasizes the importance of metaheuristic algorithms in control engineering for time-delay systems to develop more effective and efficient control strategies and precise model identifications. The experimental results highlight the effectiveness of the state-of-the-art algorithms with specific adaptive mechanisms like population organization process, diverse search and adaptation mechanisms ensuring a gradual transition from exploration to exploitation. Overall, this study contributes to understanding the challenges and advantages of using metaheuristic algorithms in control engineering for time delay systems. The results provide valuable insights into the performance of modern metaheuristic algorithms and can help guide the selection of appropriate adaptive mechanisms of metaheuristics. © 2023 IEEE.

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Character Recognition of Vedic Sanskrit using Deep Learning Algorithms 3

Character Recognition of Vedic Sanskrit using Deep Learning ...

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3rd IEEE International Conference on Computing, Communication, and Intelligent Systems, ICCCIS 2022

作者： Pandey, Mrinal Pandey, Rashmikiran Nazarov, Alexey Moscow Institute of Physics and Technology Department of Radio Engineering and Cybernetics Moscow Russia Federal Research Center Computer Science and Control Russian Academy of Sciences Moscow Russia

ISBN: (纸本)9781665462006

One of the applications of deep learning is deciphering the unscripted text over the walls and pillars of historical monuments is the major source of information extraction. This information gives us an idea about the art and the culture of that respective era. In this paper we proposed a model for digital recognition of textual characters written in Sanskrit language using the 4-fold Convolutional Neural Network (CNN) architecture. At the first stage we remove the noise and subsequently segmentation of characters from the input image is performed, later we convert the image into binary image format by the help of image processing techniques. The research is performed over the Devanagari script which was developed during 1st to the 4th century CE and is common to many languages from the Indian subcontinent. © 2022 IEEE.

关键词： Character recognition

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Design and testing of Hybrid Slime Mold Algorithm for Real-Time Adaptive Mobile Robot Path Planning in Dynamic Environments

Design and testing of Hybrid Slime Mold Algorithm for Real-T...

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Advancement in Computation & computer Technologies (InCACCT), International Conference on

作者： Sachin Gupta Shivali Gupta Shaik Mohammed Raith Anand Kumar Salil Bharany Vishnu Kant Ch.Sandeep Department of Robotics and Control Engineering School of Electronics and Control Engineering Lovely Professional University Phagwara India Department of Chemistry School of Chemical Engineering and Physical Sciences Lovely Professional University Phagwara India Department of Computer Science and Engineering Lovely Professional University Phagwara Punjab India Chitkara University Institute of Engineering and Technology Chitkara University Rajpura India School of Computer Science and Artificial Intelligence SR University Warangal Telangana

ISBN: (数字)9798331543891

ISBN: (纸本)9798331543907

Dynamic path planning and collision prevention is one of the key tasks for autonomous vehicles in relation to dynamic movement of obstacles. In this paper, a novel hybrid approach based on integration of Slime Mold Algorithm (SMA), Triangle Inequality Principle (TIP), and Partition Method Strategy (PMS) for solution of this problem statement. The SMA algorithm is very flexible and adaptive by nature due to its biological working mechanism which is associated with TIP and PMS strategies in relation to their optimization and efficient path planning capabilities and robust solutions. This integrated module is tested in virtual environment and the results are compared with other updated algorithms such as A*, Genetic Algorithm (GA), and Particle Swarm Optimization (PSO) for the same static and dynamic environment. It has been observed from the results that this hybrid strategy significantly improves the path planning task several times than other algorithms in terms of multiple aspects. Under testing conditions, the path length was reduced to 25% than other algorithms in a dynamic environment. During this calculation, the computational efficiency of the system has been improved to 60% than conventional methods. The chances of collision have been improved to 34.23% especially in environment where the obstacles are moving. The capability of SMA has been improved due to the synergy between TIP and PMS. The dynamic and adaptive nature of this algorithm is suitable for various applications such as search-and-rescue operations, manufacturing units’ automation and other hazardous environment exploration.

关键词： Navigation Heuristic algorithms Virtual environments Path planning Partitioning algorithms Safety Mobile robots Vehicle dynamics Testing Genetic algorithms

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Modular Model Reduction of Interconnected Systems: A Top-Down Approach

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IFAC-PapersOnLine 2023年第2期56卷 4246-4251页

作者： Lars A.L. Janssen Bart Besselink Rob H.B. Fey Nathan van de Wouw Dynamics and Control group Department of Mechanical Engineering Eindhoven University of Technology Bernoulli Institute for Mathematics Computer Science and Artificial Intelligence University of Groningen

Complex systems often involve interconnected subsystem models developed by multi-disciplinary teams. To simulate and control such systems, a reduced-order model of the interconnected system is required. In the scope of this paper, we pursue this goal by subsystem reduction to warrant modularity of the reduction approach. However, reducing subsystem models affects not only the subsystems accuracy, but also the interconnected model accuracy, making it difficult to predict a priori the accuracy impact of subsystem reduction. To address this challenge, we introduce a top-down approach using mathematical tools from robust performance analysis, enabling the translation of accuracy requirements from the interconnected model to the subsystem level. This enables independent subsystem reduction while ensuring the desired accuracy of the interconnected model. We demonstrate the effectiveness of our approach through a structural dynamics case study.

关键词： Complex systems Model reduction control of interconnected systems Robust performance Top-down approach Error bounds

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Dissipative Avoidance Feedback for Reactive Navigation Under Second-Order Dynamics

arXiv

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arXiv 2024年

作者： Smaili, Lyes Tang, Zhiqi Berkane, Soulaimane Hamel, Tarek Department of Computer Science and Engineering University of Quebec in Outaouais GatineauQC Canada Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology StockholmSE-10044 Sweden Department of Electrical Engineering Lakehead University ON Canada France

This paper addresses the problem of autonomous robot navigation in unknown, obstacle-filled environments with second-order dynamics by proposing a Dissipative Avoidance Feedback (DAF). Compared to the Artificial Potential Field (APF), which primarily uses repulsive forces based on position, DAF employs a dissipative feedback mechanism that accounts for both position and velocity, contributing to smoother and more natural obstacle avoidance. The proposed continuously differentiable controller solves the motion-to-goal problem while guaranteeing collision-free navigation by using the robot’s state and local obstacle distance information. We show that the controller guarantees safe navigation in generic n-dimensional environments and that all undesired ω-limit points are unstable under certain controlled curvature conditions. Designed for real-time implementation, DAF requires only locally measured data from limited-range sensors (e.g., LiDAR, depth cameras), making it particularly effective for robots navigating unknown workspaces. Simulations in 2D and 3D environments are conducted to validate the theoretical results and to showcase the effectiveness of our approach. © 2024, CC BY.

关键词： Feedback

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State Estimation for Integrated Energy Systems: Motivations, Advances, and Future Work

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IEEE Transactions on Power Systems 2024年第4期40卷 3057-3073页

作者： Zhao, Junbo Srivastava, Ankur Guo, Ye Cetenovic, Dragan Lin, Yuzhang Levi, Victor Yin, Guanxiong Huang, Manyun Zhang, Tingting Li, Zhigang Chen, Yanbo Exposito, Antonio G. Zhang, Wen Zheng, Weiye Chakrabarti, Saikat Li, Yang Sharma, Ankush Kamwa, Innocent Guo, Qinglai Terzija, Vladimir Mili, Lamine University of Connecticut Department of Electrical and Computer Engineering StorrsCT06269 United States Tsinghua University Tsinghua-Berkeley Shenzhen Institute Shenzhen518055 China The University of Manchester Department of Eee ManchesterM13 9PL United Kingdom University of Kragujevac Faculty of Technical Sciences Čačak Čačak32000 Serbia New York University Department of Electrical and Computer Engineering NY11201 United States Tsinghua University Department of Electrical Engineering Beijing100084 China Hohai University College of Energy and Electrical Engineering Nanjing210098 China Shandong University Key Laboratory of Power System Intelligent Dispatch and Control Ministry of Education Jinan250061 China The Chinese University of Hong Kong-Shenzhen School of Science and Engineering Shenzhen518172 China North China Electric Power University School of Electrical and Electronic Engineering Beijing102206 China University of Sevilla Spain Sevilla41092 Spain South China University of Technology School of Electrical Power Engineering Guangzhou510641 China Indian Institute of Technology Kanpur Department of Electrical Engineering Kanpur208016 India Northeast Electric Power University School of Electrical Engineering Jilin132012 China Laval University Department of Electrical and Computer Engineering QuebecQCG1V 0A6 Canada Tsinghua University State Key Laboratory of Power Systems Department of Electrical Engineering Beijing100084 China Newcastle University School of Engineering Newcastle upon TyneNE1 7RU United Kingdom Virginia Polytechnic Institute and State University Bradley Department of Electrical and Computer Engineering Falls ChurchVA22043 United States

This paper summarizes the technical activities of a three-year-long IEEE Task Force (TF) on State Estimation (SE) for Integrated Energy Systems (IES). It presents the formal definition and characteristics of IES, along with the comprehensive discussion on Electric Power Systems (EPS) model, and static and dynamic models associated with heating and natural gas systems. The paper also identifies the barriers of SE for IES, such as estimation modeling, observability analysis, and measurement requirements, together with addressing multi-scale dynamics. An extensive comparative analysis between Integrated Energy Systems-State Estimation (IES-SE) and more established Electric Power System-State Estimation (EPS-SE) is presented. The paper also provides future research needs and directions related to IES-SE. © 1969-2012 IEEE.

关键词： Power system analysis

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Resilient Cooperative control of Multiple DC Microgrids With Interconnection Networks Against Cyber Attacks

IEEE Transactions on Industrial Cyber-Physical Systems

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IEEE Transactions on Industrial Cyber-Physical Systems 2025年 3卷 116-126页

作者： Xiao, Feng Liu, Shiyu Wei, Bo Fang, Fang Qin, Jiahu North China Electric Power University State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources Beijing102206 China North China Electric Power University School of Control and Computer Engineering Beijing102206 China North China Electric Power University New Energy Generation National Engineering Research Center Beijing102206 China University of Science and Technology of China Department of Automation Hefei230027 China

The two control objectives of voltage regulation and precise current sharing are conflicting in multi-bus DC microgrids. In this paper, a distributed control strategy is proposed, and it can achieve accurate current sharing and regulate the voltage of a critical node to the rated value. However, such a distributed control system is susceptible to potential cyber attacks that could deteriorate microgrids performances by corrupting communication links or actuators. To overcome these difficulties, we design the interconnected communication networks to establish a resilient cooperative system of multiple microgrids against unknown bounded injection attacks. The proposed resilient control strategy can achieve the control objectives of maintaining voltage regulation and current sharing within each microgrids under different operating conditions, and the interconnected system consisting of multiple microgrids cooperates to mitigate the adverse effect of cyber attacks. The dynamics and stability of the overall close-loop system of the DC microgrids are analyzed, in the present or absent of cyber attacks. Simulation results validate the effectiveness of the proposed approach in two 4-bus DC microgrids. © 2023 IEEE.

关键词： Cyber attacks

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Collaborative Perception for Connected and Autonomous Driving: Challenges, Possible Solutions and Opportunities

arXiv

引用

arXiv 2024年

作者： Hu, Senkang Fang, Zhengru Deng, Yiqin Chen, Xianhao Fang, Yuguang The Department of Computer Science City University of Hong Kong Hong Kong The School of Control Science and Engineering Shandong University Jinan China The Department of Electrical and Electronic Engineering The University of Hong Kong Hong Kong

Autonomous driving has attracted significant attention from both academia and industries, which is expected to offer a safer and more efficient driving system. However, current autonomous driving systems are mostly based on a single vehicle, which has significant limitations which still poses threats to driving safety. Collaborative perception with connected and autonomous vehicles (CAVs) shows a promising solution to overcoming these limitations. In this article, we first identify the challenges of collaborative perception, such as data sharing asynchrony, data volume, and pose errors. Then, we discuss the possible solutions to address these challenges with various technologies, where the research opportunities are also elaborated. Furthermore, we propose a scheme to deal with communication efficiency and latency problems, which is a channel-aware collaborative perception framework to dynamically adjust the communication graph and minimize latency, thereby improving perception performance while increasing communication efficiency. Finally, we conduct experiments to demonstrate the effectiveness of our proposed scheme. Copyright © 2024, The Authors. All rights reserved.

关键词： Autonomous vehicles

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UniQuad: A Unified and Versatile Quadrotor Platform Series for UAV Research and Application

arXiv

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arXiv 2024年

作者： Zhang, Yichen Chen, Xinyi Liu, Peize Wang, Junzhe Zou, Hetai Pan, Neng Gao, Fei Shen, Shaojie The Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong The Institute of Cyber-Systems and Control College of Control Science and Engineering Zhejiang University Hangzhou China Huzhou Institute Zhejiang University Huzhou China

As quadrotors take on an increasingly diverse range of roles, researchers often need to develop new hardware platforms tailored for specific tasks, introducing significant engineering overhead. In this article, we introduce the UniQuad series, a unified and versatile quadrotor platform series that offers high flexibility to adapt to a wide range of common tasks, excellent customizability for advanced demands, and easy maintenance in case of crashes. This project is fully open-source at https://***/UniQuad. Copyright © 2024, The Authors. All rights reserved.

关键词： Unmanned aerial vehicles (UAV)

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