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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Ruo-Tsz Ho Chieh-Chih Wang Wen-Chieh Lin Institute of Electrical and Control Engineering National Yang Ming Chiao Tung University Hsinchu Taiwan Department of Electronics and Electrical Engineering National Yang Ming Chiao Tung University Mechanical and Mechatronics Systems Research Laboratories Industrial Technology Research Institute Hsinchu Taiwan Department of Computer Science National Yang Ming Chiao Tung University Hsinchu Taiwan

Occlusion remains an issue in multiple object tracking, which could cause ambiguity in object detection, such as incorrect or missing detection. Under occlusion, a track could experience an early termination, resulting in identity switches and/or fragmentation. To recover from different lengths of occlusions, the track should be maintained by considering its occlusion status. To address the issues mentioned above, we propose an indicator that can model the track's occlusion extent via geometric information provided by LiDAR data. Through incorporating the indicator into the track management and data association process, it is feasible to prevent tracks from premature termination. The proposed method is evaluated on the collected dataset which undergoes frequent and severe occlusions. Compared to the state-of-the-art probabilistic tracking approach, our approach achieves improvements of 3.26% in MOTA and 5.36% in IDF1. Additionally, we obtain 9.89% improvements in IDF1 specifically for objects experiencing severe occlusions.

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Stealthy Attacks on Sampled-Data control and Encryption-Based Countermeasures

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IEEE Transactions on Automatic control 2025年

作者： Shang, Jun Li, Yuzhe Chen, Tongwen Tongji University Department of Control Science and Engineering Shanghai Institute of Intelligent Science and Technology National Key Laboratory of Autonomous Intelligent Unmanned Systems Frontiers Science Center for Intelligent Autonomous Systems Shanghai200092 China Northeastern University State Key Laboratory of Synthetical Automation for Process Industries Shenyang110004 China University of Alberta Department of Electrical and Computer Engineering EdmontonABT6G 1H9 Canada

This paper investigates stealthy attacks on sampled-data control systems, where a continuous process is sampled periodically, and the resultant discrete output and control signals are transmitted through dual channels in wireless communication networks. Acknowledging the vulnerability of these transmitted data to cyber threats, we analyze two types of stealthy attacks that compromise either one or both channels. We explicitly present the necessary and sufficient conditions for the existence of stealthy single-channel attacks. To mitigate these security risks, we implement encryption-based countermeasures, including linear time-invariant and periodic encryption methods. We detail sufficient conditions under which these encryption strategies effectively thwart single- and dual-channel stealthy attacks. The effectiveness of these approaches and the theoretical findings are demonstrated through numerical simulations. © 1963-2012 IEEE.

关键词： Cyber attacks

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Active Simultaneously Transmitting and Reflecting Surface Assisted NOMA Networks

arXiv

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arXiv 2024年

作者： Yue, Xinwei Xie, Jin Ouyang, Chongjun Liu, Yuanwei Shen, Xia Ding, Zhiguo The Key Laboratory of Information and Communication Systems Ministry of Information Industry Beijing Information Science and Technology University Beijing100101 China The Key Laboratory of Modern Measurement & Control Technology Ministry of Education Beijing Information Science and Technology University Beijing100101 China The School of Information and Communication Engineering Beijing University of Posts and Telecommunications Beijing100876 China The School of Electronic Engineering and Computer Science Queen Mary University of London LondonE1 4NS United Kingdom Beijing100191 China The Department of Electrical Engineering and Computer Science Khalifa University Abu Dhabi United Arab Emirates Department of Electrical Engineering Princeton University Princeton United States

The novel active simultaneously transmitting and reflecting surface (ASTARS) has recently received a lot of attention due to its capability to conquer the multiplicative fading loss and achieve full-space smart radio environments. This paper introduces the ASTARS to assist non-orthogonal multiple access (NOMA) communications, where the stochastic geometry theory is used to model the spatial positions of pairing users. We design the independent reflection/transmission phase-shift controllers of ASTARS to align the phases of cascaded channels at pairing users. We derive new closed-form and asymptotic expressions of the outage probability and ergodic data rate for ASTARS-NOMA networks in the presence of perfect/imperfect successive interference cancellation (pSIC). The diversity orders and multiplexing gains for ASTARS-NOMA are derived to provide more insights. Furthermore, the system throughputs of ASTARS-NOMA are investigated in both delay-tolerant and delay-limited transmission modes. The numerical results are presented and show that: 1) ASTARS-NOMA with pSIC outperforms ASTARS assisted-orthogonal multiple access (ASTARS-OMA) in terms of outage probability and ergodic data rate;2) The outage probability of ASTARS-NOMA can be further reduced within a certain range by increasing the power amplification factors;3) The system throughputs of ASTARS-NOMA are superior to that of ASTARS-OMA in both delay-limited and delay-tolerant transmission modes. Copyright © 2024, The Authors. All rights reserved.

关键词： Stochastic systems

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Hybrid Disassembly Line Balancing for Human-robot Collaborative Remanufacturing

Hybrid Disassembly Line Balancing for Human-robot Collaborat...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Feng Guo XiWang Guo MengChu Zhou Weitian Wang ShuJin Qin Qi Kang College of Information and Control Engineering Liaoning Petrochemical University Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ USA Collaborative Robotics and Smart Systems Laboratory (CRoSS Lab) Montclair State University Montclair NJ USA College of Economics and Management Shangqiu Normal University Shangqiu P R. China

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

As technologies advance rapidly, the urgency of remanufacturing is escalating. Efficient disassembly processes are crucial at the outset of remanufacturing. This work proposes an innovative disassembly scheme aimed at amplifying efficiency through the utilization of parallelization and human-robot collaboration in the context of a hybrid disassembly line. A single-objective mixed-integer programming model is developed to optimize disassembly profit. A discrete salp swarm algorithm is proposed to solve it since it is NP-hard. We have proposed and integrated uniform variation and two-point crossover operators in this algorithm. After comparing its results with those of the exact solver and other intelligent optimization methods, we conclude its competitive performance in both solution quality and efficiency.

关键词： computer aided software engineering Automation Optimization methods Human-robot interaction Collaboration Programming

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Pinning control of chimera states in systems with higher-order interactions

arXiv

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arXiv 2024年

作者： Muolo, Riccardo Gambuzza, Lucia Valentina Nakao, Hiroya Frasca, Mattia Department of Systems and Control Engineering Tokyo Institute of Technology Tokyo152-8552 Japan Department of Electrical Electronics and Computer Science Engineering University of Catania Catania95125 Italy International Research Frontiers Initiative Tokyo Institute of Technology Kanagawa226-8501 Japan Istituto di Analisi dei Sistemi ed Informatica "A. Ruberti" IASI-CNR Roma00185 Italy

Understanding and controlling the mechanisms behind synchronization phenomena is of paramount importance in nonlinear science. In particular, chimera states, patterns in which order and disorder coexist simultaneously, continue to puzzle scholars, due to their elusive nature. Recently, it has been shown that higher-order interactions greatly promote the onset of chimera states, which are easier to found and more resilient when the system units interact in group. In this work, we show that the higher-order framework is fertile not only for the emergence of chimera states, but also for their control. Via pinning control, a technique consisting in applying a forcing to a subset of the nodes, we are able to trigger the emergence of chimera states with only a small fraction of controlled nodes, at striking contrast with the case without higher-order interactions. We show that our setting is robust for different higher-order topologies and types of pinning control and, finally, we give a heuristic interpretation of the results via phase reduction theory. Our numerical and theoretical results provide further understanding on how higher-order interactions shape nonlinear dynamics. © 2024, CC BY.

关键词： Synchronization

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Secure State Estimation against Sparse Attacks on a Time-varying Set of Sensors

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IFAC-PapersOnLine 2023年第2期56卷 270-275页

作者： Zishuo Li Muhammad Umar B. Niazi Changxin Liu Yilin Mo Karl H. Johansson Department of Automation Tsinghua University Beijing 100084 China Division of Decision and Control Systems Digital Futures School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm SE-100 44 Sweden Laboratory for Information and Decision Systems Massachusetts Institute of Technology 77 Massachusetts Avenue Cambridge MA 02139 USA

This paper studies the problem of secure state estimation of a linear time-invariant (LTI) system with bounded noise in the presence of sparse attacks on an unknown, time-varying set of sensors. At each time, the attacker has the freedom to choose an arbitrary set of no more than p sensors and manipulate their measurements without restraint. To this end, we propose a secure state estimation scheme and guarantee a bounded estimation error irrespective of the attack signals subject to 2p-sparse observability and a mild, technical assumption that the system matrix has no degenerate eigenvalues. The proposed scheme comprises a design of decentralized observers for each sensor based on the local observable subspace decomposition. At each time step, the local estimates of sensors are fused by a median operator to obtain a secure estimation, which is then followed by a local detection-and-resetting process of the decentralized observers. The estimation error is shown to be upper-bounded by a constant which is determined only by the system parameters and noise magnitudes. Moreover, we design the detector threshold to ensure that the benign sensors never trigger the detector. The efficacy of the proposed algorithm is demonstrated by its application on a benchmark example of IEEE 14-bus system. We show that our proposed scheme can effectively tolerate sparse attacks on an unknown set of sensors, ensuring a bounded estimation error and effectively detecting and resetting the attacked sensors.

关键词： Estimation and filtering Design of fault tolerant/reliable systems Estimation and fault detection

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Constrained Multi-Objective Optimal Combined Economic Emission Dispatch

Constrained Multi-Objective Optimal Combined Economic Emissi...

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electrical engineering and Sustainable Technologies (ICEEST), International Conference on

作者： Mazhar Ali Muhammad Ahmad Khan Muhammad Zain Yousaf Muhammad Faizan Tahir Sayyed Haleem Shah Abdullah Qaboos School of Electrical and Electronic Information Control Engineering Tianjin University Tianjin China School of Electrical and Information Engineering Tianjin University Tianjin China School of Electrical and Information Engineering Hubei University of Automotive Technology Shiyan China School of Electric Power South China University of Technology Guangzhou China Department of Electrical and Computer Engineering COMSATS University Islamabad Rawalpindi Pakistan

In this paper, researchers adopt multi-objective particle swarm optimization to tackle the issue of multi-objective combined economic emission dispatch (CEED). The equality and inequality restrictions in this optimization process make it non-linear. In most cases, it divides up the total amount of power generated by all the units in a given system. Primary goals include lowering fuel costs and minimizing environmental impact within prescribed constraints. Economic dispatch is often formulated as a nonlinear system, and the resulting solutions often fall behind expectations. However, these methods are not suitable for solving the economic dispatch issue because of their non-convex character. Several AI methods are used for the economic dispatch issue due to its complexity and the fact that it is neither linear nor smooth. The conventional form of the meta-heuristic approach, particle swarm optimization (PSO), has difficulty dealing with such difficulties, yet it is still widely utilized. In order to solve this issue, this work presents an updated form of particle swarm optimization. The efficiency of the customized version of specific swarm optimization (PSO) is verified in the MATLAB Simulink environment. Finding a Pareto-optimal, industrially, the multi-objective solution to the emission dispatch issue using multi-objective particle swarm optimization is shown to be a viable option.

关键词： Costs Software packages Metaheuristics Generators Fuels Spinning Particle swarm optimization

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Creation and control of high-dimensional multi-partite classically entangled light

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Light(Science & Applications) 2021年第5期10卷 796-805页

作者： Yjie Shen Iaac Nape Xilin Yang Xing Fu Mali Gong Darryl Naidoo Andrew Forbes School of Physics University of the WitwatersrandPrivate Bag 3Wits 2050South Africa State Key Laboratory of Precision Measurement Technology and Instruments Department of Precision InstrumentTsinghua University100084 BeijingChina Electrical and Computer Engineering Department University of CaliforniaLos AngelesCA 90095USA Key Laboratory of Photonic Control Technology(Tsinghua University) Ministry of Education100084 BeijingChina CSIR National Laser Centre PO Box 395Pretoria 0001South Africa Optoelectronics Research Centre University of SouthamptonSouthampton S0171BJUK

Vector beams,non-separable in spatial mode and polarisation,have emerged as enabling tools in many diverse applications,from communication to *** applicability has been achieved by sophisticated laser designs controlling the spin and orbital angular momentum,but so far is restricted to only two-dimensional *** we demonstrate the first vectorially structured light created and fully controlled in eight dimensions,a new *** externally modulate our beam to control,for the frst time,the complete set of classical Greenberger-Horne-Zeilinger(GHZ)states in paraxial structured light beams,in analogy with high-dimensional multi-partite quantum entangled states,and introduce a new tomography method to verify their *** complete theoretical framework reveals a rich parameter space for further extending the dimensionality and degrees of freedom,opening new pathways for vetorilly structured light in the classical and quantum regimes.

关键词： quantum analogy dimensions

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LV distribution gird stabilisation using Energy Storage System

LV distribution gird stabilisation using Energy Storage Syst...

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Compatibility in Power Electronics (CPE)

作者： Szymon Piasecki Krzysztof Szaniawski Jaroslaw Zaleski Rozmyslaw Mienski Pawel Kelm Marek Jasinski Yu-Chen Chang Inst. of Control and Ind. Electronics Warsaw University of Technology Warsaw Poland Apator S.A. Torun Poland Zaklad Energoelektroniki TWERD Torun Poland Inst. of Electrical Power Engineering Lodz University of Technology Lodz Poland Department of Electronic and Computer Engineering NTUST Taipei Taiwan

This paper presents issues related to implementing energy storage in a low-voltage distribution grid with many renewable sources. The purpose of the storage installation is to balance and stabilise the mains voltage. Thanks to this, outages of prosumer photovoltaic installations are limited and energy from RES can be used more effectively without expanding the distribution infrastructure. The article presents the concept and operation modes of the energy storage system illustrated with the course of actual research registered during the pilot project implemented in the Ochotnica Dolna Commune in cooperation with the AGH university of Science and technology and Tauron Dystrybucja.

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On state-space representations of general discrete-time dynamical systems

arXiv

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arXiv 2022年

作者： Rojas, Cristian R. Wachel, Pawel The School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm100 44 Sweden The Department of Control Systems and Mechatronics Wroclaw University of Science and Technology Wroclaw Poland

In this paper we establish that every (deterministic) non-autonomous, discrete-time, causal, time invariant system has a state-space representation, and discuss its minimality. Copyright © 2022, The Authors. All ... 详细信息

关键词： Nonlinear dynamical systems

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