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Optimization of Directional Landmark Deployment for Visual Observer on SE(3)

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arXiv 2022年

作者： Lei, Zike Chen, Xi Tan, Ying Chen, Xiang Chai, Li The School of Information Science and Engineering Wuhan University of Science and Technology Hubei 430081 China The Engineering Research Center of Metallurgical Automation and Measurement Technology Wuhan University of Science and Technology Hubei 430081 China The School of Electrical Mechanical and Infrastructure Engineering The University of Melbourne VIC3010 Australia The Department of Electrical and Computer Engineering University of Windsor ONN9B 3P4 Canada The College of Control Science and Engineering Zhejiang University Hangzhou310027 China

An optimization method is proposed in this paper for novel deployment of given number of directional landmarks (location and pose) within a given region in the 3-D task space. This new deployment technique is built on the geometric models of both landmarks and the monocular camera. In particular, a new concept of Multiple Coverage Probability (MCP) is defined to characterize the probability of at least n landmarks being covered simultaneously by a camera at a fixed position. The optimization is conducted with respect to the position and pose of the given number of landmarks to maximize MCP through globally exploration of the given 3-D space. By adopting the elimination genetic algorithm, the global optimal solutions can be obtained, which are then applied to improve the convergent performance of the visual observer on SE(3) as a demonstration example. Both simulation and experimental results are presented to validate the effectiveness of the proposed landmark deployment optimization method. © 2022, CC BY-NC-SA.

关键词： Probability

Asymmetric Feedback Learning in Online Convex Games

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arXiv 2023年

作者： Wang, Zifan Yi, Xinlei Shen, Yi Zavlanos, Michael M. Johansson, Karl H. Division of Decision and Control Systems School of Electrical Enginnering and Computer Science Kth Royal Institute of Technology Sweden Digital Futures StockholmSE-10044 Sweden The Lab for Information & Decision Systems Massachusetts Institute of Technology United States The Department of Mechanical Engineering and Materials Science Duke University DurhamNC United States

This paper considers online convex games involving multiple agents that aim to minimize their own cost functions using locally available feedback. A common assumption in the study of such games is that the agents are symmetric, meaning that they have access to the same type of information or feedback. Here we lift this assumption, which is often violated in practice, and instead consider asymmetric agents;specifically, we assume some agents have access to first-order gradient feedback and others have access to the zeroth-order oracles (cost function evaluations). We propose an asymmetric feedback learning algorithm that combines the agent feedback mechanisms. We analyze the regret and Nash equilibrium convergence of this algorithm for convex games and strongly monotone games, respectively. Specifically, we show that our algorithm always performs between pure first-order and zeroth-order methods, and can match the performance of these two extremes by adjusting the number of agents with access to zeroth-order oracles. Therefore, our algorithm incorporates the pure first-order and zeroth-order methods as special cases. We provide numerical experiments on an online market problem for both deterministic and risk-averse games to demonstrate the performance of the proposed algorithm. Copyright © 2023, The Authors. All rights reserved.

关键词： Cost functions

Fully Decentralized Design of Initialization-free Distributed Network Size Estimation

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arXiv 2024年

作者： Lee, Donggil Kim, Taekyoo Lee, Seungjoon Shim, Hyungbo Center for Intelligent and Interactive Robotics Korea Institute of Science and Technology Seoul02792 Korea Republic of The Train Control and Communication Team Korea Railroad Research Institute Uiwang16105 Korea Republic of NAVER Labs Seongnam13161 Korea Republic of ASRI Department of Electrical and Computer Engineering Seoul National University Seoul08826 Korea Republic of

In this paper, we propose a distributed scheme for estimating the network size, which refers to the total number of agents in a network. By leveraging a synchronization technique for multi-agent systems, we devise an agent dynamics that ensures convergence to an equilibrium point located near the network size regardless of its initial condition. Our approach is based on an assumption that each agent has a unique identifier, and an estimation algorithm for obtaining the largest identifier value. By adopting this approach, we successfully implement the agent dynamics in a fully decentralized manner, ensuring accurate network size estimation even when some agents join or leave the network. © 2024, CC BY-NC-ND.

关键词： Multi agent systems

Detailed Investigation of Bio-Foam Characteristics of Piggery Wastewater Reveals Novel Foaming Mechanisms

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SSRN

SSRN 2023年

作者： Cheng, Peijin Zhang, Jianming Zhang, Kaiji Liu, Yang Xu, Xiangyang Zhu, Liang Institute of Environment Pollution Control and Treatment Department of Environmental Engineering Zhejiang University Hangzhou310058 China Zhejiang Province Key Laboratory for Water Pollution Control and Environmental Safety Hangzhou310058 China Zhejiang Provincial Engineering Laboratory of Water Pollution Control Hangzhou310058 China Hangzhou Xiaokai Technology Co. Ltd. Hangzhou310000 China Innovation Center of Yangtze River Delta Zhejiang University Jiashan314100 China Department of Electrical and Computer Engineering Samueli School of Engineering University of California Los AngelesCA United States Department of Environmental Engineering Zhejiang University No. 866 Yuhangtang Road Hangzhou310058 China

Biological foam has seriously troubled the wastewater treatment process and brings major challenges to effluent quality, process efficiency, and operation safety. This study systematically analyzed bio-foam characteristics from three piggery wastewater treatment stations to reveal potential foaming mechanisms. The low surface tension for piggery wastewater led to strong foaming capacity, and high viscosity and Zeta potential contributed to foam stability. The long-chain fatty acids (LCFAs) in wastewater were proved to be the key components responsible for foaming: the decrease of surface tension caused by LCFAs directly induced strong foaming ability (physicochemical path);moreover, LCFAs favored the enrichment of non-filamentous foam-related microbes like Hydrogenophaga and Pseudomonas to secrete extracellular polymeric substances, increasing the viscosity and Zeta potential to maintain foam stability (biological paths). Based on the revealed foaming mechanism dominated by LCFAS, this study provided novel insight and valuable guidance for the efficient and safe treatment of piggery wastewater. © 2023, The Authors. All rights reserved.

关键词： Surface tension

Deep Learning-Based Prediction of Subsurface Oil Reservoir Pressure Using Spatio-Temporal Data

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Deep Learning-Based Prediction of Subsurface Oil Reservoir P...

Annual Conference of Industrial Electronics Society

作者： Haibo Cheng Yunpeng He Peng Zeng Shichao Li Valeriy Vyatkin State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China Department of Computer Science Electrical and Space Engineering Luleå University of Technology Luleå Sweden Department of Electrical Engineering and Automation Aalto University Helsinki Finland

Prediction of subsurface oil reservoir pressure are critical to hydrocarbon production. However, the accurate pressure estimation faces great challenges due to the complexity and uncertainty of reservoir. The underground seepage flow and petrophysical parameters (permeability and porosity) are important but difficult to measure in oilfield. Deep learning methods have been successfully used in reservoir engineering and oil & gas production process. In this study, the effective but inaccessible subsurface seepage fields are not used, only the spatial coordinates and temporal information are selected as model input to predict reservoir pressure. A stacked GRU-based deep learning model is proposed to map the relationship between spatio-temporal data and reservoir pressure. The proposed deep learning method is verified by using a three-dimensional reservoir model, and compared with commonly-used methods. The results show that the stacked GRU model has a better performance and higher accuracy than other deep learning or machine learning methods in pressure prediction.

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Submodularity-based False Data Injection Attack Scheme in Multi-agent Dynamical Systems

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arXiv 2022年

作者： Luo, Xiaoyu Zhao, Chengcheng Fang, Chongrong He, Jianping The Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China The State Key Laboratory of Industrial Control Technology Institute of Cyberspace Research Zhejiang University China The Department of Electrical and Computer Engineering University of Victoria BC Canada

Consensus in multi-agent dynamical systems is prone to be sabotaged by the adversary, which has attracted much attention due to its key role in broad applications. In this paper, we study a new false data injection (FDI) attack design problem, where the adversary with limited capability aims to select a subset of agents and manipulate their local multi-dimensional states to maximize the consensus convergence error. We first formulate the FDI attack design problem as a combinatorial optimization problem and prove it is NP-hard. Then, based on the submodularity optimization theory, we show the convergence error is a submodular function of the set of the compromised agents, which satisfies the property of diminishing marginal returns. In other words, the benefit of adding an extra agent to the compromised set decreases as that set becomes larger. With this property, we exploit the greedy scheme to find the optimal compromised agent set that can produce the maximum convergence error when adding one extra agent to that set each time. Thus, the FDI attack set selection algorithms are developed to obtain the near-optimal subset of the compromised agents. Furthermore, we derive the analytical suboptimality bounds and the worst-case running time under the proposed algorithms. Extensive simulation results are conducted to show the effectiveness of the proposed algorithm. Copyright © 2022, The Authors. All rights reserved.

关键词： Dynamical systems

FaSTrack:A Modular Framework for Real-Time Motion Planning and Guaranteed Safe Tracking

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FaSTrack:A Modular Framework for Real-Time Motion Planning a...

作者： Chen, Mo Herbert, Sylvia L. Hu, Haimin Pu, Ye Fisac, Jaime Fernandez Bansal, Somil Han, Soojean Tomlin, Claire J. School of Computing Science Simon Fraser University BurnabyBCV5A 1S6 Canada Department of Mechanical and Aerospace Engineering University of California San Diego San DiegoCA92122 United States Department of Electrical Engineering Princeton University PrincetonNJ08536 United States Department of Electrical and Electronic Engineering University of Melbourne ParkvilleVIC3010 Australia Department of Electrical Engineering and Computer Sciences University of California Berkeley BerkeleyCA94704 United States Control and Dynamical Systems Program California Institute of Technology Los AngelesCA90019 United States

Real-time, guaranteed safe trajectory planning is vital for navigation in unknown environments. However, real-time navigation algorithms typically sacrifice robustness for computation speed. Alternatively, provably safe trajectory planning tends to be too computationally intensive for real-time replanning. We propose FaSTrack, Fast and Safe Tracking, a framework that achieves both real-time replanning and guaranteed safety. In this framework, real-time computation is achieved by allowing any trajectory planner to use a simplified planning model of the system. The plan is tracked by the system, represented by a more realistic, higher dimensional tracking model. We precompute the tracking error bound (TEB) due to mismatch between the two models and due to external disturbances. We also obtain the corresponding tracking controller used to stay within the TEB. The precomputation does not require prior knowledge of the environment. We demonstrate FaSTrack using Hamilton-Jacobi reachability for precomputation and three different real-time trajectory planners with three different tracking-planning model pairs. © 1963-2012 IEEE.

关键词： Real time systems

SI-YOLO: A Deep Learning Algorithm Suitable for Surgical Instrument Detection

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SSRN

SSRN 2022年

作者： Liu, Zhenzhong Zhou, Yifan Sun, Qiyuan Wang, Yan Polat, Kemal Nour, Majid Alenezi, Fayadh Alhudhaif, Adi Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China Tianjin300384 China Department of Electrical and Electronics Engineering Bolu Abant Izzet Baysal University Bolu14280 Turkey Department of Electrical and Computer Engineering Faculty of Engineering King Abdulaziz University Jeddah21589 Saudi Arabia Department of Electrical Engineering College of Engineering Jouf University 72238 Saudi Arabia Department of Computer Science College of Computer Engineering and Sciences in Al-kharj Prince Sattam bin Abdulaziz University P.O. Box 151 Al-Kharj 11942 Saudi Arabia

Surgical instrument detection and tracking is one of the core technologies of surgical robots, which can assist clinicians in completing operations. However, existing methods need further improvement in terms of real-time performance and accuracy. We propose a deep learning algorithm, SI-YOLO, for detection of surgical instruments. SimAM attention mechanism is used to improve the feature extraction ability of YOLOv5. Replacing PANet with BiFPN in the neck network improves the feature fusion strategy. The α-IoU loss function is used to improve the regression accuracy of detection boxes. The mAP and FPS of the SI-YOLO reach 99.2% and 120 frames/sec, respectively. Aiming at the problem of ID transformation in the disappearance and occlusion of surgical instruments, the Inception-ResNet-v2 structure is added on the basis of the appearance feature extraction network Cosine of the DeepSort tracking algorithm. Combining SI-YOLO with the improved DeepSort implements the Tracking by Detection (TBD) algorithm. In the case of device disappearance or occlusion, the frequency of ID transitions is reduced by approximately 30%. Finally, we built a simulated surgery experimental platform, established our own data set, and realized the preliminary application of the proposed algorithm. © 2022, The Authors. All rights reserved.

关键词： Object detection

Augmented input estimation in multiple maneuvering target tracking

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Journal of Systems engineering and Electronics 2019年第5期30卷 841-851页

作者： HADAEGH Mahmoudreza KHALOOZADEH Hamid BEHESHTI Mohammadtaghi Department of Electrical and Computer Engineering Science and Research BranchIslamic Azad UniversityTehran ***Iran Department of Systems and Control K.N.Toosi University of TechnologyTehran ***Iran Department of Electrical Engineering Control GroupTarbiat Modares UniversityTehran 14115111Iran

This paper presents augmented input estimation(AIE)for multiple maneuvering target ***-target tracking(MTT)is based on two main parts,data association and *** data association(DA),the best observations are assigned to the considered *** real conditions,the number of observations is more than targets and also locations of observations are often so scattered that the association between targets and observations cannot be done *** this case,for general MTT problems with unknown numbers of targets,we present a Markov chain Monte-Carlo DA(MCMCDA)algorithm that approximates the optimal Bayesian filter with low complexity in *** DA,estimation and tracking should be *** in general cases,many targets can have maneuvering motions,then AIE is proposed to cover both the non-maneuvering and maneuvering parts of motion and the maneuver detection procedure is *** model with an input estimation(IE)approach is a special augmentation in the state space model which considers both the state vector and the unknown input vector as a new augmented state *** comparisons based on the Monte-Carlo simulations are also made to evaluate the performances of the proposed method and other older methods in MTT.

关键词： multi-target tracking (MTT) Markov chain Monte-Carlodata association (MCMCDA) data association (DA) augmentedinput estimation (AIE)