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arXiv 2022年

作者： Broens, Yorick Butler, Hans Tóth, Roland The Department of Electrical Engineering Eindhoven University of Technology Eindhoven Netherlands ASML Veldhoven Netherlands The Systems and Control Laboratory Institute for Computer Science and Control Hungary

The ever increasing need for performance results in increasingly rigorous demands on throughput and positioning accuracy of high-precision motion systems, which often suffer from position dependent effects that originate from relative actuation and sensing of the moving-body. Due to the highly stiff mechanical design, such systems are typically controlled using rigid body control design approaches. Nonetheless, the presence of position dependent flexible dynamics severely limits attainable position tracking performance. This paper presents two extensions of the conventional rigid body control framework towards active control of position dependent flexible dynamics. Additionally, a novel control design approach is presented, which allows for shaping of the full closed-loop system by means of structured H∞ co-design. The effectiveness of the approach is validated through simulation using a high-fidelity model of a state-of-the-art moving-magnet planar *** Codes 37M15 © 2022, CC BY.

关键词： Closed loop systems

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Micro-Stack Airborne P- and L-Band Sar Tomography for 3d Forest Mapping: Cross-Validation at Two Forest Sites in Hebei and Hainan, China

SSRN

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SSRN 2024年

作者： Wang, Longxiang Xiang, Wei Zhang, Heng Deng, Yunkai Song, Hongjun Wang, Jili Liu, Dacheng Lu, Hongliang Zhao, Lei Space Microwave Remote Sensing System Department Aerospace Information Research Institute Chinese Academy of Science Beijing100190 China School of Electronics Electrical and Communication Engineering University of Chinese Academy of Science Beijing100049 China Qilu Aerospace Information Research Institute Jinan250100 China Research Institute of Forest Resources Information Technique Chinese Academy of Forestry Beijing100091 China Key Laboratory of Forestry Remote Sensing and Information System National Forestry and Grassland Administration Chinese Academy of Forestry Beijing100091 China

The vertical structure and height of the forest are crucial for forest resource management and carbon stock. Tomographic Synthetic Aperture Radar (TomoSAR) technology effectively extracts precise three-dimensional (3D) forest information utilizing multi-baseline SAR image stacks. However, airborne TomoSAR implementation encounters several challenges. First, conventional TomoSAR imaging approaches require at least six acquisitions for a reasonable 3D reconstruction. Second, the instability of the flight trajectories could result in the interferograms decoherence. Third, excessive flight passes are laborious and inefficient, which is difficult for the large-scale 3D forest mapping. To overcome these limitations, this paper proposes a micro-stack TomoSAR imaging approach for forest height retrieval using the double iterative adaptive residual approach (DIARA). The DIARA is a spectral estimation approach based on iterative adaptation of inner and outer layers and residual optimization function, aiming to improve data processing efficiency and accuracy. To validate the effectiveness and robustness of the DIARA, micro-stack airborne P- and L-band SAR data are comprehensively analyzed to obtain tomograms and retrieve forest height in the Saihanba Forest Farm, Hebei, and the Diaoluoshan Nature Reserve, Hainan, China, respectively. Especially, the airborne L-band TomoSAR is applied to retrieve the vertical structure of tropical forests for the first time in *** DIARA significantly enhances the recovery of ground scattering signals and successfully detects the weak scatterers beneath dense forest canopy through residual processing. The LiDAR canopy height model (CHM) is used for comparison and evaluation. Furthermore, the four indicators R2, MAE, MAPE, and RMSE of the P-band TomoSAR result derived from only four acquisitions are 0.628, 0.625 m, 3.68%, and 0.771m, respectively. Similarly, the R2, MAE, MAPE, and RMSE of the L-band TomoSAR result are 0.837, 1.051 m, 6.709%

关键词： Synthetic aperture radar

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Motion Planning Integrated with Vehicle-Terrain Interactions for Off-Road Autonomous Ground Vehicles 27

Motion Planning Integrated with Vehicle-Terrain Interactions...

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27th IEEE International Conference on Intelligent Transportation systems, ITSC 2024

作者： Yin, Jianhua Zhan, Xianyuan Ji, Tianying Xu, Bingrong He, Yi Zhang, Daqing Li, Lingxi Wuhan University of Technology Intelligent Transportation Systems Research Center Wuhan430063 China Engineering Research Center of Transportation Information and Safety Ministry of Education Wuhan430063 China Chongqing Research Institute Wuhan University of Technology Chongqing China Institute for Ai Industry Research Tsinghua University Beijing100084 China Shanghai Artificial Intelligence Laboratory Shanghai200232 China Tsinghua University Department of Computer Science and Technology Beijing100084 China School of Automation Wuhan University of Technology Wuhan430070 China College of Mechanical and Electrical Engineering Hunan Agricultural University Changsha410128 China Sunward Intelligent Equipment Co. Ltd. Changsha410100 China Elmore Family School of Electrical and Computer Engineering College of Engineering Purdue University IN46202 United States

ISBN: (纸本)9798331505929

Off-road autonomous ground vehicles (AGVs) work in unstructured environments with varied elevation and deformable ground, where vehicle-terrain interactions are more complex resulting in unpredictable dynamics behavior. Current sensor-based hazards/obstacle identification methods mainly focus on geometric hazards/obstacles with explicit geometry, which might be adequate for vehicles in on-road conditions. However, in the off-road environment, vehicle-terrain interactions could introduce non-geometric hazards that cannot be detected by current geometric hazards-oriented sensing techniques, e.g. vehicle stuck in mud. To enable AGVs to traverse the target terrain and meet the goal while avoiding non-geometric hazards, this work proposes a motion planning method integrated with coupled vehicle-terrain dynamics response. Specifically, terramechanics-based modeling and simulation (M&S) is utilized to characterize vehicle-terrain interactions. Based on the dynamics response, a reinforcement learning (RL) algorithm with a specialized reward function is used to navigate the AGV to find the goal with high mobility and safety. We demonstrate the proposed method with two case studies, 1) high mobility is the foremost concern with less safety requirement, and 2) both high mobility and safety are required. The results show that the proposed motion planning method is effective for navigating the AGV in off-road terrains. © 2024 IEEE.

关键词： Off road vehicles

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Efficient Ultra-Compact Antenna for 2.45 GHz ISM Band Wireless Connectivity in Biomedical Devices

Efficient Ultra-Compact Antenna for 2.45 GHz ISM Band Wirele...

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International Conference on Image and Signal Processing and their Applications (ISPA)

作者： Mohamed Benaissa Abdelhalim Chaabane Djelloul Aissaoui Hussein Attia Telecommunications and Smart Systems Laboratory Faculty of Science and Technology Ziane Achour University of Djelfa Djelfa Algeria Laboratoire des Télécommunications-LT Université 8 Mai 1945 Guelma Guelma Algeria Electrical Engineering Department Interdisciplinary Research Center for Communication Systems and Sensing King Fahd University of Petroleum and Minerals Dhahran Saudi Arabia

ISBN: (数字)9798350309249

ISBN: (纸本)9798350309256

This study presents an innovative ultra-miniaturized antenna system designed for 2.45 GHz ISM band operation, tailored to the distinct requirements of biomedical implants. The proposed antenna boasts an exceptional level of compactness, with a mere 3.3 mm 3 in volume and physical dimensions of 3 mm × 3 mm × 0.37 mm. In a three-layer body model incorporating skin, fat, and muscle, the antenna system achieves an impressive peak gain of -25.4 dB at 2.45 GHz while maintaining a remarkable impedance bandwidth of -10 dB, spanning 33.8%. This accomplishment is particularly noteworthy, given the antenna’s compact design. Additionally, it exhibits outstanding omnidirectional radiation patterns. Furthermore, an evaluation and analysis of the antenna’s specific absorption rate (SAR) are conducted. These results emphasize the practicality and potential applications of this antenna system within biomedical devices.

关键词： Wireless communication Biological system modeling Implants Bandwidth Specific absorption rate Impedance Gain

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Leveraging ASR Pretrained Conformers for Speaker Verification through Transfer Learning and Knowledge Distillation

arXiv

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arXiv 2023年

作者： Cai, Danwei Li, Ming The Department of Electrical and Computer Engineering Duke University DurhamNC27705 United States The Suzhou Municipal Key Laboratory of Multimodal Intelligent Systems Data Science Research Center Duke Kunshan University Kunshan China

This paper focuses on the application of Conformers in speaker verification. Conformers, initially designed for Automatic Speech Recognition (ASR), excel at modeling both local and global contexts within speech signals effectively. Previous research has established that ASR and speaker verification tasks can naturally complement each other. Building on this synergistic relationship, this study introduces three strategies for leveraging ASR-pretrained Conformers in speaker verification: (1) Transfer learning: We use a pretrained ASR Conformer encoder to initialize the speaker embedding network, thereby enhancing model generalization and mitigating the risk of overfitting. (2) Knowledge distillation: We distill the complex capabilities of an ASR Conformer into a speaker verification model. This not only allows for flexibility in the student mode's network architecture but also incorporates frame-level ASR distillation loss as an auxiliary task to reinforce speaker verification. (3) Parameter-efficient transfer learning with speaker adaptation: A lightweight speaker adaptation module is proposed to convert ASR-derived features into speaker-specific embeddings, without altering the core architecture of the original ASR Conformer. This strategy facilitates the concurrent execution of ASR and speaker verification tasks within a singular model. Experiments were conducted on VoxCeleb datasets. The results are compelling: models employing ASR pretraining and knowledge distillation significantly outperform standard Conformers. Specifically, the best model using the ASR pretraining method achieved a 0.43% equal error rate (EER) on the VoxCeleb1-O test trial, while the knowledge distillation approach yielded a 0.38% EER. Furthermore, by adding a mere 4.92 million parameters to a 130.94 million-parameter ASR Conformer encoder, the speaker adaptation approach achieved a 0.45% EER, enabling parallel speech recognition and speaker verification within a single ASR Conformer encoder.

关键词： Transfer learning

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Wireless control of a D.C. Motor Used for Driving a Conveyor Belt

Wireless control of a D.C. Motor Used for Driving a Conveyor...

引用

Circuit, systems and Communication (ICCSC), International Conference on

作者： Petru Livint Ioan-Viorel Banu George Culea Bouderbala Manale Btissam Majout Alexandru Dusa Department of Energetics and Science computer University “Vasile Alecsandri” of Bacau Romania LIMAS Laboratory Faculty of Sciences Dhar El Mahraz Sidi Mohammed Ben Abdellah University Fez Morocco Laboratory of Engineering Modellingand Systems Analysis Sidi Mohammed Ben Abdellah University Fez Morocco Department of Automatic and Electrical Engineering “Dunarea de Jos” University of Galati Romania

ISBN: (数字)9798350365306

ISBN: (纸本)9798350365313

This article presents an experimental stand for the remote control of a D.C. motor used to drive a conveyor belt. This is based on two development boards Arduino Uno and two shields NRF24L01. The D. C. motor is supplied from a D.C. voltage source by means of the H type bridge. The emitter circuit sends the control signal generated through a potentiometer to the receptor circuit by means of radio waves at a frequency of 2.4 GHz. The receptor circuit receives the analogue signal emitted by the emitting circuit, transforms it into a PWM (pulse width modulation) signal and uses it for controlling the transistors of the H-bridge. For implementing and validating the remote control system of the D.C. motor two programs have been issued in the programming environment Arduino IDE for the two circuits. emitter and receptor. The remote control system of the D.C. motor has been running in the same way as the direct control of this. The remote control is used in the case of the electric actuation systems made with D.C. motors continuous used in spaces inaccessible to the human operator.

关键词： Wireless communication Bridge circuits Transforms Pulse width modulation Potentiometers Motors Belts

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Micro-Stack Airborne P- and L-Band Sar Tomography for 3d Forest Mapping: Case Studies At Two Forest Sites in Hebei and Hainan, China

SSRN

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SSRN 2024年

关键词： Synthetic aperture radar

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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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Continuity Scaling: A Rigorous Framework for Detecting and Quantifying Causality Accurately

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Research 2022年第4期2022卷 137-146页

作者： Xiong Ying Si-Yang Leng Huan-Fei MaD Qing Nie Ying-Cheng Lai Wei Lin School of Mathematical Sciences SCMSand SCAMFudan UniversityShanghai 200433China Research Institute for Inteligent Complex Systems CCSBand LCNBIFudan UniversityShanghai 200433China State Key Laboratory of Medical Neurobiology and MOE Frontiers Center for Brain Science Institutes of Brain ScienceFudan UniversityShanghai 200032China Institute of AI and Robotics Academy for Engineering and TechnologyFudan UniversityShanghai 200433China School of Mathematical Sciences Soochow UniversitySuzhou 215006China Department of Mathematics Department of Developmental and Cll BiologyAnd NSF-Simons Center for Multiscale Cell Fate ResearchUniversity of CaliforniaIrvineCA 92697-3875USA School of Electrical ComputerAnd Energy EngineeringArizona State UniversityTempeArizona 85287-5706USA Shanghai Artificial Intelligence Laboratory Shanghai 200232China

Data-based detection and quantification of causation in complex,nonlinear dynamical systems is of paramount importance to science,engineering,and *** by the widely used methodology in recent years,the cross-map-based techniques,we develop a general framework to advance towards a comprehensive understanding of dynamical causal mechanisms,which is consistent with the natural interpretation of *** particular,instead of measuring the smoothness of the cross-map as conventionally implemented,we define causation through measuring the scaling law for the continuity of the investigated dynamical system *** uncovered scaling law enables accurate,reliable,and eficient detection of causation and assessment of its strength in general complex dynamical systems,outperforming those existing representative *** continuity scaling-based framework is rigorously established and demonstrated using datasets from model complex systems and the real world.

关键词： dynamical scaling continuity

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Global solution to sensor network localization: A non-convex potential game approach and its distributed implementation

arXiv

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arXiv 2024年

作者： Xu, Gehui Chen, Guanpu Hong, Yiguang Fidan, Baris Parisini, Thomas Johansson, Karl H. Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Beijing100190 China The Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Sweden Digital Futures StockholmSE-10044 Sweden Department of Control Science and Engineering Tongji University Shanghai201804 China Shanghai Research Institute for Intelligent Autonomous Systems Shanghai201210 China The Department of Mechanical and Mechatronics Engineering University of Waterloo WaterlooONN2L 3G1 Canada The Department of Electrical and Electronic Engineering Imperial College London LondonSW7 2AZ United Kingdom The Department of Engineering and Architecture University of Trieste Trieste34127 Italy

Consider a sensor network consisting of both anchor and non-anchor nodes. We address the following sensor network localization (SNL) problem: given the physical locations of anchor nodes and relative measurements among all nodes, determine the locations of all non-anchor nodes. The solution to the SNL problem is challenging due to its inherent non-convexity. In this paper, the problem takes on the form of a multi-player nonconvex potential game in which canonical duality theory is used to define a complementary dual potential function. After showing the Nash equilibrium (NE) correspondent to the SNL solution, we provide a necessary and sufficient condition for a stationary point to coincide with the NE. An algorithm is proposed_ to reach the NE and shown to have convergence rate O(1/√k). With the aim of reducing the information exchange within a network, a distributed algorithm for NE seeking is implemented and its global convergence analysis is provided. Extensive simulations show the validity and effectiveness of the proposed approach to solve the SNL problem. Copyright © 2024, The Authors. All rights reserved.

关键词： Game theory

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