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IEEE Conference on Decision and Control

作者： Tiancheng Qin S. Rasoul Etesami Cesár A. Uribe Department of Industrial and Enterprise Systems Engineering Coordinated Science Laboratory University of Illinois at Urbana-Champaign Urbana IL USA Department of Electrical and Computer Engineering Rice University Houston TX USA

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

Modern machine learning, especially deep learning, features models that are often highly expressive and over-parameterized. They can interpolate the data by driving the empirical loss close to zero. We analyze the convergence rate of decentralized stochastic gradient descent (SGD), which is at the core of decentralized federated learning (DFL), for these over-parameterized models. Our analysis covers the setting of decentralized SGD with time-varying networks, local updates and heterogeneous data. We establish strong convergence guarantees with or without the assumption of convex objectives that either improves upon the existing literature or is the first for the regime.

关键词： Deep learning Analytical models Federated learning Stochastic processes Numerical models Convergence

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Intelligent Soft Robotic Gripper Enabled by Multimodal Sensors and Deep Learning

Intelligent Soft Robotic Gripper Enabled by Multimodal Senso...

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IEEE International Conference on Nano/Micro Engineered and Molecular systems (NEMS)

作者： Qiongfeng Shi Zhongda Sun Xianhao Le Jin Xie Chengkuo Lee Joint International Research Laboratory of Information Display and Visualization School of Electronic Science and Engineering Southeast University Nanjing China Department of Electrical and Computer Engineering National University of Singapore Singapore Singapore State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University Hangzhou China

Here we report an intelligent soft robotic gripper enabled by the integration of an ultrasonic remote sensor and triboelectric sensors. Due to the noncontact distance sensing ability, the ultrasonic sensor is used to find the object’s visual information including position and height by lateral scanning. The information is then used for adjusting the robotic gripper to an appropriate grasp location, after which grasp operation is performed to obtain the object’s tactile information through triboelectric bending and tactile sensors. To efficiently analyze the multimodal information, a deep-learning neural network based on feature-level data fusion is constructed, which is able to achieve a high accuracy of 99.3% in classifying 14 objects, enabling the intelligent soft robotic gripper for various smart applications.

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Automated Detection and Depth Determination of Melt Ponds on Sea Ice in ICESat-2 ATLAS Data — The Density-Dimension Algorithm for Bifurcating Sea-Ice Reflectors (DDA-bifurcate-seaice)

TechRxiv

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TechRxiv 2022年

作者： Herzfeld, Ute Trantow, Thomas Han, Huilin Buckley, Ellen Farrell, Sinéad Lawson, Matthew Geomathematics Remote Sensing and Cryospheric Sciences Laboratory Department of Electrical Computer and Energy Engineering University of Colorado Boulder BoulderCO80309 United States Departments of Geographical Sciences and Atmospheric & Oceanic Science University of Maryland College ParkMD20742 United States

As climate warms and the transition from a perennial to a seasonal Arctic sea-ice cover is imminent, understanding melt ponding is central to understanding changes in the new Arctic. NASA’s Ice, Cloud and land Elevation Satellite (ICESat-2) has the capacity to provide measurements and monitoring of the onset of melt in the Arctic and on melt progression. Yet ponds are currently not reported on the ICESat-2 standard seaice products because of the low resolution of the products, in which only a single surface is determined. The objective of this paper is to introduce a mathematical algorithm that facilitates automated detection of melt ponds in ICESat-2 ATLAS data, retrieval of two surface heights, pond surface and bottom, and measurements of depth and width of melt ponds. With the Advanced Topographic Laser Altimeter System (ATLAS), ICESat-2 carries the first space-borne multi-beam micro-pulse photon-counting laser altimeter system, operating at 532 nm frequency. ATLAS data are recorded as clouds of discrete photon points. The Density-Dimension Algorithm for bifurcating sea-ice reflectors (DDA-bifurcate-seaice) is an auto-adaptive algorithm that solves the problem of pond detection near the 0.7m nominal alongtrack resolution of ATLAS data, utilizing the radial basis function for calculation of a density field and a threshold function that automatically adapts to changes in background, apparent surface reflectance and some instrument effects. The DDA-bifurcate-seaice is applied to large ICESat-2 data sets from the 2019 and 2020 melt seasons in the multi-year Arctic sea-ice region. Results are evaluated by comparison to those from a manually forced algorithm. © 2022, CC BY-NC-SA.

关键词： Lakes

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Enhanced Redundant Scheme Based on Weighted Cluster-Head Selection for Critical 6G Infrastructures

Enhanced Redundant Scheme Based on Weighted Cluster-Head Sel...

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IEEE Globecom Workshops

作者： Grace Khayat Constandinos X Mavromoustakis Andreas Pitsillides Jordi Mongay Batalla Evangelos K. Markakis Andreas Andreou Department of Computer Science Mobile Systems Laboratory (MoSys Lab) University of Nicosia Nicosia Cyprus Department of Computer Science University of Cyprus Cyprus Department of Electrical & Electronic Engineering Science University of Johannesburg Warsaw University of Technology Warsaw Poland Department of Electrical and Computer Engineering Hellenic Mediteranean University Estavromenos Heraklion Greece Department of Computer Science Research Foundation University of Nicosia and University of Nicosia Nicosia Cyprus

ISBN: (纸本)9781665459761

Flying Ad hoc Network (FANET) consists of a group of unmanned aerial vehicles (UAVs) that fulfill a certain mission in various applications. The UAV targets uploading data to the 6G networks through communication to other UAVs or to the base station. UAVs collaborate for a purpose to achieve a certain mission in a faster and more reliable way compared to a single UAV. In critical cases such as flooding or earthquakes, one or more UAVs can be non-functional thus emerging a disconnected network. One of the most reliable routing schemes is clustering which splits the network into clusters. Every cluster incorporates a cluster-head and cluster-members. The selection of the cluster-head possesses a high influence on the routing scheme’s performance as it is responsible for all intra-cluster communication. A new clustered weighted scheme with a redundant cluster-head is proposed to ensure end-to-end communication in critical 6G infrastructures. The parameters of the weighted formula used for cluster establishment and primary cluster-head selection are the distance, the performance index, the speed, and the energy. A secondary cluster-head that automatically replaces the primary cluster-head whenever it is non-functional is selected based on the link reliability. The promising results obtained from MATLAB simulation are discussed in section IV.

关键词： 6G mobile communication Base stations Conferences Earthquakes Routing Autonomous aerial vehicles Ad hoc networks

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Measurement of paracetamol concentration using a fiber laser system

Measurement of paracetamol concentration using a fiber laser...

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Bioengineering (ENBENG), Portuguese Meeting in

作者： Liliana Soares Rosa Ana Perez-Herrera Susana Novais António Ferreira Orlando Frazão Susana Silva Faculty of Engineering INESC TEC - Institute for Systems and Computer Engineering Technology and Science University of Porto Porto Portugal Department of Electrical Electronic and Communication Engineering Public Univ. of Navarra ISC - Institute of Smart Cities Public Univ. of Navarra Pamplona Spain INESC TEC - Institute for Systems and Computer Engineering Technology and Science Porto Portugal LEPABE-Laboratory for Process Engineering Environment Biotechnology and Energy University of Porto Porto Portugal ALiCE - Associate Laboratory in Chemical Engineering University of Porto Porto Portugal

A linear fiber laser system for measurements of paracetamol concentration is experimentally demonstrated. The cavity is based on a fiber loop mirror and an FBG centered at 1567.8 nm. The sensing head corresponds to a refractometric sensor, whose which principle of operation is based on Fresnel reflection in the fiber tip (FBG side). The system works at detected variations of paracetamol concentrations with a sensitivity of $[(8.74\pm 0.34)\times 10^{-5}]\ \ \mu \mathrm{W}/(\mathrm{g}/\text{kg})$ and a resolution of 2.77 g/kg. The results prove that the fiber laser system could be an asset for processing industries, specifically for non-invasive and real-time measurements of concentration.

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Outage Performance and Optimal Design of MIMO-NOMA Enhanced Small Cell Networks with Imperfect Channel-State Information

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China Communications 2021年第10期18卷 107-128页

作者： Zheng Shi Hong Wang Yaru Fu Guanghua Yang Shaodan Ma Xinrong Ye School of Intelligent Systems Science and Engineering Jinan UniversityZhuhai 519070China State Key Laboratory of Internet of Things for Smart City and the Department of Electrical and Computer Engineering University of MacaoMacao 999078China School of Communication and Information Engineering Nanjing University of Posts and TelecommunicationsNanjing 210003China School of Science and Technology Hong Kong Metropolitan UniversityHong Kong SARChina School of Physics and Electronic Information Anhui Normal UniversityWuhu 241002China

This paper focuses on boosting the performance of small cell networks(SCNs)by integrating multiple-input multiple-output(MIMO)and nonorthogonal multiple access(NOMA)in consideration of imperfect channel-state information(CSI).The estimation error and the spatial randomness of base stations(BSs)are characterized by using Kronecker model and Poisson point process(PPP),*** outage probabilities of MIMO-NOMA enhanced SCNs are first derived in closed-form by taking into account two grouping policies,including random grouping and distance-based *** is revealed that the average outage probabilities are irrelevant to the intensity of BSs in the interference-limited regime,while the outage performance deteriorates if the intensity is sufficiently ***,as the channel uncertainty lessens,the asymptotic analyses manifest that the target rates must be restricted up to a bound to achieve an arbitrarily low outage probability in the absence of the inter-cell ***,highly correlated estimation error ameliorates the outage performance under a low quality of CSI,otherwise it behaves ***,the goodput is maximized by choosing appropriate precoding matrix,receiver filters and transmission *** the end,the numerical results verify our analysis and corroborate the superiority of our proposed algorithm.

关键词： imperfect channel-state information(CSI) multiple-input multiple-output(MIMO) non-orthogonal multiple access(NOMA) small cell networks(SCNs)

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Green Routing Game: Strategic Logistical Planning using Mixed Fleets of ICEVs and EVs

Green Routing Game: Strategic Logistical Planning using Mixe...

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IEEE Conference on Decision and Control

作者： Hampei Sasahara György Dán Saurabh Amin Henrik Sandberg Department of Systems and Control Engineering School of Engineering Tokyo Institute of Technology Tokyo Japan Division of Network and Systems Engineering School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Laboratory for Information and Decision Systems Massachusetts Institute of Technology Cambridge MA USA Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

This paper introduces a “green” routing game between multiple logistic operators (players), each owning a mixed fleet of internal combustion engine vehicle (ICEV) and electric vehicle (EV) trucks. Each player faces the cost of delayed delivery (due to charging requirements of EVs) and a pollution cost levied on the ICEVs. This cost structure models: 1) limited battery capacity of EVs and their charging requirement; 2) shared nature of charging facilities; 3) pollution cost levied by regulatory agency on the use of ICEVs. We characterize Nash equilibria of this game and derive a condition for its uniqueness. We also use the gradient projection method to compute this equilibrium in a distributed manner. Our equilibrium analysis is useful to analyze the trade-off faced by players in incurring higher delay due to congestion at charging locations when the share of EVs increases versus a higher pollution cost when the share of ICEVs increases. A numerical example suggests that to increase marginal pollution cost can reduce inefficiency of equilibria.

关键词： Costs Pollution Green products Internal combustion engines Games Routing Planning

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Learning For Predictive Control: A Dual Gaussian Process Approach

arXiv

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arXiv 2022年

作者： Liu, Yuhan Wang, Pengyu Tóth, Roland Control Systems Group Department of Electrical Engineering Eindhoven University of Technology Eindhoven Netherlands Flight Dynamics and Control Laboratory Department of Aerospace Engineering Korea Advanced Institute of Science and Technology Daejeon Korea Republic of Systems and Control Laboratory Institute for Computer Science and Control Budapest Hungary

An important issue in model-based control design is that an accurate dynamic model of the system is generally nonlinear, complex, and costly to obtain. This limits achievable control performance in practice. Gaussian process (GP) based estimation of system models is an effective tool to learn unknown dynamics directly from input/output data. However, conventional GP-based control methods often ignore the computational cost associated with accumulating data during the operation of the system and how to handle forgetting in continuous adaption. In this paper, we present a novel Dual Gaussian Process (DGP) based model predictive control (MPC) strategy that enables efficient use of online learning based predictive control without the danger of catastrophic forgetting. The bio-inspired DGP structure is a combination of a long-term GP and a short-term GP, where the long-term GP is used to keep the learned knowledge in memory and the short-term GP is employed to rapidly compensate unknown dynamics during online operation. Furthermore, a novel recursive online update strategy for the short-term GP is proposed to successively improve the learnt model during online operation. Effectiveness of the proposed strategy is demonstrated via numerical simulations. © 2022, CC BY-NC-SA.

关键词： Model predictive control

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Distributed Prescribed-Time Observer for Nonlinear systems in Block-Triangular Form

arXiv

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arXiv 2025年

作者： de Heij, Vincent Niazi, M.B. Umar Johansson, Karl H. Ahmed, Saeed Faculty of Science and Engineering University of Groningen Groningen9747 AG Netherlands Division of Decision and Control Systems Digital Futures KTH Royal Institute of Technology StockholmSE-100 44 Sweden Division of Decision and Control Systems Digital Futures KTH Royal Institute of Technology StockholmSE-100 44 Sweden Laboratory for Information and Decision Systems Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology CambridgeMA02139 United States

This paper proposes a distributed prescribed-time observer for nonlinear systems representable in a block-triangular observable canonical form. Using a weighted average of neighbor estimates exchanged over a strongly connected digraph, each observer estimates the system state despite the limited observability of local sensor measurements. The proposed design guarantees that distributed state estimation errors converge to zero at a user-specified convergence time, irrespective of observers’ initial conditions. To achieve this prescribed-time convergence, distributed observers implement time-varying local output injection gains that monotonically increase and approach infinity at the prescribed time. The theoretical convergence is rigorously proven and validated through numerical simulations, where some implementation issues due to increasing gains have also been clarified. Copyright © 2025, The Authors. All rights reserved.

关键词： Digital arithmetic

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Covert Communications with Enhanced Physical Layer Security in RIS-Assisted Cooperative Networks

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IEEE Transactions on Wireless Communications 2025年

作者： Li, Xingwang Liu, Musen Dang, Shuping Luong, Nguyen Cong Yuen, Chau Nallanathan, Arumugam Niyato, Dusit Henan Polytechnic University School of Physics and Electronic Information Engineering Jiaozuo454003 China Southeast University National Mobile Communications Research Laboratory Nanjing210096 China Jiaozuo Key Laboratory of Crow-Sensing Network Jiaozuo454003 China University of Bristol School of Electrical Electronic and Mechanical Engineering BristolBS8 1UB United Kingdom Phenikaa University Faculty of Computer Science Hanoi12116 Viet Nam Nanyang Technological University Singapore School of Electrical and Electronics Engineering 639798 Singapore Queen Mary University of London School of Electronic Engineering and Computer Science London United Kingdom Kyung Hee University Department of Electronic Engineering Gyeonggi-do Yongin-si17104 Korea Republic of Nanyang Technological University Singapore College of Computing and Data Science 639798 Singapore

Reconfigurable intelligent surface (RIS) and ambient backscatter communication (AmBC) technologies are recognized for their programmability and high energy efficiency respectively, which will be the key parts of the future sixth generation (6G) mobile communication technology. The combination of the two technologies can improve communication security by reducing the probability of detection and decoding through enhanced transmission and backscatter transmission in different communication slots. In this paper, a dual-function RIS that supports cooperative relaying for covert communications is proposed. It operates in different communication slots (enhanced transmission slot and backscatter slot), but the performance is affected by phase errors due to function switching. A source covertly communicates with an intended destination via the help of RIS and cooperative relay. There is an illegal monitor aims to detect and eavesdrop the covert message. For this system, the outage probability (OP), intercept probability (IP), and detection error probability (DEP) in different communication slots are derived to examine the system reliability and security. Moreover, the system security probability (SSP) is proposed, and a block coordinated ascent (BCA)-based iterative algorithm is used to jointly optimize the power allocation coefficients to maximize the SSP. Simulation results show that increasing the number of elements can improve the security performance and mitigate the negative impact of RIS phase errors. © 2002-2012 IEEE.

关键词： Mobile telecommunication systems

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