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arXiv 2024年

作者： Tang, Zhiqi Fidan, Baris Johansson, Karl H. Mårtensson, Jonas Hamel, Tarek Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology StockholmSE-10044 Sweden Mechanical and Mechatronics Engineering Department University of Waterloo ON Canada France

This paper proposes an observer-based formation tracking control approach for multi-vehicle systems with second-order motion dynamics, assuming that vehicles' relative or global position and velocity measurements are unavailable. It is assumed that all vehicles are equipped with sensors capable of sensing the bearings relative to neighboring vehicles and only one leader vehicle has access to its global position. Each vehicle estimates its absolute position and velocity using relative bearing measurements and the estimates of neighboring vehicles received over a communication network. A distributed observer-based controller is designed, relying only on bearing and acceleration measurements. This work further explores the concept of the Bearing Persistently Exciting (BPE) formation by proposing new algorithms for bearing-based localization and state estimation of second-order systems in centralized and decentralized manners. It also examines conditions on the desired formation to guarantee the exponential stability of distributed observer-based formation tracking controllers. In support of our theoretical results, some simulation results are presented to illustrate the performance of the proposed observers as well as the observer-based tracking controllers. © 2024, CC BY-NC-ND.

关键词： Acceleration measurement

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Identifiability and Solvability in Inverse Linear Quadratic Optimal control Problems

引用

Journal of Systems Science & Complexity 2021年第5期34卷 1840-1857页

作者： LI Yibei WAHLBERG Bo HU Xiaoming Optimization and Systems Theory Department of MathematicsKTH Royal Institute of TechnologySE-10044StockholmSweden Division of Decision and Control School of Electrical Engineering and Computer ScienceKTH Royal Institute of TechnologySE-10044StockholmSweden

In this paper, the inverse linear quadratic(LQ) problem over finite time-horizon is *** the output observations of a dynamic process, the goal is to recover the corresponding LQ cost function. Firstly, by considering the inverse problem as an identification problem, its model structure is shown to be strictly globally identifiable under the assumption of system invertibility. Next, in the noiseless case a necessary and sufficient condition is proposed for the solvability of a positive semidefinite weighting matrix and its unique solution is obtained with two proposed algorithms under the condition of persistent excitation. Furthermore, a residual optimization problem is also formulated to solve a best-fit approximate cost function from sub-optimal observations. Finally, numerical simulations are used to demonstrate the effectiveness of the proposed methods.

关键词： Inverse optimal control linear quadratic regulators model identifiability

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Anomaly Detection Based on Principle of Justifiable Granularity and Probability Density Estimation

Anomaly Detection Based on Principle of Justifiable Granular...

引用

2023 China Automation Congress, CAC 2023

作者： Du, Sheng Ma, Xian Li, Xiang Wu, Min Cao, Weihua Pedrycz, Witold School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China University of Alberta Department of Electrical and Computer Engineering EdmontonABT6G 2R3 Canada Systems Research Institute Polish Academy of Sciences Warsaw00-901 Poland Istinye University Faculty of Engineering and Natural Sciences Department of Computer Engineering Istanbul Sariyer Turkey

ISBN: (纸本)9798350303759

Anomaly detection is essential to ensure the safety of industrial processes. This paper presents an anomaly detection approach based on the probability density estimation and principle of justifiable granularity. First, time series data are transformed into a two-dimensional information granule by the principle of justifiable granularity. Then, the test statistic is constructed, and the probability density and cumulative distribution functions of the test statistic are calculated. Next, the confidence level determines the test threshold. Finally, the time series data of a key parameter in the sintering process is used as a case study. The experimental result demonstrates that the proposed approach can detect abnormal time series data effectively, providing an accurate and effective solution for detecting time series anomalies in industrial processes. © 2023 IEEE.

关键词： Time series

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A survey on user-centric cell-free massive MIMO systems

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Digital Communications and Networks 2022年第5期8卷 695-719页

作者： Shuaifei Chen Jiayi Zhang Jing Zhang Emil Björnson Bo Ai School of Electronic and Information Engineering Beijing Jiaotong UniversityBeijing100044China Frontiers Science Center for Smart High-speed Railway System Beijing Jiaotong UniversityBeijing100044China Department of Computer Science KTH Royal Institute of TechnologySE-16440KistaSweden Department of Electrical Engineering(ISY) Linköping UniversitySE-58183LinköpingSweden State Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong UniversityBeijing100044China

The mobile data traffic has been exponentially growing during the last several *** was enabled by the densification of the network infrastructure in terms of increased cell density(i.e.,Ultra-Dense Network(UDN))and/or the increased number of active antennas per Access Point(AP)(i.e.,massive Multiple-Input Multiple-Output(mMIMO)).However,neither UDN nor mMIMO will meet the increasing demand for the data rate of the Sixth Generation(6G)wireless communications due to the inter-cell interference and large quality-of-service ***-Free(CF)mMIMO,which combines the best aspects of UDN and mMIMO,is viewed as a key solution to this *** such systems,each User Equipment(UE)is served by a preferred set of surrounding APs *** this paper,we provide a survey of the state-of-the-art literature on CF *** a starting point,the significance and the basic properties of CF mMIMO are *** then present the canonical framework to discuss the essential details(i.e.,transmission procedure and mathematical system model).Next,we provide a deep look at the resource allocation and signal processing problems related to CF mMIMO and survey the up-to-date schemes and *** that,we discuss the practical issues in implementing CF mMIMO and point out the potential future ***,we conclude this paper with a summary of the key lessons learned in this field.

关键词： 6G network User-centric cell-free network Massive multiple-input multiple-output

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Differentially Private Online Federated Learning with Correlated Noise

arXiv

引用

arXiv 2024年

作者： Zhang, Jiaojiao Zhu, Linglingzhi Johansson, Mikael Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology StockholmSE-100 44 Sweden Department of Systems Engineering and Engineering Management The Chinese University of Hong Kong Hong Kong

We introduce a novel differentially private algorithm for online federated learning that employs temporally correlated noise to enhance utility while ensuring privacy of continuously released models. To address challenges posed by DP noise and local updates with streaming non-iid data, we develop a perturbed iterate analysis to control the impact of the DP noise on the utility. Moreover, we demonstrate how the drift errors from local updates can be effectively managed under a quasi-strong convexity condition. Subject to an (ϵ, δ)DP budget, we establish a dynamic regret bound over the entire time horizon, quantifying the impact of key parameters and the intensity of changes in dynamic environments. Numerical experiments confirm the efficacy of the proposed algorithm. © 2024, CC BY.

关键词： Federated learning

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Collision Avoidance for Convex Primitives via Differentiable Optimization Based High-Order control Barrier Functions

arXiv

引用

arXiv 2024年

作者： Wei, Shiqing Khorrambakht, Rooholla Krishnamurthy, Prashanth Gonçalves, Vinicius Mariano Khorrami, Farshad Control/Robotics Research Laboratory Electrical and Computer Engineering Department Tandon School of Engineering New York University BrooklynNY11201 United States MG Belo Horizonte31270-901 Brazil

Ensuring the safety of dynamical systems is crucial, where collision avoidance is a primary concern. Recently, control barrier functions (CBFs) have emerged as an effective method to integrate safety constraints into control synthesis through optimization techniques. However, challenges persist when dealing with convex primitives and tasks requiring torque control, as well as the occurrence of unintended equilibria. This work addresses these challenges by introducing a high-order CBF (HOCBF) framework for collision avoidance among convex primitives. We transform nonconvex safety constraints into linear constraints by differentiable optimization and prove the high-order continuous differentiability. Then, we employ HOCBFs to accommodate torque control, enabling tasks involving forces or high dynamics. Additionally, we analyze the issue of spurious equilibria in high-order cases and propose a circulation mechanism to prevent the undesired equilibria on the boundary of the safe set. Finally, we validate our framework with three experiments on the Franka Research 3 robotic manipulator, demonstrating successful collision avoidance and the efficacy of the circulation mechanism. © 2024, CC BY.

关键词： Quadratic programming

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Swin Transformer With Spatial and Local Context Augmentation for Enhanced Semantic Segmentation of Remote Sensing Images

IEEE Open Journal of Signal Processing

引用

IEEE Open Journal of Signal Processing 2025年 6卷 608-620页

作者： Ding, Rong-Xing Xu, Yi-Han Yu, Gang Zhou, Wen Zhou, Ding Nanjing Forestry University College of Information Science and Technology & Artificial Intelligence Nanjing210037 China Qinghai University School of Computer Technology and Application Xining810016 China The University of Sheffield Department of Electronic and Electrical Engineering SheffieldS10 2TN United Kingdom University of Surrey 5G/6G Innovation Centre SurreyGU2 7XH United Kingdom Guangzhou Maritime University College of Low Altitude Equipment and Intelligent Control Guangzhou510725 China University of Malaya Faculty of Engineering Kuala Lumpur50603 Malaysia

Semantic segmentation of remote sensing images is extensively used in crop cover and type analysis, and environmental monitoring. In the semantic segmentation of remote sensing images, owning to the specificity of remote sensing images, not only the local context is required, but also the global context information makes an important role in it. Inspired by the powerful global modelling capability of Swin Transformer, we propose the LSENet network, which follows the encoder-decoder architecture of the UNet network. In encoding phase, we propose spatial enhancement module (SEM), which helps Swin Transformer further enhance feature extraction by encoding spatial information. In decoding stage, we propose local enhancement module (LEM), which is embedded in the Swin Transformer to improve the Swin Transformer to assist the network to obtain more local semantic information so as to classify pixels more accurately, especially in the edge region, the adding of LEM enables to obtain smoother edges. The experimental results on the Vaihingen and Potsdam datasets demonstrate the effectiveness of our proposed method. Specifically, the mIoU metric is 78.58% on the Potsdam dataset, 72.59% on the Vaihingen dataset and 64.49% on the OpenEarthMap dataset. © 2020 IEEE.

关键词： Semantic Segmentation

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Design, techno-economic evaluation, and experimental testing of grid connected rooftop solar photovoltaic systems for commercial buildings

引用

Frontiers in Energy Research 2024年 12卷

作者： Habib, Salman Tamoor, Muhammad Gulzar, Muhammad Majid Chauhdary, Sohaib Tahir Ahmad, Hasnain Alqahtani, Mohammed Khalid, Muhammad Control and Instrumentation Engineering Department King Fahd University of Petroleum & Minerals Dhahran Saudi Arabia Interdisciplinary Research Center for Smart Mobility and Logistics King Fahd University of Petroleum & Minerals Dhahran Saudi Arabia Department of Electrical Engineering and Technology Government College University Faisalabad Faisalabad Pakistan King Fahd University of Petroleum & Minerals Dhahran Saudi Arabia Department of Electrical and Computer Engineering College of Engineering Dhofar University Salalah Oman Department of Electrical Engineering Pakistan Institute of Engineering and Applied Sciences PIEAS Islamabad Pakistan Department of Industrial Engineering and Center for Engineering and Technology Innovations King Khalid University Abha Saudi Arabia Dhahran Saudi Arabia

This study aims to investigate the potential of rooftop solar photovoltaic systems for commercial buildings. Helio-Scope software is utilized to perform simulations to determine the ideal rooftop area for photovoltaic panels. The efficiency of photovoltaic systems is impacted by the shading effects of photovoltaic modules installed in parallel rows. To enhance energy output, the optimal distance between rows is determined, and it is found that 5-feet inter-row spacing provides the best results. The simulation results indicate that with 5-feet inter-row spacing, photovoltaic system has an energy generation of 371.6 MWh, specific yield of 1508.0 kWh/kWp, performance ratio of 82.1%, solar access rate of 98.9%, total solar resource fraction of 96.3% and a total irradiance of 1655.9 kWh/m2. The annual nameplate energy is 425.1 MWh, output energy at irradiance levels is 423.1 MWh, optimal DC output is 378.5 MWh, inverter output is 373.5 MWh, and total energy delivered to the national power grid is 371.6 MWh. The average daily DC inverter input power is 158881.5110 W and the average daily AC inverter output power is 152231.6311 W, showing an inverter efficiency of approximately 95.93%. Moreover, detailed testing of the installed PV system is performed on-site to make sure that equipment’s performance guarantees are achieved, the system is properly installed and its configuration is suitable for commercial operations. The maximum daily output energy generation of an installed photovoltaic (PV) system is 1.33 MWh, and its average energy generation is 1.09 MWh. The voltage of all strings is within the rated range of the inverter, with a maximum voltage of 835 V and a minimum of 698 V, as tested by PV string open-circuit voltage. The inverter efficiency test is also performed, with a maximum efficiency of 98.83% and fill factors ranging from 81.37% to 82.34%. The payback period of a photovoltaic system is 4.22 years and LCOE is 0.0229$/kWh. PV system saved 215569.818 metric to

关键词： Solar power generation

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Abstracting Linear Stochastic Systems via Knowledge Filtering

arXiv

引用

arXiv 2023年

作者： Engelaar, Maico Hendrikus Wilhelmus Romao, Licio Gao, Yulong Lazar, Mircea Abate, Alessandro Haesaert, Sofie Department of Electrical Engineering Control Systems Group Eindhoven University of Technology Netherlands Department of Computer Science University of Oxford United Kingdom

In this paper, we propose a new model reduction technique for linear stochastic systems that builds upon knowledge filtering and utilizes optimal Kalman filtering techniques. This new technique will reduce the dimension of the noise disturbance and will allow any controller designed for the reduced model to be refined into a controller for the original stochastic system, while preserving any specification on the output. Although initially the reduced model will be time-varying, a method will be provided with which the reduced model can become time-invariant if it satisfies some minor technical conditions. We present our theoretical findings with an example that supports the proposed framework and illustrates how model reduction and controller refinement of stochastic systems can be achieved. We finish the paper by considering specific examples to analyze both completeness with respect to controller synthesis and model order reduction with respect to the state. © 2023, CC BY-NC-ND.

关键词： Stochastic systems

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A Comparative Study of PCA and LDA for Dimensionality Reduction in a 4-Way Classification Framework

Research Square

引用

Research Square 2024年

作者： Mabrouk, Besma Jazzar, Nessrine Sallemi, Lamia Hamida, Ahmed Ben Advanced Technologies for Medicine and Signals ATMS Department of Electrical and Computer Engineering National Engineers School Sfax University Tunisia Networked Objects Control and Communication Systems National Engineering School Sfax Tunisia

Alzheimer’s disease (AD), recognized as the second-most impactful neurological disorder and currently incurable, stands as the leading cause of dementia. An imperative research focus is efficiently diagnosing the stages of patients, distinguishing early or late Mild Cognitive Impairment and AD from those with normal cognitive function. Advancements in anatomical and diffusion-weighted imaging, coupled with machine learning techniques, have significantly progressed in this predictive domain. However, in real-world trials, datasets often contain numerous features, and the curse of dimensionality can introduce challenges such as increased computational complexity, overfitting, and diminished model interpretability. To address these issues, the present study explores the efficacy of Principal Component Analysis (PCA) and Linear Discriminant Analysis (LDA) as dimensionality reduction techniques. LDA, a supervised technique emphasizing class separability, surpasses PCA, particularly in selecting features that significantly contribute to discriminating between classes. The 3D-LDA features obtained were subsequently assessed across various machine learning algorithms, leading to the establishment of a 4-way classification framework that utilized the K-Nearest Neighbors model. The outcome of this evaluation yielded an impressive accuracy rate of 87% in predicting the four different classes. © 2024, CC BY.

关键词： Nearest neighbor search

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