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38th Youth Academic Annual Conference of Chinese Association of automation, YAC 2023

作者： Wei, Haoyu Pan, Lulu Shao, Haibin Li, Dewei Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Department of Automation Shanghai200240 China

ISBN: (纸本)9798350303636

This paper explores distributed neighbor selection in matrix-weighted networks, where a matrix-valued weight captures the interdependencies among agents' states. We demonstrate the feasibility of preserving and, in certain cases, improving the convergence rate of matrix-weighted networks by having agents exclusively engage with a subset of their neighbors. Leveraging the inherent monotonicity of Laplacian matrix eigenvectors, we introduce a novel neighbor selection criterion that reduces network connections while enhancing convergence rates. Existing neighbor selection strategies often require acquiring information from all nodes before making decisions. In order to propose a distributed neighbor selection strategy for matrix-weighted networks, we establish a numerical relationship between Laplacian eigenvectors and a locally measurable metric. In essence, this paper extends prior findings from scalar-weighted networks to matrix-weighted networks. © 2023 IEEE.

关键词： convergence rate Distributed neighbor selection Laplacian matrix matrix-weighted networks

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Using Institutional Purposes to Enhance Openness of Multi-Agent Systems 20th

Using Institutional Purposes to Enhance Openness of Multi-...

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20th International Conference on Practical Applications of Agents and Multi-Agent Systems , PAAMS 2022

作者： Cunha, Rafhael R. Hübner, Jomi F. de Brito, Maiquel Campus Vacaria Vacaria Brazil Department of Automation and Systems Engineering Federal University of Santa Catarina Florianópolis Brazil Control Automation and Computation Engineering Department Federal University of Santa Catarina Blumenau Brazil

ISBN: (纸本)9783031181917

In this paper, we consider a programmer who needs to develop an agent to publish information on different existing social networks. Several works in the literature allow the interaction of agents with a social network, but as far as we know, they are not focused on the interaction with several networks. Considering this problem, the paper highlights two options the programmer can take to enable the agent to interact with existing social networks and achieve its goal. The first option requires that the programmer knows the features present in the APIs used to interact with social networks, and the consequences that the functions can bring when executed in the system. The second option uses the institutional notion of purpose aiming to reduce the amount of previous knowledge required by the programmer. The paper aims to discuss the advantages and disadvantages of these options considering the development of open multi-agent system. A JaCaMo implementation of both options is used the help the evaluation. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Multi agent systems

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Comparative Study Of Swing-Up controllers: Passivity-Based Swing-Up control And Sliding Mode Technique Combined Energy-Based Method For Rotational Inverted Pendulum System 9

Comparative Study Of Swing-Up Controllers: Passivity-Based S...

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9th International Conference on Applying New Technology in Green Buildings, ATiGB 2024

作者： Vo, Minh-Tai Duong, Hoai-Nghia Nguyen, Vinh-Hao VNU-HCM Department of Control Engineering and Automation Ho Chi Minh City Viet Nam Rmit University Vietnam School of Science Engineering & Technology Ho Chi Minh City Viet Nam School of Engineering Eastern International University Binh Duong Province Thu Dau Mot city Viet Nam

ISBN: (纸本)9798331505042

In this paper, we focus on designing a swing-up controller, namely Passivity-Based Swing-up control (PBSC). The object we use to validate the PBSC is the Rotational Inverted Pendulum system (RIP), a well-known system in the class of underactuated systems. The key points of the design are summarized as follows: the control is based on the energy of the system, and the arm link of the RIP operates within a small range. The outcomes of this controller are compared with our previously proposed swing-up controller, named Sliding Mode control Combined Energy-Based Method (SMCCEBM). The work is performed in both simulations using MATLAB software and experiments on the experimental testbed. The results are discussed to show that each swing-up controller has its own specific strengths. For balancing tasks, we use the Linear Quadratic Regulator (LQR) on the RIP. However, we do not revisit the LQR theory in this study, we only present the control law for the mentioned balancing control. © 2024 IEEE.

关键词： Sliding mode control

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Towards Low-Cost and High Precision: Software Enhanced Terrestrial Laser Scanner Consists of Consumer-Grade Multi-Beam LiDAR and Servo Motor

Towards Low-Cost and High Precision: Software Enhanced Terre...

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2023 China automation Congress, CAC 2023

作者： Peng, Pengfei Zhong, Xunyu Xie, Han Chen, Bushi Wang, Ningning Zhong, Xungao Xiamen University Department of Automation Xiamen China School of Electrical Engineering and Automation Xiamen University of Technology Xiamen China Xiamen Key Laboratory of Frontier Electric Power Equipment and Intelligent Control Xiamen China

ISBN: (纸本)9798350303759

3D laser scanning technology, as a rapid and non-contact measurement method, enables the acquisition of high-precision 3D data from the real world. It has been widely applied in the Architecture-engineering-Construction (AEC) industry for quality inspection, project progress management, reverse engineering, and building information modeling. However, the prevalent Terrestrial Laser Scanner (TLS) is often too expensive for widespread use. This paper proposes a low-cost TLS that combines multi-beam LiDAR with a high-precision servo motor. The LiDAR is driven by a motor to rotate, accumulating point clouds at different angles and generating dense point clouds. By employing software enhancements such as data time synchronization, calibration, and post-processing of point clouds, we improve the precision of the measurement results. Additionally, we extract planar elements (ceilings, floors, and walls) from the data obtained by the scanner in indoor environments, facilitating subsequent applications and processing. Through a series of qualitative and quantitative experiments, we have demonstrated that our system can achieve measurement data with an error average of 1 cm compared to commercial TLS while maintaining significantly lower costs. © 2023 IEEE.

关键词： Calibration

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Exploring alterations of brain networks of AD patients using WTC method

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IEEE Intelligent Systems 2023年 1-1页

作者： Yapeng, Li Qin, Yuanyuan Chen, Xi Li, Wei Department of Control Science and Engineering Wuhan Department of Radiology Wuhan School of Automation Wuhan

Objective: To explore the influences of different frequency bands on preprocessing of resting-state fMRI datasets used by the Wavelet Transform Coherence (WTC) method, and to study changes in the functional brain networks of AD patients. Method: Resting-state fMRI datasets of 10 AD patients and 11 healthy controls were collected in this study and time series of 90 brain regions defined by AAL (Automated Anatomical Labeling) were exacted after preprocessing. Wavelet transformation was performed for each time series, and a functional brain network were established in different frequencies (0.125Hz, 0.0625Hz) using the WTC (Wavelet Transform Coherence) method. The topology parameters of networks, containing global efficiency, clustering coefficient, average short paths length and small world property were calculated and averaged within each group. Result: The results imply that there are significant differences of topology parameters in networks of different frequencies. Likewise, statistical analysis of topology parameters of AD and HC (Healthy controls) show that global efficiency, clustering coefficient and small world properties of AD all decreased by varying degrees, while the short path length of AD remained longer. Conclusion: Our research provides a theoretical basis for the choice of filter bands for data preprocessing in functional magnetic resonance imaging. The findings may serve as indicators for early diagnosis of AD patients. IEEE

关键词： Real time systems

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Robust Consensus Tracking control of Uncertain Multi-Agent Systems With Local Disturbance Rejection

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IEEE/CAA Journal of Automatica Sinica 2023年第2期10卷 427-438页

作者： Pan Yu Kang-Zhi Liu Xudong Liu Xiaoli Li Min Wu Jinhua She the Faculty of Information Technology and the Beijing Institute of Artificial Intelligence Beijing University of TechnologyBeijing 100124China IEEE the Department of Electrical and Electronic Engineering Chiba UniversityChiba 263-8522Japan the Beijing Aerospace Automatic Control Institute Beijing 100854China the School of Automation China University of GeosciencesWuhan 430074China the School of Engineering Tokyo University of TechnologyHachiojiTokyo 192-0982Japan

In this paper,a new distributed consensus tracking protocol incorporating local disturbance rejection is devised for a multi-agent system with heterogeneous dynamic uncertainties and disturbances over a directed *** is of two-degree-of-freedom ***,a robust distributed controller is designed for consensus tracking,while a local disturbance estimator is designed for each agent without requiring the input channel information of *** condition for asymptotic disturbance rejection is ***,even when the disturbance model is not exactly known,the developed method also provides good disturbance-rejection ***,a robust stabilization condition with less conservativeness is derived for the whole multi-agent ***,a design algorithm is ***,comparisons with the conventional one-degree-of-freedombased distributed disturbance-rejection method for mismatched disturbances and the distributed extended-state observer for matched disturbances validate the developed method.

关键词： Directed graph distributed control disturbance rejection dynamic uncertainties multi-agent systems robust control

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Detection of Termite Nests in Dams Using Ground Penetrating Radar Based on Deep Learning 20

Detection of Termite Nests in Dams Using Ground Penetrating ...

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20th International Conference on Ground Penetrating Radar, GPR, 2024

作者： Peng, Jiao Xue, Wei Wang, Wenkai Song, Junlei Zhou, Feng Huang, Pengchun Zhang, Zhixuan Zhang, Feng Zhang, Xu Chen, Longjia Sun, Li School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education China Dam Safety Monitoring and Termite Control Center of Hubei Provincial Department of Water Resources China Key Laboratory of Termite Control Ministry of Water Resources China School of Mechanical Engineering and Electronic Information China University of Geosciences Wuhan China

Termites have always been one of the major hidden dangers to the operational safety of dams. Traditional detection methods such as manual inspection and termite baiting have limitations in terms of efficiency and accuracy. To solve the problems, paper proposes a termite nest detection method based on ground penetrating radar (GPR) and deep learning. First, the simulated GPR data are generated using gprMax software, and the real data are collected using a GPR at several dams. Subsequently, the YOLOv8 deep neural network is employed for termite nest recognition in GPR images. The experimental results show that the proposed model can achieve the mean average precision (mAP) of 0.96 and a detection speed of 53.76 frames per second (FPS). © Published under licence by IOP Publishing Ltd.

关键词： Deep neural networks

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Unilateral payoff control is infeasible in network attack-defense interactions

Unilateral payoff control is infeasible in network attack-de...

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2024 China automation Congress, CAC 2024

作者： Zhao, Kaiwen Xia, Yu Su, Qi Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9798350368604

Network resilience generally refers to the ability of a network to maintain normal operation in the face of various failures and disturbances, which has many applications in social, financial, communication, and transportation systems. There is a large amount of research on designing strategies to disrupt the network from the perspective of attack and to protect the network from the defense standpoint. However, attacks and defenses in the real world often occur simultaneously and repeatedly. The study of network resilience should not be limited to the structural characteristics but should consider the functional characteristics of the network. We develop a general game-theoretic framework to study attack-defense repeated interactions on complex networks and examine the possibility of achieving precise control over the payoffs of attackers and defenders. Our findings reveal that neither the attacker nor the defender can unilaterally control their own payoff, the opponent’s payoff, or any linear combination thereof. This work highlights the limitations of unilateral payoff control in real-world interaction scenarios, a consideration often overlooked in numerous theoretical studies. © 2024 IEEE.

关键词： Economic and social effects

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Bearing-Based Containment control of Multi-agent Systems with Disturbances 7th

Bearing-Based Containment Control of Multi-agent Systems wi...

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7th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2023

作者： Duan, Mengmeng Yang, Ziwen Zhu, Shanying Chen, Cailian Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9789819733392

In this paper, a bearing-based containment control problem of multi-agent systems with disturbances is studied. The nonlinearity of the bearing results in the existence of nonlinear time-varying parameters in the closed-loop system. When the leaders are stationary, under the sufficient conditions on the disturbances and the connectivity of the directed sensing graph, the boundedness of the nonlinear time-varying parameters is rigorously proved, with which it is shown that the containment error converges to zero asymptotically. When the leaders are moving, by using the properties of the bearing and the projection, it is proved that the containment error is uniformly ultimately bounded and can be reduced by adjusting the edge weight. Numerical examples illustrate the effectiveness of the proposed controller. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Multi agent systems

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ST-Petri: A Visual Executable Semantic Model for PLC Structured Text Language 22

ST-Petri: A Visual Executable Semantic Model for PLC Structu...

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22nd IEEE International Conference on Industrial Informatics, INDIN 2024

作者： Hu, Xiaoyu Liang, Yonghui Zhu, Shibo Li, Hui Zhu, Shanying Department of Automation Shanghai Jiao Tong University Shanghai 200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240 China

ISBN: (纸本)9798331527471

As very important controllers in automated factories, the correctness and safety of Programmable Logic controller (PLC) and their programs determine the stability of the production process. Structured Text (ST) is one of the most widely used PLC programming languages. However, there are not enough formal semantics and different venders may have their own implementations. In this work, a visual executable semantic model ST-Petri for ST has been proposed. The model uses Petri nets to formally represent ST semantics while using graphs to visualise program control flow. To validate the correctness of the semantic model, we use programs from Github and mutations of existing source programs as a test set to execute and compare the results with the open source OpenPLC platform. Experimental results show that ST-Petri has significant advantages in terms of compilation pass rate and error indication as a semantic model and a ST program compiler. © 2024 IEEE.

关键词： Petri nets

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