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arXiv 2024年

作者： Bramblett, Lauren Miloradović, Branko Sherman, Patrick Papadopoulos, Alessandro V. Bezzo, Nicola Departments of Systems and Information Engineering and Electrical and Computer Engineering University of Virginia CharlottesvilleVA22904 United States Division of Intelligent Future Technologies Mälardalen University Sweden

As Multi-Robot systems (MRS) become more affordable and computing capabilities grow, they provide significant advantages for complex applications such as environmental monitoring, underwater inspections, or space exploration. However, accounting for potential communication loss or the unavailability of communication infrastructures in these application domains remains an open problem. Much of the applicable MRS research assumes that the system can sustain communication through proximity regulations and formation control or by devising a framework for separating and adhering to a predetermined plan for extended periods of disconnection. The latter technique enables an MRS to be more efficient, but breakdowns and environmental uncertainties can have a domino effect throughout the system, particularly when the mission goal is intricate or time-sensitive. To deal with this problem, our proposed framework has two main phases: i) a centralized planner to allocate mission tasks by rewarding intermittent rendezvous between robots to mitigate the effects of the unforeseen events during mission execution, and ii) a decentralized replanning scheme leveraging epistemic planning to formalize belief propagation and a Monte Carlo tree search for policy optimization given distributed rational belief updates. The proposed framework outperforms a baseline heuristic and is validated using simulations and experiments with aerial vehicles. Copyright © 2024, The Authors. All rights reserved.

关键词： Multipurpose robots

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Robust design of IRS-Aided Multi-Group Multicast System With Imperfect CSI

Robust Design of IRS-Aided Multi-Group Multicast System With...

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作者： Jiang, Weiheng Xiong, Peiyun Nie, Jiangtian Ding, Zhiguo Pan, Cunhua Xiong, Zehui Chongqing University School of Microelectronics and Communication Engineering Chongqing400044 China Nanyang Technological University School of Computer Science and Engineering Jurong West639798 Singapore Khalifa University Department of Electrical Engineering and Computer Science Abu Dhabi United Arab Emirates The University of Manchester Department of Electrical and Electronic Engineering ManchesterM13 9PL United Kingdom Southeast University National Mobile Communications Research Laboratory Nanjing211189 China Singapore University of Technology and Design Pillar of Information Systems Technology and Design Tampines487372 Singapore

In this paper, the robust design for the intelligent reflective surface (IRS) assisted wireless multi-group multicast system is considered, in which two optimization design problems under two different channel state information (CSI) error models are separately discussed, i.e., the fairness-based problems and the quality-of-service (QoS)-based problems for both the bounded CSI error model and the statistical CSI error model. In order to deal with the non-convex constraints of the considered problems, i.e., bounded CSI error based constraint and statistical CSI error based constraint, S-procedure is adopted to convert the non-convex SINR constraint with bounded CSI error into linear matrix inequalities (LMIs), and the Bernstein-type inequality is utilized to transform the outage probability constraint with statistical CSI error into a second-order cone (SOC) constraint and linear inequalities. Following that, two efficient algorithms based on alternate optimization (AO) are proposed to solve the fairness problems and QoS problems, wherein the semi-definite programming (SDP), penalty convex-concave procedure (CCP) and semi-definite relaxation (SDR) are utilized. Furthermore, we analyze the complexity of the proposed algorithms. Finally, some numerical simulation results are presented to verify the effectiveness of the proposed algorithms, and the impacts of the CSI error and the discrete precision of IRS reflection phase shift on the system performance are analyzed, which provides some insights for the IRS deployment and system robust design. © 2002-2012 IEEE.

关键词： Beamforming

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Multi-Stage Model Predictive Control with Enhanced Discrete-Time Models for Multilevel Inverters

Multi-Stage Model Predictive Control with Enhanced Discrete-...

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Annual IEEE Conference on Applied Power Electronics Conference and Exposition (APEC)

作者： Hoang Le Apparao Dekka Deepak Ronanki Abdul R. Beig Department of Electrical and Computer Engineering Lakehead University Thunder Bay Canada Department of Engineering Design Indian Institute of Technology Madras Chennai India Advanced Power and Energy Systems Electrical Engineering Department Khalifa University Abu Dhabi UAE

ISBN: (数字)9798331516116

ISBN: (纸本)9798331516123

Model accuracy, computational complexity, and weighting factor dependency are three primary challenges associated with multi-stage model predictive control (MS-MPC) of multilevel inverters (MLIs). Typically, existing MS-MPC employs the forward Euler integration method to discretize continuous-time models, due to the ease of implementation in real-time controllers. This approach faces a significant deterioration in computational accuracy as sampling period increases. To address this issue, this paper proposes a new formulation of MS-MPC for MLIs. Also, an enhanced discrete-time model of MLI by using Heun’s integration method is proposed to implement the proposed MS-MPC, resulting in a more precise formulation and indirect minimization of common-mode voltage (CMV). Unlike the existing methods, the proposed method does not employ a cost function with weighting factor or offline selection of voltage vectors (VVs) to minimize the CMV. Furthermore, it does not increase computational complexity compared to the existing MS-MPCs. Simulation studies are conducted on a four-level MLI system to validate the efficacy of the proposed MS-MPC, and its performance is compared with the existing methods.

关键词： Accuracy Computational modeling Predictive models Multilevel inverters Mathematical models Vectors Real-time systems Power electronics Computational complexity Predictive control

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CDS's Infrared LED Scene Projector System as a Platform Product 5

CDS's Infrared LED Scene Projector System as a Platform Prod...

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5th IEEE Research and Applications of Photonics in Defense Conference, RAPID 2022

作者： Ahmed, Hamzah Deputy, Alexis Singh, Jaclyn Landwehr, Aaron Browning, Tyler Lassiter, Tianne Campbell, Casey Steenkamer, Benjamin Kiamilev, Fouad Greenly, Matt Joyce, Mike Chip Design Systems Inc. NewarkDE19703 United States University of Delaware Department of Electrical and Computer Engineering NewarkDE19716 United States

ISBN: (数字)9781665402231

ISBN: (纸本)9781665402231

关键词： Light emitting diodes

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ProSecutor: Protecting Mobile AIGC Services on Two-Layer Blockchain via Reputation and Contract Theoretic Approaches

arXiv

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arXiv 2024年

作者： Liu, Yinqiu Du, Hongyang Niyato, Dusit Kang, Jiawen Xiong, Zehui Jamalipour, Abbas Shen, Xuemin The School of Computer Science and Engineering Nanyang Technological University Singapore The School of Automation Guangdong University of Technology China The Pillar of Information Systems Technology and Design Singapore University of Technology and Design Singapore The School of Electrical and Information Engineering University of Sydney Australia The Department of Electrical and Computer Engineering University of Waterloo Canada

Mobile AI-Generated Content (AIGC) has achieved great attention in unleashing the power of generative AI and scaling the AIGC services. By employing numerous Mobile AIGC Service Providers (MASPs), ubiquitous and low-latency AIGC services for clients can be realized. Nonetheless, the interactions between clients and MASPs in public mobile networks, pertaining to three key mechanisms, namely MASP selection, payment scheme, and fee-ownership transfer, are unprotected. In this paper, we design the above mechanisms in a systematic approach and present the first blockchain to protect mobile AIGC, called ProSecutor. Specifically, by roll-up and layer-2 channels, ProSecutor forms a two-layer architecture, realizing tamper-proof data recording and atomic fee-ownership transfer with high resource efficiency. Then, we present the Objective-Subjective Service Assessment (OS2A) framework, which effectively evaluates the AIGC services by fusing the objective service quality with the reputation-based subjective experience of the service outcome (i.e., AIGC outputs). Deploying OS2A on ProSecutor, firstly, the MASP selection can be realized by sorting the reputation. Afterward, the contract theory is adopted to optimize the payment scheme and help clients avoid moral hazards in mobile networks. We implement the prototype of ProSecutor on BlockEmulator. Extensive experiments demonstrate that ProSecutor achieves 12.5× throughput and saves 67.5% storage resources compared with BlockEmulator. Moreover, the effectiveness and efficiency of the proposed mechanisms are validated. © 2024, CC BY.

关键词： Blockchain

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Generative AI for Secure Physical Layer Communications: A Survey

arXiv

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arXiv 2024年

作者： Zhao, Changyuan Du, Hongyang Niyato, Dusit Kang, Jiawen Xiong, Zehui Kim, Dong In Shen, Xuemin Letaief, Khaled B. The School of Computer Science and Engineering Nanyang Technological University Singapore The School of Automation Guangdong University of Technology China The Pillar of Information Systems Technology and Design Singapore University of Technology and Design Singapore The Department of Electrical and Computer Engineering Sungkyunkwan University Suwon16419 Korea Republic of The Department of Electrical and Computer Engineering University of Waterloo Canada The Department of Electrical and Computer Engineering Hong Kong University of Science and Technology Hong Kong

Generative Artificial Intelligence (GAI) stands at the forefront of AI innovation, demonstrating rapid advancement and unparalleled proficiency in generating diverse content. Beyond content creation, GAI has significant analytical abilities to learn complex data distribution, offering numerous opportunities to resolve security issues. In the realm of security from physical layer perspectives, traditional AI approaches frequently struggle, primarily due to their limited capacity to dynamically adjust to the evolving physical attributes of transmission channels and the complexity of contemporary cyber threats. This adaptability and analytical depth are precisely where GAI excels. Therefore, in this paper, we offer an extensive survey on the various applications of GAI in enhancing security within the physical layer of communication networks. We first emphasize the importance of advanced GAI models in this area, including Generative Adversarial Networks (GANs), Autoencoders (AEs), Variational Autoencoders (VAEs), and Diffusion Models (DMs). We delve into the roles of GAI in addressing challenges of physical layer security, focusing on communication confidentiality, authentication, availability, resilience, and integrity. Furthermore, we also present future research directions focusing model improvements, multi-scenario deployment, resource-efficient optimization, and secure semantic communication, highlighting the multifaceted potential of GAI to address emerging challenges in secure physical layer communications and sensing. © 2024, CC BY.

关键词： Wireless sensor networks

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Neuromimetic Dynamic Networks with Hebbian Learning

arXiv

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arXiv 2023年

作者： Sun, Zexin Baillieul, John The Division of Systems Engineering Boston University BostonMA02215 United States The Departments of Mechanical Engineering Electrical and Computer Engineering The Division of Systems Engineering Boston University BostonMA02215 United States

Leveraging recent advances in neuroscience and control theory, this paper presents a neuromimetic network model with dynamic symmetric connections governed by Hebbian learning rules. Formal analysis grounded in graph theory and classical control establishes that this biologically plausible model exhibits boundedness, stability, and structural controllability given a generalized sym-cactus structure with multiple control nodes. We prove the necessity of this topology when there are distributed control inputs. Simulations using a 14-node generalized sym-cactus network with two input types validate the model’s effectiveness in capturing key neural dynamics. © 2023, CC BY-NC-SA.

关键词： Graph theory

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Fuzzy Object Ambiguity Determination and Human Attention Assessment for Domestic Service Robots

Fuzzy Object Ambiguity Determination and Human Attention Ass...

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International Conference on Soft Computing and Machine Intelligence (ISCMI)

作者： Kevin Fan Melanie Jouaiti Kerstin Dautenhahn Chrystopher L. Nehaniv Department of Electrical & Computer Engineering and Systems Design Engineering Social and Intelligent Robotics Research Laboratory (SIRRL) University of Waterloo Waterloo Canada Departments of Electrical & Computer Engineering and Systems Design Engineering Social and Intelligent Robotics Research Laboratory (SIRRL) University of Waterloo Waterloo Canada

Domestic service robots have the promising potential of bringing significant services to the general population, and more importantly, successful applications of universal domestic service robots can potentially help mitigate critical societal issues such as senior care. In order to do so, domestic service robots need to integrate seamlessly into home environments. However, home environments are dynamic, complex and filled with personal items. Therefore, ambiguity can quickly arise for robots operating in such rich environments. In this paper, we propose an object ambiguity determination system that can determine the level of ambiguity in robot object selection tasks with fuzzy logic data integration. Additionally, we propose a functional human attention assessment system with fuzzy logic that enables the robot to determine user attention before committing to general disambiguation processes. Our preliminary results show that the proposed fuzzy logic inference systems can reliably estimate the robot object selection task ambiguity from object confidence level and the number of potential target objects that satisfy the user's command. Furthermore, fuzzy inference is applied to decide human eye gaze direction robustly. These subsystems can be utilized in the context of human-robot interaction to guide the robot when to seek feedback from a human partner in order to disambiguate reference in domestic service tasks. The source code of all proposed systems is available publicly on GitHub. 1

关键词： Fuzzy logic Service robots Source coding Sociology Human-robot interaction Data integration Reliability

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A Review on Active Customers'Participation in Smart Grids

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Journal of Modern Power systems and Clean Energy 2023年第1期11卷 3-16页

作者： Konrad Schmitt Rabindra Bhatta Manohar Chamana Mahtab Murshed Ilham Osman Stephen Bayne Luciane Canha Electrical and Computer Engineering Department Texas Tech UniversityLubbockTX79409USA Wind Energy Program Texas Tech UniversityLubbockTX79409USA Electromechanical and Power Systems Department Federal University of Santa MariaSanta MariaRS97105-900Brazil Design Release Engineer at Electrification and Power conversion General MotorsGM Tech Center RoadWarrenMI48092USAl IEEE

Industrial,commercial,and residential facilities are progressively adopting automation and generation *** having flexible demand and renewable energy generation,traditional passive customers are becoming active participants in electric power system *** profound coordination among grid operators and active customers,the facilities’capability for demand response(DR)and distributed energy resource(DER)management will be valuable asset for ancillary services(ASs).To comply with the increasing demand and flexible energy,utilities urgently require standards,regulations,and programs to efficiently handle load-side resources without trading off stability and *** study reviews different types of customers’flexibilities for DR,highlighting their capabilities and limitations in performing local ancillary services(LASs),which should benefit the power grid by profiting from it through incentive *** financial incentives and techniques employed around the world are presented and *** potential barriers in technical and regulatory aspects are successfully identified and potential solutions along with future guidance are discussed.

关键词： Active distribution network(ADN) ancillary services energy management flexible demand resiliency

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Adaptive Resource Allocation in Quantum Key Distribution (QKD) for Federated Learning

Adaptive Resource Allocation in Quantum Key Distribution (QK...

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International Conference on Computing, Networking and Communications (ICNC)

作者： Rakpong Kaewpuang Minrui Xu Dusit Niyato Han Yu Zehui Xiong Xuemin Sherman Shen School of Computer Science and Engineering Nanyang Technological University (NTU) Pillar of Information Systems Technology and Design Singapore University of Technology and Design (SUTD) Department of Electrical and Computer Engineering University of Waterloo

Increasing privacy and security concerns in intelligence-native 6G networks require quantum key distribution-secured federated learning (QKD-FL), in which data owners connected via quantum channels can train an FL global model collaboratively without exposing their local datasets. To facilitate QKD-FL, the architectural design and routing management framework are essential. However, effective implementation is still lacking. To this end, we propose a hierarchical architecture for QKD-FL systems in which QKD resources (i.e., wavelengths) and routing are jointly optimized for FL applications. In particular, we focus on adaptive QKD resource allocation and routing for FL workers to minimize the deployment cost of QKD nodes under various uncertainties, including security requirements. The experimental results show that the proposed architecture and the resource allocation and routing model can reduce the deployment cost by 7.72% compared to the CO-QBN algorithm.

关键词： Adaptation models Costs Uncertainty Adaptive systems Federated learning computer architecture Routing

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