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Securing Mobile Robotic Networks Against Replacement Attack

IEEE Transactions on Automatic control 2025年

作者： Li, Yushan He, Jianping Chen, Cailian Guan, Xinping Cai, Lin Shanghai Jiao Tong University Dept. of Automation China Ministry of Education of China The Key Laboratory of System Control and Information Processing China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China University of Victoria Dept. of Electrical and Computer Engineering BC Canada

The security of mobile robotic networks (MRNs) has been an active research topic in recent years. This paper aims to secure the ubiquitous formation control of MRNs against the replacement attack, where an external robot can replace a formation robot by compromising the communication and physically interfering with the victim simultaneously. To counter this advanced attack, the novel idea of this work is to leverage the physical proximity of the formation shape and the interaction topology among robots for defense design. First, from the physical proximity perspective, we propose the convex neighbor polygon (CNP) to capture the geometric characteristic of the formation robots, and design a CNP-based security mechanism for the robots during the replacement attack. Then, from the interaction perspective, we introduce the indirect controllability to characterize the possibility that the attacker leverages the interaction between robots to deactivate the CNP mechanism, and establish the conditions regarding the topology structure and the attack input to counter the replacement. Finally, based on the obtained conditions, we demonstrate how to design the initiatory topology among the formation robots to enhance the defense performance. Comparative simulations verify the effectiveness of the proposed method. © 1963-2012 IEEE.

关键词： Topology

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A PID control Algorithm for Path Tracking of a Nonholonomic Car-Like Robot

A PID Control Algorithm for Path Tracking of a Nonholonomic ...

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IEEE International Symposium on Consumer Electronics (ISCE)

作者： Indrazno Siradjuddin Dimas Adi Prayoga Sapto Wibowo Yan Watequlis Syaifudin Rendi Pambudi Wicaksono Mas Nurul Achmadiah Dept. of Electrical Engineering State Polytechnic of Malang Malang Indonesia Dept. of Information Technology State Polytechnic of Malang Malang Indonesia Dept. Of Computer Control Engineering State Polytechnic of Madiun Madiun Indonesia

ISBN: (数字)9798350365191

ISBN: (纸本)9798350365207

A car-like robot with an Ackermann steering system is a type of nonholonomic which is characterised by a set of first-order differential constraints on its configuration variables, which are not integrable. This distinctive characteristic gives rise to complex issues in the construction of feedback controllers. This research proposes reactive control using a feedback controller using PID algorithm for a car-like robot navigation. The proposed method controls the steering angle of the car-like robot to follow the prescribed path with a constant longitudinal robot velocity. The open-loop car-like dynamical system has been formulated in the form of state-space model. Two PID controllers in parallel computed the lateral position error and the yaw angle error. The summation of the two outputs from the PID controllers was inputted into the state-space model. The PID controller parameters were selected based on trial and error. The simulation results confirm the effectiveness of the proposed control algorithm.

关键词： PI control Navigation Simulation Heuristic algorithms Steering systems State-space methods PD control Adaptive control Dynamical systems Robots

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IoT Based Framework for Monitoring and controlling Movable Harbor Cranes

IoT Based Framework for Monitoring and Controlling Movable H...

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2021 International Mobile, Intelligent, and Ubiquitous Computing Conference, MIUCC 2021

作者： Awad, A.H. Saraya, M.S. Elksasy, M.S.M. Ali-Eldin, Amr M. T. Mansoura University Faculty of Engineering Computer Engineering and Control System Dept. Mansoura Egypt

ISBN: (纸本)9781665412438

The Internet of Things refers to the type of network that connects anything to the Internet on the basis of the protocols stipulated by the information sensing equipment for the exchange of information and communication in order to achieve smart recognition, positioning, tracing, monitoring and administration. Movable harbor crane (MHC) is a major part of logistics services. Logistics is the management of the flow of goods between the point of origin and the point of consumption in order to meet the requirements of customers or corporations. MHC is mainly used for the loading and unloading of ships. This paper presents recommendations and practices to be used in the future of the smart industry internet (IoSI) and explores the different applications of smart sensor networks in the movable harbor crane. The main objective of the current paper is to develop a conceptual framework for monitoring and controlling harbor movable crane using a cloud on the IoT-PLC control system. Experimental results show that the proposed system is applicable and effective. © 2021 IEEE.

关键词： Internet of things

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Forecasting Breakdowns of Electric Motors of a Sugar Factory Using Machine Learning Methods 4

Forecasting Breakdowns of Electric Motors of a Sugar Factory...

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4th IEEE KhPI Week on Advanced Technology, KhPI Week 2023

作者： Zaiets, Nataliia Vlasenko, Lidiia Lutska, Nataliia Zhyltsov, Andrii Dept. of Automation and Robotic Systems National University of Life and Environmental Sciences of Ukraine Kyiv Ukraine Dept. of Software Engineering and Cyber Security State University of Trade and Economics Kyiv Ukraine Dept. of Automation and Computer Technologies of Control Systems National University of Food Technologies Kyiv Ukraine Dept. of Electromagnetic Systems The Institute of Electrodynamics The National Academy of Sciences of Ukraine Kyiv Ukraine

ISBN: (纸本)9798350395532

The paper demonstrates the process of developing mathematical models for identifying breakdowns of electric motors using machine learning methods. The authors have developed three mathematical models for identifying breakdowns of electric drives with a power of 55 kW, 1500 rpm on the example of sugar production: model for quadratic discriminant analysis;binary classification decision tree;feedforward neural network model. The best structures and parameters of the models were determined by machine learning methods. The performance of the models on the training and test sets was more than 96% by F-score. It was proposed to use all three models independently for diagnosing breakdowns of electric drives, while the decision maker makes the final decision on the replacement or repair of electrical equipment. This approach is justified and effective because of the diversity of models. The developed models, except for assessing the state of the engine, can also be used for simulation modelling, forecasting, and serve as information support for process operators in organizing equipment maintenance. The availability of real-time information about the state of equipment in production will allow timely repair or replacement of equipment, thereby reducing the risks of stopping production and increasing the resource efficiency of technological processes. © 2023 IEEE.

关键词： Decision trees

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On Optimal Synchronization of Diffusively Coupled Heterogeneous Van der Pol Oscillators

arXiv

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arXiv 2023年

作者： Trummel, Tabea Liu, Zonglin Stursberg, Olaf Control and System Theory Dept. of Electrical Engineering and Computer Science University of Kassel Germany

This paper proposes a novel method to achieve and preserve synchronization for a set of connected heterogeneous Van der Pol oscillators. Unlike the state-of-the-art synchronization methods, in which a large coupling gain is applied to couple any pair of connected oscillators, the proposed method first casts the whole synchronization process into two phases. The first one considers the period from the beginning to the first instant of synchronization, while the second phase covers the following time in which synchronization must be preserved. It is shown that a large coupling gain is adopted for the first phase, while the averaged coupling gain to preserve the synchronization in the second phase can be reduced significantly by using an offline optimized coupling law. Efficiency and performance of this method are confirmed by a set of numerical tests with different graphs and system dynamics. © 2023, CC BY-NC-ND.

关键词： Synchronization

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Benchmarking Different Strategies for Offloading ROS2 Computation to the Edge

Benchmarking Different Strategies for Offloading ROS2 Comput...

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IEEE Conference on Network Softwarization (NetSoft)

作者： Daniele Cacciabue Jacopo Marino Francesco Aglieco Marco Levorato Domenico Perroni Fulvio Risso Dept. of Control and Computer Engineering Politecnico di Torino Torino Italy Dept. of Computer Science University of California Irvine CA USA Links Foundation Torino Italy Italdesign Torino Italy

ISBN: (数字)9798350369588

ISBN: (纸本)9798350369595

Mobile robots suffer from inherent limitations due to the tradeoff in the amount of energy consumed by their on-board processing components, and the need to increase their operational time. On the communication side, the volatility of communication links severely hinders the ability of a mobile device to rely on computation offloading. The challenge addressed by this paper is the development of a methodology and framework to effectively migrate the location of a service from a system to another, minimizing downtime and striving to reduce any side-effects that may be perceived by the system. Solving this challenge will pave the way for more effective computation offloading solutions that can cope with the unpredictability of the edge systems. Four different approaches are compared, analyzing their performance via an empirical approach. The insights gathered from data allow the identification of the most promising solution to address the aforementioned challenge.

关键词： Switches computer architecture Benchmark testing Mobile handsets Mobile robots Business continuity

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Effectiveness of computer-based e-Learning and Virtual Reality Training System for the Preparatory Phase of a Training on Maintenance Procedure

Effectiveness of Computer-based e-Learning and Virtual Reali...

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IEEE International Conference on Consumer Electronics (ICCE)

作者： Filippo Gabriele Pratticò Debora Di Cosmo Matteo Piviotti Giuseppe La Rosa Fabrizio Lamberti Dept. of Control and Computer Engineering Politecnico di Torino Turin Italy Leonardo S.p.a Turin Italy

This work investigates the effectiveness of two training systems based on consumer hardware technologies, a first one using computer-Based Learning (CBL) and the other exploiting Virtual Reality (VR). A user study was executed in order to compare the two training and analyze the most suitable approach for the learning of preparatory material in the context of an industrial assembly and maintenance (IMA) procedure. The results highlighted that, although trainees using VR experienced higher levels of cognitive processing and attention, the knowledge gain of CBL was comparable to that of VR for the preliminary phase training. Nonetheless, VR was still able to provide better learning gains in terms of procedural skills compared to CBL.

关键词：

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Properties of singular solutions in optimal control problems under input dynamic extension

Properties of singular solutions in optimal control problems...

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IEEE Conference on Decision and control

作者： Paolo Di Giamberardino Daniela Iacoviello Dept. of Computer Control and Management Engineering Antonio Ruberti Sapienza University of Rome via Ariosto 25 Rome Italy

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

The paper addresses the problem of optimal control design in presence of singular solutions for single input dynamics. The dynamical extension for systems obtained adding an integrator on the input is addressed and analyzed. The possibility of computing the optimal control for dynamically extended systems from the solution of the initial ones is investigated, as well as the inverse procedure. These relationships are well evidenced for the singular solutions, showing the possibility of simplifying the optimal control computation. An example is introduced to better highlight the presented results.

关键词： Optimal control Cost function

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Adaptive control Using a Quaternion Wavelet Neural Network

Adaptive Control Using a Quaternion Wavelet Neural Network

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International Workshop on Robot Motion and control (RoMoCo)

作者： Gerardo Martínez-Terán Eduardo Bayro-Corrochano Dept. Electrical Engineering and Computer Science CINVESTAV Guadalajara Mexico Institute of Automatic Control and Robotics Poznan University of Technology

ISBN: (数字)9798350393965

ISBN: (纸本)9798350393972

Robotics and haptic systems have allowed new and diverse applications in the field of medicine, such as assisted surgery and teleoperation which have increasingly stringent requirements for accuracy, convergence, and low computational consumption. In this paper an adaptive PID control law (Proportional Integral Derivative controller, PID), of indirect architecture is presented for movement paths in a haptic system of open chain, where the identification of the plant is through a quaternionic wavelet neural network (Quaternion Wavelet Neural Network, QWNN) for tune the PID values, this allows the optimal movement into the regions of the workspace.

关键词： Uncertainty Quaternions Neural networks Surgery Robustness Haptic interfaces Topology

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Newton-Euler Modeling of Robot Dynamics Using Geometric Algebra

Newton-Euler Modeling of Robot Dynamics Using Geometric Alge...

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International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Eduardo Bayro-Corrochano Daniel Alvarado-Mejia Institute of Automatic Control and Robotics Poznan University of Technology Dept. Electrical Engineering and Computer Science CINVESTAV Guadalajara Mexico

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

In this work, we present the modeling of the dynamics of a robot manipulator using the Newton-Euler algorithm in the conformal algebra framework. The modeling of the dynamics of robot manipulators is currently done using the Euler-Lagrange formulation which is a batch type of computation. In contrast, in this paper, we propose a recursive algorithm for the modeling of the dynamics of robot manipulators using the Newton-Euler algorithm in the conformal geometric algebra framework.

关键词： Algebra Heuristic algorithms Computational modeling Optimal control Motors Real-time systems Mathematical models

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