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Robust Point-to-Set control of Hybrid Systems with Uncertainties Using Constraint Tightening

IFAC-PapersOnLine 2020年第2期53卷 6806-6812页

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

This paper proposes a solution to the problem of computing optimized point-to-set control strategies for hybrid systems with mixed inputs and uncertainties in the continuous-valued dynamics as well as the reset functions. The solution is based on the idea to account for the uncertainties by tightening the guard and invariant sets, and thus construct a substitute hybrid automaton with deterministic transition dynamics. It can be ensured that a solution for this new model also solves the problem for the original system, i.e. the latter is robustly transferred between initial point and target set.

关键词： Hybrid systems uncertain systems constrained control robust control optimization

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Nothing About Us Without Us: a participatory design for an Inclusive Signing Tiago Robot

Nothing About Us Without Us: a participatory design for an I...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Emanuele Antonioni Cristiana Sanalitro Olga Capirci Alessio Di Renzo Maria Beatrice D'Aversa Domenico Bloisi Lun Wang Ermanno Bartoli Lorenzo Diaco Valentina Presutti Daniele Nardi Dept. of Computer Control and Management Engineering Sapienza University of Rome Rome Italy International Telematic University UNINETTUNO Rome Italy Institute for Cognitive Sciences and Technologies - National Research Council (ISTC-CNR) Rome Italy School of LIS - SILIS Group Rome Italy Dept. of Mathematics Computer Science and Economics University of Basilicata Potenza Italy LILEC University of Bologna Bologna Italy

ISBN: (数字)9781728188591

ISBN: (纸本)9781665406802

The success of the interaction between the robotics community and the users of these services is an aspect of considerable importance in the drafting of the development plan of any technology. This aspect becomes even more relevant when dealing with sensitive services and issues such as those related to interaction with specific subgroups of any population. Over the years, there have been few successes in integrating and proposing technologies related to deafness and sign language. Instead, in this paper, we propose an account of successful interaction between a signatory robot and the Italian deaf community, which occurred during the Smart City Robotics Challenge (SciRoc) 2021 competition 1 . Thanks to the use of a participatory design and the involvement of experts belonging to the deaf community from the early stages of the project, it was possible to create a technology that has achieved significant results in terms of acceptance by the community itself and could lead to significant results in the technology development as well.

关键词： Deafness Social networking (online) Smart cities Sociology Collaboration Gesture recognition Organizations

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Simple Multiuser Twin-Field Quantum Key Distribution Network

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Physical Review Applied 2022年第1期17卷 014025-014025页

作者： Xiaoqing Zhong Wenyuan Wang Reem Mandil Hoi-Kwong Lo Li Qian Center for Quantum Information and Quantum Control Department of Physics University of Toronto Toronto Ontario M5S 1A7 Canada Center for Quantum Information and Quantum Control Dept. of Electrical & Computer Engineering University of Toronto Toronto Ontario M5S 3G4 Canada Department of Physics University of Hong Kong Pokfulam Road Hong Kong

Twin-field quantum key distribution (TFQKD) systems have shown great promise for implementing practical long-distance secure quantum communication due to its measurement-device-independent nature and its ability to offer fundamentally superior rate-loss scaling than point-to-point QKD systems. A surge of research and development effort in the last two years has produced many variants of protocols and experimental demonstrations. In terms of hardware topology, TFQKD systems interfering quantum signals from two remotely phase-locked laser sources are in essence giant Mach-Zehnder interferometers (MZIs) requiring active phase stabilization. Such configurations are inherently unsuitable for a TFQKD network, where more than one user pair share the common quantum measurement station, because it is practically extremely difficult, if not impossible, to stabilize MZIs of largely disparate path lengths, a situation that is inevitable in a multi-user-pair TFQKD network. On the other hand, Sagnac interferometer-based TFQKD systems exploiting the inherent phase stability of the Sagnac ring can implement asymmetric TFQKD, and are therefore eminently suitable for implementing a TFQKD network. In this work, we experimentally demonstrate a proof-of-principle multi-user-pair Sagnac TFQKD network where three user pairs sharing the same measurement station can perform pairwise TFQKD through time multiplexing, with channel losses up to 58.00 dB, and channel loss asymmetry up to 15.00 dB. In some cases, the secure key rates still beat the rate-loss bound for point-to-point repeaterless QKD systems, even in this network configuration. Our demonstration of this multi-user-pair TFQKD network is a step in advancing quantum-communication network technologies.

关键词： Optical quantum information processing Quantum communication Quantum cryptography Quantum networks Quantum optics Communication networks Optical fibers Optical interferometry

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Brownian motion simulation of SiO2 abrasive nanoparticle on SiC substrate surface 10

Brownian motion simulation of SiO2 abrasive nanoparticle on ...

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10th International Conference on Leading Edge Manufacturing Technologies in 21st Century, LEM 2021

作者： Saenna, Soraya Khajornrungruang, Panart Blattler, Aran Permpatdechakul, Thitipat Suzuki, Keisuke Bakier, Mohammed A. Graduate School of Computer Science and Systems Engineering Kyushu Institute Technology 680-4 Kawazu Iizuka-shi Fukuoka820-8502 Japan Dept. of Intelligent and Control Systems Advanced Mechanical Division Kyushu Institute of Technology 680-4 Kawazu Iizuka-shi Fukuoka820-8502 Japan

Chemical-Mechanical Polishing (CMP) process has emerged as the method of choice for planarization in the semiconductor industry. The interaction force between the surface being polished and the abrasive nanoparticles plays a significant role in flattening the substrate surface in the CMP process. For example, when the SiO2 nanoparticle is distant from the SiC substrate surface, the interaction force between the surface and the nanoparticles is presented. This force could be analysed using Derjaguin and Landau and Verwey and Overbeek (DLVO) theory and particle Brownian motion. According to the simulation results, we found that very fine abrasive nanoparticle such as smaller than approximately 10 nm is comparatively approach to the surface being polished more certainly. © 2021 The Japan Society of Mechanical Engineers.

关键词： Silicon carbide

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Enabling conditions for the deployment of integrated local energy communities in Europe

TechRxiv

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TechRxiv 2023年

作者： Caliano, Martina Buonanno, Amedeo Di Somma, Marialaura Graditi, Giorgio Papadimitriou, Christina Charalambous, Chrysanthos Dopierala, Przemyslaw Bronk, Leszek Dept. of Energy Technologies and Renewable Energy Sources ENEA NA Portici Italy Dept. of Energy Technologies and Renewable Energy Sources ENEA Rome Italy Eindhoven Netherlands Department of Electrical and Computer Engineering University of Cyprus FOSS Research Centre for Sustainable Energy Nicosia Cyprus Department of Control Information and Communications Instytut Energetyki – Instytut Badawczy Gdansk Poland Department of Strategy and System Development Instytut Energetyki – Instytut Badawczy Gdansk Poland

The main goal of eNeuron H2020 project (Nov 2020-Oct. 2024, ID: 957779) is to develop innovative tools for the optimal design and operation of local energy communities, integrating distributed energy resources and multiple energy carriers at different scales. This paper presents a review study of the enabling conditions for the deployment of integrated local energy communities (ILECs) in Europe, performed within the project. The enabling conditions are addressed by defining the key actors and their interests in the implementation of an energy community at local level and through a detailed mapping of the enabling and emerging energy and information and communication technologies at both household and community levels. Special focus is also on mapping of the demand-side flexibility technologies to understand the benefits of local flexibility and impacts on the larger systems. In such analysis, the key issues for implementation and adaptation of this new energy paradigm are investigated through covering technological, socio-economic, environmental, and regulatory aspects. © 2023, CC BY.

关键词： Mapping

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Situational management of production systems based on a balanced scorecard

Situational management of production systems based on a bala...

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2020 International Conference engineering and Telecommunication, En and T 2020

作者： Khanova, Anna Protalinsky, Oleg Bondareva, Irina Khanova, Yulya Astrakhan State Technical University Dept. Applied Informatics Astrakhan Russia Moscow Power Engineering Institute Dept. of Automated Control Systems of Thermal Processes Moscow Russia Saint-Petersburg Electrotechnical University 'Leti' Dept. of Mathematical Support and Computer Application St. Petersburg Russia

ISBN: (纸本)9781728188294

This paper describes the process of forming and selecting options for managerial decisions, including determining the problem situation from a set of indicators of a balanced scorecard and the presence or absence of similar situations in a set of typical situations. The structure of the management procedure is formalized, which includes the following blocks: preprocessing, state evaluation, managerial decision issuing, decision making. A situational model is built. The procedure for issuing managerial decisions is described, including the correction of a set of managerial decisions in terms of the composition and parameters, classification and parameterization of managerial decisions. This scorecard combines decision-making principles in fuzzy representations (assessing a problem situation) and in structured problem situations (issuing managerial decisions). The risk of not meeting the goals of the balanced scorecard decreased by an average of 76% and averaged 24% after implementing the recommended management decisions on the simulation model of the production systems. © 2020 IEEE.

关键词： Decision making

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Building the Cloud Continuum with REAR

Building the Cloud Continuum with REAR

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IEEE Conference on Network Softwarization (NetSoft)

作者： Stefano Galantino Elisa Albanese Nasir Asadov Stefano Braghin Francesco Cappa Andrea Colli-Vignarelli Amjad Yousef Majid Eduard Marin Jacopo Marino Lorenzo Moro Liubov Nedoshivina Fulvio Risso Domenico Siracusa Antonio Skarmeta Luca Zuanazzi Dept. of Control and Computer Engineering Politecnico di Torino Torino Italy RSE Ricerca sul Sistema Energetico Milano Italy Technische Universität Berlin Berlin Germany IBM Research Europe Dublin Ireland Martel Innovate Amsterdam The Netherlands Telefonica Research Barcelona Spain Consorzio TOP-IX Torino Italy Fondazione Bruno Kessler Trento Italy Universidad de Murcia Murcia Spain

ISBN: (数字)9798350369588

ISBN: (纸本)9798350369595

The computing continuum combines computational resources and services from edge to cloud, promising enhanced efficiency and resilience with respect to the traditional siloed-based approach. This study presents the REAR (Resource Advertisement and Reservation) protocol, which tackles the complexities of managing resources within this continuum. REAR establishes standardized interfaces to enable interoperability, enhances resource allocation efficiency, and maintains security measures for workload execution. The paper details the protocol’s design, key components, operational workflows, and potential uses, contributing to the optimization of resource use across the computing continuum.

关键词： Protocols Heterogeneous networks Data models Computational efficiency Complexity theory Security Resource management

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Sneak attack against mobile robotic networks under formation control

arXiv

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arXiv 2021年

作者： Liy, Yushan Hey, Jianping Dingy, Xuda Caiz, Lin Guany, Xinping Dept. of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Dept. of Electrical and Computer Engineering University of Victoria VictoriaBC Canada

The security of mobile robotic networks (MRNs) has been an active research topic in recent years. This paper demonstrates that the observable interaction process of MRNs under formation control will present increasingly severe threats. Specifically, we find that an external attack robot, who has only partial observation over MRNs while not knowing the system dynamics or access, can learn the interaction rules from observations and utilize them to replace a target robot, destroying the cooperation performance of MRNs. We call this novel attack as sneak, which endows the attacker with the intelligence of learning knowledge and is hard to be tackled by traditional defense techniques. The key insight is to separately reveal the internal interaction structure within robots and the external interaction mechanism with the environment, from the coupled state evolution influenced by the model-unknown rules and unobservable part of the MRN. To address this issue, we first provide general interaction process modeling and prove the learnability of the interaction rules. Then, with the learned rules, we design an Evaluate-Cut-Restore (ECR) attack strategy considering the partial interaction structure and geometric pattern. We also establish the sufficient conditions for a successful sneak with maximum control impacts over the MRN. Extensive simulations illustrate the feasibility and effectiveness of the proposed attack. Copyright © 2021, The Authors. All rights reserved.

关键词： Robotics

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Stabilization with Zero Location Constraints for Delay-Based Non-collocated Vibration Suppression ⁎

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IFAC-PapersOnLine 2021年第18期54卷 121-126页

作者： Haik Silm Wim Michiels Tomáš Vyhlídal Departement of Computer Science KU Leuven Celestijnenlaan 200A 3001 Leuven Belgium Dept. Instrumentation and Control Engineering Faculty of Mechanical Engineering and Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague 6 Czechia

A generally applicable design of non-collocated vibration absorption by a delayed resonator is proposed. It is grounded in the direct assignment of imaginary axis zeros of the transfer function between the periodic disturbance force and the target. We show that these transmission zeros are characterized as eigenvalues of a delay differential-algebraic system. Furthermore, a stabilizing local controller is added to the setup in order to widen the range of admissible vibration frequencies. These design requirements are translated into an optimization problem of the spectral abscissa function subjected to zero location constraints. The presented approach and algorithm are validated by a simulation on a three body lumped mass-spring system.

关键词： Vibration control Delayed resonator Transmission zeros Stability Spectral method

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Balanced Stochastic Optimal control of Uncertain Linear Systems with Constraints

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IFAC-PapersOnLine 2020年第2期53卷 7172-7178页

作者： Jannik Hahn Olaf Stursberg Control and System Theory Dept. of Electrical Engineering and Computer Science University of Kassel 34121 Kassel Germany

This paper addresses finite-time horizon optimal control for discrete-time dynamics with additional stochastic disturbances. In contrast to most existing approaches to this problem, we also minimize the uncertainty of future states arising from stochastic disturbances and from an uncertain initial state. Thus, the optimal control strategy balances the minimization of the expected distances to a reference signal, and the minimization of the uncertainty respectively. As opposed to prior work, the optimization is formulated subject to possible disturbance feedback policies. This enables to solve one semi-definite program over H steps, instead of solving H problems over one step, and the resulting reduced complexity allows one to use the scheme in online and predictive control. The proposed method is applicable to time-varying state constraints (in the sense of chance constraints) as well as time-invariant input constraints.

关键词： Stochastic optimal control disturbance rejection constrained systems robust invariance uncertain systems

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