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arXiv 2022年

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

The interaction topology is critical for efficient cooperation of mobile robotic networks (MRNs). We focus on the local topology inference problem of MRNs under formation control, where an inference robot with limited observation range can manoeuvre among the formation robots. This problem faces new challenges brought by the highly coupled influence of unobservable formation robots, inaccessible formation inputs, and unknown interaction range. The novel idea here is to advocate a range-shrink strategy to perfectly avoid the influence of unobservable robots while filtering the input. To that end, we develop consecutive algorithms to determine a feasible constant robot subset from the changing robot set within the observation range, and estimate the formation input and the interaction range. Then, an ordinary least squares based local topology estimator is designed with the previously inferred information. Resorting to the concentration measure, we prove the convergence rate and accuracy of the proposed estimator, taking the estimation errors of previous steps into account. Extensions on nonidentical observation slots and more complicated scenarios are also analyzed. Comprehensive simulation tests and method comparisons corroborate the theoretical findings. Copyright © 2022, The Authors. All rights reserved.

关键词： Topology

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Inferring Topology of Networked Dynamical systems by Active Excitations

arXiv

引用

arXiv 2022年

作者： Li, Yushan He, Jianping Chen, Cailian Guan, Xinping Dept. of Automation 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 Shanghai China

Topology inference for networked dynamical systems (NDSs) has received considerable attention in recent years. The majority of pioneering works have dealt with inferring the topology from abundant observations of NDSs, so as to approximate the real one asymptotically. Leveraging the characteristic that NDSs will react to various disturbances and the disturbance’s influence will consistently spread, this paper focuses on inferring the topology by a few active excitations. The key challenge is to distinguish different influences of system noises and excitations from the exhibited state deviations, where the influences will decay with time and the exciatation cannot be arbitrarily large. To practice, we propose a one-shot excitation based inference method to infer h-hop neighbors of a node. The excitation conditions for accurate one-hop neighbor inference are first derived with probability guarantees. Then, we extend the results to h-hop neighbor inference and multiple excitations cases, providing the explicit relationships between the inference accuracy and excitation magnitude. Specifically, the excitation based inference method is not only suitable for scenarios where abundant observations are unavailable, but also can be leveraged as auxiliary means to improve the accuracy of existing methods. Simulations are conducted to verify the analytical results. Copyright © 2022, The Authors. All rights reserved.

关键词： Topology

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Inferring Topology of Networked Dynamical systems by Active Excitations

Inferring Topology of Networked Dynamical Systems by Active ...

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IEEE Conference on Decision and control

作者： Yushan Li Jianping He Cailian Chen Xinping Guan Dept. of Automation Key Laboratory of System Control and Information Processing Ministry of Education of China and Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

Topology inference for networked dynamical systems (NDSs) has received considerable attention in recent years. The majority of pioneering works have dealt with inferring the topology from abundant observations of NDSs, so as to approximate the real one asymptotically. Leveraging the characteristic that NDSs will react to various disturbances and the disturbance’s influence will consistently spread, this paper focuses on inferring the topology by a few active excitations. The key challenge is to distinguish different influences of system noises and excitations from the exhibited state deviations, where the influences will decay with time and the excitation cannot be arbitrarily large. To practice, we propose a one-shot excitation based inference method to infer h-hop neighbors of a node. The excitation conditions for accurate one-hop neighbor inference are first derived with probability guarantees. Then, we extend the results to h-hop neighbor inference and multiple excitations cases, providing the explicit relationships between the inference accuracy and excitation magnitude. Specifically, the excitation based inference method is not only suitable for scenarios where abundant observations are unavailable, but also can be leveraged as auxiliary means to improve the accuracy of existing methods. Simulations are conducted to verify the analytical results.

关键词： Analytical models Network topology Topology Performance analysis Dynamical systems Testing

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Predictability of Stochastic Dynamical system: A Probabilistic Perspective

Predictability of Stochastic Dynamical System: A Probabilist...

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IEEE Conference on Decision and control

作者： Tao Xu Jianping He Dept. of Automation Shanghai Jiao Tong University the Key Laboratory of System Control and Information Processing Ministry of Education of China and Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

In this paper, to characterize the predictability of discrete-time continuous-state stochastic dynamical system (SDS) and use predictability to explain the probability of making accurate predictions, we have proposed a new performance metric, i.e., predictability exponent. This metric quantifies the asymptotic exponential decaying rate of the probability that prediction errors never exceed a fixed ϵ. The novelties of this predictability metric lie in that it is proposed from an asymptotic probabilistic perspective, which i) minimizes the exponential decaying rate of prediction probability, ii) holds an approximated expression deeply related with differential entropy within an error of O(ϵ), and iii) possesses a fast converging speed from finite decaying rate of O(e −K ) in the sense of probability. Numerical examples are given to illustrate the efficiency of the obtained results.

关键词： Measurement Stochastic processes Predictive models Probabilistic logic Entropy Dynamical systems

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Fragility-Aware Stealthy Attack Strategy for Multi-Robot systems against Multi-Hop Wireless Networks

Fragility-Aware Stealthy Attack Strategy for Multi-Robot Sys...

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IEEE Conference on Decision and control

作者： Yun Gao Kai Luo Chongrong Fang Jianping He Dept. of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China and Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

This paper proposes a fragility-aware stealthy attack for multiple mobile robots to secretly learn the accurate model of a multi-hop wireless network (MHWN). The stealthy attack scenario consists of three steps: active detection, node hijacking, and network eavesdropping. Our goal is to design distributed motion control strategies for naive attackers, for obtaining the connectivity information to evaluate the fragility degree of each node in MHWN. We designed a switching control strategy, which includes (i) move-to-fragile-neighbors-barycenter (MFNB) law and (ii) move-to-undetected-region-centroid (MURC) law. This strategy can drive mobile attackers to detect, hijack and eavesdrop on the MHWN’s nodes as quickly as possible. As a result, the fragility degree map of MHWN can be secretly learned to paralyze the whole network. Finally, the simulation results show that the proposed strategy is effective.

关键词： Wireless networks Simulation Spread spectrum communication Switches control systems Stability analysis Multi-robot systems

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The Circuit Technique for Reducing the Zero Level of the JFET Op-Amp on the Push-Pull Folded-Cascode

The Circuit Technique for Reducing the Zero Level of the JFE...

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IEEE Region 8 International Conference on Computational Technologies in Electrical and Electronics engineering, SIBIRCON

作者： Nikolay Prokopenko Alexey Titov Vladislav Chumakov Anna Bugakova Dept. of Scientific Research Dept. of Information Systems and Radio Engineering Don State Technical University Institute for Design Problems in Microelectronics of the RAS Rostov-on-Don Zelenograd Russia Dept. of Automatic Control Systems Southern Federal University Rostov-on-Don Russia Dept. of Scientific Research Dept. of Information Systems and Radio Engineering Don State Technical University Rostov-on-Don Russia

ISBN: (纸本)9781665464819

In the paper, the authors describe the improved operational amplifier architecture (op-amp). Complementary FETs with the p-n-junction control were used in the design of this op-amp, depletion-mode complementary MOS can also be used. The character of the suggested op-amp is to create conditions that contribute to obtaining low systematical constituent offset voltage (V off ), which significantly depends on the change in the drain-gate specifications of transistors when the static voltages on their drains change. It should be noted that the high symmetric of the static regimen of the input transistors and output transistors of the folded-cascode of the suggested op-amp is supplied to reduce this constituent V off in the considered op-amp circuit. Computer modelling of the op-amp carried out in the LTSpice was fulfilled in the large range of temperatures (from -197°C to 27°C). The suggested circuit design minimizes the systematical constituent V off (below 30 µV) and increases the open-loop gain of op-amp to 60 dB. The JFET op-amp circuitry suggested in the paper is advised to analog-to-digital and analog interfaces, incl. those operating at exposure to radiation and low temperatures.

关键词： Operational amplifiers Temperature distribution Computational modeling Instruments Mathematical analysis Liquid nitrogen JFETs

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Contagion Propagation with Rule-Based Reasoning and Decentralized control in an Agent-Based Susceptible-Infected-Recovered-Susceptible Infodemic Model

Contagion Propagation with Rule-Based Reasoning and Decentra...

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Big Data, Knowledge and control systems engineering (BdKCSE)

作者： Cristian Berceanu Nadia Arshad Monica Patrascu Dept. of Automatic Control and Systems Engineering Complex Systems Laboratory University Politehnica of Bucharest Bucharest Romania Dept. of Global Public Health and Primary Care Section for Epidemiology and Medical Statistics University of Bergen Bergen Norway Complex Systems Laboratory University Politehnica of Bucharest Dept. of Global Public Health and Primary Care Centre for Elderly and Nursing Home Medicine University of Bergen Bergen Norway

In recent years, and especially during the on-going pandemic, the interest in investigating the dynamics of infodemics has increased to unprecedented levels. In this study we propose an agent-based model for the spread of misinformation, disinformation, and other similar information. The model is based on the susceptible-infected-recovered-susceptible epidemic interpretation. We introduce a rule-based reasoning module to model individual bias in the perception of information based on the psychology concept of illusion of knowledge. We integrate this module into a deliberative-reactive agent controller structure and a decentralized control scheme for the multi-agent system. Results show significant differences between the outputs of the proposed model and the classical version, impressing on the effects of considering local agent individuality when modeling human psycho-social interactions.

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Simplified Mecanum Wheel Modelling using a Reduced Omni Wheel Model for Dynamic Simulation of an Omnidirectional Mobile Robot 11

Simplified Mecanum Wheel Modelling using a Reduced Omni Whee...

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11th International Conference and Exposition on Electrical And Power engineering, EPE 2020

作者： Dosoftei, Catalin Horga, Vasile Doroftei, Ioan Popovici, Tudor Custura, Stefan 'Gheorghe Asachi' Technical University of Iasi Dept. of Automatic Control and Applied Informatics Romania Self Trust Company Dept. of Mechanical Engineering Design Iasi Romania

ISBN: (纸本)9781728181264

Industrial and technical applications of omnidirectional mobile robots, with Mecanum wheels, are continuously gaining in importance because their excellent mobility, especially in areas with static or dynamic obstacles. The perspective of Industry 4.0 imposes an effective and efficient approach for production in general and then, specific to this application, to implement the control algorithm able to deliver to robot the deliberatively and reactively behaviour. An important tool to achieve these goals is virtualization of the prototype and his simulation in a 3D virtual *** paper presents a simplified method of modelling and kinematics simulation in Simscape Multibody™, taking an omnidirectional mobile robot with advantages related to simulation time. The necessary steps to develop inverse kinematics in robots and global reference frame, for specific omnidirectional mobile robot, are depicted in the paper using bottom-up approach with matrix transformation. The 3D modelling process starts from the CAD design, which is then transferred into a Simscape Multibody™ model in order to study the kinematic and dynamic characteristics. Four typical motion models including moving forward, moving laterally, moving in the diagonal direction and rotation have been simulated in Simscape Multibody™. © 2020 IEEE.

关键词： Inverse kinematics

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Algorithms for Intelligent control of Multi-Link Walking Robots with Self-Learning Capabilities 22

Algorithms for Intelligent Control of Multi-Link Walking Rob...

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22nd International Conference on Digital Signal Processing and its Applications, DSPA 2020

作者： Danilov, Vladimir Diane, Sekou Gonchareko, Vladimir Artamonov, Alexander Moscow Aviation Institute National Research University Dept. of Systems of Automatic and Intelligent Control Moscow Russia Lab. of System Integration of Control Technologies Institute of Control Problems Russian Academy of Sciences Moscow Russia

ISBN: (纸本)9781728175287

The main types of structures of walking robots are considered and the choice of the design of the implemented layout of a six-legged insectomorphic robot is justified. Based on the results of the analysis of known approaches to the design of walking systems and the selected type of robot, solutions of forward and reverse kinematics problems for its joints are described. Kinematic and dynamic models of a six-legged walking robot are calculated and implemented programmatically. A computer simulation model of a six-legged walking robot is constructed that combines a 3d representation of the robot and the dynamics of its movement. The procedure for adjusting the control algorithms for a multilink structure is suggested to adapt for the uncertainties in the robot construction and the surrounding environment. Verification of the proposed mathematical models was carried out on virtual and hardware samples of walking robots. © 2020 IEEE.

关键词： Kinematics

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Epidemic management with admissible and robust invariant sets

arXiv

引用

arXiv 2021年

作者： Esterhuizen, Willem Lévine, Jean Streif, Stefan Technische Universität Chemnitz Automatic Control and System Dynamics Laboratory Germany Maths & Systems Dept. MINES ParisTech PSL University France

We present a detailed set-based analysis of the well-known SIR and SEIR epidemic models subjected to hard caps on the proportion of infective individuals, and bounds on the allowable intervention strategies, such as social distancing, quarantining and vaccination. We describe the admissible and maximal robust positively invariant (MRPI) sets of these two models via the theory of barriers. We show how the sets may be used in the management of epidemics, for both perfect and imperfect/uncertain models, detailing how intervention strategies may be specified such that the hard infection cap is never breached, regardless of the basic reproduction number. The results are clarified with detailed *** Codes 34H05 (primary), 92D30 (secondary), 37N35, 37N25 © 2021, CC BY-NC-ND.

关键词： Cell proliferation

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