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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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Online control of Affine Systems in Stochastically Modeled Contexts

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IFAC-PapersOnLine 2020年第2期53卷 3354-3360页

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

This paper proposes an algorithm for online controller synthesis for autonomous systems with LTI dynamics considering obstacle avoidance. The obstacles are assumed to be other systems with affine probabilistic dynamics. The initial state as well as the disturbances of these systems are Gaussian distributed. To guarantee that the probability of a collision is smaller than a predefined threshold, probabilistic reachable sets are used. Due to the Gaussian distribution, the probabilistic reachability procedure can use the principles of the ellipsoidal calculus. For the autonomous system, these time-varying reachable sets of the other systems are avoided by an approach, which is based on model predictive control and successive convexification of the constraints. Due to high computational times required for the computation of probabilistic reachable sets and the convexification, different techniques to reduce the computational time significantly are also proposed.

关键词： multi-agent systems distributed control uncertain systems constrained control networked systems predictive control

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Data-Driven Predictive control for Linear Parameter-Varying Systems ⁎

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IFAC-PapersOnLine 2021年第8期54卷 101-108页

作者： Chris Verhoek Hossam S. Abbas Roland Tóth Sofie Haesaert Control Systems Group Dept. of Electrical Engineering Eindhoven University of Technology Eindhoven 5600MB The Netherlands Institute for Electrical Engineering in Medicine Universität zu Lübeck 23558 Lübeck Germany Systems and Control Lab Institute for Computer Science and Control (SZTAKI) Kende u. 13-17 1111 Budapest Hungary

Based on the extension of the behavioral theory and the Fundamental Lemma for Linear Parameter-Varying (LPV) systems, this paper introduces a Data-driven Predictive control (DPC) scheme capable to ensure reference tracking and satisfaction of Input-Output (IO) constraints for an unknown system under the conditions that (i) the system can be represented in an LPV form and (ii) an informative data-set containing measured IO and scheduling trajectories of the system is available. It is shown that if the data set satisfies a persistence of excitation condition, then a data-driven LPV predictor of future trajectories of the system can be constructed from the IO data set and online measured data. The approach represents the first step towards a DPC solution for nonlinear and time-varying systems due to the potential of the LPV framework to represent them. Two illustrative examples, including reference tracking control of a nonlinear system, are provided to demonstrate that the data-based LPV-DPC scheme, achieves similar performance as LPV model-based predictive control.

关键词： Predictive control Data-Driven control Linear Parameter-Varying Systems Non-Parametric Methods

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Overview of Ancillary Services in the Nigerian Power Sector

Overview of Ancillary Services in the Nigerian Power Sector

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Multidisciplinary engineering and Applied Science (ICMEAS), International Conference on

作者： Bemdoo Saka Suleiman U. Hussein Biliaminu A. Ishola Yekini S. Mohammed Nanen D. Hembe Umar M. Mustapha Sadiq Thomas Dept. of Electrical/Electronics Eng. Nile University of Nigeria Abuja Nigeria Centre for Satellite Tech. Development Nat. Space Research and Dev. Agency Abuja Nigeria National Control Center Transmission Company of Nigeria Osogbo Abuja Dept. of Electrical/Electronics Eng. Federal Polytechnic Nasarawa Nasarawa Nigeria Department of Geography Nasarawa State University Nasarawa Nigeria Advanced UAV Laboratory Nat. Space Research and Dev. Agency Abuja Nigeria Dept. of Computer Engineering Nile University of Nigeria Abuja Nigeria

ISBN: (数字)9798350358834

ISBN: (纸本)9798350358841

An overview of the ancillary services in the Nigerian power sector is provided in this work. These services are essential in the power system because they are additional services required by the grid during critical times to enable the power grid to operate in a stable, safe, and reliable manner. The ancillary services provided as stipulated in the Grid Code are black start, frequency control, operating reserves, and voltage control. The System Operator procures the relevant ancillary service depending on the requirement of the grid at a particular time. The paper further presents some ways of improving the viability of ancillary services for the energy grid of Nigeria. These include making incentives more attractive for suppliers of ancillary services, utilizing more hydroelectric power plants for generation and load balancing, integrating distributed generation to provide support to the reactive power, and making necessary investments in the grid.

关键词： Codes Hydroelectric power generation Load management Power system reliability Reliability Voltage control Investment

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On the testing of special memories in GPGPUs

On the testing of special memories in GPGPUs

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IEEE Symposium on On-Line Testing (IOLTS)

作者： Josie E. Rodriguez Condia Matteo Sonza Reorda Dept. of Control and Computer Engineering Politecnico di Torino Torino Italy

ISBN: (数字)9781728181875

ISBN: (纸本)9781728181882

Nowadays, data-intensive processing applications, such as multimedia, high-performance computing and safety-critical ones (e.g., in automotive) employ General Purpose Graphics Processing Units (GPGPUs) due to their parallel processing capabilities and high performance. In these devices, multiple levels of memories are employed in GPGPUs to hide latency and increase the performance during the operation of a kernel. Moreover, modern GPGPU architectures implement cutting-edge semiconductor technologies, reducing their size and power consumption. However, some studies proved that these technologies are prone to faults during the operative life of a device, so compromising reliability. In this work, we developed functional test techniques based on parallel Software-Based Self-Test routines to test memory structures in the memory hierarchy of a GPGPU (FlexGripPlus) implementing the G80 architecture of Nvidia.

关键词： Instruction sets Registers Radio frequency Kernel Performance evaluation computer architecture Power demand

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Investigating the effect of edge modifications on networked control systems

arXiv

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arXiv 2020年

作者： Lindmark, Gustav Altafini, Claudio Division of Automatic Control Dept. of Electrical Engineering Linköping University LinköpingSE-58183 Sweden

This paper investigates the impact of addition/removal of edges in a complex networked control system, for the purposes of improving its controllability, system performances or robustness to external disturbances. The transfer function formulation we obtain allows to quantify the impact of an edge modification with the H∞ and H2 norms. For stable networks with positive edge weights, we show that the H∞ norm can be computed exactly for each possible single edge modification, as well as the associated stability margin. For the H2 norm we instead obtain a lower bound. Since this bound is linked to the trace of the controllability Gramian, it can be used for instance to reduce the energy needed for control. When instead the dynamics is of Laplacian type, then the norms become unbounded. However, the associated displacement systems are stable and for them the effect of edge modifications can be quantified. In particular, in this case we provide an upper bound on the H∞ norm and compute the exact value of the H2 norm for arbitrary edge additions. Copyright © 2020, The Authors. All rights reserved.

关键词： Complex networks

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Data-injection attacks

arXiv

引用

arXiv 2021年

作者： Esnaola, Iñaki Perlaza, Samir M. Sun, Ke Dept. of Automatic Control and Systems Eng. University of Sheffield United Kingdom INRIA Centre de Recherche de Sophia Antipolis-Méditerranée France Department of Electrical Engineering Princeton University United States

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Exploiting Generative Self-Supervised Learning For The Assessment of Biological Images With Lack of Annotations: A COVID-19 Case-Study

Research Square

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Research Square 2021年

作者： Mascolini, Alessio Cardamone, Dario Ponzio, Francesco Di Cataldo, Santa Ficarra, Elisa Politecnico di Torino Dept. of Control and Computer Engineering Torino Italy Università degli Studi di Torino Dept. of Physics Torino Italy Lab Fondazione Toscana Life Sciences Siena Italy Università degli Studi di Modena e Reggio Emilia Dept. of Engineering"Enzo Ferrari" Modena Italy

computer-aided analysis of biological images typically requires extensive training on large-scale annotated datasets, which is not viable in many situations. In this paper, we present GAN-DL, a Discriminator Learner based on the StyleGAN2 architecture, which we employ for self-supervised image representation learning in the case of fluorescent biological images. We show that Wasserstein Generative Adversarial Networks combined with linear Support Vector Machines enable high-throughput compound screening based on raw images. We demonstrate this by classifying active and inactive compounds tested for the inhibition of SARS-CoV-2 infection in VERO and HRCE cell lines. In contrast to previous methods, our deep learning-based approach does not require any annotation besides the one that is normally collected during the sample preparation process. We test our technique on the RxRx19a Sars-CoV-2 image collection. The dataset consists of fluorescent images that were generated to assess the ability of regulatory-approved or late-stage clinical trials compounds to modulate the in vitro infection from SARS-CoV-2 in both VERO and HRCE cell lines. We show that our technique can be exploited not only for classification tasks but also to effectively derive a dose-response curve for the tested treatments, in a self-supervised manner. Lastly, we demonstrate its generalization capabilities by successfully addressing a zero-shot learning task, consisting of the categorization of four different cell types of the RxRx1 fluorescent images collection. © 2021, CC BY.

关键词： Coronavirus

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