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15th International Conference on Informatics in control, Automation and Robotics, ICINCO 2018

作者： Giamberardino, Paolo Di Iacoviello, Daniela Dept. Computer Control and Management Engineering Antonio Ruberti Sapienza University of Rome Italy Institute for Systems Analysis and Computer Science Antonio Ruberti Rome Italy

ISBN: (纸本)9789897583216

The paper studies the problem of determining the optimal control when singular arcs are present in the solution. In the general classical approach the expressions obtained depend on the state and the costate variables at the same time, so requiring a forward-backward integration for the computation of the control. In this paper, sufficient conditions on the dynamics structure are provided and discussed in order to have both the control and the switching function depending on the state only, so simplifying the computation avoiding the necessity of the backward integration. The approach has been validated on a classical SIR epidemic model. Copyright © 2018 by SCITEPRESS – science and Technology Publications, Lda. All rights reserved

关键词： State feedback

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Search for Coordinates of WSN Nodes using Multidimensional Scaling Method

Search for Coordinates of WSN Nodes using Multidimensional S...

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International Conference on Ultra Modern Telecommunications and Workshops (ICUMT)

作者： Ilya Grishin Van Dai Pham Darina Okuneva Ruslan Kirichek Dept. of Communication Networks and Data Transmission Bonch-Bruevich St. Petersburg State University of Telecommunications Saint Petersburg Russia Dept. of Software Engineering and Computer Science Bonch-Bruevich St. Petersburg State University of Telecommunications Saint Petersburg Russia Bonch-Bruevich St. Petersburg State University of Telecommunications Saint Petersburg Russia V.A. Trapeznikov Institute of Control Sciences of Russian Academy of Sciences Moscow Russia

ISBN: (数字)9781728192819

ISBN: (纸本)9781728192826

Nowadays, wireless sensor networks (WSN) are widely used for various Internet of Things applications. The sensor nodes are usually deployed randomly in the field. Thus, searching for node coordinates is one of the requirements to construct the network structure. With knowing distances between nodes and the coordinates of anchor nodes in a certain network fragment, we propose a method based on the multidimensional scaling for searching for desired node coordinates.

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Image Processing Techniques in Vision-Based Robot Navigation

Image Processing Techniques in Vision-Based Robot Navigation

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International Conference on control, Artificial Intelligence, Robotics & Optimization (ICCAIRO)

作者： Rodrigo Munguia Yolanda Bolea Antoni Grau Dept. of Computer Science CUCEI University of Guadalajara Guadalajara México Automatic Control Dept. Technical University of Catalonia UPC Barcelona Spain

ISBN: (纸本)9781538695777;9781538695760

Motivated by the problems of vision-based mobile robot map building and localization, we present a comparative study of statistical methods for matching image features in a wide base line between learning and recognition phases. A general methodology called feature-class method for the problem of fast matching image features in a wide base line is described in the context of mobile robots. The objective of this work is to discuss and to show the performance of such methods in an example of visual SLAM, with experiments done with real data.

关键词： Robots Image processing Navigation Principal component analysis Conferences Artificial intelligence Optimization

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Distributed Observers for LTI Systems with Finite Convergence Time: A Parameter Estimation-based Approach

arXiv

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arXiv 2020年

作者： Ortega, Romeo Nuño, Emmanuel Bobtsov, Alexei Université Paris-Saclay CNRS CentraleSupélec Laboratoire des Signaux et Systèmes Gif-sur-Yvette91190 France Department of Control Systems and Robotics ITMO University Kronverkskiy av. 49 Saint Petersburg197101 Russia Dept. of Computer Science CUCEI University of Guadalajara Guadalajara Mexico Department of Control Systems and Robotics ITMO University Kronverkskiy av. 49 Saint Petersburg197101 Russia

A novel approach to solve the problem of distributed state estimation of linear time-invariant systems is proposed in this paper. It relies on the application of parameter estimation-based observers, where the state observation task is reformulated as a parameter estimation problem. In contrast with existing results our solution achieves convergence in finite-time, without injection of high gain, and imposes very weak assumptions on the communication graph—namely the existence of a Hamiltonian walk. The scheme is shown to be robust vis-á-vis external disturbances and communication delays. Copyright © 2020, The Authors. All rights reserved.

关键词： Parameter estimation

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Privacy-preserving distributed machine learning via local randomization and admm perturbation

arXiv

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arXiv 2019年

作者： Wang, Xin Ishii, Hideaki Du, Linkang Cheng, Peng Chen, Jiming State Key Lab. of Industrial Control Technology Zhejiang University Hangzhou310027 China Dept. of Computer Science Tokyo Institute of Technology Yokohama226-8502 Japan

With the proliferation of training data, distributed machine learning (DML) is becoming more competent for large-scale learning tasks. However, privacy concerns have to be given priority in DML, since training data may contain sensitive information of users. In this paper, we propose a privacy-preserving ADMM-based DML framework with two novel features: First, we remove the assumption commonly made in the literature that the users trust the server collecting their data. Second, the framework provides heterogeneous privacy for users depending on data's sensitive levels and servers' trust degrees. The challenging issue is to keep the accumulation of privacy losses over ADMM iterations minimal. In the proposed framework, a local randomization approach, which is differentially private, is adopted to provide users with self-controlled privacy guarantee for the most sensitive information. Further, the ADMM algorithm is perturbed through a combined noise-adding method, which simultaneously preserves privacy for users' less sensitive information and strengthens the privacy protection of the most sensitive information. We provide detailed analyses on the performance of the trained model according to its generalization error. Finally, we conduct extensive experiments using real-world datasets to validate the theoretical results and evaluate the classification performance of the proposed framework. Copyright © 2019, The Authors. All rights reserved.

关键词： Random processes

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Towards Rehabilitation of Mughal Era Historical Places using 7 DOF Robotic Manipulator

Towards Rehabilitation of Mughal Era Historical Places using...

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International Conference on Robotics and Artificial Intelligence (ICRAI)

作者： Muhammad Bilal Ali Raza Mohsin Rizwan Muhammad Ahsan Hafiz Farhan Maqbool Syed Abbas Zilqurnain Naqvi Al-Khawarizmi Institute of Computer Science UET1 Lahore HCR2 Lab National Center of Robotics and Automation Lahore Pakistan Dept. of Mechatronics & Control Engineering National Center of Robotics and Automation Lahore Pakistan Dept. of Mechatronics & Control Engineering UET Lahore Lahore Pakistan

The central aim of this research is to propose a solution to rehabilitate historic places using a robotic manipulator. In this pursuit, the objective is to clean flat or curved surfaces of mihrab/muqarnas and to write lost Arabic inscriptions on spandrel using 7 Degree of freedom (DOF) robotic manipulator. Inverse kinematics solution for 7 DOF is derived by fixing redundant joint and solving the remaining 6 DOF inverse kinematics. Image processing techniques are used to get data from the given image for the robotic calligraphy operation on the spandrel to restore the lost inscriptions. Path planning exercise is implemented to navigate the end-effector on the desired path to write lost inscriptions and to clean curved surfaces of muqarnas. Proposed solutions are verified by simulation using MATLAB. The results showed that the manipulator successfully tracked the given path to perform the desired operation in mihrab as well as calligraphy operation on spandrel.

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Differential Privacy-preserving Distributed Machine Learning

Differential Privacy-preserving Distributed Machine Learning

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IEEE Annual Conference on Decision and control

作者： Xin Wang Hideaki Ishii Linkang Du Peng Cheng Jiming Chen State Key Lab. of Industrial Control Technology Zhejiang University Hangzhou P. R. China Dept. of Computer Science Tokyo Institute of Technology Yokohama Japan

ISBN: (数字)9781728113982

ISBN: (纸本)9781728113999

Distributed machine learning (DML) has received widespread attentions, where a shared prediction model is collaboratively learned by multiple servers. However, since the data used for model training often contains users' sensitive information, DML faces potential risks of privacy disclosure. Particularly, when servers are untrustworthy, it is critical while challenging to guarantee users to obtain privacy preservation that is self-controllable and does not weaken in strength during the whole DML process. In this paper, we propose a privacypreserving solution for DML, where privacy protection is achieved through data randomization at the users' side and a modified alternating direction method of multipliers (ADMM) algorithm is designed for servers to mitigate the effect of data perturbation. We prove that this solution provides differential privacy guarantee and preserves the convergence property of a general ADMM paradigm. Also, we provide extensive theoretical analysis about the performance of the trained model. Numerical experiments using standard classification datasets are finally conducted to validate the theoretical results.

关键词： Servers Data privacy Privacy Machine learning Linear programming Convex functions Minimization

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Considerations regarding security issues impact on systems availability

arXiv

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arXiv 2018年

作者： Pricop, Emil Mihalache, Sanda Florentina Paraschiv, Nicolae Fattahi, Jaouhar Zamfir, Florin Automatic Control Computers and Electronics Department Petroleum-Gas University of Ploiesti Ploiesti Romania Dept. of Computer Science and Software Engineering Université Laval QC Canada Automatic Control Computers and Electronics Dept. Petroleum-Gas University of Ploiesti Ploiesti Romania

control systems behavior can be analyzed taking into account a large number of parameters: Performances, reliability, availability, security. Each control system presents various security vulnerabilities that affect in lower or higher measure its functioning. In this paper the authors present a method to assess the impact of security issues on the systems availability. A fuzzy model for estimating the availability of the system based on the security level and achieved availability coefficient (depending on MTBF and MTR) is developed and described. The results of the fuzzy inference system (FIS) are presented in the last section of the paper. Copyright © 2018, The Authors. All rights reserved.

关键词： Availability

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An efficient multi-level fast multipole method implementation on FPGA 16

An efficient multi-level fast multipole method implementatio...

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16th International Workshop on Cellular Nanoscale Networks and Their Applications, CNNA 2018

作者： Kiss, András Nagy, Zoltán Sántha, Levente Márk Csaba, György Dept. Information Technology Pázmány Péter Catholic University Budapest Hungary Institute for Computer Science and Control Hungarian Academy of Sciences Budapest Hungary

ISBN: (纸本)9783800747665

Micromagnetic simulations are widely used to study the magnetization dynamics of ferromagnetic materials. A key step of the simulation is the calculation of the magnetostatic field (aka demagnetization field). To get a relatively precise estimate one needs to take the magnetostatic field into account. The magnetostatic field describes the long range interactions between magnetic dipoles. This is the most computationally intensive part of the magnetic simulation because with brute force calculations it scales with O(N2) when increasing the simulated region. By using the Fast Multipole Method the computations can be carried out by O(N log N) or in some cases O(N). In this paper we propose an FPGA implementation of the micromagnetic simulator in order to accelerate the computations. The details of the implementations are discussed along with the resulting speed, power consumption and resource requirements. © VDE VERLAG GMBH.

关键词： Ferromagnetic materials

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A novel frequency domain maximum likelihood approach for estimating transport coefficients in cylindrical geometry for nuclear fusion devices

A novel frequency domain maximum likelihood approach for est...

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IEEE Annual Conference on Decision and control

作者： Matthijs van Berkel Gerardus W. Oosterwegel Martijn Anthonissen Hans J. Zwart Gerd Vandersteen DIFFER-Dutch Institute for Fundamental Energy Research Energy Systems and Control group Eindhoven The Netherlands Dept. of Mathematics and Computer Science Eindhoven University of Technology Eindhoven The Netherlands Dept. of Mechanical Engineering Eindhoven University of Technology Eindhoven The Netherlands Dept. of Fundamental Electricity and Instrumentation Vrije Universiteit Brussel (VUB) Brussels Belgium

ISBN: (数字)9781728113982

ISBN: (纸本)9781728113999

This paper introduces a novel maximum likelihood approach to determine the local thermal transport coefficients belonging to diffusion and convection from excitation (perturbative) transport experiments. It extends previous work developed for linear (slab) geometry to cylindrical (toroidal) geometry for fusion reactors. The previous linear geometry approach is based on analytic solutions of the partial differential equation. However, for cylindrical geometries with convection the analytic solutions are confluent hypergeometric functions (CHFs) with complex valued arguments. Most numerical libraries do not support CHFs evaluation with complex valued arguments. Hence, this paper proposes the use of an ultra-fast transfer function evaluation based on sparse numerical solutions for the discretized partial differential equation. This solution is implemented in MATLAB and incorporated in the frequency domain Maximum Likelihood Estimation framework. Consequently, transport coefficients can be estimated consistently when measurements are perturbed by coloured and spatially correlated noise.

关键词： Fusion reactors Geometry Maximum likelihood estimation Temperature sensors Partial differential equations Frequency-domain analysis

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