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arXiv 2024年

作者： Ren, Zihao Wang, Lei Yi, Xinlei Wang, Xi Yuan, Deming Yang, Tao Wu, Zhengguang Shi, Guodong State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou310027 China College of Electronics and Information Engineering Tongji University China School of Electrical Engineering Telecommunications University of New South Wales Sydney Australia School of Automation Nanjing University of Science and Technology China State Key Laboratory of Synthetical Automation for Process Industries Northeastern University China Australian Centre for Robotics School of Aerospace Mechanical and Mechatronic Engineering The University of Sydney SydneyNSW2006 Australia

Several data compressors have been proposed in distributed optimization frameworks of network systems to reduce communication overhead in large-scale applications. In this paper, we demonstrate that effective information compression may occur over time or space during sequences of node communications in distributed algorithms, leading to the concept of spatio-temporal compressors. This abstraction classifies existing compressors as spatio-temporal compressors, with their effectiveness described by constructive stability criteria from nonlinear system theory. Subsequently, we apply these spatio-temporal compressors to standard continuous-time consensus flows and distributed prime-dual flows, establishing conditions ensuring convergence. Additionally, we introduce a novel observer-based distributed primal-dual continuous flow integrated with spatio-temporal compressors, which provides broader convergence conditions. These continuous flows achieve exponential convergence to the global optimum when the objective function is strongly convex and can be discretized using Euler approximations. Finally, numerical simulations illustrate the versatility of the proposed spatio-temporal compressors and verify the convergence of algorithms. Copyright © 2024, The Authors. All rights reserved.

关键词： Stability criteria

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Distributed Event-Triggered Bandit Convex Optimization With Time-Varying Constraints

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IEEE Transactions on control of Network systems 2025年

作者： Zhang, Kunpeng Yi, Xinlei Wen, Guanghui Cao, Ming Johansson, Karl H. Chai, Tianyou Yang, Tao Northeastern University State Key Laboratory of Synthetical Automation for Process Industries Shenyang110819 China Ministry of Education Shanghai Institute of Intelligent Science and Technology National Key Laboratory of Autonomous Intelligent Unmanned Systems Frontiers Science Center for Intelligent Autonomous Systems Shanghai201210 China Southeast University School of Automation Nanjing210096 China University of Groningen Engineering and Technology Institute Groningen Faculty of Science and Engineering GroningenAG 9747 Netherlands KTH Royal Institute of Technology Division of Decision and Control Systems School of Electrical Engineering and Computer Science Stockholm10044 Sweden KTH Royal Institute of Technology Digital Futures Stockholm10044 Sweden

This paper considers the distributed bandit convex optimization problem with time-varying inequality constraints over a network of agents, where the goal is to minimize network regret and cumulative constraint violation. Existing distributed online algorithms solving this problem require that each agent broadcasts its decision to its neighbors at each iteration. However, communication resources are often limited. To better utilize communication resources, we propose a distributed event-triggered online primal-dual algorithm with two-point bandit feedback. Under several classes of appropriately chosen decreasing parameter sequences and non-increasing event-triggered threshold sequences, we establish dynamic network regret and network cumulative constraint violation bounds. These bounds are comparable to the results achieved by distributed event-triggered online algorithms with full-information feedback. Finally, a numerical example is provided to verify the theoretical results. © 2014 IEEE.

关键词： Optimization algorithms

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Structural Analysis and Modeling of X500 Quadcopter Frame

Structural Analysis and Modeling of X500 Quadcopter Frame

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Renewable Solutions for Ecosystems: Towards a Sustainable Energy Transition (ICRSEtoSET), International Conference on

作者： Billel Naceri Younes Belhadjer Hamou Ait Abbas Smail Haroun Ali Mazari Khaled Mouheb Kouider Laroussi Laboratory of Identification Commande Control and Communication (LI3CUB) University of Biskra Biskra Algeria Laboratory of The Applied and Automation and Industrial Diagnostic University of Djelfa Djelfa Algeria Laboratory of Electrical and Automatic Systems Engineering (LGSEA) University of Bouira Bouira Ageria Laboratory of Electrical and Industrial Systems (LSEI) University of Bouira Bouira Algeria

ISBN: (数字)9798350346336

ISBN: (纸本)9798350346343

In this study, the structural integrity of an X500 quadcopter frame was evaluated using ANSYS and SOLIDWORKS. The goal was to identify any weaknesses or vulnerabilities in the frame. The frame was first designed in SOLIDWORKS, then imported to ANSYS for detailed stress and deformation analysis. The results of the analysis showed that the frame was capable of withstand various loads and stresses, with no significant deformation or failure observed. This confirms the frame's robustness and durability and its ability to perform well under different conditions. The use of ANSYS and SOLIDWORKS in structure analysis and modeling is a crucial aspect of the design and development process for any aircraft, and can greatly contribute to the overall safety and reliability of the vehicle.

关键词： Analytical models Deformation Atmospheric modeling Software Finite element analysis Safety Aircraft

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Dynamic Modeling and control of an S500 UAV Using Proportional-Integral-Derivative (PID) Algorithm

Dynamic Modeling and Control of an S500 UAV Using Proportion...

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Renewable Solutions for Ecosystems: Towards a Sustainable Energy Transition (ICRSEtoSET), International Conference on

作者： Younes Belhadjer Billel Naceri Hamou Ait Abbas Smail Haroun Kouider Laroussi Okba Fergani Laboratory Of The Applied and Automation and Industrial Diagnostic University of Djelfa Djelfa Algeria Laboratory of Identification Commande Control and Communication (LI3CUB) University of Biskra Biskra Algeria Laboratory of Electrical and Automatic Systems Engineering (LGSEA) University of Bouira Bouira Ageria Laboratory of Electrical and Industrial Systems (LSEI) University of Bouira Bouira Algeria

ISBN: (数字)9798350346336

ISBN: (纸本)9798350346343

This article presents a comprehensive study on the dynamical Designing and managing the dynamics of an S500 system which is an unmanned aerial vehicle (UAV) using the Proportional-Integral-Derivative (PID) algorithm. The article begins by discussing the physics of flight and the challenges associated with modeling and controlling an UAV. It then goes on to explain the design and implementation of a PID controller for the S500 UAV, including the selection of appropriate gains and the tuning of the controller to achieve optimal performance. The article also presents simulation results that demonstrate the effectiveness of the PID controller in maintaining stability and accuracy in flight. The study concludes by highlighting some of the key challenges and limitations of using a PID controller for UAV control and suggests potential Prospective avenues for investigation. This paper serves as a significant tool for scholars and practitioners working on the control and stabilization of UAVs.

关键词： Software packages Heuristic algorithms Simulation Autonomous aerial vehicles Stability analysis Hardware PD control

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3d Surface Detection and Segmentation from Point Clouds Via Quadric Fits Based on Dbscan Clustering

SSRN

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SSRN 2024年

作者： Xie, Tingting Chen, Hui Liu, Wanquan Zhou, Rongyu Li, Qilin College of Automation Engineering Shanghai University of Electric Power Shanghai200090 China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China School of Intelligent Systems Engineering Sun Yat-sen University Guangzhou510275 China School of Electrical Engineering Computing and Mathematical Sciences Curtin University BentleyWA Australia

Extracting surfaces from 3D point clouds is significant in reconstructing and transforming these discrete points into their corresponding models. Scannedpoint clouds are often accompanied by noise, and the existing methods mainly rely on local feature similarities for surface extractions. Errors in estimatingthe feature information may lead to incorrect surface detection. In this paper we propose a surface extraction and boundary detection method based onclustering technique. The method can be described in three steps: In the first step, a normal correction is carried out using the information from theneighbourhood of points with sharp features. The second step is to cluster the points that meet the coplanar condition of the local quadric surface (LQS).In the third step, surface merger is performed by merging the local surfaces satisfying the merging conditions. Experimental validation is carried outto determine the effectiveness of the proposed method. The experimental results show improved surface extraction accuracy of the proposed methodin comparison to RANSAC, RG, LCCP, C2NO and HT methods. © 2024, The Authors. All rights reserved.

关键词： Merging

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Structural Analysis and Modeling of a 3-inch Quadcopter Frame

Structural Analysis and Modeling of a 3-inch Quadcopter Fram...

引用

Renewable Solutions for Ecosystems: Towards a Sustainable Energy Transition (ICRSEtoSET), International Conference on

作者： Smail Haroun Younes Belhadjer Billel Naceri Hamou Ait Abbas Ali Mazari Khaled Mouheb Kouider Laroussi Laboratory of Electrical and Industrial Systems (LSEI) University of Bouira Bouira Algeria Laboratory of The Applied and Automation and Industrial Diagnostic University of Djelfa Djelfa Algeria Laboratory of Identification Commande Control and Communication (LI3CUB) University of Biskra Biskra Algeria Laboratory of Electrical and Automatic Systems Engineering (LGSEA) University of Bouira Bouira Ageria

ISBN: (数字)9798350346336

ISBN: (纸本)9798350346343

In this research, the structural robustness and longevity of a 3-inch quadcopter frame were scrutinized utilizing cutting-edge simulation tools, ANSYS and SOLIDWORKS. The objective was to detect any weak points or vulnerabilities in the frame. The frame was initially created in SOLIDWORKS, then imported to ANSYS for in-depth stress and deformation evaluation. The findings of the analysis demonstrated that the frame had the capability to endure the various loads and stresses, and no considerable deformation or failure was noticed. This verifies the frame's strength and durability and its capability to function effectively under various conditions.

关键词： Analytical models Deformation Atmospheric modeling Stability criteria Finite element analysis Aircraft Stress

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Differentially Private Distributed Stochastic Optimization with Time-Varying Sample Sizes

arXiv

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arXiv 2023年

作者： Wang, Jimin Zhang, Ji-Feng School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing100083 China Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China The School of Mathematical Sciences University of Chinese Academy of Sciences Beijing100049 China

Differentially private distributed stochastic optimization has become a hot topic due to the urgent need of privacy protection in distributed stochastic optimization. In this paper, two-time scale stochastic approximation-type algorithms for differentially private distributed stochastic optimization with time-varying sample sizes are proposed using gradient- and output-perturbation methods. For both gradient- and output-perturbation cases, the convergence of the algorithm and differential privacy with a finite cumulative privacy budget Ε for an infinite number of iterations are simultaneously established, which is substantially different from the existing works. By a time-varying sample sizes method, the privacy level is enhanced, and differential privacy with a finite cumulative privacy budget Ε for an infinite number of iterations is established. By properly choosing a Lyapunov function, the algorithm achieves almost-sure and mean-square convergence even when the added privacy noises have an increasing variance. Furthermore, we rigorously provide the mean-square convergence rates of the algorithm and show how the added privacy noise affects the convergence rate of the algorithm. Finally, numerical examples including distributed training on a benchmark machine learning dataset are presented to demonstrate the efficiency and advantages of the algorithms. © 2023, CC BY.

关键词： Budget control

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Stealthy Attacks on Sampled-Data control and Encryption-Based Countermeasures

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IEEE Transactions on Automatic control 2025年

作者： Shang, Jun Li, Yuzhe Chen, Tongwen Tongji University Department of Control Science and Engineering Shanghai Institute of Intelligent Science and Technology National Key Laboratory of Autonomous Intelligent Unmanned Systems Frontiers Science Center for Intelligent Autonomous Systems Shanghai200092 China Northeastern University State Key Laboratory of Synthetical Automation for Process Industries Shenyang110004 China University of Alberta Department of Electrical and Computer Engineering EdmontonABT6G 1H9 Canada

This paper investigates stealthy attacks on sampled-data control systems, where a continuous process is sampled periodically, and the resultant discrete output and control signals are transmitted through dual channels in wireless communication networks. Acknowledging the vulnerability of these transmitted data to cyber threats, we analyze two types of stealthy attacks that compromise either one or both channels. We explicitly present the necessary and sufficient conditions for the existence of stealthy single-channel attacks. To mitigate these security risks, we implement encryption-based countermeasures, including linear time-invariant and periodic encryption methods. We detail sufficient conditions under which these encryption strategies effectively thwart single- and dual-channel stealthy attacks. The effectiveness of these approaches and the theoretical findings are demonstrated through numerical simulations. © 1963-2012 IEEE.

关键词： Cyber attacks

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The Emerging Intelligent Vehicles and Intelligent Vehicle Carriers Collaborative systems

The Emerging Intelligent Vehicles and Intelligent Vehicle Ca...

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IEEE Symposium on Intelligent Vehicle

作者： Zhipeng Shen Chao Huang Hailong Huang Yutong Wang Fei-Yue Wang Abbas Jamalipour Duc Truong Pham Ljubo Vlacic Andrey V. Savkin Department of Aeronautical and Aviation Engineering the Hong Kong Polytechnic University Hong Kong Department of Industrial and Systems Engineering the Hong Kong Polytechnic University Hong Kong State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Institute of Engineering Macau University of Science and Technology Macau China School of Electrical and Information Engineering University of Sydney Sydney Australia Department of Mechanical Engineering University of Birmingham Birmingham UK Institute of Intelligent & Integrated Systems and the School of Engineering and Built Environment Griffith University Brisbane Australia School of Electrical Engineering and Telecommunications University of New South Wales Sydney Australia

ISBN: (数字)9798350348811

ISBN: (纸本)9798350348828

In this paper, we propose the innovative use of Intelligent Vehicle Carriers (IVCs) as a key solution to address the energy constraints of small-scale unmanned Intelligent Vehicles (IVs). IVCs function as both transporters and charging stations, significantly boosting the operational range and efficiency of IVs. Our research delves into the IV-IVC collaborative framework, highlighting the existing challenges, exploring potential solutions, and examining a range of applications. This study offers a visionary approach to revolutionizing intelligent transportation systems by leveraging the synergistic relationship between IVs and IVCs.

关键词： Intelligent vehicles Collaboration Charging stations Boosting

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UW-DNeRF: Deformable Soft Tissue Reconstruction with Uncertainty-Guided Depth Supervision and Local Information Integration

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IEEE Transactions on Medical Imaging 2025年 PP卷 PP页

作者： Shan, Jiwei Zhang, Zixin Li, Hao Hsieh, Cheng-Tai Li, Yirui Wu, Wenhua Wang, Hesheng School of Electronic Information and Electrical Engineering of Shanghai Jiao Tong University Shanghai200240 China Shanghai Jiao Tong University School of Mechanical Engineering Shanghai200240 China Shanghai Jiao Tong University State Key Laboratory of Avionics Integration and Aviation System-of-Systems Synthesis Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai200240 China

Reconstructing deformable soft tissues from endoscopic videos is a critical yet challenging task. Leveraging depth priors, deformable implicit neural representations have seen significant advancements in this field. However, depth priors from pre-Trained depth estimation models are often coarse, and inaccurate depth supervision can severely impair the performance of these neural networks. Moreover, existing methods overlook local similarities in input sequences, which restricts their effectiveness in capturing local details and tissue deformations. In this paper, we introduce UW-DNeRF, a novel approach utilizing neural radiance fields for high-quality reconstruction of deformable tissues. We propose an uncertainty-guided depth supervision strategy to mitigate the impact of inaccurate depth information. This strategy relaxes hard depth constraints and unlocks the potential of implicit neural representations. In addition, we design a local window-based information sharing scheme. This scheme employs local window and keyframe deformation networks to construct deformations with local awareness and enhances the model's ability to capture fine details. We demonstrate the superiority of our method over state-of-The-Art approaches on synthetic and in-vivo endoscopic datasets. Code is available at: https://***/IRMVLab/UW-DNeRF. © 2025 IEEE.

关键词： Endoscopy

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