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Simultaneous distributed localization, mapping and formation control of mobile robots based on local relative measurements

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IFAC-PapersOnLine 2020年第2期53卷 9614-9620页

作者： Miao Guo Bayu Jayawardhana Jin Gyu Lee Hyungbo Shim Engineering and Technology Institute Groningen Faculty of Science and Engineering University of Groningen The Netherlands Control Group Department of Engineering University of Cambridge United Kingdom ARSI Department of Electrical and Computer Engineering Seoul National University Korea

This paper investigates the problem of localizing a team of robots in an indoor environment while simultaneously keeping a robust formation and performing group motion. A distributed observer is proposed to estimate the positions of mobile robots as well as the landmarks under a common global frame. Every robot uses its available local relative measurements, as well as the estimated relative measurements to its neighbors in order to keep a robust formation. Simultaneously, each robot estimates the positions of all the landmarks based on the available on-board relative measurements but also based on the estimated positions from its neighbors. We provide the L 2 -stability analysis of the closed-loop system where the group is also allowed to maneuver in the unknown environment. Simulation results are also given to show the efficacy of the method.

关键词： Distributed SLAM formation control distributed observer multi-agent systems

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Characterization of State-Preparation Uncertainty in Quantum Key Distribution

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Physical Review Applied 2023年第1期19卷 014048-014048页

作者： Anqi Huang Akihiro Mizutani Hoi-Kwong Lo Vadim Makarov Kiyoshi Tamaki Institute for Quantum Information & State Key Laboratory of High Performance Computing College of Computer Science and Technology National University of Defense Technology Changsha 410073 People’s Republic of China Graduate School of Engineering Science Osaka University Toyonaka Osaka 560-8531 Japan Department of Electrical & Computer Engineering and Department of Physics Centre for Quantum Information and Quantum Control (CQIQC) University of Toronto Toronto Ontario M5S 3G4 Canada Department of Physics University of Hong Kong Pokfulam Hong Kong Quantum Bridge Technologies Inc. 100 College Street Toronto Ontario M5G 1L5 Canada Russian Quantum Center Skolkovo Moscow 121205 Russia Shanghai Branch National Laboratory for Physical Sciences at Microscale and CAS Center for Excellence in Quantum Information University of Science and Technology of China Shanghai 201315 People’s Republic of China NTI Center for Quantum Communications National University of Science and Technology MISiS Moscow 119049 Russia Faculty of Engineering University of Toyama Gofuku 3190 Toyama 930-8555 Japan

To achieve secure quantum key distribution, all imperfections in the source unit must be incorporated in a security proof and measured in the lab. Here we perform a proof-of-principle demonstration of the experimental techniques for characterizing the source phase and intensity fluctuation in commercial quantum key distribution systems. When we apply the measured phase-fluctuation intervals to the security proof that takes into account fluctuations in the state preparation, it predicts a key distribution distance of over 100km of fiber. The measured intensity fluctuation intervals are, however, so large that the proof predicts zero key, indicating a source improvement may be needed. Our characterization methods pave the way for a future certification standard.

关键词： Fluctuations & noise Optical quantum information processing Quantum cryptography Quantum engineering Quantum state engineering

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Adaptive control for flow and volume regulation in multi-producer district heating systems

arXiv

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arXiv 2021年

作者： Martinez, Juan Eduardo Machado Cucuzzella, Michele Pronk, Nina Scherpen, Jacquelien M.A. The Jan C. Willems Center for Systems and Control ENTEG Faculty of Science and Engineering University of Groningen Nijenborgh 4 Groningen9747 AG Netherlands The Department of Electrical Computer and Biomedical Engineering University of Pavia via Ferrata 5 Pavia27100 Italy

Flow and storage volume regulation is essential for the adequate transport and management of energy resources in district heating systems. In this letter, we propose a novel and suitably tailored-decentralized-adaptive control scheme addressing this problem whilst offering closed-loop stability guarantees. We focus on a system configuration comprising multiple heat producers, consumers and storage tanks exchanging energy through a common distribution network, which are features of modern and prospective district heating installations. The proposed controller is based on passivity, backstepping and (indirect) adaptive control theory. Copyright © 2021, The Authors. All rights reserved.

关键词： District heating

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On a network SIS model with opinion dynamics 21st

On a network SIS model with opinion dynamics

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21st IFAC World Congress 2020

作者： Xuan, Weihao Ren, Ruijie Paré, Philip E. Ye, Mengbin Ruf, Sebastian Liu, Ji School of Mechanical Engineering University of Leeds United Kingdom Division of Decision and Control Systems KTH Royal Institute of Technology Stockholm Sweden Faculty of Science and Engineering ENTEG University of Groningen Netherlands Center for Complex Networks Research Department of Psychology Northeastern University United States Department of Electrical and Computer Engineering Stony Brook University United States

This paper proposes a network continuous-time susceptible-infected-susceptible (SIS) model coupled with individual opinion dynamics, where the opinion dynamics models an individual's perceived severity of illness or perceived susceptibility. The effects of opinion dynamics on the network SIS model are studied by analyzing the limiting behaviors of the system model, equilibria of the system and their stability. Copyright © 2020 The Authors. This is an open access article under the CC BY-NC-ND license

关键词： Dynamics

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Efficient MedSAMs: Segment Anything in Medical Images on Laptop

arXiv

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arXiv 2024年

作者： Ma, Jun Li, Feifei Kim, Sumin Asakereh, Reza Le, Bao-Hiep Nguyen-Vu, Dang-Khoa Pfefferle, Alexander Wei, Muxin Gao, Ruochen Lyu, Donghang Yang, Songxiao Purucker, Lennart Marinov, Zdravko Staring, Marius Lu, Haisheng Dao, Thuy Thanh Ye, Xincheng Li, Zhi Brugnara, Gianluca Vollmuth, Philipp Foltyn-Dumitru, Martha Cho, Jaeyoung Mahmutoglu, Mustafa Ahmed Bendszus, Martin Pflüger, Irada Rastogi, Aditya Ni, Dong Yang, Xin Zhou, Guang-Quan Wang, Kaini Heller, Nicholas Papanikolopoulos, Nikolaos Weight, Christopher Tong, Yubing Udupa, Jayaram K. Patrick, Cahill J. Wang, Yaqi Zhang, Yifan Contijoch, Francisco McVeigh, Elliot Ye, Xin He, Shucheng Haase, Robert Pinetz, Thomas Radbruch, Alexander Krause, Inga Kobler, Erich He, Jian Tang, Yucheng Yang, Haichun Huo, Yuankai Luo, Gongning Kushibar, Kaisar Amankulov, Jandos Toleshbayev, Dias Mukhamejan, Amangeldi Egger, Jan Pepe, Antonio Gsaxner, Christina Luijten, Gijs Fujita, Shohei Kikuchi, Tomohiro Wiestler, Benedikt Kirschke, Jan S. de la Rosa, Ezequiel Bolelli, Federico Lumetti, Luca Grana, Costantino Xie, Kunpeng Wu, Guomin Puladi, Behrus Martín-Isla, Carlos Lekadir, Karim Campello, Victor M. Shao, Wei Brisbane, Wayne Jiang, Hongxu Wei, Hao Yuan, Wu Li, Shuangle Zhou, Yuyin Wang, Bo AI Collaborative Centre University Health Network Department of Laboratory Medicine and Pathobiology University of Toronto Vector Institute Toronto Canada Peter Munk Cardiac Centre University Health Network Toronto Canada Toronto General Hospital Research Institute University Health Network Department of Computer Science University of Toronto University Health Network Vector Institute Toronto Canada University of Science Vietnam National University Ho Chi Minh City Viet Nam Institute of Computer Science University of Freiburg Freiburg Germany School of Medicine and Health Harbin Institute of Technology Harbin China Division of Image Processing Department of Radiology Leiden University Medical Center Leiden Netherlands Department of System and Control Engineering School of Engineering Institute of Science Tokyo Formerly Tokyo Institute of Technology Tokyo Japan Institute for Anthropomatics and Robotics Karlsruhe Institute of Technology Karlsruhe Germany School of Information and Communication Engineering University of Electronic Science and Technology of China Chengdu China School of Electrical Engineering and Computer Science University of Queensland Brisbane Australia School of Cyberspace Hangzhou Dianzi University Hangzhou China Division for Computational Radiology and Clinical AI The Department of Neuroradiology University Hospital Bonn Germany Division for Computational Radiology and Clinical AI The Department of Neuroradiology University Hospital Bonn Germany Department of Neuroradiology Heidelberg University Hospital Heidelberg Germany Division for Computational Radiology and Clinical AI Department of Neuroradiology University Hospital Bonn Germany School of Biomedical Engineering Shenzhen University Shenzhen China School of Biological Science and Medical Engineering Southeast University Nanjing China Department of Urology Cleveland Clinic Cleveland United States Department of Computer Science University of Minnesota Minneapolis United St

Promptable segmentation foundation models have emerged as a transformative approach to addressing the diverse needs in medical images, but most existing models require expensive computing, posing a big barrier to their adoption in clinical practice. In this work, we organized the first international competition dedicated to promptable medical image segmentation, featuring a large-scale dataset spanning nine common imaging modalities from over 20 different institutions. The top teams developed lightweight segmentation foundation models and implemented an efficient inference pipeline that substantially reduced computational requirements while maintaining state-of-the-art segmentation accuracy. Moreover, the post-challenge phase advanced the algorithms through the design of performance booster and reproducibility tasks, resulting in improved algorithms and validated reproducibility of the winning solution. Furthermore, the best-performing algorithms have been incorporated into the open-source software with a user-friendly interface to facilitate clinical adoption. The data and code are publicly available to foster the further development of medical image segmentation foundation models and pave the way for impactful real-world applications. © 2024, CC BY-NC-SA.

关键词： Open source software

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Matching evaluation based on image content discriminative features for different image types

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The Journal of Photographic science 2024年第1期72卷

作者： Eman S. Sabry Salah Elagooz Fathi E. Abd El-Samie Nirmeen A. El-Bahnasawy Ghada M. El-Banby Rabie A. Ramadan a Department of Communications and Computers Engineering Higher Institute of Engineering El-Shorouk Academy El-Shorouk City Egypt b Department Electronics and Electrical Communications Engineering Faculty of Electronic Engineering Menoufia University Menouf Egyptc Department of Information Technology College of Computer and Information Sciences Princess Nourah Bint Abdulrahman University Riyadh Saudi Arabia d Computer Science and Engineering Department Faculty of Electronic Engineering Menoufia University Menouf Egypt e Department of Industrial Electronics and Control Engineering Faculty of Electronic Engineering Menoufia University Menouf Egypt f Computer Engineering Department College of Engineering Cairo University Giza Egypt

ABSTRACTSearch by image has taken the place of the prior wordy approach, considering spatial image comparison in the feature space. Several query image forms are available. Sketch-to-real image matching is very challenging problem, which is commonly based on edge feature detectors to extract features from sketches. However, they are inconvenient, and it is crucial to select different methods. Thus, methods assessment is conducted for similarity matching between sketched and real images for different drawing contents and clarity levels. The assessment approach includes comparing feature keypoints gathered using the Scale-Invariant Feature Transform (SIFT) and Oriented FAST and Rotated BRIEF (ORB) methods. In addition, the comparison includes matching of objects inside High-Deﬁnition (HD) images and 3D images based on their generated features. The textual-Hcontent image search is another search type that is frequently used in brand logo cases. Hence, it is presented for text-logo image search based on visual features. Besides, the motives and downsides of the considered methods are declared, including the space and time complexities within test cases.

关键词： SIFT ORB sketch-real image retrieval objects matching spatial distance 3D image matching

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Distributing Potential Games on Graphs Part II. Learning with application to platoon matching

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IFAC-PapersOnLine 2020年第2期53卷 6703-6708页

作者： Mohamed I. El-Hawwary Jonas Mårtensson Division of Decision and Control Systems School of Electrical Engineering & Computer Science KTH Royal Institute of Technology SE-100 44 Stockholm Sweden Department of Electrical Power Engineering Faculty of Engineering Cairo University Giza 12613 Egypt

In part I of the paper the problem of distributing potential games over undirected graphs was formulated. A restricted information potential game was designed using state-based formulation. Here, learning Nash equilibria for this game is studied. An algorithm is developed with mainly two phases, an estimation phase and a learning phase. The setting allows for available learning methods of the full information game to be directly incorporated in the learning phase. The result matches the outcome (i.e. converges to the same equilibria) of the full information game. In addition, the design takes into account considerations of convergence time, and synchrony of actions update. The developed distributed game and learning algorithm are used to solve a platoon matching problem for heavy duty vehicles. This serves two objectives. First, it provides a motivation for the presented gaming results. Second, the problem addressed can facilitate platoon matching where it provides a basis for an on-the-go strategy.

关键词： Potential games distributed optimization multi-agents platoon matching

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Distributing Potential Games on Graphs Part I. Game formulation

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IFAC-PapersOnLine 2020年第2期53卷 6697-6702页

The paper presents the problem of distributing potential games over communication graphs. Suppose a potential game can be designed for a group of agents (players) where each has access to all others’ actions (strategies). The paper shows how to design a corresponding potential game for these agents if the full information assumption is replaced with communication over a network depicted by undirected graphs with certain properties. A state-based formulation for potential games is utilized. This provides degrees of freedom to handle the previous information limitation. Notions of Nash’s equilibria for the developed game (called here distributed potential game) are presented, and relations between these equilibria and those of the full information game are studied. In part II of the paper learning Nash equilibria for the newly developed game is studied. The development focuses on providing a way to utilize available algorithms of the full information game. The motivation for the results comes from a platoon matching problem for heavy duty vehicles. Utilizing the newly developed distributed game, recent results based on potential games can be extended, providing a basis for an on-the-go strategy where platoon matching on road networks can be solved locally.

关键词： Potential games distributed optimization multi-agents

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Integration of IOT and control systems for industry 4.0 applications

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AIP Conference Proceedings 2023年第1期2477卷

作者： Mohan Sundar Rajan Tilahun Weldcherkos Sher Afghan Khan Maughal Ahmed Ali Baig Chamakura Abhinav Reddy Department of Industrial Control and Instrumentation Faculty of Electrical and Computer Engineering Arbaminch Institute of Technology PO No:21 Arbaminch University Arbaminch Ethiopia Department of Mechanical Faculty of Engineering International Islamic UniversityMalaysia 50728 Kuala Lumpur Department of Mechanical Engineering CMR TechnicalCampus Hyderabad Telangana India Department of Computer Science and Engineering CMR College of Engineering and Technology Hyderabad Telangana India

Modern manufacturing applications such as Industry 4.0 focus on integrated industrial automation and IoT to improve efficiency, quality, and productivity. To establish and implement this new approach, new technologies like IoT, wireless networking control systems (WNCS), and cloud computing are necessary. This paper explains different techniques adopted in control systems applied via IoT, i.e., SCADA, HIL, and explained the PID Plus filter architecture. The Internet of Things (IoT), which enables independent devices to use the internet for data exchange, is a significant recent interest in the communication between machines. The Internet and the WWW have made people’s connections revolutionized. They came from the need to share science amongst industries. Human communications are similar to IoT subjects such as codes, representations, and tools. Various organizations, including start-ups, are currently testing them. The smart city term is also used to define IoT applications such as intelligent parking, jamming, and waste management. There is already a lot of expertise in control systems for extensive testing facilities for connecting thousands of devices, which more and more have a TCP/IP link. This paper examines the potential integration of IoT and control Systems.

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Hydrogen is not necessary for superconductivity in topotactically reduced nickelates

arXiv

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arXiv 2024年

作者： Balakrishnan, Purnima P. Segedin, Dan Ferenc Chow, Lin Er Quarterman, P. Muramoto, Shin Surendran, Mythili Patel, Ranjan K. LaBollita, Harrison Pan, Grace A. Song, Qi Zhang, Yang El Baggari, Ismail Jagadish, Koushik Shao, Yu-Tsun Goodge, Berit H. Kourkoutis, Lena F. Middey, Srimanta Botana, Antia S. Ravichandran, Jayakanth Ariando, A. Mundy, Julia A. Grutter, Alexander J. NIST Center for Neutron Research National Institute of Standards and Technology GaithersburgMD20899 United States Department of Physics Harvard University CambridgeMA02138 United States Department of Physics Faculty of Science National University of Singapore Singapore117551 Singapore Material Measurement Laboratory National Institute of Standards and Technology GaithersburgMD20899 United States Mork Family Department of Chemical Engineering and Materials Science University of Southern California Los AngelesCA90089 United States Core Center for Excellence in Nano Imaging University of Southern California Los AngelesCA90089 United States Department of Physics Indian Institute of Science Bengaluru560012 India Department of Physics Arizona State University TempeAZ85287 United States The Rowland Institute at Harvard Harvard University CambridgeMA02138 United States School of Applied and Engineering Physics Cornell University IthacaNY14853 United States Kavli Institute Cornell for Nanoscale Science IthacaNY14853 United States Ming Hsieh Department of Electrical and Computer Engineering University of Southern California Los AngelesCA90089 United States

A key open question in the study of layered superconducting nickelate films is the role that hydrogen incorporation into the lattice plays in the appearance of the superconducting state. Due to the challenges of stabilizing highly crystalline square planar nickelate films, films are prepared by the deposition of a more stable parent compound which is then transformed into the target phase via a topotactic reaction with a strongly reducing agent such as CaH2. Recent studies, both experimental and theoretical, have introduced the possibility that the incorporation of hydrogen from the reducing agent into the nickelate lattice may be critical for the superconductivity. In this work, we use secondary ion mass spectrometry to examine superconducting La1-xXxNiO2/SrTiO3 (X = Ca and Sr) and Nd6Ni5O12/NdGaO3 films, along with non-superconducting NdNiO2/SrTiO3 and (Nd,Sr)NiO2/SrTiO3. We find no evidence for extensive hydrogen incorporation across a broad range of samples, including both superconducting and non-superconducting films. Theoretical calculations indicate that hydrogen incorporation is broadly energetically unfavorable in these systems, supporting our conclusion that hydrogen incorporation is not generally required to achieve a superconducting state in layered square-planar nickelates. © 2024, CC BY.

关键词： Hydrogen

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