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作者： Zhang, Haiyang Duan, Lingjie Zhang, Rui Engineering Systems and Design Pillar Singapore University of Technology and Design Singapore Singapore Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen518040 China Department of Electrical and Computer Engineering National University of Singapore Singapore Singapore

This paper studies a new and challenging wireless surveillance problem where a legitimate monitor attempts to eavesdrop two suspicious communication links simultaneously. To facilitate concurrent eavesdropping, our multi-antenna legitimate monitor employs a proactive eavesdropping via jamming approach, by selectively jamming suspicious receivers to lower the transmission rates of the target links. In particular, we are interested in characterizing the achievable eavesdropping rate region for the minimum-mean-squared-error (MMSE) receiver case, by optimizing the legitimate monitor's jamming transmit covariance matrix subject to its power budget. As the monitor cannot hear more than what suspicious links transmit, the achievable eavesdropping rate region is essentially the intersection of the achievable rate region for the two suspicious links and that for the two eavesdropping links. The former region can be purposely altered by the monitor's jamming transmit covariance matrix, whereas the latter region is fixed when the MMSE receiver is employed. Therefore, we first analytically characterize the achievable rate region for the two suspicious links via optimizing the jamming transmit covariance matrix and then obtain the achievable eavesdropping rate region for the MMSE receiver case. In addition, we also consider the MMSE with successive interference cancellation (MMSE-SIC) receiver case and characterize the corresponding achievable eavesdropping rate region by jointly optimizing the time-sharing factor between different decoding orders. Furthermore, extensions to the imperfect channel state information case and the more than two suspicious links scenario are also examined. Finally, numerical results are provided to corroborate our analysis and evaluate the eavesdropping performance. © 2002-2012 IEEE.

关键词： Covariance matrix

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A Switched Based Control Strategy for Target Tracking of Autonomous Robotic Vehicles using Range-only Measurements

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IFAC Proceedings Volumes 2011年第1期44卷 12819-12824页

作者： Omid Namaki-Shoushtari A. Pedro Aguiar Ali Khaki Sedigh Faculty of Electrical and Computer Engineering K.N. Toosi University of Technology Tehran Iran Institute for Systems and Robotics (ISR) Instituto Superior Técnico (IST) Lisbon Portugal

Abstract In this paper we address the pursuing or target tracking problem where an autonomous robotic vehicle is required to move towards a maneuvering target using range-only measurements. A new switched based control strategy is proposed to solve the pursuing problem that can be described as comprising a continuous cycle of two distinct phases: i) the determination of the bearing, and ii) following the direction computed in the previous step while the range is decreasing. We provide conditions under which the switched closed-loop system achieves convergence of the relative distance error to a small neighborhood around zero. Simulation results are presented and discussed.

关键词： Target tracking Range-only measurements Switching control Autonomous robotic vehicles

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Bayesian Optimization Objective-Based Experimental Design

Bayesian Optimization Objective-Based Experimental Design

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American Control Conference

作者： Mahdi Imani Seyede Fatemeh Ghoreishi Department of Electrical and Computer Engineering George Washington University Institute for Systems Research (ISR) University of Maryland

ISBN: (数字)9781538682661

ISBN: (纸本)9781538682678

Design has become a salient part of most of the scientific and engineering tasks, embracing a wide range of domains including real experimental settings (e.g., material discovery or drug design), simulation-based design, and hyperparameter tuning. Model-based experimental design refers to a broad class of techniques, applicable to domains that a partial knowledge about the underlying process exists. Unlike entropy- based techniques which aim to reduce the whole uncertainty in the process, the mean objective cost of uncertainty (MOCU) is a rigorous statistically-oriented experimental design framework which takes the main objective into account during the decision making. However, the lack of scalability of this framework has restricted its application to domains with very small design spaces. This paper proposes a framework using the combination of Bayesian optimization and MOCU policy, which enables experimental design to much larger design spaces and systems. The reliability, scalability and efficiency of the proposed framework are investigated through experimental design for optimal structural intervention in gene regulatory networks.

关键词： domains Frameworks Scalability Gene Regulatory Networks Bayesian inference Phyla

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Dynamic Setpoint Optimization Using Metaheuristic Algorithms for Wastewater Treatment Plants 48

Dynamic Setpoint Optimization Using Metaheuristic Algorithms...

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48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Salles, Rodrigo Mendes, Jerome Henggeler Antunes, Carlos Moura, Pedro Dias, Joana University of Coimbra Institute of Systems and Robotics Department of Electrical and Computer Engineering Pólo II Coimbra3030-290 Portugal University of Coimbra Inesc Coimbra Department of Electrical and Computer Engineering Pólo II Coimbra3030-290 Portugal Ctga Park no 70 Taveiro Coimbra3045-487 Portugal

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

Wastewater Treatment Plants (WWTPs) are complex structures, with nonlinear characteristics, that have strict quality criteria, and carry out the treatment using various resources, with special emphasis on electricity. The optimization of WWTPs is a necessity to achieve sustainability. This work proposes the use of metaheuristic algorithms to optimize the functioning of a WWTP. Genetic Algorithm, Particle Swarm Optimization, and Simulated Annealing are used to minimize the aeration energy consumption prediction by an artificial neural network. The optimization framework aims dynamically adjusts the reference value for the proportional-integral (PI) controller. The proposed approach was able to dynamically adjust the oxygen pumping requirement and thus reduce the electricity consumption compared to the default PI controller adopted by the Benchmark Simulation Model no. 2 (BSM2). © 2022 IEEE.

关键词： Genetic algorithms

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Role of Network Topology in Cybersecurity

Role of Network Topology in Cybersecurity

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IEEE Annual Conference on Decision and Control

作者： Richard J. La Department of Electrical & Computer Engineering (ECE) and the Institute for Systems Research (ISR) at the University of Maryland College Park

ISBN: (纸本)9781467360890

We study how an underlying network property affects network security when nodes are rational and have four choices - i) invest in protection, ii) purchase (incomplete coverage) insurance, iii) invest in protection and purchase insurance, or iv) do nothing. More specifically, using a population game model, we examine how the degree distribution of nodes influences their choices at Nash equilibria (NEs) and overall security level. We first show that there exists a degree threshold at NEs so that only the populations with degrees greater than or equal to the threshold invest in protection. Second, as the weighted degree distribution of nodes becomes stochastically larger, the risk or threat posed by a neighbor decreases, even though the aforementioned degree threshold tends to rise, hence only nodes with increasingly higher degrees invest in protection, at the same time. Third, we show that the social optimum also possesses similar properties. Finally, we derive an upper bound on the price of anarchy, which is an affine function of the average degree of nodes. This upper bound is tight in that it is achieved in some scenarios.

关键词： Network security Ganglia Network topology Security level Anarchy Greater than or equal to Neighbor Upper bound population model

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Bayesian Optimization for Efficient Design of Uncertain Coupled Multidisciplinary systems

Bayesian Optimization for Efficient Design of Uncertain Coup...

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American Control Conference

作者： Seyede Fatemeh Ghoreishi Mahdi Imani Institute for Systems Research (ISR) University of Maryland Department of Electrical and Computer Engineering George Washington University

ISBN: (数字)9781538682661

ISBN: (纸本)9781538682678

Stabilization of complex cyber-physical systems is extremely important in keeping the critical infrastructure and the environment safe. This is, in particular, critical in coupled multidisciplinary systems with several subsystems interacting with each other in an uncertain environment. The design of stabilized complex systems depends on a proper set of inputs to these subsystems, in such a way that the best stationary behavior of these systems is achieved. Despite several attempts for stabilizing the coupled multidisciplinary systems, the existing techniques still have their critical limitations and issues due to the unrealistic deterministic assumption in some cases as well as inability in handling large-scale systems. In this paper, we introduce a Bayesian framework using the combination of Bayesian optimization technique and Gibbs sampling method, which enables scalable, efficient and fast learning of the best input to achieve the best design of multidisciplinary systems. The accuracy and speed of the proposed framework will be demonstrated in numerical experiments using an aerodynamics- structures system and a mathematical example.

关键词： SUB-SYSTEM Multidisciplinary Bayesian inference Plant uncertain Cyber-physical systems system behavior

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Advances in Wireless,Batteryless,Implantable Electronics for Real‑Time,Continuous Physiological Monitoring

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Nano-Micro Letters 2024年第3期16卷 254-302页

作者： Hyeonseok Kim Bruno Rigo Gabriella Wong Yoon Jae Lee Woon‑Hong Yeo IEN Center for Wearable Intelligent Systems and Healthcare Georgia Institute of TechnologyAtlantaGA 30332USA George W.Woodruff School of Mechanical Engineering Georgia Institute of TechnologyAtlantaGA 30332USA School of Electrical and Computer Engineering Georgia Institute of TechnologyAtlantaGA 30332USA Wallace H.Coulter Department of Biomedical Engineering Georgia Tech and Emory University School of MedicineAtlantaGA 30332USA Parker H.Petit Institute for Bioengineering and Biosciences Institute for MaterialsInstitute for Robotics and Intelligent MachinesGeorgia Institute of TechnologyAtlantaGA 30332USA

This review summarizes recent progress in developing wireless,batteryless,fully implantable biomedical devices for real-time continuous physiological signal monitoring,focusing on advancing human health *** considerations,such as biological constraints,energy sourcing,and wireless communication,are discussed in achieving the desired performance of the devices and enhanced interface with human *** addition,we review the recent achievements in materials used for developing implantable systems,emphasizing their importance in achieving multi-functionalities,biocompatibility,and *** wireless,batteryless devices offer minimally invasive device insertion to the body,enabling portable health monitoring and advanced disease ***,we summarize the most recent practical applications of advanced implantable devices for human health care,highlighting their potential for immediate commercialization and clinical uses.

关键词： Implantable electronics Biomedical systems Batteryless devices Wireless electronics Physiological signal monitoring

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Issues on the geometry of central catadioptric image formation

Issues on the geometry of central catadioptric image formati...

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Conference on computer Vision and Pattern Recognition (CVPR)

作者： J.P. Barreto H. Araujo Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal

ISBN: (纸本)0769512720

An imaging system with a single effective viewpoint is called a central projection system. The conventional perspective camera is an example of a central projection system. systems using mirrors to enhance the field of view while keeping a unique center of projection are also examples of central projection systems. Perspective image formation can be described by a linear model with well known properties. In general central catadioptric imaging, the mapping between points in the world and in the image is highly nonlinear. The paper establishes a general model for central catadioptric image formation made up of three functions: a linear function mapping the world into an oriented projective plane, a nonlinear transformation between two oriented projective planes, and a collineation in the plane. The model is used to study issues in the projection of lines. The equations and geometric properties of general catadioptric imaging of lines are derived. The application of the results in auto-calibration of central catadioptric systems and reconstruction are discussed. A method to calibrate the system using three line images is presented.

关键词： Cameras Mirrors Nonlinear equations Application software Data mining Computational geometry Robot vision systems computer vision Surveillance Virtual reality

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Monocular Person Localization with Lidar Fusion for Social Navigation

Monocular Person Localization with Lidar Fusion for Social N...

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European Conference on Mobile Robots (ECMR)

作者： Sedat Dogru Carlos A. Silva Lino Marques Department of Electrical and Computer Engineering Institute of Systems and Robotics University of Coimbra Coimbra Portugal

Smooth social navigation requires not only detection of the people around the robot, but also accurate localization of the people, a process difficult to achieve with a single sensing modality. Hence, literature has focused on various fusion approaches, such as RGB-D, ROI based lidar vision fusion, or Artificial Neural Network (ANN) based lidar vision fusion. However, monocular photogrammetry has always been ignored in the literature. In this work, we propose a fusion approach based on monocular positon estimation and lidar, and show the effectivenes of the approach both on a public dataset and a purpose built dataset with different cameras.

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Mobile robot localization using a fuzzy ART world model

Mobile robot localization using a fuzzy ART world model

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Annual Conference of Industrial Electronics Society

作者： R. Araujo G. Gouveia N. Santos Institute for Systems and Robotics and Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal

Mobile robot localization is the problem of determining the robot's pose from sensor data. The ability to know their own location in the environment is an important capability for mobile robots. It is necessary for (and necessitates) map building, and for motion planning. The navigation architecture of, integrates a multiresolution grid world model, and a fuzzy ART (FART) based world model which is composed of a set of rectangular geometric primitives, or features. This paper presents a mobile robot localization method that is based on the integration of the fuzzy ART world model and a Kalman filter. This localization approach is original in that it employs a new type of geometric feature map in the context of mobile robot localization: the fuzzy ART geometric feature. This extends the previous navigation architecture, and demonstrates the application of the FART for mobile robot localization. The mathematical model of the localization algorithm is developed and applied for the case of a map composed of FART rectangular features. The paper presents experimental results that demonstrate the effectiveness of the proposed localization approach.

关键词： Mobile robots Subspace constraints Robot sensing systems Navigation Motion planning Solid modeling Mathematical model Sensor systems Buildings Fuzzy sets

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