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Fixed-time-synchronized control: a system-dimension-categorized approach

Science China(Information Sciences) 2023年第7期66卷 177-194页

作者： Wanyue JIANG Shuzhi Sam GE Dongyu LI Institute for Future & Shandong Key Laboratory of Industrial Control Technology School of Automation Qingdao University Department of Electrical and Computer Engineering National University of Singapore School of Cyber Science and Technology Beihang University Shanghai Institute of Satellite Engineering

This study addresses the fixed-time-synchronized control problem of perturbed multi-input multioutput(MIMO) systems. In the task of fixed-time-synchronized control, different dimensions of the output signal in MIMO systems are required to reach the desired value simultaneously within a fixed time *** MIMO system is categorized into two cases: the input-dimension-dominant and the state-dimensiondominant cases. The classification is defined according to the dimension of system signals and, more importantly, the capability of converging at the same time. For each kind of MIMO system, sufficient Lyapunov conditions for fixed-time-synchronized convergence are explored, and the corresponding robust sliding mode controllers are designed. Moreover, perturbations are compensated using the super-twisting technique. The brake control of the vertical takeoff and landing aircraft is considered to verify the proposed method for the input-dimension-dominant case, which shows the essential advantages of decreasing the energy consumption and the output trajectory length. Furthermore, comparative numerical simulations are performed to show the semi-time-synchronized property for the state-dimension-dominant case.

关键词： fixed-time-synchronized convergence sliding mode control perturbed MIMO systems

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A Registration and Fusion Method of 3D Cross-source Point Cloud Data for Modeling Accurate Models of Small Celestial Bodies

A Registration and Fusion Method of 3D Cross-source Point Cl...

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2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： He, Xuan Zhao, Qingjie Lv, Xingchen Wang, Lei Liu, Wangwang School of Computer Science and Technology Beijing Institute of Technology Beijing100081 China Beijing Institute of Control Engineering Beijing100190 China

ISBN: (纸本)9781665481090

High-precision three-dimensional models of small celestial bodies are important for deep space exploration tasks. The homologous point cloud obtained from a single sensor has limitations in terms of accuracy and density. For example, the point cloud obtained by RGB camera has rich information and high density, but low precision. The point cloud obtained by laser scanning has high precision but low density. Therefore, we hope to register and fuse the point clouds obtained from different sensors, synthesize the advantages of cross-source point clouds obtained from different source domains, and improve the density, accuracy and other aspects of small celestial point clouds. To solve the common problems of cross-source point clouds, we adopt an end-to-end feature measurement point cloud registration framework, which does not need to search the corresponding points between two point clouds, and reduces the difficulty of processing cross-source point cloud data. Aiming at the problem that some stray points on the registered point cloud surface affect the accuracy of the point cloud, a point cloud fusion optimization method based on Euclidean distance is proposed. The stray points around the point cloud are removed to reduce the loss of normal points. The accuracy of point cloud is improved by the fusion after registration. Experiments show that the proposed method can effectively improve the density and accuracy of small celestial body models. © 2024 IEEE.

关键词： Laser applications

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Variable Speed Limit control for Highway Scenarios a Multi-agent Reinforcement Learning Based Approach 2nd

Variable Speed Limit Control for Highway Scenarios a Multi...

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2nd International Conference on Cognitive Mobility, COGMOB 2023

作者： Kővári, Bálint Knáb, István Gellért Bécsi, Tamás Department of Control for Transportation and Vehicle Systems Budapest University of Technology and Economics Budapest Hungary Systems and Control Laboratory Institute for Computer Science and Control Budapest Hungary

ISBN: (纸本)9783031876196

Modern road networks are critical in developing transportation infrastructures from the aspect of sustainability, thanks to the rapid increase in road users. The demand for mobility makes the existing infrastructure more crowded, boosting greenhouse gas emissions and delays in everyday commuting. Expanding the road network is only possible in some cases and is also not feasible, but Intelligent Transportation Systems (ITS) can enhance the efficiency of the existing transportation network. From a management point of view, a proven algorithm is Variable Speed Limit control, which regulates the state of certain sectors by spatially distributing traffic in the form of dynamically varying speed limits. Combining this with a state-of-the-art predictive solution can make a big difference to performance. For the design of speed limits, this paper proposes an approach where deep reinforcement learning with the smallest industrial share not only resolves moving jams that arise during congested traffic situations, but also prevents them, thereby avoiding cumulative error from transients, all by abandoning physical equations and identified models. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Highway traffic control

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Multiple Robots Autonomous Task Planning Based on Improved Genetic Algorithm

Multiple Robots Autonomous Task Planning Based on Improved G...

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2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Yang, Zhiyuan Zhao, Qingjie Lv, Xingchen Wang, Lei Liu, Wangwang School of Computer Science and Technology Beijing Institute of Technology Beijing100081 China Beijing Institute of Control Engineering Beijing100190 China

ISBN: (纸本)9781665481090

This paper presents an autonomous task planning method for multiple collecting robots on improved genetic algorithm. Considering the limited capacity of collecting robots and the suitability of hopping robots in the microgravity environment of small celestial bodies, we developed a task planning model based on the Capacitated Vehicle Routing Problem (CVRP) and proposed an improved genetic algorithm to simultaneously allocate tasks and plan paths for multiple collecting robots. During robot movement, the A ∗ algorithm is employed for active obstacle avoidance when unknown obstacles are encountered. Experimental results demonstrated that our algorithm, can efficiently allocate tasks for the robot group, and each robot actively avoiding obstacles during movement. © 2024 IEEE.

关键词： Microrobots

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Cardiac Clarity: Harnessing Machine Learning for Accurate Heart-Disease Prediction

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IEEE Access 2025年 13卷 97529-97544页

作者： Santhosh, Sujith Chadaga, Krishnaraj Vijaya Arjunan, R. D'Souza, Sandra Manipal Academy of Higher Education Manipal Institute of Technology Department of Instrumentation and Control Engineering Karnataka Manipal576104 India Manipal Academy of Higher Education Manipal Institute of Technology Department of Computer Science and Engineering Karnataka Manipal576104 India

The major contributor to global mortality is cardiovascular disease, posing a formidable challenge to the global healthcare system. Heart disease often develops and progresses without noticeable symptoms, emphasizing the need for earlier detection to prevent severe outcomes. AI models provide tools for accurate diagnosis, data analysis, and predictive diagnosis of people who may be suffering from heart disease. But increasingly, solutions like Explainable AI (XAI) are gaining traction. XAI demystifies the decisions of AI models, making them transparent and understandable to the point where they boost confidence in the context of AI diagnostics by healthcare professionals;the AI then provides support to professionals to decide the best course of action for each patient based on the analysis. XAI techniques such as SHAP, LIME, QLattice and Anchor are popular, and have been used in this study. We analysed a heart disease dataset collected from a multispecialty hospital in India, which is publicly available on Mendeley. We used ML models, including RF, Logistic Regression, KNN, XGBoost, DT and SVM. These models were optimized and stack-ensembled to form the 'CARDIACX' model to predict the risk of heart disease. The models were fine-tuned using Grid Search, Random Search, and Bayesian Optimization methods, achieving promising results with Random Forest achieving an AUC = 0.99 and accuracy of 98.5%, outperforming all the other models and demonstrating robust performance on various metrics such as AUC, PR Curve, Log Loss, Jaccard Score, and MCC. This study provides a reliable and transparent framework for early detection of heart disease, providing useful information and enabling patients to receive timely and personalized care. © 2013 IEEE.

关键词： Logistic regression

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Memristive effects on an improved discrete Rulkov neuron model

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Science China(Technological Sciences) 2023年第11期66卷 3153-3163页

作者： BAO Han LI KeXin MA Jun HUA ZhongYun XU Quan BAO BoCheng School of Microelectronics and Control Engineering Changzhou UniversityChangzhou 213159China Department of Physics Lanzhou University of TechnologyLanzhou 730050China School of Computer Science and Technology Harbin Institute of TechnologyShenzhenShenzhen 518055China

A change in neuronal-action potential can generate a magnetically induced current during the release and propagation of intracellular *** better characterize the electromagnetic-induction effect,this paper presents an improved discrete Rulkov(ID-Rulkov)neuron model by coupling a discrete model of a memristor with sine memductance into a discrete Rulkov neuron *** ID-Rulkov neuron model possesses infinite invariant points,and its memristor-induced stability effect is evaluated by detecting the routes of period-doubling and Neimark-Sacker *** investigated the memristor-induced dynamic effects on the neuron model using bifurcation plots and firing ***,we theoretically expounded the memristor initial-boosting mechanism of infinite coexisting *** results show that the ID-Rulkov neuron model can realize diverse neuron firing patterns and produce hyperchaotic attractors that are nondestructively boosted by the initial value of the memristor,indicating that the introduced memristor greatly benefits the original neuron *** hyperchaotic attractors initially boosted by the memristor were verified by hardware experiments based on a hardware *** addition,pseudorandom number generators are designed using the ID-Rulkov neuron model,and their high randomness is demonstrated based onstrict test results.

关键词： neuron model invariant point memristive effect complex dynamics pseudorandom number generators

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Motion-Inspired Real-Time Garment Synthesis with Temporal-Consistency

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Journal of computer Science & technology 2023年第6期38卷 1356-1368页

作者：魏育坤石敏冯文科朱登明毛天露 School of Control and Computer Engineering North China Electric Power UniversityBeijing 102206China Institute of Computing Technology Chinese Academy of SciencesBeijing 100190China

Synthesizing garment dynamics according to body motions is a vital technique in computer ***-based simulation depends on an accurate model of the law of kinetics of cloth,which is time-consuming,hard to implement,and complex to *** data-driven approaches either lack temporal consistency,or fail to handle garments that are different from body *** this paper,we present a motion-inspired real-time garment synthesis workflow that enables high-level control of garment *** a sequence of body motions,our workflow is able to gen-erate corresponding garment dynamics with both spatial and temporal *** that end,we develop a transformer-based garment synthesis network to learn the mapping from body motions to garment ***-level attention is employed to capture the dependency of garments and body ***,a post-processing procedure is further tak-en to perform penetration removal and ***,textured clothing animation that is collision-free and tempo-rally-consistent is *** quantitatively and qualitatively evaluated our proposed workflow from different *** experiments demonstrate that our network is able to deliver clothing dynamics which retain the wrinkles from the physics-based simulation,while running 1000 times ***,our workflow achieved superior synthesis perfor-mance compared with alternative *** stimulate further research in this direction,our code will be publicly available soon.

关键词： clothing animation computer graphics transformer temporal consistency

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Differential flatness-based distributed control of underactuated robot swarms

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Applied Mathematics and Mechanics(English Edition) 2023年第10期44卷 1777-1790页

作者： Ningbo AN Qishao WANG Xiaochuan ZHAO Qingyun WANG Department of Dynamics and Control Beihang UniversityBeijing 100191China Institute of Computer Application Technology China North Industries Group Corporation LimitedBeijing 100095China

This paper proposes a distributed control method based on the differential flatness(DF) property of robot swarms. The swarm DF mapping is established for underactuated differentially flat dynamics, according to the control objective. The DF mapping refers to the fact that the system state and input of each robot can be derived algebraically from the flat outputs of the leaders and the cooperative errors and their finite order derivatives. Based on the proposed swarm DF mapping, a distributed controller is designed. The distributed implementation of swarm DF mapping is achieved through observer design. The effectiveness of the proposed method is validated through a numerical simulation of quadrotor swarm synchronization.

关键词： differential flatness(DF) underactuated robot distributed control synchronization

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Node-Decomposition Privacy-Preserving for Finite-Time Secondary control of DC Microgrids

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IEEE Transactions on Smart Grid 2025年第4期16卷 3295-3304页

作者： Wu, Han Zhu, Si-Min Chai, Li Zhu, Zhen-Hua Tian, Yu-Chu Wuhan University of Science and Technology Engineering Research Center of Metallurgical Automation and Measurement Technology School of Artificial Intelligence and Automation Wuhan430081 China Zhejiang University State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Hangzhou310027 China Huzhou Institute of Industrial Control Technology Huzhou China Queensland University of Technology School of Computer Science BrisbaneQLD4001 Australia

In the distributed secondary control of DC microgrids, achieving both rapid convergence and robust information security is critical for enhancing control performance and maintaining power quality. However, current privacy-preserving approaches often compromise either control performance or privacy preservation performance. To address this challenge, this paper presents a node-decomposition privacy-preserving (NDPP) method for fully distributed, finite-time secondary control in DC microgrids. By splitting each node in the communication graph into multiple sub-nodes, the method enhances both convergence speed and privacy preservation without sacrificing control accuracy. Sub-nodes communicate within groups, and the topology of the generated graph is concealed from malicious nodes and eavesdroppers. Theoretical analysis is provided to prove finite-time voltage regulation and current sharing with privacy preservation against malicious nodes and external eavesdroppers. Simulations are conducted to verify the effectiveness of the method in maintaining control performance and power quality. © 2010-2012 IEEE.

关键词： Privacy by design

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Fuzzing:Progress,Challenges,and Perspectives

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computers, Materials & Continua 2024年第1期78卷 1-29页

作者： Zhenhua Yu Zhengqi Liu Xuya Cong Xiaobo Li Li Yin Institute of Systems Security and Control College of Computer Science and TechnologyXi'an University of Science and TechnologyXi'an710054China School of Mathematics and Information Science Baoji University of Arts and SciencesBaoji721013China Institute of Systems Engineering Macao University of Science and TechnologyTaipaMacaoChina

As one of the most effective techniques for finding software vulnerabilities,fuzzing has become a hot topic in software *** feeds potentially syntactically or semantically malformed test data to a target program to mine vulnerabilities and crash the *** recent years,considerable efforts have been dedicated by researchers and practitioners towards improving fuzzing,so there aremore and more methods and forms,whichmake it difficult to have a comprehensive understanding of the *** paper conducts a thorough survey of fuzzing,focusing on its general process,classification,common application scenarios,and some state-of-the-art techniques that have been introduced to improve its ***,this paper puts forward key research challenges and proposes possible future research directions that may provide new insights for researchers.

关键词： Fuzzing vulnerability software testing software security

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