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American control Conference

作者： Shuang Wu Ziyang Guo Dawei Shi Karl Henrik Johansson Ling Shi Electronic and Computer Engineering Hong Kong University of Science and Technology Clear Water Bay Kowloon Hong Kong State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology 100081 China ACCESS Linnaeus Centre School of Electrical Engineering KTH Royal Institute of Technology Stockholm Sweden

ISBN: (纸本)9781509045839

The security issue in cyber-physical systems has attracted growing interests in the last decades. This paper considers how false data injection attack can degrade the estimation quality of a remote state estimation system. In this system, smart sensors measure a dynamic process and send preprocessed data through a communication network to a remote estimator to estimate the process. It is assumed that there are malicious attackers in the communication network, who are able to obtain and falsify all the data sent by the sensors. It is common that the remote estimator is equipped with a residue-based detector to detect potential attacks. We propose a class of deception attack and analyze its feasibility. We show that the proposed attack enables the attacker to inject false data into the remote estimator without being detected. We derive a criterion to judge the optimality of performance of this type of attack in the sense of maximizing the estimation error covariance. Furthermore, we find that a simple linear attack strategy, which flips the sign of intercepted signal, satisfies the optimality criterion. We present numerical examples to illustrate our theoretical results.

关键词： Cyber-physical systems (CPS) deception attack remote state estimation

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Where Does AlphaGo Go: From Church-Turing Thesis to AlphaGo Thesis and Beyond

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IEEE/CAA Journal of Automatica Sinica 2016年第2期3卷 113-120页

作者： Fei-Yue Wang Jun Jason Zhang Xinhu Zheng Xiao Wang Yong Yuan Xiaoxiao Dai Jie Zhang Liuqing Yang IEEE the State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences (SKL-MCCS CASIA) Research Center of Computational Experiments and Parallel Systems The National University of Defense Technology the Department of Electrical and Computer Engineering Ritchie School of Engineering and Computer Science University of Denver the Department of Computer Science and Engineering University of Minnesota the Qingdao Academy of Intelligent Industries (QAII) Qingdao Shandong China and SKL-MCCS CASIA the Department of Electrical and Computer Engineering Colorado State University

An investigation on the impact and significance of the AlphaGo vs. Lee Sedol Go match is conducted, and concludes with a conjecture of the AlphaGo Thesis and its extension in accordance with the Church-Turing Thesis in the history of computing. It is postulated that the architecture and method utilized by the AlphaGo program provide an engineering solution for tackling issues in complexity and intelligence. Specifically, the AlphaGo Thesis implies that any effective procedure for hard decision problems such as NP-hard can be implemented with AlphaGo-like approach. Deep rule-based networks are proposed in attempt to establish an understandable structure for deep neural networks in deep learning. The success of AlphaGo and corresponding thesis ensure the technical soundness of the parallel intelligence approach for intelligent control and management of complex systems and knowledge automation. © 2014 Chinese Association of automation.

关键词： Religious buildings

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7.3: Compare Variation of User's EEG Owing to Parallax Cue

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SID Symposium Digest of Technical Papers 2018年第S1期49卷

作者： Haichen Hu Danli Wang Kang Yue Xinpan Yang Steve C. Chiu Beijing Key Lab of Human-Computer Interaction Institute of Software Chinese Academy of Sciences Beijing China University of Chinese Academy of Sciences Beijing China The State Key Laboratory of Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China College of Science and Engineering Idaho State University Pocatello America

3D display has become increasingly popular in many fields. It can provide incredible immersion compared with 2D display. There are many researches referring to the change of user about no matter subjective experience or objective physiology signal while watching 3D content. Similarly, in this paper, we study the variation of user’s EEG when the user watched 3D content. However, we only focus on parallax cue and avoid other cues of 3D content by using Random Dot Stereogram(RDS) as visual stimulus. We designed an experiment which asked the subject to watch RDS with nine kinds of parallaxes(0,±0.5,±1.1,±1.3,±1.7). The users watched one RDS for 1 minute and then closed eyes and rest for 1 minute every time. During watching, EEG signal with 30-channel was recorded. The result suggests that significant variation of the user’s EEG data occurred in the Alpha (8–13Hz) and Beta(14–30Hz) frequency band by different parallax’s comparison. And we found not only parallax but also electrode position can impact the user’s EEG data significantly. Accurately, the EEG data has a significant change in six electrodes position in both frequency bands including CZ, PZ, OZ, O2 in international 10–20 system. It means those electrode positions we detect can be regarded as typical positions where we record EEG signal. It will simplify the process of EEG signal acquisition when we need to study the relationship between parallax cue of 3D display and the user further.

关键词： EEG Parallax RDS 3D

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A unified leader-follower scheme for mobile robots with uncalibrated on-board camera

A unified leader-follower scheme for mobile robots with unca...

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IEEE International Conference on Robotics and automation (ICRA)

作者： Dejun Guo Hesheng Wang Weidong Chen Ming Liu Zeyang Xia Kam K. Leang DARC (Design Automation Robotics & Control) Lab University of Utah Robotics Center Salt Lake City Utah USA State Key Laboratory of Robotics and System (HIT) Key Laboratory of System Control and Information Processing Ministry of Education of China Department of Automation Shanghai Jiao Tong University Shanghai China Department of Electronics and Computer Engineering Hong Kong University of Science and Technology Hong Kong China Institute of Biomedical and Health Engineering Chinese Academy of Sciences Shenzhen China

This paper studies the problem of image-based leader-follower formation control for mobile robots, where the controller is designed independently of the leader's motion. An adaptive control scheme, which is suitable for both omnidirectional and perspective cameras, is proposed. The proposed approach avoids the need for accurate calibration of the extrinsic parameters of the omnidirectional camera as well as the intrinsic and extrinsic parameters of perspective camera. Additionally, the coefficients of the plane where the feature point moves relative to the camera frame can be uncertain. These uncertain constant parameters are estimated using an adaptive estimator. Uniform Semi-global Practical Asymptotic Stability (USPAS) of the system is shown using the Lyapunov approach. Experimental results are presented to demonstrate the effectiveness of the proposed control scheme.

关键词： Cameras Robot vision systems Kinematics Mobile robots Calibration automation

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Image classification using spatial difference descriptor under spatial pyramid matching framework 22nd

Image classification using spatial difference descriptor und...

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22nd International Conference on MultiMedia Modeling, MMM 2016

作者： Li, Yuhui Xu, Jiucheng Zhang, Yifan Zhang, Chunjie Yin, Hongsheng Lu, Hanqing School of Computer and Information Engineering Henan Normal University Xinxiang China National Laboratory of Pattern Recognition Institute of Automation Chinese Academy of Science Beijing China School of Computer and Control Engineering University of China Academy of Sciences Beijing China China University of Mining and Technology Xuzhou China

ISBN: (纸本)9783319276700

Spatial pyramid matching (SPM) model is an extension of the bagof-visual words (BoW) model for local feature encoding. It firstly partitions the image into increasingly fine sub-regions, and then concatenates the histograms within each sub-region. However, the SPM model does not consider the spatial information differences between sub-regions explicitly. To make use of this information, we exploit a novel descriptor called spatial difference. In the process of promoting the performance of image classification, this descriptor is mainly used to concatenate the histograms of bag-of-visual words model under spatial pyramid matching framework. Finally, we conduct image classification experiments on several public datasets to demonstrate the effectiveness of the proposed scheme. © Springer International Publishing Switzerland 2016.

关键词： Image classification

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Experimenting broadcast storm mitigation techniques in FANETs

Experimenting broadcast storm mitigation techniques in FANET...

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Hawaii International Conference on System sciences

作者： Rayner de Melo Pires Sergio Zumpano Arnosti Alex Sandro Roschildt Pinto Kalinka R. L. J. Castelo Branco Institute of Mathematics and Computer Science University of Sao Paulo Department of Control Engineering and Automation Federal University of Santa Catarina

ISBN: (纸本)9781509019816

Civilian unmanned aerial vehicles (UAVs) usually have modest sizes and also physical limitations that restrict their use. Using more than one aircraft can bring more efficiency and better results to missions. In order to coordinate the mission execution by a team, a flying ad hoc network (FANET) is set up and UAVs can exchange information through broadcast messages. This ad hoc communication among air-craft has new challenges that need investigation, such as the Broadcast Storm Problem (BSP). In this paper we present an evaluation of solutions, commonly used to mitigate BSP in other types of mobile ad hoc networks (MANETs), and apply them to FANET scenarios. We have adapted three algorithms to three different scenarios and applied those algorithms to an embedded platform called Gumstix Overo. Results presented here show algorithms performance concerning network cover-age and avoidance of redundant broadcasts in three distinct topologies, also showing techniques adaptation needed for each scenario.

关键词： Broadcast storm problem Wireless communication Flying ad hoc network Unmanned aerial vehicles Unmanned Aerial Vehicle CARRIER SYSTEM drone honey bees vehicle IBSP gene BSP Mobile ad hoc networks embedded platform storms Religious Missions ad hoc

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A simulator for swarm AUVs acoustic communication networking 11

A simulator for swarm AUVs acoustic communication networking

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11th ACM International Conference on Underwater Networks and Systems, WUWNet 2016

作者： Li, Guannan Liu, Jun Wang, Xue Xu, Hongli Cui, Jun-Hong Shenyang Institute of Automation CAS University of Chinese Academy of Sciences No. 114 Nanta Street Shenhe District Shenyang China College of Computer Science and Technology Jilin University State Key Laboratory of Robotics Key Laboratory of System Control and Information Processing Ministry of Education of China Changchun China Shenyang Institute of Automation CAS Northeast University No. 114 Nanta Street Shenhe District Shenyang China Shenyang Institute of Automation CAS No. 114 Nanta Street Shenhe District Shenyang China College of Computer Science and Technology Jilin University Changchun China Underwater Sensor Network Lab. University of Connecticut StorrsCT06269 United States

ISBN: (纸本)9781450346375

This paper presents a simulator for swarm operations designed to verify algorithms for a swarm of autonomous underwater robots (AUVs), specifically for constructing an underwater communication network with AUVs carrying acoustic communication devices. This simulator consists of three nodes: a virtual vehicle node (VV), a virtual environment node (VE), and a visual showing node (VS). The modular design treats AUV models as a combination of virtual equipment. An expert acoustic communication simulator is embedded in this simulator, to simulate scenarios with dynamic acoustic communication nodes. The several simulations we have performed demonstrate that this simulator is easy to use and can be further improved.

关键词： Simulators

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Discrete event-triggered sliding mode control with fast output sampling feedback

Discrete event-triggered sliding mode control with fast outp...

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International Workshop on Variable Structure Systems, VSS

作者： Abhisek K. Behera Bijnan Bandyopadhyay Johann Reger Systems and Control Engineering Indian Institute of Technology Bombay Mumbai India Computer Science and Automation Department Technische Universität Ilmenau Ilmenau Germany

This paper deals with event-triggering based design of discrete-time sliding mode (DTSM) control for linear systems. Multirate output feedback based DTSM is designed with event-triggering strategy such that the system trajectories remain bounded in the vicinity of sliding manifold. An event-triggering rule is developed for DTSM which is evaluated only at periodic time intervals. The control is updated whenever the triggering instant is generated at these discrete time instants. It is shown that with this technique the system trajectories remain bounded. Also, in this triggering scheme there is always guaranteed Zeno free execution of triggering sequences as it is inherently discrete. Simulation results are shown to demonstrate the theoretical treatments of this paper.

关键词： Trajectory Manifolds Stability analysis Convergence Sliding mode control Output feedback

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A 3μW, 0.65V regulator with an embedded temperature compensated voltage reference

A 3μW, 0.65V regulator with an embedded temperature compens...

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International Conference on Synthesis, Modeling, Analysis and Simulation Methods and Applications to Circuit Design (SMACD)

作者： Fu-To Lin Jui-Hsiang Tsai Yu-Te Liao Department of Materials Science The University of Shiga Prefecture Hassaka Hikone Shiga Japan Institute of Automation and Computer Control Ruhr-Universität Bochum Germany

This paper presents a 0.65-V flipped voltage follower (FVF)-based regulator with an embedded sub-1-V voltage reference. A low-pass filter is employed in the current coupling path to reduce the bias noise and improve t... 详细信息

ISBN: (纸本)9781509004911

关键词： Regulators Voltage control Transistors Capacitors Logic gates Voltage measurement Power supplies

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Event-triggered sliding mode control for delta operator systems

Event-triggered sliding mode control for delta operator syst...

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Annual Conference of Industrial Electronics Society

作者： Kiran Kumari Bijnan Bandyopadhyay Abhisek K. Behera Johann Reger Systems and Control Engineering Indian Institute of Technology Bombay Mumbai India Computer Science and Automation Department Technische Universität Ilmenau Ilmenau Germany

The paper presents an event-triggering based sliding mode control law for delta operator systems with disturbance. The discrete domain representation of a system using shift operator becomes numerically ill-conditioned at very high sampling rates. To circumvent this problem, the system is represented using delta operator. The delta operator creates a rapprochement between continuous-time and discrete-time system model at very high sampling rates. A discrete-time sliding mode (DTSM) control law is developed to achieve robustness against external disturbances. Further to reduce the resource utilization, an event-triggered DTSM control law is proposed such that the closed loop system is stable. Due to the inherent discrete nature of the control there is no accumulation of triggering instants at any instant of time. Hence the zeno free execution of the control updating instants is always guaranteed. Simulation results are also shown to illustrate the effectiveness of the proposed method.

关键词： Sliding mode control Trajectory Discrete-time systems Manifolds Numerical models Robustness

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