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European control Conference (ECC)

作者： Michael Schwung Jan Lunze Institute of Automation and Computer Control Ruhr University Bochum Germany

This paper proposes a method for the trajectory planning of an unmanned aerial vehicle (UAV) acting as an aerial base station of a communication network. The UAV base station provides wireless communication for moving ground vehicles with different quality-of-service (QoS) requirements. The ground vehicles follow locally planned trajectories, which are communicated to the aerial base station. The UAV possesses a network estimator which determines the channel properties between the UAV and each ground vehicle. Whenever the QoS deceeds a threshold the UAV trajectory is changed based on this estimate by a trajectory planning unit in a way to fulfil all individual QoS requirements of the ground vehicles if possible. In contrast to literature, this approach considers the communication relay between moving vehicles with different QoS requirements. The performance of the method is demonstrated in a simulation study.

关键词： Wireless communication Base stations Runtime Trajectory planning Channel estimation Quality of service Autonomous aerial vehicles

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Encrypted Finite-Horizon Energy-to-Peak State Estimation for Time-Varying Systems Under Eavesdropping Attacks: Tackling Secrecy Capacity

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IEEE/CAA Journal of Automatica Sinica 2023年第4期10卷 985-996页

作者： Lei Zou Zidong Wang Bo Shen Hongli Dong Guoping Lu College of Information Science and Technology Donghua UniversityShanghai 201620 Engineering Research Center of Digitalized Textile and Fashion Technology Ministry of EducationShanghai 201620China College of Electrical Engineering and Automation Shandong University of Science and TechnologyQingdao 266590China Department of Computer Science Brunel University LondonUxbridgeMiddlesex UB83PHUK Intelligence Energy Research Institute Northeast Petroleum UniversityDaqing 163318 Heilongjiang Provincial Key Laboratory of Networking and Intelligent Control Northeast Petroleum UniversityDaqing 163318 Sanya Offshore Oil&Gas Research Institute Northeast Petroleum UniversitySanya 572024China School of Electrical Engineering Nantong UniversityNantong 226019China

This paper is concerned with the problem of finitehorizon energy-to-peak state estimation for a class of networked linear time-varying *** to the inherent vulnerability of network-based communication,the measurement signals transmitted over a communication network might be intercepted by potential *** avoid information leakage,by resorting to an artificial-noise-assisted method,we develop a novel encryption-decryption scheme to ensure that the transmitted signal is composed of the raw measurement and an artificial-noise term.A special evaluation index named secrecy capacity is employed to assess the information security of signal transmissions under the developed encryption-decryption *** purpose of the addressed problem is to design an encryptiondecryption scheme and a state estimator such that:1)the desired secrecy capacity is ensured;and 2)the required finite-horizon–l_(2)-l_(∞)performance is *** conditions are established on the existence of the encryption-decryption mechanism and the finite-horizon state ***,simulation results are proposed to show the effectiveness of our proposed encryption-decryption-based state estimation scheme.

关键词： Artificial-noise-assisted technique eavesdropping encryption-decryption scheme energy-to-peak state estimation finitehorizon state estimation

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Research on Engraving Recognition Method of Nodular Cast Iron Pipe Bearing End Based on Improved YOLOX

Research on Engraving Recognition Method of Nodular Cast Iro...

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Image Processing, computer Vision and Machine Learning (ICICML), International Conference on

作者： Mingxuan Han Jun Wang Kecheng Zhou Jian Wang School of Computer Science and Technology Shenyang University of Chemical Technology Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China

ISBN: (数字)9798350355413

ISBN: (纸本)9798350355420

This study proposes a method for recognizing the engravings on the spigot ends of ductile iron pipes based on an improved YOLOX model. Ductile iron pipes, known for their excellent mechanical properties and corrosion resistance, are widely used in critical fields such as municipal water supply, drainage, and gas transportation. To ensure product quality and achieve traceability, identification information is typically engraved on the spigot ends of ductile iron pipes during production. However, traditional manual recognition methods are inefficient and prone to human error. To address this issue, this paper proposes an automated engraving recognition system based on an improved YOLOX model. By integrating techniques such as Depthwise Separable Convolutions, a multi-scale feature extraction network, and an adaptive attention mechanism, the YOLOX model structure is further optimized to enhance recognition accuracy and robustness in complex industrial environments. Experimental results demonstrate that the improved YOLOX model surpasses traditional models in both recognition accuracy and computational efficiency, proving its effectiveness and reliability for industrial production applications.

关键词： Water Adaptation models Attention mechanisms Accuracy Computational modeling Transportation Production Feature extraction Robustness Computational efficiency

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Efficient set-point following of self-organising agents over random communication networks

Efficient set-point following of self-organising agents over...

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European control Conference (ECC)

作者： Philipp Welz Jan Lunze Institute of Automation and Computer Control Ruhr-Universitat Bochum Germany

The paper addresses the problem of generating the best possible communication structure for an efficient set-point following of autonomous agents. It considers a communication network in which additional communication links appear with a fixed connection probability. Each agent should select the agent from its set of random neighbours that transmits the most useful information in terms of achieving its local control goal. The paper proposes a selection rule that the agents can apply based on their local information. A method to determine the expected performance of the resulting self-organising system in relation to the connection probability is elaborated, which shows that, due to the proposed selection rule, each agent in an arbitrary large networked system acts with a bounded delay to any set-point changes of the leader.

关键词： Europe Autonomous agents Delays Communication networks Multi-agent systems

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Spiking neural networks: Towards bio-inspired multimodal perception in robotics

arXiv

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arXiv 2024年

作者： Oikonomou, Katerina Maria Balaska, Vasiliki Tsintotas, Konstantinos A. Mavridis, Christos N. Kansizoglou, Ioannis Gasteratos, Antonios The Department of Production and Management Engineering Laboratory of Robotics and Automation Democritus University of Thrace Xanthi Greece The Department of Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden

Spiking neural networks (SNNs) have captured apparent interest over the recent years, stemming from neuroscience and reaching the field of artificial intelligence. However, due to their nature SNNs remain far behind in achieving the exceptional performance of deep neural networks (DNNs). As a result, many scholars are exploring ways to enhance SNNs by using learning techniques from DNNs. While this approach has been proven to achieve considerable improvements in SNN performance, we propose another perspective: enhancing the biological plausibility of the models to leverage the advantages of SNNs fully. Our approach aims to propose a brain-like combination of audio-visual signal processing for recognition tasks, intended to succeed in more bio-plausible human-robot interaction applications. © 2024, CC BY-NC-SA.

关键词： Adversarial machine learning

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Shifting Spotlight for Co-supervision: A Simple yet Efficient Single-branch Network to See Through Camouflage

arXiv

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arXiv 2024年

作者： Hu, Yang Zhang, Jinxia Zhang, Kaihua Yuan, Yin Huang, Jiale Zhan, Zechao Wang, Xin Key Laboratory of Measurement and Control of CSE School of Automation Southeast University China School of Computer Science Nanjing University of Information Science and Technology China Advanced Ocean Institute of Southeast University China Alibaba Group China

Camouflaged object detection (COD) remains a challenging task in computer vision. Existing methods often resort to additional branches for edge supervision, incurring substantial computational costs. To address this, we propose the Co-Supervised Spotlight Shifting Network (CS3Net), a compact single-branch framework inspired by how shifting light source exposes camouflage. Our spotlight shifting strategy replaces multi-branch designs by generating supervisory signals that highlight boundary cues. Within CS3Net, a Projection Aware Attention (PAA) module is devised to strengthen feature extraction, while the Extended Neighbor Connection Decoder (ENCD) enhances final predictions. Extensive experiments on public datasets demonstrate that CS3Net not only achieves superior performance, but also reduces Multiply-Accumulate operations (MACs) by 32.13% compared to state-of-the-art COD methods, striking an optimal balance between efficiency and effectiveness. Copyright © 2024, The Authors. All rights reserved.

关键词： Camouflage

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On the Collision Avoidance of Adaptive Cruise controllers: Comparison of String Stability and External Positivity

On the Collision Avoidance of Adaptive Cruise Controllers: C...

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control Technology and Applications (CCTA),

作者： Alexander Schwab Jan Lunze Institute of Automation and Computer Control Ruhr-Universität Bochum

ISBN: (纸本)9781665436441

This paper addresses the safety of two approaches to the collision avoidance of vehicle platoons with adaptive cruise control. It has been shown that $\mathcal{L}_{2}$ string stability, which is often used in the literature to achieve safety in the platoon, is not sufficient for collision avoidance. A stricter local condition, which is external positivity of the controlled vehicles, will be applied to guarantee collision avoidance by preventing overshooting responses of the vehicles. The theoretical results are verified by experiments with a set of mobile robots.

关键词： Adaptive systems Conferences Safety Mobile robots Collision avoidance Cruise control

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Experimental Evaluation of a Novel Approach to Cooperative control of Multiple Robots with Artificial Potential Fields

Experimental Evaluation of a Novel Approach to Cooperative C...

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European control Conference (ECC)

作者： Alexander Schwab Florian Littek Jan Lunze Institute of Automation and Computer Control Ruhr-Universität Bochum

This paper presents a novel approach to the networked control of differentially driven robots using artificial potential fields. A set of multiple robots is considered, where each robot should travel to its individual destination while avoiding collisions with other robots. The transition to the individual destination is carried out cooperatively based on information that can be gathered with the communication network. The novelty of the presented solution lies in the deduction of the orientation control. It will be shown that the maximisation of the translatory velocity results in the robots to turn correctly to their destinations. The effectiveness of the proposed approach is demonstrated by experimental results.

关键词： Robot kinematics Position control Europe Switches System recovery control systems Real-time systems

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Robust control of Feeding Speed for Coal Mine Tunnel Drilling Machines

Robust Control of Feeding Speed for Coal Mine Tunnel Drillin...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Xiao Liu Luefeng Chen Min Wu Weihua Cao Chengda Lu Witold Pedrycz School of Automation China University of Geosciences Wuhan China School of Automation the Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems and the Engineering Research Center of Intelligent Technology for Geo-Exploration Wuhan China Department of Electrical and Computer Engineering University of Alberta Edmonton Canada Department of Electrical and Computer Engineering University of Alberta Edmonton AB Canada Systems Research Institute Polish Academy of Sciences Warsaw Poland Department of Computer Engineering Istinye University Sariyer/Istanbul Turkey

ISBN: (数字)9798350340266

ISBN: (纸本)9798350340273

Changes in coal seam hardness cause fluctuations in the feed resistance at the drill bit during the drilling process, leading to unstable feeding speed. This paper proposes a robust dynamic output feedback controller to suppress disturbances caused by the variations in coal seam hardness in the feed system. Firstly, an unknown parameter measuring coal seam hardness is introduced, and an uncertain model of the feeding system is established based on the finite element model of the drill string. By designing weighted functions based on industrial field requirements and constructing a generalized plant, the controller achieves loop shaping, reducing the low-frequency impact of coal seam hardness variations on the feed system and suppressing the systems resonance peak. Simulation results demonstrate that the controller effectively suppresses parameter variations and external disturbances caused by changes in coal seam hardness, achieving stable control of the drilling speed.

关键词： Drilling Robust control Uncertainty Robust stability Simulation Coal Resonance

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NovelCraft: A Dataset for Novelty Detection and Discovery in Open Worlds

arXiv

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arXiv 2022年

作者： Feeney, Patrick Schneider, Sarah Lymperopoulos, Panagiotis Liu, Li-Ping Scheutz, Matthias Hughes, Michael C. Dept. of Computer Science Tufts University United States Center for Vision Automation and Control Austrian Institute of Technology Austria

In order for artificial agents to successfully perform tasks in changing environments, they must be able to both detect and adapt to novelty. However, visual novelty detection research often only evaluates on repurposed datasets such as CIFAR-10 originally intended for object classification, where images focus on one distinct, well-centered object. New benchmarks are needed to represent the challenges of navigating the complex scenes of an open world. Our new NovelCraft dataset contains multimodal episodic data of the images and symbolic world-states seen by an agent completing a pogo stick assembly task within a modified Minecraft environment. In some episodes, we insert novel objects of varying size within the complex 3D scene that may impact gameplay. Our visual novelty detection benchmark finds that methods that rank best on popular area-under-the-curve metrics may be outperformed by simpler alternatives when controlling false positives matters most. Further multimodal novelty detection experiments suggest that methods that fuse both visual and symbolic information can improve time until detection as well as overall discrimination. Finally, our evaluation of recent generalized category discovery methods suggests that adapting to new imbalanced categories in complex scenes remains an exciting open problem. © 2022, CC BY.

关键词： Classification (of information)

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