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Secure State Estimation against Sparse Attacks on a Time-varying Set of Sensors

IFAC-PapersOnLine 2023年第2期56卷 270-275页

作者： Zishuo Li Muhammad Umar B. Niazi Changxin Liu Yilin Mo Karl H. Johansson Department of Automation Tsinghua University Beijing 100084 China Division of Decision and Control Systems Digital Futures School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm SE-100 44 Sweden Laboratory for Information and Decision Systems Massachusetts Institute of Technology 77 Massachusetts Avenue Cambridge MA 02139 USA

This paper studies the problem of secure state estimation of a linear time-invariant (LTI) system with bounded noise in the presence of sparse attacks on an unknown, time-varying set of sensors. At each time, the attacker has the freedom to choose an arbitrary set of no more than p sensors and manipulate their measurements without restraint. To this end, we propose a secure state estimation scheme and guarantee a bounded estimation error irrespective of the attack signals subject to 2p-sparse observability and a mild, technical assumption that the system matrix has no degenerate eigenvalues. The proposed scheme comprises a design of decentralized observers for each sensor based on the local observable subspace decomposition. At each time step, the local estimates of sensors are fused by a median operator to obtain a secure estimation, which is then followed by a local detection-and-resetting process of the decentralized observers. The estimation error is shown to be upper-bounded by a constant which is determined only by the system parameters and noise magnitudes. Moreover, we design the detector threshold to ensure that the benign sensors never trigger the detector. The efficacy of the proposed algorithm is demonstrated by its application on a benchmark example of IEEE 14-bus system. We show that our proposed scheme can effectively tolerate sparse attacks on an unknown set of sensors, ensuring a bounded estimation error and effectively detecting and resetting the attacked sensors.

关键词： Estimation and filtering Design of fault tolerant/reliable systems Estimation and fault detection

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Safe reinforcement learning task planning with uncertain duration and resource consumption in limited daytime for lunar rovers

Safe reinforcement learning task planning with uncertain dur...

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2024 IAF Space Operations Symposium at the 75th International Astronautical Congress, IAC 2024

作者： Lu, Siyao Xu, Rui Gao, Ai Li, Zhaoyu Liu, Jiamou Zhang, Libo Zhao, Zhijun Zhu, Shengying Li, Yuqiong School of Aerospace Engineering Beijing Institute of Technology 5th Zhongguancun South Street Haidian Distinct Beijing Beijing100081 China Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration Beijing Institute of Technology Ministry of Industry and Information Technology Beijing100081 China School of Computer Science University of Auckland 34 Princes Street Auckland1010 New Zealand Beijing Institute of Spacecraft Engineering Beijing Beijing100094 China Institute of Mechanics Chinese Academy of Sciences 15th North Fourth Ring West Road Haidian District Beijing100190 China

ISBN: (纸本)9798331312183

The International Lunar Research Station will be established near the south pole through advanced unmanned rovers at the beginning period. The south pole of the moon has short daytime, so the efficiency of remote control is inadequate. However, the duration and power resource usage of the lunar rover moving on the lunar surface remains uncertain because of different loading weight of collection and changes of terrain in moving. What’s more, a lunar rover needs to move back to the base before nighttime without sunlight to provide energy, while the whole time of working on the moon also needs optimization. We select to solve the planning problem with reinforcement learning (RL) due to its capability in tackling uncertainty and optimization. However, traditional reinforcement learning cannot guarantee safety with time uncertainty, resource uncertainty, and constraints due to the soft constraints in optimization. Therefore, we propose a new way through safe reinforcement learning of task planning and resource collection optimization among tasks with uncertain duration and resource collection. We consider a scenario of in-situ material utilization for the lunar base, where there are tasks of moving, charging, collecting, material delivering, and material receiving, all of which have uncertain duration in execution and every task must be done during the daytime except the charging. Resource collection is related to power consumption in moving so it will be decided according to the remaining power. We further propose an architecture on reinforcement learning to let rovers decide the next step instantaneously according to the expected task duration, the remaining time, and the remaining power. Maximizing the amount of material delivered is an optimization target in training while keeping the rovers safe to work only in the daytime without an empty battery. In our experiment, we intend that our way works well in the uncertainties, and it will lead the rover to finish tasks w

关键词： Reinforcement learning

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Semi-randomized hashing for large scale data retrieval

Semi-randomized hashing for large scale data retrieval

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International Conference on Data science and Advanced Analytics (DSAA)

作者： Haichuan Yang Xiao Bai Jun Zhou Peng Ren Jian Cheng Lu Bai School of Computer Since and Engineering Beihang University China School of Information and Communication Technology Griffith University Australia College of Information and Control Engineering China University of Petroleum China Institute of Automation Chinese Academy of Sciences China Department of Computer Science University of York UK

In information retrieval, efficient accomplishing the nearest neighbor search on large scale database is a great challenge. Hashing based indexing methods represent each data instance as a binary string to retrieve the approximate nearest neighbors. In this paper, we present a semi-randomized hashing approach to preserve the Euclidean distance by binary codes. Euclidean distance preserving is a classic research problem in hashing. Most hashing methods used purely randomized or optimized learning strategy to achieve this goal. Our method, on the other hand, combines both randomized and optimized strategies. It starts from generating multiple random vectors, and then approximates them by a single projection vector. In the quantization step, it uses the orthogonal transformation to minimize an upper bound of the deviation between real-valued vectors and binary codes. The proposed method overcomes the problem that randomized hash functions are isolated from the data distribution. What's more, our method supports an arbitrary number of hash functions, which is beneficial in building better hashing methods. The experiments show that our approach outperforms the alternative state-of-the-art methods for retrieval on the large scale dataset.

关键词： Vectors Euclidean distance Binary codes Training Equations Principal component analysis

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How grey wolf optimization affects remanufacturing

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Procedia CIRP 2024年 126卷 927-932页

作者： Barna Gal Christine Zeh Ádám Szaller Fraunhofer Austria Research GmbH Theresianumgasse 7 A-1040 Wien Austria Institute for Computer Science and Control Kende str. 13-17 1111 Budapest Hungary EPIC InnoLabs Nonprofit Ltd. Kende str. 13-17 1111 Budapest Hungary

While in 1971 the Earth Overshoot Day was on December 25th, in 2022 this day for Austria was already reached on July 28th. And since uncertainties in the remanufacturing production planning occur, companies are forced to take in trade-offs like increased production capacity available at short notice. These uncertainties result in financial losses and production waste, as well as bottlenecks in the supply of materials for gas engine assembly. For this reason, this paper explores the use of a grey wolf optimizer for the reduction of the cycle time of a gas engine remanufacturer. A discrete event simulation is used for evaluation purposes and the results from the scheduler are compared with benchmarks of the current production planning of manufacturers.

关键词： Sustainable Manufacturing Circular Economy Remanufacturing Production Planning Grey Wolf Optimizer

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NeRF-Editing: Geometry Editing of Neural Radiance Fields

arXiv

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arXiv 2022年

作者： Yuan, Yu-Jie Sun, Yang-Tian Lai, Yu-Kun Ma, Yuewen Jia, Rongfei Gao, Lin Beijing Key Laboratory of Mobile Computing and Pervasive Device Institute of Computing Technology Chinese Academy of Sciences China School of Computer and Control Engineering University of Chinese Academy of Sciences China School of Computer Science & Informatics Cardiff University United Kingdom Alibaba Group China

Implicit neural rendering, especially Neural Radiance Field (NeRF), has shown great potential in novel view synthesis of a scene. However, current NeRF-based methods cannot enable users to perform user-controlled shape deformation in the scene. While existing works have proposed some approaches to modify the radiance field according to the user's constraints, the modification is limited to color editing or object translation and rotation. In this paper, we propose a method that allows users to perform controllable shape deformation on the implicit representation of the scene, and synthesizes the novel view images of the edited scene without re-training the network. Specifically, we establish a correspondence between the extracted explicit mesh representation and the implicit neural representation of the target scene. Users can first utilize well-developed mesh-based deformation methods to deform the mesh representation of the scene. Our method then utilizes user edits from the mesh representation to bend the camera rays by introducing a tetrahedra mesh as a proxy, obtaining the rendering results of the edited scene. Extensive experiments demonstrate that our framework can achieve ideal editing results not only on synthetic data, but also on real scenes captured by users. Copyright © 2022, The Authors. All rights reserved.

关键词： Mesh generation

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On-line Reconfiguration of Real-Time Robot Motion and Force control

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IFAC Proceedings Volumes 2000年第27期33卷 171-176页

作者： A. Robertsson A. Valera K. Nilsson R. Johansson Dept. of Automatic Control Lund University SE-22100 Lund Sweden Dept. of Systems Engineering & Automation Valencia Technical University ES-46022 Valencia Spain Dept of Computer Science Lund Institute of Technology Lund University SE-22100 Lund Sweden

Combining position and force control is highly desirable in many robot applications. Many years of extensive research has resulted in a number of promising control approaches, but often too much engineering effort is required in order to evaluate a low level (high performance) control scheme on a real manipulator. The new control system we have obtained has two main advantages: first it provides a total open control architecture, and second it is the simplicity and the interactivity of the platform developed. Using this new control architecture, any force and motion control strategy can be programmed and implemented in a graphical and easy way.

关键词： Robot control Force control Embedded systems Rapid prototyping Non-linear control

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NONSINGULAR TERMINAL SLIDING MODE control OF A CLASS OF NONLINEAR DYNAMICAL SYSTEMS

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IFAC Proceedings Volumes 2002年第1期35卷 161-165页

作者： Xinghuo Yu Man Zhihong Yong Feng Zhihong Guan Faculty of Informatics and Communication Central Queensland University Rockhampton QLD 4702 Australia School of Computer Engineering Nanyang Technological University Singapore Department of Electrical Engineering Harbin Institute of Technology Harbin 150006 China Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan Hubei 430074 China

In this paper, a nonsingular terminal sliding mode concept is introduced for the control of a class of nonlinear dynamical systems. This nonsingular terminal sliding mode control not only enables the £nite time convergence of the system equilibrium, but also eliminates the singularity problem associated with conventional terminal sliding mode control. Simulations are presented to show the effectiveness of the design.

关键词： Sliding modes £nite time nonlinear systems stability

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Walking Pattern Design and Feedback control for Humanoid Robot

Walking Pattern Design and Feedback Control for Humanoid Rob...

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7th World Congress on Intelligent control and Automation (WCICA 2008), vol.17

作者： Xiangyu Chen Zexiang Li Division of Control and Mechatronics Engineering Harbin Institute of Technology Shenzhen Graduate School Shenzhen University Shenzhen China Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Kowloon Hong Kong China

This paper proposes a smooth cooperated walking pattern design and feedback control based on tilt senor for biped humanoid robot. In this research, the smoothness and stability problem is the key work of the motion planning. We make the robot walk stably and naturally like a human using static Zero Moment Point (ZMP) theory and the inclination feedback control. Its basic idea is as follows: firstly, through the geometry and static ZMP analysis, we get separate smooth rotation trajectories of all joints of robot. Then a smooth cooperation action of all joints of robot will be calculated by interpolate breakpoints which are selected in each rotation trajectory. Lastly, using tilt feedback control, we can get a smooth and stable walking of humanoid robot. To make robot walk corporately, we use three methods of interpolation to get all trajectories of 18 joints. The design of walking contains single-support phase planning and double-support phase planning. The effectiveness of our proposed method was confirmed by Matlab simulation and walk experiments of an actual 18 DOF humanoid robot.

关键词： Biped Humanoid Robot Walking Pattern Design ZMP Feedback control

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Questions regarding vehicle safety and the mathematical analysis of safety in large scale networks using positive dynamic systems and probability theory methods

Questions regarding vehicle safety and the mathematical anal...

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IEEE/ASME International Conference on Mechtronic and Embedded Systems and Applications, MESA

作者： Tamás Péter Istvan Lakatos Ferenc Szauter Krisztián Szabó Budapest University of Technology And Economics Budapest Hungary Széchenyi István University SZE-JKK SZE-KVJT Győr Hungary Hungarian Academy of Sciences Institute for Computer Science and Control Budapest Hungary

This paper introduces the mathematical modeling, safety analysis and development of diagnostic methods. Its aim is to establish a new, accredited research laboratory for the testing and quality assurance of hybrid and electric driven vehicles. The task is very complex and it puts special emphasis on environmental and safety issues.

关键词： Accidents Vehicle dynamics Mathematical model Roads Vehicles Analytical models Safety

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Ridgelet transform with application in ground penetrating radar processing

Ridgelet transform with application in ground penetrating ra...

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International Conference on Wavelet Analysis and Pattern Recognition (ICWAPR)

作者： Zhi-Yu Zhang Jiu-Long Zhang Hai-Yan Yu Yan-Jun Lu School of Automation and Information Engineering Xi''an University of Technology Xi'an China School of Computer Science and Engineering Xi''an University of Technology Xi'an China Department of Information & Control Xi''an Institute of Posts and Telecommunications Xi'an China

Ridgelet is the new development of wavelet dealing with line singularities in signals. In goundpenetrating radar (GPR) signal, the direct wave is a strong noise which has line singularity. In time-space domain, the useful information in GPR signal is badly polluted by strong direct wave so that the underground targets can not be recognized correctly. Ridgelet overcomes the disadvantages of wavelets in dealing with high dimensions that it can effectively represent singularities along lines or hyperplanes. Concerning the characteristics of GPR signals, the ridgelet transform is employed to remove the background noise and separate the direct wave. The simulation results for real GPR signals demonstrate its effectiveness.

关键词： Ground penetrating radar Wavelet transforms Continuous wavelet transforms Wavelet analysis Noise reduction Pattern analysis Pattern recognition Signal processing Pollution

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