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Proceedings of the 46th IEEE Conference on Decision and control, Pages 3220-3677

作者： J. S. Freudenberg R. H. Middleton J. H. Braslavsky Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA Hamilto Institute National University of Ireland Maynooth Kildare Ireland Centre for Complex Dynamic Systems and Control University of Newcastle Australia

ISBN: (纸本)9781424414970;1424414970

We propose a linear control and communication scheme for the purposes of stabilization and disturbance attenuation when a discrete Gaussian channel is present in the feedback loop. Specifically, the channel input is amplified by a constant gain before transmission and the channel output is processed through a linear time invariant filter to produce the control signal. We show how the gain and filter may be chosen to minimize the variance of the plant output. For an order one plant, our scheme achieves the theoretical minimum taken over a much broader class of compensators.

关键词： Gaussian channels linear control COMPENSATORS time-invariant Filters disturbance Gain Attenuation

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A study of the human-robot synchronous control system based on skeletal tracking technology

A study of the human-robot synchronous control system based ...

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IEEE International Conference on Robotics and Biomimetics

作者： Ningjia Yang Feng Duan Yudi Wei Chuang Liu Jeffrey Too Chuan Tan Binbin Xu Jin Zhang Department of Automation and Intelligence Science College of Computer and Control Engineering Nankai University Tianjin P.R.China Nankai University The Jiangnan Institute of Modern Industry Tokyo Daigaku Bunkyo-ku Tokyo JP

ISBN: (纸本)9781479927456

The purpose of this study is to develop a new system to synchronously control the simulated robot and humanoid robot based on the skeletal tracking technology. This system is a human-robot interaction system. Human can control the robot through the skeletal tracking technology without placing any marker on the subject's body. We use the Microsoft Kinect to get the skeleton framework information of the subject and input the data into the program. Therefore, the experiment has no demand on color to distinguish the subject's motions, and the subject can just perform in the front of the Kinect without wearing any control device. After processing the data, the computer controls the simulated robot to regenerate the subject's motions synchronously. In this study, we can control the simulated robot to do three different exercises. To verify the validity of the control system, we did a series of experiments to control a humanoid robot NAO. The experimental results show that the synchronous control system can distinguish the movements of human upper limb efficiently, and the cost is lower than that of the previous studies. This system controls both robot model and humanoid robot NAO based on human motion to achieve the human-machine interaction efficiently and the success rate is more than 90%.

关键词： Joints Robot sensing systems Elbow Tracking Filtering algorithms control systems

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Multi-room occupancy estimation through adaptive gray-box models

Multi-room occupancy estimation through adaptive gray-box mo...

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IEEE Annual Conference on Decision and control

作者： A. Ebadat G. Bottegal M. Molinari D. Varagnolo B. Wahlberg H. Hjalmarsson K. H. Johansson ACCESS and the Department of Automatic Control School of Electrical engineering KTH Royal Institute of Technology Sweden Division of Signals and Systems Department of Computer Science Electrical and Space Engineering Lulea University of Innovation and Technology Lulea Sweden

ISBN: (纸本)9781479978878

We consider the problem of estimating the occupancy level in buildings using indirect information such as CO_2 concentrations and ventilation levels. We assume that one of the rooms is temporarily equipped with a device measuring the occupancy. Using the collected data, we identify a gray-box model whose parameters carry information about the structural characteristics of the room. Exploiting the knowledge of the same type of structural characteristics of the other rooms in the building, we adjust the gray-box model to capture the CO_2 dynamics of the other rooms. Then the occupancy estimators are designed using a regularized deconvolution approach which aims at estimating the occupancy pattern that best explains the observed CO_2 dynamics. We evaluate the proposed scheme through extensive simulation using a commercial software tool, IDA-ICE, for dynamic building simulation.

关键词： Vehicle Occupancy Rooms Structural properties Buildings building simulation BOX MODELS Carbon Dioxide

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Path-Integral Formula for Computing Koopman Eigenfunctions

arXiv

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arXiv 2023年

作者： Deka, Shankar A. Narayanan, Sriram S.K.S. Vaidya, Umesh The Decision and Control Systems division The Dept. of Electrical Engr. and Computer Science KTH Royal Institute of Technology Sweden The Dept. of Mechanical Engr. Clemson University SC Clemson United States

The paper is about the computation of the principal spectrum of the Koopman operator (i.e., eigenvalues and eigenfunctions). The principal eigenfunctions of the Koopman operator are the ones with the corresponding eigenvalues equal to the eigenvalues of the linearization of the nonlinear system at an equilibrium point. The main contribution of this paper is to provide a novel approach for computing the principal eigenfunctions using a path-integral formula. Furthermore, we provide conditions based on the stability property of the dynamical system and the eigenvalues of the linearization towards computing the principal eigenfunction using the path-integral formula. Further, we provide a Deep Neural Network framework that utilizes our proposed path-integral approach for eigenfunction computation in high-dimension systems. Finally, we present simulation results for the computation of principal eigenfunction and demonstrate their application for determining the stable and unstable manifolds and constructing the Lyapunov function. © 2023, CC BY.

关键词： Eigenvalues and eigenfunctions

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Differential Spatial Modulation for Dual-hop Amplify-and-Forward Relaying

Differential Spatial Modulation for Dual-hop Amplify-and-For...

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IEEE International Conference on Communications

作者： Meng Zhang Miaowen Wen Xiang Cheng Liu-Qing Yang School of Electronics Engineering and Computer Science Peking University School of Electronic and Information Engineering South China University of Technology State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences

ISBN: (纸本)9781467364300

Differential spatial modulation (DSM) is a newly proposed differential modulation technique tailored to spatial modulation (SM), which requires no channel state information (CSI) at the receiver. DSM can offer flexible tradeoff between the reception reliability and the system complexity. In this paper, we are the first to study the adoption of DSM in a dual-hop amplify-and-forward (AF) relaying system, which consists of a two-antenna source, a single-antenna relay, and a single-antenna destination, so as to reduce the burden of channel tracking on both the relay and the destination. We derive a general upper bound on the average bit error probability (ABEP) achieved by the system. Moreover, an exact closed-form ABEP expression and the asymptotic result are provided for BPSK signaling in Rayleigh fading environment. The same system setup with the adoption of SM at the source is chosen as a benchmark for performance comparisons. Simulation results validate the analysis and reveal a 3dB signal-to-noise power ratio (SNR) penalty of the considered system compared with the benchmark.

关键词： Relays Upper bound Binary phase shift keying Signal to noise ratio Transmitting antennas Wireless communication

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Equalizer zero-determinant strategy in discounted repeated Stackelberg asymmetric game

arXiv

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arXiv 2023年

作者： Zhaoyang, Cheng Guanpu, Chen Yiguang, Hong Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Beijing100190 China School of Mathematical Sciences University of Chinese Academy of Sciences Beijing100049 China School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm100 44 Sweden Department of Control Science and Engineering Tongji University Shanghai201804 China Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Shanghai210201 China

This paper focuses on the performance of equalizer zero-determinant (ZD) strategies in discounted repeated Stackerberg asymmetric games. In the leader-follower adversarial scenario, the strong Stackelberg equilibrium (SSE) deriving from the opponents’ best response (BR), is technically the optimal strategy for the leader. However, computing an SSE strategy may be difficult since it needs to solve a mixed-integer program and has exponential complexity in the number of states. To this end, we propose to adopt an equalizer ZD strategy, which can unilaterally restrict the opponent’s expected utility. We first study the existence of an equalizer ZD strategy with one-to-one situations, and analyze an upper bound of its performance with the baseline SSE strategy. Then we turn to multi-player models, where there exists one player adopting an equalizer ZD strategy. We give bounds of the sum of opponents’ utilities, and compare it with the SSE strategy. Finally, we give simulations on unmanned aerial vehicles (UAVs) and the moving target defense (MTD) to verify the effectiveness of our approach. Copyright © 2023, The Authors. All rights reserved.

关键词： Equalizers

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The fourth conference "computer algebra" in Moscow

The fourth conference "computer algebra" in Moscow

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作者： Abramov, Sergei A. Ryabenko, Anna Sevastianov, Leonid A. Zonn, Yvette Wu, Min Federal Research Center Computer Science and Control Russian Academy of Sciences Vavilova 40 Moscow119333 Russia Peoples' Friendship University of Russia Miklukho-Maklaya 6 Moscow117198 Russia Bogoliubov Laboratory of Theoretical Physics Joint Institute for Nuclear Research Joliot-Curie 6 Dubna Moscow141980 Russia Shanghai Laboratory of Trustworthy Computing East China Normal University Shanghai200062 China

The International Conference "computer Algebra"was held online via Zoom on June 28-29, 2021 and the conference web-site is http://***/ca/conference. Co-organized by the Dorodnicyn Computing Center of Federal Research Center "computer science and control"of Russian Academy of science and the Peoples' Friendship University of Russia, the conference was devoted to inspiring discussions on computer algebra and related topics. Researchers from different countries presented talks on their latest research work. This is the fourth edition of the conference, and the previous three were in 2016, 2017 and 2019, respectively. © 2021 Copyright is held by the owner/author(s).

关键词： Algebra

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Robust Reinforcement Learning-based Vehicle control with Object Avoidance

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IFAC-PapersOnLine 2024年第10期58卷 134-139页

作者： Attila Lelkó Balázs Németh András Mihály Olivier Sename Péter Gáspár HUN-REN Institute for Computer Science and Control Kende u. 13-17 H-1111 Budapest Hungary Department of Control for Transportation and Vehicle Systems Faculty of Transportation Engineering and Vehicle Engineering Budapest University of Technology and Economics Műegyetem rkp. 3. H-1111 Budapest Hungary Grenoble Institute of Technology 621 avenue Centrale 38400 Saint-Martin-d’Héres France

This paper presents a control design framework for robust reinforcement learning (RL) based vehicle control enhanced with object avoidance using a model predictive approach. The proposed integration method is applied for motion control of autonomous road vehicles. In the motion control, longitudinal and lateral dynamics are incorporated, and the high-performance motion of the vehicle, through the RL-based control agent is achieved. ’H. co based robust control is used as a baseline parallel to the RL-agent to ensure stable operation. The object avoidance and limited error path following are achieved using a model-based predictive algorithm. Finally, the control signals of the three controllers are combined using a supervisor layer, which solves a constrained optimization task to ensure high performance and safe motion. The effectiveness of the proposed control method using simulation scenarios is illustrated.

关键词： Autonomous Vehicles Robust control Motion control Reinforcement learning control Learning adaptation in autonomous vehicles

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Investigation of ductile/brittle chip formation zone in the context of manufactured geometry with different CAM paths strategies

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IFAC-PapersOnLine 2022年第10期55卷 2300-2305页

作者： László Móricz Zsolt Viharos János University of Pannonia Faculty of Engineering Mechatronic Education and Research Institute Zalaegerszeg Hungary Zalaegerszeg Center of Vocational Training ZSZC Ganz Ábrahám Technical School Institute for Computer Science and Control (SZTAKI) Centre of Excellence in Production Informatics and Control Center of Excellence of the Hungarian Academy of Sciences (HAS) Eötvös Loránd Research Network (ELKH) Budapest Hungary John von Neumann University Kecskemét Hungary

For maintenance conform processing of brittle materials (ceramics, glass), the resulting chips are not continuous, as in the case of soft and tough materials, it is called a brittle chip removal range. In this machining zone, the quality of the produced surface may decline (appears the cracks and pitting of the material) and the tool life also decreases. When defining the cutting technology (technological parameters, tool edges, tool cooling / lubrication, etc.), chip removal must be carried out in the ductile range. However, due to tool wear, this range may cross the transition and then it can work in the brittle chip formation zone. In this paper, the machinability of zirconia oxid ceramics has been investigated. The aim of the research is to find out the correlation between the wear of the cutting tool, the volume change of the manufactured pockets and the transitions between the chip formation ranges measured by cracks and pitting deformations on the edge of the machined material. It was observed that they overlap to a large extent, consequently, these observed phenomena can be easily applied for tool wear and quality monitoring for realising condition-based maintenance, it is the main scientific contribution of the paper.

关键词： Ductile/brittle chip formation zone ceramics micro-milling indirect tool wearing monitoring

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4.6-Bit Quantization for Fast and Accurate Neural Network Inference on Cpus

SSRN

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SSRN 2023年

作者： Trusov, Anton Limonova, Elena Nikolaev, Dmitry Arlazarov, Vladimir V. Moscow Institute of Physics and Technology Dolgoprudny Russia Federal Research Center "Computer Science and Control" Russian Academy of Sciences Moscow Russia Smart Engines Service LLC Moscow Russia Institute for Information Transmission Problems Russian Academy of Sciences Moscow Russia

Quantization is a widespread method for reducing the inference time of neural networks on mobile Central Processing Units (CPUs).8-bit quantized networks demonstrate almost as high quality as full precision models and perfectly fit the hardware architecture with one-byte coefficients and 32-bit dot product *** precision quantizations usually suffer from noticeable quality loss and require specific computational algorithms to outperform 8-bit quantization. In this paper, we propose a novel 4.6-bit quantization scheme that allows for more efficient use of CPU *** scheme has more quantization bins than 4-bit quantization and is more accurate while preserving the computational efficiency of the later(it runs only 4% slower). Our multiplication uses a combination of 16- and 32-bit accumulators and avoids multiplication depth limitation, which the previous 4-bit multiplication algorithm *** experiments with different convolutional neural networks on CIFAR-10 and ImageNet datasets show, that 4.6-bit quantized networks are 1.5-1.6 times faster than 8-bit networks on the ARMv8 CPU. The quality loss in comparison to 8-bit and full precision models is also not high. Therefore, 4.6-bit quantization may serve as an intermediate solution between fast and inaccurate low-bit network quantizations and accurate but relatively slow 8-bit ones. © 2023, The Authors. All rights reserved.

关键词： Program processors

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