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arXiv 2024年

作者： Tang, Zhiqi Fidan, Baris Johansson, Karl H. Mårtensson, Jonas Hamel, Tarek Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology StockholmSE-10044 Sweden Mechanical and Mechatronics Engineering Department University of Waterloo ON Canada France

This paper proposes an observer-based formation tracking control approach for multi-vehicle systems with second-order motion dynamics, assuming that vehicles' relative or global position and velocity measurements are unavailable. It is assumed that all vehicles are equipped with sensors capable of sensing the bearings relative to neighboring vehicles and only one leader vehicle has access to its global position. Each vehicle estimates its absolute position and velocity using relative bearing measurements and the estimates of neighboring vehicles received over a communication network. A distributed observer-based controller is designed, relying only on bearing and acceleration measurements. This work further explores the concept of the Bearing Persistently Exciting (BPE) formation by proposing new algorithms for bearing-based localization and state estimation of second-order systems in centralized and decentralized manners. It also examines conditions on the desired formation to guarantee the exponential stability of distributed observer-based formation tracking controllers. In support of our theoretical results, some simulation results are presented to illustrate the performance of the proposed observers as well as the observer-based tracking controllers. © 2024, CC BY-NC-ND.

关键词： Acceleration measurement

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Two-Stage Robust Optimization Under Decision Dependent Uncertainty

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IEEE/CAA Journal of Automatica Sinica 2022年第7期9卷 1295-1306页

作者： Yunfan Zhang Feng Liu Yifan Su Yue Chen Zhaojian Wang João P.S.Catalão State Key Laboratory of Power System and Generation Equipment the Department of Electrical EngineeringTsinghua UniversityBeijing 100084China Department of Mechanical and Automation Engineering the Chinese University of Hong KongHong Kong SARChina Ministry of Education Key Laboratory of System Control and Information Processing the Department of AutomationShanghai Jiao Tong Universityand also with Shanghai Engineering Research Center of Intelligent Control and ManagementShanghai 200240China Faculty of Engineering of the University of Porto and Institute for Systems and Computer Engineering Technology and Science(INESC TEC)Porto 4200-465Portugal IEEE

In the conventional robust optimization(RO)context,the uncertainty is regarded as residing in a predetermined and fixed uncertainty *** many applications,however,uncertainties are affected by decisions,making the current RO framework *** paper investigates a class of two-stage RO problems that involve decision-dependent *** introduce a class of polyhedral uncertainty sets whose right-hand-side vector has a dependency on the here-and-now decisions and seek to derive the exact optimal wait-and-see decisions for the second-stage problem.A novel iterative algorithm based on the Benders dual decomposition is proposed where advanced optimality cuts and feasibility cuts are designed to incorporate the uncertainty-decision *** computational tractability,robust feasibility and optimality,and convergence performance of the proposed algorithm are guaranteed with theoretical *** motivating application examples that feature the decision-dependent uncertainties are ***,the proposed solution methodology is verified by conducting case studies on the pre-disaster highway investment problem.

关键词： Benders decomposition decision-dependent uncertainty endogenous uncertainty robust optimization(RO)

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Leader-Follower Formation Tracking control of Quadrotor UAVs Using Bearing Measurements

arXiv

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arXiv 2025年

作者： Doodeman, Sander Tang, Zhiqi Jacinto, Marcelo Cunha, Rita Silvestre, Carlos Department of Mechanical Engineering TU/e Eindhoven University of Technology Eindhoven Netherlands Division of Decision and Control Systems KTH Royal Institute of Technology Sweden Instituto Superior Técnico University of Lisbon Portugal Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau China

This work addresses the practical problem of distributed formation tracking control of a group of quadrotor vehicles in a relaxed sensing graph topology with a very limited sensor set, where only one leader vehicle can access the global position. Other vehicles in the formation are assumed to only have access to inter-agent bearing (direction) measurements and relative velocities with respect to their neighbor agents. A hierarchical control architecture is adopted for each quadrotor, combining a high-gain attitude inner-loop and an outer-loop bearing-based formation controller with collision avoidance augmentation. The proposed method enables a group of quadrotors to track arbitrary bearing persistently exciting desired formations, including time-varying shapes and rotational maneuvers, such that each quadrotor only requires relative measurements to at least one neighboring quadrotor. The effective performance of the control strategy is validated by numerical simulations in MATLAB and real-world experiments with three quadrotors. © 2025, CC BY-NC-ND.

关键词： Unmanned aerial vehicles (UAV)

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Target-oriented Reference Construction for supervised cell type identification in scRNA-seq

Target-oriented Reference Construction for supervised cell t...

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IEEE International Conference on Bioinformatics and Biomedicine (BIBM)

作者： Xin Wei Wenjing Ma Zhijin Wu Hao Wu Department of Biostatistics Brown University Department of Biostatistics University of Michigan Ann Arbor Faculty of Computer Science and Control Engineering Shenzhen University of Advanced Technology Shenzhen China Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China

ISBN: (数字)9798350386226

ISBN: (纸本)9798350386233

Cell type identification is a crucial step in single-cell RNA-seq (scRNA-seq) data analysis. The supervised cell type identification method is a preferred solution due to its accuracy and efficiency. The performance of such methods highly depends on the quality of the reference data. Although there are many supervised cell type identification tools, no method currently exists for constructing reference data. Here, we develop Target-Oriented Reference Construction (TORC), a widely applicable strategy for constructing references based on target datasets in scRNA-seq supervised cell type identification. TORC focuses on alleviating differences in cell type composition between the reference and target sets. Extensive benchmarks on simulated and real data analyses demonstrate consistent improvements in cell type identification with TORC.

关键词： Accuracy Data analysis Neural networks Benchmark testing Classification algorithms Complexity theory Bioinformatics

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Design of miniaturized zoom optical system 4

Design of miniaturized zoom optical system

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4th International Conference on Laser, Optics, and Optoelectronic technology, LOPET 2024

作者： Wu, You Huo, Wei Zhang, Guosheng Mu, Sen He, Tianyuan Huang, Xiaojing School of Control Engineering Northeastern University at Qinhuangdao 143 Taishan Road Qinhuangdao066004 China School of Economics and Finance Xi’an International Studies University No.6 Wenyuan South Road Guodu Education Technology Industry Development Zone Chang'an District Xi’an710000 China School of Control Management Northeastern University at Qinhuangdao 143 Taishan Road Qinhuangdao066004 China Sydney Institute of Intelligent Technology Northeastern University at Qinhuangdao 143 Taishan Road Qinhuangdao066004 China School of Computer and Communication Engineering Northeastern University at Qinhuangdao 143 Taishan Road Qinhuangdao066004 China

ISBN: (纸本)9781510681903

Zoom optical systems are versatile, serving applications from daily life, including photography, monitoring, and microscopy, to aerospace and national defense construction. With increasing applications, their performance standards are escalating. This paper introduces a 50mm-150mm three-configuration continuous zoom optical system. Employing a positive compensation structure, it achieves optical zoom in the visible band (390nm-760nm). Composed of six spherical glass lenses, it boasts a compact design with a total length of 40mm and a max aperture of 66mm, ensuring an F-number superior to 5 at long focal lengths. This system meets miniaturization demands while maintaining a high MTF (>0.32) across the entire field of view in the visible light band. The design fulfills high-performance criteria and offers valuable insights for the design of visible-band zoom optical systems with high magnification ratios and miniaturized footprints. © 2024 SPIE.

关键词： Optical systems

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Traffic Pattern Classification in Smart Cities Using Deep Recurrent Neural Network

arXiv

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arXiv 2024年

作者： Ismaeel, Ayad Ghany Krishnadas, J. Manishankar, S. Natarajan, Yuvaraj Mahmood, Sarmad Nozad Alani, Sameer Shather, Akram H. Computer Technology Engineering College of Engineering Technology Al-Kitab University Kirkuk36001 Iraq Department of Computer Science and Engineering Sahrdaya College of Engineering and Technology Thrissur Kodakara680684 India Department of Computer Science and Engineering Sri Shakthi Institute of Engineering and Technology Coimbatore641062 India Electronic and Control Engineering Techniques Technical Engineering College Northern Technical University Kirkuk36001 Iraq Computer Center University of Anbar Ramadi55431 Iraq Department of Computer Engineering Technology Al-Kitab University Altun Kopru Kirkuk36001 Iraq

This paper examines the use of deep recurrent neural networks to classify traffic patterns in smart cities. We propose a novel approach to traffic pattern classification based on deep recurrent neural networks, which can effectively capture traffic patterns' dynamic and sequential features. The proposed model combines convolutional and recurrent layers to extract features from traffic pattern data and a SoftMax layer to classify traffic patterns. Experimental results show that the proposed model outperforms existing methods regarding accuracy, precision, recall, and F1 score. Furthermore, we provide an in-depth analysis of the results and discuss the implications of the proposed model for smart cities. The results show that the proposed model can accurately classify traffic patterns in smart cities with a precision of as high as 95%. The proposed model is evaluated on a real-world traffic pattern dataset and compared with existing classification methods. © 2024, CC BY-NC-ND.

关键词： Classification (of information)

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Roblets: Robotic Tablets That Self-Assemble and Self-Fold into a Robot

Roblets: Robotic Tablets That Self-Assemble and Self-Fold in...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Junyi Han Daniela Rus Shuhei Miyashita Automatic Control and Systems Engineering Department University of Sheffield Sheffield UK Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge MA USA Insigneo Institute for in silico Medicine

Inspired by human proteins that are synthesized from only 20 types of amino acids, the development of self-assembly methods that allow robots to be built simply by randomly stirring the parts has been explored for many years. The key challenges include how to synthesize parts in pieces into a three-dimensional functional structure in a practical time, and subsequently, achieve a controlled robotic motion, all with minimal human intervention. This study proposes a method of self-assembling a 3D robot by first self-assembling random parts into a 2D structure and then self-folding it into a 3D shape. Once self-folded, the robot, whose compositional parts contain magnets, becomes capable of performing basic tasks such as block-pushing upon an application of an external magnetic field. Self-assembly from parts into a two-dimensional structure was performed by repeatedly colliding the parts with each other, and combining them with complementary-shaped parts, like matching jigsaw puzzle pieces. Self-folding was performed by shrinking a heat-responsive film attached across the hinge of each assembly part in hot water, causing the entire 2D structure to self-fold. The experiment demonstrated a series of 13 parts self-assembling into the shape of a 3D beetle, then walking and pushing an object in 13 minutes. The self-assembly process is programmed (mechanically) to generate the same geometry even if the number of parts is greater than the necessary number for the structure, thus is capable of generating multiple structures simultaneously.

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Cluster Forming of Multiagent Systems in Rolling Horizon Games with Non-uniform Horizons

arXiv

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arXiv 2023年

作者： Nugraha, Yurid Cetinkaya, Ahmet Hayakawa, Tomohisa Ishii, Hideaki Zhu, Quanyan The Department of Systems and Control Engineering Tokyo Institute of Technology Tokyo152-8552 Japan The Shibaura Institute of Technology Tokyo135-8548 Japan The Department of Computer Science Tokyo Insitute of Technology Yokohama226-8502 Japan The Department of Electrical and Computer Engineering New York University BrooklynNY11201 United States

Consensus and cluster forming of multiagent systems in the face of jamming attacks along with reactive recovery actions by a defender are discussed. The attacker is capable to disable some of the edges of the network with the objective to divide the agents into a smaller size of clusters while, in response, the defender recovers some of the edges by increasing the transmission power. We consider repeated games where the resulting optimal strategies for the two players are derived in a rolling horizon fashion. The attacker and the defender possess different computational abilities to calculate their strategies. This aspect is represented by the non-uniform values of the horizon lengths and the game periods. Theoretical and simulation based results demonstrate the effects of the horizon lengths and the game periods on the agents’ states. © 2023, CC BY.

关键词： Multi agent systems

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A Win/Win Algorithm for the (k+1)-LST/k-Pathwidth Problem

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Journal of Applied and Industrial Mathematics 2021年第4期15卷 627-630页

作者： Klyuchikov, A.G. Vyalyi, M.N. Moscow Institute of Physics and Technology Moscow oblast Dolgoprudnyi141701 Russia Federal Research Center "Computer Science and Control Moscow119333 Russia National Research University "Higher School of Economics" Moscow109028 Russia

Abstract: We describe a Win/Win algorithm that produces in time polynomial in the size ofa graph G and a given parameter k either a spanning tree with at least k + 1 leaves or a path decomposition of width at mostk. T... 详细信息

关键词： Trees (mathematics)

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Robust Frequency Regulation for Dual-Area Interconnected Grids Using Hybrid controller: A Comparative Study 3

Robust Frequency Regulation for Dual-Area Interconnected Gri...

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3rd IEEE International Conference on Smart Technologies for Power, Energy and control, STPEC 2023

作者： Wazir, Awadh Ba Alhussainy, Abdullah A. Alobaidi, Abdulraheem H. Altaf, Aatif Kumar, Anil Kumar, Mahendra Alghamdi, Sultan King Abdulaziz University Faculty of Engineering Department of Electrical and Computer Engineering Jeddah Saudi Arabia King Abdulaziz University Center of Research Excellence in Renewable Energy and Power Systems Jeddah Saudi Arabia Dr. B R Ambedkar National Institute of Technology Jalandhar Instrumentation and Control Engineering Department Punjab Jalandhar India

ISBN: (纸本)9798350304732

This paper introduces a robust controller designed for load frequency control in a dual-area integrated power grid. Here, the suggested controller is a blend of a fuzzy logic controller with an integral controller. The parameters of the integral controller and frequency bias settings are optimized to enhance the dynamic response of the proposed controller. To attain this, three distinct optimization algorithms are employed, i.e., genetic algorithm, simulated annealing, and pattern search. A new objective function using settling time, settling-max, and settling-min with a suitable weight factor is used to improve the parameters estimation process. A comparative analysis is performed using the proposed approach and classical-I controller under two cases considering several load disturbance scenarios. Furthermore, the suggested hybrid controller is evaluated and compared with similar models in the literature. As expected, the proposed controller exhibits superior performance. © 2023 IEEE.

关键词： Fuzzy logic controller integral controller load frequency control optimization technique parameter estimation

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