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arXiv 2022年

作者： Mehdifar, Farhad Bechlioulis, Charalampos P. Dimarogonas, Dimos V. The Division of Decision and Control Systems KTH Royal Institute of Technology Stockholm Sweden The Division of Systems and Control The Department of Electrical and Computer Engineering University of Patras Patra Greece

This paper proposes a funnel control method under time-varying hard and soft output constraints. First, an online funnel planning scheme is designed that generates a constraint consistent funnel, which always respects hard (safety) constraints, and soft (performance) constraints are met only when they are not conflicting with the hard constraints. Next, the prescribed performance control method is employed for designing a robust low-complexity funnel-based controller for uncertain nonlinear Euler-Lagrangian systems such that the outputs always remain within the planned constraint consistent funnels. Finally, the results are verified with a simulation example of a mobile robot tracking a moving object while staying in a box-constrained safe space. Copyright © 2022, The Authors. All rights reserved.

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On the Complexity of Computing the Maximal Positive Invariant Set

On the Complexity of Computing the Maximal Positive Invarian...

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European control Conference (ECC)

作者： Bogdan Gheorghe Florin Stoican Ionela Prodan Faculty of Automation Control and Computer Science National University of Science and Technology Politehnica Bucharest Romania Grenoble INP LCIS Univ. Grenoble Alpes Institute of Engineering and Management Univ. Grenoble Alpes Valence France

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

Computing the maximal (robust) positive invari-ant (M(R)PI) set for linear dynamics and a polyhedral constraint set is well-known in the literature but, the effects and limitations of the different methods employed are not sufficiently clear, especially for high dimensional systems. In this paper we propose a systematic analysis of the existing techniques as well as the application of new ideas to accelerate the computation of the MPI set. This includes new stop conditions for the set recurrence that spans it. We analyze and compare these variations over a dynamical system whose dimension can be arbitrarily increased to draw conclusions about their relative strengths and weaknesses.

关键词： Systematics Europe Complexity theory Dynamical systems Predictive control

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Learning of Nash Equilibria in Risk-Averse Games

Learning of Nash Equilibria in Risk-Averse Games

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American control Conference (ACC)

作者： Zifan Wang Yi Shen Michael M. Zavlanos Karl H. Johansson Division of Decision and Control Systems School of Electrical Enginnering and Computer Science KTH Royal Institute of Technology and also with Digital Futures Stockholm Sweden Department of Mechanical Engineering and Materials Science Duke University Durham NC USA

ISBN: (数字)9798350382655

ISBN: (纸本)9798350382662

This paper considers risk-averse learning in convex games involving multiple agents that aim to minimize their individual risk of incurring significantly high costs. Specifically, the agents adopt the conditional value at risk (CVaR) as a risk measure with possibly different risk levels. To solve this problem, we propose a first-order risk-averse leaning algorithm, in which the CVaR gradient estimate depends on an estimate of the Value at Risk (VaR) value combined with the gradient of the stochastic cost function. Although estimation of the CVaR gradients using finitely many samples is generally biased, we show that the accumulated error of the CVaR gradient estimates is bounded with high probability. Moreover, assuming that the risk-averse game is strongly monotone, we show that the proposed algorithm converges to the risk-averse Nash equilibrium. We present numerical experiments on a Cournot game example to illustrate the performance of the proposed method.

关键词： Reactive power Costs Estimation Games Nash equilibrium Numerical simulation Cost function

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Towards Automated Detection of Adversarial Attacks on Tabular Data 18

Towards Automated Detection of Adversarial Attacks on Tabula...

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18th Conference on computer Science and Intelligence Systems, FedCSIS 2023

作者： Biczyk, Piotr Wawrowski, Lukasz Faculty of Automatic Control Electronics and Computer Science Silesian University of Technology Akademicka Gliwice44-100 Poland Ukasiewicz Research Network Institute of Innovative Technologies Emag Ul. Leopolda 31 Katowice40-189 Poland Qed Software Sp. Z O.o. Mazowiecka 11/49 Warsaw00-052 Poland

ISBN: (纸本)9788396744784

The paper presents a novel approach to investigating adversarial attacks on machine learning classification models operating on tabular data. The employed method involves using diagnostic parameters calculated on an approximated representation of a model under attack and analyzing differences in these diagnostic parameters over time. The hypothesis researched by the authors is that adversarial attack techniques, even if attempting a low-profile modification of input data, influence those diagnostic attributes in a statistically significant way. Thus, changes in diagnostic attributes can be used for detecting attack events. Three attack approaches on real-world datasets were investigated. The experiments confirm the approach as a promising technique to be further developed for detecting adversarial attacks. © 2023 Polish Information Processing Society.

关键词： Information use

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Single-channel ultrahigh frequency moisture meter with direct measurement of moisture content of bulk materials

Single-channel ultrahigh frequency moisture meter with direc...

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Automatics and Informatics (ICAI), International Conference

作者： Palvan I. Kalandarov Shakhnoza R. Ubaydullayeva Mirhalil A. Ismailov Nikola N. Nikolov Mariela Alexandrova Department "Automation and Control of Technology Process in Production" «Tashkent Institute of Irrigation and Agricultural Mechanization Engineers» National Research University Tashkent Uzbekistan Department of Automation Faculty of Computer Science and Automation Technical University of Varna Varna Bulgaria

ISBN: (数字)9798350353907

ISBN: (纸本)9798350353914

The article discusses the theoretical foundations of the design of a single-channel ultrahigh frequency moisture meter with direct measurement of the moisture content of bulk materials. In accordance with the requirements of the methodology for selecting efficiency criteria, it is necessary to develop structural diagrams of measuring devices. For these purposes, the standard deviation of the random error is determined, characterizing the accuracy. It includes the main components: sensitivity error, zero error and additive component. Mathematical models of structures are constructed and the standard deviation of random errors, which are caused by certain parameters and additive fluctuations, is calculated. A single-parameter ultrahigh-frequency method for determining the moisture content is proposed. This method provides high accuracy of a single-channel ultrahigh frequency moisture meter with direct measurement of the moisture content of bulk materials. The measuring device can be used in the agricultural industry, where humidity is one of the important parameters, starting with harvesting and ending with the release of finished products.

关键词： Meters Additives Accuracy Sensitivity Moisture UHF measurements Mathematical models Frequency measurement Informatics Standards

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WING: Wheel-Inertial Neural Odometry with Ground Manifold Constraints

arXiv

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arXiv 2024年

作者： Jiang, Chenxing Zhang, Kunyi Yang, Sheng Shen, Shaojie Xu, Chao Gao, Fei The State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou China State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong Alibaba DAMO Academy Hangzhou China Huzhou Institute Zhejiang University Huzhou China

In this paper, we propose an interoceptive-only odometry system for ground robots with neural network processing and soft constraints based on the assumption of a globally continuous ground manifold. Exteroceptive sensors such as cameras, GPS and LiDAR may encounter difficulties in scenarios with poor illumination, indoor environments, dusty areas and straight tunnels. Therefore, improving the pose estimation accuracy only using interoceptive sensors is important to enhance the reliability of navigation system even in degrading scenarios mentioned above. However, interoceptive sensors like IMU and wheel encoders suffer from large drift due to noisy measurements. To overcome these challenges, the proposed system trains deep neural networks to correct the measurements from IMU and wheel encoders, while considering their uncertainty. Moreover, because ground robots can only travel on the ground, we model the ground surface as a globally continuous manifold using a dual cubic B-spline manifold to further improve the estimation accuracy by this soft constraint. A novel space-based sliding-window filtering framework is proposed to fully exploit the C2 continuity of ground manifold soft constraints and fuse all the information from raw measurements and neural networks in a yaw-independent attitude convention. Extensive experiments demonstrate that our proposed approach can outperform state-of-the-art learning-based interoceptive-only odometry methods. © 2024, CC BY.

关键词： Navigation systems

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Forced Transverse Vibrations of a Box Structure from the Action of a Plane Shock Wave, Based on a Flexible Plate Model

Forced Transverse Vibrations of a Box Structure from the Act...

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Intelligent Technologies and Electronic Devices in Vehicle and Road Transport Complex (TIRVED)

作者： Dmitry V. Nikitin Ramil A. Nezhmetdinov Vladimir V. Bogdanov Damir T. Bautdinov Andrey A. Aleshkin Office for the Coordination of Scientific Research State University of Management Moscow Russia Computer Control Syatems Department Moscow State Technology University "STANKIN" Moscow Russia Institute of Information Systems State University of Management Moscow Russia

ISBN: (数字)9798331518707

ISBN: (纸本)9798331518714

Box structures are widely used in mechanical engineering, instrumentation, construction and in many branches of human activity. Such structures play a special role in transport engineering, particularly in the automotive industry. Often, the box structure in addition to the force impact, can experience loads of wave influence nature. For reliable operation of a box structure, as well as for the assessment of strength and stiffness, it is necessary to know the dynamic characteristics of the system, in particular, to be able to determine the forms of transverse vibrations under different types of impacts at different moments of time.

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Semi-Markov Telecommunication Networks Model

Semi-Markov Telecommunication Networks Model

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International Conference on Actual Problems of Electron Devices Engineering, (APEDE)

作者： Mikhail S. Svetlov Alexey A. L’vov Arman M. Martirosyan David M. Martirosyan Igor S. Bagaev Semen T. Khasanov Laboratory of Control and Automation Problems in Mechanical Engineering Institute of Precision Mechanics and Control of RAS Saratov Russian Federation Institute of Institute of Electronic Engineering and Instrumentation Yuri Gagarin State Technical University of Saratov Saratov Russian Federation Institute of Applied Information Technologies and Communications Yuri Gagarin State Technical University of Saratov Saratov Russian Federation Phystech-School of Applied Mathematics and Computer Science Moscow Institute of Physics and Technology Moscow Russian Federation

ISBN: (数字)9798350393316

ISBN: (纸本)9798350393323

This paper proposes a semi-Markov model of telecommunication network (TCN). The variant of dynamic traffic adaptive control of queuing system as a special case of TCN is considered. The main purpose of control is to minimize the average cost per unit of time to service the incoming flow of information (packets). This takes into account the different bandwidth of the channels, the processing speed of information in the channel and the information capacity of the buffers. The approach to the organization of dynamic control taking into account noise immunity (information reliability) and information security is discussed.

关键词： Adaptation models Costs Noise Information security Bandwidth Organizations Communications technology Telecommunication network reliability Adaptive control Electron devices

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Navigating A Mobile Robot Using Switching Distributed Sensor Networks

Navigating A Mobile Robot Using Switching Distributed Sensor...

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European control Conference (ECC)

作者： Xingkang He Ehsan Hashemi Karl H. Johansson Ericsson AB Sweden Department of Mechanical Engineering University of Alberta Canada Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Sweden

This paper proposes a method to navigate a mobile robot by estimating its state over a number of distributed sensor networks (DSNs) such that it can successively accomplish a sequence of tasks, i.e., its state enters each targeted set and stays inside no less than the desired time, under a resource-aware, time-efficient, and computation-and communication-constrained setting. We propose a new robot state estimation and navigation architecture, which integrates an event-triggered task-switching feedback controller for the robot and a two-time-scale distributed state estimator for each sensor. With the controller, the robot is able to accomplish a task by following a reference trajectory and switch to the next task when an event-triggered condition is fulfilled. With the estimator, each active sensor is able to estimate the robot state. We provide conditions to ensure that the state estimation error and the trajectory tracking deviation are upper bounded by two time-varying sequences, respectively. Furthermore, we find a sufficient condition for accomplishing a task and provide an upper bound of running time for the task. Numerical simulations of an indoor robot’s localization and navigation are provided to validate the proposed architecture

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Intelligent Execution of computer Vision Tasks in Delay-Constrained UAV-Aided Networks

Intelligent Execution of Computer Vision Tasks in Delay-Cons...

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IEEE Globecom Workshops

作者： Nancy Varshney Corrado Puligheddu Carla Fabiana Chiasserini Claudio Casetti Swades De Department of Electrical Engineering Indian Institute of Technology Delhi India Department of Electronics and Telecommunications Politecnico di Torino Italy Department of Control and Computer Engineering Politecnico di Torino Italy

Autonomous unmanned aerial vehicles (UAVs) are crucial in critical target tracking and disaster management services. However, challenges arise due to limited channel capacity causing large transmission delays and constraints imposed by UAV batteries when running computationally intensive object detection and tracking algorithms. To address this, we propose in-telligent offloading computer vision tasks to a high-computational edge server at millimeter wave (mmWave) frequency. Transmission at mmWave needs large transmission power and is susceptible to blockages that necessitate considering the link quality in the offloading policy. Additionally, the timely processing of frames containing objects of interest is essential for context-based UAV operations to achieve a low frame drop rate. In this work, we present a delayed-reward reinforcement learning framework to determine the offloading policy of computer vision tasks in a delay-constrained environment. This approach considers the importance of the content within frames, which is unknown to the UAV. The objective is to jointly reduce UAV energy consumption and frame drop rates, leveraging statistical information of both the channel and the frame semantics. Through extensive simulations, we demonstrate by considering statistical information of the communication channel and frame semantics, we achieve approximately 45% energy savings compared to the UAV's energy consumption when processing all frames locally and maintaining the drop rate of delay-constrained frames below 5%.

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