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arXiv 2024年

作者： Pustina, Pietro Calzolari, Davide Albu-Schäffer, Alin De Luca, Alessandro Della Santina, Cosimo Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy Institute of Robotics and Mechatronics German Aerospace Center Oberpfaffenhofen82234 Germany Department of Informatics Technical University of Munich Garching85748 Germany Department of Cognitive Robotics Delft University of Technology Delft Netherlands

Continuum soft robots are nonlinear mechanical systems with theoretically infinite degrees of freedom (DoFs) that exhibit complex behaviors. Achieving motor intelligence under dynamic conditions necessitates the development of control-oriented reduced-order models (ROMs), which employ as few DoFs as possible while still accurately capturing the core characteristics of the theoretically infinite-dimensional dynamics. However, there is no quantitative way to measure if the ROM of a soft robot has succeeded in this task. In other fields, like structural dynamics or flexible link robotics, linear normal modes are routinely used to this end. Yet, this theory is not applicable to soft robots due to their nonlinearities. In this work, we propose to use the recent nonlinear extension in modal theory –called eigenmanifolds– as a means to evaluate control-oriented models for soft robots and compare them. To achieve this, we propose three similarity metrics relying on the projection of the nonlinear modes of the system into a task space of interest. We use this approach to compare quantitatively, for the first time, ROMs of increasing order generated under the piecewise constant curvature (PCC) hypothesis with a high-dimensional finite element (FE)-like model of a soft arm. Results show that by increasing the order of the discretization, the eigenmanifolds of the PCC model converge to those of the FE model. © 2024, CC BY.

关键词： Structural dynamics

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Parallel governance for decentralized autonomous organizations enabled by blockchain and smart contracts 1

Parallel governance for decentralized autonomous organizatio...

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1st IEEE International Conference on Digital Twins and Parallel Intelligence, DTPI 2021

作者： Ding, Wen Wen Liang, Xiaolong Hou, Jiachen Wang, Ge Yuan, Yong Li, Junqing Wang, Fei-Yue Institute of Systems Engineering Macau University of Science and Technology China School of Mathematics Renmin University of China Beijing China College of Computer Science and Engineering Shandong University of Science and Technology Qingdao China Institute of Automation Chinese Academy of Sciences State Key Laboratory for Management and Control of Complex Systems Beijing China

ISBN: (纸本)9781665433372

Decentralized autonomous organizations(DAOs) enabled by blockchain and smart contracts is regarded as an effective tool to solve corporate governance problems. It can minimize the contract risks, principal-agent dilemmas, and other issues in corporate governance. However, DAOs also face a variety of governance issues, such as internal governance issues and external governance issues caused by the technical attributes of blockchain and smart contracts. DAO is a typical complex system with the characteristics of both social and engineering complexity. It is difficult for existing governance theories to solve governance problems in DAOs. The parallel intelligence theory based on the artificial systems + computational experiments + parallel execution (ACP) method is a suitable research and practical approach to solve management and control problems for complex systems. Therefore, we propose a parallel governance framework for DAO based on the parallel intelligence theory and discuss its key research issues. Finally, we construct a parallel governance system for GnosisDAO, and conduct computational experiments on its voting mechanism. The results show the defects of GnosisDAO governance mechanism and we thus propose further research directions. We consider that parallel governance represents the future trend of DAO research and practice. This paper is aimed at stimulating further effort and providing helpful guidance and reference for future research works. © 2021 IEEE.

关键词： Smart contract

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Anomaly Detection Based on Principle of Justifiable Granularity and Probability Density Estimation

Anomaly Detection Based on Principle of Justifiable Granular...

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2023 China Automation Congress, CAC 2023

作者： Du, Sheng Ma, Xian Li, Xiang Wu, Min Cao, Weihua Pedrycz, Witold School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China University of Alberta Department of Electrical and Computer Engineering EdmontonABT6G 2R3 Canada Systems Research Institute Polish Academy of Sciences Warsaw00-901 Poland Istinye University Faculty of Engineering and Natural Sciences Department of Computer Engineering Istanbul Sariyer Turkey

ISBN: (纸本)9798350303759

Anomaly detection is essential to ensure the safety of industrial processes. This paper presents an anomaly detection approach based on the probability density estimation and principle of justifiable granularity. First, time series data are transformed into a two-dimensional information granule by the principle of justifiable granularity. Then, the test statistic is constructed, and the probability density and cumulative distribution functions of the test statistic are calculated. Next, the confidence level determines the test threshold. Finally, the time series data of a key parameter in the sintering process is used as a case study. The experimental result demonstrates that the proposed approach can detect abnormal time series data effectively, providing an accurate and effective solution for detecting time series anomalies in industrial processes. © 2023 IEEE.

关键词： Time series

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Fast simulation of the LHCb electromagnetic calorimeter response using VAEs and GANs 4

Fast simulation of the LHCb electromagnetic calorimeter resp...

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4th International Conference on computer Simulation in Physics and Beyond, CSP 2020

作者： Sergeev, Fedor Jain, Nikita Knunyants, Ivan Kostenkov, George Trofimova, Ekaterina Department of Control and Applied Mathematics Moscow Institute of Physics and Technology 9 Institutskiy per. Dolgoprudny141701 Russia Department of Computer Science National Research University Higher School of Economics 11 Pokrovsky Boulevard Russia Skolkovo Institute of Science and Technology bld. 1 Bolshoy Boulevard 30 Russia

Modern experiments in high-energy physics require an increasing amount of simulated data. Monte-Carlo simulation of calorimeter responses is by far the most computationally expensive part of such simulations. Recent works have shown that the application of generative neural networks to this task can significantly speed up the simulations while maintaining an appropriate degree of accuracy. This paper explores different approaches to designing and training generative neural networks for simulation of the electromagnetic calorimeter response in the LHCb experiment. © Published under licence by IOP Publishing Ltd.

关键词： Calorimeters

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The diversity and ecological significance of microbial traits potentially involved in B_(12) biosynthesis in the global ocean

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mLife 2023年第4期2卷 416-427页

作者： Jiayin Zhou Wei Qin Xinda Lu Yunfeng Yang David Stahl Nianzhi Jiao Jizhong Zhou Jihua Liu Qichao Tu Institute of Marine Science and Technology Shandong UniversityQingdaoChina Joint Lab for Ocean Research and Education at Dalhousie University Shandong University and Xiamen UniversityQingdaoChina School of Biological Sciences University of OklahomaNormanOklahomaUSA Department of Civil and Environmental Engineering Massachusetts Institute of TechnologyCambridgeMassachusettsUSA State Key Joint Laboratory of Environment Simulation and Pollution Control School of EnvironmentTsinghua UniversityBeijingChina Department of Civil and Environmental Engineering University of WashingtonSeattleWashingtonUSA Institute of Marine Microbes and Ecospheres Xiamen UniversityXiamenChina Earth and Environmental Sciences Lawrence Berkeley NationalLaboratoryBerkeley CaliforniaUSA Institutefr Environmental Genomics University of OklahomaNormanOklahomaUSA School of Civil Engineering and Environmental Sciences University of OklahomaNormanOklahomaUSA School of Computer Sciences University of OklahomaNormanOklahomaUSA DermBiont Inc. BostonMassachusettsUSA

Cobalamin(B_(12)),an essential nutrient and growth cofactor for many living organisms on Earth,can be fully synthesized only by selected prokaryotes in ***,microbial communities related to B_(12) biosynthesis could serve as an example subsystem to disentangle the underlying ecological mechanisms balancing the function and taxonomic make-up of complex functional *** anchoring microbial traits potentially involved in B_(12) biosynthesis,we depict the biogeographic patterns of B_(12) biosynthesis genes and the taxa harboring them in the global ocean,despite the limitations of detecting de novo B_(12) synthesizers via metagenomes *** the taxonomic and functional composition of B_(12) biosynthesis genes were strongly shaped by depth,differentiating the epipelagic zones from the mesopelagic *** genes related to B_(12) biosynthesis were relatively stably distributed across different oceans,but the taxa harboring them varied considerably,showing clear functional redundancy among microbial *** taxa carrying B_(12) biosynthesis genes in the surface water were influenced by environmental factors such as temperature,oxygen,and ***,the composition of functional genes was only weakly associated with these environmental *** model analyses demonstrated that determinism governed the variations in B_(12) biosynthesis genes,whereas a higher degree of stochasticity was associated with taxonomic *** associations were observed between the chlorophyll a concentration and B_(12) biosynthesis,confirming its importance in primary production in the global *** results of this study reveal an essential ecological mechanism governing the assembly of microbes in nature:the environment selects for function rather than taxonomy;functional redundancy underlies stochastic community assembly.

关键词： B_(12)biosynthesis community assembly functional genes functional redundancy ocean primary production

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A Practical Quantum Network Coding Protocol Based on Non-Maximally Entangled State

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computers, Materials & Continua 2021年第8期68卷 2651-2663页

作者： Zhen-Zhen Li Zi-Chen Li Xiu-Bo Chen Zhiguo Qu Xiaojun Wang Haizhu Pan School of Information Engineering Beijing Institute of Graphic CommunicationBeijing102600China Information Security Center State Key Laboratory of Networking and Switching TechnologyBeijing University of Posts and TelecommunicationsBeijing100876China Jiangsu Collaborative Innovation Center of Atmospheric Environment and Equipment Technology Nanjing University of Information Science and TechnologyNanjing210044China School of Electronic Engineering Dublin City UniversityDublin9Ireland College of Computer and Control Engineering Qiqihar UniversityQiqihar161006China

In many earlier works,perfect quantum state transmission over the butterfly network can be achieved via quantum network coding protocols with the assist of maximally entangled ***,in actual quantum networks,a maximally entangled state as auxiliary resource is hard to be obtained or easily turned into a non-maximally entangled state subject to all kinds of environmental ***,we propose a more practical quantum network coding scheme with the assist of non-maximally entangled *** this paper,a practical quantum network coding protocol over grail network is proposed,in which the non-maximally entangled resource is assisted and even the desired quantum state can be perfectly *** achievable rate region,security and practicability of the proposed protocol are discussed and *** practical quantum network coding protocol proposed over the grail network can be regarded as a useful attempt to help move the theory of quantum network coding towards practicability.

关键词： Quantum network coding non-maximally entangled state quantum grail network practical protocol

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Optical Data Center Implementation within Data Center Networks Context Based on Mininet 2

Optical Data Center Implementation within Data Center Networ...

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2nd International Engineering Conference on Electrical, Energy, and Artificial Intelligence, EICEEAI 2023

作者： Abdulmahdi, Esraa Ali Ali, Adnan Hussein Ibrahim, Raed Khalid Al-Askery, Ali Alhamdane, Hayder Jasim Mahmood, Amal Ibrahim Electrical Engineering College Middle Technical University Student at Dept. of Computer Engineering Techniques Baghdad Iraq Institute of Technology Middle Technical University Electrical Techniques Department Baghdad Iraq Al-Farahidi University Department of Medical Instruments Engineering Techniques Baghdad Iraq Electrical Engineering College Middle Technical University Department of Control and Automation Technical Engineering Baghdad Iraq College of Applied Arts Middle Technical University Baghdad Iraq Electrical Engineering College Middle Technical University Dept. of Computer Engineering Techniques Baghdad Iraq

ISBN: (纸本)9798350373363

The technology of reconfigurable optical networks (RONs) is growing to be a promising solution to effectively cater to the rapidly increasing traffic generated by the digital society. Optical technology emerges as a viable alternative because to its capacity to offer a substantial bandwidth, little latency, and enhanced overall performance. Nevertheless, it is imperative to effectively manage the physical resources comprising a data center. This study provides an experimental demonstration of the RONs, which is enhanced by a control plane. The implementation relies on the monitoring of real-time network statistics. This enables the execution of various activities, including as network slice provisioning and reconfiguration, assignment of packet priority classes, and dynamic operations. These actions are performed to ensure the attainment of the desired Quality of Service level. The experimental results show the successfully implementation of RONs using Mininet Emulator and sFlow traffic monitoring technology. The results approve that optical datacenter has minimum delay with low OSNR even with long distance and fast switching time. © 2023 IEEE.

关键词： Optical switches

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Minimal realizations of input-output behaviors by LPV state-space representations with affine dependency

arXiv

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arXiv 2023年

作者： Petreczky, Mihály Tóth, Roland Mercère, Guillaume Univ. Lille CNRS Centrale Lille UMR 9189 CRIStAL LilleF-59000 France The University of Poitiers Laboratoire d’Informatique et d’Automatique pour les Systèmes France The Control Systems Group Department of Electrical Engineering Eindhoven University of Technology Eindhoven Netherlands The Systems and Control Laboratory Institute for Computer Science and Control Budapest Hungary

The paper makes the first steps towards a behavioral theory of LPV state-space representations with an affine dependency on scheduling, by characterizing minimality of such state-space representations. It is shown that minimality is equivalent to observability, and that minimal realizations of the same behavior are isomorphic. Finally, we establish a formal relationship between minimality of LPV state-space representations with an affine dependence on scheduling and minimality of LPV state-space representations with a dynamic and meromorphic dependence on scheduling. © 2023, CC BY.

关键词： State space methods

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Distributed Online Convex Optimization with Time-Varying Constraints: Tighter Cumulative Constraint Violation Bounds under Slater's Condition

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IEEE Transactions on Automatic control 2025年

作者： Yi, Xinlei Li, Xiuxian Yang, Tao Xie, Lihua Hong, Yiguang Chai, Tianyou Johansson, Karl H. National Key Laboratory of Autonomous Intelligent Unmanned Systems Shanghai Institute of Intelligent Science and Technology China Ministry of Education Frontiers Science Center for Intelligent Autonomous Systems China Massachusetts Institute of Technology Lab for Information & Decision Systems CambridgeMA02139 United States Northeastern University State Key Laboratory of Synthetical Automation for Process Industries Shenyang110819 China Nanyang Technological University School of Electrical and Electronic Engineering 50 Nanyang Avenue 639798 Singapore Kth Royal Institute of Technology Division of Decision and Control Systems School of Electrical Engineering and Computer Science Sweden Digital Futures Stockholm10044 Sweden

This paper considers distributed online convex optimization with time-varying constraints. In this setting, a network of agents makes decisions at each round, and then only a portion of the loss function and a coordinate block of the constraint function are privately revealed to each agent. The loss and constraint functions are convex and can vary arbitrarily across rounds. The agents collaborate to minimize static network regret and network cumulative constraint violation. A novel distributed online algorithm with a vanishing stepsize is proposed and it achieves an O(Tmax {c,1-c}) static network regret bound and an O(T1-c/2) network cumulative constraint violation bound, where T is the number of rounds and c∈ (0,1) is a user-defined trade-off parameter. When Slater's condition holds (i.e, there is a point that strictly satisfies the inequality constraints), the network cumulative constraint violation bound is reduced to O(T1-c). Moreover, if the loss functions are strongly convex, then static network regret bound is reduced to O(log (T)), and the network cumulative constraint violation bound is reduced to O(√log (T)T) and O(log (T)) without and with Slater's condition, respectively. To the best of our knowledge, this paper is the first to achieve tighter (network) cumulative constraint violation bounds for (distributed) online convex optimization with time-varying constraints under Slater's condition. Finally, the theoretical results are verified through numerical simulations. © 1963-2012 IEEE.

关键词： Convex optimization

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Toolbox for Discovering Dynamic System Relations via TAG Guided Genetic Programming

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IFAC-PapersOnLine 2021年第7期54卷 379-384页

作者： Ştefan-Cristian Nechita Roland Tóth Dhruv Khandelwal Maarten Schoukens Department of Electrical Engineering Eindhoven University of Technology Eindhoven University of Technology Eindhoven The Netherlands Systems and Control Laboratory Institute for Computer Science and Control Kende u. 13-17 H-1111 Budapest Hungary

Data-driven modeling of nonlinear dynamical systems often requires an expert user to take critical decisions a priori to the identification procedure. Recently, an automated strategy for data driven modeling of single-input single-output (SISO) nonlinear dynamical systems based on genetic programming (GP) and tree adjoining grammars (TAG) was introduced. The current paper extends these latest findings by proposing a multi-input multi-output (MIMO) TAG modeling framework for polynomial NARMAX models. Moreover, we introduce a TAG identification toolbox in Matlab that provides implementation of the proposed methodology to solve multi-input multi-output identification problems under NARMAX noise assumption. The capabilities of the toolbox and the modeling methodology are demonstrated in the identification of two SISO and one MIMO nonlinear dynamical benchmark models.

关键词： Nonlinear system identification Equation discovery Tree Adjoining Grammar Genetic Programming Data-driven system modeling

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