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arXiv 2024年

作者： Janssen, Lars A.L. Fey, Rob H.B. Besselink, Bart van de Wouw, Nathan Dynamics & Control Department of Mechanical Engineering Eindhoven University of Technology Netherlands Bernoulli Institute for Mathematics Computer Science and Artificial Intelligence University of Groningen Netherlands

Complex mechatronic systems are typically composed of interconnected modules, often developed by independent teams. This development process challenges the verification of system specifications before all modules are integrated. To address this challenge, a modular redesign framework is proposed in this paper. Herein, first, allowed changes in the dynamics (represented by frequency response functions (FRFs)) of the redesigned system are defined with respect to the original system model, which already satisfies system specifications. Second, these allowed changes in the overall system dynamics (or system redesign specifications) are automatically translated to dynamics (FRF) specifications on module level that, when satisfied, guarantee overall system dynamics (FRF) specifications. This modularity in specification management supports local analysis and verification of module design changes, enabling design teams to work in parallel without the need to iteratively rebuild the system model to check fulfilment of system FRF specifications. A modular redesign process results that shortens time-to-market and decreases redesign costs. The framework’s effectiveness is demonstrated through three examples of increasing complexity, highlighting its potential to enable modular mechatronic system (re)design. © 2024, CC BY-NC-ND.

关键词： Specifications

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Discrete control algorithms for systems with big dead time for control101 MATLAB toolbox

Discrete control algorithms for systems with big dead time f...

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Cybernetics & Informatics (K&I)

作者： Ruth Bars Gyula Max J. Anthony Rossiter László Keviczky Department of Automation and Applied Informatics Budapest University of Technology and Economics Budapest Hungary School of Electrical and Electronic Engineering University of Sheffield Sheffield UK Systems and Control Laboratory Institute for Computer Science and Control Budapest Hungary

ISBN: (数字)9798331541811

ISBN: (纸本)9798331541828

The first course of control is under a critical review. Both the teaching material covered and the teaching methods require new considerations. Introducing interactivity in the education process makes the learning more successful and enjoyable. MATLAB provides an effective environment for learning and applying different disciplines. control101 is a new MATLAB toolbox under development which provides tools for interactive learning of control disciplines. This paper presents the framework for teaching discrete control algorithms applied for processes containing large dead times.

关键词： Visualization Systematics PI control Reviews Education Laboratories Process control Prediction algorithms PD control MATLAB

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Enabling Technologies for Autonomous Robotic Systems in Manufacturing

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Transactions of Nanjing University of Aeronautics and Astronautics 2024年第4期41卷 403-431页

作者： ERDŐS Gábor ABAI Kristóf BEREGI Richárd CSEMPESZ János CSERTEG Tamás GODÓGábor HAJÓS Mátyás HÁY Borbála HORVÁTH Dániel HORVÁTH Gergely JUNIKIÁdám KEMÉNY Zsolt KOVÁCS András NACSA János PANITI Imre PEDONE Gianfranco TAKÁCS Emma TIPARY Bence ZAHORÁN László VÁNCZA József Institute for Computer Science and Control Hungarian Research Network(HUN-REN SZTAKI)BudapestHungary Department of Manufacturing Science and Technology Budapest University of Technology and Economics(BME)BudapestHungary EPIC InnoLabs Nonprofit Ltd. BudapestHungary Eötvös Loránd University(ELTE) BudapestHungary

Research of autonomous manufacturing systems is motivated both by the new technical possibilities of cyber-physical systems and by the practical needs of the *** operation in semi-structured industrial environments can now be supported by advanced sensor technologies,digital twins,artificial intelligence and novel communication *** enable real-time monitoring of production processes,situation recognition and prediction,automated and adaptive(re)planning,teamwork and performance improvement by *** paper summarizes the main requirements towards autonomous industrial robotics and suggests a generic workflow for realizing such *** case studies will be presented from recent practice at HUN-REN SZTAKI in a broad range of domains such as assembly,welding,grinding,picking and placing,and *** various solutions have in common that they use a generic digital twin concept as their *** making general recommendations for realizing autonomous robotic solutions in the industry,open issues for future research will be discussed.

关键词： industrial robotics autonomy digital twin enabling technology

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Generalization or Memorization: Data Contamination and Trustworthy Evaluation for Large Language Models

arXiv

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arXiv 2024年

作者： Dong, Yihong Jiang, Xue Liu, Huanyu Jin, Zhi Gu, Bin Yang, Mengfei Li, Ge Ministry of Education School of Computer Science Peking University Beijing China Beijing Institute of Control Engineering China China Academy of Space Technology China

Recent statements about the impressive capabilities of large language models (LLMs) are usually supported by evaluating on open-access benchmarks. Considering the vast size and wide-ranging sources of LLMs’ training data, it could explicitly or implicitly include test data, leading to LLMs being more susceptible to data contamination. However, due to the opacity of training data, the black-box access of models, and the rapid growth of synthetic training data, detecting and mitigating data contamination for LLMs faces significant challenges. In this paper, we propose CDD, which stands for Contamination Detection via output Distribution for LLMs. CDD necessitates only the sampled texts to detect data contamination, by identifying the peakedness of LLM’s output distribution. To mitigate the impact of data contamination in evaluation, we also present TED: Trustworthy Evaluation via output Distribution, based on the correction of LLM’s output distribution. To facilitate this study, we introduce two benchmarks, i.e., DET-CON and COMIEVAL, for data contamination detection and contamination mitigation evaluation tasks. Extensive experimental results show that CDD achieves the average relative improvements of 21.8%-30.2% over other contamination detection approaches in terms of Accuracy, F1 Score, and AUC metrics, and can effectively detect implicit contamination. TED substantially mitigates performance improvements up to 66.9% attributed to data contamination across various contamination setups. In real-world applications, we reveal that ChatGPT exhibits a high potential to suffer from data contamination on HumanEval benchmark.1 Copyright © 2024, The Authors. All rights reserved.

关键词： Contamination

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Human-Factor focused Application of STPA to Remotely driven Vehicles

Human-Factor focused Application of STPA to Remotely driven ...

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Public Safety technology (WFPST), IEEE World Forum on

作者： Ole Hans Krystian Radlak Jürgen Adamy Department of Control Methods and Intelligent Systems Technical University of Darmstadt Düsseldorf Germany Institute of Computer Science Warsaw University of Technology Warsaw Poland

ISBN: (数字)9798350329148

ISBN: (纸本)9798350329155

This paper presents an analysis of the safety aspects of a Remote Driving System (RDS) using the System-Theoretic Process Analysis (STPA) methodology. The focus is on the human Remote Driver (RD) within the RDS, considering losses and system-level hazards associated with the human-in-the-loop scenario which focuses on the RD actions related to the change in Steering Wheel Angle (SWA). The STPA methodology is applied to identify Unsafe control Actions (UCA) related to the change in SWA command, resulting in the identification of numerous Causal Factors (CF) that may lead to hazardous scenarios. Several UCAs and CFs are identified that provide information on potential hazards and risks associated with remote driving technology. Based on a selected UCA where the RD does not change the SWA when the road network requires lateral movement, 25 potential loss scenarios were identified and presented in this paper. The results of this work can contribute to the understanding of potential risks and the development of safety mitigation measures in the context of RDS which need to be validated in further research.

关键词： Roads Prevention and mitigation Wheels Hazards Public security Human in the loop Behavioral sciences

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Numerical Study of Stability of an Algorithm for Identifying the Thermal Conductivity in the Three-Dimensional Case

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Journal of Mathematical Sciences (United States) 2022年第4期267卷 474-482页

作者： Evtushenko, Yu. G. Zubov, V.I. Albu, A.F. Federal Research Center “Computer Science and Control” of RAS 40 Vavilov St. Moscow 119333 Russian Federation Moscow Institute of Physics and Technology 9 Institutskiy per. Dolgoprudny 141701 Russian Federation

We consider the problem of identifying the temperature-dependent thermal conductivity of a material in the three-dimensional case. We numerically study the stability of the algorithm based on the fast automatic differentiation technique. We show that a perturbation of experimental data leads to a perturbation of the sought thermal conductivity of the same order. © 2022, Springer Science+Business Media, LLC, part of Springer Nature.

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computer System for Forming Compositions and Modeling the Properties of Secondary Polymer Materials

Computer System for Forming Compositions and Modeling the Pr...

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International Conference on control Systems, Mathematical Modelling, Automation and Energy Efficiency (SUMMA)

作者： Tamara Balabekovna Chistyakova Inna Vasilievna Novozhilova Aleksandr Sergeevich Razygraev Tatyana Sergeevna Goncharova Department of Computer-Aided Design and Control Systems Saint-Petersburg State Institute of Technology Saint Petersburg Russian Federation

The computer system for forming compositions and modeling the secondary polymer materials properties is described in the article. The polymer compositions are formed using a customizable dataware, which includes a polymer wastes database and a knowledge base for recycling polymers into useful polymer products The knowledge base is developed using a product-frame model for representing knowledge about polymers and their compatibility. Modeling and research of the secondary polymers properties (strength, elasticity and density) is carried out based on the mathematical models. The result of the modeling system is a technological map for the composite polymer mixture synthesis and the production of a useful polymer product. The map includes data on the recipe, physicochemical and technological properties of polymers as secondary raw materials, polymer composition, hardware and technological design of the process, values of technological controlled variables of individual stages of processing. The use of a modeling system in production makes it possible to reduce the time required to solve the problem of selecting compositions, as well as reconfiguring production for a new task, improve the consumer characteristics of polymer products and reduce defects.

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Editorial:Special Topic on Federated Learning for IoT and Edge Computing

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ZTE Communications 2022年第3期20卷 1-2页

作者： PAN Yi CUI Laizhong CAI Zhipeng LI Wei Faculty of Computer Science and Control Engineering at Shenzhen Institute of Advanced Technology Chinese Academy of SciencesChina the Academy of the United Nations Sciences and Technology Organization Ukrainian Academy of Engineering Sciences American Institute for Medical and Biological Engineering Institute of Engineering Technology the College of Computer Science and Software Engineering at Shenzhen University China Department of Computer Science and the College of Business at Georgia State University USA the Center for Distributed and High Performance Computing School of Computer ScienceThe University of Sydney the Australia-China Joint Research Center on Energy Informatics and Demand Response Technologies

Recent years have witnessed the proliferation of Internet of Things(IoT),in which billions of devices are connected to the Internet,generating an overwhelming amount of *** is challenging and infeasible to transfer an... 详细信息

关键词： cloud generating data.

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Benchmarking the Full-Order Model Optimization Based Imitation in the Humanoid Robot Reinforcement Learning Walk

arXiv

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arXiv 2023年

作者： Chaikovskaya, Ekaterina Minashina, Inna Litvinenko, Vladimir Davydenko, Egor Makarov, Dmitry Danik, Yulia Gorbachev, Roman Moscow Institute of Physics and Technology Russia Federal Research Center "Computer Science and Control" of Russian Academy of Sciences Russia

When a gait of a bipedal robot is developed using deep reinforcement learning, reference trajectories may or may not be used. Each approach has its advantages and disadvantages, and the choice of method is up to the control developer. This paper investigates the effect of reference trajectories on locomotion learning and the resulting gaits. We implemented three gaits of a full-order anthropomorphic robot model with different reward imitation ratios, provided sim-to-sim control policy transfer, and compared the gaits in terms of robustness and energy efficiency. In addition, we conducted a qualitative analysis of the gaits by interviewing people, since our task was to create an appealing and natural gait for a humanoid robot. According to the results of the experiments, the most successful approach was the one in which the average value of rewards for imitation and adherence to command velocity per episode remained balanced throughout the training. The gait obtained with this method retains naturalness (median of 3.6 according to the user study) compared to the gait trained with imitation only (median of 4.0), while remaining robust close to the gait trained without reference trajectories. Copyright © 2023, The Authors. All rights reserved.

关键词： Anthropomorphic robots

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Enabling IoT Continuous Connectivity in Smart Spaces 22

Enabling IoT Continuous Connectivity in Smart Spaces

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22nd International Symposium on Parallel and Distributed Computing, ISPDC 2023

作者： Andreou, Andreas Mavromoustakis, Constandinos X. Batalla, Jordi Mongay Dobre, Ciprian Markakis, Evangelos Mastorakis, George University of Nicosia University of Nicosia Research Foundation Departement of Computer Science Nicosia Cyprus Warsaw University of Technology Warsaw Poland University Politehnica of Bucharest National Institute for Research and Development in Informatics Automatic Control and Computers Bucharest Romania Hellenic Mediterranean University Department of Electrical and Computer Engineering Heraklion Greece Hellenic Mediterranean University Department of Management Science and Technology Agios Nikolaos Greece

ISBN: (纸本)9798350341270

Smart spaces are a rapidly emerging concept in technology. They result from the convergence of various novel technologies, such as the Internet of Things, Machine Learning and Artificial Intelligence, which allow for greater levels of automation and control within physical environments. The devices which are connected to the IoT network are equipped with sensors to acquire and exchange data. As a result, the IoT has transformed how we live, work, and play. However, the deployment in smart spaces is not always the best due to the issues arising from network node positioning. Therefore, we are investigating solutions to this problem with a novel approach which utilises Voronoi diagrams in conjunction with the algorithmic genetic technique. First, the initial positions of the IoT nodes will be determined by simulating a homogeneous Poisson point process in the smart space environment. Then, after dividing the area into the Voronoi cells, the genetic algorithm will optimise the position towards achieving full network coverage within the smart space. Experimental results prove the 100% network coverage within the specified area. © 2023 IEEE.

关键词： Genetic algorithms

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