检索结果-内蒙古大学图书馆

IEEE/SICE International Symposium on System Integration

作者： Yoshiaki Watanabe Karinne Ramirez Amaro Bahriye Ilhan Taku Kinoshita Thomas Bock Gordon Cheng Robotics Group Research and Development Institute Takenaka Corporation Japan Department of Electrical Engineering Chalmers University of Technology Sweden Division of Project and Construction Management Faculty of Architecture Istanbul Technical University Turkey Division of Human Mechanical Systems and Design Graduate School of Engineering Hokkaido University Japan Chair of Building Realization and Robotics Technical University of Munich Germany Institute for Cognitive Systems Technical University of Munich Germany

ISBN: (数字)9781728166674

ISBN: (纸本)9781728166681

Autonomous navigation is of great importance for service robots. Such robots need various technologies, especially localization, and mapping. In this paper, we focus on the localization problem. Commonly, to solve the localization problem, the creation of a map is needed. However, creating the map takes considerable time and costs. Therefore, one solution for indoor environment is to use architectural floor plans since buildings have own floor plans. If a robot can use them for localization, it enables users to cut the time and costs for creating the map from scratch. However, the floor plans sometimes do not match with a real building. Besides, sensor measurement sometimes contains objects such as a pedestrian, which are not contained in the floor plans. In this paper, we propose a localization algorithm with architectural floor plans that is robust to such inconsistencies. The algorithm estimates a robot coordinate by matching the floor plan with the point clouds obtained from depth images. Outliers derived from the inconsistencies in the point clouds are filtered with plane information from the depth images with the Generalized ICP framework. We tested our algorithm with floor plans in a real building and in a simulator as a case study. The results show that our algorithm can localize a robot with average more than twice accuracy compared to AMCL and be used for real-time applications.

关键词： Robot kinematics Three-dimensional displays Robot sensing systems Buildings Two dimensional displays Cloud computing

来源：评论

学校读者我要写书评

暂无评论

The 2024 Active Metamaterials Roadmap

arXiv

引用

arXiv 2024年

作者： Pope, Simon A. Roth, Diane J. Bansal, Aakash Mousa, Mostafa Rezanejad, Ashkan Forte, Antonio E. Nash, Geoff.R. Singleton, Lawrence Langfeldt, Felix Cheer, Jordan Henthorn, Stephen Hooper, Ian R. Hendry, Euan Powell, Alex W. Souslov, Anton Plum, Eric Sun, Kai de Groot, C.H. Muskens, Otto L. Shields, Joe De Galarreta, Carlota Ruiz Wright, C. David Kocabas, Coskun Ergoktas, M. Said Xiao, Jianling Schulz, Sebastian A. Di Falco, Andrea Krasavin, Alexey V. Zayats, Anatoly V. Galiffi, Emanuele Department of Automatic Control and Systems Engineering The University of Sheffield Amy Johnson Building Portobello Street SheffieldS1 3JD United Kingdom Department of Physics London Centre for Nanotechnology King’s College London Strand WC2R 2LS United Kingdom Wolfson School of Mechanical Electrical and Manufacturing Engineering Loughborough University United Kingdom Department of Engineering King’s College London LondonWC2R 2LS United Kingdom Natural Sciences University of Exeter Harrison Building North Park Road Exeter United Kingdom Institute of Sound & Vibration Research University of Southampton University Road Southampton United Kingdom Department of Electronic and Electrical Engineering University of Sheffield Sheffield United Kingdom Centre for Metamaterial Research and Innovation University of Exeter Stoker Road ExeterEX4 4QL United Kingdom T.C.M. Group Cavendish Laboratory University of Cambridge CambridgeCB3 0HE United Kingdom Optoelectronics Research Centre Centre for Photonic Metamaterials University of Southampton Highfield SouthamptonSO17 1BJ United Kingdom School of Physics and Astronomy University of Southampton Southampton United Kingdom Electronics and Computer Science University of Southampton Southampton United Kingdom Institute of Materials Science of Barcelona Universitat Autònoma de Barcelona Bellaterra Barcelona08193 Spain Department of Materials National Graphene Institute University of Manchester United Kingdom Schoolof Physics and Astronomy University of St Andrews North Haugh Fife St. AndrewsKY16 9SS United Kingdom Department of Electrical and Computer Engineering University of Waterloo 200 University Avenue West WaterlooONN2L 3G1 Canada Photonics Initiative Advanced Science Research Centre City University of New York 85 St. Nicholas Terrace New YorkNY10027 United States

Active metamaterials are engineered structures that possess novel properties that can be changed after the point of manufacture. Their novel properties arise predominantly from their physical structure, as opposed to their chemical composition and can be changed through means such as direct energy addition into wave paths, or physically changing/morphing the structure in response to both a user or environmental input. Active metamaterials are currently of wide interest to the physics community and encompass a range of sub-domains in applied physics (e.g. photonic, microwave, acoustic, mechanical, etc.). They possess the potential to provide solutions that are more suitable to specific applications, or which allow novel properties to be produced which cannot be achieved with passive metamaterials, such as time-varying or gain enhancement effects. They have the potential to help solve some of the important current and future problems faced by the advancement of modern society, such as achieving net-zero, sustainability, healthcare and equality goals. Despite their huge potential, the added complexity of their design and operation, compared to passive metamaterials creates challenges to the advancement of the field, particularly beyond theoretical and lab -based experiments. This roadmap brings together experts in all types of active metamaterials and across a wide range of areas of applied physics. The objective is to provide an overview of the current state of the art and the associated current/future challenges, with the hope that the required advances identified create a roadmap for the future advancement and application of this field. Copyright © 2024, The Authors. All rights reserved.

关键词： Microwave acoustics

来源：评论

学校读者我要写书评

暂无评论

Learning-based attacks in cyber-physical systems: Exploration, detection, and control cost trade-offs

arXiv

引用

arXiv 2020年

作者： Rangi, Anshuka Khojasteh, Mohammad Javad Franceschetti, Massimo Department of Electrical and Computer Engineering University of California San DiegoCA92093 United States Laboratory for Information and Decision Systems Massachusetts Institute of Technology MA02139 United States

We study the problem of learning-based attacks in linear systems, where the communication channel between the controller and the plant can be hijacked by a malicious attacker. We assume the attacker learns the dynamics of the system from observations, then overrides the controller’s actuation signal, while mimicking legitimate operation by providing fictitious feedback about the sensor readings to the controller. On the other hand, the controller is on a lookout to detect the presence of the attacker and tries to enhance the detection performance by carefully crafting its control signals. We study the trade-offs between the information acquired by the attacker from observations, the detection capabilities of the controller, and the control cost. Specifically, we provide tight upper and lower bounds on the expected Ε-deception time, namely the time required by the controller to make a decision regarding the presence of an attacker with confidence at least (1-Εlog(1/Ε)). We then show a probabilistic lower bound on the time that must be spent by the attacker learning the system, in order for the controller to have a given expected Ε-deception time. We show that this bound is also order optimal, in the sense that if the attacker satisfies it, then there exists a learning algorithm with the given order expected deception time. Finally, we show a lower bound on the expected energy expenditure required to guarantee detection with confidence at least 1-Εlog(1/Ε). Copyright © 2020, The Authors. All rights reserved.

关键词： Cyber Physical System

来源：评论

学校读者我要写书评

暂无评论

Dynamic Resilient Network Games with Applications to Multi-Agent Consensus

arXiv

引用

arXiv 2020年

作者： Nugraha, Yurid Cetinkaya, Ahmet Hayakawa, Tomohisa Ishii, Hideaki Zhu, Quanyan Department of Systems and Control Engineering Tokyo Institute of Technology Tokyo152-8552 Japan Information Systems Architecture Science Research Division National Institute of Informatics Tokyo101-8430 Japan Department of Computer Science Tokyo Insitute of Technology Yokohama226-8502 Japan Department of Electrical and Computer Engineering New York University BrooklynNY11201 United States

A cyber security problem in a networked system formulated as a resilient graph problem based on a game-theoretic approach is considered. The connectivity of the underlying graph of the network system is reduced by an attacker who removes some of the edges whereas the defender attempts to recover them. Both players are subject to energy constraints so that their actions are restricted and cannot be performed continuously. For this two-stage game, which is played repeatedly over time, we characterize the optimal strategies for the attacker and the defender in terms of edge connectivity and the number of connected components of the graph. The resilient graph game is then applied to a multi-agent consensus problem. We study how the attacks and the recovery on the edges affect the consensus process. Finally, we also provide numerical simulation to illustrate the results. Copyright © 2020, The Authors. All rights reserved.

关键词： Multi agent systems

来源：评论

学校读者我要写书评

暂无评论

Communication-Efficient Distributed Online Nonconvex Optimization with Time-Varying Constraints

arXiv

引用

arXiv 2025年

作者： Zhang, Kunpeng Xu, Lei Yi, Xinlei Wen, Guanghui Cao, Ming Johansson, Karl H. Chai, Tianyou Yang, Tao State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang110819 China Department of Mechanical Engineering University of Victoria VictoriaBCV8W 2Y2 Canada Shanghai Institute of Intelligent Science and Technology National Key Laboratory of Autonomous Intelligent Unmanned Systems Frontiers Science Center for Intelligent Autonomous Systems Ministry of Education Shanghai201210 China School of Automation Southeast University Nanjing210096 China Engineering and Technology Institute Groningen Faculty of Science and Engineering University of Groningen GroningenAG 9747 Netherlands Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm10044 Sweden

This paper considers distributed online nonconvex optimization with time-varying inequality constraints over a network of agents, where the nonconvex local loss and convex local constraint functions can vary arbitrarily across iterations, and the information of them is privately revealed to each agent at each iteration. For a uniformly jointly strongly connected time-varying directed graph, we propose two distributed bandit online primal–dual algorithm with compressed communication to efficiently utilize communication resources in the one-point and two-point bandit feedback settings, respectively. In nonconvex optimization, finding a globally optimal decision is often NP-hard. As a result, the standard regret metric used in online convex optimization becomes inapplicable. To measure the performance of the proposed algorithms, we use a network regret metric grounded in the first-order optimality condition associated with the variational inequality. We show that the compressed algorithm with one-point bandit feedback establishes an O(Tθ1) network regret bound and an O(T7/4−θ1) network cumulative constraint violation bound, where T is the number of iterations and θ1 ∈ (3/4,5/6] is a user-defined trade-off parameter. When Slater’s condition holds (i.e, there is a point that strictly satisfies the inequality constraints at all iterations), the network cumulative constraint violation bound is reduced to O(T5/2−2θ1). In addition, we show that the compressed algorithm with two-point bandit feedback establishes an O(Tmax{1−θ1,θ1}) network regret and an O(T1−θ1/2) network cumulative constraint violation bounds, where θ1 ∈ (0,1). Moreover, the network cumulative constraint violation bound is reduced to O(T1−θ1) under Slater’s condition. The bounds are comparable to the state-of-the-art results established by existing distributed online algorithms with perfect communication for distributed online convex optimization with inequality constraints. To the best of our knowledge, thi

关键词： Convex optimization

来源：评论

学校读者我要写书评

暂无评论

Universal Switched-Capacitor Converter for DC-DC, AC-DC, and DC-AC Applications

Universal Switched-Capacitor Converter for DC-DC, AC-DC, and...

引用

IEEE International Symposium on Circuits and systems (IEEE ISCAS)

作者： Cheung, Chun-Kit Tan, Siew-Chong Tse, Chi K. School of Information Engineering Zhengzhou University Zhengzhou China 5G Innovation Centre Institute of Communication Systems University of Surrey Guildford U.K Department of Electrical and Computer Engineering Utah State University Utah USA

ISBN: (纸本)9781728103976

There exist many types and configurations of switched-capacitor converters. However, they are mainly designed for specific applications such as DC-DC or DC-AC (multilevel converters) power conversions. Consequently, they are inapplicable in situations that require multi-applications. A better alternative would be to develop SC converters that are of multi-functions. Different types of power conversions can be achieved by a generalized SC converter, and is possible to fabricate the proposed converter into an IC package. The manufacturing cost can be further reduced through a mass production process. Nevertheless, fundamental studies and clarifications on the feasibility of the idea are still required as relevant literature are not reported. In this work, a preliminary study on a universal SC converter is presented. By programming the control sequence of power switches, the proposed converter is capable of achieving DC-DC, AC-DC, and DC-AC power conversions, while having the properties of bi-directional power flow and variable conversion ratios. The detailed explanations of its circuit operations, control methodology, and basic design procedures, are discussed. Experimental results are included to verify the feasibility of the proposed converter for low voltage applications.

关键词： Capacitors Power conversion Switches Bidirectional control Equivalent circuits Integrated circuits MOSFET

来源：评论

学校读者我要写书评

暂无评论

Robust Federated Learning: The Case of Affine Distribution Shifts

arXiv

引用

arXiv 2020年

作者： Reisizadeh, Amirhossein Farnia, Farzan Pedarsani, Ramtin Jadbabaie, Ali Department of Electrical and Computer Engineering UC Santa Barbara Santa BarbaraCA United States Laboratory for Information & Decision Systems Massachusetts Institute of Technology CambridgeMA United States

Federated learning is a distributed paradigm for training models using samples distributed across multiple users in a network, while keeping the samples on users’ devices with the aim of efficiency and protecting users privacy. In such settings, the training data is often statistically heterogeneous and manifests various distribution shifts across users, which degrades the performance of the learnt model. The primary goal of this paper is to develop a robust federated learning algorithm that achieves satisfactory performance against distribution shifts in users’ samples. To achieve this goal, we first consider a structured affine distribution shift in users’ data that captures the device-dependent data heterogeneity in federated settings. This perturbation model is applicable to various federated learning problems such as image classification where the images undergo device-dependent imperfections, e.g. different intensity, contrast, and brightness. To address affine distribution shifts across users, we propose a Federated Learning framework Robust to Affine distribution shifts (FLRA) that is robust against affine distribution shifts to the distribution of observed samples. To solve the FLRA’s distributed minimax optimization problem, we propose a fast and efficient optimization method and provide convergence and performance guarantees via a gradient Descent Ascent (GDA) method. We further prove generalization error bounds for the learnt classifier to show proper generalization from empirical distribution of samples to the true underlying distribution. We perform several numerical experiments to empirically support FLRA. We show that an affine distribution shift indeed suffices to significantly decrease the performance of the learnt classifier in a new test user, and our proposed algorithm achieves a significant gain in comparison to standard federated learning and adversarial training methods. Copyright © 2020, The Authors. All rights reserved.

关键词： Gradient methods

来源：评论

学校读者我要写书评

暂无评论

Hamilton–jacobi deep Q-learning for deterministic continuous-time systems with lipschitz continuous controls

arXiv

引用

arXiv 2020年

作者： Kim, Jeongho Shin, Jaeuk Yang, Insoon Institute of New Media and Communications Seoul National University Seoul08826 Korea Republic of Department of Electrical and Computer Engineering Automation and Systems Research Institute Seoul National University Seoul08826 Korea Republic of

In this paper, we propose Q-learning algorithms for continuous-time deterministic optimal control problems with Lipschitz continuous controls. Our method is based on a new class of Hamilton–Jacobi–Bellman (HJB) equations derived from applying the dynamic programming principle to continuous-time Q-functions. A novel semi-discrete version of the HJB equation is proposed to design a Q-learning algorithm that uses data collected in discrete time without discretizing or approximating the system dynamics. We identify the condition under which the Q-function estimated by this algorithm converges to the optimal Q-function. For practical implementation, we propose the Hamilton–Jacobi DQN, which extends the idea of deep Q-networks (DQN) to our continuous control setting. This approach does not require actor networks or numerical solutions to optimization problems for greedy actions since the HJB equation provides a simple characterization of optimal controls via ordinary differential equations. We empirically demonstrate the performance of our method through benchmark tasks and high-dimensional linear-quadratic problems. Copyright © 2020, The Authors. All rights reserved.

关键词： Continuous time systems

来源：评论

学校读者我要写书评

暂无评论

Nonequilibrium cavity QED model accounting for dipole-dipole interaction in strong-, ultrastrong-, and deep-strong-coupling regimes

引用

Physical Review A 2020年第1期102卷 013701-013701页

作者： Asha Devi Sarath D. Gunapala Mark I. Stockman Malin Premaratne Advanced Computing and Simulation Laboratory Department of Electrical and Computer Systems Engineering Monash University Clayton Victoria 3800 Australia Jet Propulsion Laboratory California Institute of Technology Pasadena California 91109 USA Department of Physics and Astronomy Georgia State University Atlanta Georgia 30303 USA

We propose a generalized system of nonequilibrium cavity QED with interacting dipoles coupled to a single-mode of an electromagnetic field in strong-, ultrastrong-, and deep-strong-coupling regimes. To illustrate the applicability of the system, an extended Dicke model is developed for atoms undergoing Raman transitions between the ground states in the presence of laser fields and considering dipole-dipole interactions; the latter has been neglected in many previous works. We have studied the effect of a ferroelectric and an antiferroelectric arrangement on the phase transition for both a finite and an infinite number of dipoles. An additional superradiant phase is observed in the deep-strong-coupling regime due to influence of the dipole-dipole interaction term. A high degree of dipole-dipole entanglement occurs for the antiferroelectric arrangement in the deep-strong regime, whereas it gets disentangled quite rapidly for the ferroelectric arrangement. A sharp transition of system parameters is observed in the ultrastrong-coupling regime and beyond. The dipole-dipole interaction also influences the spectra of the system, inducing a significant shift in the peaks, and modifies the average number of photons emitted.

关键词： Atoms, ions, & molecules in cavities Cavity quantum electrodynamics Nanophotonics

来源：评论

学校读者我要写书评

暂无评论

A Hybrid Approach for Weather-based Power Interruption Forecasting using Multilayer Perceptrons and Parametric Models 12

A Hybrid Approach for Weather-based Power Interruption Forec...

引用

12th IEEE PES Asia-Pacific Power and Energy engineering Conference, APPEEC 2020

作者： Wei, Longfei Yang, Xiaolei Liu, Guangyi Dai, Renchang Sundararajan, Aditya Sarwat, Arif I. Global Energy Interconnection Research Institute North America San JoseCA United States State Grid Sichuan Electric Power Company Chengdu Sichuan China Oak Ridge National Laboratory Power and Energy Systems Group Oak RidgeTN United States Florida International University Department of Electrical Computer Engineering MiamiFL United States

ISBN: (纸本)9781728157481

This paper investigates the impact of various weather conditions on the reliability performance of power distribution networks. Especially, a hybrid approach based on multilayer perceptrons (MLPs) and parametric models is proposed to forecast the daily numbers of sustained and momentary power interruptions in the distribution management area using chronological weather data. First, the parametric regression models are implemented to analyze the relationship between power interruptions and different weather characteristics including temperature, wind speed, rain precipitation, air pressure, and lightning. The selected weather characteristics and corresponding parametric models are then integrated as inputs to formulate a MLP neural network model to forecast the daily numbers of power interruptions. In addition, a modified extreme learning machine (ELM) based hierarchical learning algorithm is introduced for training the formulated forecasting model. Finally, the real power interruption data collected from a Florida electric utility is used to verify the applicability and effectiveness of the proposed hybrid approach. © 2020 IEEE.

关键词： Electric utilities

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：