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On Approximate Opacity of Stochastic control systems

IEEE Transactions on Automatic control 2024年第6期70卷 3846-3861页

作者： Liu, Siyuan Yin, Xiang Dimarogonas, Dimos V. Zamani, Majid Kth Royal Institute of Technology Division of Decision and Control Systems Stockholm Sweden Shanghai Jiao Tong University and Key Lab of System Control & Information Processing Ministry of Education Department of Automation Shanghai China University of Colorado Boulder Computer Science Department CO80309 United States Ludwig Maximilian University of Munich Computer Science Department Germany

This paper investigates an important class of information-flow security property called opacity for stochastic control systems. Opacity captures whether a system's secret behavior (a subset of the system's behavior that is considered to be critical) can be kept from outside observers. Existing works on opacity for control systems only provide a binary characterization of the system's security level by determining whether the system is opaque or not. In this work, we introduce a quantifiable measure of opacity that considers the likelihood of satisfying opacity for stochastic control systems modeled as general Markov decision processes (gMDPs). We also propose verification methods tailored to the new notions of opacity for finite gMDPs by using value iteration techniques. Then, a new notion called approximate opacity-preserving stochastic simulation relation is proposed, which captures the distance between two systems' behaviors in terms of preserving opacity. Based on this new system relation, we show that one can verify opacity for stochastic control systems using their abstractions (modeled as finite gMDPs). We also discuss how to construct such abstractions for a class of gMDPs under certain stability conditions. © 1963-2012 IEEE.

关键词： Stochastic control systems

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Improved Adaptive Variable Impedance control for Contact Force Tracking

Improved Adaptive Variable Impedance Control for Contact For...

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2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023

作者： Wei, Feili Gu, Chaochen Wu, Kaijie Cheng, Hao Department of Automation Shanghai Jiao Tong University Shanghai200240 China Ministry of Education of China Key Laboratory of System Control and Information Processing Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9798350327182

The utilization of impedance control is capable of achieving excellent force tracking performance. However, the balance between stability and flexibility is seldom considered in current methods. To address this issue, a novel adaptive variable impedance controller for contact force tracking is proposed in this study. Lyapunov theory is applied to develop an adaptive adjustment law of damping parameter in impedance control to enhance the robot's adaptability to uncertain environment and dynamic desired force. Additionally, a force compensator is designed based on direct adaptive control to expedite the response of force tracking. What sets this proposed method apart is that it does not require an accurate understanding of environmental parameters. Instead, it dynamically modifies the impedance parameters based on the force error to guarantee the stability and coordination of the system. Simulation results indicate that the proposed controller improves the flexibility and robustness of the force tracking capability of the robot system when compared to existing variable impedance control methods and effectively diminishes force overshoot. © 2023 IEEE.

关键词： Uncertainty analysis

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Deep Learning Based Signal Detector for OFDM systems

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China Communications 2023年第12期20卷 66-77页

作者： Guangliang Pan Wei Wang Minglei Li Key Laboratory of Dynamic Cognitive System of Electromagnetic Spectrum Space Ministry of Industry and Information TechnologyCollege of Electronic and Information EngineeringNanjing University of Aeronautics and AstronauticsNanjing 211106China College of Control Science and Engineering China University of Petroleum(East China)Qingdao 266580China

In this paper,we propose a novel deep learning(DL)-based receiver design for orthogonal frequency division multiplexing(OFDM)*** entire process of channel estimation,equalization,and signal detection is replaced by a neural network(NN),and hence,the detector is called a NN detector(N^(2)D).First,an OFDM signal model is *** analyze both temporal and spectral characteristics of OFDM signals,which are the motivation for ***,the generated data based on the simulation of channel statistics is used for offline training of bi-directional long short-term memory(Bi-LSTM)***,a discriminator(F)is added to the input of Bi-LSTM NN to look for subcarrier transmission data with optimal channel gain(OCG),which can greatly improve the performance of the ***,the trained N^(2)D is used for online recovery of OFDM *** performance of the proposed N^(2)D is analyzed theoretically in terms of bit error rate(BER)by Monte Carlo simulation under different parameter *** simulation results demonstrate that the BER of N^(2)D is obviously lower than other algorithms,especially at high signal-to-noise ratios(SNRs).Meanwhile,the proposed N^(2)D is robust to the fluctuation of parameter values.

关键词： channel estimation deep learning OFDM optimal channel gain signal detection

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A Low Complexity Beam Selection Method for MmWave Massive MIMO systems

A Low Complexity Beam Selection Method for MmWave Massive MI...

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2023 International Conference on Ubiquitous Communication, Ucom 2023

作者： Zhu, Chunhua Ji, Qinwen Guo, Xinying Henan University of Technology The Key Laboratory of Grain Information Processing and Control The Henan Key Laboratory of Grain Photoelectric Detection and Control Zhengzhou China Henan University of Technology Henan Engineering Laboratory of Grain Condition Intelligent Detection and Application Zhengzhou China

ISBN: (纸本)9798350340433

The levels of inter-user interference (IUI) usually vary due to the different geographical locations of users, but, most existing beam selection methods apply the same beam selection criteria for all users, which is detrimental to maintain an attractive trade-off between complexity and system performance. Considering the discrepancy of IUI comprehensively, a low complexity beam selection method for millimeter-wave massive multiple-input multiple-output (MIMO) systems is proposed. Firstly, a candidate beam set (CBS) is constructed in light of the sparsity and power distribution of the beamspace channel, thereby all users are classified into non-interfering users (NIUs), low-interference users (LIUs) and high-interference users (HIUs). For NIUs, the beams with large power are selected from CBS under the magnitude maximization (MM) criterion;for LIUs, a novel MM criterion with a tabu list is designed, which can effectively tackle the drawback of assigning shared beams in traditional MM;for HIUs, the incremental algorithm based on the sum-rate maximization criterion is developed to find the optimal beams from CBS. Simulation results validate that the proposed method can achieve almost the same sum-rate performance as the existing methods with the lower computational complexity. © 2023 IEEE.

关键词： Millimeter waves

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Toward Comprehensive Semantic Prompt for Region Contrastive Learning Underwater Image Enhancement

Toward Comprehensive Semantic Prompt for Region Contrastive ...

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2025 IEEE International Conference on Acoustics, Speech, and Signal processing, ICASSP 2025

作者： Wang, Xiao Fu, Yongsheng Wang, Wei Liu, Wei School of Computer Science and Technology Wuhan University of Science and Technology Wuhan China Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System China

ISBN: (纸本)9798350368741

Underwater image enhancement (UIE) focuses on mitigating image quality degradation due to light absorption and scattering. However, most existing methods enhance images via a global and uniform manner, neglecting the inherent semantic information in different regions, which may cause the network to easily deviate from the region's original color. Moreover, these methods typically rely on clear images to guide network convergence, a process constrained by the limited availability of real-world datasets, making it extremely challenging to train enhancement models for various degradations. To address these challenges, this paper introduces a semantic guidance and region contrastive constraints network (SRCNet). Initially, we propose a semantic-aware RWKV (Receptance Weighted key Value) block and a semantic prompt regularization module. These components leverage intra-target semantic correlations to preserve image details and colors within a global perceptual framework, while employing focal loss to emphasize the restoration of severely degraded regions. Subsequently, we introduce a region contrastive learning method that effectively utilizes negative samples to precisely capture features sensitive to degradation factors, thereby fostering robust feature distributions. Finally, experimental results demonstrate that our method outperforms existing state-of-the-art (SOTA) approaches. © 2025 IEEE.

关键词： contrastive learning rwkv semantic prompt Underwater image enhancement

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A Ship Power Sharing Strategy Based on Shapley Value Method and Cartel Mechanism

A Ship Power Sharing Strategy Based on Shapley Value Method ...

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2024 International Annual Conference on Complex systems and Intelligent Science, CSIS-IAC 2024

作者： Zhang, Zhengxu Yang, Jie Ma, Kai Guo, Shiliang Li, Hui School of Electrical Engineering Yanshan University Qinhuangdao China Yanshan University Key Laboratory of Power Electronics for Energy Conservation and Drive Control of Hebei Province Qinhuangdao China Yanshan University Key Laboratory of Industrial Computer Control Engineering of Hebei Province Qinhuangdao China Yanshan University Key Laboratory of Intelligent Control and Neural Information Processing of the Ministry of Education Qinhuangdao China

ISBN: (纸本)9798331504755

With the development of the maritime industry, the number and capacity of existing port cold-ironing (CI) equipment can no longer meet the power demand of ships during berthing, resulting in significant carbon emissions from ships within the port area. Therefore, a ship power sharing strategy based on Shapley value method and Cartel mechanism is proposed. Firstly, the rolling optimization model of ship power scheduling is established to adjust the ship power scheduling strategy according to the real-time information. Secondly, the cooperative game model of ship power sharing is established, and the cost sharing among cooperative ships is realized by Shapley value method. Finally, in order to reduce the situation that ships increase their own profits by deviating from cooperation and affect the overall profits, this paper introduces Cartel mechanism to punish the behavior of deviating from cooperation. The simulation results show that the power sharing strategy proposed in this paper can reduce the total ship cost and carbon emission by 5.28% and 3.78%, respectively. The introduction of Cartel mechanism can increase the cost of non-cooperative behavior, thus ensuring that all ships take cooperative behavior. The power sharing strategy based on Shapley method and Cartel mechanism proposed in this paper is helpful to the construction of green ports. © 2024 IEEE.

关键词： Profitability

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Soft Robotics:Morphology and Morphology-inspired Motion Strategy

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IEEE/CAA Journal of Automatica Sinica 2021年第9期8卷 1500-1522页

作者： Fan Xu Hesheng Wang Department of Automation Institute of Medical RoboticsKey Laboratory of System Control and Information Processing of Ministry of EducationShanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Jiao Tong UniversityShanghai 200240China

Robotics has aroused huge attention since the *** of the uniqueness that industrial applications exhibit,conventional rigid robots have displayed noticeable limitations,particularly in safe cooperation as well as with environmental ***,scientists have shifted their focus on soft robotics to apply this type of robots more effectively in unstructured *** decades,they have been committed to exploring sub-fields of soft robotics(e.g.,cutting-edge techniques in design and fabrication,accurate modeling,as well as advanced control algorithms).Although scientists have made many different efforts,they share the common goal of enhancing *** presented paper aims to brief the progress of soft robotic research for readers interested in this field,and clarify how an appropriate control algorithm can be produced for soft robots with specific *** paper,instead of enumerating existing modeling or control methods of a certain soft robot prototype,interprets for the relationship between morphology and morphology-dependent motion strategy,attempts to delve into the common issues in a particular class of soft robots,and elucidates a generic solution to enhance their performance.

关键词： Soft continuum manipulator soft gripper soft mobile robot soft robot control method soft robot modeling method soft robotics

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A comparative study of four nonlinear dynamic methods and their applications in classification of ship-radiated noise

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Defence Technology（防务技术） 2022年第2期18卷 183-193页

作者： Yu-xing Li Shang-bin Jiao Bo Geng Qing Zhang You-min Zhang School of Automation and Information Engineering Xi’an University of TechnologyXi’an710048China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of TechnologyXi’an710048China Department of Mechanical Industrial and Aerospace EngineeringConcordia UniversityMontrealQuebec H3G 1M8Canada

Refined composite multi-scale dispersion entropy(RCMDE),as a new and effective nonlinear dynamic method,has been applied in the field of medical diagnosis and fault *** this paper,we first introduce RCMDE into the field of underwater acoustic signal processing for complexity feature extraction of ship radiated noise,and then propose a novel classification method for ship-radiated noise based on RCMDE and k-nearest neighbor(KNN),termed *** results of a comparative experiment show that the proposed RCMDE-KNN classification method can effectively extract the complexity features of ship-radiated noise,and has better classification performance under one and two scales than the other three classification methods based on multi-scale permutation entropy(MPE)and KNN,multi-scale weighted-permutation entropy(MW-PE)and KNN,and multi-scale dispersion entropy(MDE)and KNN,termed MPE-KNN,MW-PE-KNN,and *** is proved that the RCMDE-KNN classification method for ship-radiated noise is feasible and effective,and can obtain a very high recognition rate.

关键词： Nonlinear dynamic Refined composite multi-scale dispersion entropy(RCMDE) Multi-scale dispersion entropy(MDE) Multi-scale weighted-permutation entropy (MW-PE) Multi-scale permutation entropy(MPE) Classification of ship-radiated noise

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Research on Target Detection Based on Clustering and Hough Transform

Research on Target Detection Based on Clustering and Hough T...

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2022 International Conference on Statistics, Data Science, and Computational Intelligence, CSDSCI 2022

作者： Luo, Yanpeng Xiong, Jinyu Yang, Yuxiang Zhu, Mingjun Zhang, Tongxin Cheng, Haibing College of Information System Engineering PLA Strategic Support Force Information Engineering University Zhengzhou China National Key Laboratory of Science and Technology on Blind Signal Processing Chengdu China

ISBN: (纸本)9781510661325

Formation target track sorting is an important problem in multi-target track processing. Unlike the processing of periodic scans and point tracks of active radar, passive positioning data has the problems of irregular positioning period and difficulty in distinguishing multiple targets by target signal attributes. In this paper, we propose a track initiation algorithm for passive positioning system based on density clustering and Hough transform for the characteristics of passive positioning system. The algorithm first uses the density clustering algorithm to identify the cluster centers of targets with large measurement errors, and then uses the Hough transform method to initiate a track. © 2023 SPIE.

关键词： Hough transforms

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A Snapshot Cluster Segmentation Method Based on Dynamic Network

A Snapshot Cluster Segmentation Method Based on Dynamic Netw...

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2022 International Conference on Statistics, Data Science, and Computational Intelligence, CSDSCI 2022

作者： Zhang, Tongxin Lu, Luxi College of Information System Engineering PLA Strategic Support Force Information Engineering University Zhengzhou China National Key Laboratory of Science and Technology on Blind Signal Processing Chengdu China

ISBN: (纸本)9781510661325

Dynamic graph neural networks are a research hotspot in the field of deep learning, especially in social networks, recommendation systems, traffic networks and other fields with very wide applications. At present, most of the commonly used deep learning based network analysis methods are focused on discrete dynamic graph neural networks. However, the effectiveness of discrete graph neural network methods is based on the degree of good or bad snapshot segmentation of dynamic networks, so this paper proposes a snapshot clustering segmentation method (SCSM) for dynamic networks, and researchers can effectively segment the snapshots of dynamic networks by the SCSM method in this paper to make the downstream tasks can get good results. © 2023 SPIE.

关键词： Graph neural networks

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