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IEEE International Symposium on Personal, Indoor and Mobile Radio Communications (PIMRC)

作者： Ziyang Yu Huanhuan Song Hong Wen Yonghuang Liu Wen Li School of Aeronautics and Astronautics University of Elec. Science and Tech. of China Chengdu China Aircraft Swarm Intelligent Sensing and Cooperative Control Key Lab. of Sichuan Province UESTC China Intelligent IoT Communication Technology Engineering Research Center of Sichuan Province UESTC China

Due to the broadcast nature of wireless communication, it is susceptible to eavesdropping by unauthorized users. Artificial noise, as an important physical layer security technique, is different from traditional cryptography-based communication security mechanisms with high computational complexity, and cannot be cracked by the rapidly advancing computing power. The theoretical research on the security of artificial noise-assisted multiple input multiple output (MIMO) communication systems is quite comprehensive. However, since artificial noise is deeply dependent on the accurate instantaneous channel feedback, its practical application effect still lacks further experiment verification in actual MIMO systems. Based on lab.IEW and universal software radio peripheral (USRP) software defined radio technology, this paper presents a hardware simulation platform of artificial noise-assisted MIMO communication systems. The experimental data obtained from this platform demonstrates that artificial noise can effectively enhance system security with a slight influence on the system reliability.

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Feasibility of Utilizing Passive BCI for Assistance Evaluation: A Case Study on a Knee Exoskeleton

Feasibility of Utilizing Passive BCI for Assistance Evaluati...

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IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)

作者： Asghar Mahmoudi Morteza Khosrotabar Jannis Kuhmann Martin Grimmer Stephan Rinderknecht Maziar A. Sharbafi Faculty of Mechanical Engineering Institute for Mechatronic Systems Technical University Darmstadt Germany Lauflabor Locomotion Lab. Institute of Sports Science Technical Uni-versity Darmstadt Darmstadt Germany Department of Electrical En-gineering and Information Technology Control and Cyber-Physical Systems Technical University Darmstadt Darmstadt Germany

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

This study explored the feasibility of incorpo-rating a passive Brain-Computer Interface (BCI) into the individualization process of wearable assistive devices, with a specific focus on lower-limb exoskeletons. These devices can greatly improve mobility and quality of life for those with lower limb impairments. However, their optimal performance relies on personalized adjustments. This study offered a unique approach to user feedback without intentional control. A one-degree-of-freedom knee exoskeleton was utilized, introducing different levels of impedance to create distinct assistance levels. The analysis identified specific brain clusters, notably the right premotor and supplementary motor cortex, exhibiting significant differences in activity between the easiest and the most challenging conditions. This critical proof-of-concept step demonstrated that through decoding the user's brain activity, passive BCI could support the individualization of assistive technology. This approach indicated the potential to enhance the performance and user experience of wearable assistive devices.

关键词： Performance evaluation Brain Exoskeletons Motors User experience Brain-computer interfaces Decoding Assistive devices Impedance Robots

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Flexible Job Shop Scheduling via Dual Attention Network Based Reinforcement Learning

arXiv

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arXiv 2023年

作者： Wang, Runqing Wang, Gang Sun, Jian Deng, Fang Chen, Jie The National Key Lab of Autonomous Intelligent Unmanned Systems School of Automation Beijing Institute of Technology Beijing100081 China The Beijing Institute of Technology Chongqing Innovation Center Chongqing401120 China The Department of Control Science and Engineering Tongji University Shanghai201804 China The National Key Lab of Autonomous Intelligent Unmanned Systems Beijing Institute of Technology Beijing100081 China

Flexible manufacturing has given rise to complex scheduling problems such as the flexible job shop scheduling problem (FJSP). In FJSP, operations can be processed on multiple machines, leading to intricate relationships between operations and machines. Recent works have employed deep reinforcement learning (DRL) to learn priority dispatching rules (PDRs) for solving FJSP. However, the quality of solutions still has room for improvement relative to that by the exact methods such as OR-Tools. To address this issue, this paper presents a novel end-to-end learning framework that weds the merits of self-attention models for deep feature extraction and DRL for scalab.e decision-making. The complex relationships between operations and machines are represented precisely and concisely, for which a dual-attention network (DAN) comprising several interconnected operation message attention blocks and machine message attention blocks is proposed. The DAN exploits the complicated relationships to construct production-adaptive operation and machine features to support high-quality decision-making. Experimental results using synthetic data as well as public benchmarks corroborate that the proposed approach outperforms both traditional PDRs and the state-of-the-art DRL method. Moreover, it achieves results comparable to exact methods in certain cases and demonstrates favorable generalization ability to large-scale and real-world unseen FJSP tasks. Copyright © 2023, The Authors. All rights reserved.

关键词： Reinforcement learning

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Learning Fast and Precise Pixel-to-Torque control

arXiv

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arXiv 2022年

作者： Bleher, Steffen Heim, Steve Trimpe, Sebastian Intelligent Control Systems Group Max Planck Institute for Intelligent Systems Stuttgart Germany Biomimetic Robotics Lab Massachusetts Institute of Technology Cambridge United States Institute for Data Science in Mechanical Engineering RWTH Aachen University Aachen Germany

In the field, robots often need to operate in unknown and unstructured environments, where accurate sensing and state estimation (SE) becomes a major challenge. Cameras have been used to great success in mapping and planning in such environments, as well as complex but quasi-static tasks such as grasping, but are rarely integrated into the control loop for unstable systems. Learning pixel-to-torque control promises to allow robots to flexibly handle a wider variety of tasks. Although they do not present additional theoretical obstacles, learning pixel-to-torque control for unstable systems that that require precise and high bandwidth control still poses a significant practical challenge, and best practices have not yet been established. To help drive reproducible research on the practical aspects of learning pixel-to-torque control, we propose a platform that can flexibly represent the entire process, from lab.to deployment, for learning pixel-to-torque control on a robot with fast, unstable dynamics: the vision-based Furuta pendulum. The platform can be reproduced with either off-the-shelf or custom-built hardware. We expect that this platform will allow researchers to quickly and systematically test different approaches, as well as reproduce and benchmark case studies from other lab.. We also present a first case study on this system using DNNs which, to the best of our knowledge, is the first demonstration of learning pixel-to-torque control on an unstable system with update rates faster than 100 Hz. A video synopsis can be found online at https://***/S2llScfG-8E, and in the supplementary material. © 2022, CC BY.

关键词： Torque control

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Distributed Event-Triggered Consensus control from Noisy Data Using Matrix Polytopes

Distributed Event-Triggered Consensus Control from Noisy Dat...

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IEEE Conference on Decision and control

作者： Yifei Li Wenjie Liu Jian Sun Gang Wang Jie Chen National Key Lab of Autonomous Intelligent Unmanned Systems Beijing Institute of Technology Beijing China Beijing Institute of Technology Chongqing Innovation Center Chongqing China Department of Control Science and Engineering Tongji University Shanghai China

This paper presents a novel data-driven polytopic approach to event-triggered consensus control of unknown leader-following multi-agent systems (MASs). A distributed data-driven event-triggered consensus control protocol is proposed that utilizes noisy input-state data to enable all followers to track the leader while reducing communication and computational burden. Unlike previous research that relies on quadratic matrix inequalities to characterize system uncertainties, this paper devises a data-based polytopic representation for MASs, which enables addressing the consensus control problem without using explicit system matrices. Based on this representation, a data-based criterion is established, utilizing matrix polytopes to ensure the asymptotic stability of the closed-loop MAS. Moreover, a co-design method is presented for the distributed controller gain and the triggering matrix, using only data and expressed in terms of linear matrix inequalities. Finally, numerical simulations are conducted to demonstrate the validity and effectiveness of the proposed data-driven approach.

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Schedule Your Edit: A Simple yet Effective Diffusion Noise Schedule for Image Editing

arXiv

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arXiv 2024年

作者： Lin, Haonan Wang, Mengmeng Wang, Jiahao An, Wenbin Chen, Yan Tian, Feng Liu, Yong Dai, Guang Wang, Jingdong Wang, Qianying School of Comp. Science & Technology MOEKLINNS Lab. Xi’an Jiaotong University China College of Comp. Science & Technology Zhejiang University of Technology China School of Auto. Science & Engineering MOEKLINNS Lab. Xi’an Jiaotong University China Institute of Cyber-Systems and Control Zhejiang University China SGIT AI Lab. State Grid Corporation of China China Baidu Inc. China Lenovo Research United States

Text-guided diffusion models have significantly advanced image editing, enabling high-quality and diverse modifications driven by text prompts. However, effective editing requires inverting the source image into a latent space, a process often hindered by prediction errors inherent in DDIM inversion. These errors accumulate during the diffusion process, resulting in inferior content preservation and edit fidelity, especially with conditional inputs. We address these challenges by investigating the primary contributors to error accumulation in DDIM inversion and identify the singularity problem in traditional noise schedules as a key issue. To resolve this, we introduce the Logistic Schedule, a novel noise schedule designed to eliminate singularities, improve inversion stability, and provide a better noise space for image editing. This schedule reduces noise prediction errors, enabling more faithful editing that preserves the original content of the source image. Our approach requires no additional retraining and is compatible with various existing editing methods. Experiments across eight editing tasks demonstrate the Logistic Schedule’s superior performance in content preservation and edit fidelity compared to traditional noise schedules, highlighting its adaptability and effectiveness. Copyright © 2024, The Authors. All rights reserved.

关键词： Errors

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An Expressed and Private Opinion Model on Influence Networks 2

An Expressed and Private Opinion Model on Influence Networks

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2nd International Conference on Industrial Artificial Intelligence, IAI 2020

作者： Xia, Weiguo Liang, Hong Key Lab. of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education School of Control Science and Engineering Dalian University of Technology China

ISBN: (数字)9781728182162

ISBN: (纸本)9781728182162

This paper studies the evolution of an expressed and private opinion dynamics model with asynchronous updating. It is shown that under some mild connectivity and individual activation conditions, the expressed and private opinions of all individuals in the network converge to a common value exponentially fast when the susceptibility to influence of all individuals is equal to one. A numerical example verifies the theoretical result. © 2020 IEEE.

关键词： Social networking (online) Sociology Numerical models Ions Heuristic algorithms Convergence Statistics

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Blockchain-Based Homomorphic Transaction Framework for Enhanced Consumer Security and Business Scalab.lity

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IEEE Transactions on Consumer Electronics 2024年

作者： Guo, Tao Shang, Fengjun Dai, Xiangguang Liu, Qilie Chongqing University of Posts and Telecommunications School of Computer Science and Technology Chongqing400065 China Key Laboratory of Big Data Intelligent Computing Chongqing400065 China Chongqing Three Gorges University Key Lab. of Intelligent Info. Proc. and Contr. of Chongqing Munic. Institutions of Higher Education Chongqing Engineering Research Center of Internet of Things and Intelligent Control Technology School of Three Gorges Artificial Intelligence Chongqing400044 China Chongqing University of Posts and Telecommunications School of Communications and Information Engineering Chongqing400065 China

Energy trading in distributed microgrids represents an effective means of enhancing the utilization of renewable energy. However, the aggregation of large-scale consumption data may encounter business scalab.lity issues and potential privacy exposure concerns, necessitating the development of novel secure and scalab.e frameworks for integrating consumption demands between prosumer and microgrid entities. we research focuses on providing a user-friendly transaction model for consumers and microgrid operators. Firstly, a privacy aggregation scheme for user resource requests is designed to ensure the security and decentralization of user data. In addition, the model employs a bidirectional heterogeneous resource allocation mechanism to support the optimal allocation of multiple resources, such as renewable energy, power assets, energy storage devices, and carbon credits, among different microgrids. Finally, a microgrid transaction prototype has been constructed on the Truffle development framework. In this context, smart contracts has been designed to ensure that the transactions are carried out automatically. Experimental results indicate that the scheme provides enhanced security for multi-resource trading in a cluster context relative to existing methodologies. The number of transactions increases linearly with the resource overhead, resulting in more efficient utilization of energy trading. Furthermore, the framework's scalab.lity has been demonstrated through both temporal and spatial considerations. © 1975-2011 IEEE.

关键词： Decentralized finance

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Limit-Cycle-Based Design of Formation control for Mobile Agents

Limit-Cycle-Based Design of Formation Control for Mobile Age...

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作者： Wang, Chen Xia, Weiguo Xie, Guangming National Engineering Research Center for Software Engineering Key Lab. of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education School of Control Science and Engineering Dalian University of Technology Dalian116024 China State Key Laboratory of Turbulence and Complex Systems Intelligent Biomimetic Design Lab College of Engineering Peking University Beijing China

In this article, we study the formation problem for a group of mobile agents in a plane, in which the agents are required to maintain a distribution pattern, as well as to rotate around or remain static relative to a static/moving target. The prescribed distribution pattern is a class of general formations where the distances between neighboring agents or the distances between each agent and the target do not need to be equal. Each agent is modeled as a double integrator and can merely perceive the relative information of the target and its neighbors, and the acceleration of the target. In order to solve the formation problem, a limit-cycle-based controller design is delivered. We divide the overall control objective into two subobjectives, where the first is target circling that each agent keeps its own desired distance to the static/moving target as well as rotating around or remaining static relative to the target as expected, and the second is distribution adjustment that each agent maintains the desired distance to its neighbors. Then, we propose a controller comprised of two parts, where a limit cycle oscillator named a converging part is designed to deal with the first subobjective, while a layout part is introduced to address the second subobjective. One key merit of the controller is that it can be implemented by each agent in its local frame so that only local information is utilized without knowing global information. Theoretical analysis of the convergence to the desired formation, of which the agents are required to be evenly distributed on a circle around the target, is provided for the multiagent system under the proposed controller. Numerical simulations are given to validate the effectiveness of the proposed controller for the cases of general formations, and to show that no collision between agents ever takes place throughout the system's evolution. © 1963-2012 IEEE.

关键词： Multi agent systems

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Deep and Localized Transcranial Magnetic Stimulation in Rat Using Conventional Round Coil 34

Deep and Localized Transcranial Magnetic Stimulation in Rat ...

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34th General Assembly and Scientific Symposium of the International Union of Radio Science, URSI GASS 2021

作者： Lu, Mai. Ueno, Shoogo Lanzhou Jiaotong University Key Lab. of Opt-Electronic Technology and Intelligent Control of Ministry of Education Lanzhou730070 China Graduate School of Engineering Kyushu University Department of Applied Quantum Physics Fukuoka812-8581 Japan

ISBN: (纸本)9789463968027

Transcranial magnetic stimulation (TMS) shows significant values in both brain research and therapeutic applications in the treatment of various psychiatric and neurological disorders. Animal studies of TMS plays an important role in understanding of the cellular and molecular mechanisms underlying TMS induced effects in the brain. This work investigated TMS in rat brain by employing conventional round coil with varied coil positions. Three dimensional distributions of induced electric field in realistic rat model were calculated by 3-D impedance method. Simulations results indicated that the conventional round coil can be applied to rat TMS with improved focality while also keeping high stimulation intensities in deep brain regions. © 2021 URSI.

关键词： Rats

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