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Sensor technology and control (ISSTC), International Symposium on

作者： Jingwei You Shouqi Wei Xiong Wu Jianquan Sun Department of Electrical Engineering Guilin University of Electronic Technology Guilin China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China SIAT-CUHK Joint Laboratory of Robotics and Intelligent Systems Shenzhen China

Nuclear energy is presently the clean energy source most likely to massively displace fossil energy, and the secondary side of the steam generator is an important part of a nuclear power plant. Due to the small space of the secondary side of the steam generator and the confinement of the vessel, the precise positioning of the robot inside the steam generator cannot be achieved by a single sensor alone. This paper introduces a multi-sensor fusion steam generator secondary side inspection robot. Primary emphasis is on data fusion of multiple sensors, such as laser sensors, cameras, IMU, and wheel encoder. First of all, this paper integrates data from wheel encoder data and IMU data by using extended Kalman filtering (EKF), which decreases the drift error during the motion and enhances the robot positioning precision. Afterwards, we incorporate laser ranging sensors and camera picture data to enhance the overall spatial sensitivity of the robot through particle filtering algorithms. Experiments show that the robot works reliably and has high positioning accuracy.

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Evolution of Cooperation in Snowdrift Game with Multi-Memory Mechanism

Evolution of Cooperation in Snowdrift Game with Multi-Memory...

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Chinese control Conference (CCC)

作者： Yaojun Liu Xingwen Liu Nyima Tashi Lab. of Complex Systems & Intelligent Control Key Lab. of Electronic Information of State Ethnic Affairs Commission College of Electrical Engineering Southwest Minzu University Chengdu Sichuan China Engineering Research Center for Tibetan Information Processing School of Information Science and Technology Tibet University Lhasa China

Cooperative behavior has been of great concern in evolutionary game researches because of its important role in social life and natural evolution. Since memory can greatly influence the emergence of cooperative behavior, memory-based research on evolutionary games has proliferated in recent years. In the present paper, inspired by the well-known “Stanford marshmallow experiment” (SME), we proposed a multi-memory mechanism in Snowdrift game (SDG) on spatial lattice networks whose core lies in what follows: Players are divided into two groups according to individual self-control; different memory lengths are set by group and by time in a single realization. The simulation results show that our proposed mechanism promotes cooperation level of the considered evolutionary game. More specifically, as memory length increases to an intermediate length, the cooperation level increases as well. For mechanism with short memory length, the effect of population structure is obvious and small values of adjusting factor can intensively facilitate high-frequency cooperative behavior. These findings may be helpful to understand the connection between population heterogeneity and the emergence of high cooperation.

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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 collab.rate 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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Evolution of cooperation in Snowdrift game with Multi-memory mechanism

Evolution of cooperation in Snowdrift game with Multi-memory...

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第42届中国控制会议

作者： Yaojun Liu Xingwen Liu Nyima Tashi Lab.of Complex Systems & Intelligent Control Key Lab.of Electronic Information of State Ethnic Affairs CommissionCollege of Electrical EngineeringSouthwest Minzu University Engineering Research Center for Tibetan Information Processing School of Information Science and TechnologyTibet University

Cooperative behavior has been of great concern in evolutionary game researches because of its important role in social life and natural *** memory can greatly influence the emergence of cooperative behavior,memory-based research on evolutionary games has proliferated in recent *** the present paper,inspired by the well-known "Stanford marshmallow experiment"(SME),we proposed a multi-memory mechanism in Snowdrift game(SDG) on spatial lattice networks whose core lies in what follows:Players are divided into two groups according to individual self-control;different memory lengths are set by group and by time in a single *** simulation results show that our proposed mechanism promotes cooperation level of the considered evolutionary *** specifically,as memory length increases to an intermediate length,the cooperation level increases as *** mechanism with short memory length,the effect of population structure is obvious and small values of adjusting factor can intensively facilitate high-frequency cooperative *** findings may be helpful to understand the connection between population heterogeneity and the emergence of high cooperation.

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Multi-Heterogeneity Public Goods Evolutionary Game on Lattice

SSRN

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SSRN 2022年

作者： Xie, Kai Liu, Xingwen Wang, Huazhang Jiang, Yulian Lab. of Complex Systems & Intelligent Control Key Lab. of Electronic Information of State Ethnic Affairs Commission College of Electrical Engineering Southwest Minzu University Sichuan Chengdu610225 China College of Electrical Engineering Southwest Minzu University Sichuan Chengdu610225 China

The topic of how cooperation emerges and develops in the real world has been intensively studied. Many mechanisms and models have been proposed to explain this complex phenomenon with the idealized assumption that all players are homogeneous or have little heterogeneity. This paper investigates the evolution of the public goods game with multiple heterogeneities. Roughly speaking, the quantity of investment (by a cooperator), punishment (received by a defector), or cost (paid by a punisher) is not fixed but depends on specific evolutionary situation. Moreover, heterogeneity is also introduced in expected payoff of each player for the strategy updating rule. Multi-heterogeneity makes the considered model more realistic. The simulation experiment shows that the combination of modified punishment mechanism and strategy updating rule can promote cooperation density in both the multi-heterogeneity and homogeneity models. © 2022, The Authors. All rights reserved.

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Data-driven Polytopic Output Synchronization of Heterogeneous Multi-agent systems from Noisy Data

arXiv

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arXiv 2023年

作者： Li, Yifei Liu, Wenjie Sun, Jian Wang, Gang Xie, Lihua Chen, Jie The National Key Lab of Autonomous Intelligent Unmanned Systems Beijing Institute of Technology Beijing100081 China The Beijing Institute of Technology Chongqing Innovation Center Chongqing401120 China School of Electrical and Electronic Engineering Nanyang Technological University Singapore The Department of Control Science and Engineering Tongji University Shanghai201804 China

This paper proposes a novel approach to addressing the output synchronization problem in unknown heterogeneous multi-agent systems (MASs) using noisy data. Unlike existing studies that focus on noiseless data, we introduce a distributed data-driven controller that enables all heterogeneous followers to synchronize with a leader’s trajectory. To handle the noise in the state-input-output data, we develop a data-based polytopic representation for the MAS. We tackle the issue of infeasibility in the set of output regulator equations caused by the noise by seeking approximate solutions via constrained fitting error minimization. This method utilizes measured data and a noise-matrix polytope to ensure near-optimal output synchronization. Stability conditions in the form of data-dependent semidefinite programs are derived, providing stabilizing controller gains for each follower. The proposed distributed data-driven control protocol achieves near-optimal output synchronization by ensuring the convergence of the tracking error to a bounded polytope, with the polytope size positively correlated with the noise bound. Numerical tests validate the practical merits of the proposed data-driven design and theory. © 2023, CC BY.

关键词： Multi agent systems

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Design and Implementation of a Two-Limbed 3T1R Haptic Device

Design and Implementation of a Two-Limbed 3T1R Haptic Device

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IEEE/RSJ International Conference on intelligent Robots and systems (IROS)

作者： Long Kang Yang Yang Byung-Ju Yi PCA Lab Key Laboratory of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education School of Computer Science and Engineering Nanjing University of Science and Technology Nanjing China Xi'an Modern Control Technology Research Institute Xi'an China School of Automation Nanjing University of Information Science and Technology Nanjing China Department of the Electronic Systems Engineering Hanyang University Ansan South Korea

This paper presents a haptic device with a simple architecture of only two limbs that can provide translational motion in three degrees of freedom (DOF) and one-DOF rotational motion. Actuation redundancy eliminates all forward-kinematic singularities and improves the motion-force transmission property. Thanks to the special structure of the kinematic chains, all actuators are close to the base and full gravity compensation is achieved passively by using springs. Force producibility analysis shows that this haptic device is able to produce long-term continuous force feedback of 15–30 N in each direction. By developing a prototype of the haptic device and a virtual three-dimensional simulator, a preliminary performance evaluation of the haptic device was conducted. In addition, a torque distribution algorithm considering a relaxed form of actuator-torque saturation was experimentally evaluated, and a comparison with other algorithms reveals that this algorithm offers several advantages.

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An Optimal control Based Trajectory Planning Method for Cooperative Merging Maneuvers

An Optimal Control Based Trajectory Planning Method for Coop...

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intelligent Robotics and systems (ISoIRS), International Symposium on

作者： Qi Wang Hao Ge Xuting Duan Jianshan Zhou State Key Lab of Intelligent Transportation System Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control State Key Laboratory of Air Traffic Management System and Technology School of Transportation Science and Engineering Beihang University Beijing China State Key Laboratory of Air Traffic Management System and Technology Nanjing Research Institute of Electronic Engineering Nanjing China State Key Lab of Intelligent Transportation System Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control School of Transportation Science and Engineering Beihang University Beijing China

Due to the prediction errors and diverse driving styles of surrounding vehicles, traffic congestion and even accidents can occur in the traffic bottleneck area where vehicles merge into the main road. To ensure that connected and automated vehicles (CAVs) can quickly and efficiently merge into the main road, this paper proposes a cooperative trajectory planning method based on optimal control for vehicle cut-in scenarios. A optimal control model is constructed, and a quintic polynomial is used to generate the initial solution of the optimal control problem to accelerate the solution process and improve the success rate. Finally, The obtained merging trajectory is then synchronized with the movement of vehicles on the main road to optimize their actions and ensure a safe merging process. Joint simulation with Robot Operating System (ROS) and RVIZ is utilized, and the results show that the proposed algorithm can quickly obtain cooperative results, the locally successful merging trajectory meets the requirements of smoothness and safety, and if the solution does not allow merging, the merging vehicle is instructed to terminate the execution.

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A Tokenized Blockchain-Based Energy Eco-System Over Integrated Automated Market Makers

SSRN

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SSRN 2024年

作者： Adjei-Arthur, Bonsu Bamisile, Olusola Xia, Qi da Silva Tavares, Eliezer Eliezer Gao, Jianbin Xia, Hu Chengdu611731 China Blockchain Research Institute of UESTC-Chengdu Jiaozi Financial Holding Group Co.Ltd Chengdu610095 China Sichuan Provincial Key Lab for Power Systems Wide-Area Measurements and Control University of Electronic Science and Technology of China Sichuan Chengdu China Sichuan Industrial Internet Intelligent Monitoring and Application Engineering Research Center Chengdu University of Technology Sichuan 610059 China

In a complex system of multiple entities coming together and transacting energy from various sources, incentivization and energy utilization are difficult to achieve due to inefficiencies in current mechanisms set up to generate, distribute, utilize, and manage energy within varying ecosystems. We provide a solution to this by proposing a tokenized blockchain-based renewable/non-renewable energy ecosystem built on Automated Market Makers with an underlying Constant Function *** this work, we proved the feasibility of achieving a more efficient means of trading, controlling, and managing energy from multiple RE/NRE energy sources using AMMs. In this approach, we remove the need for buyers and sellers’ influence in the energy market and provide an automated means of ensuring energy flow, pricing, and regulation without the need for third parties. We were able to maintain the decarbonization degree of the entire system through the deployment of the decarbonization mechanism at a cost of 584,213 Wei, proving a self-realizing decarbonization mechanism. We observed a cost of 1,255,219 Wei for both RE/NRE participants to engage the network, showing a faster means of transacting among energy parties. A cheaper cost of 2,497,561 Wei was achieved for setting up the network for trading, a cost of 2,500,666 Wei for rebalancing energy prices, and a cost of 1,836,918 Wei for the management of the entire network. Our results thus prove the ability of our proposed idea to ensure the effective generation, control, and distribution of energy across energy ecosystems. It also offers flexibility to address the complexity within energy ecosystems. Its incentivization mechanism ensures the continuous generation of rewards, ensuring the continuity of energy systems achieved by leveraging the transparency inherent in token mechanisms in blockchain technology. © 2024, The Authors. All rights reserved.

关键词： Smart contract

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Health Monitoring of Long-Haul Fiber Communication System Using Chaotic OTDR

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China Communications 2020年第5期17卷 1-11页

作者： Mengmeng Chen Mingjiang Zhang Shaoxiang Chen Jianguo Zhang Senlin Yan Yuncai Wang School of Electronic Engineering Nanjing Xiaozhuang UniversityNanjing 211171China Key Lab of Advanced Transducers and Intelligent Control Systems Ministry of Education and Shanxi ProvinceTaiyuan 030024China Institute of Optoelectronic Engineering College of Physics&OptoelectronicsTaiyuan University of TechnologyTaiyuan 030024China School of Electrical and Electronic Engineering The Photonics InstituteNanyang Technological University639798Singapore School of Information Engineering Guangdong University of TechnologyGuangzhou 510006China

A novel chaotic optical time-domain reflectometry(OTDR)-based approach was proposed for monitoring long-haul fiber communication systems with multiple fiber segments. The self-phase modulation and group velocity dispersion effects of the optical cable was considered in demonstrating the proof-of-concept experiment and simulation. In experiments, the correlation peaks are clearly obtained from the correlation trace between the reference and reflected(or scattered) light signals propagating in three optical-fiber segments. The technique affords a high spatial resolution of 2 m, and further long-haul fiber simulations indicate that the sensing distance can be more than 3300 km. Thus, the new proposed technique can be effectively applied for health monitoring of long-haul fiber communication systems.

关键词： fiber communication system chaotic signal optical time domain reflectometry

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