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arXiv 2025年

作者： Ma, Donglai Cao, Xiaoyu Zeng, Bo Chen, Chen Zhai, Qiaozhu Jia, Qing-Shan Guan, Xiaohong School of Automation Science and Engineering The Ministry of Education Key Laboratory for Intelligent Networks and Network Security Xi’an Jiaotong University Shaanxi Xi’an710049 China Department of Industrial Engineering The Department of Electrical and Computer Engineering University of Pittsburgh PittsburghPA15106 United States School of Electrical Engineering Xi’an Jiaotong University Shaanxi Xi’an710049 China Center for Intelligent and Networked Systems Department of Automation Tsinghua University Beijing100084 China

This paper studies the robust co-planning of proactive network hardening and mobile hydrogen energy resources (MHERs) scheduling, which is to enhance the resilience of power distribution network (PDN) against the disastrous events. A decision-dependent robust optimization model is formulated with min − max resilience constraint and discrete recourse structure, which helps achieve the load survivability target considering endogenous uncertainties. Different from the traditional model with a fixed uncertainty set, we adopt a dynamic representation that explicitly captures the endogenous uncertainties of network contingency as well as the available hydrogen storage levels of MHERs, which induces a decision-dependent uncertainty (DDU) set. Also, the multi-period adaptive routing and energy scheduling of MHERs are modeled as a mixed-integer recourse problem for further decreasing the resilience cost. Then, a nested parametric column-and-constraint generation (N-PC&CG) algorithm is customized and developed to solve this challenging formulation. By leveraging the structural property of the DDU set as well as the combination of discrete recourse decisions and the corresponding extreme points, we derive a strengthened solution scheme with nontrivial enhancement strategies to realize efficient and exact computation. Numerical results on 14-bus test system and 56-bus real-world distribution network demonstrate the resilience benefits and economical feasibility of the proposed method under different damage severity levels. Moreover, the enhanced NPC&CG shows a superior solution capability to support prompt decisions for resilient planning with DDU models. Copyright © 2025, The Authors. All rights reserved.

关键词： Hardening

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Extension Principle and Controller Design for Nonlinear Systems

Extension Principle and Controller Design for Nonlinear Syst...

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European Control Conference (ECC)

作者： Altuğ İftar Farshad Khorrami Department of Electrical and Electronics Engineering Eskişehir Technical University Eskişehir Turkey Department of Electrical and Computer Engineering Control/Robotics Research Laboratory (CRRL) New York University 5 Metrotech Center Brooklyn NY U.S.A.

We generalize the principle of extension and controller design using this principle for nonlinear systems. We first define principles of inclusion and extension for nonlinear time-invariant (NLTI) systems. Thereafter, we present the necessary and sufficient conditions for a system to be an extension of another and show that when the expanded system is an extension of the original system, any controller designed for the expanded system can be contracted for implementation on the original system. Subsequently, we demonstrate how an overlappingly decomposed NLTI system can be expanded so that the expanded system is an extension of the original system, how decentralized controllers can be designed for the expanded system, and how these controllers can be contracted for implementation on the original system. An example is also provided to illustrate the extension and contraction concepts and show controller design using the proposed principles.

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Review of Inference Time Prediction Approaches of DNN: Emphasis on Service robots with cloud-edge-device architecture

Review of Inference Time Prediction Approaches of DNN: Empha...

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IEEE International Conference on robotics and Biomimetics

作者： Tian Xiang Qiwei Meng Ji Zhang Beibei Zhang Wei Song Anhuan Xie Jason Gu Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Laboratory Hangzhou China Department of Mechanical and Automation Engineering T Stone Robotics Institute The Chinese University of Hong Kong HKSAR China Research Center for Intelligent Computing Software Research Institute of Intelligent Computing Zhejiang Laboratory Hangzhou China Electrical and Computer Engineering Dalhousie University Halifax Canada

In recent years, the global robot market has witnessed substantial growth, particularly in the domain of service robots. Despite their expanding presence, service robots encounter limitations when operating autonomously in unstructured environments, primarily due to their constrained computational capacities. As a solution, the fusion of cloud and edge computing resources becomes imperative to expedite task inference and enhance scenario perception capabilities. The integration of cloud-edge-device models holds significant promise in bolstering the operational efficiency of robots. This entails the dynamic partitioning of intricate robotic tasks, executed collaboratively across cloud, edge, and device resources. In this landscape, deep neural network (DNN) models play a pivotal role in facilitating a wide array of robotic tasks. The inference time for each layer of a DNN model in actual deployment, emerges as a critical determinant in the model’s partitioning strategy. It also serves as an important metric influencing the model’s suitability for a specific hardware platform. This article presents an overview of recent advancements in predicting inference and training time of DNN models, summarizes the related methods, and finally discusses the challenges in this field and the research that can be studied in the future.

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Adaptive Block Elevation Mapping for Large-scale Scene

Adaptive Block Elevation Mapping for Large-scale Scene

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Zhou, Yang Zhu, Shiqiang Huang, Huang Li, Yuehua Gu, Jason The Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Laboratory Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China The Beijing Institute of Control Engineering Beijing100094 China The Beijing Research Institute Zhejiang Laboratory Beijing100094 China The Department of Electrical and Computer Engineering Dalhousie University HalifaxNSB3H 4R2 Canada

ISBN: (纸本)9781665481090

Dense map that contains the surrounding geometry and vision information of a robot is widely used for path planning, navigation, obstacle avoidance and other applications. Considering the performance of the processing unit mounted on the robot is limited, mapping algorithm has to make compromise by sacrificing speed and precision. It will be more challenging when the dense mapping scene is very large because the memory consumption will be greatly increased and the map is difficult to be extended if beyonding the initial map. To suppress the negative impact from the increased map scale, we proposed a novel block mapping approach to generate the dense map in large scale of scene. In this work, the elevation map is selected as the base dense map. The entire elevation map is segmented into numerous block maps of which size is much smaller than that of the entire map. The present moment of lidar and vision measurements are used to generate the local elevation map. The local elevation map is used to update block maps which are adaptively generated along the motion trajectory. A memory-disk interaction mechanism, which the block maps will be loaded to memory or saved to local disk when needed, is introduced. Our block mapping approach is tested on the KITTI datasets, and the results demonstrate that the mapping approach can stably operate in a large scale of scene with a much smaller consumption of memory. © 2022 IEEE.

关键词： Motion planning

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UAV Trajectory Evaluation in Large Industrial Environments: A Cost-Effective Solution

UAV Trajectory Evaluation in Large Industrial Environments: ...

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European Control Conference (ECC)

作者： Jakob Grimm Hansen Micha Heiß Michal Kozlowski Erdal Kayacan Department of Electrical and Computer Engineering Artificial Intelligence in Robotics Laboratory (Air Lab) Aarhus University Aarhus C Denmark

ISBN: (数字)9783907144077

ISBN: (纸本)9781665497336

The use of unmanned aerial vehicles (UAVs) for autonomous inspection tasks has become more prominent in recent years. To make the most of the autonomous inspection, the parameters governing control, perception and navigation of the robot should be tuned precisely to the necessary task. Currently, the use of motion capture (mocap) systems is the norm when performing the stringent evaluation of simultaneous localization and mapping (SLAM) and advanced controllers. In this paper, we address the use of a cost-effective solution to ground-truthing and evaluation of said algorithms in large industrial environments. To this end, we use fiducial markers, deployed in known locations, in order to estimate the pose of the vehicle in 6 degrees-of-freedom (6DOF) and test them against a state-of-the-art mocap system. We additionally test the method in the field, by deploying the markers to the environment of interest and applying widely used SLAM implementations to confirm its efficacy by evaluating their performance in two emulated inspection task scenarios. We find that our method is comparable in performance to the state-of-the-art mocap systems without the need for laborious calibration and is capable of providing a pose estimate for evaluating SLAM and underlying UAV control methods.

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An End-to-End Human Simulator for Task-Oriented Multimodal Human-Robot Collaboration

An End-to-End Human Simulator for Task-Oriented Multimodal H...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Afagh Mehri Shervedani Siyu Li Natawut Monaikul Bahareh Abbasi Barbara Di Eugenio Miloš Žefran Department of Electrical and Computer Engineering Robotics Laboratory University of Illinois Chicago Chicago IL USA Department of Computer Science Natural Language Processing Laboratory University of Illinois Chicago Chicago IL USA Computer Science Department California State University Channel Islands Camarillo CA USA

This paper proposes a neural network-based user simulator that can provide a multimodal interactive environment for training Reinforcement Learning (RL) agents in collaborative tasks involving multiple modes of communication. The simulator is trained on the existing ELDERLY-AT-HOME corpus and accommodates multiple modalities such as language, pointing gestures, and haptic-ostensive actions. The paper also presents a novel multimodal data augmentation approach, which addresses the challenge of using a limited dataset due to the expensive and time-consuming nature of collecting human demonstrations. Overall, the study highlights the potential for using RL and multimodal user simulators in developing and improving domestic assistive robots.

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Long-term Water Quality Prediction based on Intelligent Optimization and Seasonal-trend Decomposition

Long-term Water Quality Prediction based on Intelligent Opti...

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IEEE International Conference on automation Science and engineering (CASE)

作者： Ziqi Wang Xiangxi Wu Jing Bi Haitao Yuan Jia Zhang MengChu Zhou Faculty of Information Technology Beijing Laboratory of Smart Environmental Protection Beijing University of Technology Beijing China School of Automation Science and Electrical Engineering Beihang University Beijing China Department of Computer Science Lyle School of Engineering at Southern Methodist University Dallas TX USA Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ USA

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

Nowadays, the applications of water quality prediction in the field of regional water environment management are increasing. It refers to predicting the elemental values of the water environment in the future based on past monitoring data, which is essential to realize the real-time evaluation of water quality and dynamic control of pollution sources. However, the water environment indicators are affected by various elements, which have a large volatility and non-linear characteristics. In addition, most of the existing water quality predictions focus on single-step predictive modeling of single elements of the water environment and lack multi-step predictive analysis of multifactor data of the water environment. In this paper, a novel long-term prediction model based on genetic simulated annealing-based particle swarm optimization (GSPSO) with seasonal-trend decomposition using LOESS (STL) is proposed and named GSPSO-STL-Autoformer (GS-Autoformer). It realizes the multi-factor and long-term prediction of water quality time series data. Firstly, the Autoformer’s hyperparameters are optimized by the GSPSO to improve its convergence speed. Secondly, the multi-factor features are decomposed by the STL to make the model more focused on learning feature information of each component. Finally, the long-term prediction is realized by the Autoformer. Comparative experiments with state-of-the-art peers show that the GS-Autoformer can effectively improve the accuracy of multi-factor and long-term predictions.

关键词： Accuracy Time series analysis Water quality Simulated annealing Predictive models Water pollution Data models Predictive analytics Particle swarm optimization Water resources

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Physical Safety and Cyber Security Analysis of Multi-Agent Systems:A Survey of Recent Advances

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IEEE/CAA Journal of Automatica Sinica 2021年第2期8卷 319-333页

作者： Dan Zhang Gang Feng Yang Shi Dipti Srinivasan the Research Center of Automation and Artificial Intelligence Zhejiang University of TechnologyHangzhou310023 Key Laboratory of Advanced Control and Optimization for Chemical Processes(East China University of Science and Technology) Ministry of EducationShanghai 200237China the Department of Biomedical Engineering City University of Hong KongHong KongChina the Department of Mechanical Engineering University of VictoriaCanada the Department of Electrical and Computer Engineering National University of SingaporeSingapore

Multi-agent systems(MASs)are typically composed of multiple smart entities with independent sensing,communication,computing,and decision-making ***,MASs have a wide range of applications in smart grids,smart manufacturing,sensor networks,and intelligent transportation *** of the MASs are often coordinated through information interaction among agents,which is one of the most important factors affecting coordination and cooperation ***,unexpected physical faults and cyber attacks on a single agent may spread to other agents via information interaction very quickly,and thus could lead to severe degradation of the whole system performance and even destruction of *** paper is concerned with the safety/security analysis and synthesis of MASs arising from physical faults and cyber attacks,and our goal is to present a comprehensive survey on recent results on fault estimation,detection,diagnosis and fault-tolerant control of MASs,and cyber attack detection and secure control of MASs subject to two typical cyber ***,the paper concludes with some potential future research topics on the security issues of MASs.

关键词： Consensus deception attack deny-of-service(DoS)attack fault detection fault estimation fault tolerant control multiagent systems

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Efficient Object Rearrangement via Multi-view Fusion

arXiv

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arXiv 2023年

作者： Huang, Dehao Tang, Chao Zhang, Hong Shenzhen Key Laboratory of Robotics and Computer Vision Southern University of Science and Technology Shenzhen China Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China

The prospect of assistive robots aiding in object organization has always been compelling. In an image-goal setting, the robot rearranges the current scene to match the single image captured from the goal scene. The key to an image-goal rearrangement system is estimating the desired placement pose of each object based on the single goal image and observations from the current scene. In order to establish sufficient associations for accurate estimation, the system should observe an object from a viewpoint similar to that in the goal image. Existing image-goal rearrangement systems, due to their reliance on a fixed viewpoint for perception, often require redundant manipulations to randomly adjust an object’s pose for a better perspective. Addressing this inefficiency, we introduce a novel object rearrangement system that employs multi-view fusion. By observing the current scene from multiple viewpoints before manipulating objects, our approach can estimate a more accurate pose without redundant manipulation times. A standard visual localization pipeline at the object level is developed to capitalize on the advantages of multi-view observations. Simulation results demonstrate that the efficiency of our system outperforms existing single-view systems. The effectiveness of our system is further validated in a physical experiment. Copyright © 2023, The Authors. All rights reserved.

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Temporal Feature Matters: A Framework for Diffusion Model Quantization

arXiv

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arXiv 2024年

作者： Huang, Yushi Gong, Ruihao Liu, Xianglong Liu, Jing Li, Yuhang Lu, Jiwen Tao, Dacheng Electrical and Computer Engineering Department Hong Kong University of Science and Technology Hong Kong State Key Laboratory of Software Development Environment Beihang University China Department of Data Science and AI Faculty of IT Monash University Australia Electrical Engineering Department Yale University United States Department of Automation Tsinghua University China School of Computer Science and Engineering Nanyang Technological University Singapore

The Diffusion models, widely used for image generation, face significant challenges related to their broad applicability due to prolonged inference times and high memory demands. Efficient Post-Training Quantization (PTQ) is crucial to address these issues. However, unlike traditional models, diffusion models critically rely on the time-step for the multi-round denoising. Typically, each time-step is encoded into a hypersensitive temporal feature by several modules. Despite this, existing PTQ methods do not optimize these modules individually. Instead, they employ unsuitable reconstruction objectives and complex calibration methods, leading to significant disturbances in the temporal feature and denoising trajectory, as well as reduced compression efficiency. To address these challenges, we introduce a novel quantization framework that includes three strategies: 1) TIB-based Maintenance: Based on our innovative Temporal Information Block (TIB) definition, Temporal Information-aware Reconstruction (TIAR) and Finite Set Calibration (FSC) are developed to efficiently align original temporal features. 2) Cache-based Maintenance: Instead of indirect and complex optimization for the related modules, pre-computing and caching quantized counterparts of temporal features are developed to minimize errors. 3) Disturbance-aware Selection: Employ temporal feature errors to guide a fine-grained selection between the two maintenance strategies for further disturbance reduction. This framework preserves most of the temporal information and ensures high-quality end-to-end generation. Extensive testing on various datasets, diffusion models and hardware confirms our superior performance and acceleration. © 2024, CC BY.

关键词： Spatio-temporal data

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