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IEEE International Conference on robotics and automation (ICRA)

作者： Emanuele Nicotra Chi Cong Nguyen James Davies Phuoc Thien Phan Trung Thien Hoang Bibhu Sharma Adrienne Ji Kefan Zhu Trung Dung Ngo Van Anh Ho Hung Manh La Nigel H. Lovell Thanh Nho Do Graduate School of Biomedical Engineering Faculty of Engineering UNSW Sydney Kensington Campus Australia More-Than-One Robotics Laboratory Faculty of Sustainable Design Engineering University of Prince Edward Island Charlottetown Canada Soft Haptics Laboratory School of Materials Science Japan Advanced Institute of Science and Technology Kawaguchi Saitama Japan Department of Computer Science and Engineering Advanced Robotics and Automation (ARA) Lab University of Nevada Reno NV USA

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Aneurysms, balloon-like bulges in blood vessels, present a significant health risk due to their potential to rupture, leading to life-threatening internal bleeding. Current treatments often involve delivering embolic materials or metal coils to fill these bulges, occluding them from the pressure of blood flow. However, clinical micro-catheters that deploy embolic materials used today face limitations, primarily their rigidity and the lack of active control over the bending tip of the catheter. This paper introduces a new soft micro-robotics catheter, with diameter of only 0.8 mm, equipped with a hollow channel. With this new design, the new device can induce bending motions at its tip for active steerability to reach desired aneurysm targets and then perform the delivery of embolic materials and tools. To enhance the control and precise navigation during procedures, a robust mathematical model and image processing techniques are also introduced and validated. Experiments are also performed to characterise and validate the model’s accuracy and the steerability and navigation capabilities of the new micro-catheter.

关键词： Performance evaluation Navigation Metals Aneurysm Bending Mathematical models Rigidity

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Analysis and development of smart production and distribution line system in smart grid based on optimization techniques involving digital twin

引用

Measurement: Sensors 2024年 34卷

作者： Arumugam, Thangaraja Kamble, Nitin Kundlik Guntreddi, Venkataramana Vishnu Sakravarthy, N. Shanthi, S. Ponnusamy, Sivakumar Business School Vellore Institute of Technology Tamilnadu Chennai India Department of Robotics and Automation Engineering D Y Patil College of Engineering Akurdi Maharashtra Pune411044 India Department of Electrical Telecommunication and Computer Engineering School of Engineering and Applied Sciences Kampala International University Isakha Uganda Department of Mechanical Engineering Sri Eshwar College of Engineering Tamilnadu Coimbatore India School of Computer Science & Engineering Presidency University Karnataka Bengaluru560064 India Department of Computer Science and Engineering K.S.R. College of Engineering Tiruchengode TamilNadu Namakkal India

The term Digital Twin (DT) is defined as the virtual demonstration of an object that is represented through real-time datasets. DT is done through artificial intelligence to enhance decision-making techniques. DT includes the process of simulation, amalgamation, observation, analysis, and conservation. The DT is simply the exact reproduction of the physical structures. DT is used in the identification and evaluation of problems through real-time analysis. It is important to have prior analysis and evaluation of the object before existing in the real world. These digital twins help in the manufacturing and implementation of the production line system. DT includes the production line with the station division and the hours needed for the operating conditions for the assembly process. The systems are integrated to reduce the overall cost parameter. The physical simulation model is employed to obtain higher performance with reduced cost. An artificial neural network with a genetic algorithm is used for the optimization process to achieve a production line system using digital twins. © 2024 The Authors

关键词： Genetic algorithms

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QUADFormer: Learning-based Detection of Cyber Attacks in Quadrotor UAVs

arXiv

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arXiv 2024年

作者： Wang, Pengyu Yang, Zhaohua Yang, Nachuan Wang, Zikai Li, Jialu Zhang, Fan Wang, Chaoqun Wang, Jiankun Meng, Max Q.-H. Shi, Ling Shenzhen Key Laboratory of Robotics Perception and Intelligence The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong The School of Control Science and Engineering Shandong University Shandong China Jiaxing Research Institute Southern University of Science and Technology Jiaxing China Department of Electronic Engineering The Chinese University of Hong Kong Hong Kong Department of Electrical and Computer Engineering The University of Alberta Canada

Safety-critical intelligent cyber-physical systems, such as quadrotor unmanned aerial vehicles (UAVs), are vulnerable to different types of cyber attacks, and the absence of timely and accurate attack detection can lead to severe consequences. When UAVs are engaged in large outdoor maneuvering flights, their system constitutes highly nonlinear dynamics that include non-Gaussian noises. Therefore, the commonly employed traditional statistics-based and emerging learning-based attack detection methods do not yield satisfactory results. In response to the above challenges, we propose QUADFormer, a novel Quadrotor UAV Attack Detection framework with transFormer-based architecture. This framework includes a residue generator designed to generate a residue sequence sensitive to anomalies. Subsequently, this sequence is fed into a transformer structure with disparity in correlation to specifically learn its statistical characteristics for the purpose of classification and attack detection. Finally, we design an alert module to ensure the safe execution of tasks by UAVs under attack conditions. We conduct extensive simulations and real-world experiments, and the results show that our method has achieved superior detection performance compared with many state-of-the-art methods. (Video1) Copyright © 2024, The Authors. All rights reserved.

关键词： Antennas

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Singular Perturbation: When the Perturbation Parameter Becomes a State-Dependent Function

arXiv

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arXiv 2024年

作者： Liu, Tengfei Jiang, Zhong-Ping State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang110004 China Department of Electrical and Computer Engineering New York University Five MetroTech Center BrooklynNY11201 United States

This paper presents a new systematic framework for nonlinear singularly perturbed systems in which state-dependent perturbation functions are used instead of constant perturbation coefficients. Under this framework, general results are obtained for the global robust stability and input-to-state stability of nonlinear singularly perturbed systems. Interestingly, the proposed methodology provides innovative solutions beyond traditional singular perturbation theory for emerging control problems arising from nonlinear integral control, feedback optimization, and formation-based source seeking. © 2024, CC BY-NC-ND.

关键词： Perturbation techniques

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Constructive Safety Control

arXiv

引用

arXiv 2024年

作者： Wu, Si Liu, Tengfei Jiang, Zhong-Ping State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang110004 China Department of Electrical and Computer Engineering New York University 360 Jay Street BrooklynNY11201 United States

This paper proposes a constructive approach to safety control of nonlinear cascade systems subject to multiple state constraints. New design ingredients include a unified characterization of safety and stability for systematic designs of safety controllers, and a novel technique of reshaping the feasible sets of quadratically constrained quadratic programming induced from safety control. The proposed method guarantees Lipschitz continuity of virtual control laws, enabling a stepwise constructive design. A refined nonlinear small-gain synthesis is employed to address the nonlinear uncertain interconnections between the resulting subsystems corresponding to different virtual control laws, and to guarantee the achievement of the safety control objective. When the safety constraints are removed, the proposed approach coincides with the standard constructive nonlinear control. The proposed safety-control algorithm is experimentally validated in a testbed involving a vertical takeoff and landing (VTOL) vehicle taking off in narrow spaces. Copyright © 2024, The Authors. All rights reserved.

关键词： Quadratic programming

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Environment Sensing-aided Beam Prediction with Transfer Learning for Smart Factory

arXiv

引用

arXiv 2024年

作者： Feng, Yuan Zhao, Chuanbing Gao, Feifei Zhang, Yong Ma, Shaodan Department of Automation Tsinghua University Beijing100084 China Beijing100084 China School of Electronic and Information Engineering Beijing Jiaotong University 100044 China State Key Laboratory of Internet of Things for Smart City Department of Electrical and Computer Engineering University of Macau China

In this paper, we propose an environment sensingaided beam prediction model for smart factory that can be transferred from given environments to a new environment. In particular, we first design a pre-training model that predicts the optimal beam by sensing the present environmental information. When encountering a new environment, it generally requires collecting a large amount of new training data to retrain the model, whose cost severely impedes the application of the designed pre-training model. Therefore, we next design a transfer learning strategy that fine-tunes the pre-trained model by limited labeled data of the new environment. Simulation results show that when the pre-trained model is fine-tuned by 30% of labeled data from the new environment, the Top-10 beam prediction accuracy reaches 94%. Moreover, compared with the way to completely re-training the prediction model, the amount of training data and the time cost of the proposed transfer learning strategy reduce 70% and 75% respectively. Copyright © 2024, The Authors. All rights reserved.

关键词： Forecasting

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A Unified Alternating Optimization Framework for Joint Sensor and Actuator Configuration in LQG Systems

arXiv

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arXiv 2025年

作者： Yang, Nachuan Li, Yuzhe Shi, Ling Chen, Tongwen Department of Electrical and Computer Engineering University of Alberta EdmontonABT6G 1H9 Canada State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang110004 China Department of Electronic and Computer Engineering Department of Chemical and Biological Engineering Hong Kong University of Science and Technology Clear Water Bay Hong Kong

This paper fills a gap in the literature by considering a joint sensor and actuator configuration problem under the linear quadratic Gaussian (LQG) performance without assuming a predefined set of candidate components. Different from the existing research, which primarily focuses on selecting or placing sensors and actuators from a fixed group, we consider a more flexible formulation where these components must be designed from scratch, subject to general-form configuration costs and constraints. To address this challenge, we first analytically characterize the gradients of the LQG performance with respect to the sensor and actuator matrices using algebraic Riccati equations. Subsequently, we derive first-order optimality conditions based on the Karush–Kuhn–Tucker (KKT) analysis and develop a unified alternating direction method of multipliers (ADMM)based alternating optimization framework to address the general-form sensor and actuator configuration problem. Furthermore, we investigate three representative scenarios: sparsity promoting configuration, low-rank promoting configuration, and structure-constrained configuration. For each scenario, we provide in-depth analysis and develop tailored computational schemes. The proposed framework ensures numerical efficiency and adaptability to various design constraints and configuration costs, making it well-suited for integration into numerical solvers. Copyright © 2025, The Authors. All rights reserved.

关键词： Matrix algebra

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Reinforcement Learning-Based Fault-Tolerant Control of Uncertain Strict-Feedback Nonlinear Systems With Intermittent Actuator Faults

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IEEE Transactions on Neural Networks and Learning Systems 2025年第6期36卷 10464-10478页

作者： Qinmin Yang Huaying Li Zhengwei Ruan Bo Fan Shuzhi Sam Ge State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Zhejiang University Hangzhou China Hangzhou Huawei Communication Technology Company Ltd. Hangzhou China School of Automation Science and Engineering Xi’an Jiaotong University Xi’an China Department of Electrical and Computer Engineering Institute for Functional Intelligent Materials National University of Singapore Queenstown Singapore

In this work, a novel reinforcement learning-based adaptive fault-tolerant control (FTC) scheme with actuator redundancy is presented for a nonlinear strict-feedback system with nonlinear dynamics and uncertainties. A learning-based switching function technique is established to steer different groups of actuators automatically and successively to mitigate the impact of faulty actuators by observing a switching performance index. The optimal tracking control problem (OTCP) of strict-feedback nonlinear systems is transformed into an equivalent optimal regulation problem of each affine subsystem via adaptive feedforward controllers. Subsequently, the designed objective functions associated with Hamilton–Jacobi–Bellman (HJB) estimate errors caused by neural network (NN) approximations can be minimized by the reinforcement learning algorithm without value or policy iterations. It is proved that the tracking objective can be achieved and all signals in the closed-loop system can be guaranteed to be bounded, as long as the minimum time interval between two successive failures is bounded. Theoretical results are verified by simulations.

关键词： Actuators Switches Fault tolerant systems Control systems Optimal control Redundancy Nonlinear dynamical systems Adaptive control Regulation Industrial control

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Risk-Aware Non-Myopic Motion Planner for Large-Scale Robotic Swarm Using CVaR Constraints

arXiv

引用

arXiv 2024年

作者： Yang, Xuru Hu, Yunze Gao, Han Ding, Kang Li, Zhaoyang Zhu, Pingping Sun, Ying Liu, Chang Department of Advanced Manufacturing and Robotics College of Engineering Peking University Beijing100871 China Department of Automation Tsinghua University Beijing100080 China Marshall University HuntingtonWV25755 United States School of Electrical Engineering and Computer Science The Pennsylvania State University State CollegePA16802 United States

Swarm robotics has garnered significant attention due to its ability to accomplish elaborate and synchronized tasks. Existing methodologies for motion planning of swarm robotic systems mainly encounter difficulties in scalability and safety guarantee. To address these limitations, we propose a Risk-aware swarm mOtion planner using conditional ValuE-at-Risk (ROVER) that systematically navigates large-scale swarms through cluttered environments while ensuring safety. ROVER formulates a finite-time model predictive control (FTMPC) problem predicated upon the macroscopic state of the robot swarm represented by a Gaussian Mixture Model (GMM) and integrates conditional value-at-risk (CVaR) to ensure collision avoidance. The key component of ROVER is imposing a CVaR constraint on the distribution of the Signed Distance Function between the swarm GMM and obstacles in the FTMPC to enforce collision avoidance. Utilizing the analytical expression of CVaR of a GMM derived in this work, we develop a computationally efficient solution to solve the non-linear constrained FTMPC through sequential linear programming. Simulations and comparisons with representative benchmark approaches demonstrate the effectiveness of ROVER in flexibility, scalability, and safety guarantee. Copyright © 2024, The Authors. All rights reserved.

关键词： Predictive control systems

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Reduced-Order Consensus Protocols with Pure Relative Output: Design, Existence, and Dual Results

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IEEE Transactions on Automatic Control 2025年

作者： Ma, Yuwen Li, Xianwei Li, Shaoyuan Lin, Zongli Shanghai Jiao Tong University Department of Automation Shanghai200240 China State Key Laboratory of Submarine Geoscience China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China University of Virginia Charles L. Brown Department of Electrical and Computer Engineering CharlottesvilleVA22904 United States

This paper studies reduced-order dynamic consensus protocols for homogeneous linear multi-agent systems using pure relative output information. By applying H∞ control theory, a separation principle-like method with an additional small-gain constraint is proposed for designing an (nx-nu)th order protocol, where nx and nu are the numbers of states and inputs of each agent, respectively. Existence conditions for the protocol are then systematically discussed from the graph, low gain and high gain perspectives, respectively. It is revealed that the protocol always exists and can be found by the proposed design method for three cases: 1) directed acyclic networks, 2) agents with all eigenvalues in the closed left-half complex plane and 3) agents of minimum phase. Another reduced-order protocol of (nx - ny)th order is further discussed through duality. Finally, a numerical example is provided to illustrate the effectiveness of the proposed method. © 1963-2012 IEEE.

关键词： Robust control

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