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Online Learning in Blockchain-based Energy Trading systems 24

Online Learning in Blockchain-based Energy Trading Systems

2024 International Symposium on Theory, Algorithmic Foundations, and Protocol Design for Mobile Networks and Mobile Computing, MobiHoc 2024

作者： Liu, Yunshu Cheung, Man Hon Huang, Jianwei Pillar of Engineering Systems and Design Singapore University of Technology and Design Singapore Singapore Department of Computer Science City University of Hong Kong Hong Kong School of Science and Engineering Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen Key Laboratory of Crowd Intelligence Empowered Low-Carbon Energy Network CSIJRI Joint Research Centre on Smart Energy Storage The Chinese University of HongKong Guangdong Shenzhen518172 China

ISBN: (纸本)9798400705212

In this paper, we consider a blockchain-based energy trading (BBET) system with the proof-of-stake (PoS) protocol. The system designer aims to minimize system cost by considering the prosumers’ strategic token allocation between blockchain staking and energy purchase for their applications. This is challenging as the system designer does not know prosumers’ private information of impatience levels towards different applications. To this end, we propose an online learning mechanism (OLM), which includes incentive mechanisms to guide both prosumers’ private information reporting and staking decisions in two phases. In the exploration phase, we design a randomized staking reward to encourage prosumers’ truthful reporting of their private information for the learning of impatience level distributions. Based on the threshold structure of the prosumers’ equilibrium staking strategies, in the exploitation phase, we propose a learning-error-based reward to minimize the system cost considering the finite-sample bias. By characterizing the optimal exploration duration, we prove that OLM achieves an asymptotic zero-regret against the complete information benchmark, with the regret bounded by O(3√lnT/T) when operating for T time slots. We implement the corresponding smart contract in Ethereum to demonstrate the feasibility of our approach. Experiment results show that our mechanism reduces regret by an average of 74% compared to the state-of-art mechanism. © 2024 Copyright held by the owner/author(s).

关键词： Blockchain

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Feature Space Augmentation and Old Class Space Preservation for Class Incremental Learning

Feature Space Augmentation and Old Class Space Preservation ...

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Chinese Control Conference (CCC)

作者： Ming Zeng Siying Li Jiazhe Liu Yuanhao Li Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System Institute of Robotics and Automation Systems School of Electrical and Information Engineering Tianjin University Tianjin

The ability of continuously learning new knowledge without forgetting old ones is crucial to adapt to an ever-changing world. This scenario becomes more challenging when the previous data are not available. Current class incremental learning (CIL) approaches tend to incorporate new classes with backward compatibility, i.e., maintaining discriminability of old ones. By contrast, we focus on the extensibility and compatibility for future new classes in the early stage. Our proposed method achieves this by augmenting feature space. In detail, a large number of pseudo-new classes are generated via real example mixture and then train the initial spatially augmented model using pseudo-new classes and the base classes. Besides, considering the fact that it is impossible to maintain backward compatibility with only one prototype for each old class, the updated model also needs to preserve old class space in incremental stages. We employ a certain perturbation to the old class prototypes to effectively avoid old class space from being over-squeezed by the samples of new classes. The experiments on CIFAR-100 and ImageNet-Subset (100 classes) demonstrate that our method substantially reduces the overlap of old and new classes, outperforming state-of-the-art various baselines.

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Heuristic Online Path Planning for Mobile Air Purification and Disinfection Robot In Regulating Indoor Air Quality

Heuristic Online Path Planning for Mobile Air Purification a...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Zhong, Qingnan Chen, Kai Duan, Jianghua Ma, Jun Hkust Shenzhen-Hong Kong Collaborative Innovation Research Institute Robotics and Human Machine Interface Laboratory Futian China The Hong Kong University of Science and Technology Department of Mechanical and Aerospace Engineering Hong Kong Robotics and Autonomous Systems Thrust Guangzhou China The Hong Kong University of Science and Technology Division of Emerging Interdisciplinary Areas Hong Kong Hkust Shenzhen-Hong Kong Collaborative Innovation Research Institute Futian China

ISBN: (纸本)9798350325706

In light of past epidemics, people have become more aware of the possibility of viruses on object surfaces and in the air. As a result, there is an increasing demand for robots capable of autonomously disinfecting surfaces and purifying the air. This paper focuses on a mobile robot equipped with air purification and UV-C LED disinfection to combat airborne pathogens and environmental pollution. Through the onboard sensors, the proposed algorithm uses gaussian process model to predict the high potential air pollution area in real-time without the requirement of a distributed array of sensors, and it avoids environmental modifications. Then we propose the hybrid artificial potential field (HAPF) by integrating the predicted result with the artificial potential field method, to generate a heuristic path that can navigate the robot to the affected areas with obstacle avoidance. Experimental testing in simulated and real-world environments demonstrates the effectiveness of the proposed approach in rapidly planning purification paths, marking significant progress in automated air purification, and disinfection technology. © 2023 IEEE.

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Modeling of the Constant-Current Stimuli Response of a Bio-Robot for Long-Term Motion Control

Modeling of the Constant-Current Stimuli Response of a Bio-R...

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IEEE International Conference on robotics and Biomimetics

作者： Jie Zhou Yuan Fang Yang Chen Yao Li Bing Li Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Key University Laboratory of Mechanism & Machine Theory and Intelligent Unmanned Systems of Guangdong and with School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Bio-robots continue to receive attention because of their small size and low power consumption. Unfortunately, it currently faces two major obstacles before practical application. The first is the habituation issue, insects are difficult to be effectively controlled for a long time by electrical stimuli signals. The other one is the lack of model for motion control. In this research, we established a stimuli-response model for cockroach bio-robot based on long time current. A more convenient optic lobe implantation method has been proposed, which has lower attenuation and better stimuli effect. Constant electrical stimuli also significantly increased the number of effective controls for crawling. A cockroach bio-robot stimuli distance response model was established and validated with experiment data. Five parameters were including in this model, namely sex, length, weight, current amplitude and equivalent stiumated-number. This model can predict the movement distance of biological robots well.

关键词： Power demand Biological system modeling Insects Optical attenuators Predictive models Brain modeling Data models Motion control Robots Faces

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Robust Finite-Time Containment of Networked Heterogeneous Nonlinear systems with Intermittent Measurement Only

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IEEE Transactions on Network Science and engineering 2025年

作者： Tian, Biao Zhang, Hao Cui, Peiyu Wang, Zhuping Yan, Huaicheng Shanghai Key Laboratory of Wearable Robotics and Human-Machine Interaction Tongji University College of Electronic and Information Engineering Department of Control Science and Engineering Shanghai201804 China Ministry of Education Shanghai Institute of Intelligent Science and Technology National Key Laboratory of Autonomous Intelligent Unmanned Systems Frontiers Science Center for Intelligent Autonomous Systems China East China University of Science and Technology School of Information Science and Engineering Shanghai200237 China

The robust finite-time containment problem of fully heterogeneous multiagent systems with uncertainties is often challenging, especially when only intermittent output measurement is used. To address the issue posed by the nonidentical system dynamics of multiple leaders, which makes the traditional distributed estimator form for the convex hull inapplicable, a distributed finite-time estimator is constructed for each follower to extract the system matrices and states of leaders. Then, in the output-triggering setting, a finite-time extended state observer driven by intermittent output measurement is developed to reconstruct the uncertainties and unmeasurable states of followers. Meanwhile, the non-continuous output measurement will lead to the differentiation of virtual control laws undefined. To solve this issue, a filtering compensation scheme-based finitetime controller via the backstepping technique is developed for nonlinear followers, ensuring practical finite-time stability (PFTS) of the closed-loop system. It is shown that the proposed algorithm steers each follower into the preset convex combination spanned by the positions of multiple leaders. The capability of the exploited control protocol is verified through simulations and experiments. 2013 IEEE.

关键词： Backstepping

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Fuzzy Object Ambiguity Determination and Human Attention Assessment for Domestic Service Robots

Fuzzy Object Ambiguity Determination and Human Attention Ass...

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International Conference on Soft Computing and Machine Intelligence (ISCMI)

作者： Kevin Fan Melanie Jouaiti Kerstin Dautenhahn Chrystopher L. Nehaniv Department of Electrical & Computer Engineering and Systems Design Engineering Social and Intelligent Robotics Research Laboratory (SIRRL) University of Waterloo Waterloo Canada Departments of Electrical & Computer Engineering and Systems Design Engineering Social and Intelligent Robotics Research Laboratory (SIRRL) University of Waterloo Waterloo Canada

Domestic service robots have the promising potential of bringing significant services to the general population, and more importantly, successful applications of universal domestic service robots can potentially help mitigate critical societal issues such as senior care. In order to do so, domestic service robots need to integrate seamlessly into home environments. However, home environments are dynamic, complex and filled with personal items. Therefore, ambiguity can quickly arise for robots operating in such rich environments. In this paper, we propose an object ambiguity determination system that can determine the level of ambiguity in robot object selection tasks with fuzzy logic data integration. Additionally, we propose a functional human attention assessment system with fuzzy logic that enables the robot to determine user attention before committing to general disambiguation processes. Our preliminary results show that the proposed fuzzy logic inference systems can reliably estimate the robot object selection task ambiguity from object confidence level and the number of potential target objects that satisfy the user's command. Furthermore, fuzzy inference is applied to decide human eye gaze direction robustly. These subsystems can be utilized in the context of human-robot interaction to guide the robot when to seek feedback from a human partner in order to disambiguate reference in domestic service tasks. The source code of all proposed systems is available publicly on GitHub. 1

关键词： Fuzzy logic Service robots Source coding Sociology Human-robot interaction Data integration Reliability

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Multi-Objective Optimization of Electromagneticthermal Coupling Performance for High-torquedensity PMSM based on Multi-dimensional Correction Techniques

Multi-Objective Optimization of Electromagneticthermal Coupl...

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International Conference on Electrical Machines, ICEM

作者： Zequan Li Jin Wang Lu Sun Haoyu Kang Liyang Liu Libing Zhou State Key Laboratory of Advanced Electromagnetic Technology Huazhong University of Science and Technology Wuhan China State Key Laboratory of Advanced Electromagnetic Engineering and Technology School of Electrical and Electronic Engineering Huazhong University of Science and Technology Wuhan China State Key Laboratory of Advanced Robotics and Autonomous Systems Thrust The Hong Kong University of Science and Technology (Guangzhou) Guangzhou China Robotics and Autonomous Systems Thrust Hong Kong University of Science and Technology (Guangzhou) Guangzhou China

ISBN: (数字)9798350370607

ISBN: (纸本)9798350370614

To address the precision limitation of traditional thermal models and the computational inefficiency of electromagnetic-thermal coupling finite element models, this work proposes a multidimensional correction-based electromagnetic-thermal coupling design optimization method for electric machines. Firstly, this method corrects the sensitive parameters in the analytical lumped parameters thermal network model (LPNM) based on prior information from historical experimental data to ensure the accuracy for thermal performance analysis. Subsequently, to enhance computational efficiency, a large number of low-fidelity (LF) samples are obtained using the corrected thermal model in a serial electromagnetic-thermal field calculation manner, complemented by a small number of high-fidelity (HF) samples obtained from the electromagnetic-thermal coupling simulation model. Then, by employing a transfer learning technique, the data information from the low- to high-fidelity sample sets is comprehensively utilized to train a multi-fidelity (MF) surrogate model for the final optimization. The proposed method applied to a high-torque-density aerospace propulsion permanent magnet synchronous motor (PMSM) with short-term strong overload capability, it not only significantly improves the accuracy of LPNM, but also reduces the training sample acquisition time by over 50% under the same model accuracy. Finally, a prototype is tested to validate the effectiveness of the proposed method.

关键词： Couplings Accuracy Computational modeling Transfer learning Data models Thermal analysis Computational efficiency Iterative methods Optimization Design optimization

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Modeling and planar trajectory tracking control of an MJ-AUV

Modeling and planar trajectory tracking control of an MJ-AUV

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第42届中国控制会议

作者： Zakarya Omar Ke-Xian Liu Chao Ren Qing-Hao Meng Institute of Robotics and Autonomous Systems Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and SystemSchool of Electrical and Information EngineeringTianjin University Faculty of Engineering Sana'a University

A Multi-Joint Autonomous Underwater Vehicle(MJ-AUV) is designed and equipped with multiple movable segments or joints that allow for greater maneuverability and flexibility in the *** joints allow the MJ-AUV to change its shape,orientation,and direction of movement,so it can access tight spaces or navigate in complex underwater environments,making it useful for a variety of tasks in the deep sea,such as surveillance,exploration,and ***,the multiple joint structure of the MJ-AUV complicates the dynamics of the ***,the joints' rotation causes misalignment of the cabins,causing deviations in the desired forces and *** address these issues,this study focuses on the 2-dimensional(2 D) modeling as well as the trajectory tracking controller of the *** this setting,the proposed controller utilizes a hierarchically structured robust nonlinear back-stepping and sliding-mode ***,this controller is simulated under various uncertainties and disturbances and the results show that it presents a global finite-time convergence to a bounded neighborhood of the origin for both position and velocity tracking errors,demonstrating its effectiveness and robustness.

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Polarization-controlled dual resonant lattice Kerker effects

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Nano Research 2023年第2期16卷 3195-3200页

作者： Lei Xiong Xueqian Zhao Xiang Du Shuai Chen Yuanfu Lu Hongwei Ding Guangyuan Li School of Information Science and Engineering Yunnan UniversityKunming 650500China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhen 518055China School of Computer Electronic and InformationGuangxi UniversityNanning 530004China College of Physics and Electronic Technology Anhui Normal UniversityWuhu 241000China Tianjin H-Chip Technology Group Corporation Tianjin 300467China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for SocietyShenzhen 518055China

The generalized Kerker effects have attracted increasing interests in recent years due to their abilities to manipulate the far-field properties of ***,the dual-polarized generalized Kerker effect enabling different tailoring of orthogonally-polarized electromagnetic waves has not yet been ***,we demonstrate polarization-controlled dual resonant lattice Kerker effects in periodic silicon *** varying the incident angle,the electric dipole and magnetic dipole surface lattice resonances can spectrally overlap,causing zero reflectance and unitary transmittance,i.e.,the resonant lattice Kerker *** incident angle for achieving this effect can be tuned differently for s-and p-polarizations over large regions by varying the nanodisk size or the lattice *** proposed dual-polarized resonant lattice Kerker effects open up avenues for polarization-controlled manipulation of the phase and wavefront of light with metasurfaces.

关键词： Kerker effect surface lattice resonances dual-polarized silicon metasurface

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Hardware-in-the-loop and Digital Twin Enabled Autonomous robotics-assisted Environment Inspection 6

Hardware-in-the-loop and Digital Twin Enabled Autonomous Rob...

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6th International Symposium on Autonomous systems, ISAS 2023

作者： Li, Johnny Shang, Bo Jayawardana, Iresh Chen, Genda University of Idaho Precision Agriculture and Intelligent Robotics Laboratory Department of Soil and Water Systems MoscowID83844 United States Department of Electrical Engineering New YorkNY10031 United States Missouri University of Science and Technology Center for Intelligent Infrastructure RollaMO65409-0810 United States

ISBN: (纸本)9798350316155

Empowered by the advanced 3D sensing, computer vision and AI algorithm, autonomous robotics provide an unprecedented possibility for close-up infrastructure environment inspection in an efficient and reliable fashion. Deep neural network (DNN) learning algorithms, pretrained on the large database can empower real-time object detection as well as fully autonomous, safe robotic navigation in unstructured environments while avoiding the potential obstacle. However, the development and deployment of the robots, inspection planning and operation procedures are still tedious and segmented with tremendous manual intervention during environmental inspection and anomaly monitoring. The proposed digital twin approach is able to provide a virtual representation model of the target environment either from a build-design or from 3D scanning of the real-world physical assets at high resolution in the Unity simulation environment, a transverse drone robot model and test its robotics Operating System(ROS) autonomous navigation and obstacle avoidance software stack, and the hardware-in-the-loop test can thus be conducted for the flight control algorithm effectiveness and real-time object detection performance evaluation. The preliminary result shows that VGG16-UNet deep learning algorithm was able to use only a small amount of guidance and time from experienced inspection pilots to successfully identify the critical elements and defects and real-time navigate around the unstructured environment. The proposed digital twin framework and methodology is promising to be utilized for developing and testing fully autonomous inspection robots and its path planning and navigation and detection operation with greater cost- and time-efficiency. © 2023 IEEE.

关键词： Crack detection

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