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International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Andrzej M.J. Skulimowski Department of Automatic Control and Robotics Decision Sciences Laboratory Kraków Poland

This paper presents an application of the reference multifunction method to design decision support systems dedicated to selecting optimal reservoir control strategies in case of a flood emergency. We assume that in the region endangered by the flood, there are several water reservoirs, each with a separate direction, economical goals, and protection subregion. Reservoirs on the same river may form subsystems with common goals. We investigate a frequent case where all reservoirs are situated on feeders while the flood wave on the recipient between and beneath the feeder mouths can be controlled by a coordinated release of water from the reservoirs. The reservoirs' own protection regions do not include the recipient's valley. Flood damage is minimized by a suitable dynamic multicriteria coordination with the environmental, financial and human life protection-related criteria. The coordinating decision center assures that the values of the individual reservoir criteria are non-dominated and belong to a given reference set. The latter can be interpreted as acceptable values of criteria on a certain subinterval of the control period. We provide an approach to finding a non-dominated trajectory of the overall reservoir system that fulfils the above coordinator's demands. We also describe the architecture of the decision support system capable of solving the coordination problem in real-time. A real-life example of finding a flood-control strategy for the reservoir system in the Upper Vistula basin in Poland will be presented.

关键词： Reservoirs Floods Rivers Decision support systems Trajectory Real-time systems

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Learning Nash Equilibria in Monotone Games

arXiv

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arXiv 2019年

作者： Tatarenko, Tatiana Kamgarpour, Maryam Control Methods and Robotics Lab Technical University Darmstadt Darmstadt64283 Germany Automatic Control Laboratory ETH Zürich Switzerland

—We consider multi-agent decision making where each agent’s cost function depends on all agents’ strategies. We propose a distributed algorithm to learn a Nash equilibrium, whereby each agent uses only obtained values of her cost function at each joint played action, lacking any information of the functional form of her cost or other agents’ costs or strategy sets. In contrast to past work where convergent algorithms required strong monotonicity, we prove algorithm convergence under mere monotonicity assumption. This significantly widens algorithm’s applicability, such as to games with linear coupling constraints. Copyright © 2019, The Authors. All rights reserved.

关键词： Cost functions

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Neuromorphic system development based on adaptive neuronal network to modulate synaptic transmission in hippocampus 3

Neuromorphic system development based on adaptive neuronal n...

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3rd International Conference "Neurotechnologies and Neurointerfaces", CNN 2021

作者： Lebedeva, Albina Gerasimova, Svetlana Fedulina, Anastasiya Mishchenko, Mikhail Beltyukova, Anna Matveeva, Mariya Mikhaylov, Alexey Pisarchik, Alexander Kazantsev, Victor Neurotechnologies Department N.I. Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia Laboratory of Physics and Technology of Thin Films Department of Solid State Electronics and Optoelectronics Research Institute of Physics and Technology N.I. Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia Department of Theory of Oscillations and Automatic Control Faculty of Radiophysics N.I. Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia Center for Biomedical Technology Technical University of Madrid Pozuelo de Alarcón Madrid Spain Center for Technologies in Robotics and Mechatronics Component Innopolis University Innopolis Russia Center for Neurotechnology and Machine Learning Immanuel Kant Baltic Federal University Kaliningrad Russia

ISBN: (纸本)9781665424745

The project presents fundamental research on the development of concept and basic components of physical circuit based on optoelectronic elements (neuromorphic generators, memristors, optical fibers). This network can replace some functions of brain’s neural networks (such as memory) through adaptive stimulation of neural interfaces at the cellular and cellular networks level. Developing learning system will perform the electrical stimulation of brain areas based on the neural activity recorded and will include electronic devices for recording and processing signals. In addition, this system will include electronic devices for generating electrical stimuli based on hardware models of neurons and memristive devices. The basic idea is to integrate an artificial network with living microcircuits of the brain. The artificial network is capable of adaptively generating electrical output signals and can stimulate a given area of the brain according to the recorded pattern of input signals. We suppose that such a network will be able to reproduce the functions of brain systems, based on the use of learning algorithms. It can be used to expand the functionality of these brain systems and to replace lost functions in pathology or trauma. © 2021 IEEE.

关键词： Memristors

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Adaptive tracking control of flapping wing micro-air vehicles with averaging theory

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CAAI Transactions on Intelligence Technology 2018年第1期3卷 18-27页

作者： Chen Qian Yongchun Fang Institute of Robotics and Automatic Information Systems College of Computer and Control Engineering Tianjin 300353People's Republic of China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin 300353 People's Republic of China

An input constrained adaptive tracking controller is designed for flapping micro aerial vehicles, wherein the moving averaging filter is adopted to estimate the averaged states of the system. Specifically, in the outer loop controller, an observer is constructed to estimate the disturbances within the system. Moreover, the constrained thrust is designed to keep the frequency in a proper region so as to meet the requirement of average estimation. Then, a tracking differentiator is used to provide trackable trajectories for the inner loop. Subsequently, a new quaternion- based hybrid attitude tracking controller is designed which successfully deals with high-frequency noises and avoids possible chattering. As supported by mathematical analysis, the proposed control strategy guarantees the uniform ultimate boundedness of the closed-loop system, and it keeps the control torques within the permitted range to meet the application requirement. At last, numerical simulations are carried out to support the validity of the proposed controller, whose results are satisfactory even when the thrust and torques are saturated.

关键词：飞行器跟踪器人工智能发展现状

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A flow supervisory control scheme in generic modular form

A flow supervisory control scheme in generic modular form

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2018 South-East Europe Design Automation, Computer Engineering, Computer Networks and Social Media Conference, SEEDA_CECNSM 2018

作者： Koumboulis, F.N. Fragkoulis, D.G. Stefanatou, S.G. Robotics and Automation Laboratory Division of Automatic Control Department of Automation Engineering Technological Education Institute of Sterea Ellada Psahna Evia34400 Greece

ISBN: (纸本)9786188331419

A Discrete Event Systems (DESs) model is developed for the synchronization and time modulation of flow systems. For the case of a four-way intersection, the model is developed into the form of two subsystems. The first is the generic model of the allowability signals and the second is the time modulation system. The separate study of the two subsystems provides the development of a generic supervisor control scheme providing safe and functional operation of the system for two different operation cases. © 2018 Tei of Western Macedonia.

关键词： Discrete event simulation

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Integration technology for replacing damaged brain areas with artificial neuronal networks 4

Integration technology for replacing damaged brain areas wit...

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4th Scientific School on Dynamics of Complex Networks and their Application in Intellectual robotics, DCNAIR 2020

作者： Lebedeva, Albina Mishchenko, Mikhail Bardina, Polina Fedulina, Anastasiya Mironov, Andrey Zhuravleva, Zoia Gerasimova, Svetlana Mikhaylo, Alexey Pisarchik, Alexander Kazantsev, Victor Laboratory of Functional Imaging Department of Fundamental and Applied Research N.I. Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia Department of Theory of Oscillations and Automatic Control Faculty of Radiophysics N.I. Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia Neurotechnologies Department N.I. Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia Laboratory of Physics and Technology of Thin Films Department of Solid State Electronics and Optoelectronics Research Institute of Physics and Technology N.I. Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia Center for Biomedical Technology Technical University of Madrid Pozuelo de Alarcón Madrid Spain Center for Technologies in Robotics and Mechatronics Component Innopolis University Innopolis Russia

ISBN: (纸本)9781728172866

We present a novel integration technology for replacing damaged microcircuits in the rat brain with electronic neuronal networks. This technology will allow simulating important brain functions, such as memory, through the adaptive stimulating effects of neural interfaces at cellular and neuronal network levels. The proposed system includes electronic devices to register and process neuronal signals and to adaptively stimulate damaged brain areas according to the online algorithm decoding the registered neuronal activity. The stimulation algorithm is implemented in hardware neural network with memristive connections that allows both network learning and adaptive *** basic idea is to develop components of hardware neural network with memristive connections for adaptive generation of electrical signals to stimulate particular brain areas. Moreover, the uniqueness of the system is adaptive closed-loop connection between two hippocampal neuronal networks. Such a system is very promising for restoring functionality of damaged areas in the human brain to replace lost functions in patients with brain pathologies or trauma. © 2020 IEEE.

关键词： Brain

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Optimality and Sensitivity of Least-Distance and Avoidance Solutions in Multicriteria Optimization

Optimality and Sensitivity of Least-Distance and Avoidance S...

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International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Andrzej M.J. Skulimowski Department of Automatic Control and Robotics Decision Sciences Laboratory Krakow Poland

This paper investigates sensitivity and optimality of distance scalarizing solutions in multicriteria problems with reference sets. When approaching reference values, this preference requirement results in solving an equivalent second-level scalar optimization problem with a certain distance measure to be minimized. In a situation where the reference set contains values to be avoided within the solution process, distance maximization with respect to this set is a natural technique. The reference sets may arise as relaxed criteria space constraints and are non-precisely defined. Therefore, we provide sufficient conditions ensuring the stability of solutions with respect to reference set perturbations. For various reasons, including trajectory safety, the above problem may be particularly relevant in the case of avoidance values, which are usually defined with a native uncertainty. We propose a sensitivity analysis method based on investigating the properties of attainable criteria values minimizing the distance to perturbed reference sets. Two problems of this kind are formulated and solved. An application to selecting compromise trajectories in multicriteria optimal control with two reference multifunctions is outlined in the final part of this paper.

关键词： Optimization Sensitivity Trajectory Optimal control Reservoirs Minimization Stability criteria

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Minimizing regret in bandit online optimization in unconstrained and constrained action spaces

arXiv

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arXiv 2018年

作者： Tatarenko, Tatiana Kamgarpour, Maryam Department of Control Theory and Robotics Tu Darmstadt Automatic Control Laboratory Eth Zürich

We consider online convex optimization with a zero-order oracle feedback. In particular, the decision maker does not know the explicit representation of the time-varying cost functions, or their gradients. At each time step, she observes the value of the cost function evaluated at her chosen action (zero-order oracle). The objective is to minimize the regret, that is, the difference between the sum of the costs she accumulates and that of the static optimal action had she known the sequence of cost functions a priori. We present a novel algorithm to minimize the regret in both unconstrained and constrained action spaces. Our algorithm hinges on a classical idea of one-point estimation of the gradients of the cost functions based on their observed values. However, our choice of the randomization introduced and consequently the proof techniques differ from those of past work. Letting T denote the number of queries of the zero-order oracle and n the problem dimension, the regret rate achieved is O(nT2/3) for both constrained and unconstrained action spaces. Moreover, we adapt the presented algorithm to the setting with two-point feedback and demonstrate that the adapted procedure achieves the theoretical lower bound on the regret of Θ(n√T). Copyright © 2018, The Authors. All rights reserved.

关键词： Cost functions

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Distributed algorithms that solve boolean equations with local and differential privacies

arXiv

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arXiv 2020年

作者： Qi, Hongsheng Li, Bo Jing, Rui-Juan Wang, Lei Proutiere, Alexandre Shi, Guodong Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China School of Mathematical Sciences University of Chinese Academy of Sciences Beijing100049 China Key Laboratory of Mathematics Mechanization Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China Faculty of Science Jiangsu University Zhenjiang212013 China Australian Center for Field Robotics School of Aerospace Mechanical and Mechatronic Engineering University of Sydney NSW2006 Australia Department of Automatic Control Kth Royal Institute of Technology Stockholm100-44 Sweden

In this paper, we propose distributed algorithms that solve a system of Boolean equations over a network, where each node in the network possesses only one Boolean equation from the system. The Boolean equation assigned at any particular node is a private equation known to this node only, and the nodes aim to compute the exact set of solutions to the system without exchanging their local equations. We show that each private Boolean equation can be locally lifted to a linear algebraic equation under a basis of Boolean vectors, leading to a network linear equation that is distributedly solvable using existing distributed linear equation algorithms as a subroutine. A number of exact or approximate solutions to the induced linear equation are then computed at each node from different initial values. The solutions to the original Boolean equations are eventually computed locally via a Boolean vector search algorithm. We prove that given solvable Boolean equations, when the initial values of the nodes for the distributed linear equation solving step are i.i.d selected according to a uniform distribution in a high-dimensional cube, our algorithms return the exact solution set of the Boolean equations at each node with high probability. Furthermore, we present an algorithm for distributed verification of the satisfiability of Boolean equations, and prove its correctness. Finally, we show that by utilizing linear equation solvers with differential privacy to replace the in-network computing routines, the overall distributed Boolean equation algorithms can be made differentially private. Under the standard Laplace mechanism, we prove an explicit level of noises that can be injected in the linear equation steps for ensuring a prescribed level of differential privacy. Copyright © 2020, The Authors. All rights reserved.

关键词： Linear equations

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Study and modeling of a hull cleaning station with an arm manipulator

Study and modeling of a hull cleaning station with an arm ma...

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International Conference on Advanced Systems and Electric Technologies (IC_ASET)

作者： Saber Hachicha Samir Nejim Chiheb Zaoui Aref Maalej Habib Dallagi Automatic Control & Marine Robotics Naval Academy Tunisia Laboratory of Electromechanical Systems of the University of Sfax Tunisia

The underwater hull cleaning is a center of interest of a big number of researchers from the fifties. Here we aim to facilitate the cleaning of the hull using a new robotic system with an arm manipulator. We developed the geometric and the dynamic modeling of the station components. In fact, the station has seven degrees of freedom four rotations and three translations. Besides, we used the SimMechanics software for the dynamic simulation of the station. In conclusion, our study shows that the underwater station with arm manipulator can be important for the hull cleaning ***.

关键词： Cleaning Solid modeling Marine vehicles End effectors Joints

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