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arXiv 2024年

作者： Schmid, Niklas Fochesato, Marta Sutter, Tobias Lygeros, John Automatic Control Laboratory ETH Zürich Zürich8092 Switzerland Department of Computer Science University of Konstanz Konstanz78457 Germany

We establish a linear programming formulation for the solution of joint chance constrained optimal control problems over finite time horizons. The joint chance constraint may represent an invariance, reachability or reach-avoid specification that the trajectory must satisfy with a predefined probability. For finite state and action spaces, the solution is exact and our method computationally superior to approaches in the literature. For continuous state or action spaces, our linear programming formulation enables basis function approximations. © 2024, CC BY.

关键词： Linear programming

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Weighting Attributes Based on the Greedy Algorithm Properties

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Procedia computer science 2024年 246卷 4883-4892页

作者： Beata Zielosko Urszula Stańczyk Kamil Jabloński University of Silesia in Katowice Institute of Computer Science Bȩdzińska 39 41-200 Sosnowiec Poland Department of Computer Graphics Vision and Digital Systems Faculty of Automatic Control Electronics and Computer Science Silesian University of Technology Akademicka 2A 44-100 Gliwice Poland

Estimation of importance for considered features is an important issue for any knowledge exploration process and it can be executed by a variety of approaches. In the research reported in this study, the primary aim was the development of a methodology for creating attribute rankings. Based on the properties of the greedy algorithm for inducing decision rules, a new application of this algorithm has been proposed. Instead of constructing a single ordering of features, attributes were weighted multiple times. The input datasets were discretised with several algorithms representing supervised and unsupervised discretisation approaches. Each resulting discrete data variant was exploited to construct a ranking of attributes. The effectiveness of the obtained rankings was confirmed through a rule filtering process governed by weighted attributes. The methodology was applied to the stylometric task of authorship attribution. The experimental outcomes demonstrate the value of the proposed research method, as it generally led to improved predictions while taking into account a noticeably decreased sets of attributes and decision rules.

关键词： Greedy algorithm Weighting attributes Decision rules Rule filtering Authorship attribution

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Modelling and control of a Parametric Wafer Manufacturing Process 15

Modelling and Control of a Parametric Wafer Manufacturing Pr...

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15th IEEE International Conference on Industry Applications, INDUSCON 2023

作者： Koumboulis, Fotis N. Fragkoulis, Dimitrios G. Mparkas, Dimitrios Robotics Automatic Control and Cyber-Physical Systems Laboratory Department of Digital Industry Technologies School of Science National and Kapodistrian University of Athens Euripus Campus 34400 Greece Core Department National and Kapodistrian University of Athens Euripus Campus 34400 Greece

ISBN: (纸本)9798350314182

In the present paper the mathematical model of a wafer manufacturing process is presented using Discrete Event systems. The novelty of the proposed mathematical description is the parametric number of vacuum chambers and robotic manipulators, as well as that three vacuum chambers and the respective buffers are served by each robotic manipulator. The last robotic manipulator serves a parametric number of champers depending on the total number of vacuum chambers modulo 3. The desired behavior of the process is expressed in the form of a set of regular languages. The realization of each regular language in the form of a supervisor automaton is developed. The satisfactory performance of the controlled automaton is derived. The present result can be considered as the first attempt towards the study of wafer manufacturing processes, where each robotic manipulator serves a parametric number of vacuum chambers and buffers. ©2023 IEEE.

关键词： Discrete Event systems Supervisory control Wafer Manufacturing Units

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On Space-Filling Input Design for Nonlinear Dynamic Model Learning: A Gaussian Process Approach

arXiv

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arXiv 2025年

作者： Liu, Yuhan Kiss, Máté Tóth, Roland Schoukens, Maarten Control Systems Group Department of Electrical Engineering Eindhoven University of Technology Eindhoven5600 MB Netherlands Systems and Control Laboratory HUN-REN Institute for Computer Science and Control Budapest1111 Hungary

While optimal input design for linear systems has been well-established, no systematic approach exists for nonlinear systems, where robustness to extrapolation/interpolation errors is prioritized over minimizing estimated parameter variance. To address this issue, we develop a novel identification-oriented space-filling input design strategy for efficient covering of a well-defined region of interest. By placing a Gaussian Process (GP) prior on the joint input-state space, the proposed strategy leverages the GP posterior variance to construct a space-filling promoting input design cost function from the Bayesian point of view. This accordingly enables maximization of the coverage in the region of interest, thereby facilitating the generation of informative datasets. Furthermore, we theoretically prove that minimization of the cost function indicates the space-filling behavior. The effectiveness of the proposed strategy is demonstrated on both an academic example and a mass-spring-damper system, highlighting its potential practical impact on efficient exploration in identification scenarios for nonlinear dynamical systems. © 2025, CC BY-NC-SA.

关键词： Cost functions

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Efficient Centralised and Decentralised Gaussian Process Approaches for Online Tracking within Stone Soup

Efficient Centralised and Decentralised Gaussian Process App...

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International Conference on Information Fusion

作者： Chenyi Lyu Xingchi Liu James Wright Jordi Barr Alasdair Hunter Lyudmila Mihaylova Department of Automatic Control & Systems Engineering University of Sheffield UK Scientific Computing Department Rutherford Appleton Laboratory Science and Technology Facilities Council UK Defence Science and Technology Laboratory UK

ISBN: (数字)9781737749769

ISBN: (纸本)9798350371420

This paper explores the application of centralised and distributed Gaussian process algorithms to real-time target tracking and compares their performance. By embedding the algorithms into the Stone Soup, the focus is on the innovative implementation of Gaussian process methods with learning hyperparameters and implementation with a factorised variance of the Gaussian kernel. The performance of the methods with different kernels was evaluated, not only with the Gaussian kernel. Extensive experiments with various kernel configurations demonstrate their importance in enhancing prediction accuracy and efficiency, especially in real-time tracking. The case studies with manoeuvring targets show significant advancements in tracking capabilities, particularly in wireless sensor networks, using optimised Gaussian process methods. This work advances Stone Soup’s capabilities and lays the groundwork for future investigations into adaptive Gaussian Process applications in tracking and sensor data analysis.

关键词： Wireless sensor networks Technological innovation Analytical models Target tracking Data analysis Gaussian processes Benchmark testing Real-time systems Data models Kernel

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Research on Path Planning Algorithm Based on D∗ Search

Research on Path Planning Algorithm Based on D∗ Search

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2023 International Conference on Ocean Studies, ICOS 2023

作者： Leng, Jiajun Fu, Li Wang, Lingling Tang, Ning Laboratory of Science and Technology on Marine Navigation and Control China State Shipbuilding Corporation Beijing100036 China Tianjin Navigation Instruments Research Institute Tianjin300131 China School of Automation Science and Electrical Engineering Beihang University Beijing100191 China Bauman Moscow State Technical University Moscow Department of Automatic Control Systems 105005 Russia

ISBN: (纸本)9798350382457

Path planning algorithms are current research hotspots. Heuristic algorithms that can solve dynamic environment problems are gradually becoming the mainstream research direction. The D∗ algorithm, as one of the new heuristic algorithms, has the advantages of being more computationally efficient than the A ∗ algorithm and being able to solve dynamic problems, and has played an important role in two-dimensional path planning projects such as the NASA Mars rover. But its theoretical research and practical application in 3D environment are very rare. In this context, this paper carries out an in-depth study of the path planning problem based on the D∗ algorithm, and completes the theoretical derivation and simulation process in 2D and 3D environments. In this paper, a complex random 2D map is established by random generation, and the simulation of D∗ algorithm is realized on the map with the help of Python language, which realizes the finding of the relative optimal path. Then, in order to study the feasibility of D∗ solving in 3D environment, the simulation of D∗ algorithm under 3D map is realized with the help of Python and Unity3d. The research results show that the simulation results are good, which is valuable for the theoretical research and practical application of heuristic algorithms, and plays a role in the application of robot path planning algorithms. © 2023 IEEE.

关键词： Python

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Simultaneous Estimation of Human Motion Intention and Time-Varying Arm Stiffness for Enhanced Human-Robot Interaction

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IEEE Transactions on Cognitive and Developmental systems 2024年第3期17卷 510-524页

作者： Wu, Huayang Zhu, Chengzhi Cheng, Long Yang, Chenguang Li, Yanan University of Sussex Department of Engineering and Design BrightonBN1 9RH United Kingdom South China University of Technology Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and Engineering Guangzhou510640 China Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Beijing100190 China University of Chinese Academy of Sciences School of Artificial Intelligence Beijing100049 China University of Liverpool Department of Computer Science LiverpoolL69 3BX United Kingdom

Recent advances in physiological human motor control research indicate that human endpoint stiffness magnitude increases linearly with grasp force. Based on these findings, a scheme was proposed in this paper to integrate the linear quadratic estimation (LQE) filter with the stiffness model inferred from grasp force, which can simultaneously estimate the human arm's stiffness and motion intention. Then, an online variable impedance controller (VIC) was designed based on previous estimations for physical human-robot interaction (pHRI). The proposed stiffness model and estimation method were validated through experiments using a planar robotic interface. In order to assess its performance in practical pHRI tasks, the implementation of human arm stiffness and intention estimation combining with VIC was extended to a teleoperation peg-in-hole and robot-assisted rehabilitation tasks. The experimental results demonstrate that the proposed method can effectively estimate human motion intention and arm stiffness simultaneously. Compared to existing methods, the proposed VIC enhances pHRI in terms of increased flexibility, effective guidance, and reduced human effort. © 2016 IEEE.

关键词： Human robot interaction

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Passive Positioning and Filtering Technology Using Relative Height Measurement Information 3rd

Passive Positioning and Filtering Technology Using Relative ...

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3rd International Conference on Artificial Intelligence, 2022

作者： Cao, Lai-Tian Chen, Kai-Wei Sun, Peng Qiang, Xiao-Min Zhang, Yi-Ming Zhang, Li-Jia Beijing Aerospace Automatic Control Institute Beijing100854 China National Key Laboratory of Science and Technology on Aerospace Intelligent Control Beijing100854 China Beijing Institute of Computer Technology and Application Beijing100854 China

ISBN: (纸本)9789811694226

Under the condition of obtaining the passive measurement angle information and the relative height information of the positioning system and the target, using the least squares algorithm to locate the radiation source target, and then using the Kalman filter to filter and predict the position data after the least square estimation, so as to make the best estimation of the motion state of the radiation source target. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Kalman filters

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Keynote Talk: Qualitative model based diagnosis of complex systems using decomposition 22

Keynote Talk: Qualitative model based diagnosis of complex s...

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Proceedings of the 7th International Conference on Sustainable Information Engineering and Technology

作者： Katalin M. Hangos Systems and Control Laboratory Institute for Computer Science and Control Hungary and Department of Electrical Engineering and Information Systems University of Pannonia Hungary

ISBN: (纸本)9781450397117

Decomposition offers the potential to reduce the complexity of model-based optimization, prediction, control and diagnosis by accounting for the structure and sparsity of the describing model. Motivated by this fact, a rich and powerful collection of decomposition methods are available for model based diagnosis of large-scale complex dynamic systems, too. At the same time, one usually does not have enough information about a large-scale complex dynamic system to construct its precise enough model, so a kind of qualitative dynamic model is often used for the diagnosis [1]. Two structural decomposition based qualitative diagnostic methods are presented in this lecture, together with their component-driven system decomposition ***, a model-based diagnostic method is described that is able to detect and isolate non-technical losses (illegal loads) in low voltage electrical grids of one transformer area [2]. As a preliminary off-line step of the diagnosis, a powerful electrical decomposition method is proposed, which breaks down the overall network to subsystems with one feeder layout enabling to make the necessary computations efficient. The diagnostic method is based on analyzing the differences between the measured and model-predicted voltages. The uncertainty in the model parameters together with the measurement uncertainties are also taken into account to make the approach applicable in real-world cases. The proposed method is able to detect and localize multiple illegal loads, and the amount of the illegal consumption can also be *** a second case study, a high level decomposition approach for process system fault diagnosis using event traces is given [3], [4]. Using a simple component graph model behind the process system and the measured trace applied for the diagnosis, the method can find the root cause(s) of propagating failures between separate components. The method can connect individually operating lower-level component-specific diag

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Application of Geometric Invariants in the Problem of Trajectory Tracking for UAVs

Application of Geometric Invariants in the Problem of Trajec...

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2022 International Siberian Conference on control and Communications, SIBCON 2022

作者： Khachumov, Mikhail Ailamazyan Program Systems Institute of RAS Intelligent Control Laboratory Pereslavl-Zalessky Russia Federal Research Center 'Computer Science and Control' Russian Academy of Sciences Moscow Russia

ISBN: (纸本)9781665476287

The study discusses approaches and an apply example of using geometric invariants in problems of control theory. An analytical review of modern papers in the field of trajectory tracking and path following control problems for unmanned aerial vehicles (UAVs) has been carried out. To increase the autonomy and ability to cope with uncertainties, it is proposed to use the theory of intelligent-geometric control. The problem of the trajectory tracking is considered in the framework of the pursuit-evasion differential game. control invariants are considered in the form of ellipsoids, that can be used, for example, in pursuit-evasion problems. The task of determining the parameters of the pursuer's motion to meet the evader on an ellipsoid is solved. The dependence of the pursuer's speed on the parameters of the ellipse is shown. A modeling scheme is proposed aimed at joint application of optimal and intelligent control methods to solve trajectory tracking problem in difficult conditions. Simulations carried out in a disturbed environment on controlling the motion of a UAV group showed prospects of the proposed approach. © 2022 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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