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32nd Mediterranean Conference on control and Automation, MED 2024

作者： Skarpetis, Michael G. Koumboulis, Fotis N. School of Science National and Kapodistrian University of Athens Robotics Automatic Control and Cyber-Physical Systems Laboratory Department of Digital Industry Technologies Euboea34400 Greece

ISBN: (纸本)9798350395440

This research delves into the intricacies of achieving input-output decoupling for a class of uncertain linear parameter dependent systems. A combined approach is introduced, involving the utilization of a state feedback controller that incorporates both static and time-varying elements. The design of this controller aims to maintain insensitivity to uncertainties. The investigation establishes criteria for determining the feasibility of solving the robust input-output decoupling problem. Under these established conditions, a specific class of state feedback controllers is systematically identified as proficient in effectively addressing the stated problem. The proposed methodology entails deriving the controller and formulating solvability conditions to convert the original Parameter Dependent System (PDS) into an uncertain Linear Time-Invariant (L TI) system. Then an analytical presentation of a static state feedback controller is provided as a mean to resolve the input-output robust decoupling for the uncertain L TI system. The practical applicability of these findings is exemplified through successful implementation in a two-mass translation system, appropriately linked with a hydraulic actuator. © 2024 IEEE.

关键词： controllers

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Fuzzy-Model-Based Fault-Tolerant control for Stochastic Re-Entrant Manufacturing systems

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IEEE Transactions on systems, Man, and Cybernetics: systems 2025年第5期55卷 3542-3556页

作者： Zhang, Kexin Gao, Qing Ding, Steven X. Lu, Jinhu Qiu, Jianbin Guo, Yige Beihang University School of Cyber Science and Technology Beijing100191 China Beihang University School of Automation Science and Electrical Engineering Beijing100191 China Hangzhou Innovation Institute Beihang University Hangzhou310051 China Zhongguancun Laboratory Beijing100095 China Institute for Automatic Control and Complex Systems University of Duisburg-Essen Duisburg47057 Germany Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin150001 China Zhongguancun Laboratory Beijing China

This study addresses the problem of guaranteed cost fault-tolerant fuzzy control for multiline re-entrant manufacturing systems (RMSs) against stochastic disturbances and workstation faults. Initially, a nonlinear hyperbolic impulsive partial differential equation model is employed to describe the complex and hybrid dynamics of RMSs suffering from unexpected faults within the working stations, and then the corresponding approximation T-S fuzzy model is constructed. In what follows, with the aid of the parallel distributed compensation fuzzy control scheme, the main results of stability analysis and controller synthesis for the closed-loop re-entrant manufacturing control system are derived using a timer-dependent Lyapunov functional with spatio-temporal auxiliary variables. It is found that by means of the proposed fault-tolerant control approach, the RMS can be effectively and robustly driven to a desired production mode with steady feeding and production rates while the upper bound of a quadratic cost function is minimized. Finally, the effectiveness of the proposed control approach is validated through numerical simulations. © 2013 IEEE.

关键词： Fuzzy control

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Input-Output Supervisor Design for systems Analyzed in Cooperating Pairs of Subsystems 32

Input-Output Supervisor Design for Systems Analyzed in Coope...

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32nd Mediterranean Conference on control and Automation, MED 2024

作者： Koumboulis, Fotis N. Fragkoulis, Dimitrios G. School of Science National & Kapodistrian University of Athens Robotics Automatic Control and Cyber-Physical Systems Laboratory Department of Digital Industry Technologies Euboea34400 Greece

ISBN: (纸本)9798350395440

The problem of supervisor design for systems analyzed in cooperating pairs of subsystems is studied. The supervisors realize the cooperation using only sensor and actuator data of each pair of subsystems. The analysis of the system in cooperating pairs of subsystems covers a wide range of applications. Each cooperating ordered pair forms a master/slave relation between the sensor signals of the second element of the pair and the actuator of the first element of the pair. All possible cooperation relations are determined and investigated with respect to the avoidance of blocking and stuck to the initial states of the actuators. The system properties of the cooperation are formulated in a set theoretic scheme that allows the determination of the set of admissible cooperation rules. The present theoretical results are illustrated through one manufacturing application and one infrastructure application. © 2024 IEEE.

关键词： Supervisory personnel

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Supervisory control for Smart Manufacturing Using FIWARE 3

Supervisory Control for Smart Manufacturing Using FIWARE

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3rd IEEE Industrial Electronics Society Annual On-Line Conference, ONCON 2024

作者： Menexis, Antonios N. Fragkoulis, Dimitrios G. Koumboulis, Fotis N. Kouvakas, Nikolaos D. School of Science National and Kapodistrian University of Athens Robotics Automatic Control and Cyber-Physical Systems Laboratory Department of Digital Industry Technologies Euboea 34400 Greece

ISBN: (纸本)9798331540319

The problem of providing smart manufacturing units, via supervisor control implemented in FIWARE, is studied. In order to investigate the problem at hand, an indicative manufacturing unit is considered, and the desired safe performance of the unit is achieved via a supervisory control architecture, being implemented in cloud computing environment. The model of the manufacturing unit is developed on the basis of the models of its sensors and actuators, in Discrete Event System (DES) form. The safe behavior of the unit is expressed in the form of nine rules. The rules are translated into nine regular languages that are realized as a set of proper supervisors. The supervisors are analytically determined and conducted in the open platform FIWARE, using all necessary smart data models and platform tools. © 2024 IEEE.

关键词： Smart manufacturing

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Microservice Deployment for Satellite Edge AI Inference via Deep Reinforcement Learning 35

Microservice Deployment for Satellite Edge AI Inference via ...

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35th IEEE International Symposium on Personal, Indoor and Mobile Radio Communications, PIMRC 2024

作者： Yu, Zhiyong Cheng, Hei Victor Yang, Zhanpeng Liu, Xin Jiang, Yuning Zhou, Yong Shi, Yuanming ShanghaiTech University School of Information Science and Technology Shanghai201210 China Aarhus University Department of Electrical and Computer Engineering Denmark Automatic Control Laboratory Switzerland

ISBN: (纸本)9798350362244

Artificial intelligence (AI) is critical in evolving 5G and developing 6G networks, running on edge devices, and solving resource management challenges. The burgeoning number of edge devices draws attention to the potential of low-earth orbit (LEO) satellite networks with their onboard computing capabilities for edge inference. This paper explores LEO scenarios where multiple remote sensing edge AI inference tasks concurrently process data from a single source. However, due to there being parts with the same functions between different AI applications, traditional monolithic edge AI architecture must be deployed repeatedly and falls short in efficiently harnessing the heterogeneous resources of LEO satellite networks. To solve this problem, we utilize the microservice architecture to decouple a single AI application into several independent microservices to reuse these same functions. However, due to the high latency caused by multiple microservices' communication, we need to design a deployment strategy to fully utilize resources to reduce the service latency. We present a microservice deployment model to minimize the total service latency across all AI applications and meet resource constraints with the constraints of hardware, energy, and memory limitations. This latency optimization problem is rewritten as a Markov decision process (MDP) to effectively deal with the challenge posed by the time-varying transmission rate caused by satellite mobility. To increase the training data utilization, we employ a Proximal Policy Optimization (PPO) based reinforcement learning algorithm to meet the dynamic environment challenge. Finally, we obtain a sub-optimal solution with minimal accuracy loss and an acceptable solution time. © 2024 IEEE.

关键词： Markov processes

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Trust-Based Identity Privacy for Edge Computing 24

Trust-Based Identity Privacy for Edge Computing

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14th International Conference on Communication and Network Security, ICCNS 2024

作者： Dong, Jie Wen Kang, Xi Nai Peng, Jin Jiang, Xuan Ming Zhu, Tao Jun Information Technology Department National Key Laboratory of Seience and Technology on Aerospace Intelligence Control Beijing Aerospace Automatic Control Institute BeiJing China School of Computer Science Beijing University of Technology BeiJing China

ISBN: (纸本)9798400717994

College of computer science Beijing University of Technology, Beijing 100124, China, 1374622525@*** This paper proposes a trust collaboration technology for edge computing, addressing trust isolation and security issues through a unified trust value calculation method and blockchain technology. The designed trust management model evaluates the identity, capability, and behavior of terminal nodes using static and dynamic trust measurements. A consortium blockchain stores trust information to ensure immutability and efficient sharing. Simulation experiments validate the scheme's effectiveness in countering malicious node attacks, improving task completion rates, and reducing system risks. This solution offers an efficient and secure approach to trust management in edge computing environments. © 2024 Copyright held by the owner/author(s). Publication rights licensed to ACM.

关键词： Differential privacy

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Trust Collaboration for Edge Computing 24

Trust Collaboration for Edge Computing

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14th International Conference on Communication and Network Security, ICCNS 2024

ISBN: (纸本)9798400717994

As edge computing becomes an increasingly important computing model, trust management and security issues are becoming more severe. Problems such as malicious node attacks and trust isolation pose threats to the security and stability of edge computing environments. Therefore, designing an efficient and secure trust management mechanism is imperative. This paper proposes a trust collaboration technology for edge computing, addressing trust isolation and security issues through a unified trust value calculation method and blockchain technology. The designed trust management model evaluates the identity, capability, and behavior of terminal nodes using static and dynamic trust measurements. A consortium blockchain stores trust information to ensure immutability and efficient sharing. Simulation experiments validate the scheme's effectiveness in countering malicious node attacks, improving task completion rates, and reducing system risks. This solution offers an efficient and secure approach to trust management in edge computing environments. © 2024 Copyright held by the owner/author(s). Publication rights licensed to ACM.

关键词： Mobile edge computing

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Drift-free localisation using prior cross-source map for indoor low-light environments

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IET Cyber-systems and Robotics 2023年第1期5卷 122-131页

作者： Junyi Tao Weichen Dai Da Kong Jiayan Wan Bin He Yu Zhang State Key Laboratory of Industrial Control Technology College of Control Science and EngineeringZhejiang UniversityHangzhouChina School of Computer Science Hangzhou Dianzi UniversityHangzhouChina Key Laboratory of Collaborative Sensing and Autonomous Unmanned Systems of Zhejiang Province HangzhouChina

In this study,a localisation system without cumulative errors is ***,depth odometry is achieved only by using the depth information from the depth *** the point cloud cross-source map registration is realised by 3D particle filtering to obtain the pose of the point cloud relative to the ***,we fuse the odometry results with the point cloud to map registration results,so the system can operate effectively even if the map is *** effectiveness of the system for long-term localisation,localisation in the incomplete map,and localisation in low light through multiple experiments on the self-recorded dataset is *** with other methods,the results are better than theirs and achieve high indoor localisation accuracy.

关键词： indoor positioning robots

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PointPillars Backbone Type Selection for Fast and Accurate LiDAR Object Detection

PointPillars Backbone Type Selection for Fast and Accurate L...

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International Conference on computer Vision and Graphics, ICCVG 2022

作者： Lis, Konrad Kryjak, Tomasz Embedded Vision Systems Group Computer Vision Laboratory Department of Automatic Control and Robotics AGH University of Science and Technology Al. Mickiewicza 30 Krakow30-059 Poland

ISBN: (纸本)9783031220241

3D object detection from LiDAR sensor data is an important topic in the context of autonomous cars and drones. In this paper, we present the results of experiments on the impact of backbone selection of a deep convolutional neural network on detection accuracy and computation speed. We chose the PointPillars network, which is characterised by a simple architecture, high speed, and modularity that allows for easy expansion. During the experiments, we paid particular attention to the change in detection efficiency (measured by the mAP metric) and the total number of multiply-addition operations needed to process one point cloud. We tested 10 different convolutional neural network architectures that are widely used in image-based detection problems. For a backbone like MobilenetV1, we obtained an almost 4x speedup at the cost of a 1.13% decrease in mAP. On the other hand, for CSPDarknet we got an acceleration of more than 1.5x at an increase in mAP of 0.33%. We have thus demonstrated that it is possible to significantly speed up a 3D object detector in LiDAR point clouds with a small decrease in detection efficiency. This result can be used when PointPillars or similar algorithms are implemented in embedded systems, including SoC FPGAs. The code is available at https://***/vision-agh/pointpillars-backbone. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Object detection

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Networked PID controller Design for a Heating System

Networked PID Controller Design for a Heating System

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2024 Panhellenic Conference on Electronics and Telecommunications, PACET 2024

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

ISBN: (纸本)9798350318845

This work studies the issue of remotely controlling a single room's temperature using a central heating system. The models of the components of the heating system setup are derived by equivalent electric circuits. The combined nonlinear description of the process is used to produce a linear approximant. A Proportional, Integral plus Derivative (PID) controller, located at a considerable distance from the process and receiving measurements and transmitting actuation signals via a wireless network, is designed based on the linear approximant and towards room temperature control. A metaheuristic approach, satisfying stability, approximate model matching, asymptotic command following, and disturbance attenuation, is used to calculate the controller parameters. The suggested scheme's performance is illustrated through simulations. © 2024 IEEE.

关键词： controllers

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