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arXiv 2021年

作者： Yi, Xinlei Li, Xiuxian Yang, Tao Xie, Lihua Chai, Tianyou Johansson, Karl H. The Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm10044 Sweden The Digital Futures Stockholm10044 Sweden The Department of Control Science and Engineering College of Electronics and Information Engineering The Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Shanghai China The State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang110819 China School of Electrical and Electronic Engineering Nanyang Technological University 50 Nanyang Avenue Singapore639798 Singapore

This paper considers the distributed online convex optimization problem with time-varying constraints over a network of agents. This is a sequential decision making problem with two sequences of arbitrarily varying convex loss and constraint functions. At each round, each agent selects a decision from the decision set, and then only a portion of the loss function and a coordinate block of the constraint function at this round are privately revealed to this agent. The goal of the network is to minimize the network-wide loss accumulated over time. Two distributed online algorithms with full-information and bandit feedback are proposed. Both dynamic and static network regret bounds are analyzed for the proposed algorithms, and network cumulative constraint violation is used to measure constraint violation, which excludes the situation that strictly feasible constraints can compensate the effects of violated constraints. In particular, we show that the proposed algorithms achieve O(T max{κ,1-κ}) static network regret and O(T 1-κ/2) network cumulative constraint violation, where T is the time horizon and κ ∈ (0, 1) is a user-defined trade-off parameter. Moreover, if the loss functions are strongly convex, then the static network regret bound can be reduced to O(T κ). Finally, numerical simulations are provided to illustrate the effectiveness of the theoretical results. Copyright © 2021, The Authors. All rights reserved.

关键词： Economic and social effects

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Awareness in robotics: An early perspective from the viewpoint of the EIC Pathfinder Challenge "Awareness Inside"

arXiv

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arXiv 2024年

作者： Santina, Cosimo Della Corbato, Carlos Hernandez Sisman, Burak Leiva, Luis A. Arapakis, Ioannis Vakalellis, Michalis Vanderdonckt, Jean D’Haro, LuisFernando Manzi, Guido Becchio, Cristina Elamrani, Aïda Alirezaei, Mohsen Castellano, Ginevra Dimarogonas, Dimos V. Ghosh, Arabinda Haesaert, Sofie Soudjani, Sadegh Stroeve, Sybert Verschure, Paul Bacciu, Davide Deroy, Ophelia Bahrami, Bahador Gallicchio, Claudio Hauert, Sabine Sanz, Ricardo Lanillos, Pablo Iacca, Giovanni Sigg, Stephan Gasulla, Manel Steels, Luc Sierra, Carles Department of Cognitive Robotics Delft University of Technology Delft Netherlands Oberpfaffenhofen Germany Department of Computer Science University of Luxembourg Luxembourg 4 Telefónica I+D Spain AEGIS IT Research GmbH Germany Université catholique de Louvain Belgium Speech Technology and Machine Learning Group ETSI de Telecomunicación Universidad Politécnica de Madrid Madrid Spain Alien Venture Studio Alien Technology Transfer Rome Italy Hamburg Germany Institut Jean Nicod École Normale Supérieure Paris France Research Technology and Development Department Digital Industry Software Helmond Netherlands Department of Information Technology Uppsala University Uppsala Sweden Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Max Planck Institute for Software Systems Kaiserslautern Germany Department of Electrical Engineering Control Systems Group Eindhoven University of Technology Eindhoven Netherlands Amsterdam Netherlands Donders Centre for Neuroscience Radboud University Nijmegen Netherlands Computer Science Department University of Pisa Pisa Italy Faculty of Philosophy Philosophy of Science The Study of Religion Ludwig Maximilian University of Munich Munich Germany School of Engineering Mathematics and Technology University of Bristol Bristol United Kingdom Autonomous Systems Laboratory Universidad Politécnica de Madrid Spain Madrid Spain Department of Information Engineering and Computer Science University of Trento Trento Italy Department of Information and Communications Engineering Aalto University Espoo Finland Department of Electronic Engineering Universitat Politècnica de Catalunya Barcelona Spain Studio Stelluti Brussels Belgium Barcelona Spain

Consciousness has been historically a heavily debated topic in engineering, science, and philosophy. On the contrary, awareness had less success in raising the interest of scholars in the past. However, things are changing as more and more researchers are getting interested in answering questions concerning what awareness is and how it can be artificially generated. The landscape is rapidly evolving, with multiple voices and interpretations of the concept being conceived and techniques being developed. The goal of this paper is to summarize and discuss the ones among these voices that are connected with projects funded by the EIC Pathfinder Challenge called "Awareness Inside", a nonrecurring call for proposals within Horizon Europe that was designed specifically for fostering research on natural and synthetic awareness. In this perspective, we dedicate special attention to challenges and promises of applying synthetic awareness in robotics, as the development of mature techniques in this new field is expected to have a special impact on generating more capable and trustworthy embodied systems. © 2024, CC BY.

关键词： Robotics

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Black phosphorus-based van der Waals heterostructures for mid-infrared light-emission applications

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Light(Science & Applications) 2020年第1期9卷 922-929页

作者： Xinrong Zong Huamin Hu Gang Ouyang Jingwei Wang Run Shi Le Zhang Qingsheng Zeng Chao Zhu Shouheng Chen Chun Cheng Bing Wang Han Zhang Zheng Liu Wei Huang Taihong Wang Lin Wang Xiaolong Chen Department of Electrical and Electronic Engineering Southern University of Science and Technology518055 ShenzhenChina Key Laboratory of Flexible Electronics(KLOFE)&Institute of Advanced Materials(IAM) Jiangsu National Synergetic Innovation Center for Advanced Materials(SICAM)Nanjing Tech University(Nanjing Tech)30 South Puzhu Road211816 NanjingChina Key Laboratory of Low-Dimensional Quantum Structures and Quantum Control of Ministry of Education and Key Laboratory for Matter Microstructure and Function of Hunan ProvinceHunan Normal University410081 ChangshaChina Department of Materials Science and Engineering Southern University of Science and Technology518055 ShenzhenChina Center for Programmable Materials School of Materials Science and Engineering Nanyang Technological University Singapore 639798Singapore Institute of Microscale Optoelectronics Collaborative Innovation Centre for Optoelectronic Science&TechnologyKey Laboratory of Optoelectronic Devices and Systems of Ministry of Education and Guangdong ProvinceCollege of Physics and Optoelectronic EngineeringShenzhen Key Laboratory of Micro-Nano Photonic Information TechnologyGuangdong Laboratory of Artificial Intelligence and Digital Economy(SZ)Shenzhen University518060 ShenzhenChina Frontiers Science Center for Flexible Electronics(FSCFE) Shaanxi Institute of Flexible Electronics(SIFE)&Shaanxi Institute of Biomedical Materials and Engineering(SIBME)Northwestern Polytechnical University(NPU)127 West Youyi Road710072 Xi’anChina

Mid-infrared(MIR)light-emitting devices play a key role in optical communications,thermal imaging,and material analysis ***-dimensional(2D)materials offer a promising direction for next-generation MIR devices owing to their exotic optical properties,as well as the ultimate thickness *** importantly,van der Waals heterostructures-combining the best of various 2D materials at an artificial atomic level-provide many new possibilities for constructing MIR light-emitting devices of large tuneability and high ***,we introduce a simple but novel van der Waals heterostructure for MIR light-emission applications built from thin-film BP and transition metal dichalcogenides(TMDCs),in which BP acts as an MIR light-emission *** BP–WSe_(2) heterostructures,an enhancement of~200% in the photoluminescence intensities in the MIR region is observed,demonstrating highly efficient energy transfer in this heterostructure with type-Ⅰ band *** BP-MoS_(2) heterostructures,a room temperature MIR light-emitting diode(LED)is enabled through the formation of a vertical PN heterojunction at the *** work reveals that the BP-TMDC heterostructure with efficient light emission in the MIR range,either optically or electrically activated,provides a promising platform for infrared light property studies and applications.

关键词： light phosphorus constructing

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Regret and cumulative constraint violation analysis for online convex optimization with long term constraints

arXiv

引用

arXiv 2021年

作者： Yi, Xinlei Li, Xiuxian Yang, Tao Xie, Lihua Chai, Tianyou Johansson, Karl H. School of Electrical Engineering and Computer Science and Digital Futures KTH Royal Institute of Technology Stockholm Sweden Department of Control Science and Engineering College of Electronics and Information Engineering Shanghai Research Institute for Intelligent Autonomous Systems Institute for Advanced Study Tongji University Shanghai China State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang China School of Electrical and Electronic Engineering Nanyang Technological University Singapore Singapore

This paper considers online convex optimization with long term constraints, where constraints can be violated in intermediate rounds, but need to be satisfied in the long run. The cumulative constraint violation is used as the metric to measure constraint violations, which excludes the situation that strictly feasible constraints can compensate the effects of violated constraints. A novel algorithm is first proposed and it achieves an O(Tmax{c,1-c}) bound for static regret and an O(T (1-c)/2) bound for cumulative constraint violation, where c ϵ (0, 1) is a user-defined trade-off parameter, and thus has improved performance compared with existing results. Both static regret and cumulative constraint violation bounds are reduced to O(log(T )) when the loss functions are strongly convex, which also improves existing results. In order to achieve the optimal regret with respect to any comparator sequence, another algorithm is then proposed and it achieves the optimal O( p T (1 + PT )) regret and an O(√T) cumulative constraint violation, where PT is the path-length of the comparator sequence. Finally, numerical simulations are provided to illustrate the effectiveness of the theoretical results. Copyright © 2021, The Authors. All rights reserved.

关键词： Comparators (optical)

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Hybrid resource scheduling for aggregation in massive machine-type communication networks

arXiv

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arXiv 2019年

作者： Alcaraz López, Onel L. Alves, Hirley Nardelli, Pedro H.J. Latvaaho, Matti University of Oulu Finland Laboratory of Control Engineering and Digital Systems Lappeenranta University of Technology Finland

Data aggregation is a promising approach to enable massive machine-type communication (mMTC). Here, we first characterize the aggregation phase where a massive number of machine-type devices transmits to their respective aggregator. By using non-orthogonal multiple access (NOMA), we present a hybrid access scheme where several machine-type devices (MTDs) share the same orthogonal channel. Then, we assess the relaying phase where the aggregatted data is forwarded to the base station. The system performance is investigated in terms of average number of MTDs that are simultaneously served under imperfect successive interference cancellation (SIC) at the aggregator for two scheduling schemes, namely random resource scheduling (RRS) and channel-dependent resource scheduling (CRS), which is then used to assess the performance of data forwarding *** Codes 94Axx Copyright © 2019, The Authors. All rights reserved.

关键词： Scheduling

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How to secure distributed filters under sensor attacks

arXiv

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arXiv 2020年

作者： He, Xingkang Ren, Xiaoqiang Sandberg, Henrik Johansson, Karl H. Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Affiliated with Digital Futures Sweden Shanghai Key Laboratory of Power Station Automation Technology School of Mechatronic Engineering and Automation Shanghai University Shanghai200444 China

—We study how to secure distributed filters for linear time-invariant systems with bounded noise under false-data injection attacks. A malicious attacker is able to arbitrarily manipulate the observations for a time-varying and unknown subset of the sensors. We first propose a recursive distributed filter consisting of two steps at each update. The first step employs a saturation-like scheme, which gives a small gain if the innovation is large corresponding to a potential attack. The second step is a consensus operation of state estimates among neighboring sensors. We prove the estimation error is upper bounded if the filter parameters satisfy a condition. We further analyze the feasibility of the condition and connect it to sparse observability in the centralized case. When the attacked sensor set is known to be time-invariant, the secured filter is modified by adding an online local attack detector. The detector is able to identify the attacked sensors whose observation innovations are larger than the detection thresholds. Also, with more attacked sensors being detected, the thresholds will adaptively adjust to reduce the space of the stealthy attack signals. The resilience of the secured filter with detection is verified by an explicit relationship between the upper bound of the estimation error and the number of detected attacked sensors. Moreover, for the noise-free case, we prove that the state estimate of each sensor asymptotically converges to the system state under certain conditions. Numerical simulations are provided to illustrate the developed results. Copyright © 2020, The Authors. All rights reserved.

关键词： State estimation

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Event-based electricity metering: An autonomous method to determine transmission thresholds 87

Event-based electricity metering: An autonomous method to de...

引用

87th IEEE Vehicular Technology Conference, VTC Spring 2018

作者： De Tome, Mauricio Castro Nardelli, Pedro H.J. Alves, Hirley University of Oulu Oulu Finland Laboratory of Control Engineering and Digital Systems Lappeenranta University of Technology Lappeenranta Finland

ISBN: (纸本)9781538663554

This paper provides an in-depth analysis of the event-based metering strategy proposed by Simonov et al. This strategy is an alternative to the traditional periodic (time-based) metering where the power demand is average in fixed time periods (e.g. every 15 minutes). The event-based approach considers two thresholds that trigger an event, one related to the (instantaneous) power demanded, other to the accumulated energy consumed. The original work assumed these thresholds fixed for the measurements. Our present contribution relaxes this assumption by proposing a method to set the thresholds from the percentage of the peak power consumption over the period under analysis. This approach, in contrast to the time-based and the fixed thresholds, better captures the actual power demanded when different households with diverse power demand profiles are *** this sense, our method provides a more efficient way to store electricity demand data while maintaining the estimation error (in relation to the real-time power demand) under acceptable values. Numerical examples presented to illustrate the advantage and possible drawbacks of the proposed method. © 2018 IEEE.

关键词： Electric power utilization

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Binary Channel Fuzzy Self-Adjusted Neural Network for Solving Time-Changing QP Problems

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IEEE Transactions on Neural Networks and Learning systems 2025年 PP卷 PP页

作者： Luo, Yamei Ren, Qingyi Zheng, Zihao Chen, Siyuan Ma, Xin Liu, Yu Li, Xiaoli Yu, Junzhi Zhang, Zhijun The Chinese University of Hong Kong Department of Mechanical and Automation Engineering Shatin Hong Kong South China University of Technology School of Automation Science and Engineering Guangzhou510640 China Southern University of Science and Technology Institute for Robotics Shenzhen518055 China Peking University College of Engineering Beijing100871 China South China University of Technology Key Library of Autonomous Systems and Network Control Ministry of Education School of Automation Science and Engineering Guangzhou510640 China Institute for Super Robotics Huangpu Guangzhou510555 China Nanchang University Jiangxi Thousand Talents Plan Nanchang330031 China Jishou University College of Computer Science and Engineering Jishou416000 China Guangdong Artificial Intelligence and Digital Economy Laboratory Pazhou Laboratory Guangzhou510335 China Shaanxi University of Technology Shaanxi Provincial Key Laboratory of Industrial Automation School of Mechanical Engineering Hanzhong 723001 China Changsha Normal University School of Information Science and Engineering Changsha410100 China Guangdong University of Petrochemical Technology School of Automation Science and Engineering Institute of Artificial Intelligence and Automation Maoming525000 China

A novel binary channel fuzzy self-adjusted neural network (BCF-SANN) is proposed and researched for solving time-changing quadratic programming (QP) problems in this article. Unlike the fixed parameters of the typical zeroing neural network, the main parameters of the proposed BCF-SANN are time-changing, and its errors are adaptively quickly convergent. The biggest advantage of the novel neural network is that it combines a fuzzy self-adjusted controller, which takes the errors and derivatives of errors as fuzzy inputs and neural networks, further improving the convergence and robustness of the neural networks. To design the novel neural network, a time-changing QP problem is first established;then, using Lagrange’s law, the time-changing QP problem is transformed into a time-changing matrix equation;and finally, based on the time-changing parameter neural dynamics method, a novel BCF-SANN is proposed. The detailed design process is given in this article, and the convergence and robustness of the proposed BCF-SANN are proved by theoretical analysis. Through comparative experiments, it is demonstrated that the proposed BCF-SANN has a faster convergence rate and stronger robustness than the traditional zeroing neural network and 1-D fuzzy recurrent neural network (RNN). © 2012 IEEE.

关键词： Recurrent neural networks

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Robust Stabilization of T-S Fuzzy Stochastic Descriptor systems via Integral Sliding Modes

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IEEE TRANSACTIONS ON CYBERNETICS 2018年第9期48卷 2736-2749页

作者： Li, Jinghao Zhang, Qingling Yan, Xing-Gang Spurgeon, Sarah K. Institute of Systems Science State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang China Instrumentation Control and Embedded Systems Research Group School of Engineering and Digital Arts University of Kent Canterbury U.K. Department of Electronic and Electrical Engineering University College London London U.K.

This paper addresses the robust stabilization problem for T-S fuzzy stochastic descriptor systems using an integral sliding mode control paradigm. A classical integral sliding mode control scheme and a nonparallel distributed compensation (Non-PDC) integral sliding mode control scheme are presented. It is shown that two restrictive assumptions previously adopted developing sliding mode controllers for Takagi-Sugeno (T-S) fuzzy stochastic systems are not required with the proposed framework. A unified framework for sliding mode control of T-S fuzzy systems is formulated. The proposed Non-PDC integral sliding mode control scheme encompasses existing schemes when the previously imposed assumptions hold. Stability of the sliding motion is analyzed and the sliding mode controller is parameterized in terms of the solutions of a set of linear matrix inequalities which facilitates design. The methodology is applied to an inverted pendulum model to validate the effectiveness of the results presented.

关键词： Integral sliding mode control inverted pendulum nonparallel distributed compensation (Non-PDC) robust stabilization Takagi-Sugeno (T-S) fuzzy stochastic descriptor systems

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Inspection Trajectory Planning for 3D Structures under a Mixed-Integer Framework

Inspection Trajectory Planning for 3D Structures under a Mix...

引用

International Conference on control and Automation (ICCA)

作者： Florin Stoican Ionela Prodan Esten Ingar Grøtli Ngoc Thinh Nguyen Department of Automatic Control and Systems Engineering UPB Romania Laboratory of Conception and Integration of Systems (LCIS) Univ. Grenoble Alpes Grenoble INP Valence France Mathematics and Cybernetics SINTEF Digital Norway

This paper extends our previous work on constrained trajectory generation for UAVs (Unmanned Aerial Vehicles) with the task of fully covering an a priori known 3D structure. The novelty resides in the geometrical approach we adopt to describe sufficient coverage constraints in a mixed-integer formulation. The combined use of hyperplane arrangement, cell merging procedures and mixed-integer formulations provides feasible “viewpoint” regions through which the trajectory has to pass. The selected viewpoints with their corresponding feasible cells allow the vehicle to fully cover the 3D structure. The tools used and the results obtained are exemplified over a particular quadcopter system.

关键词： Three-dimensional displays Buildings Trajectory Indexes Solid modeling Inspection

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