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arXiv 2025年

作者： Baron-Prada, Eder Anta, Adolfo Padoan, Alberto Dörfler, Florian Austrian Institute of Technology Vienna1210 Austria Automatic Control Laboratory ETH Zurich Zürich8092 Switzerland Austrian Institute of Technology Vienna1210 Austria Department of Electrical & Computer Engineering University of British Columbia Canada Automatic Control Laboratory ETH Zürich Zürich8092 Switzerland

We introduce a novel approach to feedback stability analysis for linear time-invariant (LTI) systems, overcoming the limitations of the sectoriality assumption in the small phase theorem. While phase analysis for single-input single-output (SISO) systems is well-established, multi-input multi-output (MIMO) systems lack a comprehensive phase analysis until recent advances introduced with the small-phase theorem. A limitation of the small-phase theorem is the sectorial condition, which states that an operator’s eigenvalues must lie within a specified angle sector of the complex plane. We propose a framework based on Scaled Relative Graphs (SRGs) to remove this assumption. We derive two main results: a graphical set-based stability condition using SRGs and a small-phase theorem with no sectorial assumption. These results broaden the scope of phase analysis and feedback stability for MIMO systems. © 2025, CC BY.

关键词： MIMO systems

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On Finite Word Length Computing Error of Fixed-Point SAR Imaging Processing*

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Chinese Journal of Electronics 2025年第3期23卷 645-648页

作者： Yizhuang Xie Bocheng Zhu Wen Yan Weijie Zhang School of Information and Electronics Beijing Institute of Technology Beijing China School of Electronics Engineering and Computer Science Peking University Beijing China Science and Technology on Electronic Information Control Laboratory Chengdu China

Synthetic aperture radar (SAR) imaging system is generally realized by fixed-point with the purpose of reducing system implementation scale and enhancing real-time performance. Finite word length computing error of fixed-point SAR imaging system is studied. The characteristic of computing error in SAR imaging system is analyzed. A finite word length computing error model of SAR imaging system is built, by means of which the empirical formula of system's output noise-to-signal ratio is derived. Based on the empirical formula, SAR imaging system processing word length is presented according to different processing granularities. The validity of this proposed finite word length computing error model of SAR imaging system is verified by system level fixed-point simulation.

关键词： Computational modeling Imaging Transforms Radar polarimetry Real-time systems Synthetic aperture radar System implementation

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Semi-Cervixseg: A Multi-Stage Training Strategy for Semi-Supervised Cervical Segmentation

Semi-Cervixseg: A Multi-Stage Training Strategy for Semi-Sup...

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IEEE International Symposium on Biomedical Imaging

作者： Juntao Jiang Yali Bi Chunlin Zhou Yong Liu Jiangning Zhang College of Control Science and Engineering Zhejiang University College of Computer and Information Science Southwest University State Key Laboratory of Industrial Control Technology Zhejiang University Youtu Lab Tencent

ISBN: (数字)9798331520526

ISBN: (纸本)9798331520533

Image segmentation plays a critical role in computer-aided diagnosis and treatment planning for cervical cancer. Obtaining a large number of labeled images for supervised cervical segmentation is often labor-intensive and time-consuming. In this paper, we propose a multi-stage semi-supervised learning framework (Semi-CervixSeg) to address the cervical seg-mentation task in ultrasound images for Fetal Ultrasound Grand Challenge: Semi-Supervised Cervical Segmentation in ISBI 2025. Specifically, in the initial stage, we utilize unlabeled data through a multi-view random augmentation strategy, using consistency constraints and a contrastive learning method. Subsequently, a progressive multi-stage training strategy is adopted to generate and optimize pseudo-labels, further improving segmentation results. Experimental re-sults demonstrate that the proposed method significantly im-proves segmentation performance compared with supervised methods. As a technical report for the challenge, this paper elaborates on our methodology and experimental findings in detail. The code can be accessed at h t t p s: / / g i t hub. com/juntaoJianggavin/Semi-CervixSeg.

关键词： Training Image segmentation Ultrasonic imaging Codes Contrastive learning Semisupervised learning Writing Data models Planning computer aided diagnosis

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Distributed Prescribed-Time Observer for Nonlinear Systems in Block-Triangular Form

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IEEE control Systems Letters 2025年 9卷 222-227页

作者： Vincent de Heij M. Umar B. Niazi Karl H. Johansson Saeed Ahmed Jan C. Willems Center for Systems and Control and the Engineering and Technology Institute Groningen Faculty of Science and Engineering University of Groningen Groningen The Netherlands Division of Decision and Control Systems Digital Futures KTH Royal Institute of Technology Stockholm Sweden Department of Electrical Engineering and Computer Science Laboratory for Information and Decision Systems Massachusetts Institute of Technology Cambridge MA USA

This letter proposes a design of a distributed prescribed-time observer for nonlinear systems representable in a block-triangular observable canonical form. Using a weighted average of neighbor estimates exchanged over a strongly connected digraph, each observer estimates the system state despite the limited observability of local sensor measurements. The proposed design guarantees that distributed state estimation errors converge to zero at a user-specified convergence time, irrespective of observers’ initial conditions. To achieve this prescribed-time convergence, distributed observers implement time-varying local output injection gains that monotonically increase and approach infinity at the prescribed time. The theoretical convergence is rigorously proven and validated through numerical simulations, where some implementation issues due to increasing gains have also been clarified.

关键词： Observers Convergence Nonlinear systems Symmetric matrices Observability Directed graphs control systems Vectors Linear systems Electronic mail

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Optimal Sensor Placement for Full-Set TDOA Localization Accounting for Sensor Location Errors

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IEEE Transactions on Aerospace and Electronic Systems 2025年

作者： Zhang, Chengjie Han, Xinyang Kong, He Ho, K.C. Southern University of Science and Technology Shenzhen Key Laboratory of Control Theory and Intelligent Systems Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology Shenzhen518055 China University of Missouri Electrical Engineering and Computer Science Department ColumbiaMO65211 United States

The positioning accuracy of a signal source is influenced by where the sensors are deployed. Studies in the literature for the optimal sensor placement (OSP) of localization often ignore the presence of sensor position errors. In practice, however, it is impossible to place the sensors precisely at the desired locations. This work designs OSP by accounting for the presence of Gaussian sensor position errors that are independent and identically distributed (IID), with the full set of Time Difference of Arrival measurements corrupted by Gaussian IID noise. The criterion is the A-optimality equal to the trace of the source position Cramer-Rao Bound (CRB). We show that the presence of sensor position errors introduces a multiplication factor to the same criterion for the case without sensor position errors. The latter factor is dependent on the ratio of the sensor position error power to the range difference noise power but independent of the sensor positions, implying that the A-optimality OSP in the presence of sensor position errors is the same as in the absence. To our knowledge, this is the first time such results have been derived. Simulation studies validate the derived OSP, show the minimal OSP performance gap with sensor positioning error and without, and illustrate the better source localization accuracy by OSP. © 1965-2011 IEEE.

关键词： Cramer-Rao bounds

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CASI: Context-aware automatic Semantic Inference by fusing video and network traffic information in industrial control systems

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Information Fusion 2025年 122卷

作者： Hetu, Zheqiu Zhang, Zhenyong Wang, Mufeng Xv, Zidong Meng, Jie State Key Laboratory of Public Big Data College of Computer Science and Technology Guizhou University Guiyang550025 China China Industrial Control Systems Cyber Emergency Response Team Beijing100040 China State Key Laboratory of Industrial Control Technology and College of Control Science and Engineering Zhejiang University Hangzhou310027 China

The increasing adoption of Internet of Things devices in Industrial control Systems (ICS) has provided both attackers and security professionals with new perspectives on these traditionally safety-critical systems. Our observations reveal that video captured by field-deployed cameras contains process variables (PVs) essential for both ICS attack and defense. Based on this insight, we propose a Context-Aware Semantic Inference (CASI) method. CASI integrates video information from cameras with network traffic to infer the physical semantics of PVs in network packets, serving as a tactical tool for attackers or security professionals. A key advantage of CASI is its non-intrusive nature, deriving PVs location in the packets and semantics solely from video and network traffic without interacting with the runtime ICS, which is both covert and ensures the uninterrupted operation of the system. We constructed an ICS testbed using real devices to replicate a simplified industrial process, collecting traffic from 2 industrial protocols and creating 4 datasets. We evaluated CASI's precision and recall in detecting PVs within this context, comparing it with similar tools. Experimental results demonstrate that CASI achieves a recall rate of 1.00 in PV semantic extraction, significantly outperforming other tools. Furthermore, leveraging CASI-derived semantic information for data tampering attacks successfully disrupted monitoring and data acquisition programs, posing a severe security threat to the ICS. © 2025 Elsevier B.V.

关键词： Reverse engineering

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Boolean matrix compressed sensing

Boolean matrix compressed sensing

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2025 IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP 2025

作者： Liu, Qiang Soleymani, Mahdi Mahdavifar, Hessam National Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou310027 China Halıcıoğlu Data Science Institute University of California La Jolla San DiegoCA92093 United States Department of Electrical and Computer Engineering Northeastern University BostonMA02115 United States

ISBN: (纸本)9798350368741

In real-world datasets, leveraging the low-rank and sparsity properties enables developing efficient algorithms across a diverse array of data-related tasks, including compression, compressed sensing, matrix completion, etc. Notably, these two properties often coexist in certain real-world datasets, especially in Boolean datasets and quantized real-valued datasets. To harness the advantages of low-rank and sparsity simultaneously, we adopt a technique inspired by compressed sensing and Boolean matrix completion. Our approach entails compressing a low-rank sparse Boolean matrix by performing inner product operations with a randomly generated Boolean matrix. We then propose a decoding algorithms based on message-passing techniques to recover the original matrix. Our experiments demonstrate superior recovery performance of our proposed algorithms compared to Boolean matrix completion, with equal measurement requirements. © 2025 IEEE.

关键词： Belief Propagation Boolean Matrix Compressed Sensing Matrix Completion

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Stability Analysis of Connected Vehicle Platoons with Markovian Packet Losses

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IEEE Internet of Things Journal 2025年

作者： Wu, Yilin Zhao, Xiaoyan Shen, Zhiping Liu, Yonggui Li, Zeming Guangdong University of Education School of Computer Science Guangzhou510310 China Henan Normal University School of Mathematics and Statistics Xinxiang453007 China South China University of Technology Key Laboratory of Autonomous Systems and Network Control Ministry of Education The College of Automatic Science and Engineering Guangzhou510640 China

This article focuses on discussing the effects of inter-vehicular communication on the performance of platoon control. Different from the existing results established under a critical assumption that the fading channels are independent, this paper models the inter-vehicular communication as Markovian packet loss channel which can capture the temporal interdependencies of packet losses. Our aim is to decide whether there exists a distributed controller such that the underlying vehicle platoon can achieve mean square stability (MSS) over Markovian packet loss channels. First, for the scenario with identical Markovian packet losses, we begin by deriving a necessary and sufficient condition for the platoon MSS, which is established by utilizing the stability principles of Markov jump linear systems. Additionally, we propose a numerically verifiable criterion for MSS, which can be validated through the feasibility of linear matrix inequalities (LMIs). Furthermore, based on the modified Riccati inequality (MRI), we provide an analytical sufficient condition that ensures MSS for vehicle platoons. This condition is expressed in terms of the information flow topology (IFT) and the statistical parameters of Markov channels. Second, for the case with nonidentical packet dropouts, we introduce a Markovian loss channel based switching (MLCBS) model. Building upon this model, we further propose a sufficient conditon related to IFT and the transition probability matrix, and a distributed controller that is not only easy to implement but also enables the achievement of MSS for vehicle platoons with nonidentical packet dropouts. Ultimately, numerical experiments are performed to validate the obtained outcomes. © 2014 IEEE.

关键词： Intelligent Transportation Systems Resource-Constrained Networks Vehicular Networks

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A third-party platoon coordination service: Pricing under government subsidies

A third-party platoon coordination service: Pricing under go...

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作者： Bai, Ting Johansson, Alexander Li, Shaoyuan Johansson, Karl Henrik Mårtensson, Jonas School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden KTH Royal Institute of Technology Stockholm Sweden Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Shanghai China Digital Futures Stockholm Sweden

This paper models a platooning system consisting of trucks and a third-party service provider (TPSP), which performs platoon coordination, distributes the platooning profit in platoons, and charges trucks in exchange for the services. Government subsidies used to incentivize platooning are also considered. We propose a pricing rule for the TPSP, which keeps part of the platooning profit including the subsidy each time a platoon is formed. In addition, a platoon coordination solution based on the distributed model predictive control (MPC) is proposed, in which the pricing rule under government subsidies is integrated. We perform a realistic simulation over the Swedish road network to evaluate the impact of the pricing rule and subsidies on the achieved profits and fuel savings. Our results show that subsidies are an effective mean to boost fuel savings from platooning. Moreover, the simulation study indicates that high pricing corresponds to a low platooning rate of the system, as trucks' incentives for platooning decrease. © 2023 The Authors. Asian Journal of control published by John Wiley & Sons Australia, Ltd on behalf of Chinese automatic control Society.

关键词： Trucks

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A Recurrent Neural Network Based Bicriteria Repetitive Motion Collision Avoidance Scheme for Motion Planning of Dual Redundant Manipulators 13

A Recurrent Neural Network Based Bicriteria Repetitive Motio...

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13th International Conference on Intelligent control and Information Processing, ICICIP 2025

作者： Chen, Shirui Gao, Huanli Hu, Shaolin Zhang, Zhijun The School of Automation Science and Engineering South China University of Technology Guangzhou510640 China The School of Automation Guangdong University of Petrochemical Technology Maoming Guangzhou525000 China The Guangzhou Key Laboratory of Brain-Computer Interaction and Applications Guangzhou China The Key Library of Autonomous Systems and Network Control Ministry of Education The School of Automation Science and Engineering South China University of Technology Guangzhou510640 China Guangzhou510555 China The Jiangxi Thousand Talents Plan Nanchang University Nanchang330031 China The College of Computer Science and Engineering Jishou University Jishou416000 China Guangzhou510335 China The Shaanxi Provincial Key Laboratory of Industrial Automation School of Mechanical Engineering Shaanxi University of Technology Hanzhong723001 China The School of Information Science and Engineering Changsha Normal University Changsha410100 China The School of Automation Science and Engineering Maoming525000 China The Institute of Artificial Intelligence and Automation Guangdong University of Petrochemical Technology Maoming525000 China

ISBN: (纸本)9798331516147

To achieve low joint-angle drift and avoid mutual collision between dual redundant manipulators (DRMs) when they are doing collaboration works, a recurrent neural network based bicriteria repetitive motion collision avoidance (BRMCA) scheme is proposed for motion planning of DRMs. By designing a combined optimization objective encompassing both repetitive motion criterion and collision avoidance criterion, the BRMCA scheme has larger feasible region and less constraint contradiction issues compared with traditional inequality constraints based method. Furthermore, by incorporating velocity-level kinematic model and physical limits of DRMs into the scheme, a time varying quadratic programming (TVQP) problem is formulated. The linear variational inequality-based primal–dual neural network (LVI-PDNN) is used to solve the proposed scheme due to the high accuracy and low computation complexity. Finally, through comparison simulations of tracking Circle-shape and C-shape trajectories between BRMCA scheme and minimum velocity norm (MVN) scheme, it exhibits that the proposed BRMCA scheme can achieve low joint-angle drift, collision avoidance and high tracking accuracy when DRMs are doing cooperative tasks. © 2025 IEEE.

关键词： Recurrent neural networks

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