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Time-varying Algorithm for Swarm Robotics

IEEE/CAA Journal of Automatica Sinica 2018年第1期5卷 217-222页

作者： Ligang Hou Fangwen Fan Jingyan Fu Jinhui Wang Laboratory of VLSI and Systems College of Microelectronics Beijing University of Technology Department of Electrical and Computer Engineering North Dakota State University

Ever since the concept of swarm intelligence was brought out, a variety of control algorithms for swarm robotics has been put forward, and many of these algorithms are stable enough and efficient. Most of the researches only take an invariable controller which functions through the whole stage into consideration, the situation in which controller changes over time is rarely taken into account. However, there are limitations for invariable controller dominated algorithms in practical situation,which makes them unable to meet changing environment. On the contrary, variable controller is more flexible and can be able to adapt to complex environment. Considering such advantages,a time-varying algorithm for swarm robotics is presented in this paper. The algorithm takes time as one of the independent variables so that the controller is no longer fixed through the time,but can be changed over time, which brings more choices for the swarm robot system. In this paper, some relevant simulations are designed to test the algorithm. Different control strategies are applied on the same flock during the time, and a more complex,flexible and practical control effect is acquired successfully.

关键词： Advanced self-organization behavior agentbased distributed control system aggregation swarm intelligence

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Deep Unfolding Neural Networks for Fluid Antenna-Enhanced Vehicular Communication

引用

IEEE Transactions on Vehicular Technology 2025年

作者： Feng, Biqian Feng, Chenyuan Wong, Kai-Kit Quek, Tony Q. S. University of Macau State Key Laboratory of Internet of Things for Smart City The Department of Computer and Information Science China EURECOM Sophia Antipolis 06410 France University College London Department of Electronic and Electrical Engineering Torrington Place WC1E 7JE United Kingdom Yonsei University Yonsei Frontier Lab Seoul Korea Republic of Singapore University of Technology and Design Information Systems Technology and Design Pillar Singapore487372 Singapore

Fluid antenna (FA) technology has emerged as a promising technology to achieve higher spectral and energy efficiency by introducing a new dimension. However, the antenna position configuration inevitably increases computational complexity, presenting challenges under real-time configuration requirements, especially in vehicular communication systems characterized by rapidly time-varying channels. To address these issues, this paper investigates the classical weighted sum rate maximization problem and proposes an optimization-empowered neural network framework designed to accelerate convergence without compromising accuracy. Extensive simulations demonstrate that the proposed approach effectively mitigates the computational burdens associated with FAs, delivering superior performance in terms of convergence rate and system performance, thus paving the way for the deployment of next-generation FA-enabled communication systems. © 2025 IEEE.

关键词： Deep neural networks

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Distributed Constrained Online Nonconvex Optimization with Compressed Communication

arXiv

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arXiv 2025年

作者： Zhang, Kunpeng Xu, Lei Yi, Xinlei Cao, Ming Johansson, Karl H. Chai, Tianyou Yang, Tao State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang110819 China Department of Mechanical Engineering University of Victoria VictoriaBCV8W 2Y2 Canada Shanghai Institute of Intelligent Science and Technology National Key Laboratory of Autonomous Intelligent Unmanned Systems Frontiers Science Center for Intelligent Autonomous Systems Ministry of Education Shanghai201210 China Engineering and Technology Institute Groningen Faculty of Science and Engineering University of Groningen GroningenAG 9747 Netherlands Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Sweden Digital Futures Stockholm10044 Sweden

This paper considers distributed online nonconvex optimization with time-varying inequality constraints over a network of agents. For a time-varying graph, we propose a distributed online primal–dual algorithm with compressed communication to efficiently utilize communication resources. We show that the proposed algorithm establishes an O(T max{1−θ1,θ1}) network regret bound and an O(T 1−θ1/2) network cumulative constraint violation bound, where T is the number of iterations and θ1 ∈ (0, 1) is a user-defined trade-off parameter. When Slater’s condition holds (i.e, there is a point that strictly satisfies the inequality constraints at all iterations), the network cumulative constraint violation bound is reduced to O(T 1−θ1). These bounds are comparable to the state-of-the-art results established by existing distributed online algorithms with perfect communication for distributed online convex optimization with (time-varying) inequality constraints. Finally, a simulation example is presented to validate the theoretical results. Copyright © 2025, The Authors. All rights reserved.

关键词： Convex optimization

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Electrochemical Detection of Lactate and Glucose with Enzyme-Free and Dual-Sensing Using Nickel-Oxide Nanoparticles

SSRN

引用

SSRN 2025年

作者： Nasiri, Rohollah Guagliano, Giuseppe Van Gastel, Dirkje Sanei, Reihaneh Madadelahi, Masoud Tanriverdi, Selim Jain, Saumey Fayazbaksh, Farzaneh Lee, Sang Won Zhu, Yangzhi Joensson, Haakan N. Russom, Aman Herland, Anna Division of Nanobiotechnology Department of Protein Science Science for Life Laboratory KTH Royal Institute of Technology Solna Sweden AIMES Center for the Advancement of Integrated Medical and Engineering Sciences Department of Neuroscience Karolinska Institute Solna Sweden Department of Chemistry Materials and Chemical Engineering "G. Natta" Politecnico di Milano Milan Italy Division of Micro and Nanosystems Department of Intelligent Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Terasaki Institute for Biomedical Innovation Los AngelesCA90064 United States

Detection and monitoring of lactate and glucose levels in biological fluids and cell cultures are critical for understanding metabolic disorders. While electrochemical biosensors are commonly used, traditional enzymatic sensors face stability, reproducibility, and cost challenges. To address these issues, we developed non-enzymatic sensors using nanostructured electrodes, specifically nickel oxide (NiO)-based, for lactate and glucose detection. The sensors were fabricated by drop-casting a NiO/Nafion/ethanol dispersion onto the working electrode, with performance evaluated through cyclic voltammetry and amperometry. Optimal sensitivity and linearity were achieved at a working voltage of ~0.5 V. To address glucose interference, sensors were modified with Prussian Blue, creating a dual sensor for lactate and glucose. The sensors respectively exhibited linear responses for lactate (0.1 – 5 mM) and glucose (0.1 – 5 mM) with detection limits of 0.60 mM and 0.35 mM, and it showed sensitivities of 0.43 ± 0.05 µA/mM (lactate) and 0.82 ± 0.02 µA/mM (glucose) in phosphate buffer solution. Validation against the lactate and glucose assay kits in a cell culture medium showed good agreement, highlighting the potential of these enzyme-free electrochemical sensors for metabolic analysis. Finally, the sensor was integrated with a microfluidic device, demonstrating its potential as a flow-through, enzyme-free metabolic sensor for future organ-on-chip applications. © 2025, The Authors. All rights reserved.

关键词： Cyclic voltammetry

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Efficient detection of restricted classes of global predicates 9th

Efficient detection of restricted classes of global predicat...

引用

9th International Workshop on Distributed Algoriths, WDAG 1995

作者： Chase, Craig M. Garg, Vijay K. Parallel and Distributed Systems Laboratory Electrical and Computer Engineering Department The University of Texas at Austin United States

ISBN: (纸本)3540602747

We show that the problem of predicate detection in distributed systems is NP-complete. We introduce a class of predicates, linear predicates, such that for any linear predicate B there exists an efficient detection of the least cut satisfying B. The dual of linearity is post-linearity. These properties generalize several known properties of distributed systems, such as the set of consistent cuts forms a lattice, and the WCP and GCP predicate detection results given in earlier work. We define a more general class of predicates, semi-linear predicates, for which efficient algorithms are known to detect whether a predicate has occurred during an execution of a distributed program. However, these methods may not identify the least such cut. Any stable predicate is an example of a semi-linear predicate. In addition, we show that certain unstable predicates can also be semi-linear, such as mutual exclusion violation. Finally, we show application of max-flow to the predicate detection problem. This result solves a previously open problem in predicate detection, establishing the existence of an efficient algorithm to detect predicates of the form X1 + x2… +xn i are variables on different processes, k is some constant, and n is larger than 2. © Springer-Verlag Berlin Heidelberg 1995.

关键词： computers

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Privacy Preservation for Cloud-Edge-Collaborative Energy Management System Using Post-Quantum Homomorphic Encryption

引用

IEEE Transactions on Smart Grid 2025年

作者： Jiang, Cheng Li, Xue Du, Dajun Qian, Hong Wen, Mi Wu, Lei Findeisen, Rolf Shanghai University of Electric Power Shanghai Key Laboratory of Power Station Automation Technology College of Automation Engineering Shanghai200090 China Shanghai University Shanghai Key Laboratory of Power Station Automation Technology School of Mechatronical Engineering and Automation Shanghai200072 China Shanghai University of Electric Power College of Computer Science and Technology Shanghai201306 China Advanced Cryptography and System Security Key Laboratory of Sichuan Province Chengdu610225 China Stevens Institute of Technology Department of Electrical and Computer Engineering HobokenNJ07030 United States TU Darmstadt Control and Cyber-Physical Systems Laboratory Darmstadt64227 Germany

Cloud-based energy management systems (EMS) in smart grids face privacy challenges, as existing methods based on traditional homomorphic encryption support limited operations and are vulnerable to quantum attacks. We propose a privacy preservation method for smart grid energy management system, leveraging edge-assisted computing and ring learning with errors (RLWE) homomorphic encryption. Our approach enables both addition and multiplication operations on encrypted smart grid data while defending against quantum threats. We demonstrate the methods security under the RLWE hardness assumption and validate its effectiveness through an experimental platform simulating smart grid environments. This work addresses computational limitations in current privacy-preserving techniques, enhancing data security for evolving smart grid technologies © 2010-2012 IEEE.

关键词： Power management (telecommunication)

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Realisation of Butterworth-type optical filters using 3x3 coupler ring resonators

引用

IEE PROCEEDINGS-OPTOELECTRONICS 1996年第2期143卷 126-134页

作者： Binh, LN Thien, NX Ngo, NQ Department of Electrical and Computer Systems Engineering Applied Photonics & Optical Communications Laboratory Monash University Melbourne Australia

Butterworth-type optical filters are realised using a combination of optical resonators which exhibit a single pole and single zero transfer function, quasi-all zero and quasi-all pole optical circuits, Design procedures as well as filter structures are proposed for optical lowpass, highpass and bandpass optical filters of even and odd orders. In particular, the [3 x 3] planar optical directional coupler has been employed with a direct feedback path and a single optical delay feedback to form a single-pole single-zero optical resonator. This is the basic block of cascaded sections of optical filters. [2 x 2] optical directional couplers have also been employed to construct interferometers and resonators having quasi-all pole or all zeros characteristics for cascading with the double feedback resonators to implement odd- and even-order modular optical filters.

关键词： optical filters ring resonators design procedures

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Analog computation of image chromaticity

引用

REAL-TIME IMAGING 1997年第1期3卷 1-6页

作者： Andreadis, I Tsalides, P Laboratory of Electronics Section of Electronics and Information Systems Technology Department of Electrical and Computer Engineering 67100 Xanthi Greece

This paper presents the design and implementation of a new analog real-time color space converter using off-the-shelf chips, which performs the transformation of the RGB color coordinates, obtained from a color sensor, to the RGB normalized color coordinates. The RGB color coordinates are relatively insensitive to light intensity variations, hence contributing to simplified segmentation. The module is intended to be used as the front end of color machine vision systems in inspection tasks and in autonomous applications, where the need for short processing times is crucial. Experimental results exhibiting the usefulness of the proposed color space converter are also presented. (C) 1997 Academic Press Limited.

关键词： Color image processing

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ROUTER CONNECTED PHYSICAL MEDIA IN NETWORKING THE INTELLIGENT HOME

引用

IEEE TRANSACTIONS ON CONSUMER ELECTRONICS 1992年第1期38卷 30-35页

作者： YANG, J MANIKOPOULOS, CN Intelligent Systems Laboratory Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ USA

The performance of the CEBus, a proposed computer network standard for the intelligent home, implemented with Power Line (PL) and Twisted Pair (TP) media, interconnected through a router, has been investigated. The delay and throughput characteristics of each of the three priority class of messages, i.e., DEFERRED, STANDARD and HIGH, have been measured. Overall, the PL - Router - TP network system has behaved well and as expected, however care must be taken to restrict traffic from the high (TP) to the low (PL) capacity medium to reasonable levels from the point of view of the low capacity medium.

关键词： Intelligent networks Delay effects computer networks Throughput Optical fiber communication Access protocols Multiaccess communication ISO standards Optical signal processing Laboratories

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Implementation of the velocities of the end-effector with the distributed arithmetic architecture

引用

JOURNAL OF INTELLIGENT & ROBOTIC systems 1996年第4期17卷 387-417页

作者： Grigoriadis, GK Mertzios, BG Automatic Control Systems Laboratory Department of Electrical and Computer Engineering Democritus University of Thrace 67100 Xanthi Greece

The fast implementation of the linear and of the angular velocities of the end-effector of robotic manipulators, using the distributed arithmetic technique is described. The linear and angular velocities of the end-effector as well as the positional and the orientational Jacobian matrices is calculated by a cascade configuration of two pipelined arrays. The building blocks of the arrays are the distributed arithmetic-based circuits that implement the matrix-vector multiplications involved in the calculations. The digit-serial configuration of the proposed implementation of the linear and angular velocities of the end-effector is described, while the serial and the parallel configurations may result as special cases of the digit-serial configuration. The proposed distributed arithmetic computer architecture may be used in the real-time operation of the robot control system that requires the on-line computation of the position, of the linear and angular velocities of the end-effector and of the Jacobian matrix.

关键词： robot kinematics linear velocity angular velocity positional and orientational Jacobian matrices fast implementation pipelining distributed arithmetic and end-effector

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