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A Pricing Rule for Third-Party Platoon Coordination Service Provider

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A Pricing Rule for Third-Party Platoon Coordination Service ...

Asian control Conference

作者： Ting Bai Alexander Johansson Shaoyuan Li Karl Henrik Johansson Jonas Må rtensson Integrated Transport Research Lab Digital Futures and Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiao Tong University Shanghai China

We model a platooning system including trucks and a third-party service provider that performs platoon coordination, distributes the platooning profit within platoons, and charges the trucks in exchange for its services. This paper studies one class of pricing rules, where the third-party service provider keeps part of the platooning profit each time a platoon is formed. Furthermore, we propose a platoon coordination solution based on distributed model predictive control in which the pricing rule is integrated. To evaluate the effect of the pricing on the platooning system, we perform a simulation over the Swedish road network. The simulation shows that the platooning rate and profit highly depend on the pricing. This suggests that pricing needs to be set carefully to obtain a satisfactory platooning system in the future.

关键词： Roads Pricing Predictive control

Distributed Emergency Frequency control Considering Transient Stability Constraints in Multi-Infeed Hybrid AC-DC system

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arXiv 2022年

作者： Liu, Ye Shen, Chen Wang, Zhaojian The State Key Laboratory of Power Systems Department of Electrical Engineering Tsinghua University Beijing100084 China The Key Laboratory of System Control and Information Processing Ministry of Education of China Department of Automation Shanghai Jiao Tong University Shanghai200240 China

Due to possible emergency faults and frequency regulation reserve shortage in the multi-infeed hybrid AC-DC (MIDC) system, the emergency frequency control (EFC) with LCC-HVDC systems participating is important for system frequency stability. Nevertheless, the existing decentralized EFC strategies cannot guarantee the transient stability constraints of lines and cannot meet the frequency restoration requirement. To fill this gap, this paper proposes a complementary distributed EFC strategy. By selecting the semi-distributed or fully-distributed control law according to the state of AC system control center, the proposed distributed EFC can improve the control performance with a normal control center and enhance the control reliability in case of control center failure. Then, to derive the semi-distributed and fully-distributed control laws, a general design method is proposed by formulating an optimal EFC problem. Both of these two control laws can guarantee transient stability constraints, restore system frequency and achieve the defined optimal control objective. Moreover, the optimality of the closed-loop equilibrium is proven, and a Lyapunov analysis shows the asymptotic stability of the closed-loop system with the discontinuous control dynamics. A case study verifies the effectiveness of the proposed distributed EFC strategy. Copyright © 2022, The Authors. All rights reserved.

关键词： Asymptotic stability

Metafruit Meets Foundation Models: Leveraging a Comprehensive Multi-Fruit Dataset for Advancing Agricultural Foundation Models

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SSRN

SSRN 2024年

作者： Li, Jiajia Lammers, Kyle Yin, Xunyuan Yin, Xiang He, Long Lu, Renfu Li, Zhaojian Department of Electrical and Computer Engineering Michigan State University East LansingMI United States School of Chemical and Biomedical Engineering Nanyang Technological University Singapore Department of Automation Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Shanghai China Department of Agricultural and Biological Engineering Pennsylvania State University United States United States Department of Agriculture Agricultural Research Service East LansingMI United States Department of Mechanical Engineering Michigan State University East LansingMI United States

Fruit harvesting poses a significant labor and financial burden for the industry, highlighting the critical need for advancements in robotic harvesting solutions. Machine vision-based fruit detection has been recognized as a crucial component for robust identification of fruits to guide robotic manipulation. Despite considerable progress in leveraging deep learning and machine learning techniques for fruit detection, a common shortfall is the inability to swiftly extend the developed models across different orchards and/or various fruit species. Additionally, the limited availability of pertinent data further compounds these challenges. In this work, we introduce MetaFruit, the largest publicly available multi-class fruit dataset, comprising 4,248 images and 248,015 manually labeled instances across diverse U.S. orchards. Furthermore, this study proposes an innovative open-set fruit detection system leveraging advanced Vision Foundation Models (VFMs) for fruit detection that can adeptly identify a wide array of fruit types under varying orchard conditions. This system not only demonstrates remarkable adaptability in learning from minimal data through few-shot learning but also shows the ability to interpret human instructions for subtle detection tasks. The performance of the developed foundation model is comprehensively evaluated using several metrics, which outperforms the existing state-of-the-art algorithms in both our MetaFruit dataset and other open-sourced fruit datasets, thereby setting a new benchmark in the field of agricultural technology and robotic harvesting. The MetaFruit dataset and detection framework are open-sourced to foster future research in vision-based fruit harvesting, marking a significant stride toward addressing the urgent needs of the agricultural sector. © 2024, The Authors. All rights reserved.

关键词： Fruits

MetaFruit Meets Foundation Models: Leveraging a Comprehensive Multi-Fruit Dataset for Advancing Agricultural Foundation Models

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arXiv 2024年

Fruit harvesting poses a significant labor and financial burden for the industry, highlighting the critical need for advancements in robotic harvesting solutions. Machine vision-based fruit detection has been recognized as a crucial component for robust identification of fruits to guide robotic manipulation. Despite considerable progress in leveraging deep learning and machine learning techniques for fruit detection, a common shortfall is the inability to swiftly extend the developed models across different orchards and/or various fruit species. Additionally, the limited availability of pertinent data further compounds these challenges. In this work, we introduce MetaFruit, the largest publicly available multi-class fruit dataset, comprising 4,248 images and 248,015 manually labeled instances across diverse U.S. orchards. Furthermore, this study proposes an innovative open-set fruit detection system leveraging advanced Vision Foundation Models (VFMs) for fruit detection that can adeptly identify a wide array of fruit types under varying orchard conditions. This system not only demonstrates remarkable adaptability in learning from minimal data through few-shot learning but also shows the ability to interpret human instructions for subtle detection tasks. The performance of the developed foundation model is comprehensively evaluated using several metrics, which outperforms the existing state-of-the-art algorithms in both our MetaFruit dataset and other open-sourced fruit datasets, thereby setting a new benchmark in the field of agricultural technology and robotic harvesting. The MetaFruit dataset (https://***/datasets/jiajiali/metafruit) and detection framework (https://***/JiajiaLi04/FMFruit) are open-sourced to foster future research in vision-based fruit harvesting, marking a significant stride toward addressing the urgent needs of the agricultural sector. © 2024, CC BY-NC-SA.

关键词： Fruits

Submodularity-based False Data Injection Attack Scheme in Multi-agent Dynamical systems

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arXiv 2022年

作者： Luo, Xiaoyu Zhao, Chengcheng Fang, Chongrong He, Jianping The Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China The State Key Laboratory of Industrial Control Technology Institute of Cyberspace Research Zhejiang University China The Department of Electrical and Computer Engineering University of Victoria BC Canada

Consensus in multi-agent dynamical systems is prone to be sabotaged by the adversary, which has attracted much attention due to its key role in broad applications. In this paper, we study a new false data injection (FDI) attack design problem, where the adversary with limited capability aims to select a subset of agents and manipulate their local multi-dimensional states to maximize the consensus convergence error. We first formulate the FDI attack design problem as a combinatorial optimization problem and prove it is NP-hard. Then, based on the submodularity optimization theory, we show the convergence error is a submodular function of the set of the compromised agents, which satisfies the property of diminishing marginal returns. In other words, the benefit of adding an extra agent to the compromised set decreases as that set becomes larger. With this property, we exploit the greedy scheme to find the optimal compromised agent set that can produce the maximum convergence error when adding one extra agent to that set each time. Thus, the FDI attack set selection algorithms are developed to obtain the near-optimal subset of the compromised agents. Furthermore, we derive the analytical suboptimality bounds and the worst-case running time under the proposed algorithms. Extensive simulation results are conducted to show the effectiveness of the proposed algorithm. Copyright © 2022, The Authors. All rights reserved.

关键词： Dynamical systems

MG-SLAM: Structure Gaussian Splatting SLAM with Manhattan World Hypothesis

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arXiv 2024年

作者： Liu, Shuhong Deng, Tianchen Zhou, Heng Li, Liuzhuozheng Wang, Hongyu Wang, Danwei Li, Mingrui Department of Information Science and Technology Department of Complexity Science and Engineering The University of Tokyo Tokyo113-8654 Japan Institute of Medical Robotics Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China Department of Mechanical Engineering Columbia University New York10027 United States School of Electrical and Electronic Engineering Nanyang Technological University Singapore Department of Computer Science Dalian University of Technology Dalian116024 China

Gaussian Splatting SLAMs have made significant advancements in improving the efficiency and fidelity of real-time reconstructions. However, these systems often encounter incomplete reconstructions in complex indoor environments, characterized by substantial holes due to unobserved geometry caused by obstacles or limited view angles. To address this challenge, we present Manhattan Gaussian SLAM, an RGB-D system that leverages the Manhattan World hypothesis to enhance geometric accuracy and completeness. By seamlessly integrating fused line segments derived from structured scenes, our method ensures robust tracking in textureless indoor areas. Moreover, The extracted lines and planar surface assumption allow strategic interpolation of new Gaussians in regions of missing geometry, enabling efficient scene completion. Extensive experiments conducted on both synthetic and real-world scenes demonstrate that these advancements enable our method to achieve state-of-the-art performance, marking a substantial improvement in the capabilities of Gaussian SLAM systems. © 2024, CC BY.

关键词： Gaussian distribution

Effect of O2on Partial Discharge Characteristic of C5F10O/CO2Gas Mixture

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Effect of O2on Partial Discharge Characteristic of C5F10O/CO...

2021 International Conference on Advanced electrical Equipment and Reliable Operation, AEERO 2021

作者： Xia, Yalong Liu, Fan Wei, Zhuo Zhang, Xiaoxing Han, Pu Xiao, Song Li, Zhen Li, Yi Li, Yalong Research Institute State Grid Sichuan Electric Power Cheng Du China Wuhan University School of Electrical Engineering and Automation Wuhan China Hubei University of Technology Hubei Key Lab. for High-efficiency Utiliz. of Solar Ener. and Oper. Control of Energy Storage System Wuhan China

ISBN: (纸本)9781665402644

C5F10O, as a new eco-friendly gas insulating medium with great application potential, has attracted much attention from researchers. There are few studies on the partial discharge (PD) characteristics of C5F10O/CO2O2 gas mixture at present. In this paper, we used needle-plate electrodes to simulate the extremely inhomogeneous electric field caused by the defects of metal protrusions in electrical equipment and tested the partial discharge initial voltage (PDIV) of C5F10O/CO2O2 gas mixture. The effect of oxygen on the partial discharge characteristics of C5F10O gas mixture was revealed. We found that C5F10O gas mixture has an obvious polarity effect, and PDIV+ is always larger than PDIV-. The addition of oxygen reduces the PDIV- and PDIV+ of C5F10O gas mixture and the reduction effect on PDIV+ is more obvious. Therefore, the degrading effect of O2 on the partial discharge characteristics of C5F10O gas mixture should be considered and the proportion of oxygen in C5F10O gas mixture should be strictly controlled. © 2021 IEEE.

关键词： Partial discharges

Distributed Prescribed-Time Formation Tracking for General Linear Multiagent systems

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Distributed Prescribed-Time Formation Tracking for General L...

International Conference on control and automation (ICCA)

作者： Zhexin Shi Yikun Yang Jianglong Yu Xiwang Dong Qingdong Li Zhang Ren Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beihang University Beijing P. R. China Shenyuan Honors College Beihang University Beijing P. R. China Institute of Artificial Intelligence Beihang University Beijing P. R. China Institute of Unmanned System Beihang University Beijing P. R. China

ISBN: (数字)9798350354409

ISBN: (纸本)9798350354416

This paper studies prescribed-time formation tracking problems for general linear multiagent systems with a leader of unknown input. First, by introducing a time-varying parametric Lyapunov equation, a distributed prescribed-time formation tracking protocol is proposed for each follower to accomplish an expected formation within a prescribed time, and simultaneously follow the leader's state trajectory. Then, adaptive gains are developed to achieve formation tracking in a fully distributed manner and to compensate for the leader's unknown input. Furthermore, the prescribed-time convergence of the formation tracking error is analyzed using Lyapunov theories. Finally, the effectiveness of theoretical results is validated through a simulation example.

关键词： Protocols Upper bound automation Mathematical models Trajectory Topology Multi-agent systems

Research on Improved Particle Swarm Optimized Fuzzy PID control for Quadrotor UAV

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Research on Improved Particle Swarm Optimized Fuzzy PID Cont...

Chinese automation Congress (CAC)

作者： Guohong Li Pengfei Wei Weiyue Yang Ran Gao Tianjin Key Laboratory of Control Theory and in Complicated System Tianjin University of Technology Tianjin China School of Electrical Engineering and Automation Tianjin University of Technology Tianjin China

ISBN: (纸本)9781665426480

Aiming at the problem of blindness in selecting the scale factor and quantization factor in the fuzzy PID control of quadrotor UA V based on empirical knowledge and simulation debugging, an improved particle swarm algorithm is proposed to optimize the parameter factors of the fuzzy controller, method. Using the adaptive inertia - weight method to optimize the particle swarm can avoid the dilemma of local optimality at the beginning. At the same time, the ITAE criterion is selected as the adaptability of the particle swarm algorithm to achieve better control effect. The adaptive particle swarm fuzzy PID is proved to be faster than fuzzy PID and traditional PID, with less overshoot and shorter stabilization time; the particle swarm fuzzy PID algorithm takes less time to recover the stabilization time when disturbing signals are encountered.

关键词： PI control Quantization (signal) automation Attitude control Optimal control Debugging Blindness