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China International Electrical and Energy Conference (CIEEC)

作者： Yunus Arı Ergün Cücük Seda Karateke Electric and Electronic Engineering Institute of Graduate Studies Istanbul University - Cerrahpaşa Istanbul Turkey Department of Research and Development Ges Teknik Air Conditioning Control and Automation Systems Industry and Trade Inc. Istanbul Turkey Department of Computer Engineering Faculty of Engineering Istanbul Topkapı University Istanbul Turkey

The efficient operation of HVAC&R systems are based on keeping indoor temperature and air quality at an optimum level without disturbing comfort. Starting from this point, in this experimental research, the factors affecting the measurement accuracy during the room temperature detection of a wall mount fan coil thermostat were examined. Among the external effects, the effect of the device components on the measurement was focused and the solution of the measurement deviations occurred in this extent was investigated. Based on the experiments, the algorithm that must be applied to reach the optimum temperature measurement of a room thermostat developed for Fan Coil systems was proposed.

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Shared Situational Awareness with V2X Communication and Set-membership Estimation

arXiv

引用

arXiv 2023年

作者： Narri, Vandana Alanwar, Amr Mårtensson, Jonas Norén, Christoffer Johansson, Karl Henrik Research and Development Scania CV AB Södertälje151 87 Sweden Division of Decision and Control Systems at School of Electrical Engineering and Computer Science KTH Royal Institute of Technology StockholmSE100 44 Sweden School of Computer Science and Engineering Constructor University Germany

The ability to perceive and comprehend a traffic situation and to estimate the state of the vehicles and road-users in the surrounding of the ego-vehicle is known as situational awareness. Situational awareness for a heavy-duty autonomous vehicle is a critical part of the automation platform and depends on the ego-vehicle’s field-of-view. But when it comes to the urban scenario, the field-of-view of the ego-vehicle is likely to be affected by occlusion and blind spots caused by infrastructure, moving vehicles, and parked vehicles. This paper proposes a framework to improve situational awareness using set-membership estimation and Vehicle-to-Everything (V2X) communication. This framework provides safety guarantees and can adapt to dynamically changing scenarios, and is integrated into an existing complex autonomous platform. A detailed description of the framework implementation and real-time results are illustrated in this paper. Copyright © 2023, The Authors. All rights reserved.

关键词： Vehicle to Everything

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Influence of Pulse Discharging on Lithium-Ion Battery

Influence of Pulse Discharging on Lithium-Ion Battery

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International Electrical Engineering Congress (iEECON)

作者： Hsu Myat Naing Chinda Charoenphonphanich Masaki Yamakita Pera Tanateerapong Burin Kerdsup Manop Masomtob Department of Mechanical Engineering School of Engineering King Mongkut's Institute of Technology Ladkrabang Bangkok Thailand Department of Systems and Control Engineering School of Engineering Tokyo Institute of Technology Tokyo Japan National Astronomical Research Institute of Thailand (NARIT) Chiangmai Thailand National Electronics and Computer Technology Center(NECTEC) National Science and Technology Development Agency Pathum Thani Thailand National Energy and Technology Center(ENTEC) National Science and Technology Development Agency Pathum Thani Thailand

This paper aims to investigate the impact of switching frequencies in pulse discharging of batteries by testing with Lithium-ion cells. Applying lithium-ion batteries in high power applications is needed to be managed according to the demand of load power and current profile. The pulse current discharging technique with different frequencies is expected to improve the charging/ discharging capacity and energy of lithium-ion batteries. In this paper, lithium-ion cells were tested with pulse current at various switching frequencies with 75% duty cycle during discharging. The results of pulse discharging with different switching frequencies were compared with constant current discharging method by evaluating capacity and energy. From this research, the results indicated that pulse discharging at low frequencies generated high discharging capacity than constant current discharging.

关键词： Lithium-ion batteries Electrical engineering Switching frequency Testing

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Riemannian Online Optimistic Algorithms with Dynamic Regret

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IEEE Transactions on Automatic control 2025年

作者： Wang, Xi Yuan, Deming Hong, Yiguang Hu, Zihao Wang, Lei Shi, Guodong University of New South Wales School of Electrical Engineering & Telecommunications SydneyNSW2052 Australia Nanjing University of Science and Technology School of Automation Nanjing210094 China Tongji University Shanghai Research Institute for Intelligent Autonomous Systems Shanghai201210 China Hong Kong University of Science and Technology Department of Mathematics Hong Kong Zhejiang University College of Control Science and Engineering Zhejiang 310058 China The University of Sydney Australian Center for Robotics School of Aerospace Mechanical and Mechatronic Engineering NSW2006 Australia

In this paper, we consider Riemannian online convex optimization with dynamic regret, which involves minimizing the cumulative loss difference between a learner's decisions and a sequence of adaptive decisions across dynamic environments over time on Riemannian manifolds. First, we propose Riemannian Online Optimistic Gradient Descent (R-OOGD), which extends the classical optimistic algorithms to Riemannian manifolds, requiring one gradient inquiry per round. We then propose Riemannian Adaptive Online Optimistic Gradient Descent (R-AOOGD) by incorporating the meta-expert framework into R-OOGD. We analyze the dynamic regret of R-OOGD and R-AOOGD in terms of the regularity of the sequence of cost functions and comparators. The dynamic regret bound matches the results in Euclidean space and with a scale adjustment of O(1+κ D2/√1-KD2) related to the sectional curvature lower bound κ, sectional curvature upper bound and feasible set diameter. Finally, we provide numerical experiments to illustrate the performance of the proposed algorithms. © 1963-2012 IEEE.

关键词： Optimization algorithms

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PARODIS: One MPC framework to control them all. Almost.

PARODIS: One MPC framework to control them all. Almost.

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control Technology and Applications (CCTA),

作者： Thomas Schmitt Jens Engel Matthias Hoffmann Tobias Rodemann Control Methods & Robotics Lab Technical University of Darmstadt Darmstadt Germany. Honda Research Institute Europe GmbH Offenbach Germany Systems Modeling and Simulation Systems Engineering Saarland University Germany

ISBN: (纸本)9781665436441

We introduce the MATLAB framework PARODIS, the Pareto optimal Model Predictive control framework for distributed systems. It is a general-purpose, flexible and easy-to-use framework for discrete state space models. Special features are the support of distributed (hierarchical) systems, scenario-based optimization and built-in methods for determination of the Pareto front and selection of a solution. It uses the popular MATLAB framework YALMIP for the symbolic formulation of optimization problems and models.

关键词： Adaptation models Object oriented modeling Conferences Hierarchical systems Pareto optimization Mathematical models Optimization

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Identifiability Analysis of Noise Covariances for LTI Stochastic systems with Unknown Inputs

arXiv

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arXiv 2022年

作者： Kong, He Sukkarieh, Salah Arnold, Travis J. Chen, Tianshi Mu, Biqiang Zheng, Wei Xing Shenzhen518055 China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities SUSTech Shenzhen518055 China Sydney Institute for Robotics and Intelligent Systems The University of Sydney NSW2006 Australia Madison WI53704 United States School of Data Science Shenzhen Research Institute of Big Data The Chinese University of Hong Kong Shenzhen518172 China Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China School of Computer Data and Mathematical Sciences Western Sydney University SydneyNSW2751 Australia

Most existing works on optimal filtering of linear time-invariant (LTI) stochastic systems with arbitrary unknown inputs assume perfect knowledge of the covariances of the noises in the filter design. This is impractical and raises the question of whether and under what conditions one can identify the process and measurement noise covariances (denoted as Q and R, respectively) of systems with unknown inputs. This paper considers the identifiability of Q/R using the correlation-based measurement difference approach. More specifically, we establish (i) necessary conditions under which Q and R can be uniquely jointly identified;(ii) necessary and sufficient conditions under which Q can be uniquely identified, when R is known;(iii) necessary conditions under which R can be uniquely identified, when Q is known. It will also be shown that for achieving the results mentioned above, the measurement difference approach requires some decoupling conditions for constructing a stationary time series, which are proved to be sufficient for the well-known strong detectability requirements established by Hautus. © 2022, CC BY.

关键词： Stochastic systems

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Online Triangular Constraint Calibration for LiDAR and Cameras in Open-Pit Mines

IEEE Transactions on Field Robotics

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IEEE Transactions on Field robotics 2024年 2卷 131-146页

作者： Yuchen Li Luxi Li Siyu Teng Zhenshan Bing Alois Christian Knoll Zhe Xuanyuan Long Chen Guangdong Provincial/Zhuhai Key Laboratory of IRADS BNU-HKBU United International College Zhuhai China Faculty of Science Hong Kong Baptist University Hong Kong SAR China Research and Development Center WAYTOUS Inc. Beijing China Department of Information Technische Universität München Munich Germany State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Xi’an China Department of Artificial Intelligence Guangdong Laboratory of Artificial Intelligence and Digital Economy Shenzhen China

Extrinsic calibration between a LiDAR and a camera is a crucial task for intelligent vehicles and mobile robots. However, most of the current extrinsic calibration methods are offline and target-based, making it hard to achieve real-time calibration depending on the characteristics of the environments. Although a few online calibration strategies can solve the above drawbacks, they still rely on a large amount of labeled data and struggle to achieve satisfactory performance in extrinsic calibration in unstructured scenarios where valid targets are scarce. In this work, we propose an effective online calibration strategy for mining scenarios, one of the typical unstructured scenarios. Based on the analysis of mining area data, we adopt an approach that integrates image and point cloud segmentation to accomplish the entire calibration process. An initialization method supporting a single rigid target is proposed, effectively addressing the initialization failure caused by the scarcity of targets in mining areas. Incorporating the segmentation results from the right camera to establish a left-right camera-LiDAR triangular constraint effectively reduces translation errors. Temporal data with confidence scores are then used to update and optimize the extrinsic parameters. Our online extrinsic calibration method has been validated on mining scenarios data and has achieved less than 0.2 m in data collected from an SUV and 0.3 m from trucks in translation errors within 10 frames. Besides, we provide a detailed discussion on the challenges of calibration in mining areas and the limitations of the proposed method.

关键词： Calibration Image segmentation Cameras Sensors Point cloud compression Laser radar Translation Image edge detection Accuracy Mining industry

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Post-Quantum Privacy-Preserving Provable Data Possession Scheme Based on Smart Contracts

引用

Wireless Communications and Mobile Computing 2023年第1期2023卷

作者： Li, Zhengwen Zhang, Tengjiao Zhao, De Zha, Yaxing Sun, Jun School of Cyberspace Security Beijing University of Posts and Telecommunications 100876 China School of Information Engineering Beijing Institute of Graphic Communication 102600 China Research and Development Center of Transport Industry of Network Security Technologies China Communication Information Technology Group Co. Ltd 100088 China China Industrial Control Systems Cyber Emergency Response Team 100040 China

Provable data possession (PDP) is a crucial means of protecting the integrity of data in the domain of cloud storage. In the post-quantum era, the PDP scheme that uses lattices relies too heavily on the third-party auditor (TPA), which is not entirely trustworthy and is easily affected by a single point of failure. Moreover, the scheme often leads to the leakage of private user data while attempting to satisfy the demand for public verification. In response to the above problems, this paper designs a protocol for post-quantum privacy-preserving PDP and uses it to develop a scheme based on smart contracts. The proposed scheme has the characteristics of being post quantum and can satisfy the demand for public verification while preserving user privacy. The property of noninteraction of the protocol can reduce transaction fees incurred owing to the frequent operation of the blockchain, and the smart contract with a deposit mechanism can ensure fair payments to all parties. The results of a theoretical analysis and experiments show that the proposed scheme is highly secure and efficient. © 2023 Zhengwen Li et al.

关键词： Smart contract

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Shared Situational Awareness with V2X Communication and Set-membership Estimation

Shared Situational Awareness with V2X Communication and Set-...

引用

International Conference on Intelligent Transportation

作者： Vandana Narri Amr Alanwar Jonas Mårtensson Christoffer Norén Karl Henrik Johansson Research and Development Scania CV AB Södertälje Sweden Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden School of Computation Information and Technology Technical University of Munich Heilbronn Germany School of Computer Science and Engineering Constructor University Bremen Germany

The ability to perceive and comprehend a traffic situation and to estimate the state of the vehicles and road-users in the surrounding of the ego-vehicle is known as situational awareness. Situational awareness for a heavy-duty autonomous vehicle is a critical part of the automation platform and depends on the ego-vehicle's field-of-view. But when it comes to the urban scenarios, the field-of-view of the ego-vehicle is likely to be affected by occlusions and blind spots caused by infrastructure, moving vehicles, and parked vehicles. This paper proposes a framework to improve situational awareness using set-membership estimation and Vehicle-to-Everything (V2X) communication. This framework provides safety guarantees and can adapt to dynamically changing scenarios, and is integrated into an existing complex autonomous platform. A detailed description of the framework implementation and realtime results are illustrated in this paper.

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Riemannian Optimistic Algorithms

arXiv

引用

arXiv 2023年

作者： Wang, Xi Yuan, Deming Hong, Yiguang Hu, Zihao Wang, Lei Shi, Guodong Australian Center for Robotics School of Aerospace Mechanical and Mechatronic Engineering The University of Sydney NSW2006 Australia Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China School of Automation Nanjing University of Science and Technology Jiangsu210023 China Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Shanghai201210 China College of Computing Georgia Institute of Technology AtlantaGA30339 United States College of Control Science and Engineering Zhejiang University Zhejiang310058 China

In this paper, we consider Riemannian online convex optimization with dynamic regret. First, we propose two novel algorithms, namely the Riemannian Online Optimistic Gradient Descent (R-OOGD) and the Riemannian Adaptive Online Optimistic Gradient Descent (R-AOOGD), which combine the advantages of classical optimistic algorithms with the rich geometric properties of Riemannian manifolds. We analyze the dynamic regrets of the R-OOGD and R-AOOGD in terms of regularity of the sequence of cost functions and comparators. Next, we apply the R-OOGD to Riemannian zero-sum games, leading to the Riemannian Optimistic Gradient Descent Ascent algorithm (R-OGDA). We analyze the average iterate and best-iterate of the R-OGDA in seeking Nash equilibrium for a two-player, zero-sum, g-convex-concave games. We also prove the last-iterate convergence of the R-OGDA for g-strongly convex-strongly concave problems. Our theoretical analysis shows that all proposed algorithms achieve results in regret and convergence that match their counterparts in Euclidean spaces. Finally, we conduct several experiments to verify our theoretical findings. Copyright © 2023, The Authors. All rights reserved.

关键词： Cost functions

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