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arXiv 2020年

作者： Wang, Shimin Jiang, Simin Zhan, Zhi Wu, Yuanqing Zhong, Renxin Yat-Sen, Sun Department of Electrical and Computer Engineering University of Alberta AB Canada Guangdong Key Laboratory of Intelligent Transportation Systems School of Intelligent Systems Engineering University Guangzhou China School of Automation Guangdong University of Technology Guangzhou China

This paper investigates the output containment control problem for heterogeneous discrete-time multi-agent systems with multiple leaders. The objective is to develop a distributed control law such that the output of the followers can converge to the convex hull spanned by the output of the leaders exponentially. The convex hull formed by the output of the leaders and the system matrix of leaders are estimated via an adaptive distributed containment observer. Based on this observer, a distributed dynamic output feedback control protocol is first devised for heterogeneous discrete-time multi-agent systems using only neighboring relative output information. The proof is depicted by showing certain output containment errors converge to zero exponentially, which indicates the containment control objective is well achieved. A distributed dynamic state-feedback control law is deduced as a special case of the output feedback control. For the application to control multiple ground vehicles, a prescribed offset for maintaining the minimum safety gap between adjacent agents is considered. Finally, numerical simulations with application to ground vehicles validate the effectiveness and the computational feasibility of the proposed control protocols. Copyright © 2020, The Authors. All rights reserved.

关键词： Multi agent systems

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Impasse Surface of Differential-Algebraic Power System Models: An Interpretation Based on Admittance Matrices

arXiv

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arXiv 2020年

作者： Song, Yue Hill, David J. Liu, Tao Zhang, Xinran The State Key Laboratory of Intelligent Autonomous Systems and Frontiers Science Center for Intelligent Autonomous Systems Tongji University Shanghai China The Department of Electrical and Electronic Engineering The University of Hong Kong Hong Kong The Department of Electrical and Computer Systems Engineering Monash University Melbourne Australia The School of Automation Science and Electrical Engineering Beihang University Beijing China

The impasse surface is an important concept in the differential-algebraic equation (DAE) model of power systems, which is associated with short-term voltage collapse. This paper establishes a necessary condition for a system trajectory hitting the impasse surface. The condition is in terms of admittance matrices regarding the power network, generators and loads, which specifies the pattern of interaction between those system components that can induce voltage collapse. It applies to generic DAE models featuring high-order synchronous generators, static loads, induction motor loads and lossy power networks. We also identify a class of static load parameters that prevent power systems from hitting the impasse surface;this proves a conjecture made by Hiskens that has been unsolved for decades. Moreover, the obtained results lead to an early indicator of voltage collapse and a novel viewpoint that inductive compensation to the power network has a positive effect on preventing short-term voltage collapse, which are verified via numerical simulations. Copyright © 2020, The Authors. All rights reserved.

关键词： Differential equations

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Human-collective visualization transparency

arXiv

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arXiv 2020年

作者： Roundtree, Karina A. Cody, Jason R. Leaf, Jennifer Onan Demirel, H. Adams, Julie A. School of Mechanical Industrial and Manufacturing Engineering Oregon State University Department of Electrical Engineering and Computer Science United States Military Academy Collaborative Robotics and Intelligent Systems Institute Oregon State University

Interest in collective robotic systems has increased rapidly due to the potential benefits that can be offered to operators, such as increased safety and support, who perform challenging tasks in high-risk environments. Human-collective transparency research has focused on how the design of the algorithms, visualizations, and control mechanisms influence human-collective behavior. Traditional collective visualizations have shown all of the individual entities composing a collective, which may become problematic as collectives scale in size and heterogeneity, and tasks become more demanding. Human operators can become overloaded with information, which will negatively affect their understanding of the collectives current state and overall behaviors, which can cause poor teaming performance. An analysis of visualization transparency and the derived visualization design guidance, based on remote supervision of collectives, are the primary contributions of this manuscript. The individual agent and abstract visualizations were analyzed for sequential best-of-n decision-making tasks involving four collectives, composed of 200 entities each. The abstract visualization provided better transparency by enabling operators with different individual differences and capabilities to perform relatively the same and promoted higher human-collective performance. Copyright © 2020, The Authors. All rights reserved.

关键词： Transparency

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Shifting dynamics of self-immolation in the capital of Iran? The rising trend among young, unmarried, less-educated men

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Burns Open 2025年 11卷 100406-100406页

作者： Shokri, MohammadAli Khalili, SaeedehSadat Vahabie, Abdol-Hossein Ghanbari Jolfaei, Atefeh Keshavarz-Akhlaghi, Amir-Abbas Dehmardei, Mostafa Mirfazeli, Fatemeh Sadat National Brain Centre Iran University of Medical Sciences Tehran Iraq Department of Neuroscience Faculty of Advanced Technologies in Medicine Iran University of Medical Sciences Tehran Iraq Cognitive Systems Laboratory Control and Intelligent Processing Center of Excellence (CIPCE) School of Electrical and Computer Engineering College of Engineering University of Tehran Tehran Iraq Mental Health Research Center Psychosocial Health Research Institute Department of Psychiatry School of Medicine Iran University of Medical Sciences Tehran Iraq School of Medicine Iran University of Medical Sciences Tehran Iraq Department of Cognitive Sciences Faculty of Psychology and Education University of Tehran Tehran Iraq School of Cognitive Sciences Institute for Research in Fundamental Sciences (IPM) Tehran Iraq

In our study, we aimed to explore the psychiatric disorders, risk factors, and predictors of self-immolation among individuals admitted to Shahid Motahari Hospital in Tehran from 2019 to 2020. This cross-sectional study examines 64 hospitalized patients who received psychiatric counseling following self-immolation incidents. The rate of self-immolation varies significantly based on specific demographics. It is observed that in our population men had a higher rate of being unmarried (70.96 % vs 15.15 %), lower levels of education (70.96 % vs 63.63 % did not have a university degree), higher level of unemployment (54.83 % vs 30.30 %), younger age average with most men aging 15–24 (29.06 (SD = 9.33)) vs women 35–44 (35.27(SD = 10.27)) and higher prevalence of addiction (67.74 % vs 36.36 %) compared to women. On the other hand, women who attempted self-immolation mainly were married, involved in housekeeping, and tended to exhibit higher rates of depression (63.63 % vs 32.25 %) than men. Furthermore, these self-immolation incidents are often impulsive (64.1 %) and occur shortly (under an hour) after experiencing a stressor (39.1 %). Self-immolation accidents are frequently carried out using gasoline (50 %). Geographically, the majority of self-immolation cases of our study are concentrated in the central region of Iran (76.6 %), followed by the western region (15.6 %) this may be due to the proximity of these regions to our center while patients of other regions were hospitalized in their referral hospitals and were rarely transferred to the capital. To effectively address the issue of self-immolation and reduce its prevalence, it is essential to identify vulnerable populations and explore targeted preventive measures. Based on our findings, future pilot studies could investigate the feasibility of specific interventions, such as crisis hotlines to reduce impulsivity-related acts of self-immolation. Additionally, small-scale feasibility projects could explore the effect

关键词： Contributing factors Psychiatric disorders Self-immolation

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Directly wireless communication of human minds via non-invasive brain-computer-metasurface platform

arXiv

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arXiv 2022年

作者： Ma, Qian Gao, Wei Xiao, Qiang Ding, Lingsong Gao, Tianyi Zhou, Yajun Gao, Xinxin Yan, Tao Liu, Che Gu, Ze Kong, Xianghong Abbasi, Qammer H. Li, Lianlin Qiu, Cheng-Wei Li, Yuanqing Cui, Tie Jun Institute of Electromagnetic Space Southeast University Nanjing210096 China School of Automation Science and Engineering South China University of Technology Guangzhou510641 China State Key Laboratory of Millimeter Wave Southeast University Nanjing210096 China Center of Intelligent Metamaterials Pazhou Laboratory Guangzhou510330 China Research Center for Brain-Computer Interface Pazhou Lab Guangzhou510330 China Department of Electrical and Computer Engineering National University of Singapore Singapore Singapore University of Glasgow James Watt School of Engineering GlasgowG12 8QQ United Kingdom State Key Laboratory of Advanced Optical Communication Systems and Networks Department of Electronics Peking University Beijing100871 China

Brain-computer interfaces (BCIs), invasive or non-invasive, have projected unparalleled vision and promise for assisting patients in need to better their interaction with the surroundings. Inspired by the BCI-based rehabilitation technologies for nerve-system impairments and amputation, we propose an electromagnetic brain-computer-metasurface (EBCM) paradigm, regulated by human's cognition by brain signals directly and non-invasively. We experimentally show that our EBCM platform can translate human's mind from evoked potentials of P300-based electroencephalography to digital coding information in the electromagnetic domain non-invasively, which can be further processed and transported by an information metasurface in automated and wireless fashions. Directly wireless communications of the human minds are performed between two EBCM operators with accurate text transmissions. Moreover, several other proof-of-concept mind-control schemes are presented using the same EBCM platform, exhibiting flexibly-customized capabilities of information processing and synthesis like visual-beam scanning, wave modulations, and pattern encoding. © 2022, CC BY.

关键词： Electrophysiology

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A Multi-objective Computation Offloading Method in Multi-cloudlet Environment 9th

A Multi-objective Computation Offloading Method in Multi-clo...

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9th EAI International Conference on Cloud Computing, CloudComp 2019 and the 4th EAI International Conference on Smart Grid and Innovative Frontiers in Telecommunications, SmartGIFT 2019

作者： Peng, Kai Zhu, Shuaiqi Zheng, Lixin Xu, Xiaolong Leung, Victor C. M. College of Engineering Huaqiao University Quanzhou China Fujian Provincial Academic Engineering Research Centre in Industrial Intellectual Techniques and Systems Quanzhou China Key Laboratory of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education Nanjing University of Science and Technology Nanjing210094 China Department of Electrical and Computer Engineering The University of British Columbia VancouverBCV6T 1Z4 Canada

ISBN: (纸本)9783030485122

Computation offloading is becoming a promising technology that can improve quality of service for mobile users in mobile edge computing. However, it becomes much difficult when there are multi-cloudlet near to the mobile users. The resources of the cloudlet are heterogeneous and finite, and thus it is challenge to choose the best cloudlet for the multi-user. The issue for multi-user in multi-cloudlet environment is well-investigated in this study. Firstly, we establish a multi-objective optimization model with respect to time consumption and energy consumption of mobile devices. Moreover, we devise a multi-objective computation offloading method based on improved fast and elitist genetic algorithm for selecting the optimal offloading strategies. Finally, compared with other methods, numerous experiments proved that our proposed method have advantages in effectiveness and efficiency. © 2020, ICST Institute for computer Sciences, Social Informatics and Telecommunications engineering.

关键词： Energy utilization

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A proof-of-majority consensus protocol for blockchain-enabled collaboration infrastructure of 5G network slice brokers 2

A proof-of-majority consensus protocol for blockchain-enable...

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2nd ACM International Symposium on Blockchain and Secure Critical Infrastructure, BSCI 2020, Co-located with AsiaCCS 2020

作者： Lin, Wenmin Xu, Xiaolong Qi, Lianyong Zhang, Xuyun Dou, Wanchun Khosravi, Mohammad R. Institute of VR and Intelligent Systems Alibaba Business School Hangzhou Normal University Hangzhou China Nanjing University of Information and Technology Nanjing China Qufu Normal University Rizhao China Department of Computing Macquarie University Sydney Australia State Key Laboratory of Novel Software Department of Computer Science and Technology Nanjing University Nanjing China Department of Electrical and Electronic Engineering Shiraz University of Technology Shiraz Department of Computer Engineering Persian Gulf University Bushehr Iran

ISBN: (纸本)9781450376105

With network slicing technology, 5G changes the classical mobile network business model from a network-operator-oriented business to a more open system with multiple stakeholders. In this context, a network slice broker plays the role of agency between network resource providers and vertical service providers, to lease and provide on-demand network slice services. In practice, a single network slice broker normally owns limited types of network slices. And a collaboration infrastructure could be built up to enable network slice sharing among multiple network slice brokers, so as to improve user experience, and enhance the resource utilization rate. However, a major challenge with such an infrastructure is how to support fair and secure slice trading process among multiple un-trusted network slice providers. Blockchain technology, on the other side, brings in high opportunities to implement a fair and secure trading system without a trusted third-party. In view of this observation, this paper proposes a design of blockchain-enabled collaboration infrastructure for network slice brokers, where a group of registered brokers can trade their network slices in a fair and secure manner. To enhance the accountability of slice trading records, transactions are verified and sorted by each broker node, which are further packed into blocks and appended to a shared ledger maintained by each member in the collaboration network. More specifically, we design a Proof-of-Majority (PoM) consensus protocol to sort slice trading transactions before packing transaction blocks of the shared ledger. Furthermore, an optimization for the basic PoM protocol is discussed, with dependency resolving strategy to improve system performance. Experiments are conducted to verify the feasibility of our proposal. © 2020 ACM.

关键词： 5G mobile communication systems

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Opportunities and challenges for monitoring terrestrial biodiversity in the robotics age

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Nature Ecology and Evolution 2025年第6期9卷 1031-1042页

作者： Pringle, Stephen Dallimer, Martin Goddard, Mark A. Le Goff, Léni K. Hart, Emma Langdale, Simon J. Fisher, Jessica C. Abad, Sara-Adela Ancrenaz, Marc Angeoletto, Fabio Auat Cheein, Fernando Austen, Gail E. Bailey, Joseph J. Baldock, Katherine C. R. Banin, Lindsay F. Banks-Leite, Cristina Barau, Aliyu S. Bashyal, Reshu Bates, Adam J. Bicknell, Jake E. Bielby, Jon Bosilj, Petra Bush, Emma R. Butler, Simon J. Carpenter, Dan Clements, Christopher F. Cully, Antoine Davies, Kendi F. Deere, Nicolas J. Dodd, Michael Drinkwater, Rosie Driscoll, Don A. Dutilleux, Guillaume Dyrmann, Mads Edwards, David P. Farhadinia, Mohammad S. Faruk, Aisyah Field, Richard Fletcher, Robert J. Foster, Chris W. Fox, Richard Francksen, Richard M. Franco, Aldina M. A. Gainsbury, Alison M. Gardner, Charlie J. Giorgi, Ioanna Griffiths, Richard A. Hamaza, Salua Hanheide, Marc Hayward, Matt W. Hedblom, Marcus Helgason, Thorunn Heon, Sui P. Hughes, Kevin A. Hunt, Edmund R. Ingram, Daniel J. Jackson-Mills, George Jowett, Kelly Keitt, Timothy H. Kloepper, Laura N. Kramer-Schadt, Stephanie Labisko, Jim Labrosse, Frédéric Lawson, Jenna Lecomte, Nicolas de Lima, Ricardo F. Littlewood, Nick A. Marshall, Harry H. Masala, Giovanni L. Maskell, Lindsay C. Matechou, Eleni Mazzolai, Barbara McConnell, Alistair Melbourne, Brett A. Miriyev, Aslan Nana, Eric Djomo Ossola, Alessandro Papworth, Sarah Parr, Catherine L. Payo-Payo, Ana Perry, Gad Pettorelli, Nathalie Pillay, Rajeev Potts, Simon G. Prendergast-Miller, Miranda T. Qie, Lan Rolley-Parnell, Persie Rossiter, Stephen J. Rowcliffe, Marcus Rumble, Heather Sadler, Jon P. Sandom, Christopher J. Sanyal, Asiem Schrodt, Franziska Sethi, Sarab S. Shabrani, Adi Siddall, Robert Smith, Simón C. Snep, Robbert P. H. Soulsbury, Carl D. Stanley, Margaret C. Stephens, Philip A. Stephenson, P.J. Struebig, Matthew J. Studley, Matthew Svátek, Martin Tang, Gilbert Taylor, Nicholas K. Umbers, Kate D. L. Ward, Robert J. White, Patrick J. C. Whittingham, Mark J. Wich, Serge Williams, Christopher D. Yakubu, Ibrahim B. Yoh, Natalie Durrell Institute of Conservation and Ecology (DICE) School of Natural Sciences University of Kent Canterbury United Kingdom Centre for Environmental Policy Imperial College London London United Kingdom Department of Geography and Environmental Sciences Northumbria University Newcastle upon Tyne United Kingdom School of Computing Engineering and the Built Environment Edinburgh Napier University Edinburgh United Kingdom Synthotech Ltd Milner Court Hornbeam Square Harrogate United Kingdom Mechanical Engineering Department University College London London United Kingdom HUTAN SWD Kota Kinabalu Malaysia Programa de Pós-Graduação em Gestão e Tecnologia Ambiental da Universidade Federal de Rondonópolis Rondonópolis Brazil Department of Engineering Harper Adams University Newport United Kingdom Applied Ecology Research Group School of Life Sciences Anglia Ruskin University Cambridge United Kingdom Centre for Ecology and Hydrology Penicuik United Kingdom Department of Life Sciences Imperial College London Silwood Park Campus Ascot United Kingdom Department of Urban and Regional Planning Faculty of Earth and Environmental Sciences Bayero University Kano Nigeria Greenhood Nepal Kathmandu Nepal Animal Rural & Environmental Sciences Nottingham Trent University Nottinghamshire United Kingdom School of Biological and Environmental Sciences Liverpool John Moores University Liverpool United Kingdom Lincoln Centre for Autonomous Systems University of Lincoln Lincoln United Kingdom Royal Botanic Garden Edinburgh Edinburgh United Kingdom School of Biological Sciences University of East Anglia Norwich Research Park Norwich United Kingdom Digital Ecology Limited Bristol United Kingdom School of Biological Sciences University of Bristol Bristol United Kingdom Department of Computing Imperial College London London United Kingdom Department of Ecology and Evolutionary Biology University of Colorado Boulder CO United States Faculty of Science Technology Engineering

With biodiversity loss escalating globally, a step change is needed in our capacity to accurately monitor species populations across ecosystems. Robotic and autonomous systems (RAS) offer technological solutions that may substantially advance terrestrial biodiversity monitoring, but this potential is yet to be considered systematically. We used a modified Delphi technique to synthesize knowledge from 98 biodiversity experts and 31 RAS experts, who identified the major methodological barriers that currently hinder monitoring, and explored the opportunities and challenges that RAS offer in overcoming these barriers. Biodiversity experts identified four barrier categories: site access, species and individual identification, data handling and storage, and power and network availability. robotics experts highlighted technologies that could overcome these barriers and identified the developments needed to facilitate RAS-based autonomous biodiversity monitoring. Some existing RAS could be optimized relatively easily to survey species but would require development to be suitable for monitoring of more ‘difficult’ taxa and robust enough to work under uncontrolled conditions within ecosystems. Other nascent technologies (for instance, new sensors and biodegradable robots) need accelerated research. Overall, it was felt that RAS could lead to major progress in monitoring of terrestrial biodiversity by supplementing rather than supplanting existing methods. Transdisciplinarity needs to be fostered between biodiversity and RAS experts so that future ideas and technologies can be codeveloped effectively. © The Author(s) 2025.

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Multi-modal Intent Recognition Method for the Soft Hand Rehabilitation Exoskeleton

Multi-modal Intent Recognition Method for the Soft Hand Reha...

引用

第三十九届中国控制会议

作者： Wenyuan Chen Peng Yu Guangyong Li Wenxue Wang Chen Yao Lianqing Liu State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences University of Chinese Academy of Sciences Department of Electrical and Computer Engineering Swanson School of Engineering University of Pittsburgh

Stroke has become the second most disabling disease in the *** to the intensive demand for physical therapists and the severe dependence on hospitals,the cost for the treatment of stroke patients is *** the most flexible limb of the human body,the hand faces more severe challenges,which has a much lower degree of recovery than the upper and lower *** the face of these challenges,a new treatment,exoskeleton-based rehabilitation,has demonstrated new *** paper proposes a novel design of the soft hand exoskeleton based on bionics and anatomy and the exoskeleton could help the users bend and extend their fingers,which would greatly improve the motor ability of stroke *** the control of the six drive motors,the exoskeleton could achieve most of the hand's freedom of *** the same time,we propose a multi-modal intent recognition method based on machine vision and machine *** specific rehabilitation training scenarios,both healthy subjects and patients could complete grasping tasks in the wearing of the exoskeleton,overcoming potential security risks caused by misidentification due to using the single-modal intent understanding method.

关键词： soft hand exoskeleton bionics anatomy Conference muti-modal intention recognition method

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A Multi-objective Computation Offloading Method for Hybrid Workflow Applications in Mobile Edge Computing 9th

A Multi-objective Computation Offloading Method for Hybrid W...

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9th EAI International Conference on Cloud Computing, CloudComp 2019 and the 4th EAI International Conference on Smart Grid and Innovative Frontiers in Telecommunications, SmartGIFT 2019

作者： Peng, Kai Zhao, Bohai Qian, Xingda Xu, Xiaolong Zheng, Lixin Leung, Victor C. M. College of Engineering Huaqiao University Quanzhou China Fujian Provincial Academic Engineering Research Center in Industrial Intellectual Techniques and Systems Quanzhou China Key Laboratory of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education Nanjing University of Science and Technology Nanjing210094 China Department of Electrical and Computer Engineering The University of British Columbia VancouverBCV6T 1Z4 Canada

ISBN: (纸本)9783030485122

Computation offloading has become a promising method to overcome intrinsic defects of portable smart devices, such as low operating speed and low battery capacity. However, it is a challenge to design an optimized strategy as the edge server is resource-constrained and the workflow application has timing constraints. In this paper, we investigated the hybrid workflow application computation offloading issue, which further increases the difficulty. According to the analysis of theory and consideration of time consumption and energy consumption, we establish a multi-objective optimization model to solve the issue. Furthermore, we propose a method based on particle swarm optimization algorithm for multi-objective computation offloading to get the optimal strategy for tasks offloading, which is suitable for all the hybrid workflow applications. Finally, extensive experiments have verified the effectiveness and efficiency of our proposed method. © 2020, ICST Institute for computer Sciences, Social Informatics and Telecommunications engineering.

关键词： Energy utilization

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