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Preserving Topology of Network Systems: Metric, Analysis, and Optimal Design

IEEE Transactions on Automatic control 2024年第6期70卷 3540-3555页

作者： Li, Yushan Wang, Zitong He, Jianping Chen, Cailian Guan, Xinping Shanghai Jiao Tong University Department of Automation Shanghai200240 China Ministry of Education of China Key Laboratory of System Control and Information Processing Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

Preserving the topology from being inferred by external adversaries has become a paramount security issue for network systems (NSs), and adding random noises to the nodal states provides a promising way. Nevertheless, recent works have revealed that the topology cannot be preserved under i.i.d. noises in the asymptotic sense. How to effectively characterize the non-asymptotic preservation performance still remains an open issue. Inspired by the deviation quantification of concentration inequalities, this paper proposes a novel metric named trace-based variance-expectation ratio. This metric effectively captures the decaying rate of the topology inference error, where a slower rate indicates better non-asymptotic preservation performance. We prove that the inference error will always decay to zero asymptotically, as long as the added noises are non-increasing and independent (milder than the i.i.d. condition). Then, the optimal noise design that produces the slowest decaying rate for the error is obtained. More importantly, we amend the noise design by introducing one-lag time dependence, achieving the zero state deviation and the non-zero topology inference error in the asymptotic sense simultaneously. Extensions to a general class of noises with multi-lag time dependence are provided. Comprehensive simulations verify the theoretical findings. © 1963-2012 IEEE.

关键词： Network topology

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Trajectory Planning of Robot Terminal Pose by Interpolation Method 38

Trajectory Planning of Robot Terminal Pose by Interpolation ...

引用

38th Youth Academic Annual Conference of Chinese Association of automation, YAC 2023

作者： Chen, Biao Hu, Shan Bing, Zhigang Tianjin University of Technology and Education Tianjin Key Laboratory of Information Sensing Intelligent Control School of Automation and Electrical Engineering Tianjin China

ISBN: (纸本)9798350303636

In order to improve the stability of the robot at work, this paper adds an insertion point between the end of the robot and the next target point, and changes the original linear trajectory to a new trajectory planned by interpolation method. The simulation experiment is carried out in MATLAB software. The interpolation method curve is compared with the linear curve. The optimization results show that the velocity and acceleration curves under the interpolation method become more gentle, which verifies the effectiveness of the method. © 2023 IEEE.

关键词： interpolation method linear posture robot

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Odor Plume Direction Estimation via Gas Sensor Array

Odor Plume Direction Estimation via Gas Sensor Array

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2023 International Annual Conference on Complex Systems and intelligent Science, CSIS-IAC 2023

作者： Li, Jin-Sheng Li, Ji-Gong School of Automation and Electrical Engineering Tianjin University of Technology and Education Tianjin Key Laboratory of Information Sensing and Intelligent Control Tianjin China

ISBN: (纸本)9798350309003

The direction of the odor plumes is very helpful for robots to preform odor source localization task. To address issues of that wind measurement equipment is not able or convenient to carry on the robots, this paper proposes a method for estimating the incoming direction of the odor plume with a gas sensor array. Firstly, a model for estimating the incoming direction of the odor plume was established via the positional relationship between gas sensors in the sensor array. Secondly, by using the output responses of the gas sensors in the array, the time delay between gas sensors was calculated via cross-correlation method. Thirdly, the solution of the model was solved using the Levenberg-Marquette method. Finally, the results of gas sensor arrays in different distribution patterns indicate that our proposed method can estimate the incoming direction of odor plume effectively. © 2023 IEEE.

关键词： Gases

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Comparison of Three Data-Driven Networked Predictive control Methods for a Class of Nonlinear Systems

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IEEE/CAA Journal of Automatica Sinica 2022年第9期9卷 1714-1716页

作者： Zhong-Hua Pang Xue-Ying Zhao Jian Sun Yuntao Shi Guo-Ping Liu the Key Laboratory of Fieldbus Technology and Automation of Beijing North China University of TechnologyBeijing 100144China the State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of TechnologyBeijing 100081China the Center for Control Science and Technology Southern University of Science and TechnologyShenzhen 518055China

Dear Editor,In this letter,in order to deal with random network delays and packet losses in a class of networked nonlinear systems,three data-driven networked predictive control methods are *** closed-loop systems and... 详细信息

关键词： letter Nonlinear nonlinear

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Polyphonic sound event localization and detection based on Multiple Attention Fusion ResNet

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Mathematical Biosciences and Engineering 2024年第2期21卷 2004-2023页

作者： Zhang, Shouming Zhang, Yaling Liao, Yixiao Pang, Kunkun Wan, Zhiyong Zhou, Songbin Faculty of Information Engineering and Automation Kunming University of Science and Technology Kunming650500 China Institute of Intelligent Manufacturing Guangdong Academy of Science Guangdong Key Laboratory of Modern Control Technology Guangzhou510030 China

Sound event localization and detection have been applied in various fields. Due to the polyphony and noise interference, it becomes challenging to accurately predict the sound event and their occurrence locations. Aiming at this problem, we propose a Multiple Attention Fusion ResNet, which uses ResNet34 as the base network. Given the situation that the sound duration is not fixed, and there are multiple polyphonic and noise, we introduce the Gated Channel Transform to enhance the residual basic block. This enables the model to capture contextual information, evaluate channel weights, and reduce the interference caused by polyphony and noise. Furthermore, Split Attention is introduced to the model for capturing cross-channel information, which enhances the ability to distinguish the polyphony. Finally, Coordinate Attention is introduced to the model so that the model can focus on both the channel information and spatial location information of sound events. Experiments were conducted on two different datasets, TAU-NIGENS Spatial Sound Events 2020, and TAU-NIGENS Spatial Sound Events 2021. The results demonstrate that the proposed model significantly outperforms state-of-the-art methods under multiple polyphonic and noise-directional interference environments and it achieves competitive performance under a single polyphonic environment. ©2024 the Author(s), licensee AIMS Press. This is an open access article distributed under the terms of the Creative Commons Attribution License.

关键词： Deep learning

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Stability analysis of spatially interconnected systems with signal saturation

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Internet of Things and Cyber-Physical Systems 2023年第1期3卷 93-99页

作者： Song, Junxiao Liu, Huabo School of Automation Qingdao University Qingdao266071 China Shandong Key Laboratory of Industrial Control Technology Qingdao University Qingdao China

The robust stability problem of spatially interconnected systems with signal saturation among the many composed subsystems is considered. The system structure is usually sparse, and each subsystem has different dynamics. Firstly, a robust stability condition is established based on integral quadratic constraint (IQC) theory, which makes full use of the sparseness of the subsystem connection topology. Secondly, a decoupling robust condition that only depends on the subsystem parameters is proved. Finally, it is shown through numerical simulations that the obtained conditions are computationally valid in analyzing spatially interconnected systems with signal saturation constraints among the subsystems. © 2023 The Authors

关键词： System stability

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Barrier Lyapunov Function-Based Finite-Time Dynamic Surface control for Output-Constrained Nonstrict-Feedback Systems

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Journal of Systems Science & Complexity 2023年第2期36卷 524-539页

作者： YU Jinpeng FU Cheng LIU Jiapeng MA Yumei The College of Automation Qingdao UniversityQingdao 266003China Shandong Key Laboratory of Industrial Control Technology Qingdao UniversityQingdao 266003China The School of Control Science and Engineering Shandong UniversityJinan 250100China

This paper investigates a finite-time tracking problem for the uncertainty nonlinear systems in nonstrict-feedback form,in which the output signal is restricted in a *** on the barrier Lyapunov function and dynamic surface control scheme,a novel adaptive neural controller is proposed by using the finite-time Lyapunov *** the aforementioned literature on finite time tracking control,the violation of system output constraint is avoided by combining the barrier Lyapunov function method with finite-time *** structural characteristics of neural network is introduced to expand the adaptive neural finite-time backstepping method to the uncertainty nonlinear systems in the non-strict ***,the dynamic surface control is introduced to cope with the problem of“explosion of complexity”inherent in conventional backstepping *** is shown that the designed controller can achieve finite-time tracking control and all the variables in the closed-loop system are bounded with output constraint guaranteed form stability analysis and simulation results.

关键词： Adaptive neural network control explosion of complexity finite-time tracking nonstrictfeedback form

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Optimal crater landmark selection based on optical navigation performance factors for planetary landing

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Chinese Journal of Aeronautics 2023年第3期36卷 254-270页

作者： Yi XIU Shengying ZHU Rui XU Maodeng LI School of Aerospace Engineering Beijing Institute of TechnologyBeijing 100081China Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration Ministry of Industry and Information TechnologyBeijing 100081China Key Laboratory of Dynamics and Control of Flight Vehicle Ministry of EducationBeijing 100081China Science and Technology on Space Intelligent Control Laboratory Beijing Institute of Control EngineeringBeijing 100091China

Planetary craters are natural navigation landmarks that widely exist and are easily *** navigation based on crater landmarks has become an important autonomous navigation method for planetary *** to the increase in observed crater landmarks and the limitation of onboard computation,the selection of good crater landmarks has gradually become a research hotspot in the field of landmark-based optical *** paper designs a fast crater landmark selection method,which not only considers the configuration observability of crater subsets but also focuses on the influence on navigation performance arising from the measurement uncertainty and the matching confidence of craters,which is different from other landmark selection *** factor of measurement uncertainty,which is anisotropic,correlated and nonidentically distributed,is quantified and integrated into selection based on crater pairing detection and localization error *** addition,the concept of the crater matching confidence factor is introduced,which reflects the possibility of 2D projection measurements corresponding to 3D *** with the configuration observability factor,the crater landmark selection indicator is ***,the effectiveness of the proposed method is verified by Monte Carlo simulations.

关键词： Crater-based optical navigation Crater landmark selection Crater matching Measurement uncertainty Planetary landing

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Predicting circRNA-Disease Associations by Using Multi-Biomolecular Networks Based on Variational Graph Auto-Encoder with Attention Mechanism

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Chinese Journal of Electronics 2024年第6期33卷 1526-1537页

作者： Jing YANG Xiujuan LEI Yi PAN School of Computer Science Shaanxi Normal University Faculty of Computer Science and Control Engineering Shenzhen Institute of Advanced TechnologyChinese Academy of Sciences Shenzhen Key Laboratory of Intelligent Bioinformatics Shenzhen Institute of Advanced Technology

CircRNA-disease association(CDA) can provide a new direction for the treatment of diseases. However,traditional biological experiment is time-consuming and expensive, this urges us to propose the reliable computational model to predict the associations between circRNAs and diseases. And there is existing more and more evidence indicates that the combination of multi-biomolecular information can improve the prediction accuracy. We propose a novel computational model for CDA prediction named MBCDA, we collect the multi-biomolecular information including circRNA, disease, miRNA and lncRNA based on 6 databases, and construct three heterogeneous network among them, then the multi-heads graph attention networks are applied to these three networks to extract the features of circRNAs and diseases from different views, the obtained features are put into variational graph auto-encoder(VGAE) network to learn the latent distributions of the nodes, a fully connected neural network is adopted to further process the output of VGAE and uses sigmoid function to obtain the predicted probabilities of circRNA-disease *** a result, MBCDA achieved the values of AUC and AUPR under 5-fold cross-validation of 0.893 and 0.887. MBCDA was applied to the analysis of the top-25 predicted associations between circRNAs and diseases, these experimental results show that our proposed MBCDA is a powerful computational model for CDA prediction.

关键词： Knowledge engineering Attention mechanisms Computational modeling Biological system modeling Predictive models Feature extraction Heterogeneous networks Topology Data mining Diseases

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Interference Suppression and Jitter Elimination Ability-Based Adaption Tracking Guidance for Robotic Fishes

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 126-137页

作者： Dongfang Li Jie Huang Rob Law Xin Xu Limin Zhu Edmond Q.Wu IEEE the School of Electrical Engineering and Automation Fuzhou University the Key Laboratory of System Control and Information Processing Ministry of Education the School of Electrical Engineering and Automation Fuzhou University 5G+Industrial Internet Institute Fuzhou University the University of Macau the College of Mechatronics and Automation National University of Defense Technology the School of Mechanical Engineering Shanghai Jiao Tong University the Department of Computer Science and Engineering Shanghai Jiao Tong University

This work presents an adaptive tracking guidance method for robotic fishes. The scheme enables robots to suppress external interference and eliminate motion jitter. An adaptive integral surge line-of-sight guidance rule is designed to eliminate dynamics interference and sideslip issues. Limited-time yaw and surge speed observers are reported to fit disturbance variables in the model. The approximation values can compensate for the system's control input and improve the robots' tracking ***, this work develops a terminal sliding mode controller and third-order differential processor to determine the rotational torque and reduce the robots' run jitter. Then, Lyapunov's theory proves the uniform ultimate boundedness of the proposed method. Simulation and physical experiments confirm that the technology improves the tracking error convergence speed and stability of robotic fishes.

关键词： Adaptive integral surge line-of-sight approximation robotic fish speed observer

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