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6th International Conference on Electrical, control and Instrumentation engineering, ICECIE 2024

作者： Asada, Daiki Oya, Hidetoshi Nagai, Shunya Hoshi, Yoshikatsu Graduate School of Integrative Science and Engineering Tokyo City University Tokyo Japan Tokyo City University The Department of Computer Science Tokyo Japan Niihama College Department of Electronics and Control Engineering Ehime Japan

ISBN: (纸本)9798350380040

In this paper, we propose a design method for a new event-trigger-based variable gain robust controller which achieves both consensus and guaranteed cost performance for a class of uncertain multi-agent systems (MASs) with the leader-follower structure. The proposed variable gain robust controller is composed of stabilizing state feedback laws, state feedback inputs for consensus, and compensation inputs with adjustable parameters, and is designed for giving consideration to relative positions explicitly. In this paper, we show that sufficient conditions for the existence of the proposed robust guaranteed cost formation controller are given in terms of Linear Matrix Inequalities (LMIs). Finally, a simple example is included. © 2024 IEEE.

关键词： State feedback

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Research on Mixing of Virtual and Actual Reality for Motor Augmented Assembly 23

Research on Mixing of Virtual and Actual Reality for Motor A...

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6th International Conference on Image and Graphics Processing, ICIGP 2023

作者： Zhang, Haowei Shao, Xuqiang Wu, Xuan School of Control and Computer Engineering North China Electric Power University China Engineering Research Center of Intelligent Computing for Complex Energy Systems Ministry of Education China

ISBN: (纸本)9781450398572

The effect of the mixing of virtual and actual reality will directly affect the realism and immersion of the augmented assembly system. The correct occlusion relationship and collision interaction between virtual and real objects are crucial to the fusion effect. The existing virtual-real occlusion handling methods cannot be applied to the augmented assembly system with complex contours and changeable scenes. Therefore, an occlusion handling method based on "virtual avatar"of motor equipment is proposed, which has strong robustness and real-time performance. Aiming at the problem that the number of wrong matching pairs of feature points is too large in the 3D registration process, we combine the method of Cosine similarity measurement on the basis of ORB algorithm to improve the accuracy of feature point matching. The current virtual and real object collision detection methods have large computation and low detection accuracy. We propose an octree hierarchical collision detection optimization algorithm based on model surface voxelization representation and volume difference, which improves the detection accuracy on the basis of ensuring computational efficiency. The experimental results show that the proposed methods have high real-time performance and accuracy, and greatly improve the realism and immersion of the augmented assembly system. © 2023 ACM.

关键词： Augmented reality

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High-Precision UAV Micro-Motion Feature Extraction and Estimation Method Based on Local Maximum Synchroextracting Transform 6

High-Precision UAV Micro-Motion Feature Extraction and Estim...

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6th IEEE International Conference on Electronic Information and Communication Technology, ICEICT 2023

作者： Yuan, Wang Chen, Xiaolong Du, Xiaolin Yu, Gang He, Xiaoyang School of Computer and Control Engineering Yantai Unversity Yantai China Naval Aviation University Marine Target Detection Reaserch Group Yantai China School of Electrical Engineering Universiy of Jinan Jinan China

ISBN: (纸本)9798350399059

Accurately estimating the micro-motion parameters of unmanned aerial vehicles (UAVs) is of significant importance for UAV recognition and classification. Traditional time-frequency analysis methods have low resolution and suffer from severe cross-term interference, making it challenging to precisely estimate the micro-motion parameters of UAVs. In order to slove this problem, this paper proposes a high-resolution local maximum synchroextracting transform method(LSET). Firstly, echo data is collected using FMCW, and then the data is subjected to STFT. Next, an estimation of the instantaneous frequency is calculated, and finally, the value of the maximum energy in the time-frequency representation is extracted to retain useful information. The experimental results from the actual data testing show that compare with the traditional time-frequency analysis method, the proposed method reduces the average Renyi entropy by 4.7 dB. A smaller entropy value indicates higher time-frequency resolution and energy concentration. This method improves the average length estimation accuracy of rotating blades by 33.3%. © 2023 IEEE.

关键词： Extraction

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Where to Turn: Road Fork Detection in Sparse 3D Point Cloud 3rd

Where to Turn: Road Fork Detection in Sparse 3D Point Clou...

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3rd International Conference on Autonomous Unmanned Systems, ICAUS 2023

作者： Hu, Di Zhang, Kai Zhong, Yipan Xu, Jiachen Yuan, Xia Zhao, Chunxia School of Computer Science and Engineering Nanjing University of Science and Technology Nanjing210094 China Research Institute of Intelligence Southwest Research Institute of Information Control Chengdu611700 China

ISBN: (纸本)9789819711024

Intersection detection plays a crucial role in localizing and planning the path of autonomous vehicles in urban environments. This paper presents a novel approach, PVWO, for adaptive intersection detection in autonomous vehicles equipped with 3D LiDAR. Firstly, the algorithm removes ground and obstacles effectively, and eliminates noise points. Secondly, a polyarticular viewpoints beam model is applied to detect the type and location of intersections. Thirdly, a linear feature extraction approach in a rolling window is proposed to detect road width and optimize key parameters, enhancing model robustness across different scenes. Compared to parallel intersection detection algorithms, our method exhibits excellent performance under diverse road conditions. Experiments in sparse point clouds show an average precision exceeding 89% and an average processing time of approximately 88 ms/frame. These results demonstrate that our method can accurately detect intersections in real-time, across various road structures. © Beijing HIWING Scientific and Technological Information Institute 2024.

关键词： Extraction

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Unknown Input Observers Breaking Confidentiality of controller States 63

Unknown Input Observers Breaking Confidentiality of Controll...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Breukelman, Enno Sandberg, Henrik Kth Royal Institute of Technology School of Electrical Engineering and Computer Science Division of Decision and Control Systems Malvinas väg 10 StockholmSE-100 44 Sweden

ISBN: (纸本)9798350316339

Driven by ubiquitous digitalization and cyberattacks on critical infrastructure, there is a high interest in research on the security of cyber-physical systems. If an attacker gains access to protected and sensitive information, such as the internal states of a control system, this is considered a breach of confidentiality. Access to sensitive information can be the first step in a larger cyber-attack scheme, such as a stealthy false data injection attack. Considering process and measurement noise in the plant, existing research investigated when an attacker equipped with a Kalman filter can perfectly estimate the internal controller states if the attacker has access to plant measurements and all model parameters. For this estimate to converge, the controller is required to have stable poles. In this paper, we show that if the attacker has access to the control inputs instead of the plant measurements, the controller needs to have stable zeros. Additionally, we demonstrate that an attacker equipped with an Unknown Input Observer, using tools from delayed system inversion, can get a delayed yet perfect estimate of the controller states from the control inputs without knowledge of the plant's parameters and noise characteristics. Lastly, we present simulation results from a three-tank system to showcase the differences in controller state estimation. © 2024 IEEE.

关键词： Delay control systems

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Sustainable Mining in the Era of Artificial Intelligence

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IEEE/CAA Journal of Automatica Sinica 2024年第1期11卷 1-4页

作者： Long Chen Yuting Xie Yutong Wang Shirong Ge Fei-Yue Wang IEEE the State Key Laboratory for Management and Control of Complex Systems at the Institute of Automation Chinese Academy of SciencesBeijing 100190China the National Laboratory of Pattern Recognition at the Institute of Automation and Waytous Ltd.China the School of Computer Science and Engineering Sun Yat-Sen UniversityGuangzhou 510275GuangdongChina the School of Mechanical Electronic and Information Engineering China University of Mining and Technology BeijingBejing 100083China the School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100190China

The mining sector historically drove the global economy but at the expense of severe environmental and health repercussions,posing sustainability challenges[1]-[3].Recent advancements on artificial intelligence(AI)are revolutionizing mining through robotic and data-driven innovations[4]-[7].While AI offers mining industry advantages,it is crucial to acknowledge the potential risks associated with its widespread ***-reliance on AI may lead to a loss of human control over mining operations in the future,resulting in unpredictable consequences.

关键词： Sustainable mining consequences

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Comparison of Two AC Current De-tumbling Methods for Uncooperative Space Target through Electromagnetic Characteristic Analysis 1

Comparison of Two AC Current De-tumbling Methods for Uncoope...

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1st Aerospace Frontiers Conference, AFC 2024

作者： Du, Lei Chen, Zhen Hu, Hengzai Liu, Xiangdong Zhang, Qiang Zhang, Kemo Liu, Hui School of Automation Beijing Institute of Technology Beijing100081 China Beijing Institute of Control Engineering Beijing100191 China Beijing Institute Computer for Application Beijing100089 China

ISBN: (纸本)9781510681613

A large number of space debris with rotational motion occupy scarce orbital resources, thus, a de-tumbling phase may be necessary prior to the capturing phase to reduce the risk of collision. A new contactless AC current de-tumbling method based on the principle of electromagnetic eddy current is proposed in this paper. Firstly, an analysis is conducted on external disturbances affecting the attitude of the debris and de-tumbling device, such as magnetic field perturbations. Compared to the electromagnetic forces acting on de-tumbling device, the influence of the geomagnetic force on detumbling device can be negligible. However, the geomagnetic torque acting on de-tumbling device cannot be ignored. Then, the advantages and disadvantages of the two AC current cases are compared and analyzed, and the method to increase the de-tumbling torque can be obtained by adjusting the frequency of the three phase AC current. Finally, the three-dimensional attitude dynamics of the uncooperative space target is established taking a spinning cylinder as the hypothetical target of de-tumbling. Simulation shows that the de-tumbling method is effective and the de-tumbling rate can be greatly improved by adjusting the frequency of the three phase AC current. © 2024 SPIE.

关键词： Space debris

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control Flow Divergence Optimization by Exploiting Tensor Cores 24

Control Flow Divergence Optimization by Exploiting Tensor Co...

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61st ACM/IEEE Design Automation Conference, DAC 2024

作者： Pang, Weiguang Jiang, Xu Liu, Songran Qiao, Lei Fu, Kexue Gao, Longxiang Yi, Wang University of Electronic Science and Technology of China China Jinan China Shandong Provincial Key Laboratory of Computer Networks Shandong Fundamental Research Center for Computer Science Jinan China School of Computer Science and Engineering Northeastern University China Beijing Institute of Control Engineering Beijing China Uppsala University Sweden

ISBN: (纸本)9798400706011

Kernels are scheduled on Graphics Processing Units (GPUs) in the granularity of GPU warp, which is a bunch of threads that must be scheduled together. When executing kernels with conditional branches, the threads within a warp may execute different branches sequentially, resulting in a considerable utilization loss and unpredictable execution time. This problem is known as the control flow divergence. In this work, we propose a novel method to predict threads' execution path before the launch of the kernel by deploying a branch prediction network on the GPU's tensor cores, which can efficiently parallel run with the kernels on CUDA cores, so that the divergence problem can be eased in a large extent with the lowest overhead. Combined with a well-designed thread data reorganization algorithm, this solution can better mitigate GPUs' control flow divergence problem. © 2024 Copyright is held by the owner/author(s). Publication rights licensed to ACM.

关键词： Tensors

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On tuning of ADRC with competing design indices:a quantitative study

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control Theory and Technology 2023年第1期21卷 16-33页

作者： Yutao Zhao Yi Huang Zhiqiang Gao Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of SciencesBeijing 100190China School of Mathematical Sciences University of Chinese Academy of SciencesBeijing 100049China Department of Electrical Engineering and Computer Science Center for Advanced Control TechnologiesCleveland State UniversityClevelandOH 44115USA

controller optimization has mostly been done by minimizing a certain single cost *** practice,however,engineers must contend with multiple and conflicting considerations,denoted as design indices(DIs)in this *** to account for such complexity and nuances is detrimental to the applications of any advanced control *** paper addresses this challenge heads on,in the context of active disturbance rejection controller(ADRC)and with four competing DIs:stability margins,tracking,disturbance rejection,and noise *** this end,the lower bound for the bandwidth of the extended state observer is first established for guaranteed closed-loop ***,one by one,the mathematical formula is meticulously derived,connecting each DI to the set of controller *** our best knowledge,this has not been done in the context of *** formulas allow engineers to see quantitatively how the change of each tuning parameter would impact all of the DIs,thus making the guesswork *** example is given to show how such analytical methods can help engineers quickly determine controller parameters in a practical scenario.

关键词： Uncertain systems Active disturbance rejection control(ADRC) Design indices(DIs) Extended state observer(ESO)

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Secure-by-Construction Synthesis for control Systems

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IEEE Transactions on Automatic control 2025年第6期70卷 4170-4177页

作者： Zhong, Bingzhuo Liu, Siyuan Caccamo, Marco Zamani, Majid Thrust of Artificial Intelligence Information Hub The Thrust of Intelligent Transportation System Hub China KTH Royal Institute of Technology Division of Decision and Control Systems Stockholm Sweden Technical University of Munich TUM School of Engineering and Design Germany University of Colorado Boulder Department of Computer Science United States Ludwig Maximilian University Department of Computer Science Munich Germany

In this note, we present the synthesis of secure-by-construction controllers that address safety and security properties simultaneously in cyber-physical systems. Our focus is on studying a specific security property called opacity, which characterizes the system's ability to maintain plausible deniability of its secret behavior in the presence of an intruder. These controllers are synthesized based on a concept of so-called (augmented) control barrier functions. We propose conditions that facilitate the construction of the desired (augmented) control barrier functions and their corresponding secure-by-construction controllers. To compute these functions, we propose an iterative scheme that leverages iterative sum-of-square programming techniques. This approach enables efficient computation of these functions, particularly for polynomial systems. Finally, we validate the effectiveness of our results through a case study of a vehicle. © 1963-2012 IEEE.

关键词： Iterative methods

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