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IEEE Conference on Decision and control

作者： Yun Gao Kai Luo Chongrong Fang Jianping He Dept. of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China and Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

This paper proposes a fragility-aware stealthy attack for multiple mobile robots to secretly learn the accurate model of a multi-hop wireless network (MHWN). The stealthy attack scenario consists of three steps: active detection, node hijacking, and network eavesdropping. Our goal is to design distributed motion control strategies for naive attackers, for obtaining the connectivity information to evaluate the fragility degree of each node in MHWN. We designed a switching control strategy, which includes (i) move-to-fragile-neighbors-barycenter (MFNB) law and (ii) move-to-undetected-region-centroid (MURC) law. This strategy can drive mobile attackers to detect, hijack and eavesdrop on the MHWN’s nodes as quickly as possible. As a result, the fragility degree map of MHWN can be secretly learned to paralyze the whole network. Finally, the simulation results show that the proposed strategy is effective.

关键词： Wireless networks Simulation Spread spectrum communication Switches control systems Stability analysis Multi-robot systems

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controller Synthesis of Signal Temporal Logical Tasks for Cyber-Physical Production systems via Acyclic Decomposition

Controller Synthesis of Signal Temporal Logical Tasks for Cy...

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IEEE Conference on Decision and control

作者： Shuling Wang Shanying Zhu Cailian Chen Liang Xu Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China Institute of Artificial Intelligence Shanghai University Shanghai China

Modularization facilitates the adaptability of cyber-physical production systems (CPPSs) with a variety of collaborative tasks. Various production rules can be captured by signal temporal logic (STL) specifications imposed on interconnected multi-agent systems (MASs). In this paper, we focus on the controller synthesis of STL tasks for interconnected MASs to accomplish collaborative tasks in modular CPPSs. Firstly, a class of STL specifications characterizing tasks by the combination of fixed-time reachability and finite-time persistence tasks is proposed, which encompasses a large class of production specifications for the MAS. Secondly, the acyclic decomposition of the global STL formula is constructed to enable conflict-free collaborative tasks and unidirectional couplings between subsystems. By establishing the equivalence between the proposition and the state set of the MAS, necessary and sufficient conditions are respectively proposed for the satisfaction of reachability and persistence tasks. In addition, an algorithm is presented to synthesize controllers for the MAS with the global STL specification based on local controllers of subsystems. An illustrative example is given to show the effectiveness of the proposed method.

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Unequal Error Protection Rateless Codes for Spatial Audio Transmission

Unequal Error Protection Rateless Codes for Spatial Audio Tr...

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International Conference on Communication Technology (ICCT)

作者： Junpeng Yin Yusun Fu Haobo Huang Jinhui Tang Ningbo Artificial Intelligence Institute Shanghai Jiao Tong University Ningbo China School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai China School of Electronic Information and Electrical Engineering the Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798350363760

ISBN: (纸本)9798350363777

Spatial audio is an important component of the metaverse. With the rapid increase of the spatial resolution and the number of objects, the data volume of the spatial side information has grown larger. However, the low bit rate transmission of spatial side information in the object-based audio coding methods leads to the low-quality reconstruction of spatial side information with limited bandwidth. To address this issue, this paper constructs a cascade design of spatial audio coding and unequal error protection (UEP) rateless codes. Furthermore, the further protection of specific spatial side information is proposed for different scenarios, which effectively addresses the limitation of traditional spatial audio coding in side information protection. For the situation where the code length K of different importance levels is different, we propose an adaptive degree distribution (ADD), adding K to the selection probability as an influencing factor, which has better performance than other degree distribution for short code length. ADD is used to replace the multiple degree distribution strategy of the traditional unequal error protection scheme, and the block error rate (BER) is reduced nearly 10 times compared with the traditional scheme.

关键词： Codes Error analysis Metaverse Distribution strategy Spatial audio Bit rate Symbols Communications technology Protection Spatial resolution

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Small-Size Zif-8/In2o3 Core-Shell Nanocomposites for Highly Specific Detection of Ppb-Level No2

SSRN

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SSRN 2024年

作者： Wang, Hongtao Zhang, Yaodan Xie, Yuanchao Han, Dan Ma, Jianan Sang, Shengbo Shanxi Key Laboratory of Micro Nano Sensors & Artificial Intelligence Perception College of Electronic Information and Optical Engineering Taiyuan University of Technology Taiyuan030024 China Key Lab of Advanced Transducers and Intelligent Control System the Ministry of Education Taiyuan University of Technology Taiyuan030024 China Shanxi Research Institute of 6D Artificiat Intelligence Biomedical Science Taiyuan030024 China

The enhanced sensitivity and selectivity of nitrogen dioxide (NO2) gas sensors are paramount for atmospheric environmental monitoring. In this work, a novel small-size ZIF-8/In2O3 core-shell nanocubes gas sensor was fabricated using a straightforward solvothermal method, complemented by in situ modification. The ZIF-8 film markedly increased the specific surface area of In2O3 nanocubes from 60.64 m²/g to 140.84 m²/g. Concurrently, there was a rise in the content of adsorbed oxygen ions on the surface. The gas-sensing results demonstrated that the ZIF-8/In2O3 composites achieved a response of 56.3 to 1 ppm of NO2, with an exceptionally low detection limit of 1 ppb. Importantly, it exhibited unique selectivity for NO2 over other interfering gases. The outstanding NO2 gas-sensing performance of the ZIF-8/In2O3 composites can be attributed to the grain model effect inherent in the In2O3 (with side lengths of approximately 40-50 nm), along with the sensitization influence and filtering efficacy of ZIF-8. This advancement in gas sensor technology has significant potential for applications in the rapid detection of low-concentration NO2 gas. © 2024, The Authors. All rights reserved.

关键词： Indium compounds

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A Novel Magnetoelastic Biosensor Based on Pdms/Fesib/Qds Composite Film for African Swine Fever Virus Detections

SSRN

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SSRN 2024年

作者： Liu, Yuanhang Sang, Shengbo Zhao, Dong Ge, Yang Xue, Juanjuan Duan, Qianqian Guo, Xing Shanxi Key Laboratory of Micro Nano Sensors & Artificial Intelligence Perception College of Electronic Information and Optical Engineering Taiyuan University of Technology Taiyuan030024 China Key Lab of Advanced Transducers and Intelligent Control System of The Ministry of Education Taiyuan University of Technology Taiyuan030024 China Shanxi Research Institute of 6D Artificial Intelligence Biomedical Science Taiyuan030024 China

African swine fever (ASF) is a highly contagious and severe hemorrhagic disease caused by the African swine fever virus (ASFV). The continuous spread of ASFV affects the safety of global meat supply, so the establishment of sensitive and specific detection methods for ASFV has become an important hot spot in food safety. Herein, we developed a flexible magnetoelastic (ME) biosensor based on PDMS/FeSiB/QDs composite films for the detection of ASFV. Based on the high luminescence performance of CsPbBr3 quantum dots and the excellent magnetoelastic effect of FeSiB, flexible ME biosensors convert stress signals generated by antibody-antigen-specific binding into optical and electromagnetic signals. The nanostructures covalently linked by quantum dots and PDMS provide biomodification sites for ASFV antibodies, simplifying the functionalization modification process compared to conventional biosensors. The deformation of the PDMS film is amplified and conversion of surface stress signal to electrical signal is enhanced by exposing the biosensor to a uniform magnetic field. The experimental results proved that the flexible ME biosensor has wide linear range of 10 ng/mL - 100 μg/mL, and the detection limit is as low as 0.7933 ng/mL. Moreover, the flexible ME biosensor have also shown to good stability, sensitivity and specificity. © 2024, The Authors. All rights reserved.

关键词： Biosensors

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A localizability estimation method for mobile robots based on 3D point cloud feature

A localizability estimation method for mobile robots based o...

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2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021

作者： Liu, Ying Wang, Jingchuan Huang, Yi Institute of Medical Robotics Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Department of Automation Shanghai200240 China Nanjing Kingyoung Intelligent Technology CO. LTD.

ISBN: (纸本)9781665436786

This paper introduces the theoretical analysis and derivation of localizability estimation for mobile robots based on point cloud observation. Combined with the observation model, the pre-established point cloud map is firstly clustered and segmented with a newly proposed method considering multiple constraints on depth map. Then localizability is set to be equal to the strength of the constraints associated with 3D point cloud features. In addition, based on the method of using information matrix theory, this paper integrates the Fisher's information matrix and point cloud features to estimate localizability. © 2021 IEEE.

关键词： Mobile robots

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A Real-time Framework of Multi-Camera Vehicle Tracking system

A Real-time Framework of Multi-Camera Vehicle Tracking Syste...

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2024 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2024

作者： Zhuang, Hanyang Chen, Xingyuan Lan, Jianglin Wang, Ying Lu, Zhaoxuan Wang, Chunxiang Yang, Ming University of Michigan Shanghai Jiao Tong University Joint Institute Shanghai Jiao Tong University Shanghai200240 China University of Glasgow James Watt School of Engineering GlasgowG12 8QQ United Kingdom Shanghai Jiao Tong University School of Mechanical Engineering Shanghai200040 China Shanghai Intelligent and Connected Vehicle R and D Center Co. LTD Shanghai201400 China 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

ISBN: (纸本)9798350372601

Multi-camera vehicle tracking (MCVT) system is a key technology to build an intelligent city and intelligent transportation system. The MCVT system utilizes roadside monitoring devices and computing platforms to achieve city-level road traffic perception at a finer scale by tracking each vehicle on the road to obtain the trajectory. The existing MCVT system mainly focuses on dealing with the algorithm modules separately, without studying the real-time performance and system architecture of the entire pipeline. However, in real-world applications, many of the tricks in improving evaluation metrics are not applicable since there is endless traffic flow running all the time. Therefore, this paper proposes a real-time framework of the MCVT system to streamline all the algorithm modules with proper data flow. Firstly, a multi-threaded multi-vehicle tracking (MVT) module is developed to detect vehicles in each camera. Re-identification is implemented during MVT to provide the feature for tracking in the same camera and across different cameras. Then, after the vehicle leaves the camera field of view, the feature of vehicle trajectory is calculated by averaging the feature at each frame. Meanwhile, a background thread runs continuously to match the incoming feature of vehicle trajectory with past features by conducting a topology searching method. In the end, the vehicle trajectories with well-matched features are considered to be the same vehicle. The entire pipeline has been validated on two different datasets, the precision is 0.64 in the CityFlow dataset which uses 6 cameras simultaneously. In the customized dataset, the same method can still reach real-time when using 16 cameras at the same time with smaller network modules. © 2024 IEEE.

关键词： Vehicle locating systems

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Design of a Novel Autonomous Docking system With a Supporting Robotic Fish

Design of a Novel Autonomous Docking System With a Supportin...

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IEEE International Conference on Real-time Computing and Robotics (RCAR)

作者： Huijie Dong Chunyang Zhao Tiezhu Qiao Jian Wang Di Chen Yan Meng Junzhi Yu Ministry of Education Key Laboratory of Advanced Transducers and Intelligent Control System Taiyuan University of Technology Taiyuan China Institute of Automation Laboratory of Cognitive and Decision Intelligence for Complex System Chinese Academy of Sciences Beijing China Department of Advanced Manufacturing and Robotics College of Engineering State Key Laboratory for Turbulence and Complex Systems Peking University Beijing China College of Electronics and Information Engineering Guangdong Ocean University Zhanjiang China

Underwater supporting robots serving as a relay of energy supplements and communication for other underwater equipment are promising for ocean exploration, development, and protection. This paper proposes a novel autonomous docking system centered on a designed supporting robotic fish named ‘CourierFish’. Specifically, CourierFish is capable of docking with a surface dock station for supplying itself and docking with a seafloor platform for supporting equipment in the platform. A visual navigation scheme integrating LED and ArUco markers is presented for accurate localization. The control approach for docking motion is also illustrated. Simulations and aquatic experiments are performed to verify the feasibility of the proposed docking system. The obtained results lay a solid foundation for the construction of various underwater equipment and robot networks.

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Gan/Moo3 N-N Heterojunction Based Anti-Humidity Gas Sensor for No2 Real-Time Monitoring

SSRN

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SSRN 2024年

作者： Hong, Yutao Han, Dan Duan, Qi Li, Donghui He, Xiuli Li, Bing Liang, Hua Li, Hongwei Sang, Shengbo Shanxi Key Laboratory of Micro Nano Sensors & Artificial Intelligence Perception College of Integrated Circuits Taiyuan University of Technology Taiyuan030024 China Key Lab of Advanced Transducers and Intelligent Control System of the Ministry of Education Taiyuan University of Technology Taiyuan030024 China State Key Laboratory of Transducer Technology Aerospace Information Research Institute Chinese Academy of Sciences Beijing100190 China Shanxi Province Key Laboratory of Oral Diseases Prevention and New Materials Shanxi Medical University School and Hospital of Stomatology Shanxi Taiyuan030001 China Shanxi Province Cancer Hospital Shanxi Hospital Affiliated to Cancer Hospital Chinese Academy of Medical Sciences Cancer Hospital Affiliated to Shanxi Medical University Taiyuan030000 China University of Chicago United States

Effective and accurate detection of NO2 gas is crucial for protecting the environment and public health. In this work, balsam pear-like GaN/MoO3 porous nanosheets (GaN/MoO3) composites were synthesized by in situ assembling, the hydrothermal method, and the nitridation process to detect NO2. A series of characterization methods were used to manifest the successful synthesis and to analyze the morphology and elemental composition features of GaN/MoO3 composites. The results of the gas-sensing experiments show that, at the operating temperature of 225°C, the gas sensor based on the optimal ratio of GaN/MoO3 composites exhibits a 25-fold lower limit of detection for NO2 than that of MoO3, with a reduction of baseline resistance drift. Further, the response value of the sensor based on GaN/MoO3 composites to 200 ppm NO2 (44.74) is 4.36 times higher than that of the sensor based on pure GaN, with an improvement in stability. Meanwhile, the sensor possessed excellent repeatability, selectivity, stability, and splendid anti-humidity ability at 15-70% RH. The improved gas-sensing performance is ascribed to the unique microstructure of both GaN and MoO3 and the heterojunction effect between them. In addition, we constructed a real-time NO2 monitoring device based on the gas-sensing characteristic of GaN/MoO3, which realizes the alarm of excessive concentrations of NO2. Overall, this work provides a way to improve the ability of NO2 monitoring for the sensors of MoO3-based composites. © 2024, The Authors. All rights reserved.

关键词： Gallium nitride

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Robust adaptive neural network consensus tracking control of multi-robot systems

Robust adaptive neural network consensus tracking control of...

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第33届中国控制与决策会议

作者： Huijun Guo Jintao Liang School of Automation and Information Engineering Xi'an University of Technology Key Laboratory of Shaanxi Province for Complex System Control and Intelligent Information Processing Guilin University of Electronic Technology

This paper studies the problem of distributed consensus tracking control for multi-robot systems with different friction coefficients and external disturbances based on the multi-agent *** the case where the communication topology is a weighted directed graph and leader node is the neighbor of a small portion of the follower *** follower nodes are modeled as two second-order nonlinear dynamical system with coupling parts.A distributed robust adaptive control law based on the neural networks(NN) is designed for each follower node,where the controller requires only relative state information from its adjacent *** such control scheme,the states of all follower nodes ultimately synchronize to the leader node with bounded residual *** results are provided to validate the effectiveness of the algorithm.

关键词： Consensus control Multi-robot systems Agent systems Neural networks Sliding mode control

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