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作者： Wang, Chen Xia, Weiguo Xie, Guangming National Engineering Research Center for Software Engineering Key Lab. of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education School of Control Science and Engineering Dalian University of Technology Dalian116024 China State Key Laboratory of Turbulence and Complex Systems Intelligent Biomimetic Design Lab College of Engineering Peking University Beijing China

In this article, we study the formation problem for a group of mobile agents in a plane, in which the agents are required to maintain a distribution pattern, as well as to rotate around or remain static relative to a static/moving target. The prescribed distribution pattern is a class of general formations where the distances between neighboring agents or the distances between each agent and the target do not need to be equal. Each agent is modeled as a double integrator and can merely perceive the relative information of the target and its neighbors, and the acceleration of the target. In order to solve the formation problem, a limit-cycle-based controller design is delivered. We divide the overall control objective into two subobjectives, where the first is target circling that each agent keeps its own desired distance to the static/moving target as well as rotating around or remaining static relative to the target as expected, and the second is distribution adjustment that each agent maintains the desired distance to its neighbors. Then, we propose a controller comprised of two parts, where a limit cycle oscillator named a converging part is designed to deal with the first subobjective, while a layout part is introduced to address the second subobjective. One key merit of the controller is that it can be implemented by each agent in its local frame so that only local information is utilized without knowing global information. Theoretical analysis of the convergence to the desired formation, of which the agents are required to be evenly distributed on a circle around the target, is provided for the multiagent system under the proposed controller. Numerical simulations are given to validate the effectiveness of the proposed controller for the cases of general formations, and to show that no collision between agents ever takes place throughout the system's evolution. © 1963-2012 IEEE.

关键词： Multi agent systems

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An Expressed and Private Opinion Model on Influence Networks 2

An Expressed and Private Opinion Model on Influence Networks

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2nd International Conference on Industrial Artificial Intelligence, IAI 2020

作者： Xia, Weiguo Liang, Hong Key Lab. of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education School of Control Science and Engineering Dalian University of Technology China

ISBN: (数字)9781728182162

ISBN: (纸本)9781728182162

This paper studies the evolution of an expressed and private opinion dynamics model with asynchronous updating. It is shown that under some mild connectivity and individual activation conditions, the expressed and private opinions of all individuals in the network converge to a common value exponentially fast when the susceptibility to influence of all individuals is equal to one. A numerical example verifies the theoretical result. © 2020 IEEE.

关键词： Social networking (online) Sociology Numerical models Ions Heuristic algorithms Convergence Statistics

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Blockchain-Based Homomorphic Transaction Framework for Enhanced Consumer Security and Business Scalab.lity

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IEEE Transactions on Consumer Electronics 2024年

作者： Guo, Tao Shang, Fengjun Dai, Xiangguang Liu, Qilie Chongqing University of Posts and Telecommunications School of Computer Science and Technology Chongqing400065 China Key Laboratory of Big Data Intelligent Computing Chongqing400065 China Chongqing Three Gorges University Key Lab. of Intelligent Info. Proc. and Contr. of Chongqing Munic. Institutions of Higher Education Chongqing Engineering Research Center of Internet of Things and Intelligent Control Technology School of Three Gorges Artificial Intelligence Chongqing400044 China Chongqing University of Posts and Telecommunications School of Communications and Information Engineering Chongqing400065 China

Energy trading in distributed microgrids represents an effective means of enhancing the utilization of renewable energy. However, the aggregation of large-scale consumption data may encounter business scalab.lity issues and potential privacy exposure concerns, necessitating the development of novel secure and scalab.e frameworks for integrating consumption demands between prosumer and microgrid entities. we research focuses on providing a user-friendly transaction model for consumers and microgrid operators. Firstly, a privacy aggregation scheme for user resource requests is designed to ensure the security and decentralization of user data. In addition, the model employs a bidirectional heterogeneous resource allocation mechanism to support the optimal allocation of multiple resources, such as renewable energy, power assets, energy storage devices, and carbon credits, among different microgrids. Finally, a microgrid transaction prototype has been constructed on the Truffle development framework. In this context, smart contracts has been designed to ensure that the transactions are carried out automatically. Experimental results indicate that the scheme provides enhanced security for multi-resource trading in a cluster context relative to existing methodologies. The number of transactions increases linearly with the resource overhead, resulting in more efficient utilization of energy trading. Furthermore, the framework's scalab.lity has been demonstrated through both temporal and spatial considerations. © 1975-2011 IEEE.

关键词： Decentralized finance

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Deep and Localized Transcranial Magnetic Stimulation in Rat Using Conventional Round Coil 34

Deep and Localized Transcranial Magnetic Stimulation in Rat ...

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34th General Assembly and Scientific Symposium of the International Union of Radio Science, URSI GASS 2021

作者： Lu, Mai. Ueno, Shoogo Lanzhou Jiaotong University Key Lab. of Opt-Electronic Technology and Intelligent Control of Ministry of Education Lanzhou730070 China Graduate School of Engineering Kyushu University Department of Applied Quantum Physics Fukuoka812-8581 Japan

ISBN: (纸本)9789463968027

Transcranial magnetic stimulation (TMS) shows significant values in both brain research and therapeutic applications in the treatment of various psychiatric and neurological disorders. Animal studies of TMS plays an important role in understanding of the cellular and molecular mechanisms underlying TMS induced effects in the brain. This work investigated TMS in rat brain by employing conventional round coil with varied coil positions. Three dimensional distributions of induced electric field in realistic rat model were calculated by 3-D impedance method. Simulations results indicated that the conventional round coil can be applied to rat TMS with improved focality while also keeping high stimulation intensities in deep brain regions. © 2021 URSI.

关键词： Rats

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Multi-Heterogeneity Public Goods Evolutionary Game on Lattice

SSRN

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SSRN 2022年

作者： Xie, Kai Liu, Xingwen Wang, Huazhang Jiang, Yulian Lab. of Complex Systems & Intelligent Control Key Lab. of Electronic Information of State Ethnic Affairs Commission College of Electrical Engineering Southwest Minzu University Sichuan Chengdu610225 China College of Electrical Engineering Southwest Minzu University Sichuan Chengdu610225 China

The topic of how cooperation emerges and develops in the real world has been intensively studied. Many mechanisms and models have been proposed to explain this complex phenomenon with the idealized assumption that all players are homogeneous or have little heterogeneity. This paper investigates the evolution of the public goods game with multiple heterogeneities. Roughly speaking, the quantity of investment (by a cooperator), punishment (received by a defector), or cost (paid by a punisher) is not fixed but depends on specific evolutionary situation. Moreover, heterogeneity is also introduced in expected payoff of each player for the strategy updating rule. Multi-heterogeneity makes the considered model more realistic. The simulation experiment shows that the combination of modified punishment mechanism and strategy updating rule can promote cooperation density in both the multi-heterogeneity and homogeneity models. © 2022, The Authors. All rights reserved.

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Model Predictive control with Reach-avoid Analysis

arXiv

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arXiv 2023年

作者： Ren, Dejin Lu, Wanli Lv, Jidong Zhang, Lijun Xue, Bai State Key Lab. of Computer Science Institute of Software CAS Beijing China University of Chinese Academy of Sciences Beijing China National Engineering Research Center of Rail Transportation Operation and Control System Beijing Jiaotong University Beijing China

In this paper we investigate the optimal controller synthesis problem, so that the system under the controller can reach a specified target set while satisfying given constraints. Existing model predictive control (MPC) methods learn from a set of discrete states visited by previous (sub-)optimized trajectories and thus result in computationally expensive mixed-integer nonlinear optimization. In this paper a novel MPC method is proposed based on reach-avoid analysis to solve the controller synthesis problem iteratively. The reach-avoid analysis is concerned with computing a reach-avoid set which is a set of initial states such that the system can reach the target set successfully. It not only provides terminal constraints, which ensure feasibility of MPC, but also expands discrete states in existing methods into a continuous set (i.e., reach-avoid sets) and thus leads to nonlinear optimization which is more computationally tractable online due to the absence of integer variables. Finally, we evaluate the proposed method and make comparisons with state-of-the-art ones based on several examples. Copyright © 2023, The Authors. All rights reserved.

关键词： Model predictive control

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Marker or Markerless? Mode-Switchable Optical Tactile Sensing for Diverse Robot Tasks

arXiv

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arXiv 2024年

作者： Ou, Ni Chen, Zhuo Luo, Shan The State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China The Robot Perception Lab. Centre for Robotics Research Department of Engineering King’s College London LondonWC2R 2LS United Kingdom

Optical tactile sensors play a pivotal role in robot perception and manipulation tasks. The membrane of these sensors can be painted with markers or remain markerless, enabling them to function in either marker or markerless mode. However, this uni-modal selection means the sensor is only suitable for either manipulation or perception tasks. While markers are vital for manipulation, they can also obstruct the camera, thereby impeding perception. The dilemma of selecting between marker and markerless modes presents a significant obstacle. To address this issue, we propose a novel mode-switchable optical tactile sensing approach that facilitates transitions between the two modes. The marker-to-markerless transition is achieved through a generative model, whereas its inverse transition is realized using a sparsely supervised regressive model. Our approach allows a single-mode optical sensor to operate effectively in both marker and markerless modes without the need for additional hardware, making it well-suited for both perception and manipulation tasks. Extensive experiments validate the effectiveness of our method. For perception tasks, our approach decreases the number of categories that include misclassified samples by 2 and improves contact area segmentation IoU by 3.53%. For manipulation tasks, our method attains a high success rate of 92.59% in slip detection. Code, dataset and demo videos are availab.e at the project website https://***/Marker-Markerless-Transition/ Copyright © 2024, The Authors. All rights reserved.

关键词： Tactile sensors

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A 4-Channel Ultrafast Wavelength-Swept REC-DFB Laser Array for Fiber Bragg Grating Interrogation

A 4-Channel Ultrafast Wavelength-Swept REC-DFB Laser Array f...

引用

2023 Asia Communications and Photonics Conference/2023 International Photonics and Optoelectronics Meetings, ACP/POEM 2023

作者： Meng, Lingxin Dai, Pan Ban, Qilu Xu, Kaichuan Wang, Jiacheng Li, Zhen Wang, Feng Zeng, Jie Li, Shaobo Ma, Xiang Chen, Xiangfei Res. Center of Precision Photonics Integration and System Application of the Ministry of Education College of Engineering and Applied Sciences Nanjing University Key Lab. of Intelligent Optical Sensing and Manipulation of the Ministry of Education Engineering National Laboratory of Solid State Microstructures Nanjing210023 China Nanjing University of Aeronautics and Astronautics State Key Laboratory of Mechanics and Control for Aerospace Structures Nanjing210016 China The 54th Research Institute of China Electronics Technology Group Corporation Optical Communication Research and Development Center Shijiazhuang050081 China

ISBN: (纸本)9798350312614

We present a four-channel ultrafast wavelength-swept distributed feedback (DFB) semiconductor laser array based on the reconstruction-equivalent-chirp (REC) technique using instantaneous injection current modulation. With the aid of our designed laser driving circuit system consists of the microcontroller unit (MCU), field-programmable gate array (FPGA) and negative metal-oxide-semiconductor field effect transistors (n-MOSFETs), the precise pulse driving current for the 4-channel wavelength-swept REC-DFB laser array can be generated and a fast tuning of 16.424 nm within 10 μs is achieved. To further investigate the tuning performance of the proposed wavelength-swept laser source, we then applied it to the fiber Bragg grating (FBG) interrogation system and four FBG temperature sensor arrays were successfully demodulated. The development of high-efficient optical sensing systems heavily relies on the significance of the ultrafast wavelength-swept laser source, which has the potential to greatly enhance FBG interrogator performance in the future. © 2023 IEEE.

关键词： DFB laser array fast wavelength-swept fiber Bragg grating interrogation REC technique

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A Refractive Index Sensor Based on Metal-Insulator-Metal Coupling an Square Ring Resonator with a Baffle 4

A Refractive Index Sensor Based on Metal-Insulator-Metal Cou...

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4th International Conference on intelligent control, Measurement and Signal Processing, ICMSP 2022

作者： Chen, Zhanbo Li, Tingsong Yan, Shubin Shen, Lifang Wen, Feng School of Electrical Engineering Zhejiang University of Water Resources and Electric Power Hangzhou310018 China School of Electrical and Control Engineering North University of China Taiyuan030051 China Jt. Lab. of Intelligent Equip. and Syst. for Water Conserv. and Hydropower Safety Monitoring of Zhejiang Prov. and Belarus Hangzhou310018 China School of Instrument and Electronics North University of China Taiyuan030051 China

ISBN: (数字)9781665486583

ISBN: (纸本)9781665486583

In this work, a refractive index sensor structure is proposed, which consists of the metal-insulator-metal (MIM) waveguide coupling with an square ring resonator with a baffle (SSRB). Its sensing characteristics are analyzed by the finite element analysis method. SRRB acts as a discrete state required to generate Fano resonance. When its effective side length increases, the sensitivity will be improved, but it will bring loss of parameters such as FOM and transmittance. The position and height of the baffle will also have a certain impact on the performance of the sensor, so it is necessary to select the appropriate size and fix it in a more suitable position, so as to show more excellent performance. In the data we studied, the best performance achieved by the structure was a sensitivity of 1460 nm/RIU with an FOM of 68. The proposed structure has great potential in nano-sensors. © 2022 IEEE.

关键词： Metal insulator boundaries

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Bridge the Gap between Supervised and Unsupervised Learning for Fine-Grained Classification

SSRN

引用

SSRN 2023年

作者： Wang, Jiabao Li, Yang Wei, Xiu-Shen Li, Hang Miao, Zhuang Zhang, Rui Army Engineering University of PLA Jiangsu Nanjing210007 China PCA Lab Key Lab of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education Jiangsu Key Lab of Image and Video Understanding for Social Security School of Computer Science and Engineering Nanjing University of Science and Technology Jiangsu Nanjing210094 China State Key Lab. for Novel Software Technology Nanjing University Jiangsu Nanjing210023 China

Unsupervised learning technology has caught up with or even surpassed supervised learning technology in general object classification (GOC) and person re-identification (re-ID). However, it is found that the unsupervised learning of fine-grained visual classification (FGVC) is more challenging than GOC and person re-ID. In order to bridge the gap between unsupervised and supervised learning for FGVC, we investigate the essential factors for the performance gap. Furthermore, we propose a simple, effective, and practical method, termed as UFCL, to alleviate the gap. Three key issues are concerned and improved: First, we introduce a robust and powerful backbone, ResNet50-IBN, which has an ability of domain adaptation when we transfer ImageNet pre-trained models to FGVC tasks. Next, we propose to introduce HDBSCAN instead of DBSCAN to do clustering, which can generate better clusters for adjacent categories with fewer hyper-parameters. Finally, we propose a weighted feature agent and its updating mechanism to do contrastive learning, which can improve the optimization process of learning the parameters of the network. The effectiveness of our UFCL is verified on four public FGVC datasets. Under the unsupervised FGVC setting, we achieve state-of-the-art results, and analyze the key factors and the important parameters to provide a practical guidance. © 2023, The Authors. All rights reserved.

关键词： Image classification

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