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2021 International Conference on Information, cybernetics, and Computational Social systems, ICCSS 2021

作者： Zhang, Kuo Wu, Zheng-Guang Zhejiang University Institute of Cyber-Systems and Control Hangzhou China Zhejiang University The State Key Laboratory of Industrial Control Technology Hangzhou China

ISBN: (纸本)9781665402453

False data injection attack(FDIA) is a traditional attack for the smart grid. There are many methods for the detection of the FDIA, but few of them can send the attack alarm successfully without an attack model. In this paper, we propose a reinforcement learning-based FDIA detection method for the distributed smart grid. The detection problem is formulated as a partially observable Markov decision process(POMDP) problem, and the observation of the POMDP can be obtained from the estimation of state and attack which come from the Kalman filter. By using the Sarsa algorithm, we can get a Q-table through online training. Finally, we use the IEEE-118 bus power system to evaluate the performance of our detector, and numerical results show the accurate response for the FDIA. © 2021 IEEE.

关键词： Reinforcement learning

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CHANNEL-INTEGRATED DIGITAL MICROFLUIDIC CHIP FOR NUCLEIC ACID EXTRACTION AND DIGITAL PCR DETECTION 26

CHANNEL-INTEGRATED DIGITAL MICROFLUIDIC CHIP FOR NUCLEIC ACI...

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26th International Conference on Miniaturized systems for Chemistry and Life Sciences, MicroTAS 2022

作者： He, Yu Lu, Zefan Liu, Ke Fan, Hongliang Zhang, Tao Research Center for Analytical Instrumentation Institute of Cyber-Systems and Control State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China School of Public Health Hangzhou Medical College Hangzhou China Huzhou Institute of Zhejiang University Huzhou China

ISBN: (纸本)9781733419048

Digital PCR (dPCR) is a powerful technique capable of absolute quantification of nucleic acids. However, the indispensable process, i.e., nucleic acid extraction (NAE), remains left off-chip. To address this issue, we have developed a channel-integrated digital microfluidic chip (CDMF) by merging channel-based microfluidics (CMF) with digital microfluidics (DMF). Through a composite elastomer-enabled photofabrication method, CDMF can be made into the desirable two-plate configuration, thereby, allowing for all basic functions of DMF. Meanwhile, the DMF-CMF integration enables both automatic NAE and subsequent droplet dPCR in a single device. As a proof of concept, sample-to-answer digital assay of Salmonella has been demonstrated. © 2022 MicroTAS 2022 - 26th International Conference on Miniaturized systems for Chemistry and Life Sciences. All rights reserved.

关键词： Digital microfluidics

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BEV2PR: BEV-Enhanced Visual Place Recognition with Structural Cues

BEV2PR: BEV-Enhanced Visual Place Recognition with Structura...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Fudong Ge Yiwei Zhang Shuhan Shen Weiming Hu Yue Wang Jin Gao State Key Laboratory of Multimodal Artificial Intelligence Systems (MAIS) CASIA School of Artificial Intelligence University of Chinese Academy of Sciences School of Information Science and Technology ShanghaiTech University State Key Laboratory of Industrial Control Technology and Institute of Cyber-Systems and Control Zhejiang University

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

In this paper, we propose a new image-based visual place recognition (VPR) framework by exploiting the structural cues in bird’s-eye view (BEV) from a single monocular camera. The motivation arises from two key observations about place recognition methods based on both appearance and structure: 1) For the methods relying on LiDAR sensors, the integration of LiDAR in robotic systems has led to increased expenses, while the alignment of data between different sensors is also a major challenge. 2) Other image-/camera-based methods, involving integrating RGB images and their derived variants (e.g., pseudo depth images, pseudo 3D point clouds), exhibit several limitations, such as the failure to effectively exploit the explicit spatial relationships between different objects. To tackle the above issues, we design a new BEV-enhanced VPR framework, namely BEV 2 PR, generating a composite descriptor with both visual cues and spatial awareness based on a single camera. The key points lie in: 1) We use BEV features as an explicit source of structural knowledge in constructing global features. 2) The lower layers of the pretrained backbone from BEV generation are shared for visual and structural streams in VPR, facilitating the learning of fine-grained local features in the visual stream. 3) The complementary visual and structural features can jointly enhance VPR performance. Our BEV 2 PR framework enables consistent performance improvements over several popular aggregation modules for RGB global features. The experiments on our collected VPR-NuScenes dataset demonstrate an absolute gain of 2.47% on Recall@1 for the strong Conv-AP baseline to achieve the best performance in our setting, and notably, a 18.06% gain on the hard set. The code and dataset will be available at https://***/FudongGe/BEV2PR.

关键词： Image sensors Visualization Laser radar Three-dimensional displays Robot vision systems Cameras Sensor systems Sensors Streams Visual place recognition

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Adaptive Fuzzy control With Guaranteed Performance For Electric Vehicles

Adaptive Fuzzy Control With Guaranteed Performance For Elect...

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Chinese control and Decision Conference, CCDC

作者： Weijun Huang Hongye Su Yang Zhu Innovation Center Zhejiang University Ningbo China State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China

In this paper, we propose a new adaptive fuzzy control scheme with a saturator for a class of constrainted uncertain unparametrizable nonlinear electric vehicle (EV) systems. The control scheme effectively addresses the nonlinearities and uncertainties in the EV systems without exact knowledge including variable hill climbing angle and other system parameters, and solves the constraints on the amplitude of input voltage. The techniques of adaptive control, fuzzy logic system, and backstepping design are utilized. With the scheme, the speed tracking error of the system converges to a preset interval asymptotically even in the presence of time-varying hill climbing angle and other system parameters. The control algorithm is illustrated by the simulation results.

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Observer-Based SMC for Dynamic Wireless Charging System of Electric Vehicles with Complex Disturbances 18

Observer-Based SMC for Dynamic Wireless Charging System of E...

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18th IEEE Conference on industrial Electronics and Applications, ICIEA 2023

作者： Yue, Jiawang Liu, Zhitao Jiang, Zhao Chen, Daidai Su, Hongye Zhejiang University Institute of Cyber-Systems and Control State Key Laboratory of Industrial Control Technology Hangzhou China Northwestern Polytechnical University Ningbo Preh Joyson Automotive Electronics Co. Ltd Ningbo Joyson Advanced Energy Research Institute Co. Ltd Ningbo China Ningbo Joyson Advanced Energy Research Institute Co. Ltd Ningbo China

ISBN: (纸本)9798350312201

This paper focuses on voltage control for a dynamic wireless charging system of electric vehicles based on an extended state observer. Each dynamic wireless charging system will suffer from complex disturbances, leading to the challenge of output voltage control. To address this issue, we propose a disturbance rejection control scheme that utilizes an extended state observer to estimate the unknown disturbances. A dynamic sliding-mode surface is designed to suppress estimation error, and a sliding mode control law based on the estimated information and sliding-mode surface is proposed to accurately track the expected voltage. We prove the stability of the closed-loop system, and simulation results confirm the effectiveness of the proposed disturbance rejection control scheme for dynamic wireless charging systems based on the extended state observer. © 2023 IEEE.

关键词： Disturbance rejection

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Adaptive Dynamic Programming for Optimal control of Unknown LTI System via Interval Excitation

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IEEE Transactions on Automatic control 2025年

作者： Ma, Yong-Sheng Sun, Jian Xu, Yong Cui, Shi-Sheng Wu, Zheng-Guang The National Key Lab of Autonomous Intelligent Unmanned Systems School of Automation Beijing Institute of Technology Beijing100081 China The Institute of Cyber-Systems and Control Zhejiang University Hangzhou310027 China

This paper investigates the optimal control problem for an unknown linear time-invariant (LTI) system. To solve this problem, a novel composite policy iteration (CPI) algorithm based on adaptive dynamic programming is developed to adaptively learn the optimal control policy from system data. The existing methods require the initial stabilizing control policy, the persistence of excitation (PE) condition and the data storage to ensure the algorithm convergence. Fundamentally different from them, these restrictions can be relaxed in the proposed method. Specifically, an adaptive parameter is elaborately designed to remove the requirement of the initial stabilizing control policy. Besides, an online data calculation scheme is proposed, which can not only replace the stored historical data by online data, but also can relax the PE condition to the interval excitation (IE) condition. The simulation results demonstrate the efficacy of the proposed algorithm, and its superiority is also demonstrated by comparing it with existing algorithms. © 1963-2012 IEEE.

关键词： Dynamic programming

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EMV-LIO: An Efficient Multiple Vision aided LiDAR-Inertial Odometry

arXiv

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arXiv 2023年

作者： Shen, Bingqi Chen, Yuyin Han, Fuzhang Dai, Shuwei Xiong, Rong Wang, Yue The State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Hangzhou Iplus Technology Co. Ltd Hangzhou China

To deal with the degeneration caused by the incomplete constraints of single sensor, multi-sensor fusion strategies especially in the LiDAR-vision-inertial fusion area have attracted much interest from both the industry and the research community in recent years. Considering that a monocular camera is vulnerable to the influence of ambient light from a certain direction and fails, which makes the system degrade into a LiDAR-inertial system, multiple cameras are introduced to expand the visual observation so as to improve the accuracy and robustness of the system. Besides, removing LiDAR’s noise via range image, setting condition for nearest neighbor search, and replacing kd-Tree with ikd-Tree are also introduced to enhance the efficiency. Based on the above, we propose an Efficient Multiple vision aided LiDAR-inertial odometry system (EMV-LIO), and evaluate its performance on both open datasets and our custom datasets. Experiments show that the algorithm is helpful to improve the accuracy, robustness, and efficiency of the whole system compared with LVI-SAM [4]. Our implementation is available at https: //***/BingqiShen/EMV-LIO. Copyright © 2023, The Authors. All rights reserved.

关键词： Nearest neighbor search

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Interval Weight state Update Approach with Deep Reinforcement Learning for Dynamic Load Change Tasks in Air Separation Processes

Interval Weight State Update Approach with Deep Reinforcemen...

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Data Driven control and Learning systems (DDCLS)

作者： Ruiyu Qiu Guanghui Yang Zuhua Xu Zhijiang Shao State Key Lab of Industrial Control Technology College of Control Science and Engineering Zhejiang University Hangzhou P. R. China HuZhou Research Institute of Industrial Control Technology

ISBN: (数字)9798350361674

ISBN: (纸本)9798350361681

The air separation unit (ASU) is important for producing high-purity oxygen, nitrogen, and argon, and dynamic load change operation helps meet the needs of downstream industries. The ASU has an extremely long delay, and the requirements for this operation are strict, and model predictive control (MPC) is usually used for this task. However, the burden of online MPC computation is a key issue in improving production and economic efficiency. In this paper, a framework based on Reinforcement Learning (RL) is proposed to solve the long-delayed task in ASU. The state and reward function are specially designed for this task. First, training increases the sampling time of the original model to create a low resolution environment, which makes training more efficient. As a sacrifice, the control precision is reduced in the original high resolution environment. Then, an algorithm called Interval Weighted state Update (IWSU) is proposed to restore the agent and keeps the action accuracy in the original environment. The dynamic load change task works as the case in this paper. The performance of RL is compared with that of MPC, and results show that RL is almost exactly the same as MPC in key flow indicators, and can well meet the remaining content and purity range requirements. IWSU shows good performance compared with directly applying the agent to the original high resolution environment.

关键词： Training Target tracking Switches Production control systems Separation processes Nitrogen

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CREPES: Cooperative RElative Pose Estimation System

arXiv

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arXiv 2023年

作者： Xun, Zhiren Huang, Jian Li, Zhehan Ying, Zhenjun Wang, Yingjian Xu, Chao Gao, Fei Cao, Yanjun State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou310027 China Huzhou Institute of Zhejiang University Huzhou313000 China

Mutual localization plays a crucial role in multi-robot cooperation. CREPES, a novel system that focuses on six degrees of freedom (DOF) relative pose estimation for multi-robot systems, is proposed in this paper. CREPES has a compact hardware design using active infrared (IR) LEDs, an IR fish-eye camera, an ultra-wideband (UWB) module and an inertial measurement unit (IMU). By leveraging IR light communication, the system solves data association between visual detection and UWB ranging. Ranging measurements from the UWB and directional information from the camera offer relative 3-DOF position estimation. Combining the mutual relative position with neighbors and the gravity constraints provided by IMUs, we can estimate the 6-DOF relative pose from a single frame of sensor measurements. In addition, we design an estimator based on the error-state Kalman filter (ESKF) to enhance system accuracy and robustness. When multiple neighbors are available, a Pose Graph Optimization (PGO) algorithm is applied to further improve system accuracy. We conduct enormous experiments to demonstrate CREPES’ accuracy between robot pairs and a team of robots, as well as performance under challenging conditions. © 2023, CC BY-NC-ND.

关键词： Multipurpose robots

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Principal Trotter Observation Error with Truncated Commutators

arXiv

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arXiv 2024年

作者： Li, Langyu Institute of Cyber-system and Control College of Control Science and Engineering Zhejiang University Hangzhou310027 China State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou310027 China

Hamiltonian simulation is one of the most promising applications of quantum computers, and the product formula is one of the most important methods for this purpose. Previous related work has mainly focused on the worst-case or average-case scenarios. In this work, we consider the simulation error under a fixed observable. Under a fixed observable, errors that commute with this observable become less important. To illustrate this point, we define the observation error as the expectation under the observable and provide a commutativity-based upper bound using the Baker–Campbell–Hausdorff formula. For highly commuting observables, the simulation error indicated by this upper bound can be significantly compressed. In the experiment with the Heisenberg model, the observation bound compresses the Trotter number by nearly half compared to recent commutator bounds. Additionally, we found that the evolution order significantly affects the observation error. By utilizing a simulated annealing algorithm, we designed an evolution order optimization algorithm, achieving further compression of the Trotter number. The experiment on the hydrogen molecule Hamiltonian demonstrates that optimizing the order can lead to nearly half the reduction in the Trotter number. Copyright © 2024, The Authors. All rights reserved.

关键词： Quantum computers

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