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arXiv 2023年

作者： Liu, Jiaxu Chen, Song Cai, Shengze Xu, Chao The School of Mathematical Sciences Zhejiang University Zhejiang Hangzhou310027 China The State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Zhejiang Hangzhou310027 China Huzhou Institute of Zhejiang University Zhejiang Huzhou313000 China

In this paper, we investigate a distributed aggregative optimization problem in a network, where each agent has its own local cost function which depends not only on the local state variable but also on an aggregated function of state variables from all agents. To accelerate the optimization process, we combine heavy ball and Nesterov’s accelerated methods with distributed aggregative gradient tracking, and propose two novel algorithms named DAGT-HB and DAGT-NES for solving the distributed aggregative optimization problem. We analyse that the DAGT-HB and DAGT-NES algorithms can converge to an optimal solution at a global R−linear convergence rate when the objective function is smooth and strongly convex, and when the parameters (e.g., step size and momentum coefficients) are selected within certain ranges. A numerical experiment on the optimal placement problem is given to verify the effectiveness and superiority of our proposed algorithms. Copyright © 2023, The Authors. All rights reserved.

关键词： Optimization

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Synthesis of Decoherence-Free Modes in Linear Quantum Passive systems via Robust Pole Placement

Synthesis of Decoherence-Free Modes in Linear Quantum Passiv...

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IEEE International Conference on systems, Man and cybernetics

作者： Zibo Miao Yu Pan Qing Gao Guangdong Key Laboratory of Intelligent Morphing Mechanisms School of Mechanical Engineering and Automation Adaptive Robotics Harbin Institute of Technology Shenzhen China State Key Laboratory of Industrial Control Technology The Institute of Cyber-Systems and Control College of Control Science and Engineering Zhejiang University Hangzhou China The School of Automation Science and Electrical Engineering Beijing Advanced Innovation Center for Big Data and Brain Computing Beihang University Beijing China

ISBN: (数字)9781665410205

ISBN: (纸本)9781665410212

In this paper we extend our previous research on coherent observer-based pole placement approach to study the synthesis of robust decoherence-free (DF) modes for linear quantum passive systems, which is aimed at preservation of quantum information. In particular, DF modes can be generated by placing the poles on the imaginary axis via a coherent feedback design scheme, and these modes can further be simultaneously made robust against perturbations to the system parameters by minimizing the condition number associated with imaginary poles. We develop explicit algebraic conditions for the existence of such a coherent quantum controller, with the corresponding deign procedure provided. Examples are given to illustrate the process of tuning the DF modes towards perfect robustness via the proposed pole placement technique.

关键词： Perturbation methods Design methodology Quantum optics Robustness Feedback control Closed loop systems Tuning cybernetics

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The Novel Adaptive Fractional Order Gradient Decent Algorithms Design Via Robust control

arXiv

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arXiv 2023年

作者： Liu, Jiaxu Chen, Song Cai, Shengze Xu, Chao School of Mathematical Sciences Zhejiang University Zhejiang Hangzhou310027 China State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Zhejiang Hangzhou310027 China Huzhou Institute of Zhejiang University Zhejiang Huzhou313000 China

The vanilla fractional order gradient descent may oscillatorily converge to a region around the global minimum instead of converging to the exact minimum point, or even diverge, in the case where the objective function is strongly convex. To address this problem, a novel adaptive fractional order gradient descent (AFOGD) method and a novel adaptive fractional order accelerated gradient descent (AFOAGD) method are proposed in this paper. Inspired by the quadratic constraints and Lyapunov stability analysis from robust control theory, we establish a linear matrix inequality to analyse the convergence of our proposed algorithms. We prove that the proposed algorithms can achieve R-linear convergence when the objective function is L-smooth and m-strongly-convex. Several numerical simulations are demonstrated to verify the effectiveness and superiority of our proposed algorithms. Copyright © 2023, The Authors. All rights reserved.

关键词： Robust control

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Lidar-Inertial and Downward Vision Based Mobile Robot SLAM in Digital Workshops 13

Lidar-Inertial and Downward Vision Based Mobile Robot SLAM i...

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13th IEEE Data Driven control and Learning systems Conference, DDCLS 2024

作者： Zhang, Yanchao Geng, Hao Liu, Bin Zhang, Yinlong Yuan, Xudong Zhang, Sichao School of Information Science and Engineering Shenyang University of Technology Shenyang110020 China Guangzhou Institute of Industrial Intelligence Guangzhou511458 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

ISBN: (纸本)9798350361674

In order to solve the problems of long-term cumulative error and the absence of absolute pose in the existing Lidar-Inertial Measurement Unit (IMU) fusion methods for Automated Guided Vehicle (AGV) Simultaneous Localization and Mapping (SLAM), we propose a new SLAM method for mobile robot, integrating Lidar, IMU, and a downward vision camera. Firstly, we tightly couple Lidar-IMU and downward vision camera using a multimodal fusion framework. Downward visual measurements are integrated as QR factors into the factor graph, providing absolute pose information to correct cumulative error in the Lidar-IMU system and enable the joint pose estimation of the AGV. Secondly, an enhanced Iterative Closest Point (ICP) point cloud matching algorithm has been developed to correct the incorrect pose. This approach achieves Scan-to-Map alignment by employing a coarse-to-fine matching strategy, thereby enhancing the accuracy of point cloud alignment. Finally, the extended Kalman filter is used to optimize the Lidar pose drift, as well as the Lidar mapping effectively by using the Lidar-IMU as the measurements and the downward visual measurements as the updates. The algorithm has been extensively evaluated on the developed AGV experimental platform. The experimental results show that the position error is less than 0.02 meters and the orientation error is less than 1°, which solves the problems of long-term error accumulation and the lack of absolute pose information for AGV navigation. © 2024 IEEE.

关键词： Extended Kalman filters

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Semantic Integrity Measurement of industrial control Embedded Devices Based on National Secret Algorithm

Semantic Integrity Measurement of Industrial Control Embedde...

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2023 IEEE/CIC International Conference on Communications in China, ICCC Workshops 2023

作者： Zhang, Xiao Qi, Longyun Ma, Xiaolei Liu, Wei Sun, Lianwen Li, Xiangnan Duan, Binbin Zhang, Siyuan Che, Xin State Grid Corporation of China Beijing100031 China Nari Group Corporation/State Grid Electric Power Research Institute Nanjing210003 China State Grid Xinjiang Electric Power Co. Ltd. China Zhejiang University State Key Lab. of Industrial Control Technology Hangzhou310027 China

ISBN: (纸本)9798350345407

In the age of 6G and AI, industrial control embedded devices can understand and follow instructions automatically. The key is to properly understand the meaning of tasks rather than just focusing on tiny details. Semantic communication will be widely used in industries. These industrial control embedded devices are crucial for controlling and monitoring industrial processes and any tampering with them could lead to disastrous consequences. Thus, it becomes increasingly important to protect the integrity of these devices semantically. However, existing research in this field either focuses on specific devices or fails to utilize national secret algorithms. To address this issue, we propose an algorithm to measure the semantic integrity of key files that are essential for system startup and control programs based on national secret algorithms. The proposed algorithm uses a unique encryption method to protect key files from unauthorized access and tampering. To validate the effectiveness and applicability of the proposed algorithm, extensive tests were conducted. The test results show that the proposed algorithm is fast and efficient, making it suitable for measuring the integrity of industrial control devices. The development of this algorithm is a significant step towards securing industrial control devices. © 2023 IEEE.

关键词： Semantics

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A Comb-Shaped Microfluidic Aptasensor for Rapid and Sensitive On-Site Simultaneous Detection of Aflatoxin B1 and Deoxynivalenol

SSRN

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SSRN 2024年

作者： Wu, Jinlei Yuan, Haojun Yang, Yunhua Yang, Ping Yan, Xinxin Mu, Ying Yang, Panhui Gao, Wanlei Jin, Qinghui College of Information Science and Engineering Ningbo University Zhejiang Ningbo315211 China Mechanical and Electrical Engineering School Zhejiang Fashion Institute of Technology Zhejiang Ningbo315211 China Research Center for Analytical Instrumentation Institute of Cyber-Systems and Control State Key Laboratory of Industrial Control Technology Zhejiang University Zhejiang Hangzhou310007 China State Key Laboratory of Transducer Technology Shanghai Institute of Microsystem and Information Technology Chinese Academy of Sciences Shanghai200050 China

Mycotoxins are widely co-contaminating agricultural products and their derivatives, and on-site monitoring of multiple mycotoxins remains a challenge. Here, we present a novel electrochemical aptasensor for the simultaneous detection of aflatoxin B1 (AFB1) and deoxynivalenol (DON). The sensor is equipped with dual working electrode microelectrodes and comb-shaped polydimethylsiloxane (PDMS) microfluidic chip, quantification of toxin concentrations using differential pulse voltammetry (DPV) detection methods. Moreover, no additional modification of the signal amplification probes is required, and label-free detection of both toxins can be accomplished in less than 20 minutes, achieving limits of detection of 7.74 pg/mL for AFB1 and 0.172 ng/mL for DON. The sensor has demonstrated excellent specificity and stability in standard toxin solutions and example corn assays. In summary, this electrochemical aptasensor with an integrated comb-shaped microchannel offers the possibility of rapid and highly sensitive on-site detection of AFB1 and DON. © 2024, The Authors. All rights reserved.

关键词： Aflatoxins

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Smart Contract Service Optimization in Blockchain-Cloud Collaborative Computing 24

Smart Contract Service Optimization in Blockchain-Cloud Coll...

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24th IEEE International Conference on Mobile Data Management, MDM 2023

作者： Wan, Ji Hu, Kai Li, Jie Su, Hao Wu, Qingshun Li, Mingyuan Feng, Libo Pan, Yan Beihang University State Key Laboratory of Software Development Environment Beijing China Beihang Yunnan Innovation Institute Yunnan Key Laboratory of Blockchain Application Technology Kunming China Zhengzhou University School of Computer and Artificial Intelligence Zhengzhou China The First Affiliated Hospital of Zhengzhou University Zhengzhou China Yunnan University National Pilot School of Software Kunming China China Industrial Control Systems Cyber Emergency Response Team Institute of Software Beijing China

ISBN: (纸本)9798350341010

Smart contract is a trusted service provided on the blockchain, while cloud service is a traditional service mode with a large number of resources. The combination of the blockchain and cloud service is of great significance to the trusted expansion of services and the access to services inside and outside the blockchain. In this paper, we study the smart contract extension service in blockchain-cloud collaborative computing. The service module decoupling method of smart contract is proposed, and the parallel execution algorithm of smart contract service is designed, which improves the execution efficiency of smart contract service. Finally, this paper designs a secure data interaction method of smart contract and cloud service, which helps to maintain the data consistency between cloud computing and blockchain. The experimental results show that the proposed method can save at most 42.13% of the running time, and it can promote the data consistency between the cloud service and the blockchain. © 2023 IEEE.

关键词： Smart contract

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Wavy Whiskers in Phocid Seals Exhibit High Signal-to-Noise in Sensing Hydrodynamic Flows

Wavy Whiskers in Phocid Seals Exhibit High Signal-to-Noise i...

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IEEE International Conference on Cyborg and Bionic systems (CBS)

作者： Xingwen Zheng Amar M. Kamat Ming Cao Michael S. Triantafyllou Ajay G. P. Kottapalli Engineering and Technology Institute Groningen Faculty of Science and Engineering University of Groningen Groningen the Netherlands State Key Laboratory of Industrial Control and Technology Zhejiang University Hangzhou China Department of Control Science and Engineering Institute of Cyber-Systems and Control Zhejiang University Hangzhou China MIT Sea Grant College Program Massachusetts Institute of Technology (MIT) 77 Massachusetts Avenue Cambridge MA USA Department of Mechanical Engineering MIT Cambridge MA USA

ISBN: (数字)9798350388039

ISBN: (纸本)9798350388046

Phocid seals can detect fish from distances up to 180 meters solely using undulating whiskers. The unique undulating surfaces of these whiskers have been found to minimize vortex-induced vibrations (VIVs). In our previous work, we measured the ratios of undulation wavelength (λ) to mean diameter $\left(D_{m}\right),\left(\lambda / D_{m}\right)$ in both harbor and grey seals, yielding values of approximately 4.36 and 4.63, respectively. In this study, we delve into the significance of the $\lambda / D_{m}$ ratio to the vibration responses of seal whiskers in a fluid flow. We conducted comprehensive fluid-structure interaction studies using COMSOL Multiphysics®, wherein we studied vibration responses of harbor and grey seal whisker structures with diverse $\lambda / D_{m}$ values in the oncoming flow. Our results indicate that seal whiskers exhibited a trough in their VIV responses and a peak in wake-induced vibration (WIV) responses at $\lambda / D_{m}$ values around 4 to 5. Our findings could imply that the evolutionary optimization of the $\lambda / D_{m}$ value enables seal whiskers with resistance to VIV and sensitivity to WIV.

关键词： Vibrations Sensitivity Surface waves Biological system modeling Wavelength measurement Seals Fish Robot sensing systems Sensor systems Sensors

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Human-Robot Pose Tracking Based on CNN with Color and Geometry Aggregation 16th

Human-Robot Pose Tracking Based on CNN with Color and Geo...

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16th International Conference on Social Robotics, ICSR + InnoBiz 2024

作者： Xu, Yue Zhang, Yinlong Liu, Shuai Liu, Yuanhao Liang, Wei He, Hongsheng Shenyang University of Technology Shenyang110020 China Guangzhou Institute of Industrial Intelligence Guangzhou511458 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China Department of Computer Science The University of Alabama TuscaloosaAL35487 United States

ISBN: (纸本)9789819611508

Accurately tracking the robotic arm and human joints is crucial to ensure safety during human-robot interaction. However, traditional pose tracking methods often exhibit insufficient performance and robustness in complex environments. The variations in the robotic arm’s environment and posture make it challenging for traditional methods to accurately capture the positions and posture of its joints. Specifically, when addressing challenges such as high similarity, occlusion, background complexity, and joint recognition failures, they often struggle to provide reliable and accurate results. To address these challenges, this paper proposes a human-robot pose tracking algorithm based on a new convolutional neural network model. To enhance detection accuracy, an improved color detection module is introduced to resolve joint misclassification. A geometric perception module is designed to accurately locate joints even under occlusion. Additionally, innovative iEMA and DBB modules are incorporated. The iEMA module employs edge detection technology to dynamically adjust thresholds for correct matching by improving the edge matching process. The DBB module refines the boundary box parameters for precise localization by introducing adaptive bounding box updates in real-time. This algorithm also integrates human pose recognition, enabling real-time pose recognition, thereby facilitating more intelligent and natural human-robot interaction. The algorithm has been rigorously evaluated on a custom-designed robotic arm platform. Experimental results validate the algorithm’s effectiveness and feasibility. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Robotic arms

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AUTOSIM:Automated Urban Traffic Operation Simulation via Meta-Learning

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IEEE/CAA Journal of Automatica Sinica 2023年第9期10卷 1871-1881页

作者： Yuanqi Qin Wen Hua Junchen Jin Jun Ge Xingyuan Dai Lingxi Li Xiao Wang Fei-Yue Wang Zhejiang Lab Hangzhou 310030China ECARX Technology Co. Ltd.Shanghai 201811China IEEE Zhejiang Supcon Information Company Ltd. Hangzhou 310052China the State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Indiana University-Purdue University Indianapolis(IUPUI) IndianapolisIndiana 46202 USA School of Artificial Intelligence Anhui UniversityHefei 230039China

Online traffic simulation that feeds from online information to simulate vehicle movement in real-time has recently seen substantial advancement in the development of intelligent transportation systems and urban traffic *** has been a challenging problem due to three aspects:1)The diversity of traffic patterns due to heterogeneous layouts of urban intersections;2)The nature of complex spatiotemporal correlations;3)The requirement of dynamically adjusting the parameters of traffic models in a real-time *** cater to these challenges,this paper proposes an online traffic simulation framework called automated urban traffic operation simulation via meta-learning(AUTOSIM).In particular,simulation models with various intersection layouts are automatically generated using an open-source simulation tool based on static traffic geometry *** a meta-learning technique,AUTOSIM enables an automated learning process for dynamic model settings of traffic scenarios featured with different spatiotemporal ***,AUTOSIM is capable of adapting traffic model parameters according to dynamic traffic information in real-time by using a *** computational experiments,we demonstrate the effectiveness of the meta-learningbased framework that is capable of providing reliable supports to real-time traffic simulation and dynamic traffic operations.

关键词： Conditional generative adversarial network signalized urban networks short-term link speed prediction

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