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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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Unsupervised learning on particle image velocimetry with embedded cross‐correlation and divergence‐free constraint

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IET cyber-systems and Robotics 2022年第3期4卷 200-211页

作者： Yiwei Chong Jiaming Liang Tehuan Chen Chao Xu Changchun Pan College of Control Science and Engineering Zhejiang UniversityHangzhouZhejiangChina School of Mechanical Engineering and Mechanics Ningbo UniversityNingboZhejiangChina Ningbo Artificial Intelligence Institute Shanghai Jiao Tong UniversityNingboZhejiangChina The State Key Laboratory of Industrial Control Technology Institute of Cyber‐Systems and ControlZhejiang UniversityHangzhouZhejiangChina School of Electronic Information and Electrical Engineering Key Laboratory of Shanghai Navigation and Location Based ServicesShanghai Jiao Tong UniversityShanghaiZhejiangChina

Particle image velocimetry(PIV)is an essential method in experimental fluid *** recent years,the development of deep learning‐based methods has inspired new ap-proaches to tackle the PIV problem,which considerably improves the accuracy of ***,the supervised learning of PIV is driven by large volumes of data with ground truth ***,the authors consider unsupervised PIV *** has been some work on unsupervised PIV,but they are not nearly as effective as supervised learning *** authors try to improve the effectiveness and accuracy of unsupervised PIV by adding classical PIV methods and physical *** this paper,the authors propose an unsupervised PIV method combined with the cross‐correlation method and divergence‐free constraint,which obtains better performance than other unsupervised PIV *** authors compare some classical PIV methods and some deep learning methods,such as LiteFlowNet,LiteFlowNet‐en,and UnLiteFlowNet with the authors’model on the synthetic ***,the authors contrast the results of LiteFlowNet,UnLiteFlowNet and the authors’model on experimental particle *** a result,the authors’model shows comparable performance with classical PIV methods as well as supervised PIV methods and outperforms the previous unsupervised PIV method in most flow cases.

关键词： neural network particle image velocimetry unsupervised learning

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Primitive-Planner: An Ultra Lightweight Quadrotor Planner with Time-optimal Primitives

arXiv

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arXiv 2025年

作者： Hou, Jialiang Pan, Neng Wang, Zhepei Ji, Jialin Guan, Yuxiang Gan, Zhongxue Gao, Fei Academy for Engineering and Technology Fudan University Shanghai200433 China State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou310027 China Huzhou Institute of Zhejiang University Huzhou313000 China

It is a significant requirement for a quadrotor trajectory planner to simultaneously guarantee trajectory quality and system lightweight. Many researchers focus on this problem, but there’s still a gap between their performance and our common wish. In this paper, we propose an ultra lightweight quadrotor planner with time-optimal primitives. Firstly, a novel motion primitive library is proposed to generate time-optimal and dynamical feasible trajectories offline. Secondly, we propose a fast collision checking method with a deterministic time consumption, independent of the sampling resolution of the primitives. Finally, we select the minimum cost trajectory to execute among the safe primitives based on user-defined requirements. The propsed transformation relation between the local trajectories ensures the smoothness of the global trajectory. The planner reduces unnecessary online computing power consumption as much as possible, while ensuring a high-quality trajectory. Benchmark comparisons show that our method can generate the shortest flight time and distance of trajectory with the lowest computation overload. Challenging real-world experiments validate the robustness of our method. Copyright © 2025, The Authors. All rights reserved.

关键词： Flight paths

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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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Learning Gait-conditioned Bipedal Locomotion with Motor Adaptation*

Learning Gait-conditioned Bipedal Locomotion with Motor Adap...

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IEEE-RAS International Conference on Humanoid Robots

作者： Wandi Wei Zhicheng Wang Anhuan Xie Jun Wu Rong Xiong Qiuguo Zhu Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Zhejiang Lab Hangzhou China State Key Laboratory of Industrial Control Technology Hangzhou China

Whole body locomotion in humanoid robots remains a significant challenge due to the requirement of whole body coordination, natural bipedal walking gait, and accurate state estimation to enable them to traverse plain and uneven terrain. In this paper, we propose a learning-based humanoid locomotion controller that can adapt to disturbance and uneven terrain. We leverage the advances in rapid adaptation for quadruped locomotion control, and expend them to the humanoid robots, resulting in a well-performed whole body locomotion policy, gait-conditioned RMA without any reference trajectory during training. In simulation test, our trained policy demonstrates the ability to generalize in unseen turning tasks and showcases its robustness in more complex environment include hill and steps.

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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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HIDG-based PSO Algorithm: Suspicious Sensor Selection for Power Grid Monitoring System Under Data Integrity Attack 5

HIDG-based PSO Algorithm: Suspicious Sensor Selection for Po...

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5th International Conference on Electrical Engineering and control Technologies, CEECT 2023

作者： Li, Pandeng Liang, Zhihong Yang, Yiwei Dong, Liangyu Suo, Yuhan Hao, Yi Electric Power Research Institute Csg Guangdong Provincial Key Laboratory of Power System Network Security Guangdong Guangzhou China China Industrial Control Systems Cyber Emergency Response Team Beijing China Beijing Institute of Technology School of Automation Beijing China

ISBN: (纸本)9798350342253

With the development of communication and sensing technology, it has become possible to monitor the operating status of the power grid system through a series of sensors. However, malicious adversaries may launch data integrity attacks to compromise the measurements of certain sensors, causing the grid monitoring system to fail to grasp the correct system operating status. To solve the NP-hard suspicious sensor selection problem, this paper proposes an efficient attack detection scheduling algorithm, the Particle Swarm Optimization algorithm based on historical information directional guidance (HIDG-based PSO algorithm). The proposed algorithm is utilized with its unique evolutionary mechanism, which reduces the computational power requirements for sensor selection. For the problem of uncertainty in evolutionary algorithms, this paper uses historical information to guide the selection of suspicious sensors at the current moment. The simulation results show that the proposed algorithm can efficiently select suspicious sensors, which will greatly improve the efficiency of attack detection and ensure the security of information fusion of the power grid monitoring system. © 2023 IEEE.

关键词： Scheduling algorithms

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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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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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