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arXiv 2020年

作者： Chan, Nelson P.K. Jayawardhana, Bayu de Marina, Hector Garcia Engineering and Technology Institute Groningen University of Groningen Nijenborgh 4 Groningen9747AG Netherlands Department of Computer Architecture and Automatic Control at the Faculty of Physics Universidad Complutense de Madrid Madrid28040 Spain

This paper focuses on the stability analysis of a formation shape displayed by a team of mobile robots that uses heterogeneous sensing mechanism. Depending on the convenience and reliability of the local information, each robot utilizes the popular gradient-based control law which, in this paper, is either the distance-based or the bearing-only formation control. For the two and three robot case, we show that the use of heterogeneous gradient-based control laws can give rise to an undesired invariant set where a distorted formation shape is moving at a constant velocity. The (in)stability of such an invariant set is dependent on the specified distance and bearing constraints. For the two robot case, we prove almost global stability of the desired equilibrium set while for the three robot case, we guarantee local asymptotic stability for the correct formation shape. We also derive conditions for the three robot case in which the undesired invariant set is locally attractive. Numerical simulations are presented for illustrating the theoretical results in the three robot *** Codes 34H05, 70E60, 93C10, 93C85 © 2020, CC-BY-NC-SA.

关键词： control theory

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Angle-Constrained Formation control for Circular Mobile Robots

arXiv

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arXiv 2020年

— In this letter, we investigate the formation control problem of mobile robots moving in the plane where, instead of assuming robots to be simple points, each robot is assumed to have the form of a disk with equal radius. Based on interior angle measurements of the neighboring robots’ disk, which can be obtained from low-cost vision sensors, we propose a gradient-based distributed control law and show the exponential convergence property of the associated error system. By construction, the proposed control law has the appealing property of ensuring collision avoidance between neighboring robots. We also present simulation results for a team of four circular mobile robots forming a rectangular *** Codes 34H05, 70E60, 93C10, 93C85 Copyright © 2020, The Authors. All rights reserved.

关键词： Mobile robots

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Characterizing coated objects with radar identification system using short-time matrix pencil method 16

Characterizing coated objects with radar identification syst...

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16th International Conference on Electrical engineering/Electronics, computer, Telecommunications and Information Technology, ECTI-CON 2019

作者： Bannawat, Lakkhana Burintramart, Santana Boonpoonga, Akkarat Faculty of Engineering Rajamangala University of Technology Rattanakosin Department of Computer Engineering Nakhon Pathom Thailand Ministry of Defence Nonthaburi Thailand King Mongkut's University of Technology North Bangkok Industrial Electric and Control System Research Center Bangkok Thailand

ISBN: (纸本)9781728133614

This paper presents a radar target identification of a coated object. Based on the singularity expansion method, poles extracted from the received backscattering signal by using a short-time matrix pencil method were used as the object's signatures for identification. Simulation examples were illustrated in order to study on identification of a coated object. The antenna effect was taken into account and then mitigated by using a calibration technique. In simulations, the PEC sphere object was coated with dielectrics whose thickness was varied in order to investigate the behavior of extracted pole and the commencements of the late-time response of each object's layer. Simulation results showed that extracted poles obtained from the use of a short-time matrix pencil method can identify the PEC object coated with the dielectrics. © 2019 IEEE.

关键词： Poles

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Formal analysis of QUIC handshake protocol using ProVerif

Formal analysis of QUIC handshake protocol using ProVerif

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IEEE International Conference on Cyber Security and Cloud Computing (CSCloud)

作者： Jingjing Zhang Lin Yang Xianming Gao Qiang Wang College of Command and Control Engineering Army Engineering University of PLA Nanjing China National Key Laboratory of Science and Technology on Information System Security Chinese Academy of Military Science Beijing China Department of Computer Science and Engineering Southern University of Science and Technology Shenzhen China

ISBN: (数字)9781728165509

ISBN: (纸本)9781728165516

This paper presents a formal analysis of the QUIC protocol. This newly proposed protocol is currently under the process of standardization, and it is still unknown whether the proposed protocol provides the claimed security guarantees. To fill this gap, we model the QUIC handshake protocol in the applied pi calculus and perform a comprehensive formal analysis using ProVerif. To the best of our knowledge, this is the first thorough study on the formal analysis of QUIC handshake protocol.

关键词： Security protocol QUIC Formal verification ProVerif formal analysis Formal verification Handshake Protocol pi calculus

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control design considering magnetic flux characteristic uncertainty for magnetic levitation system with magnetic flux and current feedback

IEEJ Transactions on Electronics, Information and Systems

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IEEJ Transactions on Electronics, Information and systems 2019年第10期139卷 1159-1166页

作者： Urasaki, Shinpachiro Kobayashi, Yoshimitsu Kami, Yasushi Mitani, Yuichiroh Nobuyama, Eitaku Department of Electronic Control Engineering National Institute of Technology Gifu College 2236-2. Kamimakuwa. Motosu. Gifu 501-0495 Japan Department of Electrical and Computer Engineering National Institute of Technology Akashi College 679-3. Nishioka. Uozumi Akashi. Hyogo674-8501 Japan Department of Mechanical Engineering National Institute of Technology Numazu College 3600. Ooka. Numazu Shizuoka410-8501 Japan Department of Systems Innovation and Informatics Faculty of Computer Science and System Engineering Kyushu Institute of Technology 680-4.Kawazu. Iizuka Fukuoka820-8502 Japan

This paper describes control design considering magnetic flux characteristic uncertainty for magnetic levitation system with magnetic flux and current feedback. The position of the levitated object is calculated from the hall voltage and current of the electromagnet. We show the uncertainty for magnetic flux characteristic and design the stabilizing controller by proportional feedback with the hall voltage and current. Moreover, we tried to design servo controller by two-degree-of-freedom control by using a finite number of frequency response (FNFR) model including the uncertainty and confirmed the validity of the proposed method by experiment results. © 2019 The Institute of Eleclrical Engineers of Japan.

关键词： Frequency response

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Blockchain Based Domestic Appliances Scheduling in Community Microgrids

Blockchain Based Domestic Appliances Scheduling in Community...

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2019 IEEE PES Innovative Smart Grid Technologies Asia, ISGT 2019

作者： Afzal, M. Umer, Khalid Amin, Waqas Naeem, M. Cai, Dongshang Zhenyuan, Zhang Huang, Qi Sichuan Provincial Key Lab of Power System Wide-Area Measurement and Control School of Mechanical and Electrical Engineering University of Electronic Science and Technology of China Chengdu611731 China Department of Electrical and Computer Engineering COMSATS University Islamabad Wah Campus Pakistan

ISBN: (纸本)9781728135205

This paper proposes an optimization model for community microgrid. The proposed scheme performs the scheduling of domestic appliances in a community microgrid using renewable energy resources. The objective of the scheme is to minimize the total operating cost in the whole community. The optimization problem is solved using the branch and bound algorithm. Blockchain (BC) technology is introduced for secure implementation of the proposed approach. Machine to machine interaction is facilitated using BC technology. The transaction information/ data is stored in the distributed shared ledger. The smart contract is used to automatically trigger the flow of electricity and the movement of funds once the necessary conditions are met. © 2019 IEEE.

关键词： Blockchain

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Model based reinforcement learning for robot grasping trajectory generation 4

Model based reinforcement learning for robot grasping trajec...

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4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019

作者： Xue, Hongxiang Wen, Shuhuan Yang, Chao Liu, Huaping Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao066004 China Department of Computer Science and Technology State Key Laboratory of Intelligent Technology and System Tsinghua National Laboratory for Information Science and Technology Tsinghua University Beijing100084 China

ISBN: (纸本)9781728100647

Trajectory generation is a fundamental problem for successful robotic grasping. However, most of the existing work dealt with this problem using supervised learning with a prescribed model. It prevents the developed grasp strategies from being used for new unknown scenarios. In this paper, inspired by the success of the reinforcement learning method, we developed a new method which optimizes grasp trajectories using a policy search method. An important advantage of the proposed method is that the complicated 3D model could be used to generate the multi-dimensional grasp configurations. The developed algorithm has been validated on some typical robotic hand. The experimental results show that the proposed method achieves excellent performance. © 2019 IEEE.

关键词： Trajectories

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Trajectory Design for Energy Harvesting UAV Networks: A Foraging Approach

Trajectory Design for Energy Harvesting UAV Networks: A Fora...

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IEEE Conference on Wireless Communications and Networking

作者： Xuanlin Liu Mingzhe Chen Sihua Wang Walid Saad Changchuan Yin Beijing Key Laboratory of Network System Architecture and Convergence Beijing Laboratory of Advanced Information Network Beijing University of Posts and Telecommunications Beijing China Department of Electrical Engineering Princeton University Princeton NJ USA Wireless@VT Bradley Department of Electrical and Computer Engineering Virginia Tech Blacksburg VA USA

ISBN: (数字)9781728131061

ISBN: (纸本)9781728131078

In this paper, the problem of trajectory design for energy harvesting unmanned aerial vehicles (UAVs) is studied. In the considered model, the UAV acts as a moving base station to serve the ground users, while collecting energy from the charging stations located at the center of a user group. Meanwhile, to serve ground users and harvest energy, the UAV must be examined and repaired regularly. In consequence, it is necessary to optimize the trajectory design of the UAV while jointly considering the maintenance costs, the number of users that are served by the UAV, and the energy consumption and harvesting. To capture the relationship among these factors, we first model the completion of service and the harvested energy as reward, and the energy consumption during the deployment as cost. Then, the deployment profitability is defined as the reward to the cost of the UAV trajectory. Based on this definition, the trajectory design problem is formulated as an optimization problem whose goal is to maximize the deployment profitability of the UAV. To solve this problem, a foraging algorithm is proposed to find the optimal trajectory so as to maximize the deployment profitability. The proposed algorithm can find the optimal trajectory for the UAV with a polynomial time complexity. Fundamental analysis shows that the proposed algorithm can achieve the maximal deployment profitability. Simulation results show that the proposed algorithm can effectively reduce the operation time and achieve up to 25.6% gain in terms of the deployment profitability compared to Q-learning algorithm.

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Dynamic Resilient Network Games with Applications to Multi-Agent Consensus

arXiv

引用

arXiv 2020年

作者： Nugraha, Yurid Cetinkaya, Ahmet Hayakawa, Tomohisa Ishii, Hideaki Zhu, Quanyan Department of Systems and Control Engineering Tokyo Institute of Technology Tokyo152-8552 Japan Information Systems Architecture Science Research Division National Institute of Informatics Tokyo101-8430 Japan Department of Computer Science Tokyo Insitute of Technology Yokohama226-8502 Japan Department of Electrical and Computer Engineering New York University BrooklynNY11201 United States

A cyber security problem in a networked system formulated as a resilient graph problem based on a game-theoretic approach is considered. The connectivity of the underlying graph of the network system is reduced by an attacker who removes some of the edges whereas the defender attempts to recover them. Both players are subject to energy constraints so that their actions are restricted and cannot be performed continuously. For this two-stage game, which is played repeatedly over time, we characterize the optimal strategies for the attacker and the defender in terms of edge connectivity and the number of connected components of the graph. The resilient graph game is then applied to a multi-agent consensus problem. We study how the attacks and the recovery on the edges affect the consensus process. Finally, we also provide numerical simulation to illustrate the results. Copyright © 2020, The Authors. All rights reserved.

关键词： Multi agent systems

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Using the Model of a Functional Rationalizer of Consumer Behavior in Recommendation systems for Managing the Transport Activity of the Urban Population 23

Using the Model of a Functional Rationalizer of Consumer Beh...

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23rd International Conference on Soft Computing and Measurements, SCM 2020

作者： Seliverstov, Yaroslav A. Seliverstov, Svytoslav A. Podoprigora, Nikolay V. Starichenkov, Alexey L. Naryshkin, Roman S. Solomenko Institute of Transport Problems Russian Academy of Sciences Institute of Computer Science and Technology Peter the Great St.Petersburg Polytechnic University Laboratory of Intelligent Transport Systems St. Petersburg Russia Saint Petersburg State University of Architecture and Civil Engineering Department of Ground Transportation Technological Machines St. Petersburg Russia Saint Petersburg Electrotechnical University 'LETI' Department of Ship Control Systems St. Petersburg Russia Saint Petersburg State University Department of Programming Technology St. Petersburg Russia

ISBN: (纸本)9781728196923

An overview of existing urban software mobile applications of the transport and economic direction is given. A model of a functional rationalizer of consumer behavior is being built. The software model of the functional rationalizer of consumer behavior (SM FRCB) was developed for the first time. PMFRCB allows the user to expand the number of his preferred needs (occupations, activities) during the daily cycle through intelligent recommendations. Also, SM FRCB allows you to optimize needs (activities, activities) at the cost and rate of their use. The SM FRCB is made in Python_3 using the libraries matplotlib, collections, numpy, pyplot, mplot3d. The analysis of consumer behavior before and after using the functional rationalizer model is carried out. The graphical results of a structural analysis of the costs of old and new consumer behavior, analysis of consumer behavior within the boundaries of the theory of possibilities and the model of transport behavior of a resident before and after applying the functional rationalizer model are presented. The prospects of further improving the SM FRCB are considered. © 2020 IEEE.

关键词： Smart city

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