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Direct data-driven LPV control of nonlinear systems: An experimental result

IFAC-PapersOnLine 2023年第2期56卷 2263-2268页

作者： Chris Verhoek Hossam S. Abbas Roland Tóth Control Systems Group Dept. of Electrical Engineering Eindhoven University of Technology 5600MB Eindhoven The Netherlands Institute for Electrical Engineering in Medicine Universität zu Lübeck 23558 Lübeck Germany Systems and Control Lab Institute for Computer Science and Control 1111 Budapest Hungary

We demonstrate that direct data-driven control of nonlinear systems can be successfully accomplished via a behavioral approach that builds on a Linear Parameter-Varying (LPV) system concept. An LPV data-driven representation is used as a surrogate LPV form of the data-driven representation of the original nonlinear system. The LPV data-driven control design that builds on this representation form uses only measurement data from the nonlinear system and a priori information on a scheduling map that can lead to an LPV embedding of the nonlinear system behavior. Efficiency of the proposed approach is demonstrated experimentally on a nonlinear unbalanced disc system showing for the first time in the literature that behavioral data-driven methods are capable to stabilize arbitrary forced equilibria of a real-world nonlinear system by the use of only 7 data points.

关键词： Data-Driven control Linear Parameter-Varying systems

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Seer: A Framework for Optimizing Traffic Camera Placement and Deep Learning Inference at the Edge for Vehicle Path Reconstruction

Seer: A Framework for Optimizing Traffic Camera Placement an...

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IEEE/ACM Symposium on Edge Computing (SEC)

作者： Siddhant Jain Kunal Jain Arun Ravindran Suresh Purini Computer Systems Group International Institute of Information Technology Hyderabad India Department of Electrical and Computer Engineering The University of North Carolina Charlotte USA

ISBN: (数字)9798350378283

ISBN: (纸本)9798350378290

Integrating traffic cameras with deep learning facilitates real-time multi-camera vehicle path reconstruction, benefiting smart city initiatives such as traffic management and public safety. The high demands on latency, bandwidth, and privacy underscore the necessity of edge computing platforms. However, the continuous operation of compute-intensive deep learning algorithms on round-the-clock camera streams can exceed the compute and power capacities of edge data centers. Therefore, it is critical to strategically deploy and activate camera streams to balance compute demands with performance requirements. Currently, there is a lack of tools to support this planning process. This paper presents Seer, a comprehensive suite of tools and algorithms that aids traffic planners in optimizing traffic camera placement and deep learning model deployment, considering compute and budgetary constraints. Seer encompasses (1) a graph-based algorithm for efficient camera placement incorporating road network topology, (2) a collaborative algorithm for vehicle path reconstruction that enables the use of less accurate but resource-efficient deep learning models, and (3) a scalable traffic simulation framework derived from open-source projects that model city road networks. Evaluations of Seer on two real-world road networks, each with thousands of intersections and simulated vehicle paths, show a 6.3x reduction in compute requirements. This is achieved through a combination of sparse camera deployment and the use of lightweight models, with an average 55% increase in the Hausdorff distance for the path reconstruction algorithm, translating to an absolute increase of 135 to 195 meters.

关键词： Deep learning Smart cities Computational modeling Roads Traffic control Reconstruction algorithms Cameras Real-time systems Streams Edge computing

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Exploiting the Potential of Self-Supervised Monocular Depth Estimation via Patch-Based Self-Distillation

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IEEE Internet of Things Journal 2025年第11期12卷 18042-18055页

作者： Yu, Ting Pan, Shan Chen, Wei Tian, Zijian Wang, Zehua Yu, F. Richard Leung, Victor C. M. Postdoctoral Research Station China RongTong Academy of Sciences Group Corporation Limited Beijing100022 China China RongTong Artificial Intelligence Research Center Beijing100022 China China University of Mining and Technology School of Artificial Intelligence Beijing100083 China China University of Mining and Technology School of Computer Science and Technology Xuzhou221116 China School of Artificial Intelligence Beijing100083 China The University of British Columbia Department of Electrical and Computer Engineering VancouverBCV6T 1Z4 Canada Carleton University Department of Systems and Computer Engineering OttawaONK1S 5B6 Canada Shenzhen University College of Computer Science and Software Engineering Shenzhen518060 China

Perceiving scene depth and 3D structure is one of the key tasks for Internet of Video Things (IoVT) devices to understand and interact with the environment. Self-supervised monocular depth estimation has demonstrated significant potential in leveraging large-scale unlabeled datasets to achieve competitive performance, thereby playing an increasingly important role in depth estimation. Despite recent methods providing additional supervisory signals through self-distillation strategies to improve depth estimation, an effective method for generating pseudo-depth labels suitable for addressing occlusion issues among elements far from the camera remains unexplored. To address this limitation, we propose a Patch-based Self-Distillation Learning Framework to exploit the potential of self-supervised monocular depth estimation in recovering fine-grained scene depth. In the proposed framework, elements far from the camera within the input image are enlarged by enlarging and cropping operations in the patch-based self-distillation branch. Guided by photometric consistency, the model learns the detailed occlusion relationships among elements from the enlarged patches, producing patch depth maps with fine structures. In the main branch, which takes full-scale images as input, patch depth maps serve as pseudo-depth labels through self-distillation loss to provide additional supervisory signals for regions where photometric consistency fails to offer effective supervision. This forces the depth estimation network to recover fine structures of elements far from the camera in full-scale input images. Regarding the architecture of the depth estimation network, we introduce a bin-center prediction. In this prediction, a global aggregator based on self-attention provides additional scene structure queries for adaptive scene depth discretization. Finally, to encourage the model to explore more general cues for depth inference beyond road plane cues, we propose a PatchMix data augmentati

关键词： Image enhancement

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Optimal Linear Deception Attacks on Remote State Estimation with Constrained Alarm Rates: A Low-Dimensional Case 63

Optimal Linear Deception Attacks on Remote State Estimation ...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Shang, Jun Zhang, Hanwen Zhou, Jing Chen, Tongwen Tongji University Shanghai Research Institute for Intelligent Autonomous Systems National Key Laboratory of Autonomous Intelligent Unmanned Systems Frontiers Science Center for Intelligent Autonomous Systems Department of Control Science and Engineering Shanghai200092 China University of Science and Technology Beijing Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education School of Automation and Electrical Engineering Beijing100083 China University of Alberta Department of Electrical and Computer Engineering EdmontonABT6G 1H9 Canada

ISBN: (纸本)9798350316339

This study addresses linear attacks on remote state estimation within the context of a constrained alarm rate. Smart sensors, which are equipped with local Kalman filters, transmit innovations instead of raw measurements through a wireless communication network. This transmission is vulnerable to malicious data interception and manipulation by attackers. The aim of this research is to identify the optimal attack strategy that degrades the system performance while adhering to stealthiness constraints. A notable innovation of this paper is the direct association of the attack's stealthiness with the alarm rate, diverging from traditional approaches that rely on the covariance of the innovation or the Kullback-Leibler divergence, which are conventional metrics that have been extensively explored in previous studies. Our findings reveal that the optimal attack strategy exhibits some structural characteristics in systems of low dimensions. The performance of the proposed attack strategy is demonstrated through numerical examples. © 2024 IEEE.

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An Efficient Medical Image Deep Fusion Model Based on Convolutional Neural Networks

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computers, Materials & Continua 2023年第2期74卷 2905-2925页

作者： Walid El-Shafai Noha A.El-Hag Ahmed Sedik Ghada Elbanby Fathi E.Abd El-Samie Naglaa F.Soliman Hussah Nasser AlEisa Mohammed E.Abdel Samea Department of Electronics and Electrical Communications Engineering Faculty of Electronic EngineeringMenoufia UniversityMenouf32952Egypt Security Engineering Laboratory Department of Computer SciencePrince Sultan UniversityRiyadh11586Saudi Arabia Higher Institute of Commercial Science Management Information SystemsEl-Mahala El-KobraEgypt Department of the Robotics and Intelligent Machines Faculty of Artificial IntelligenceKafrelsheikh UniversityKafr El-SheikhEgypt Department of Industrial Electronics and Control Engineering Faculty of Electronic EngineeringMenoufia UniversityMenouf32952Egypt Department of Information Technology College of Computer and Information SciencesPrincess Nourah Bint Abdulrahman UniversityP.O.Box 84428Riyadh11671Saudi Arabia Department of Computer Sciences College of Computer and Information SciencesPrincess Nourah Bint Abdulrahman UniversityRiyadhSaudi Arabia Medical Imaging and Interventional Radiology National Liver InstituteMenoufia UniversityEgypt

Medical image fusion is considered the best method for obtaining one image with rich details for efficient medical diagnosis and *** learning provides a high performance for several medical image analysis *** paper proposes a deep learning model for the medical image fusion *** model depends on Convolutional Neural Network(CNN).The basic idea of the proposed model is to extract features from both CT and MR ***,an additional process is executed on the extracted *** that,the fused feature map is reconstructed to obtain the resulting fused ***,the quality of the resulting fused image is enhanced by various enhancement techniques such as Histogram Matching(HM),Histogram Equalization(HE),fuzzy technique,fuzzy type,and Contrast Limited Histogram Equalization(CLAHE).The performance of the proposed fusion-based CNN model is measured by various metrics of the fusion and enhancement *** realistic datasets of different modalities and diseases are tested and ***,real datasets are tested in the simulation analysis.

关键词： Image fusion CNN deep learning feature extraction evaluation metrics medical diagnosis

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Boolean matrix compressed sensing

Boolean matrix compressed sensing

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2025 IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP 2025

作者： Liu, Qiang Soleymani, Mahdi Mahdavifar, Hessam National Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou310027 China Halıcıoğlu Data Science Institute University of California La Jolla San DiegoCA92093 United States Department of Electrical and Computer Engineering Northeastern University BostonMA02115 United States

ISBN: (纸本)9798350368741

In real-world datasets, leveraging the low-rank and sparsity properties enables developing efficient algorithms across a diverse array of data-related tasks, including compression, compressed sensing, matrix completion, etc. Notably, these two properties often coexist in certain real-world datasets, especially in Boolean datasets and quantized real-valued datasets. To harness the advantages of low-rank and sparsity simultaneously, we adopt a technique inspired by compressed sensing and Boolean matrix completion. Our approach entails compressing a low-rank sparse Boolean matrix by performing inner product operations with a randomly generated Boolean matrix. We then propose a decoding algorithms based on message-passing techniques to recover the original matrix. Our experiments demonstrate superior recovery performance of our proposed algorithms compared to Boolean matrix completion, with equal measurement requirements. © 2025 IEEE.

关键词： Belief Propagation Boolean Matrix Compressed Sensing Matrix Completion

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Hybrid Autonomous Underwater Glider (HAUG) Obstacle Detection and Avoidance

Hybrid Autonomous Underwater Glider (HAUG) Obstacle Detectio...

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11th IEEE International Conference on System engineering and Technology, ICSET 2021

作者： Putra, A. A. Gde Jenana Trilaksono, Bambang Riyanto Hidayat, Egi Muhammad Idris School of Electrical Engineering and Informatics Institut Teknologi Bandung Control and Computer Systems Research Group Bandung Indonesia

ISBN: (纸本)9781665437660

Hybrid Autonomous Underwater Glider (HAUG) is a vehicle used for underwater missions such as monitoring and finding new underwater resources. HAUG has good endurance and maneuverability compared to conventional Autonomous Underwater Vehicle (AUV) and Autonomous Underwater Glider (AUG). It is because HAUG has two operational modes. They are AUV and AUG's operational mode. When HAUG is in some missions, it may be faced with an obstacle that can be a threat to the HUG's safety. Therefore, HAUG should have the ability to detect and avoid obstacles. Gemini 720 im Imaging Forward Looking Sonar (FLS) is used for obstacle detection in this work. The main issue of underwater obstacle detection is noisy data received by sonar. Therefore, by designing an obstacle detection, it will overcome those issues. Frost filter and local histogram entropy are used in the sonar data processing. The processed sonar data are provided in the local sonar frame then will be used by obstacle avoidance systems. BK-product fuzzy and reactive algorithms are used for obstacle avoidance. In this paper, we added some procedures to those obstacle avoidance algorithms to handle the huge or non-complex u-shaped obstacle. Both of the obstacle detection and avoidance simulations are in ROS (Robot Operating System). The obstacle detection simulation shows that the different sizes of obstacles can be detected with average errors of approximately 0.335 meters. The obstacle avoidance simulations are in AUV's mode with no ocean current applied. The obstacle avoidance simulated in this work is with two cases. Using simulated lidar as a sensor's output and using sonar's plugin provided by Gazebo. The obstacle avoidance using simulated lidar shows that the error's value is approximately 10.12 meters, 103.62 meters, and 354.4 meters respectively. The obstacle avoidance simulation with sonar's plugin shows that the error's value is 6.55 meters. © 2021 IEEE.

关键词： Meters Laser radar Simulation Operating systems Sonar Robot sensing systems systems engineering and theory

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ON-Traffic: An Operator Learning Framework for Online Traffic Flow Estimation and Uncertainty Quantification from Lagrangian Sensors

arXiv

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arXiv 2025年

作者： Rap, Jake Das, Amritam Eindhoven University of Technology Department of Electrical Engineering Control Systems group P.O. Box 513 Eindhoven5600 MB Netherlands

Accurate traffic flow estimation and prediction are critical for the efficient management of transportation systems, particularly under increasing urbanization. Traditional methods relying on static sensors often suffer from limited spatial coverage, while probe vehicles provide richer, albeit sparse and irregular data. This work introduces ON-Traffic, a novel deep operator Network and a receding horizon learning-based framework tailored for online estimation of spatio-temporal traffic state along with quantified uncertainty by using measurements from moving probe vehicles and downstream boundary inputs. Our framework is evaluated in both numerical and simulation datasets, showcasing its ability to handle irregular, sparse input data, adapt to time-shifted scenarios, and provide well-calibrated uncertainty estimates. The results demonstrate that the model captures complex traffic phenomena, including shockwaves and congestion propagation, while maintaining robustness to noise and sensor dropout. These advancements present a significant step toward online, adaptive traffic management systems. Copyright © 2025, The Authors. All rights reserved.

关键词： Information management

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Two-Stage Robust Optimization Under Decision Dependent Uncertainty

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IEEE/CAA Journal of Automatica Sinica 2022年第7期9卷 1295-1306页

作者： Yunfan Zhang Feng Liu Yifan Su Yue Chen Zhaojian Wang João P.S.Catalão State Key Laboratory of Power System and Generation Equipment the Department of Electrical EngineeringTsinghua UniversityBeijing 100084China Department of Mechanical and Automation Engineering the Chinese University of Hong KongHong Kong SARChina Ministry of Education Key Laboratory of System Control and Information Processing the Department of AutomationShanghai Jiao Tong Universityand also with Shanghai Engineering Research Center of Intelligent Control and ManagementShanghai 200240China Faculty of Engineering of the University of Porto and Institute for Systems and Computer Engineering Technology and Science(INESC TEC)Porto 4200-465Portugal IEEE

In the conventional robust optimization(RO)context,the uncertainty is regarded as residing in a predetermined and fixed uncertainty *** many applications,however,uncertainties are affected by decisions,making the current RO framework *** paper investigates a class of two-stage RO problems that involve decision-dependent *** introduce a class of polyhedral uncertainty sets whose right-hand-side vector has a dependency on the here-and-now decisions and seek to derive the exact optimal wait-and-see decisions for the second-stage problem.A novel iterative algorithm based on the Benders dual decomposition is proposed where advanced optimality cuts and feasibility cuts are designed to incorporate the uncertainty-decision *** computational tractability,robust feasibility and optimality,and convergence performance of the proposed algorithm are guaranteed with theoretical *** motivating application examples that feature the decision-dependent uncertainties are ***,the proposed solution methodology is verified by conducting case studies on the pre-disaster highway investment problem.

关键词： Benders decomposition decision-dependent uncertainty endogenous uncertainty robust optimization(RO)

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Joint Radar-Communication systems by Optimizing Radar Performance and Quality of Service for Communication Users

IEEE Transactions on Radar Systems

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IEEE Transactions on Radar systems 2024年 2卷 778-790页

作者： Tsinos, Christos G. Arora, Aakash Tsiftsis, Theodoros A. National and Kapodistrian University of Athens Department of Digital Industry Technologies Evripus Campus Euboea 34400 Greece University of Twente Radio Systems Group Faculty of Electrical Engineering Mathematics and Computer Science AE Enschede7500 Netherlands Indian Institute of Technology Delhi Centre for Applied Research in Electronics New Delhi110016 India University of Thessaly Department of Informatics and Telecommunications Lamia35100 Greece Jinan University Zhuhai Campus School of Intelligent Systems Science and Engineering Zhuhai519070 China

In this article, the problem of linear precoding and radar receive beamforming design for joint radar-communication (JRC) systems is studied. A multiple antenna base station (BS) that serves multiple single-antenna user terminals on the downlink is assumed. Furthermore, the BS employs a simultaneous radar function in the form of point-like target detection from the reflected return signals in a signal-dependent interference environment. In this work, we jointly design the JRC linear precoder and the radar receive beamformer, thus aiming to optimize the performance of the radar part while maintaining a desired quality of service (QoS) for the communication one subject to a total transmit power constraint. To that end, we formulate a challenging fractional nonconvex optimization problem via which the optimal precoder and radar receive beamformer are derived. Then, we develop algorithmic solutions based on the majorization-minimization (MM) principle and the semidefinite relaxation (SDR) methodology for the formulated optimization problem. The performance of both the proposed solutions is examined and compared to the one of a system that supports only the radar functionality via numerical results. © 2023 IEEE.

关键词： Signal to noise ratio

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