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11th International Conference on Learning Representations, ICLR 2023

作者： Beintema, Gerben I. Schoukens, Maarten Tóth, Roland Department of Electrical Engineering Eindhoven University of Technology Netherlands Systems and Control Laboratory Institute for Computer Science and Control Budapest Hungary

Continuous-time (CT) modeling has proven to provide improved sample efficiency and interpretability in learning the dynamical behavior of physical systems compared to discrete-time (DT) models. However, even with numerous recent developments, the CT nonlinear state-space (NL-SS) model identification problem remains to be solved in full, considering common experimental aspects such as the presence of external inputs, measurement noise, latent states, and general robustness. This paper presents a novel estimation method that addresses all these aspects and that can obtain state-of-the-art results on multiple benchmarks with compact fully connected neural networks capturing the CT dynamics. The proposed estimation method called the subspace encoder approach (SUBNET) ascertains these results by efficiently approximating the complete simulation loss by evaluating short simulations on subsections of the data, by using an encoder function to estimate the initial state for each subsection and a novel state-derivative normalization to ensure stability and good numerical conditioning of the training process. We prove that the use of subsections increases cost function smoothness together with the necessary requirements for the existence of the encoder function and we show that the proposed state-derivative normalization is essential for reliable estimation of CT NL-SS models. © 2023 11th International Conference on Learning Representations, ICLR 2023. All rights reserved.

关键词： Cost functions

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Urban Traffic control Meets Decision Recommendation System:A Survey and Perspective

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IEEE/CAA Journal of Automatica Sinica 2024年第10期11卷 2043-2058页

作者： Qingyuan Ji Xiaoyue Wen Junchen Jin Yongdong Zhu Yisheng Lv Zhejiang Lab Hangzhou 311121China College of Engineering and Architecture Zhejiang UniversityHangzhou 310013China College of Electrical Engineering Zhejiang UniversityHangzhou 310013China the State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China IEEE

Urban traffic control is a multifaceted and demanding task that necessitates extensive decision-making to ensure the safety and efficiency of urban transportation *** approaches require traffic signal professionals to manually intervene on traffic control devices at the intersection level,utilizing their knowledge and ***,this process is cumbersome,labor-intensive,and cannot be applied on a large network *** studies have begun to explore the applicability of recommendation system for urban traffic control,which offer increased control efficiency and *** a decision recommendation system is complex,with various interdependent components,but a systematic literature review has not yet been *** this work,we present an up-to-date survey that elucidates all the detailed components of a recommendation system for urban traffic control,demonstrates the utility and efficacy of such a system in the real world using data and knowledgedriven approaches,and discusses the current challenges and potential future directions of this field.

关键词： Recommendation system traffic control traffic perception traffic prediction

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Temperature Effect on the Optical Characteristics of a Microoptoelectromechanical Accelerometer 25

Temperature Effect on the Optical Characteristics of a Micro...

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25th IEEE International Conference of Young Professionals in Electron Devices and Materials, EDM 2024

作者： Barbin, Evgenij S. Nesterenko, Tamara G. Koleda, Aleksej N. Talovskaia, Alena A. Kulinich, Ivan V. Mokhovikov, Denis M. Laboratory of Microsystems Engineering Tomsk State University of Control Systems and Radioelectronics Laboratory of Radiophotonics V.E. Zuev Institute of Atmospheric Optics of SB RAS Tomsk Russia Laboratory of Microsystems Engineering Tomsk State University of Control Systems and Radioelectronics Tomsk Russia Laboratory of Radiophotonics Tomsk State University of Control Systems and Radioelectronics Tomsk Russia Laboratory of Radiophotonics Tomsk State University of Control Systems and Radioelectronics Laboratory of Intelligent Computer Systems V.E. Zuev Institute of Atmospheric Optics of SB RAS Tomsk Russia

ISBN: (纸本)9798350389234

The treatise studies the temperature sensitivity of the optical transmission coefficient of an microoptoelectromechanical accelerometer (MOEMA) based on the optical tunneling effect in a temperature range from minus 40 °C to plus 100 °C. Two types of optical measuring transducers are studied: based on a directional coupler or a resonator. It is shown that the major contribution to the temperature error of the MOEMA’s transmission coefficient is made by the alteration of the optical transmission coefficient (OTC). For a measuring transducer based on a directional coupler, the temperature sensitivity of the OTC amounted to 0.00058 °C-1. That for a transducer based on a resonator amounted to 0.33 °C-1, which definitely speaks of its inability to operate without a thermostatic system. Following the results, the contribution of the refraction index alteration depending on temperature more than 5 times exceeds that of the MOEMA's mechanical parameters for optical measuring transducers based on the directional coupler and more than 3000 times for the resonator. © 2024 IEEE.

关键词： Accelerometers

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Temperature Effect on the Mechanical Transmission Coefficient of a Microoptoelectromechanical Accelerometer 25

Temperature Effect on the Mechanical Transmission Coefficien...

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25th IEEE International Conference of Young Professionals in Electron Devices and Materials, EDM 2024

作者： Barbin, Evgenij S. Nesterenko, Tamara G. Koleda, Aleksej N. Talovskaia, Alena A. Kulinich, Ivan V. Mokhovikov, Denis M. Laboratory of microsystems engineering Tomsk State University of Control Systems and Radioelectronics Laboratory of Radiophotonics V.E. Zuev Institute of Atmospheric Optics of SB RAS Tomsk Russia Laboratory of microsystems engineering Tomsk State University of Control Systems and Radioelectronics Tomsk Russia Laboratory of Radiophotonics Tomsk State University of Control Systems and Radioelectronics Tomsk Russia Laboratory of Radiophotonics Tomsk State University of Control Systems and Radioelectronics Laboratory of Intelligent Computer Systems V.E. Zuev Institute of Atmospheric Optics of SB RAS Tomsk Russia

ISBN: (纸本)9798350389234

The treatise studies a temperature effect on the microoptoelectromechanical (MOEMS) accelerometer with an optical measuring transducer based on evanescent wave coupling. The work investigates the temperature sensitivity of the mechanical part of the accelerometer in a temperature range from minus 65 °C to plus 125 °C. The temperature alteration induces stresses in the mechanical structure. Maximum mechanical stresses emerging in the structure at a temperature of minus 65 °C reach 556.61 MPa for the layer of aluminum that can be used for in-package wire bonding. However, these stresses are smaller than the admissible value for aluminum (690 MPa). The maximum stresses in residual layers of the mechanical structure are several times smaller than those in the aluminum layer. At different temperatures, the eigenfrequency of the accelerometer also changes, which alters its mechanical transmission coefficient. The temperature sensitivity of normalized mechanical transmission coefficient per 1 °C amounts to 0.00012 °C-1. To compensate the temperature effect on the mechanical transmission coefficient, various design schemes can be used and the output signal can be adjusted according to the temperature sensor readings. © 2024 IEEE.

关键词： Accelerometers

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A policy gradient algorithm integrating long and short-term rewards for soft continuum arm control

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Science China(Technological Sciences) 2022年第10期65卷 2409-2419页

作者： DONG Xiang ZHANG Jing CHENG Long XU WenJun SU Hang MEI Tao School of Electrical Engineering and Automation Anhui UniversityHefei 230601China State Key Laboratory for Control and Management of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Robotics Research Center Peng Cheng LaboratoryShenzhen 518055China

The soft continuum arm has extensive application in industrial production and human life due to its superior safety and flexibility. Reinforcement learning is a powerful technique for solving soft arm continuous control problems, which can learn an effective control policy with an unknown system model. However, it is often affected by the high sample complexity and requires huge amounts of data to train, which limits its effectiveness in soft arm control. An improved policy gradient method, policy gradient integrating long and short-term rewards denoted as PGLS, is proposed in this paper to overcome this issue. The shortterm rewards provide more dynamic-aware exploration directions for policy learning and improve the exploration efficiency of the algorithm. PGLS can be integrated into current policy gradient algorithms, such as deep deterministic policy gradient(DDPG). The overall control framework is realized and demonstrated in a dynamics simulation environment. Simulation results show that this approach can effectively control the soft arm to reach and track the targets. Compared with DDPG and other model-free reinforcement learning algorithms, the proposed PGLS algorithm has a great improvement in convergence speed and performance. In addition, a fluid-driven soft manipulator is designed and fabricated in this paper, which can verify the proposed PGLS algorithm in real experiments in the future.

关键词： soft arm control Cosserat rod deep reinforcement learning policy gradient algorithm high sample complexity

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An Underwater Biomimetic Robot that can Swim,Bipedal Walk and Grasp

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Journal of Bionic Engineering 2024年第3期21卷 1223-1237页

作者： Qiuxuan Wu Liwei Pan FuLin Du ZhaoSheng Wu XiaoNi Chi FaRong Gao Jian Wang Anton A.Zhilenkov School of Automation Hangzhou Dianzi UniversityHangzhou310018China International Joint Research Laboratory for Autonomous Robotic Systems Hangzhou310018China GEELY Automotive Institute Hangzhou Vocational and Technical CollegeHangzhou310018China Institute of Hydrodynamics and Control Processes Sankt-Petersburg Saint Petersburg State Marine Technical UniversitySankt-PetersburgRussia

In developing and exploring extreme and harsh underwater environments,underwater robots can effectively replace humans to complete *** meet the requirements of underwater flexible motion and comprehensive subsea operation,a novel octopus-inspired robot with eight soft limbs was designed and *** robot possesses the capabilities of underwater bipedal walking,multi-arm swimming,and grasping *** closely interact with the underwater seabed environment and minimize disturbance,the robot employs a cable-driven flexible arm for its walking in underwater floor through a bipedal walking *** multi-arm swimming offers a means of three-dimensional spatial movement,allowing the robot to swiftly explore and navigate over large areas,thereby enhancing its ***,the robot’s walking arm enables it to grasp and transport objects underwater,thereby enhancing its practicality in underwater environments.A simplified motion models and gait generation strategies were proposed for two modes of robot locomotion:swimming and walking,inspired by the movement characteristics of octopus-inspired multi-arm swimming and bipedal *** experimental verification,the robot’s average speed of underwater bipedal walking reaches 7.26 cm/s,while the horizontal movement speed for multi-arm swimming is 8.6 cm/s.

关键词： Underwater soft robots Underwater bipedal walking Multi-arm swimming Cable drive

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Open Set Domain Adaptation with Zero-shot Learning on Graph 23

Open Set Domain Adaptation with Zero-shot Learning on Graph

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4th International Conference on Computing, Networks and Internet of Things, CNIOT 2023

作者： Zhang, Xinyue Yang, Xu Liu, Zhiyong School of Artificial Intelligence University of Chinese Academy of Sciences China and State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (纸本)9798400700705

Open set domain adaptation focuses on transferring the information from a richly labeled domain called source domain to a scarcely labeled domain called target domain, while classifying the unseen target samples as one unknown class in an unsupervised way. Compared with the close set domain adaptation, where the source domain and the target domain share the same class space, the classification of the unknown class makes it easy to adapt to the real environment. Particularly, after the recognition of the unknown samples, the model can either ask for manually labeling or further develop the classification ability of the unknown classes based on pre-stored knowledge. Inspired by this idea, we propose a model for open set domain adaptation with zero-shot learning on the unknown classes in this paper. We utilize adversarial learning to align the two domains while rejecting the unknown classes. Then the knowledge graph is introduced to generate the classifiers for the unknown classes with the employment of the graph convolution network (GCN). Thus the classification ability of the source domain is transferred to the target domain, and the model can distinguish the unknown classes in detail with prior knowledge. We evaluate our model on digits datasets and the result shows superior performance. © 2023 Owner/Author.

关键词： Zero-shot learning

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Automating CPPSs Analyses with SysML v2 and Lingua Franca in the Context of Industry 4.0 50

Automating CPPSs Analyses with SysML v2 and Lingua Franca in...

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50th Annual Conference of the IEEE Industrial Electronics Society, IECON 2024

作者： Gaiardelli, Sebastiano Wilch, Jan Fummi, Franco Vogel-Heuser, Birgit Industrial Computer Engineering Laboratory Department of Engineering for Innovation Medicine University of Verona Italy Institute of Automation and Information Systems Technical University of Munich Germany

ISBN: (纸本)9781665464543

The design of manufacturing systems requires exploring diverse component configurations for one that best satisfies the requirements of the target system. At the same time, manufacturing systems evolve continuously, increasing their complexity and that of the production line in which they are installed. Model-based System Engineering (MBSE) methodologies and modeling languages like System Modeling Language (SysML) are used to assist system engineers during the entire design process. Yet, MBSE methodologies mainly rely on manually composed models for requirements verification, incurring enormous cost and effort especially in larger, more complex systems. This paper proposes a methodology exploiting the knowledge enclosed in a SysML model to automate the execution of a set of analyses defined over the represented manufacturing system. The proposed approach relies on Lingua Franca (LF) to simulate the specified analysis and analyze the results. Moreover, the methodology supports chains of analyses to represent dependent requirements and tradeoffs imposed upon a manufacturing system. The proposed methodology has been evaluated on a manufacturing system demonstrator. Results show the proposed methodology’s applicability and scalability on diverse configurations of the manufacturing system. © 2024 IEEE.

关键词： Smart manufacturing

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Predictive Linear Online Tracking for Unknown Targets 41

Predictive Linear Online Tracking for Unknown Targets

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41st International Conference on Machine Learning, ICML 2024

作者： Tsiamis, Anastasios Karapetyan, Aren Li, Yueshan Balta, Efe C. Lygeros, John Automatic Control Laboratory ETH Zürich Zürich Switzerland Institute for Dynamic Systems and Control ETH Zürich Zürich Switzerland Control and Automation Group Inspire AG Zürich Switzerland

In this paper, we study the problem of online tracking in linear control systems, where the objective is to follow a moving target. Unlike classical tracking control, the target is unknown, non-stationary, and its state is revealed sequentially, thus, fitting the framework of online non-stochastic control. We consider the case of quadratic costs and propose a new algorithm, called predictive linear online tracking (PLOT). The algorithm uses recursive least squares with exponential forgetting to learn a time-varying dynamic model of the target. The learned model is used in the optimal policy under the framework of receding horizon control. We show the dynamic regret of PLOT scales with O(√TVT), where VT is the total variation of the target dynamics and T is the time horizon. Unlike prior work, our theoretical results hold for non-stationary targets. We implement PLOT on a real quadrotor and provide open-source software, thus, showcasing one of the first successful applications of online control methods on real hardware. Copyright 2024 by the author(s)

关键词： Target tracking

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Comprehensive Gear Shift Schedule Design for 2-AMT Electric Vehicles Based on Sparrow Search Algorithm 42

Comprehensive Gear Shift Schedule Design for 2-AMT Electric ...

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42nd Chinese control Conference, CCC 2023

作者： Wang, Tianyi Ma, Liling Wang, Junzheng School of Automation State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9789887581543

With the aim of 2-AMT electric vehicles, a comprehensive shift schedule that considers both power and economy is proposed. First, the objective function of the comprehensive shift schedule is constructed, which is the weighted sum of vehicle acceleration time and vehicle power consumption per unit distance. Second, Sparrow Search Algorithm is used to solve the objective function and obtain the comprehensive shift schedule. Finally, AVL Cruise simulation software is used to simulate vehicle dynamics and economy under an NEDC. The results show that the comprehensive shift schedule is similar to the optimal power shift schedule in terms of dynamic performance, and the economy is optimized by 3%. The feasibility of the comprehensive shift schedule is verified. © 2023 Technical Committee on control Theory, Chinese Association of automation.

关键词： Electric vehicles

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