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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Gang Sun Xuetao Zhang Yisha Liu Hanzhang Wang Xuebo Zhang Yan Zhuang Intelligent Robotic Laboratory School of Artificial Intelligence also School of Control Science and Engineering Dalian University of Technology Dalian China School of Information Science and Technology Dalian Maritime University Dalian China Tianjin Key Laboratory of Intelligent Robotics College of Artificial Intelligence the Institute of Robotics and Automatic Information System (lRAIS) Nankai University Tianjin China

The perception-aware motion planning method based on the localization uncertainty has the potential to improve the localization accuracy for robot navigation. How-ever, most of the existing perception-aware methods pre-build a global feature map and can not generate the perception- aware trajectory in real time. This paper proposes a topology- guided perception-aware receding horizon trajectory generation method, which contains a topology-guided position trajectory generation and a perception-aware yaw angle trajectory generation. Specifically, a memorable active map is built by selectively storing the visual landmarks. After that, a library of candidate topological trajectories are generated, which are then evaluated in terms of the perception quality based on the active map, smoothness, collision possibility and feasibility. In addition, the yaw angle trajectory is obtained through a front-end multiple refined path search and a back-end path- guided trajectory optimization. Comparative simulation and real-world experiments are carried out to confirm that the proposed method can keep more visual features in view and reduce the localization error.

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Fixed-Time Sliding Mode Tracking control for Two-Dimensional Directional Drilling System

Fixed-Time Sliding Mode Tracking Control for Two-Dimensional...

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Asian control Conference

作者： Jinyu Li Hongchao Wei Chengda Lu Wangnian Li Quanxin Li Min Wu School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China Xi'an Research Institute Co. Ltd. China Coal Technology and Engineering Group Xi'an China

ISBN: (数字)9789887581598

ISBN: (纸本)9798331540845

In this paper, the effect of the initial state of the drilling system on trajectory tracking is taken into account in the directional drilling trajectory tracking control. Firstly, the trajectory model describing the two-dimensional drilling trajectory of the rotary steering system (RSS) is introduced. To improve the accuracy of trajectory tracking control and reduce the trajectory deviation, a fixed-time sliding mode control (FTSMC) method is introduced. Then, the stability of the closed-loop system is analyzed, and the range of controller parameters satisfying the stability condition is obtained. Finally, the effectiveness of the designed control strategy is verified by simulation experiments.

关键词： Drilling Upper bound Trajectory tracking Steering systems Stability analysis Trajectory Closed loop systems

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Explosive synchronization in multiplex neuron-glial networks

arXiv

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arXiv 2023年

作者： Laptyeva, Tetyana Jalan, Sarika Ivanchenko, Mikhail Department of Control Theory and Systems Dynamics Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia Complex Systems Lab Department of Physics Indian Institute of Technology Indore Indore Simrol452020 India Department of Applied Mathematics Laboratory of Systems Medicine of Healthy Aging Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia

Explosive synchronization refers to an abrupt (first order) transition to non-zero phase order parameter in oscillatory networks, underpinned by the bistability of synchronous and asynchronous states. Growing evidence suggests that this phenomenon might be no less general then the celebrated Kuramoto scenario that belongs to the second order universality class. Importantly, the recent examples demonstrate that explosive synchronization can occur for certain network topologies and coupling types, like the global higher-order coupling, without specific requirements on the individial oscillator dynamics or dynamics-network correlations. Here we demonstrate a rich picture of explosive synchronization and desynchronization transitions in multiplex networks, where it is sufficient to have a single random sparsly connected layer with higher-order coupling terms (and not necessarily in the synchronization regime on its own), the other layer being a regular lattice without own phase transitions at all. Moreover, explosive synchronization emerges even when the random layer has only low-order pairwise coupling, althoug the hysteresis interval becomes narrow and explosive desynchronization is no longer observed. The relevance to the normal and pathological dynamics of neural-glial networks is pointed out. © 2023, CC BY.

关键词： Synchronization

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A Hybrid Ant Colony Optimization and Tabu Search Algorithm for Routing Optimization in LEO Satellite Networks

A Hybrid Ant Colony Optimization and Tabu Search Algorithm f...

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International Conference on Optical Communications and Networks (ICOCN)

作者： Yifan Xu Yuanfeng Li Qi Zhang Meng Sun Weiying Feng Xiaohu Li Yi Zhao Furong Chai Feng Tian Fu Wang Qinghua Tian Leijing Yang Yongjun Wang School of Electronic Engineering Beijing University of Posts and Telecommunications (BUPT) Beijing China Beijing Key Laboratory of Space-ground Interconnection and Convergence BUPT Beijing China Science and Technology on Information Systems Engineering Laboratory National University of Defense Technology Changsha China School of Materials Science and Engineering Beihang University Beijing China Beijing Institute of Control and Electronic Technology Beijing China

To optimize routing costs and communication delays in LEO satellite networks, a hybrid ACO and tabu search algorithm is proposed. Simulation results shows compared to the original ACO algorithm, it reduced routing cos... 详细信息

ISBN: (数字)9798350367652

ISBN: (纸本)9798350367669

关键词： Ant colony optimization Satellites Costs Simulation Low earth orbit satellites Routing Optical fiber communication

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Multi-Agent Economic Modeling Automation Technologies 9

Multi-Agent Economic Modeling Automation Technologies

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9th International Conference on control, Decision and Information Technologies, CoDIT 2023

作者： Zhukova, Aleksandra A. Pilnik, Nikolai P. Kamenev, Ivan G. Iusup-Akhunov, Batyrzhan B. Federal Research Center 'Computer Science and Control' of the Russian Academy of Sciences Department of Mathematical Modelling in Economic Social and Ecological Systems Vavilov st. 44 building 2 Moscow119333 Russia Federal Research Center 'Computer Science and Control' of the Russian Academy of Sciences Department of Mathematical Modelling of Economic Systems Vavilov st. 44 building 2 Moscow119333 Russia Hse University Faculty of Economic Sciences Department of Applied Economics Pokrovsky Bulvar 11 Moscow109028 Russia Fsbeihe Bauman Moscow State Technical University Department of Fundamental Sciences-11 2nd Baumanskaya street 5-1 Moscow05005 Russia The Phystech School of Applied Mathematics and Informatics Moscow Institute of Physics and Technology 9 Institutskiy per. Moscow Region Dolgoprudny141701 Russia

ISBN: (纸本)9798350311402

Complex economic models often describe the agent's decisions, i.e. choice of some controlled variables in accordance with criteria set by agents. Unlike purely statistical ones, agent-based models allow to describe processes with different modes, in which the agent's behavior changes quali-tatively when the environment (including the actions of other agents) change. The practical use of mathematical models of complex systems with a number of interacting agents is limited by complexity of their construction and possible errors when dealing with multitude of expressions. Computer tools, such as the 'Ecomod' system discussed in the article, can substantially reduce the time spent on model creation and processing, and help to coordinate the work of several researchers on the model. © 2023 IEEE.

关键词： Autonomous agents

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Distributed and Modular Automotive Power Network Management Based on Auction Theory

Distributed and Modular Automotive Power Network Management ...

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IEEE International Conference on systems, Man and Cybernetics

作者： Tobias Schürmann Alrisyadani Rafles Stefan Schwab Sören Hohmann FZI Research Center for Information Technology Karlsruhe Germany Institute of Control Systems (IRS) Karlsruhe Institute of Technology (KIT) Karlsruhe Germany

ISBN: (纸本)9781665442084

In recent years, the amount of electric and electronic components in the automotive power network (APN) has increased significantly. With regard to autonomous driving, telecommunication, infotainment, and other comfort functionalities, a further growing complexity in the APN is emerging. Additionally, the still requested customization of cars leads to more variants, models, and decoupled development cycles in terms of software and hardware. To ensure a flexible APN design, this paper demonstrates a modular approach for the power management combining auction theory and service-oriented architecture (SOA) for APNs with multiple voltage levels. The presented algorithm facilitates distributed decision-making by the growing number of components in the network regarding their power consumption. Hence, the individual components adapt their behavior in terms of component states and the APN condition. Furthermore, the SOA paradigm ensures the scalability and fault tolerance of the proposed algorithm.

关键词： Fault tolerance Power demand Fault tolerant systems Software algorithms Prediction algorithms Software Hardware

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Distributed stochastic projection-free solver for constrained optimization

arXiv

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arXiv 2022年

作者： Jiang, Xia Zeng, Xianlin Xie, Lihua Sun, Jian Chen, Jie Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China The Beijing Institute of Technology Chongqing Innovation Center Chongqing401120 China Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China The School of Electrical and Electronic Engineering Nanyang Technological University Singapore639798 Singapore The School of Electronic and Information Engineering Tongji University Shanghai200082 China

This paper proposes a distributed stochastic projection-free algorithm for large-scale constrained finite-sum optimization whose constraint set is complicated such that the projection onto the constraint set can be expensive. The global cost function is allocated to multiple agents, each of which computes its local stochastic gradients and communicates with its neighbors to solve the global problem. Stochastic gradient methods enable low computational cost, while they are hard and slow to converge due to the variance caused by random sampling. To construct a convergent distributed stochastic projection-free algorithm, this paper incorporates a variance reduction technique and gradient tracking technique in the Frank-Wolfe update. We develop a sampling rule for the variance reduction technique to reduce the variance introduced by stochastic gradients. Complete and rigorous proofs show that the proposed distributed projection-free algorithm converges with a sublinear convergence rate and enjoys superior complexity guarantees for both convex and non-convex objective functions. By comparative simulations, we demonstrate the convergence and computational efficiency of the proposed algorithm. © 2022, CC BY.

关键词： Stochastic systems

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Development, presentation and tests of a hybrid thermal vibrational energy harvester based on lead free piezoelectric material 2

Development, presentation and tests of a hybrid thermal vibr...

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2nd IEEE International Conference on Electronics, control, Optimization and Computer Science, ICECOCS 2020

作者： Kumari, Neetu Rakotondrabe, Micky CNRS - University Bourgogne Franche-Comté FEMTO-ST Institute Automatic Control and Micromechatronic Systems Department Besançon France Laboratoire Génie de Production Tarbes France

ISBN: (纸本)9781728169217

Piezoelectric and pyroelectric effects are well known and have been widely used in the field of energy harvesting, actuators or sensors. This paper presents a cantilever structure based on a lead free piezoelectric-pyroelectric hybrid transducer based on PVDF (Polyvinylidene fluoride) piezoelectric, a Lithium Niobate piezoelectric, and a SMA (Shape Memory Alloy) materials which is capable of simultaneously harvesting mechanical and thermal energies. The piezoelectric cantilever has been studied using finite element modeling for application in self-powered sensors in automobiles. The cantilever are able to resonate under 300 Hz of frequency range. We calculated the output voltage from both the thermal and vibrational excitations with the help of Comsol Multiphysics finite-element software. We shows that the configuration in which the PVDF is the top layer, then SMA as the middle layer and Lithium niobate as the bottom layer has the highest value of harvested energy with an output voltage up to 12Vpp. © 2020 IEEE.

关键词： Energy harvesting

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Complexity of Linearized Perturbed Augmented Lagrangian Methods for Nonsmooth Nonconvex Optimization with Nonlinear Equality Constraints

arXiv

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arXiv 2025年

作者： Bourkhissi, Lahcen El Necoara, Ion Patrinos, Panagiotis Tran-Dinh, Quoc Automatic Control and Systems Engineering Department Politehnica Bucharest Bucharest060042 Romania Gheorghe Mihoc-Caius Iacob Institute of Mathematical Statistics and Applied Mathematics The Romanian Academy Bucharest050711 Romania Department of Electrical Engineering K.U. Leuven LeuvenB-3001 Belgium Department of Statistics and Operations Research University of North Carolina at Chapel Hill Chapel HillNC27599 United States

This paper addresses a class of general nonsmooth and nonconvex composite optimization problems subject to nonlinear equality constraints. We assume that a part of the objective function and the functional constraints exhibit local smoothness. To tackle this challenging class of problems, we propose a novel linearized perturbed augmented Lagrangian method. This method incorporates a perturbation in the augmented Lagrangian function by scaling the dual variable with a sub-unitary parameter. Furthermore, we linearize the smooth components of the objective and the constraints within the perturbed Lagrangian function at the current iterate, while preserving the nonsmooth components. This approach, inspired by prox-linear (or Gauss-Newton) methods, results in a convex subproblem that is typically easy to solve. The solution of this subproblem then serves as the next primal iterate, followed by a perturbed ascent step to update the dual variables. Under a newly introduced constraint qualification condition, we establish the boundedness of the dual iterates. We derive convergence guarantees for the primal iterates, proving convergence to an ϵ-first-order optimal solution within O(ϵ−3) evaluations of the problem’s functions and their first derivatives. Moreover, when the problem exhibits for example a semialgebraic property, we derive improved local convergence results. Finally, we validate the theoretical findings and assess the practical performance of our proposed algorithm through numerical comparisons with existing state-of-the-art methods. © 2025, CC BY.

关键词： Lagrange multipliers

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The System of Coordinated Operation of Two Underwater Vehicles in a Complex Environment

The System of Coordinated Operation of Two Underwater Vehicl...

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Ocean Studies (ICOS), International Conference on

作者： Vladimir Filaretov Alexey Katsurin Laboratory of Robotic Systems Laboratory of Automation and Robotics Institute of Automation and Control Processes FEB RAS Vladivostok State University Vladivostok Russia Department of Automation and Robotics Laboratory of Intelligent Information Systems for Marine Robots Far Eastern Federal University M.D. Ageev Institute for Marine Technology Problems FEB RAS Vladivostok Russia

The paper discusses methods of coordinated operation of two autonomous underwater vehicles, one of which is equipped with a multi-link manipulator and a vision system, and the second - auxiliary - only a vision system. These methods ensure the joint operation of two autonomous underwater vehicles both in the mode of semi-automatic positional remote control, and in the mode of automatic execution of operations with various objects. At the same time, work is considered in situations when the vision system of the main underwater vehicle does not allow observing the object of work, which is nevertheless located in the working area of the manipulator. In this case, the auxiliary inspection underwater vehicle with its own vision system is used to monitor the object. In the semi-automatic remote control mode, the manipulator automatically takes into account the current spatial orientation of the optical axis of the vision system of the inspection underwater vehicle, as well as the spatial orientations of both underwater vehicles at yaw angles in the absolute coordinate system. And in automatic mode, an accurate transfer of the spatial location and orientation of the object, which are determined using the vision system of the inspection underwater vehicle, is additionally provided to the associated coordinate system of the main underwater vehicle. It is possible to identify and eliminate errors that occur during the operation of the vision system and navigation systems of both underwater vehicles. The results of experimental studies have confirmed the operability of the proposed methods.

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