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Explainable Application Intent for Zero-Touch networking: An Incorporation of Hypergraph and Transformer

IEEE Transactions on Communications 2025年

作者： Wu, Bing Zou, Sai Liwang, Minghui Ni, Wei Wang, Xianbin Guizhou University College of Big Data and Information Engineering China National Key Laboratory of Autonomous Intelligent Unmanned Systems Department of Control Science and Engineering China Tongji University Frontiers Science Center for Intelligent Autonomous Systems Ministry of Education Shanghai China Data61 CSIRO Australia Department of Electrical and Computer Engineering Western University Canada

The autonomous interpretation of application intent (APPI) represents the primary step towards achieving closed-loop autonomy in zero-touch networking (ZTN) and also a prerequisite for intent-based networking (IBN). However, understanding APPIs and invoking the corresponding network resources require network professionals with extensive technical expertise to customize network service requests (NSRs), which presents significant challenges for the large-scale deployment of ZTN. This paper investigates an interesting problem of autonomous interpretation of APPIs for ZTN, where a novel mechanism integrating hypergraph and transformer with completeness assurance (HyperTrans-CA) is proposed. In particular, we first involve the Bayesian theory to model APPIs interpretability as maximizing the correct transition probability, where hypergraph is used to describe the complex relationship between application characteristics (e.g., scenario function, and performance) and NSRs, including network devices, virtual network functions (VNFs), and resources. Then, the hypergraph is integrated into the encoder, decoder, and attention mechanisms of Transformer, and a completeness assurance mechanism is designed to improve the prediction accuracy. The convergence of HyperTrans-CA and the corresponding convergence speed of the hypergraph-boosted Transformer in the graph search process are also analyzed. Comprehensive simulations and empirical measurements regarding industrial internet demonstrate that HyperTrans-CA can effectively explain/understand APPIs. Compared to the state-of-the-art Transformer and ChatGPT3.5 models, HyperTrans-CA improves the prediction accuracy of APPIs mapped to VNFs by 23% and 46%, respectively, while raising the prediction accuracy of VNF locations by 8.6 and 17.3 times. © 2025 IEEE.

关键词： Bayesian networks

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Stealthy Attacks on Sampled-Data control and Encryption-Based Countermeasures

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IEEE Transactions on Automatic control 2025年

作者： Shang, Jun Li, Yuzhe Chen, Tongwen Tongji University Department of Control Science and Engineering Shanghai Institute of Intelligent Science and Technology National Key Laboratory of Autonomous Intelligent Unmanned Systems Frontiers Science Center for Intelligent Autonomous Systems Shanghai200092 China Northeastern University State Key Laboratory of Synthetical Automation for Process Industries Shenyang110004 China University of Alberta Department of Electrical and Computer Engineering EdmontonABT6G 1H9 Canada

This paper investigates stealthy attacks on sampled-data control systems, where a continuous process is sampled periodically, and the resultant discrete output and control signals are transmitted through dual channels in wireless communication networks. Acknowledging the vulnerability of these transmitted data to cyber threats, we analyze two types of stealthy attacks that compromise either one or both channels. We explicitly present the necessary and sufficient conditions for the existence of stealthy single-channel attacks. To mitigate these security risks, we implement encryption-based countermeasures, including linear time-invariant and periodic encryption methods. We detail sufficient conditions under which these encryption strategies effectively thwart single- and dual-channel stealthy attacks. The effectiveness of these approaches and the theoretical findings are demonstrated through numerical simulations. © 1963-2012 IEEE.

关键词： Cyber attacks

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Converse negative imaginary theorems

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Automatica 2024年 165卷

作者： Khong, Sei Zhen Zhao, Di Lanzon, Alexander Department of Electrical Engineering National Sun Yat-sen University Kaohsiung80424 Taiwan Department of Control Science and Engineering & National Key Laboratory of Autonomous Intelligent Unmanned Systems & Frontiers Science Center for Intelligent Autonomous Systems Tongji University Shanghai China Control Systems Centre Department of Electrical and Electronic Engineering School of Engineering University of Manchester Oxford Road ManchesterM13 9PL United Kingdom

Converse negative imaginary theorems for linear time-invariant systems are derived. In particular, we provide necessary and sufficient conditions for a feedback system to be robustly stable against various types of negative imaginary (NI) uncertainty. Uncertainty classes of marginally stable NI systems and stable strictly NI systems with restrictions on their static or instantaneous gains are considered It is shown that robust stability against the former class entails the strictly NI property, whereas the latter class entails the NI property. We also establish a non-existence result that no stable system can robustly stabilise all marginally stable NI uncertainty, thereby showing that the uncertainty class of NI systems is too large as far as robust feedback stability is concerned, thus justifying the consideration of subclasses of NI systems with constrained static or instantaneous gains. © 2024 Elsevier Ltd

关键词： Linear time-invariant system

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A Novel Tandem Ducted Fan UAV Attitude control Based on Cascade PID controller

A Novel Tandem Ducted Fan UAV Attitude Control Based on Casc...

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Chinese control Conference (CCC)

作者： Ziqi Yu Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Unmanned Aerial Vehicle Systems Engineering Technology Research Center of Guangdong South China University of Technology Guangzhou China

In this paper, we introduce a novel tandem ducted fan unmanned aerial vehicle (UAV) and focus on the attitude control problem of it. Firstly, the structural layout of this new vehicle is introduced, then the force analysis and mathematical formula are performed based on kinematic and dynamical formulas. Secondly, this section is not only focuses on the degsign of controller but also the analysis of its advantages. For example, how they can improve system performance through frequency domain analysis, implementation of specific algorithms. Thirdly, an outdoor flight experiment is completed. The experimental process is as follows: after having the appropriate parameters, the vehicle is first allowed to fly to a height of about 10 meters and hover down, and then three attitude angle changes are performed. Finally, we conclude that the cascade PID controller for this type of UAV attitude control is simple, practical and can cope with many flight conoditions and indicate the shortcomings of this dissertation and future work.

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Joint Beam Management and SLAM for mmWave Communication systems

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IEEE Transactions on Communications 2023年第10期71卷 6162-6179页

作者： Que, Hang Yang, Jie Wen, Chao-Kai Xia, Shuqiang Li, Xiao Jin, Shi Southeast University National Mobile Communications Research Laboratory Nanjing210096 China Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Frontiers Science Center for Mobile Information Communication and Security Nanjing210096 China Institute of Communications Engineering National Sun Yat-sen University Kaohsiung80424 Taiwan Zte Corporation Shenzhen518055 China State Key Laboratory of Mobile Network and Mobile Multimedia Shenzhen518055 China Southeast University National Mobile Communications Research Laboratory Frontiers Science Center for Mobile Information Communication and Security Nanjing210096 China

The millimeter-wave (mmWave) communication technology, which employs large-scale antenna arrays, enables inherent sensing capabilities. Simultaneous localization and mapping (SLAM) can utilize channel multipath angle estimates to realize integrated sensing and communication design in 6G communication systems. However, existing works have ignored the significant overhead required by the mmWave beam management when implementing SLAM with angle estimates. This study proposes a joint beam management and SLAM design that utilizes the strong coupling between the radio map and channel multipath for simultaneous beam management, localization, and mapping. In this approach, we first propose a hierarchical sweeping and sensing service design. The path angles are estimated in the hierarchical sweeping, enabling angle-based SLAM with the aid of an inertial measurement unit (IMU) to realize sensing service. Then, feature-aided tracking is proposed that utilizes prior angle information generated from the radio map and IMU. Finally, a switching module is introduced to enable flexible switching between hierarchical sweeping and feature-aided tracking. Simulations show that the proposed joint design can achieve sub-meter level localization and mapping accuracy (with an error © 1972-2012 IEEE.

关键词： Mapping

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Graph Data Augmentation based on Adaptive Graph Convolution for Skeleton-based Action Recognition 9

Graph Data Augmentation based on Adaptive Graph Convolution ...

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9th IEEE International Conference on Computer Science and network Technology, ICCSNT 2021

作者： Yu, Lubin Tian, Lianfang Du, Qiliang School of Automation Science And Engineering South China University And Technology Guangzhou China Zhuhai China Key Laboratory of Marine Environmental Survey Technology And Application Ministry of Natural Resources Guangzhou China Key Laboratory of Autonomous Systems Network Control of Ministry of Education Guangzhou China

ISBN: (纸本)9781665443647

Recently, action recognition based on graph data has received widespread attention. Graph convolutional neural networks need a large amount of graph data support. Therefore, graph data augmentation has significant research value. Existing graph data augmentation methods are generally based on graph structure or graph node features to add or remove graph edges, leading to problems in generality and effectiveness. To improve the above issues, this paper utilizes adaptive graph convolution to design an algorithm that obtains the optimal graph connection for graph data augmentation as graph convolution proceeds, which greatly improves the generalization and effectiveness. The results on NTU-RGBD and Kinetics-Skeleton datasets for skeleton-based action recognition prove that our proposed method reveals better results than existing methods. © 2021 IEEE.

关键词： Convolution

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Adaptive Fixed-time Fuzzy Tracking control of Uncertain Robot 27

Adaptive Fixed-time Fuzzy Tracking Control of Uncertain Robo...

引用

27th International Conference on Automation and Computing, ICAC 2022

作者： Zhou, Beibei Zhu, Chengzhi Jiang, Yiming Guangzhou Jianxin Technology Co. Ltd Guangzhou510640 China South China University of Technology Key Laboratory of Autonomous Systems and Net-worked Control College of Automation Science and Engineering Guangzhou510640 China Hunan University National Engineering Laboratory for Robot Visual Perception and Control Hunan Changsha410082 China

ISBN: (数字)9781665498074

ISBN: (纸本)9781665498074

We propose a novel fixed-time fuzzy control strategy to achieve the trajectory tracking of the robot systems with uncertainties in this article. The tracking errors of the system can be convergent to a small area around zero with fixed-time convergence rate, combining with the fuzzy logic system and the backstepping technique. Besides, the boundedness of all the closed-loop system signals can be proved under the proposed controller. The superiority performance of the proposed control strategy has been shown by the simulation results. © 2022 IEEE.

关键词： Closed loop systems

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Novel design of Reconfigurable Tracked Robot with Geometry-Changing Tracks

Novel design of Reconfigurable Tracked Robot with Geometry-C...

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

作者： Chice Xuan Jiadong Lu Zhihao Tian Jiacheng Li Mengke Zhang Hanbin Xie Jianxiong Qiu Chao Xu Yanjun Cao Huzhou Institute of Zhejiang University Huzhou China Huzhou Laboratory of Autonomous Intelligent Systems Huzhou China State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Shandong University Jinan China Zhejiang Zhongyan Industry Co. Ltd Hangzhou China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Tracked robots with reconfigurable mechanisms exhibit great maneuverability due to their adaptability to complex ground conditions. Reconfigurable tracked robots with geometry-changing tracks show further obstacle-crossing capabilities with compact dimensions. However, existing systems face deployment limitations due to either complex transmission mechanisms or unsustainable designs when maintaining the tension in the tracks. To address these challenges, we introduce a novel design of a reconfigurable tracked robot with geometry-changing tracks, which achieves strong terrain traversability with good mechanical properties. We achieve the elliptical trajectory of key planetary wheels through a novel Quad-slider Elliptical Trammel Mechanism (Qs-ETM), allowing the tracks to maintain fixed tension while changing their geometry. Furthermore, the combination of direct drive motors significantly enhances its mechanical properties and agility. A detailed analysis of the kinematic and dynamic characteristics has been conducted and proved with a series of simulations. We built a fully functional prototype of the design and tested it in real-world experiments to validate its advantages. The result shows that our design can reduce the torque required by up to 68.3% and the shear stress of the flipper by up to 67.1%.

关键词： Geometry Torque Wheels Prototypes Motors Trajectory Planning Mobile robots Robots Stress

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Extended Preintegration for Relative State Estimation of Leader-Follower Platform

arXiv

引用

arXiv 2023年

作者： Xia, Ruican Pei, Hailong The Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Unmanned Aerial Vehicle Systems Engineering Technology Research Center of Guangdong South China University of Technology Guangzhou510640 China

Relative state estimation using exteroceptive sensors suffers from limitations of the field of view (FOV) and false detection, that the proprioceptive sensor (IMU) data are usually engaged to compensate. Recently ego-motion constraint obtained by Inertial measurement unit (IMU) preintegration has been extensively used in simultaneous localization and mapping (SLAM) to alleviate the computation burden. This paper introduces an extended preintegration incorporating the IMU preintegration of two platforms to formulate the motion constraint of relative state. One merit of this analytic constraint is that it can be seamlessly integrated into the unified graph optimization framework to implement the relative state estimation in a high-performance real-time tracking thread, another point is a full smoother design with this precise constraint to optimize the 3D coordinate and refine the state for the refinement thread. We compare extensively in simulations the proposed algorithms with two existing approaches to confirm our outperformance. In the real virtual reality (VR) application design with the proposed estimator, we properly realize the visual tracking of the six degrees of freedom (6DoF) controller suitable for almost all scenarios, including the challenging environment with missing features, light mutation, dynamic scenes, etc. The demo video is at https://***/watch?v=0idb9Ls2iAM. For the benefit of the community, we make the source code public. Copyright © 2023, The Authors. All rights reserved.

关键词： Virtual reality

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Gridless Bayesian Inference for DOA Estimation with Coprime Array

Gridless Bayesian Inference for DOA Estimation with Coprime ...

引用

2023 IEEE International Radar Conference, RADAR 2023

作者： Liu, Ying Zhang, Zongyu Zhou, Chengwei Shi, Zhiguo Zhejiang University College of Control Science and Engineering Hangzhou310027 China Zhejiang University College of Information Science and Electronic Engineering Hangzhou310027 China Key Laboratory of Collaborative Sensing and Autonomous Unmanned Systems of Zhejiang Province Hangzhou310015 China Zhejiang University International Joint Innovation Center Haining314400 China

ISBN: (纸本)9781665482783

In this paper, we propose a gridless Bayesian inference based direction-of-arrival (DOA) estimation algorithm with coprime array to overcome the basis mismatch arising in conventional on-grid sparse signal reconstruction based algorithms. Under Bayesian framework, the distributions of DOAs are assumed as mixtures of von Mises models yielding the continuous parameterization of the direction information, while the signals power is governed by a Bernoulli-Laplace model turning the sources number estimation into binary sequence detection. The Bayesian model is formulated on the second-order virtual coarray signals and the variational Bayesian inference is performed to realized accurate DOA estimation with increased number of degrees of freedom (DOFs). Simulation results show the effectiveness of the proposed algorithm especially at low signal-to-noise ratio (SNR). © 2023 IEEE.

关键词： Binary sequences

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