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4th International Conference on Industrial Artificial Intelligence, IAI 2022

作者： Hou, Jingrui Yu, Xinghuo Liu, Zhaohui Jalili, Mahdi School of Engineering Rmit University MelbourneVIC3001 Australia School of Mathematics Southeast University Laboratory for Security Operation and Control for Intelligent Autonomous Systems Department of Systems Science Nanjing211189 China

ISBN: (数字)9781665451208

ISBN: (纸本)9781665451208

In this paper, the structural controllability of periodically switching networks is studied. Based on the n-walk theory, we study the effect of repeating a switching network on its temporal dilation, intersection and temporally independent walks respectively, and some digestible examples are given to illustrate the theoretical results. We conclude that periodically repeating a switching network can only increase or maintain its structural controllability. In addition, for periodically switching networks, we propose an algorithm to judge and calculate the minimum number of periods to achieve structural controllability, and a detailed example is also given to illustrate our algorithm. Our work provides a new perspective to study complex periodically switching networks in the real world. © 2022 IEEE.

关键词： controllability

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Dual Amplification DNA Reactions for Ultrasensitive Electrochemical Biomolecular Detection Using Impedimetric Biosensor

SSRN

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SSRN 2025年

作者： Yu, Chenhong Yang, Xu Yang, Bei Li, Weiying Wang, Jianbang Liu, Huajie School of Chemical Science and Engineering Shanghai Research Institute for Intelligent Autonomous Systems Key Laboratory of Advanced Civil Engineering Materials of Ministry of Education Tongji University Shanghai200092 China College of Environmental Science and Engineering Shanghai Institute of Pollution Control and Ecological Security State Key Laboratory of Pollution Control and Resource Reuse Tongji University Shanghai200092 China

Detecting biomolecules especially the disease markers, is an important issue for practical diagnosis and clinical therapies. Herein, we proposed an all-DNA hydrogel-based electrochemical impedance sensing platform for trace detection of miRNA-21 through the synergistic integration of dual amplification circuits: catalytic hairpin assembly (CHA) and clamped hybridization chain reaction (C-HCR). We designed a hairpin DNA with complementary sequences to the target miRNA-21, and the hairpin reactants in CHA were initiated to self-assemble into dsDNA products when added the target. This reaction generates numerous trigger sequences that activate the subsequent C-HCR to form DNA hydrogels on the electrode surface. The insulating DNA hydrogel film significantly enhances impedance responses, allowing us to establish a highly sensitive impedimetric biosensor for miRNA-21 analysis. Our dual signal amplification approach using DNA hydrogels as the amplification element showed higher electrochemical response, broader dynamic range (10-17-10-8 M), and lower detection limit (6.5 aM). In addition, this electrochemical impedimetric biosensor with excellent selectivity, non-destructivity, and label-free feature is suitable for practical analytes, highlighting its great potential in clinical diagnostics. © 2025, The Authors. All rights reserved.

关键词： Biotelemetry

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Cooperative Local Path Planning for Multi-unmanned Vehicles Formation Using the Enhanced Artificial Potential Field 3rd

Cooperative Local Path Planning for Multi-unmanned Vehicles...

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3rd International Conference on autonomous Unmanned systems, ICAUS 2023

作者： Zhang, Xin Duan, Xuting Zhou, Jianshan Zhang, Long Opening Project of Key Laboratory of Operation Safety Technology on Transport Vehicles Ministry of Transport PRC Beijing China School of Transportation Science and Engineering Beihang University Beijing China State Key Lab of Intelligent Transportation System Beijing China Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control Beijing China Zhongguancun Laboratory Beijing China National Key Laboratory of Science and Technology on Information System Security Institute of Systems Engineering Beijing China

ISBN: (纸本)9789819711024

An enhanced approach utilizing APF(artificial potential field) method is introduced in this paper. By adopting this approach, the challenge of local minima that may occur when dealing with local path planning for unmanned vehicles is tackled. When the unmanned vehicle approaches an obstacle, a virtual attractive potential field is implemented, utilizing the deviation in the heading angle of the vehicle to control the steering angle. Consequently, the vehicle can avoid obstacles, resolving the issue of local minima and enabling its application in path planning for multi-unmanned vehicles. The ROS with Gazebo simulation platform is used to verify the enhanced algorithm’s effectiveness in multi-unmanned vehicle path planning in an unknown environment. © Beijing HIWING Scientific and Technological Information Institute 2024.

关键词： Motion planning

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Distributed online generalized Nash Equilibrium learning in multi-cluster games: A delay-tolerant algorithm

arXiv

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arXiv 2024年

作者： Liu, Bingqian Wen, Guanghui Fang, Xiao Huang, Tingwen Chen, Guanrong Laboratory of Security Operation and Control for Intelligent Autonomous Systems Department of Systems Science School of Mathematics Southeast University Nanjing211189 China Science Program Texas A&M University at Qatar Doha Qatar Department of Electrical Engineering City University of Hong Kong Hong Kong

This paper addresses the problem of distributed online generalized Nash equilibrium (GNE) learning for multicluster games with delayed feedback information. Specifically, each agent in the game is assumed to be informed a sequence of local cost functions and constraint functions, which are known to the agent with time-varying delays subsequent to decision-making at each round. The objective of each agent within a cluster is to collaboratively optimize the cluster's cost function, subject to time-varying coupled inequality constraints and local feasible set constraints over time. Additionally, it is assumed that each agent is required to estimate the decisions of all other agents through interactions with its neighbors, rather than directly accessing the decisions of all agents, i.e., each agent needs to make decision under partial-decision information. To solve such a challenging problem, a novel distributed online delay-tolerant GNE learning algorithm is developed based upon the primaldual algorithm with an aggregation gradient mechanism. The system-wise regret and the constraint violation are formulated to measure the performance of the algorithm, demonstrating sublinear growth with respect to time under certain conditions. Finally, numerical results are presented to verify the effectiveness of the proposed algorithm. Copyright © 2024, The Authors. All rights reserved.

关键词： Learning algorithms

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Distributed adaptive Nash equilibrium seeking over multi-agent networks with communication uncertainties

Distributed adaptive Nash equilibrium seeking over multi-age...

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IEEE Conference on Decision and control

作者： Xiao Fang Guanghui Wen Jialing Zhou Wei Xing Zheng Laboratory of Security Operation and Control for Intelligent Autonomous Systems Southeast University Nanjing P. R. China School of Automation Nanjing University of Science and Technology Nanjing P. R. China School of Computer Data and Mathematical Sciences Western Sydney University Sydney NSW Australia

ISBN: (纸本)9781665436601

This paper aims to address the distributed Nash equilibrium seeking problem for noncooperative games over multi-agent networks in the presence of communication uncertainties. Compared with the existing results on distributed Nash equilibrium seeking, the underlying communication network of the agents considered in this paper is subjected to unknown communication uncertainties. Specifically, the coupling weights on communication channels are perturbed by bounded uncertain signals. To achieve the goal of Nash equilibrium seeking, two distributed adaptive Nash equilibrium seeking algorithms based on the cooperative tracking protocol and estimate feedback respectively are proposed by designing adaptive coupling weights to overcome the effect of the communication uncertainties on Nash equilibrium seeking. The convergence of the proposed algorithms is theoretically analyzed and the effectiveness of the algorithms is illustrated by simulation results.

关键词： Couplings Uncertainty Adaptive systems Protocols Heuristic algorithms Simulation Games

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Performance Analysis of Distributed Filtering under Mismatched Noise Covariances

arXiv

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arXiv 2024年

作者： Lyu, Xiaoxu Wen, Guanghui Shi, Ling Duan, Peihu Duan, Zhisheng The Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong The Laboratory of Security Operation and Control for Intelligent Autonomous Systems Department of Systems Science School of Mathematics Southeast University Nanjing211189 China School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering Science College of Engineering Peking University Beijing100871 China

This paper systematically investigates the performance of consensus-based distributed filtering under mismatched noise covariances. First, we introduce three performance evaluation indices for such filtering problems, namely the standard performance evaluation index, the nominal performance evaluation index, and the estimation error covariance. We derive difference expressions among these indices and establish one-step relations among them under various mismatched noise covariance scenarios. We particularly reveal the effect of the consensus fusion on these relations. Furthermore, the recursive relations are introduced by extending the results of the one-step relations. Subsequently, we demonstrate the convergence of these indices under the collective observability condition, and show this convergence condition of the nominal performance evaluation index can guarantee the convergence of the estimation error covariance. Additionally, we prove that the estimation error covariance of the consensus-based distributed filter under mismatched noise covariances can be bounded by the Frobenius norms of the noise covariance deviations and the trace of the nominal performance evaluation index. Finally, the effectiveness of the theoretical results is verified by numerical simulations. Copyright © 2024, The Authors. All rights reserved.

关键词： Wiener filtering

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Simultaneous dynamic controller and anti-windup synthesis for systems with sector-bounded and slope restrictions

Simultaneous dynamic controller and anti-windup synthesis fo...

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Chinese control Conference (CCC)

作者： Naizhou Wang Hailong Pei Lianwen Jin Tiancai Liang School of Electronic and Information Engineering South China University of Technology Guangzhou P. R. China 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 P. R. China GRG Banking Intelligent Security Research Institute Guangzhou P. R. China

ISBN: (数字)9789881563903

ISBN: (纸本)9781728165233

This paper presents new techniques for construction of dynamic output feedback controllers with a static anti-windup compensator for a class of saturated systems with sector-bounded and slope-restricted nonlinearities. To handle the slope restriction, a so-called differential compensator is incorporated into the traditional nonlinear controller. Considering its sector-bounded property and convex-hull representation, respectively, two LMI-based synthesis methods are proposed to address the problems of the estimates of the region of attraction (ROA) and £ 2 performance analysis of the closed-loop system. A numerical example illustrates the effectiveness of the proposed approaches.

关键词： Linear matrix inequalities Closed loop systems Electronic mail Output feedback Actuators Nonlinear systems Vehicle dynamics

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Opportunities and challenges for monitoring terrestrial biodiversity in the robotics age

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Nature Ecology & Evolution 2025年 1-12页

作者： Stephen Pringle Jessica C. Fisher Gail E. Austen Jake E. Bicknell Nicolas J. Deere Mohammad S. Farhadinia Charlie J. Gardner Richard A. Griffiths Daniel J. Ingram Matthew J. Struebig Natalie Yoh Zoe G. Davies Martin Dallimer Mark A. Goddard Katherine C. R. Baldock Miranda T. Prendergast-Miller Léni K. Le Goff Emma Hart Simón C. Smith Simon J. Langdale Sara-Adela Abad Marc Ancrenaz Fabio Angeoletto Fernando Auat Cheein Joseph J. Bailey Lindsay F. Banin Cristina Banks-Leite Aliyu S. Barau Reshu Bashyal Adam J. Bates Jon Bielby Serge Wich Christopher D. Williams Petra Bosilj Marc Hanheide Emma R. Bush Simon J. Butler Dan Carpenter Christopher F. Clements Antoine Cully Kendi F. Davies Brett A. Melbourne Michael Dodd Rosie Drinkwater Don A. Driscoll Guillaume Dutilleux Mads Dyrmann David P. Edwards Aisyah Faruk Richard Field Franziska Schrodt Robert J. Fletcher Chris W. Foster Richard Fox Richard M. Francksen Aldina M. A. Franco Alison M. Gainsbury Ioanna Giorgi Giovanni L. Masala Salua Hamaza Matt W. Hayward Marcus Hedblom Thorunn Helgason Sui P. Heon Kevin A. Hughes Edmund R. Hunt George Jackson-Mills Kelly Jowett Timothy H. Keitt Laura N. Kloepper Stephanie Kramer-Schadt Jim Labisko Frédéric Labrosse Jenna Lawson Nicolas Lecomte Ricardo F. de Lima Nick A. Littlewood Harry H. Marshall Lindsay C. Maskell Eleni Matechou Barbara Mazzolai Alistair McConnell Aslan Miriyev Eric Djomo Nana Alessandro Ossola Sarah Papworth Catherine L. Parr Ana Payo-Payo Gad Perry Nathalie Pettorelli Marcus Rowcliffe Rajeev Pillay Simon G. Potts Lan Qie Carl D. Soulsbury Persie Rolley-Parnell Stephen J. Rossiter Heather Rumble Jon P. Sadler Christopher J. Sandom Asiem Sanyal Sarab S. Sethi Adi Shabrani Robert Siddall Robbert P. H. Snep Margaret C. Stanley Philip A. Stephens P. J. Stephenson Matthew Studley Martin Svátek Gilbert Tang Nicholas K. Taylor Kate D. L. Umbers Robert J. Ward Patrick J. C. White Mark J. Whittingham Ibrahim B. Yakubu Syed A. R. Zaidi Anna Zmarz Joeri A. Zwerts Durrell Institute of Conservation and Ecology (DICE) School of Natural Sciences University of Kent Canterbury UK Centre for Environmental Policy Imperial College London London UK Department of Geography and Environmental Sciences Northumbria University Newcastle upon Tyne UK School of Computing Engineering and the Built Environment Edinburgh Napier University Edinburgh UK Synthotech Ltd Milner Court Hornbeam Square Harrogate UK Mechanical Engineering Department University College London London UK HUTAN SWD Kota Kinabalu Malaysia Programa de Pós-Graduação em Gestão e Tecnologia Ambiental da Universidade Federal de Rondonópolis Rondonópolis Brasil Department of Engineering Harper Adams University Newport UK Applied Ecology Research Group School of Life Sciences Anglia Ruskin University Cambridge UK Centre for Ecology and Hydrology Penicuik UK Department of Life Sciences Imperial College London Silwood Park Campus Ascot UK Department of Urban and Regional Planning Faculty of Earth and Environmental Sciences Bayero University Kano Nigeria Greenhood Nepal Kathmandu Nepal Animal Rural & Environmental Sciences Nottingham Trent University Nottinghamshire UK School of Biological and Environmental Sciences Liverpool John Moores University Liverpool UK Lincoln Centre for Autonomous Systems University of Lincoln Lincoln UK Royal Botanic Garden Edinburgh Edinburgh UK School of Biological Sciences University of East Anglia Norwich Research Park Norwich UK Digital Ecology Limited Bristol UK School of Biological Sciences University of Bristol Bristol UK Department of Computing Imperial College London London UK Department of Ecology and Evolutionary Biology University of Colorado Boulder CO USA Faculty of Science Technology Engineering and Mathematics (STEM) The Open University Walton Hall Milton Keynes UK Palaeogenomics Group Faculty of Veterinary Medicine Ludwig Maximilian University Munich Munich Germany School of Life and Environmental Sciences

With biodiversity loss escalating globally, a step change is needed in our capacity to accurately monitor species populations across ecosystems. Robotic and autonomous systems (RAS) offer technological solutions that may substantially advance terrestrial biodiversity monitoring, but this potential is yet to be considered systematically. We used a modified Delphi technique to synthesize knowledge from 98 biodiversity experts and 31 RAS experts, who identified the major methodological barriers that currently hinder monitoring, and explored the opportunities and challenges that RAS offer in overcoming these barriers. Biodiversity experts identified four barrier categories: site access, species and individual identification, data handling and storage, and power and network availability. Robotics experts highlighted technologies that could overcome these barriers and identified the developments needed to facilitate RAS-based autonomous biodiversity monitoring. Some existing RAS could be optimized relatively easily to survey species but would require development to be suitable for monitoring of more ‘difficult’ taxa and robust enough to work under uncontrolled conditions within ecosystems. Other nascent technologies (for instance, new sensors and biodegradable robots) need accelerated research. Overall, it was felt that RAS could lead to major progress in monitoring of terrestrial biodiversity by supplementing rather than supplanting existing methods. Transdisciplinarity needs to be fostered between biodiversity and RAS experts so that future ideas and technologies can be codeveloped effectively.

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