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On the leader-following exponential consensus of discrete-time linear multi-agent systems over jointly connected switching networks

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control theory and Technology 2023年第3期21卷 469-477页

作者： Tao Liu Jie Huang Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and TechnologyShenzhen 518055GuangdongChina Shenzhen Research Institute The Chinese University of Hong KongShenzhen 518057GuangdongChina Department of Mechanical and Automation Engineering The Chinese University of Hong KongHong KongChina

The leader-following asymptotic consensus problem for general discrete-time linear multi-agent systems over jointly con-nected switching networks was solved about a decade ***,the leader-following exponential consensus was further established using the so-called Krasovskii-LaSalle theorem for a class of discrete-time linear switched *** this method involves some advanced concepts such as the weak zero-state detectability of some limiting *** this paper,we offer a simpler solution to the leader-following exponential consensus problem for general discrete-time linear multi-agent systems over jointly connected switching *** converting the solvability of the problem to the establishment of the exponential stability for a class of discrete-time linear switched systems,we first show that this class of linear switched systems is uniformly completely ***,we further conclude that the uniform complete observability for this class of linear switched systems implies the exponential stability for the same class of linear switched systems,thus leading to the solution of the leader-following exponential consensus ***,our approach also gives rise to an explicit characterization of the exponential convergence rate of the leader-following consensus problem.

关键词： Leader-following consensus Exponential stabilization-Linear switched systems Discrete-time systems

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Sampling-efficient path planning and improved actor-critic-based obstacle avoidance for autonomous robots

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Science China(Information Sciences) 2024年第5期67卷 197-214页

作者： Yefeng YANG Tao HUANG Tianqi WANG Wenyu YANG Han CHEN Boyang LI Chih-yung WEN Department of Aeronautical and Aviation Engineering The Hong Kong Polytechnic University Center for Control Theory and Guidance Technology Harbin Institute of Technology School of Engineering The University of Newcastle Research Center for Unmanned Autonomous Systems The Hong Kong Polytechnic University

Autonomous robots have garnered extensive utilization in diverse fields. Among the critical concerns for autonomous systems, path planning holds paramount importance. Notwithstanding considerable efforts in its development over the years, path planning for autonomous systems continues to grapple with challenges related to low planning efficiency and inadequate obstacle avoidance response in a timely *** study proposes a novel and systematic solution to the path planning problem within intricate office buildings. The solution consists of a global planner and a local planner. To handle the global planning aspect, an adaptive clustering-based dynamic programming rapidly exploring random tree(ACDP-RRT) algorithm is proposed. ACDP-RRT effectively identifies obstacles on the map by leveraging geometric *** obstacles are then represented as a collection of sequentially arranged convex polygons, optimizing the sampling region and significantly enhancing sampling efficiency. For local planning, a network decoupling actor-critic(ND-AC) algorithm is employed. The proposed ND-AC simplifies the local planner design process by integrating planning and control loops into a neural network(NN) trained via an end-to-end model-free deep reinforcement learning(DRL) framework. Moreover, the adoption of network decoupling(ND) techniques leads to an improved obstacle avoidance success rate when compared to conventional actor-critic(AC)-based methods. Extensive simulations and experiments are conducted to demonstrate the effectiveness and robustness of the proposed approach.

关键词： rapidly exploring random tree (RRT) adaptive clustering network decoupling actor critic (AC) path planning

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LoRD: Adapting Differentiable Driving Policies to Distribution Shifts

arXiv

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arXiv 2024年

作者： Diehl, Christopher Karkus, Peter Veer, Sushant Pavone, Marco Bertram, Torsten Institute of Control Theory and Systems Engineering TU Dortmund University Germany NVIDIA Research United States Department of Aeronautics and Astronautics Stanford University United States

Distribution shifts between operational domains can severely affect the performance of learned models in self-driving vehicles (SDVs). While this is a well-established problem, prior work has mostly explored naive solutions such as fine-tuning, focusing on the motion prediction task. In this work, we explore novel adaptation strategies for differentiable autonomy stacks (structured policy) consisting of prediction, planning, and control, perform evaluation in closed-loop, and investigate the often-overlooked issue of catastrophic forgetting. Specifically, we introduce two simple yet effective techniques: a low-rank residual decoder (LoRD) and multi-task fine-tuning. Through experiments across three models conducted on two real-world autonomous driving datasets (nuPlan, exiD), we demonstrate the effectiveness of our methods and highlight a significant performance gap between open-loop and closed-loop evaluation in prior approaches. Our approach improves forgetting by up to 23.33% and the closed-loop out-of-distribution driving score by 9.93% in comparison to standard fine-tuning. https://***/rst-tu-dortmund/LoRD Copyright © 2024, The Authors. All rights reserved.

关键词： Autonomous vehicles

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Dual-beam photothermal material trace detection method based on self-mixing interference

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Applied Optics 2025年第16期64卷 4549-4558页

作者： Yan Zhao Yunlong Zhi Hui Zhao Daming Dong Jigang Tong Chunling Tu School of Electrical Engineering and Automation Tianjin University of Technology Tianjin 300384 China Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems Tianjin 300384 China National Engineering Research Center for Intelligent Agricultural Equipment Beijing Academy of Agriculture and Forestry Sciences Beijing 100097 China Department of Computer Systems Engineering Faculty of ICT Tshwane University of Technology Pretoria 0188 South Africa

In this paper, a dual-beam photothermal self-mixing substance trace detection system is proposed. The crystal violet (CV) solution of the sample undergoes a thermal lens effect under the action of pump photoperiod excitation, and the refractive index changes cause the deviation of the probe beam, and the self-mixing interference (SMI) effect occurs when the modulated light returns to the cavity. By combining theoretical and experimental results, the power fluctuation of the SMI signal caused by the thermo-optic effect is linearly related to CV concentration and other parameters. At an excitation power of 24 mW, the detection limit can reach $8.0 \times {10^{- 8}}\;{\rm mol/L}$ . This method does not require labeling or complex CV pretreatment and has high sensitivity and flexibility, providing a guide for CV characterization in biological, environmental, and pharmaceutical research.

关键词： Gaussian beams Laser beams Optical fields Phase shift Refractive index Spatial resolution

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Motor Imagery and Mental Arithmetic Classification Based on Transformer Deep Learning Network

Motor Imagery and Mental Arithmetic Classification Based on ...

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IEEE International Conference on Mechatronics and Automation

作者： Yuanyuan Ye Jigang Tong Sen Yang Yinghui Chang Shengzhi Du Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology Tianjin China National Clinical Research Center for Chinese Medicine Acupuncture and Moxibustion Tianjin China Department of Electrical Engineering Tshwane University of Technology Pretoria South Africa

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

Non-invasive electroencephalography (EEG) signals find widespread application in brain-computer interfaces (BCI), with paradigms such as motor imagery (MI), mental arithmetic (MA) and emotion recognition being particularly common. This study aims to explore feature extraction and classification methods for MI and MA tasks. We employed convolutional neural networks (CNN) combined with Transformer networks and Fasternet Block to extract features. Through our reaearch, we obtained features for MI and MA tasks, and used softmax classification for binary classification of these tasks. We conducted on a publicly available dataset consisting of data from 29 subjects. The experimental results demonstrate that our method achieved high classification accuracy in MI and MA tasks. The final accuracy rates for MI and MA tasks were 88.67% and 91.23%, respectively.

关键词： Accuracy Mechatronics Feature extraction Brain modeling Transformers Motors Electroencephalography

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EEG Signal Driving Fatigue Detection based on Differential Entropy

EEG Signal Driving Fatigue Detection based on Differential E...

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IEEE International Conference on Mechatronics and Automation

作者： Danyang Wang Jigang Tong Sen Yang Yinghui Chang Shengzhi Du Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology Tianjin China National Clinical Research Center for Chinese Medicine Acupuncture and Moxibustion Tianjin China Department of Electrical Engineering Tshwane University of Technology Pretoria South Africa

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

With the gradual increase of vehicle penetration rate, driving safety has become a problem that people pay attention to, and traffic accidents caused by fatigue are mostly, therefore, it is meaningful to devote ourselves to research on the method of detecting driving fatigue so as to achieve safety warning. Based on this, in this paper, we collect the EEG signals of the experimenter through driving simulation, then extract the features through differential entropy, classify the features with GBDT, and finally determine the fatigue level of the subject with the classification results. We use our method to analyse the difference with sample entropy and fuzzy entropy at the feature level, and with KNN and SVM at the classification level. The comparison shows that our method has significant accuracy in EEG-based fatigue *** can be used accurately in extraction methods through its properties, and differential entropy-based GBDT methods may be useful in detecting driver fatigue.

关键词： Support vector machines Mechatronics Nearest neighbor methods Fatigue Feature extraction Entropy Electroencephalography

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An Adaptive Distributed Observer for A Class of Discrete-Time Uncertain Linear systems over Acyclic Digraphs

An Adaptive Distributed Observer for A Class of Discrete-Tim...

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IEEE Conference on Decision and control

作者： Tao Liu Jie Huang Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and Technology Shenzhen China Shenzhen Research Institute and Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Shatin N.T. Hong Kong

This paper proposes an adaptive distributed observer for a class of discrete-time uncertain linear leader systems. The leader system is assumed to be neutrally stable with unknown parameters in the system matrix. Such a leader system can produce multi-tone sinusoidal signals with unknown frequencies, magnitudes, and phases. Under the assumption that the digraph of the communication network is a spanning tree with the leader system as the root, the proposed adaptive distributed observer is shown to be capable of estimating over the communication network not only the leader's state, but also the unknown parameters of the leader's system matrix.

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Eight Become One: the EURECA-PRO University Network

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BHM Berg- und Huttenmannische Monatshefte 2022年第10期167卷 462-471页

作者： Kircher, Volkmar Feiel, Susanne Bongaerts, Jan C. Sishchuk, Julia Drebenstedt, Carsten Lagoudakis, Michail Fragkedaki, Konstantina García-Llamas, Paula Suárez-Corona, Adriana Fernández-Raga, María Baelo-Álvarez, Roberto Górski, Marcin Pawelczyk, Marek Hochstein, Synnöve Walter, Stefanie Speck, Maria Ravas, Oana Van Hellemont, Elke Vancauwenbergh, Sadia Resources Innovation Center Leoben Montanuniversität Leoben Leoben Austria Public Relations Office International Relations and University Cooperation Montanuniversität Leoben Leoben Austria Faculty of Business Administration Technische Universität Bergakademie Freiberg Freiberg Germany EURECA-PRO Head of work package education and studies Technische Universität Bergakademie Freiberg Freiberg Germany EURECA-PRO Head of educational council Technische Universität Bergakademie Freiberg Freiberg Germany School of Electrical and Computer Engineering Technical University of Crete Chania Greece EURECA-PRO European University Technical University of Crete Chania Greece Department of General and Specific Didactics and Educational Theory University of León Leon24071 Spain Department of Mathematical Sciences Universidad de León León24071 Spain Department of Applied Physics University of León León24071 Spain Faculty of Civil Engineering Silesian University of Technology Gliwice Poland Department of Measurements and Control Systems Silesian University of Technology Gliwice Poland Fakultät Medien Hochschule Mittweida Mittweida Germany International Relation Office University of Petroşani Petroşani Romania Rector’s Office Hasselt University Hasselt Belgium Directorate Research Library and Internationalisation Hasselt University Hasselt Belgium

The United Nations Sustainable Development Goal 12 is the foundation of the European University on Responsible Consumption and Production consortium (EURECA-PRO). This article introduces the eight EURECA-PRO partner universities: Montanuniversität Leoben (Austria), Technische Universität Bergakademie Freiberg (Germany), Technical University of Crete (Greece), University of León (Spain), Silesian University of Technology (Poland), Mittweida University of Applied Sciences (Germany), University of Petroşani (Romania), and Hasselt University (Belgium). In addition, each university’s role within the alliance and unique research and study programmes are outlined. The synergy created by EURECA-PRO enables the pursuit of an ambitious research agenda with five research "Lighthouse Missions" as well as the implementation of joint study programmes. © 2022, The Author(s).

关键词： Sustainable development

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Fully Passive Quantum Key Distribution

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Physical Review Letters 2023年第22期130卷 220801-220801页

作者： Wenyuan Wang Rong Wang Chengqiu Hu Victor Zapatero Li Qian Bing Qi Marcos Curty Hoi-Kwong Lo Department of Physics University of Hong Kong Pokfulam Road Hong Kong Vigo Quantum Communication Center University of Vigo Vigo E-36310 Spain Escuela de Ingeniería de Telecomunicación Department of Signal Theory and Communications University of Vigo Vigo E-36310 Spain AtlanTTic Research Center University of Vigo Vigo E-36310 Spain Department of Electrical and Computer Engineering University of Toronto Toronto Ontario M5S 3G4 Canada Centre for Quantum Information and Quantum Control (CQIQC) University of Toronto Toronto Ontario M5S 1A7 Canada Cisco Systems San Jose California 95134 USA Department of Physics University of Toronto Toronto Ontario M5S 1A7 Canada Quantum Bridge Technologies Inc. 100 College Street Toronto Ontario M5G 1L5 Canada

We propose a fully passive linear optical quantum key distribution (QKD) source that implements both random decoy-state and encoding choices with postselection only, thus eliminating all side channels in active modulators. Our source is general purpose and can be used in, e.g., BB84, the six-state protocol, and reference-frame-independent QKD. It can even potentially be combined with measurement-device-independent QKD to achieve robustness against side channels in both detectors and modulators. We also perform a proof-of-principle experimental source characterization to show its feasibility.

关键词： Optical quantum information processing Quantum communication Quantum cryptography Quantum optics Quantum protocols

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Stability and Neimark-Sacker bifurcation analysis for single gene discrete system with delay

Stability and Neimark-Sacker bifurcation analysis for single...

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第37届中国控制会议

作者： Feng Liu Qicheng Mei Fenglan Sun Xinmei Wang Hua O Wang School of Automation China University of Geosciences Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Research Center of System Theory and Application Chongqing University of Posts and Telecommunications Department of Mechanical Engineering Boston University

The network structure and functional properties of gene regulatory system and their relationships are an important research field in systems *** this paper,a new improved model is proposed based on the study of gene expression *** model takes into account the effect of protein concentration on the gene expression,so as to obtain a new bifurcation point and improve the performance of the *** validity of the model is verified by theoretical analysis and data simulation.

关键词： Stability Neimark-Sacker bifurcation single gene discrete system delay

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