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IEEE International Conference on systems, Man and Cybernetics

作者： Ruijie Xu Shichao Chen Wenqiao Sun Yisheng Lv Jialiang Luo Ying Tang The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences College of Information Science & Technology Beijing University of Chemical Technology Beijing China The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems The Center of National Railway Intelligent Transportation System Engineering and Technology Institute of Automation Chinese Academy of Sciences China Academy of Railway Sciences Corporation Limited Beijing China China Academy of Railway Sciences Corporation Limited Transportation and Economics Research Institute and the Center of National Railway Intelligent Transportation System Engineering and Technology Beijing China The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences School of Information Engineering China University of Geosciences Beijing Beijing China Department of Electrical and Computer Engineering Rowan University Glassboro USA

Global Navigation Satellite systems (GNSS) can provide real-time positioning information for outdoor users, but cannot for indoor scenarios or heavily occluded outdoor scenarios. Strap-down Inertial Navigation system (SINS) are widely used to locate people in complex interior or heavily occluded outdoor scenarios due to its light weight and low power consumption. However, IMU of SINS are noisy, and the sampling data error is large, which is a divergence of the error with time. Therefore, it will generate a positioning accumulation error, which affects the final positioning accuracy. The problem of cumulative IMU errors is usually dealt with by Zero-Velocity Update (ZUPT). The zero-velocity detection part of basic ZUPT method usually uses a single threshold to determine the gait of pedestrian, which often has the problem of gait misjudgment and omission. To address these problems, this paper proposes a composite conditional detection method to solve the problem of misjudgment in the zero-velocity interval. In addition, we redesign the zero-velocity update algorithm and uses the Cubature Kalman filter (CKF) for pedestrian positioning error correction. The experimental results demonstrate that the proposed ZUPT method based on dual-threshold detection can better detect the interval between pedestrian motion and stationery than ones with single threshold. The zero-velocity update algorithm based on CKF has higher performance than conventional EKF and UKF methods, which constrains the cumulative error of SINS to about 0.2% of the whole walking distance.

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Model Predictive control with Reach-avoid Analysis

arXiv

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arXiv 2023年

作者： Ren, Dejin Lu, Wanli Lv, Jidong Zhang, Lijun Xue, Bai State Key Lab. of Computer Science Institute of Software CAS Beijing China University of Chinese Academy of Sciences Beijing China National Engineering Research Center of Rail Transportation Operation and Control System Beijing Jiaotong University Beijing China

In this paper we investigate the optimal controller synthesis problem, so that the system under the controller can reach a specified target set while satisfying given constraints. Existing model predictive control (MPC) methods learn from a set of discrete states visited by previous (sub-)optimized trajectories and thus result in computationally expensive mixed-integer nonlinear optimization. In this paper a novel MPC method is proposed based on reach-avoid analysis to solve the controller synthesis problem iteratively. The reach-avoid analysis is concerned with computing a reach-avoid set which is a set of initial states such that the system can reach the target set successfully. It not only provides terminal constraints, which ensure feasibility of MPC, but also expands discrete states in existing methods into a continuous set (i.e., reach-avoid sets) and thus leads to nonlinear optimization which is more computationally tractable online due to the absence of integer variables. Finally, we evaluate the proposed method and make comparisons with state-of-the-art ones based on several examples. Copyright © 2023, The Authors. All rights reserved.

关键词： Model predictive control

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Aqueous production of sulfur-containing aerosols from nitroaromatic compounds and SO2 in wintertime urban haze

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Science Bulletin 2025年第11期70卷 1846-1855页

作者： Yang, Ning Wang, Junfeng Jacob, Daniel J. Ye, Jianhuai Sheng, Ming Niu, Mutong Qin, Yiming Ge, Xinlei Sun, Yele Wang, Zifa Wang, Yuhang Wu, Fengchang Liu, Cong-Qiang George, Christian Fu, Pingqing Institute of Surface-Earth System Science School of Earth System Science Tianjin University Tianjin300072 China School of Emergency Management Nanjing University of Information Science and Technology Nanjing210044 China Jiangsu Key Laboratory of Atmospheric Environment Monitoring and Pollution Control Collaborative Innovation Center of Atmospheric Environment and Equipment Technology School of Environmental Science and Engineering Nanjing University of Information Science and Technology Nanjing210044 China John A. Paulson School of Engineering and Applied Sciences Harvard University CambridgeMA02138 United States School of Environmental Science and Engineering Southern University of Science and Technology Shenzhen518055 China School of Energy and Environment City University of Hong Kong Hong Kong999077 China LAPC Institute of Atmospheric Physics Chinese Academy of Sciences Beijing100029 China School of Earth and Atmospheric Sciences Georgia Institute of Technology AtlantaGA02115 United States State Key Laboratory of Environmental Criteria and Risk Assessment Chinese Research Academy of Environmental Sciences Beijing100012 China Université Claude Bernard Lyon 1 CNRS IRCELYON VilleurbanneF-69626 France

Nighttime aqueous oxidation of fossil fuel emissions is a significant source of atmospheric secondary organic aerosols. However, the underlying mechanism of the aqueous processing remains unclear. Utilizing ultrahigh-resolution Fourier transform ion cyclotron resonance mass spectrometry of water-soluble organic carbon samples, we present field observations that reveal the aqueous-phase conversion of nitroaromatic compounds (NACs) and sulfur-containing aerosols from fossil fuel combustion at high relative humidity during a severe haze event in Beijing in the winter of 2016. We have confirmed that the ring-breaking oxidation of NACs can generate nitrous acid in the aqueous phase, which rapidly oxidizes sulfur dioxide (SO2) to sulfate. Subsequently, reactions between sulfate and unsaturated compounds contribute to the formation of aliphatic organosulfates. Our results elucidate a molecular-level understanding of the aqueous production of sulfur-containing aerosols from NACs and SO2 in wintertime urban haze. © 2025 Science China Press

关键词： Sulfur dioxide

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Internal Exposure Risks of Particle-Bound Polycyclic Aromatic Hydrocarbons with an Hourly Time Resolution to Humans in Beijing

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Environmental Science and Technology 2025年第24期59卷 12035-12047页

作者： Hua, Chenjie Ma, Wei Li, Jinwen Wang, Yuzheng Zheng, Feixue Zhang, Yusheng Ren, Yanqin Chen, Tianzeng Li, Hongyan Bianchi, Federico Petäjä, Tuukka Kerminen, Veli-Matti Worsnop, Douglas Kulmala, Markku Kan, Haidong Liu, Yongchun Aerosol and Haze Laboratory Advanced Innovation Center for Soft Matter Science and Engineering Beijing University of Chemical Technology Beijing 100029 China State Key Laboratory of Environmental Criteria and Risk Assessment Chinese Research Academy of Environmental Sciences Beijing 100012 China State Key Joint Laboratory of Environmental Simulation and Pollution Control Research Center for Eco-Environmental Sciences Chinese Academy of Sciences Beijing 100085 China School of Environment and Safety Taiyuan University of Science and Technology Shanxi Taiyuan 030024 China Institute for Atmospheric and Earth System Research (INAR)/Physics Faculty of Science University of Helsinki Helsinki 00014 Finland Aerodyne Research Inc. Billerica 01821 MA United States School of Public Health Key Laboratory of Public Health Safety of the Ministry of Education and Key Laboratory of Health Technology Assessment of the Ministry of Health Fudan University Shanghai 200032 China Shanghai Key Laboratory of Meteorology and Health IRDR International Center of Excellence on Risk Interconnectivity and Governance on Weather Climate Extremes Impact and Public Health WMO/IGAC MAP-AQAsian Office Shanghai Fudan University Shanghai 200032 China

Polycyclic aromatic hydrocarbons (PAHs) are critical atmospheric pollutants known to adversely impact human health. While internal exposure assessments of PAHs have gained increasing attention, current methods lack the time resolution necessary to capture dynamic changes and chronic health effects accurately. Here, we develop an integrated approach to improve the accuracy of internal exposure assessments by combining the Multiple-Path Particle Dosimetry model, a Physiologically Based Toxicokinetic model, and high-resolution concentrations of particle-bound PAHs. The rolling mode can calculate hourly internal exposure of particle-bound PAHs, accounting for both the temporal variations of ambient PAH concentrations and their bioaccumulation in the body. The annual hazard quotient (HQ) and cancer risk (CR) based on the internal exposure are 5.86 × 10^-2 and 5.52 × 10^-6, significantly higher than the values (1.40 × 10^-3 and 4.51 × 10^-8) obtained via the conventional external exposure methods. Internal exposure and health risks (HQ and CR) are subtle to time resolution, e.g., the coarser time resolution results in a smaller internal exposure, leading to an underestimation of chronic health risks by the conventional method. Our results offer a tool for accurately assessing the health risks of particle-bound pollutants, providing valuable insights for public health policies aimed at reducing environmental risks. © 2025 American Chemical Society.

关键词： continuous rolling exposure model high-time resolution particle-bound PAHs real-time internal exposure

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Vector Angular Spectrum Model for light travelling in scattering media

arXiv

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arXiv 2024年

作者： Liu, Kaige Zhang, Hengkang Liu, Zeqi Zhang, Bin Fu, Xing Yuan, Qiang Liu, Qiang Ministry of Education Beijing100084 China State Key Laboratory of Precision Measurement Technology and Instruments Department of Precision Instrument Tsinghua University Beijing100084 China Research Center of Laser Fusion China Academy of Engineering Physics Mianyang621900 China Beijing Institute of Control Engineering Beijing100190 China Beijing Institute of Electronic System Engineering Beijing100854 China

Strongly scattering media disrupt both the wavefront distribution and the polarization state of the incident light field. controlling and effectively utilizing depolarization effects are crucial for optical applications in highly scattering environments, such as imaging through dense fog. However, current simulation models have difficulty simulating the evolution of vector light fields within scattering media, posing challenges for studying vector light fields in strongly scattering environments. Here, we propose the Vector Angular Spectrum (VAS) model for simulating the propagation of vector light fields within scattering media. By introducing the angular spectrum distribution of vector light scattering and polarization conversion mechanisms, this model can simulate the depolarization effects of vector light propagating through strongly scattering media. The VAS model has also been used to investigate the focusing of vector scattered light through scattering media. Furthermore, the simulation results of the model have been validated through experiments. The proposed VAS model is expected to play a role in the theoretical research of vector scattered light and optical applications in strongly scattering environments. Copyright © 2024, The Authors. All rights reserved.

关键词： Vectors

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Secure and Privacy-preserving Data-sharing Framework based on Blockchain Technology for Al-Najaf/Iraq Oil Refinery 19

Secure and Privacy-preserving Data-sharing Framework based o...

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2022 IEEE SmartWorld, 19th IEEE International Conference on Ubiquitous Intelligence and Computing, 2022 IEEE International Conference on Autonomous and Trusted Vehicles Conference, 22nd IEEE International Conference on Scalable Computing and Communications, 2022 IEEE International Conference on Digital Twin, 8th IEEE International Conference on Privacy Computing and 2022 IEEE International Conference on Metaverse, SmartWorld/UIC/ATC/ScalCom/DigitalTwin/PriComp/Metaverse 2022

作者： Umran, Samir M. Lu, SongFeng Abduljabbar, Zaid Ameen Lu, Zhi Feng, Bingyan Zheng, Lu Huazhong University of Science and Technology Hubei Key Laboratory of Distributed System Security Hubei Engineering Research Center on Big Data Security School of Cyber Science and Engineering Wuhan430074 China Iraqi Cement State Company Ministry of Industry and Minerals Baghdad10011 Iraq Shenzhen Huazhong University of Science and Technology Research Institute Shenzhen518057 China University of Basrah College of Education for Pure Sciences Iraq Al-Kunooze University College Technical Computer Engineering Department Basrah Iraq Huazhong University of Science and Technology School of Cyber Science and Engineering Wuhan430074 China Industrial Internet Research Institute Wuhan Huazhong Numerical Control Co. Ltd Wuhan430074 China South-Central University for Nationalities College of Computer Science Wuhan430074 China

ISBN: (纸本)9798350346558

The Industrial Internet of Things or Industry 4.0 efficiently enhances the manufacturing process in terms of raising productivity, system performance, cost reduction, and building large-scale systems. It enables the connection of numerous heterogeneous devices and sensors into the internet network through the utilization of revolutionary techniques that transfer the manufacturing paradigm to intelligent processes. The traditional industrial internet of things adopts centralized architectures and complex encryption algorithms that suffer from several cyber-security threats and lead to data leakage, privacy disclosure, and high computational and communicational costs. In our work, we proposed a decentralized, efficient, low-power, scalable, secure, privacy-preserving, and trusting architecture based on a private blockchain network/smart contract and interplanetary file system technology for the Al-NajafyIraq oil refinery factory. That enables autonomous working and provides a high level of security authentication and privacy preservation, P2P communication, remote access, immutability and information backtracking. Traditional blockchain technology has storage limitation issues, most recent works adopted external servers or the cloud for storage purposes. Our proposed scheme addresses the limitations of blockchain data storage by adopting an interplanetary file system (IPFS) network;provides an efficient data encryption mechanism at the perceptual layer by adopting a lightweight encryption algorithm, high-performance, and ultra-low-power consumption ARM Cortex-M microcontroller. In addition, our architecture succeeds in merging blockchain technology, IoTs, and an IPFS with the oil refinery as an industrial application area. Moreover, it provides an efficient framework that resists common cyber-security attacks and realizes cyber-security requirements represented by data availability, integrity, and confidentiality. © 2022 IEEE.

关键词： Digital storage

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Extended NNs-Based Adaptive Event-Triggered Asymptotic control for Nonlinear systems Against Actuator Faults

Extended NNs-Based Adaptive Event-Triggered Asymptotic Contr...

引用

International Symposium on Autonomous systems (ISAS)

作者： Shanlin Liu Yingwei Zhang Xudong Zhao Hesheng Wang College of Information Science and Engineering Northeastern University Shenyang China State Laboratory of Synthesis Automation of Process Industry Northeastern University Shenyang China Faculty of Electronic Information and Electrical Engineering Dalian University of Technology Dalian China Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of IntelligentControl and Management Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798350363173

ISBN: (纸本)9798350363180

In this article, an adaptive event-triggered asymp¬totically fault-tolerant control (FTC) issue for nonlinear systems with actuator faults is investigated. An extended neural networks (NNs) technique is introduced to estimate unknown functions of the system under consideration. Compared with traditional NNs that ignore approximation errors, the proposed extended NNs further processes approximation errors, reducing the conservatism of the proposed algorithm. Then, within the framework of backstepping method, a new adaptive control strategy is developed by combining event-triggered mechanism (ETM) and bound estimation (BE) approach, which ensures the asymptotic convergence of system states while also reducing the transmission of unnecessary information, thus improving the utilization of communication resources. At the same time, the designed controller eliminates the adverse effects of actuator failures and system nonlinear terms. Finally, a simulation example of a single-link robot system is provided to demonstrate that the developed control strategy can ensure that all signals are bounded and system states are asymptotically convergent.

关键词： Actuators Backstepping Fault tolerant systems Process control Artificial neural networks control systems Approximation error

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Design and Development of a Rapidly Deployable Low-Cost Tensegrity In-Pipe Robot

Design and Development of a Rapidly Deployable Low-Cost Tens...

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

作者： Yixiang Liu Xiaolin Dai Kai Guo Jiang Wu Rui Song Jie Zhao Yibin Li School of Control Science and Engineering Shandong University Jinan China State Key Laboratory of Mechanical Transmissions Chongqing University Chongqing China Zhejiang Key Laboratory of Intelligent Operation and Maintenance Robot Hangzhou Shenhao Technology Co. Ltd Hangzhou China Engineering Research Center of Intelligent Unmanned System of Ministry of Education School of Control Science and Engineering Shandong University Jinan China School of Mechanical Engineering Shandong University Jinan China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Existing in-pipe robots have insufficient adaptability when dealing with accidents in unfamiliar pipe environments. Developing a pipe robot that can be designed and manufactured quickly is one solution. The tensegrity structure is a self-stressing spatial structure formed by the interaction of rigid members and flexible cables, which has the advantages of simple structure, good flexibility, deformability, and impact resistance. Inspired by this structure, we design a novel worm-like tensegrity robot for different pipe environments, which can be manufactured rapidly at low cost. Firstly, a robotic module based on the tensegrity structure is designed inspired by the motion patterns of worm-like organisms. Then, the design process of the module is presented based on the mathematical analysis of the deformation. Finally, a prototype of the tensegrity robot is developed using simple and low-cost parts in less than an hour. To test the motion performance, load performance, and inspection capability of the tensegrity robot, we designed a series of experiments on horizontal pipes, vertical pipes, elbows, and steel pipes. Experimental results show that the worm-like tensegrity robot is simple in structure, easy to manufacture, low in cost, and good in performance.

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Uplink Precoding Design for Cell-Free Massive MIMO With Iteratively Weighted MMSE

Uplink Precoding Design for Cell-Free Massive MIMO With Iter...

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作者： Wang, Zhe Zhang, Jiayi Ngo, Hien Quoc Ai, Bo Debbah, Merouane Frontiers Science Center for Smart High-Speed Railway System The School of Electronic and Information Engineering Beijing Jiaotong University Beijing100044 China Institute of Electronics Communications and Information Technology Queen’s University Belfast BelfastBT3 9DT United Kingdom State Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong University Beijing100044 China Henan Joint International Research Laboratory of Intelligent Networking and Data Analysis The Frontiers Science Center for Smart High-Speed Railway System Zhengzhou University Zhengzhou450001 China Peng Cheng Laboratory Research Center of Networks and Communications Shenzhen518066 China Technology Innovation Institute Abu Dhabi United Arab Emirates CentraleSupélec University Paris-Saclay Gif-sur-Yvette91192 France

In this paper, we investigate a cell-free massive multiple-input multiple-output system with both access points and user equipments equipped with multiple antennas over the Weichselberger Rayleigh fading channel. We study the uplink spectral efficiency (SE) for the fully centralized processing scheme and large-scale fading decoding (LSFD) scheme. To further improve the SE performance, we design the uplink precoding schemes based on the weighted sum SE maximization. Since the weighted sum SE maximization problem is not jointly over all optimization variables, two efficient uplink precoding schemes based on Iteratively Weighted sum-Minimum Mean Square Error (I-WMMSE) algorithms, which rely on the iterative minimization of weighted Mean Square Error (MSE), are proposed for two processing schemes investigated. Furthermore, with maximum ratio combining applied in the LSFD scheme, we derive novel closed-form achievable SE expressions and optimal precoding schemes. numerical results validate the proposed results and show that the I-WMMSE precoding schemes can achieve excellent sum SE performance with a large number of UE antennas. © 1972-2012 IEEE.

关键词： MIMO systems

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A Model-free False Data Injection Attack Strategy in Networked control systems

A Model-free False Data Injection Attack Strategy in Network...

引用

IEEE Conference on Decision and control

作者： Xiaoyu Luo Chongrong Fang Chengcheng Zhao Jianping He The Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China and Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China The State Key Laboratory of Industrial Control Technology and Institute of Cyberspace Research Zhejiang University China

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

The data-driven attack strategies recently have received much attention when the full knowledge of the system model is unknown or difficult to be obtained for the adversary. Note that despite the critical parameters of the system model being unavailable for the adversary, the existing data-driven attack methods still depend on the linearity of the unknown system model. In this paper, we design a completely model-free attack strategy where the adversary with limited capability aims to compromise state variables such that the output value follows the expected trajectory. Specifically, we first construct a zeroth-order feedback optimization framework and uninterruptedly use probing signals for real-time measurements. Then, we iteratively update the attack signals along the composite direction of the gradient estimates of the objective function evaluations and the projected gradients. These objective function evaluations can be obtained only by real-time measurements. Furthermore, we characterize the optimality of these solutions via the optimality gap, which is affected by the dimensions of the attack signal, the iterations of solutions, and the convergence rate of the system. Extensive simulations are conducted to show the effectiveness of the proposed attack strategy.

关键词： Networked control systems Computational modeling Current measurement Linear programming Real-time systems Data models Time measurement

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