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arXiv 2024年

作者： Li, Xuehua Pei, Yingjie Yue, Xinwei Liu, Yuanwei Ding, Zhiguo The Key Laboratory of Information and Communication Systems Ministry of Information Industry The Key Laboratory of Modern Measurement & Control Technology Ministry of Education Beijing Information Science and Technology University Beijing100101 China The School of Information and Communication Engineering Beijing University of Posts and Telecommunications Beijing100876 China The School of Electronic Engineering and Computer Science Queen Mary University of London LondonE1 4NS United Kingdom Department of Electrical Engineering and Computer Science Khalifa University Abu Dhabi United Arab Emirates

As a revolutionary technology, reconfigurable intelligent surface (RIS) has been deemed as an indispensable part of the 6th generation communications due to its inherent ability to regulate the wireless channels. However, passive RIS (PRIS) still suffers from some pressing issues, one of which is that the fading of the entire reflection link is proportional to the product of the distances from the base station to the PRIS and from the PRIS to the users, i.e., the productive attenuation. To tackle this problem, active RIS (ARIS) has been proposed to reconfigure the wireless propagation condition and alleviate the productive attenuation. In this paper, we investigate the physical layer security of the ARIS assisted non-orthogonal multiple access (NOMA) networks with the attendance of external and internal eavesdroppers. To be specific, the closed-form expressions of secrecy outage probability (SOP) and secrecy system throughput are derived by invoking both imperfect successive interference cancellation (ipSIC) and perfect SIC. The secrecy diversity orders of legitimate users are obtained at high signal-to-noise ratios. Numerical results are presented to verify the accuracy of the theoretical expressions and indicate that: i) The SOP of ARIS assisted NOMA networks exceeds that of PRIS-NOMA, ARIS/PRIS-assisted orthogonal multiple access (OMA);ii) Due to the balance between the thermal noise and residual interference, introducing excess reconfigurable elements at ARIS is not helpful to reduce the SOP;and iii) The secrecy throughput performance of ARIS-NOMA networks outperforms that of PRIS-NOMA and ARIS/PRIS-OMA networks. Copyright © 2024, The Authors. All rights reserved.

关键词： Signal to noise ratio

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Secrecy Performance Analysis of Multi-Functional RIS-Assisted NOMA Networks

arXiv

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arXiv 2024年

作者： Pei, Yingjie Ni, Wanli Xu, Jin Yue, Xinwei Tao, Xiaofeng Niyato, Dusit School of Information and Communication Engineering Beijing University of Posts and Telecommunications Beijing100876 China Department of Electronic Engineering Tsinghua University Beijing100084 China Beijing National Research Center for Information Science and Technology Beijing100084 China Key Laboratory of Information and Communication Systems Ministry of Information Industry China Key Laboratory of Modern Measurement & Control Technology Ministry of Education Beijing Information Science and Technology University Beijing102206 China College of Computing and Data Science Nanyang Technological University Singapore639798 Singapore

Although reconfigurable intelligent surface (RIS) can improve the secrecy communication performance of wireless users, it still faces challenges such as limited coverage and double-fading effect. To address these issues, in this paper, we utilize a novel multi-functional RIS (MF-RIS) to enhance the secrecy performance of wireless users, and investigate the physical layer secrecy problem in non-orthogonal multiple access (NOMA) networks. Specifically, we derive the secrecy outage probability (SOP) and secrecy throughput expressions of users in MF-RIS-assisted NOMA networks with external and internal eavesdroppers. The asymptotic expressions for SOP and secrecy diversity order are also analyzed under high signal-to-noise ratio (SNR) conditions. Additionally, we examine the impact of receiver hardware limitations and error transmission-induced imperfect successive interference cancellation (SIC) on the secrecy performance. Numerical results indicate that: i) under the same power budget, the secrecy performance achieved by MF-RIS significantly outperforms active RIS and simultaneously transmitting and reflecting RIS;ii) with increasing power budget, residual interference caused by imperfect SIC surpasses thermal noise as the primary factor affecting secrecy capacity;and iii) deploying additional elements at the MF-RIS brings significant secrecy enhancements for the external eavesdropping scenario, in contrast to the internal eavesdropping case. Copyright © 2024, The Authors. All rights reserved.

关键词： Budget control

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Awareness in robotics: An early perspective from the viewpoint of the EIC Pathfinder Challenge "Awareness Inside"

arXiv

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arXiv 2024年

作者： Santina, Cosimo Della Corbato, Carlos Hernandez Sisman, Burak Leiva, Luis A. Arapakis, Ioannis Vakalellis, Michalis Vanderdonckt, Jean D’Haro, LuisFernando Manzi, Guido Becchio, Cristina Elamrani, Aïda Alirezaei, Mohsen Castellano, Ginevra Dimarogonas, Dimos V. Ghosh, Arabinda Haesaert, Sofie Soudjani, Sadegh Stroeve, Sybert Verschure, Paul Bacciu, Davide Deroy, Ophelia Bahrami, Bahador Gallicchio, Claudio Hauert, Sabine Sanz, Ricardo Lanillos, Pablo Iacca, Giovanni Sigg, Stephan Gasulla, Manel Steels, Luc Sierra, Carles Department of Cognitive Robotics Delft University of Technology Delft Netherlands Oberpfaffenhofen Germany Department of Computer Science University of Luxembourg Luxembourg 4 Telefónica I+D Spain AEGIS IT Research GmbH Germany Université catholique de Louvain Belgium Speech Technology and Machine Learning Group ETSI de Telecomunicación Universidad Politécnica de Madrid Madrid Spain Alien Venture Studio Alien Technology Transfer Rome Italy Hamburg Germany Institut Jean Nicod École Normale Supérieure Paris France Research Technology and Development Department Digital Industry Software Helmond Netherlands Department of Information Technology Uppsala University Uppsala Sweden Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Max Planck Institute for Software Systems Kaiserslautern Germany Department of Electrical Engineering Control Systems Group Eindhoven University of Technology Eindhoven Netherlands Amsterdam Netherlands Donders Centre for Neuroscience Radboud University Nijmegen Netherlands Computer Science Department University of Pisa Pisa Italy Faculty of Philosophy Philosophy of Science The Study of Religion Ludwig Maximilian University of Munich Munich Germany School of Engineering Mathematics and Technology University of Bristol Bristol United Kingdom Autonomous Systems Laboratory Universidad Politécnica de Madrid Spain Madrid Spain Department of Information Engineering and Computer Science University of Trento Trento Italy Department of Information and Communications Engineering Aalto University Espoo Finland Department of Electronic Engineering Universitat Politècnica de Catalunya Barcelona Spain Studio Stelluti Brussels Belgium Barcelona Spain

Consciousness has been historically a heavily debated topic in engineering, science, and philosophy. On the contrary, awareness had less success in raising the interest of scholars in the past. However, things are changing as more and more researchers are getting interested in answering questions concerning what awareness is and how it can be artificially generated. The landscape is rapidly evolving, with multiple voices and interpretations of the concept being conceived and techniques being developed. The goal of this paper is to summarize and discuss the ones among these voices that are connected with projects funded by the EIC Pathfinder Challenge called "Awareness Inside", a nonrecurring call for proposals within Horizon Europe that was designed specifically for fostering research on natural and synthetic awareness. In this perspective, we dedicate special attention to challenges and promises of applying synthetic awareness in robotics, as the development of mature techniques in this new field is expected to have a special impact on generating more capable and trustworthy embodied systems. © 2024, CC BY.

关键词： Robotics

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Experimental comparison of induction control methods for wind farm power maximization on a scaled two-turbine setup

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Journal of Physics: Conference Series 2024年第9期2767卷 092064-092064页

作者： Daan Van Der Hoek Carlos Simão Ferreira Jan-Willem Van Wingerden Delft Center for Systems and Control Faculty of Mechanical Engineering Delft University of Technology Delft The Netherlands Wind Energy Section Department of Flow Physics and Technology Faculty of Aerospace Engineering Delft University of Technology Delft The Netherlands

Induction control methods offer a potential solution to minimizing wake effects that occur in large wind farms. This paper presents an experimental study on multiple induction control methods for wind farm power maximization. Wind tunnel experiments were conducted on two aligned scaled wind turbines. The upstream turbine was operated with static induction control, periodic dynamic induction control with collective pitch actuation, and dynamic individual pitch control (the helix approach). All wind farm control implementations were compared to a baseline case, which optimized the individual power extraction of both turbines. Tomographic particle image velocimetry was used to measure the wake of the upstream turbine. Based on turbine measurements, grid searches were employed to discover the optimal frequency and amplitude of the pitch actuation in the dynamic induction control cases. While static induction control showed increased wake velocities in the near wake, it did not provide an overall increase in power production of the two-turbine array. Dynamic induction control methods, especially the helix approach in the counterclockwise direction, were seen to significantly increase the total power output compared to the baseline control case. However, this improvement came with a larger amount of pitch actuation and increased fatigue loading of structural components in the fore-aft direction.

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Microsaccade-inspired Event Camera for Robotics

arXiv

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arXiv 2024年

作者： He, Botao Wang, Ze Zhou, Yuan Chen, Jingxi Singh, Chahat Deep Li, Haojia Gao, Yuman Shen, Shaojie Wang, Kaiwei Cao, Yanjun Xu, Chao Aloimonos, Yiannis Gao, Fei Fermüller, Cornelia Department of Computer Science University of Maryland College ParkMD20742 United States College of Control Science and Engineering Zhejiang University Hangzhou China Huzhou Institute of Zhejiang University Huzhou China College of Optical Science and Engineering Zhejiang University Hangzhou China Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong Institute for Advance Computer Studies University of Maryland College ParkMD20742 United States Institute for Systems Research University of Maryland College ParkMD20742 United States

Neuromorphic vision sensors or event cameras have made the visual perception of extremely low reaction time possible, opening new avenues for high-dynamic robotics applications. These event cameras' output is dependent on both motion and texture. However, the event camera fails to capture object edges that are parallel to the camera motion. This is a problem intrinsic to the sensor and therefore challenging to solve algorithmically. Human vision deals with perceptual fading using the active mechanism of small involuntary eye movements - the most prominent ones called microsaccades. By moving the eyes constantly and slightly during fixation, microsaccades can substantially maintain texture stability and persistence. Inspired by microsaccades, we designed an event-based perception system capable of simultaneously maintaining low reaction time and stable texture. In this design, a rotating wedge prism was mounted in front of the aperture of an event camera to redirect light and trigger events. The geometrical optics of the rotating wedge prism allows for algorithmic compensation of the additional rotational motion, resulting in a stable texture appearance and high informational output independent of external motion. The hardware device and software solution are integrated into a system, which we call Artificial MIcrosaccade-enhanced EVent camera (AMI-EV). Benchmark comparisons validate the superior data quality of AMI-EV recordings in scenarios where both standard cameras and event cameras fail to deliver. Various real-world experiments demonstrate the potential of the system to facilitate robotics perception both for low-level and high-level vision tasks. © 2024, CC BY.

关键词： Cameras

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Distributed Optimal Power Flow for VSC-MTDC Meshed AC/DC Grids Using ALADIN

arXiv

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arXiv 2022年

作者： Zhai, Junyi Dai, Xinliang Jiang, Yuning Xue, Ying Hagenmeyer, Veit Jones, Colin N. Zhang, Xiao-Ping Qingdao China City & Energy Research Institute Suzhou China Institute for Automation and Applied Informatics Karlsruhe Institute of Technology Germany Automatic Control Laboratory EPFL Switzerland School of Electric Power Engineering South China University of Technology Guangzhou China Department of Electronic Electrical and Systems Engineering University of Birmingham Birmingham United Kingdom

The increasing application of voltage source converter (VSC) based high voltage direct current (VSC-HVDC) technology in power grids has raised the importance of incorporating DC grids and converters into the existing transmission network. This poses significant challenges in dealing with the resulting optimal power flow (OPF) problem. In this paper, a recently proposed nonconvex distributed optimization algorithm—Augmented Lagrangian based Alternating Direction Inexact Newton method (ALADIN), is tailored to solve the nonconvex AC/DC OPF problem for emerging voltage source converter (VSC) based multiterminal high voltage direct current (VSC-MTDC) meshed AC/DC hybrid systems. The proposed scheme decomposes this AC/DC hybrid OPF problem and handles it in a fully distributed way. Compared to the existing state-of-art Alternating Direction Method of Multipliers (ADMM), which is in general, not applicable for nonconvex problems, ALADIN has a theoretical convergence guarantee. Applying these two approaches to VSC-MTDC coupled with an IEEE benchmark AC power system illustrates that the tailored ALADIN outperforms ADMM in convergence speed and numerical robustness. Copyright © 2022, The Authors. All rights reserved.

关键词： Constrained optimization

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Unconventional topological Weyl-dipole phonon

arXiv

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arXiv 2025年

作者： Wang, Jianhua Wang, Yang Zhou, Feng Wang, Wenhong Cheng, Zhenxiang Qian, Shifeng Wang, Xiaotian Yu, Zhi-Ming Institute for Superconducting and Electronic Materials Faculty of Engineering and Information Sciences University of Wollongong Wollongong2500 Australia Institute of Quantum Materials and Devices Tiangong University Tianjin300387 China Beijing Key Lab of Nanophotonics & Ultrafine Optoelectronic Systems School of Physics Beijing Institute of Technology Beijing100081 China Anhui Province Key Laboratory for Control and Applications of Optoelectronic Information Materials Department of Physics Anhui Normal University Anhui Wuhu241000 China

A pair of Weyl points (WPs) with opposite Chern numbers C can exhibit an additional higher-order Z2 topological charge, giving rise to the formation of a Z2 Weyl dipole. Owing to the nontrivial topological charge, Z2 Weyl dipoles should also appear in pairs, and the WPs within each Z2 Weyl dipole can not be annihilated when meeting together. As a novel topological state, the topological Weyl-dipole phase (TWDP) has garnered significant attention, yet its realization in crystalline materials remains a challenge. Here, through first-principles calculations and theoretical analysis, we demonstrate the existence of the Weyl-dipole phase in the phonon spectra of the P63 type Y(OH)3. Particularly, the Weyl dipole in this system is protected by a quantized quadrupole moment, and it distinguished from conventional Weyl dipole, as it comprises an unconventional charge-3 WP with C = −3 and three conventional charge-1 WPs with C = 1. Consequently, the Weyl-dipole phase in Y(OH)3 features unique two-dimensional (2D) sextuple-helicoid Fermi-arc states on the top and bottom surfaces, protected by the Chern number, as well as one-dimensional (1D) hinge states that connect the two Weyl dipoles along the side hinges, guaranteed by the quantized quadrupole moment. Our findings not only introduce a novel higher-order topological phase, but also promote Y(OH)3 as a promising platform for exploring multi-dimensional boundaries and the interaction between first-order and second-order topologies. Copyright © 2025, The Authors. All rights reserved.

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Mixing loop control using reinforcement learning 13

Mixing loop control using reinforcement learning

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13th REHVA World Congress, CLIMA 2019

作者： Overgaard, Anders Kallesøe, Carsten Skovmose Bendtsen, Jan Dimon Nielsen, Brian Kongsgaard Grundfos Holding A/S Control Technology Bjerringbro Denmark Aalborg University Department of Electronic Systems Section of Automation and Control Aalborg Denmark

In hydronic heating systems, a mixing loop is used to control the temperature and pressure. The task of the mixing loop is to provide enough heat power for comfort while minimizing the cost of heating the building. control strategies for mixing loops are often limited by the fact that they are installed in a wide range of different buildings and locations without being properly tuned. To solve this problem the reinforcement learning method known as Q-learning is investigated. To improve the convergence rate this paper introduces a Gaussian kernel backup method and a generic model for pre-simulation. The method is tested via high-fidelity simulation of different types of residential buildings located in Copenhagen. It is shown that the proposed method performs better than well tuned industrial controllers. © The Authors, published by EDP Sciences. This is an open access article distributed under the terms of the Creative Commons Attribution License 4.0

关键词： Reinforcement learning

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Robustification of Continuous-Time ADMM against Communication Delays under Non-Strict Convexity: A Passivity-Based Approach

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SICE Journal of control, Measurement, and System Integration 2020年第6期13卷 299-305页

作者： Yamashita, Shunya Li, Mengmou Hatanaka, Takeshi Department of Systems and Control Engineering Tokyo Institute of Technology Japan Department of Electrical and Electronic Engineering the University of Hong Kong China

In this paper, we address a class of distributed optimization problems with non-strictly convex cost functions in the presence of communication delays between an agent and a coordinator. To this end, we focus on a continuous-time optimization algorithm that mirrors the alternating direction method of multipliers. We first redesign the algorithm so that the dynamics ensures smoothness and a sub-block for primal optimization includes stable zeros. It is then revealed that the algorithm is composed of feedback interconnection of passive systems. We next robustify the algorithm against communication delays by applying the so-called scattering transformation. The smoothness of the dynamics allows one to use the invariance principle for delay systems, and accordingly, the state trajectories are shown to converge to an optimal solution even without the strict convexity assumption. Finally, the presented method is demonstrated via simulation of an environmental-monitoring problem. © Taylor & Francis Group, LLC 2020.

关键词： Convex optimization

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Consensus Analysis of Multi-Agent systems with Uncertain Switching Topology in Finite Frequency Domain 7

Consensus Analysis of Multi-Agent Systems with Uncertain Swi...

引用

7th International Conference on Information, Cybernetics, and Computational Social systems, ICCSS 2020

作者： Xu, Nuo Zhu, Yanzheng Yang, Rongni Chen, Xinkai The College of Mechanical Engineering and Automation Huaqiao University Xiamen361021 China School of Control Science and Engineering Shandong University Jinan Shandong250061 China Shibaura Institute of Technology The Department of Electronic and Information Systems Saitama Japan

ISBN: (纸本)9781728162461

In this paper, the issue of consistency analysis is investigated for a class of multi-agent system (MAS) with time-varying delay and uncertain switching topology in finite frequency domain. The dynamic topology is represented by continuous Markov switching state. The frequency bands of external noise interference are divided into low frequency, medium frequency and high frequency. The noise interference information is fully utilized to guarantee the stability of MAS. At the same time, the affine Bessel-Legendre inequality method is used when carrying out the consistency analysis. The obtained results are represented as the form of linear matrices inequalities. Finally, a series of simulations are illustrated to show the effectiveness and applicability of developed approaches in this paper. © 2020 IEEE.

关键词： Multi agent systems

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