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SICE Journal of control, Measurement, and System Integration 2019年第6期12卷 237-245页

作者： Farras, Aditya Wildan Hatanaka, Takeshi Nguyen, Tam W. Funada, Riku Yamauchi, Junya Fujita, Masayuki Department of Systems and Control Engineering Tokyo Institute of Technology Japan Division of Electrical Electronic and Information Engineering Osaka University Japan Department of Aerospace Engineering University of Michigan United States

This paper investigates constrained semi-autonomous robotic swarms in the presence of inter-robot communication delays. The objective is that all robots converge to the optimal point related to the reference given by a human operator without violating the constraints. In the presence of constraints, directly applying the human reference may make the system violate constraints. We thus apply a reference governor which suitably modifies the reference to avoid constraint violations. Due to the limited access of global information, we present a passivity-based distributed reference governor scheme. However, the presence of the communication delays could cause instability of the system. To integrate communication delays into the passivity paradigm, a passivation technique using the scattering transformation is implemented in the communication path. Based on passivity theory, we prove the convergence of the estimated states of the reference governor to the optimal solution. The simulations and experiments demonstrate the effectiveness of the proposed solution. © Taylor & Francis Group, LLC 2019.

关键词： Constrained optimization

Constrained Optimization with Decision-Dependent Distributions

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arXiv 2023年

作者： Wang, Zifan Liu, Changxin Parisini, Thomas Zavlanos, Michael M. Johansson, Karl H. Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Sweden Digital Futures StockholmSE-10044 Sweden The Department of Electrical and Electronic Engineering Imperial College London LondonSW7 2AZ United Kingdom The Department of Engineering and Architecture University of Trieste Trieste34127 Italy The KIOS Research and Innovation Center of Excellence University of Cyprus NicosiaCY-1678 Cyprus The Department of Mechanical Engineering and Materials Science Duke University DurhamNC United States

In this paper we deal with stochastic optimization problems where the data distributions change in response to the decision variables. Traditionally, the study of optimization problems with decision-dependent distributions has assumed either the absence of constraints or fixed constraints. This work considers a more general setting where the constraints can also dynamically adjust in response to changes in the decision variables. Specifically, we consider linear constraints and analyze the effect of decision-dependent distributions in both the objective function and constraints. Firstly, we establish a sufficient condition for the existence of a constrained equilibrium point, at which the distributions remain invariant under retraining. Morevoer, we propose and analyze two algorithms: repeated constrained optimization and repeated dual ascent. For each algorithm, we provide sufficient conditions for convergence to the constrained equilibrium point. Furthermore, we explore the relationship between the equilibrium point and the optimal point for the constrained decision-dependent optimization problem. Notably, our results encompass previous findings as special cases when the constraints remain fixed. To show the effectiveness of our theoretical analysis, we provide numerical experiments on both a market problem and a dynamic pricing problem for parking based on real-world data. Copyright © 2023, The Authors. All rights reserved.

关键词： Constrained optimization

Active Simultaneously Transmitting and Reflecting Surface Assisted NOMA Networks

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arXiv 2024年

作者： Yue, Xinwei Xie, Jin Ouyang, Chongjun Liu, Yuanwei Shen, Xia Ding, Zhiguo The Key Laboratory of Information and Communication Systems Ministry of Information Industry Beijing Information Science and Technology University Beijing100101 China 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 Beijing100191 China The Department of Electrical Engineering and Computer Science Khalifa University Abu Dhabi United Arab Emirates Department of Electrical Engineering Princeton University Princeton United States

The novel active simultaneously transmitting and reflecting surface (ASTARS) has recently received a lot of attention due to its capability to conquer the multiplicative fading loss and achieve full-space smart radio environments. This paper introduces the ASTARS to assist non-orthogonal multiple access (NOMA) communications, where the stochastic geometry theory is used to model the spatial positions of pairing users. We design the independent reflection/transmission phase-shift controllers of ASTARS to align the phases of cascaded channels at pairing users. We derive new closed-form and asymptotic expressions of the outage probability and ergodic data rate for ASTARS-NOMA networks in the presence of perfect/imperfect successive interference cancellation (pSIC). The diversity orders and multiplexing gains for ASTARS-NOMA are derived to provide more insights. Furthermore, the system throughputs of ASTARS-NOMA are investigated in both delay-tolerant and delay-limited transmission modes. The numerical results are presented and show that: 1) ASTARS-NOMA with pSIC outperforms ASTARS assisted-orthogonal multiple access (ASTARS-OMA) in terms of outage probability and ergodic data rate;2) The outage probability of ASTARS-NOMA can be further reduced within a certain range by increasing the power amplification factors;3) The system throughputs of ASTARS-NOMA are superior to that of ASTARS-OMA in both delay-limited and delay-tolerant transmission modes. Copyright © 2024, The Authors. All rights reserved.

关键词： Stochastic systems

Procedure Recognition by Knowledge-Driven Segmentation in Robotic-Assisted Vitreoretinal Surgery

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Procedure Recognition by Knowledge-Driven Segmentation in Ro...

IEEE International Conference on Robotics and Automation (ICRA)

作者： Zhen Li Yawen Deng Qiang Ye Weihong Yu Haoxiang Qi Yaliang Liu Zhangguo Yu Gui-Bin Bian School of Electronic and Information Engineering Tongji University Shanghai China Institute of Automation Chinese Academy of Sciences Beijing China School of Mechatronic Engineering Beijing Institute of Technology Beijing China Department of Ophthalmology Peking Union Medical College Hospital Chinese Academy of Medical Sciences and Peking Union Medical College Beijing China Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing China International Joint Research Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Internal limiting membrane (ILM) peeling is a vital vitreoretinal surgery procedure. However, due to the thickness of just 1-2 micrometers and the intricacies associated with its varying density and adhesion, the difficulty of manipulation exceeds the physiological limits of human perception and operation. Surgical robot is characterized by high precision and stability. However, navigating intricate intraocular environments and handling minuscule high-precision areas remain enormous challenges. These include issues of uneven lighting, field-of-view loss, and motion blur. This paper proposed a perception method named ‘Multimodal Surgical Process Recognition based on Domain Knowledge and Segmentation (MSPR-DKS),’ designed to address these challenges and provide input for the precise control of robots. Moreover, a comprehensive dataset focused on ILM peeling during macular hole surgeries was established. Experimental results underscore the efficacy of this approach, with segmentation accuracies exceeding 99.27% for instruments and macular holes and an average accuracy of 98.97% in recognizing surgical processes. This study paves the way for leveraging domain knowledge and image segmentation to improve robot-assisted manipulation of soft tissues in ophthalmology.

关键词： Image segmentation Visualization Accuracy Medical robotics Motion segmentation Surgery Lighting

FPGA Implementation of SIMON-128 Cryptographic Algorithm Using Artix-7

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arXiv 2023年

作者： Ghayoula, Ridha Fattahi, Jaouhar Smida, Amor Gmati, Issam El Pricop, Emil Ziadia, Marwa Unit of Research in High Frequency Electronic Circuits and Systems University of Tunis El Manar Tunis2092 Tunisia Department of Electrical and Computer Engineering Laval University Quebec Canada Department of Computer Science and Software Engineering Laval University Quebec Canada Department of Medical Equipment Technology College of Applied Medical Sciences Majmaah University Majmaah11952 Saudi Arabia College of Engineering Al Gunfudha Umm Al Qura University Saudi Arabia Automatic Control Computers and Electronics Department Petroleum-Gas University of Ploiesti Romania

FPGA is a hardware architecture based on a matrix of programmable and configurable logic circuits thanks to which a large number of functionalities inside the device can be modified using a hardware description language. These functionalities must often be secured especially when the context is sensitive (military, banking, medical, legal, etc.). In this paper, we put forward an efficient implementation of SIMON’s block cipher algorithm using Xilinx Vivado 2018.2. The proposed design is analyzed through simulation on Xilinx Artix-7. A prototype of our design is implemented using the xc7a35tcsg324-1 FPGA chip. Performance and results are discussed. © 2023, CC BY.

关键词： Field programmable gate arrays (FPGA)

control STRATEGY FOR SUPPRESSING SUBMODULE CAPACITOR VOLTAGE FLUCTUATION IN CASCADED H-BRIDGE SOLIDSTATE TRANSFORMER

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CONTROL STRATEGY FOR SUPPRESSING SUBMODULE CAPACITOR VOLTAGE...

2021 Annual Meeting of CSEE Study Committee of HVDC and Power electronics, HVDC 2021

作者： Liu, Linzhao Zhao, Le Zhang, Jianwen Xi, Dongmin Zhou, Jianqiao Zhang, Jiajie Feng, Xin Chen, Hongyu Zhang, Aozhe Wang, Zhida Tian, Chaohui Department of Electrical Engineering Inner Mongolia University of Technology Aimin St. 49 Hohhot China The Key Laboratory of Control of Power Transmission and Conversion of Ministry of Education Department of Electrical Engineering School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University No.800 Dongchuan Rd. Shanghai China Simon Fraser University Mechatronic Systems Engineering 250-13450 102 Ave Surrey Canada School of Information Sciences and Technology Donghua University No.2999 People North Rd. Shanghai China

ISBN: (纸本)9781839537035

Nowadays, with the vigorous development of smart grids, cascaded H-bridge solid-state transformers (CHB-SST) used in distribution network systems have gradually become an important research hotspot. The multiport CHB-SST serves as the interfacing device to interconnect different grids, which has the functions of bidirectional, power flow control, reactive power compensation, and voltage regulation. However, the power fluctuation of the power cells should be constrained by the large capacitors which in turn worsens the system power density. The second order current in the DC-link side of the CHB-SST will cause the fluctuation of the submodule (SM) capacitor voltage, affecting the capacitance value selection. Therefore, this paper proposes a method to suppress the SM capacitor voltage fluctuation of CHB-SST through fluctuating power control strategy. The control scheme passes the second order current component of the SM capacitor to the low-voltage side of the CHB-SST to reduce the voltage fluctuation of the SM capacitor, such that the capacitance can be optimized. The proposed method is verified via the MATLAB/Simulink model, proving that the fluctuation of the SM capacitor voltage can be effectively suppressed. © 2021 IET Conference Proceedings. All rights reserved.

关键词： Energy transfer

Performance Analysis of Multi-RIS-Aided LoRa systems With Outdated and Imperfect CSI

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IEEE Transactions on Communications 2024年

作者： Liang, Zhaokun Cai, Guofa He, Jiguang Kaddoum, Georges Huang, Chongwen Guangdong University of Technology School of Information Engineering China Ministry of Education Key Laboratory of Industrial Internet of Things and Networked Control Chongqing University of Posts and Telecommunications Chongqing400065 China Great Bay University School of Computing and Information Technology China University of Oulu Centre for Wireless Communications Oulu90014 Finland University of Quebec Electrical Engineering Department École de Technologie Supérieure MontrealQCH2L 2C4 Canada Lebanese American University Artificial Intelligence and Cyber Systems Research Center United States Zhejiang University College of Information Science and Electronic Engineering Hangzhou310027 China

Although LoRa has emerged as the leading technology among the rapidly developing low-power wide-area networks, the performance of the LoRa system severely deteriorates over fading channels. To address this problem, in this paper, we introduce multiple reconfigurable intelligent surfaces (multi-RISs) into the LoRa system to improve its performance. Our specific focus is on the impact of outdated channel state information (CSI), the imperfection of estimated CSI, and the design of RIS discrete phase shifts on the performance. To this end, we first use the moment-matching method to obtain the end-to-end (E2E) channel coefficient of the joint outdated channels and erroneous channels over Nakagami-m fading. Moreover, the closed-form bit error rates (BERs) of the proposed system with non-coherent and coherent detections are derived. The results reveal that, in the high signal-to-noise ratio (SNR) regime, coherent detection encounters the error floor and performs worse than non-coherent detection. Furthermore, we also analyze delay outage rate, throughput, and achievable diversity order of the proposed system. The results show that, despite the presence of outdated CSI and channel estimation errors, the proposed system is still superior to RIS-aided LoRa systems adopting blind transmission and RIS-free ones. Finally, we also thoroughly investigate the effects of various important factors such as the correlation factor, channel estimation errors, the number of RIS reflecting elements, and the number of quantization bits for RIS discrete phase shifts on the performance. © 1972-2012 IEEE.

关键词： Fading channels

Towards Efficient Dynamic Uplink Scheduling over Multiple Unknown Channels

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arXiv 2022年

作者： Wu, Shuang Ren, Xiaoqiang Jia, Qing-Shan Johansson, Karl Henrik Shi, Ling Huawei Noah’s Ark Lab Hong Kong The School of Mechatronic Engineering and Automation Shanghai University Shanghai200444 China The Center for Intelligent and Networked Systems Department of Automation BNRist Tsinghua University Beijing100084 China The Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden The Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Clear Water Bay Kowloon Hong Kong

Age-of-Information (AoI) is a critical metric for network applications. Existing works mostly address optimization with homogeneous AoI requirements, which is different from practice. In this work, we optimize uplink scheduling for an access point (AP) over multiple unknown channels with heterogeneous AoI requirements defined by AoI-dependent costs. The AP serves N users by using M channels without the channel state information. Each channel serves only one user in each decision epoch. The optimization objective is to minimize the time-averaged AoI-dependent costs plus additional communication transmission costs over an infinite horizon. This decision-making problem can be formulated as a Markov decision process, but it is computationally intractable because the size of the state space grows exponentially with respect to the number of users. To alleviate the challenge, we reformulate the problem as a variant of the restless multi-armed bandit (RMAB) problem and leverage Whittle’s index theory to design an index-based scheduling policy algorithm. We derive an analytic formula for the indices, which reduces the computational overhead and facilitates online adaptation. Our numerical examples show that our index-based scheduling policy achieves comparable performance to the optimal policy and outperforms several other heuristics. Copyright © 2022, The Authors. All rights reserved.

关键词： Optimization

On Passivity-Shortage of Human Operators for A Class of Semi-autonomous Robotic Swarms

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IFAC-PapersOnLine 2019年第34期51卷 21-27页

作者： Surya Atman, Made Widhi Noda, Kosei Funada, Riku Yamauchi, Junya Hatanaka, Takeshi Fujita, Masayuki Department of Systems and Control Engineering School of Engineering Tokyo Institute of Technology Tokyo Japan Division of Electrical Electronic and Information Engineering Graduate School of Engineering Osaka University Osaka Japan

This paper analyzes perceived workload and passivity-shortage of human operators for a class of semi-autonomous robotic swarms. First, we briefly introduce the passivity-short-based architecture presented in one of our previous works, which guarantees human-enabled motion synchronization to desired position/velocity references under the assumption that the human operator's thought process is a passivity-short system. It is observed that changes in parameter affects the visual feedback to the operator and also the complexity of the setups. Through user-studies using a human-in-the-loop simulator and questionnaires, we observe an increase in the perceived workload of the human operator for more complex setups. The result imposes the trade-off for less workload vs. clarity of the robotic swarms’ information to the human operator. Furthermore, through non-parametric system identification on data from user-studies, it is observed that all obtained models of the participants have the passivity-short property. © 2019

关键词： Visual servoing Economic and social effects Personnel Robotics Surveys Visual communication Autonomous robotics Co operative control Desired position Human in the loop Non parametric Robotic swarms Thought process Visual feedback

Hybrid quantum-classical convolutional neural networks

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Science China(Physics,Mechanics & Astronomy) 2021年第9期64卷 1-8页

作者： Junhua Liu Kwan Hui Lim Kristin LWood Wei Huang Chu Guo He-Liang Huang Information Systems Technology and Design Singapore University of Technology and DesignSingapore 487372Singapore Forth AI Singapore 487372Singapore College of Engineering Design and ComputingUniversity of Colorado DenverColorado 80208USA Guangxi Key Laboratory of Optoelectronic Information Processing Guilin University of Electronic TechnologyGuilin 541004China Key Laboratory of Low-Dimensional Quantum Structures and Quantum Control of Ministry of Education Department of Physics and Synergetic Innovation Center for Quantum Effects and ApplicationsHunan Normal UniversityChangsha 410081China Hefei National Laboratory for Physical Sciences at Microscale and Department of Modern Physics University of Science and Technology of ChinaHefei 230026China Shanghai Branch CAS Centre for Excellence and Synergetic Innovation Centre in Quantum Information and Quantum PhysicsUniversity of Science and Technology of ChinaHefei 201315China Henan Key Laboratory of Quantum Information and Cryptography Zhengzhou 450000China

Deep learning has been shown to be able to recognize data patterns better than humans in specific circumstances or *** parallel,quantum computing has demonstrated to be able to output complex wave functions with a few number of gate operations,which could generate distributions that are hard for a classical computer to *** we propose a hybrid quantum-classical convolutional neural network(QCCNN),inspired by convolutional neural networks(CNNs)but adapted to quantum computing to enhance the feature mapping *** is friendly to currently noisy intermediate-scale quantum computers,in terms of both number of qubits as well as circuit’s depths,while retaining important features of classical CNN,such as nonlinearity and *** also present a framework to automatically compute the gradients of hybrid quantum-classical loss functions which could be directly applied to other hybrid quantum-classical *** demonstrate the potential of this architecture by applying it to a Tetris dataset,and show that QCCNN can accomplish classification tasks with learning accuracy surpassing that of classical CNN with the same structure.

关键词： quantum computing quantum machine learning hybrid quantum-classical algorithm convolutional neural network