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Feedback Shaping for Boolean Networks

IFAC-PapersOnLine 2023年第2期56卷 6684-6689页

作者： Hongsheng Qi Maria Elena Valcher Guodong Shi Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing 100190 China School of Mathematical Sciences University of Chinese Academy of Sciences Beijing 100049 China Dipartimento di Ingegneria dell'Informazione Universita’ di Padova Padova 35131 Italy Australian Center for Robotics School of Aerospace Mechanical and Mechatronic Engineering The University of Sydney NSW 2006 Australia

Boolean networks, as logical dynamical systems where the system states are Boolean variables, arise from applications in biology, computer networks, and social networks etc. In this paper, we present a framework to evaluate whether and how the closed-loop dynamics of a controlled Boolean network can be shaped into any prescribed form by state-feedback control. We refer to this problem as to the feedback shaping for Boolean networks. First of all, based on the linear representation of Boolean networks, we establish a necessary and sufficient rank condition for a controlled Boolean network to be feedback shapable or not. Next, we design an algorithm for the synthesis of closed-loop dynamics for a feedback shapable Boolean network, such that for any given controlled Boolean network and a desired closed-loop dynamics, one can always find a feedback control law so that the closed-loop dynamics is precisely realized.

关键词： Boolean networks feedback shaping

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Meanshift algorithm based on kernel bandwidth adaptive adjust

Meanshift algorithm based on kernel bandwidth adaptive adjus...

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Chinese control Conference (CCC)

作者： Yunji Zhao Hailong Pei Baoluo Liu School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 China Key Laboratory of Autonomous Systems and Networked Control (South China University of Technology) Ministry of Education Guangzhou 510640 China Department of Computer and Information Engineering Luoyang Institute of Science and Technology Henan 471023 China

Object tracking algorithm based on Meanshift algorithm with fixed kernel bandwidth does not realize object tracking correctly with the scale of object changed. According to this, a scheme of kernel bandwidth adaptive adjustment and predictions of object cancroids based on Kalman filter is proposed in this paper. In this algorithm, Object location predicted based on Kalman filter is used to initialize the Meanshift algorithm. The variation tendency of the kernel bandwidth is also determined based on Kalman filter. Experiment results demonstrate that this algorithm can realize the kernel bandwidth adaptive adjustment and object location prediction. The robustness of the tracking algorithm is also enhanced.

关键词： Prediction algorithms Kalman filters Electronic mail Kernel Bandwidth Robustness Conferences

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Optimal camera-robot pose estimation in linear time from points and lines

arXiv

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arXiv 2024年

作者： Zeng, Guangyang Mu, Biqiang Zeng, Qingcheng Song, Yuchen Dai, Chulin Shi, Guodong Wu, Junfeng School of Data Science Chinese University of Hong Kong Shenzhen China Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing China Guangzhou China Australian Center for Field Robotics School of Aerospace Mechanical and Mechatronic Engineering The University of Sydney Sydney Australia

Camera pose estimation is a fundamental problem in robotics. This paper focuses on two issues of interest: First, point and line features have complementary advantages, and it is of great value to design a uniform algorithm that can fuse them effectively;Second, with the development of modern front-end techniques, a large number of features can exist in a single image, which presents a potential for highly accurate robot pose estimation. With these observations, we propose AOPnP(L), an optimal linear-time camera-robot pose estimation algorithm from points and lines. Specifically, we represent a line with two distinct points on it and unify the noise model for point and line measurements where noises are added to 2D points in the image. By utilizing Plücker coordinates for line parameterization, we formulate a maximum likelihood (ML) problem for combined point and line measurements. To optimally solve the ML problem, AOPnP(L) adopts a two-step estimation scheme. In the first step, a consistent estimate that can converge to the true pose is devised by virtue of bias elimination. In the second step, a single Gauss-Newton iteration is executed to refine the initial estimate. AOPnP(L) features theoretical optimality in the sense that its mean squared error converges to the Cramér-Rao lower bound. Moreover, it owns a linear time complexity. These properties make it well-suited for precision-demanding and real-time robot pose estimation. Extensive experiments are conducted to validate our theoretical developments and demonstrate the superiority of AOPnP(L) in both static localization and dynamic odometry systems. Copyright © 2024, The Authors. All rights reserved.

关键词： Mean square error

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Koopman Representation for Boolean Networks

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IFAC-PapersOnLine 2023年第2期56卷 6678-6683页

Boolean networks, as logical dynamical systems whose system states are Boolean variables, arise from applications in biology, computer networks, and social networks etc. The representation and control of Boolean networks have attracted a lot of attention in recent years. On a parallel line of research, Koopman developed an operator view of nonlinear dynamical systems in early 1930s, which shows that using observable functions all nonlinear dynamics can be represented as (infinite dimensional) linear systems. In this paper, we present a framework for representing Boolean networks via Koopman approach. First of all, we construct addition and scalar multiplication operations over the set of logical functions over the binary field, defining a linear Boolean function space. Then associated with any Boolean mapping, the induced Koopman operator is defined as an operator over such Boolean function space. Next, we show that if there exists a set of logical functions that are invariant in the Koopman sense, a Boolean network can be represented by a finite-dimensional linear system. This Koopman perspective for Boolean networks is also extended to controlled Boolean networks.

关键词： Boolean networks Koopman operator

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RF chain reduction for MIMO systems: A hardware prototype

arXiv

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arXiv 2019年

作者： Gong, Tierui Shlezinger, Nir Ioushua, Shahar Stein Namer, Moshe Yang, Zhijia Eldar, Yonina C. State Key Lab of Robotics Key Lab of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China Faculty of Mathematics and Computer Science Weizmann Institute of Science Rehovot Israel School of Electrical Engineering Tel Aviv University Tel Aviv Israel Faculty of Electrical Engineering Technion Haifa Israel

RF chain circuits play a major role in digital receiver architectures, allowing passband communication signals to be processed in baseband. When operating at high frequencies, these circuits tend to be costly. This increased cost imposes a major limitation on future multiple-input multiple-output (MIMO) communication technologies. A common approach to mitigate the increased cost is to utilize hybrid architectures, in which the received signal is combined in analog into a lower dimension, thus reducing the number of RF chains. In this work we present a hardware prototype implementing analog combining for RF chain reduction. The prototype consists of a specially designed configurable combining board as well as a dedicated experimental setup. Our hardware prototype allows to evaluate the effect of analog combining in MIMO systems using actual communication signals. The experimental study, which focuses on channel estimation accuracy in MIMO channels, demonstrates that using the proposed prototype, the achievable channel estimation performance is within a small gap in a statistical sense from that obtained using a costly receiver in which each antenna is connected to a dedicated RF chain. Furthermore, in the considered scenarios, this gap becomes negligible when the reduction rate, i.e., the ratio of the number of RF chains to the number of antennas, is above 62.5%. Copyright © 2019, The Authors. All rights reserved.

关键词： Channel estimation

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Design of multichannel real-time data transceiver for wireless meter reading network

Design of multichannel real-time data transceiver for wirele...

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World Congress on Intelligent control and Automation (WCICA)

作者： Ting Yuan Shijie Cui Zhijun Shang Peng Zeng Haibin Yu Chuanzhi Zang Qiang Gao Ping Li Ming Guan Jing Zhang Panjin power supply company State Grid Liaoning electric power company limited Panjin China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Electric power research institute State Grid Liaoning electric power company limited Shenyang China

Debugging and protocol conformance testing of power meter reading system which is based on wireless sensor network is complex, aiming at this problem, we develop a powerful, flexible use, convenient carrying multichannel real-time data monitoring and transmitting device in this paper. The hardware realization and working principle of multichannel synchronous data transceiver are introduced in detail. On this basis, its hardware scheme and software flow for wireless meter reading network are designed. The tests show that, the device is with good real-timeand high stability which is a good debugging and testing device for wireless meter reading network.

关键词： Field programmable gate arrays Wireless sensor networks Wireless communication Meter reading Radio frequency Synchronization Debugging

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Social tolerance allows cooperation to prevail in an adaptive environment

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Physical Review E 2009年第5期80卷 051104-051104页

作者： Xiaojie Chen Feng Fu Long Wang Center for Systems and Control State Key Laboratory for Turbulence and Complex Systems College of Engineering Peking University Beijing 100871 China Department of Zoology University of British Columbia Vancouver British Columbia Canada V6T 1Z4 Program for Evolutionary Dynamics Harvard University Cambridge Massachusetts 02138 USA

In real situations, individuals often have moderate tolerance toward ambient cooperative environment in which they tend to avoid unfavorable interactions and search for favorable ones. How such social tolerance affects the evolution of cooperation and the resulting cooperative networks remains to be answered. To address this issue, here we present an effective model of co-evolutionary prisoner’s dilemma by introducing cooperative environment and social tolerance for networked players. An individual’s level of cooperative environment characterizes the cooperativity and sustainability of its interaction environment centered on itself. In our model, for paired individuals we assume that the one in better cooperative environment has a certain tolerance threshold to the opponent. If the opponent’s cooperative environment level is beyond the tolerance threshold, the one in better cooperative environment cuts unilaterally the link, and rewires to others. Otherwise, the link is not severed, and meanwhile an inhomogeneous strategy imitation process between them is considered. Moreover, a player’s cooperative environment is adjusted in response to the strategy choices in the neighborhood. Interestingly, we find that there exists a moderate tolerance threshold warranting the best promotion of cooperation. We explain the nontrivial results by investigating the time ratio of strategy (network) updating during the whole process and properties in emerging networks. Furthermore, we investigate the effect of memory-dependent discounting of individuals’ cooperative environment on the evolution of cooperation. We also demonstrate the robustness of our results by considering two other modified co-evolutionary rules. Our results highlight the importance of appropriate tolerance threshold for the evolution of cooperation during the entangled co-evolution of strategy and structure.

关键词： Sustainable development

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Identifiability Analysis of Noise Covariances for LTI Stochastic systems with Unknown Inputs

arXiv

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arXiv 2022年

作者： Kong, He Sukkarieh, Salah Arnold, Travis J. Chen, Tianshi Mu, Biqiang Zheng, Wei Xing Shenzhen518055 China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities SUSTech Shenzhen518055 China Sydney Institute for Robotics and Intelligent Systems The University of Sydney NSW2006 Australia Madison WI53704 United States School of Data Science Shenzhen Research Institute of Big Data The Chinese University of Hong Kong Shenzhen518172 China Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China School of Computer Data and Mathematical Sciences Western Sydney University SydneyNSW2751 Australia

Most existing works on optimal filtering of linear time-invariant (LTI) stochastic systems with arbitrary unknown inputs assume perfect knowledge of the covariances of the noises in the filter design. This is impractical and raises the question of whether and under what conditions one can identify the process and measurement noise covariances (denoted as Q and R, respectively) of systems with unknown inputs. This paper considers the identifiability of Q/R using the correlation-based measurement difference approach. More specifically, we establish (i) necessary conditions under which Q and R can be uniquely jointly identified;(ii) necessary and sufficient conditions under which Q can be uniquely identified, when R is known;(iii) necessary conditions under which R can be uniquely identified, when Q is known. It will also be shown that for achieving the results mentioned above, the measurement difference approach requires some decoupling conditions for constructing a stationary time series, which are proved to be sufficient for the well-known strong detectability requirements established by Hautus. © 2022, CC BY.

关键词： Stochastic systems

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Research on trajectory planning and motion control of 7-DoF sawyer manipulator 1

Research on trajectory planning and motion control of 7-DoF ...

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1st IEEE International Conference on Digital Twins and Parallel Intelligence, DTPI 2021

作者： Luo, Kun Xiong, Gang Wang, Yuxiao Hu, Bin Liu, Sheng Chen, Shichao Institute of Automation Chinese Academy of Sciences The State Key Laboratory for Management and Control of Complex Systems Beijng China School of Artificial Intelligence University of Chinese Academy of Sciences Beijng China Guangdong Engineering Research Center of 3D Printing and Intelligent Manufacturing Cloud Computing Center Chinese Academy of Sciences Beijng China Qingdao Academy of Intelligent Industries Chinese Academy of Sciences Beijng China

ISBN: (纸本)9781665433372

Regarding human-machine collaborative task, generated trajectories of a robot manipulator should be able to avoid joint limits and singularities, but the 6 Degrees of Freedom(DoF) or lower DoF manipulators encounter difficulties in many schemes. In this paper, research is implemented on the methods of trajectory planning and motion control on the newly human-machine collaborative 7-DoF Sawyer manipulator. We try to pay more attention to these approaches and find a better combination between trajectory planners and motion controllers for Sawyer manipulator. First of all, comparison is proposed between the methods about trajectory planning in task space and joint space, drawing a conclusion that the latter has the advantage of quickness and smoothness on trajectories in real time. Next, we choose to plan trajectory in the joint space by interpolating positions and orientations. Three approaches, i.e., trapezoidal velocity trajectory, cubic polynomial trajectory and basic spline trajectory, are applied to interpolate positions. Experimental results show that it results in the smoothest trajectory using basic spline trajectory planning. We also compare linear and nonlinear orientation interpolations to address the angle wrapping issue, which leads to difficulties in smooth orientation interpolation between several waypoints. Combining polynomial trajectory planning methods with the proportional-derivative (PD) motion controller and the computed-torque motion controller, we focus on the performance of the two different combinations. It is found that trajectories with computed-torque controller have shorter path with a congruous convergence on joint position, and more accurate trajectories with less overshoots in position than others. © 2021 IEEE.

关键词： Motion control

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Development of a Propeller with Undulating Fins and Its Characteristics

Development of a Propeller with Undulating Fins and Its Char...

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Ruichen Ma Yu Wang Rui Wang Shuo Wang University of Chinese Academy of Sciences Beijing China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China CAS Center for Excellence in Brain Science and Intelligence Technology

ISBN: (数字)9781728137261

ISBN: (纸本)9781728137278

This paper addresses some experiments about measurements of thrust and heave force generated by a modular designed biomimetic underwater propeller. The propeller has a ribbon fin that consists of twelve rays linked by a latex membrane. Different forms of waves can be generated by the propeller. A measurement platform is constructed to obtain the thrust and heave force generated by the waves along with the input power of the propeller. Three types of waves are performed on the platform, including sinusoidal waves, fusiform sinusoidal waves and inward counter-propagating sinusoidal waves. By changing the parameters of undulating waves, a total of three hundred series of experiments are implemented. The measurement results of three types of waves are analyzed and the differences among three types of waves are compared.

关键词： Force Propellers Force measurement control systems Standards Robots Current measurement

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