We design a regulation-triggered adaptive controller for robot manipulators to efficiently estimate unknown parameters and to achieve asymptotic stability in the presence of coupled uncertainties.Robot manipulators ar...We design a regulation-triggered adaptive controller for robot manipulators to efficiently estimate unknown parameters and to achieve asymptotic stability in the presence of coupled uncertainties.Robot manipulators are widely used in telemanipulation systems where they are subject to model and environmental uncertainties.Using conventional control algorithms on such systems can cause not only poor control performance,but also expensive computational costs and catastrophic instabilities.Therefore,system uncertainties need to be estimated through designing a computationally efficient adaptive control law.We focus on robot manipulators as an example of a highly nonlinear system.As a case study,a 2-DOF manipulator subject to four parametric uncertainties is investigated.First,the dynamic equations of the manipulator are derived,and the corresponding regressor matrix is constructed for the unknown parameters.For a general nonlinear system,a theorem is presented to guarantee the asymptotic stability of the system and the convergence of parameters'estimations.Finally,simulation results are discussed for a two-link manipulator,and the performance of the proposed scheme is thoroughly evaluated.展开更多
This paper presents a sliding mode (SM) based identifier to deal with the parameter identification problem for a class of parameter uncertain nonlinear dynamic systems with input nonlinearity. A sliding mode controlle...This paper presents a sliding mode (SM) based identifier to deal with the parameter identification problem for a class of parameter uncertain nonlinear dynamic systems with input nonlinearity. A sliding mode controller (SMC) is used to ensure the global reaching condition of the sliding mode for the nonlinear system; an identifier is designed to identify the uncertain parameter of the nonlinear system. A numerical example is studied to show the feasibility of the SM controller and the asymptotical convergence of the identifier.展开更多
Static assignment of IP addresses or identifiers can be exploited by an adversary to attack a network. However, existing dynamic IP address assignment approaches suffer from two limitations, namely: participation of t...Static assignment of IP addresses or identifiers can be exploited by an adversary to attack a network. However, existing dynamic IP address assignment approaches suffer from two limitations, namely: participation of terminals in the assignment and inadequate network server management. Thus, in this paper, we propose an Overall-transparent Dynamic Identifier-mapping Mechanism(ODIM) to manage the identifier of network nodes to defend against scanning and worm propagation in the Smart Identifier NETwork(SINET). We establish the selection and allocation constraints, and present selection and allocation algorithms to determine the constraints. The non-repetition probability and cover cycle allow us to evaluate the defense efficiency against scanning. We propose the probability for routing identifiers and derive the defense efficiency of ODIM against worm propagation. Simulation results and theoretical analysis show that the proposed method effectively reduces the detection probability of Routing IDentifiers(RIDs) and thus improves defense capabilities against worm propagation.展开更多
Centralized storage and identity identification methods pose many risks,including hacker attacks,data misuse,and single points of failure.Additionally,existing centralized identity management methods face interoperabi...Centralized storage and identity identification methods pose many risks,including hacker attacks,data misuse,and single points of failure.Additionally,existing centralized identity management methods face interoperability issues and rely on a single identity provider,leaving users without control over their identities.Therefore,this paper proposes a mechanism for identity identification and data sharing based on decentralized identifiers.The scheme utilizes blockchain technology to store the identifiers and data hashed on the chain to ensure permanent identity recognition and data integrity.Data is stored on InterPlanetary File System(IPFS)to avoid the risk of single points of failure and to enhance data persistence and availability.At the same time,compliance with World Wide Web Consortium(W3C)standards for decentralized identifiers and verifiable credentials increases the mechanism’s scalability and interoperability.展开更多
The Internet of Things(IoT)provides new opportunities for different IoT platforms connecting various devices together.The need to identify those devices is the foremost important to perform any kind of operation.Many ...The Internet of Things(IoT)provides new opportunities for different IoT platforms connecting various devices together.The need to identify those devices is the foremost important to perform any kind of operation.Many organizations and standard bodies that provide specifications and frameworks for the IoT currently have their own identification mechanisms.Some existing industrial identification mechanisms can also be used in the IoT.There is no common Identification Scheme(IS)for the IoT as yet,because of the political and commercial differences amongst the standard bodies.The unavailability of a unified IS method makes the inter-working among IoT platforms challenging.This paper analyses and compares ISs used by several selected IoT platforms.This work will help in understanding the need for a common identification mechanism to provide inter-working among different IoT platforms.展开更多
The industrial Internet realizes intelligent control and optimized operation of the industrial system through network interconnection.The industrial Internet identifier is the core element to accomplish this task.The ...The industrial Internet realizes intelligent control and optimized operation of the industrial system through network interconnection.The industrial Internet identifier is the core element to accomplish this task.The traditional industrial Internet identifier resolution technologies depend excessively on IP networks,and cannot meet the requirements of ubiquitous resource-restraint Internet of Things(IoT)devices.An industrial Internet identifier resolution management strategy based on multi-identifier network architecture is proposed in this paper,which supports content names,identities,locations,apart from the traditional IP address.The application of multiple types of identifiers not only solves the problem of IP addresses exhaustion,but also enhances the security,credibility,and availability of the industrial Internet identification resolution system.An inter-translation scheme between multiple identifiers is designed to support multiple identifiers and the standard ones.We present an addressing and routing algorithm for identifier resolution to make it convenient to put our strategy into practice.展开更多
This paper addresses the design of an exponential function-based learning law for artificial neural networks(ANNs)with continuous dynamics.The ANN structure is used to obtain a non-parametric model of systems with unc...This paper addresses the design of an exponential function-based learning law for artificial neural networks(ANNs)with continuous dynamics.The ANN structure is used to obtain a non-parametric model of systems with uncertainties,which are described by a set of nonlinear ordinary differential equations.Two novel adaptive algorithms with predefined exponential convergence rate adjust the weights of the ANN.The first algorithm includes an adaptive gain depending on the identification error which accelerated the convergence of the weights and promotes a faster convergence between the states of the uncertain system and the trajectories of the neural identifier.The second approach uses a time-dependent sigmoidal gain that forces the convergence of the identification error to an invariant set characterized by an ellipsoid.The generalized volume of this ellipsoid depends on the upper bounds of uncertainties,perturbations and modeling errors.The application of the invariant ellipsoid method yields to obtain an algorithm to reduce the volume of the convergence region for the identification error.Both adaptive algorithms are derived from the application of a non-standard exponential dependent function and an associated controlled Lyapunov function.Numerical examples demonstrate the improvements enforced by the algorithms introduced in this study by comparing the convergence settings concerning classical schemes with non-exponential continuous learning methods.The proposed identifiers overcome the results of the classical identifier achieving a faster convergence to an invariant set of smaller dimensions.展开更多
Cytoscape is one of the most popular platforms for biomolecular networks research. However Cytoscape cannot display biomolecular names according to their accession identifiers in different databases. A plugin named Ai...Cytoscape is one of the most popular platforms for biomolecular networks research. However Cytoscape cannot display biomolecular names according to their accession identifiers in different databases. A plugin named Ai2NU is designed and implemented in this paper. It can make biomolecular names displayed automatically in biomolecular networks graphs in Cytoscape by constructing a local dictionary. It is convenient for researchers to recognize biomolecules and enhance the research efficiency.展开更多
In this paper, fuzzy systems are used as identifiers for unknown nonlinear dynamic systems. The fuzzy identifier can incorporate linguistic knowledge of nonlinear dynamic systems with input-output pairs directly into ...In this paper, fuzzy systems are used as identifiers for unknown nonlinear dynamic systems. The fuzzy identifier can incorporate linguistic knowledge of nonlinear dynamic systems with input-output pairs directly into the design. In the case where there is the modelling error, a new identification algorithm is proposed. It is proved that the fuzzy identifier is globally stable and the identification error converges to zero exponentially fast.展开更多
Inland waters support the growth of several sectors including mining, agriculture, and health. This makes it crucial to have sustainable quantity and quality through conservation practices. Achieving sustainability re...Inland waters support the growth of several sectors including mining, agriculture, and health. This makes it crucial to have sustainable quantity and quality through conservation practices. Achieving sustainability requires information on the spatial distribution of water bodies. This requirement is particularly critical in low-income nations where dependence on natural resources is a key driver to economic growth. Unfortunately, these nations lack the resources to promote costly waterbody characterization. This study pre-sents a cost-effective approach in assigning Unique Identifiers (UIDs) that define locations and characteristics of rivers and streams. Our objective is to develop a scheme that can be used to identify and characterize rivers and streams in a nation. We utilized an open-source Digital Elevation Model (DEM) of NASA’s ASTER satellite and the hydrology tool in ArcGIS 10.7.1. The DEM was imported to ArcGIS followed by delineation of hydrologic regions, subregions, and stream orders. Each stream segment was given a UID based on its region and Strahler’s stream order system. We present a case study analysis for two regions within Sierra Leone using water quality data of selected rivers and streams. These will lay the foundation for a nationwide coding exercise and provide a useful reference for water resource practitioners.展开更多
基金supported by the National Science Foundation under Award#1823951-1823983。
文摘We design a regulation-triggered adaptive controller for robot manipulators to efficiently estimate unknown parameters and to achieve asymptotic stability in the presence of coupled uncertainties.Robot manipulators are widely used in telemanipulation systems where they are subject to model and environmental uncertainties.Using conventional control algorithms on such systems can cause not only poor control performance,but also expensive computational costs and catastrophic instabilities.Therefore,system uncertainties need to be estimated through designing a computationally efficient adaptive control law.We focus on robot manipulators as an example of a highly nonlinear system.As a case study,a 2-DOF manipulator subject to four parametric uncertainties is investigated.First,the dynamic equations of the manipulator are derived,and the corresponding regressor matrix is constructed for the unknown parameters.For a general nonlinear system,a theorem is presented to guarantee the asymptotic stability of the system and the convergence of parameters'estimations.Finally,simulation results are discussed for a two-link manipulator,and the performance of the proposed scheme is thoroughly evaluated.
文摘This paper presents a sliding mode (SM) based identifier to deal with the parameter identification problem for a class of parameter uncertain nonlinear dynamic systems with input nonlinearity. A sliding mode controller (SMC) is used to ensure the global reaching condition of the sliding mode for the nonlinear system; an identifier is designed to identify the uncertain parameter of the nonlinear system. A numerical example is studied to show the feasibility of the SM controller and the asymptotical convergence of the identifier.
文摘Static assignment of IP addresses or identifiers can be exploited by an adversary to attack a network. However, existing dynamic IP address assignment approaches suffer from two limitations, namely: participation of terminals in the assignment and inadequate network server management. Thus, in this paper, we propose an Overall-transparent Dynamic Identifier-mapping Mechanism(ODIM) to manage the identifier of network nodes to defend against scanning and worm propagation in the Smart Identifier NETwork(SINET). We establish the selection and allocation constraints, and present selection and allocation algorithms to determine the constraints. The non-repetition probability and cover cycle allow us to evaluate the defense efficiency against scanning. We propose the probability for routing identifiers and derive the defense efficiency of ODIM against worm propagation. Simulation results and theoretical analysis show that the proposed method effectively reduces the detection probability of Routing IDentifiers(RIDs) and thus improves defense capabilities against worm propagation.
文摘Centralized storage and identity identification methods pose many risks,including hacker attacks,data misuse,and single points of failure.Additionally,existing centralized identity management methods face interoperability issues and rely on a single identity provider,leaving users without control over their identities.Therefore,this paper proposes a mechanism for identity identification and data sharing based on decentralized identifiers.The scheme utilizes blockchain technology to store the identifiers and data hashed on the chain to ensure permanent identity recognition and data integrity.Data is stored on InterPlanetary File System(IPFS)to avoid the risk of single points of failure and to enhance data persistence and availability.At the same time,compliance with World Wide Web Consortium(W3C)standards for decentralized identifiers and verifiable credentials increases the mechanism’s scalability and interoperability.
基金This work is supported by the Institute for Information&communications Technology Promotion(IITP)grant funded by the Korean government Ministry of Science and ICT(MSIT)(No.B0184-15-1001,Federated Interoperable Semantic IoT Testbeds and Applications).
文摘The Internet of Things(IoT)provides new opportunities for different IoT platforms connecting various devices together.The need to identify those devices is the foremost important to perform any kind of operation.Many organizations and standard bodies that provide specifications and frameworks for the IoT currently have their own identification mechanisms.Some existing industrial identification mechanisms can also be used in the IoT.There is no common Identification Scheme(IS)for the IoT as yet,because of the political and commercial differences amongst the standard bodies.The unavailability of a unified IS method makes the inter-working among IoT platforms challenging.This paper analyses and compares ISs used by several selected IoT platforms.This work will help in understanding the need for a common identification mechanism to provide inter-working among different IoT platforms.
基金supported in part by PCL Future Regional Network Facilities for Large-scale Experiments and Applications under Grant NO.PCL2018KP001by Guangdong R&D Key Program under Grant No.GD2016B030305005+3 种基金by National Natural Science Foundation of China(NSFC)under Grant No.61671001by National Key R&D Program of China under Grant No.2017YFB0803204by Shenzhen Research Programs under Grant Nos.JSGG20170824095858416,JCYJ20190808155607340,and JCYJ20170306092030521This work is also supported by the Shenzhen Municipal Development and Reform Commission(Disciplinary Development Program for Data Sci⁃ence and Intelligent Computing).
文摘The industrial Internet realizes intelligent control and optimized operation of the industrial system through network interconnection.The industrial Internet identifier is the core element to accomplish this task.The traditional industrial Internet identifier resolution technologies depend excessively on IP networks,and cannot meet the requirements of ubiquitous resource-restraint Internet of Things(IoT)devices.An industrial Internet identifier resolution management strategy based on multi-identifier network architecture is proposed in this paper,which supports content names,identities,locations,apart from the traditional IP address.The application of multiple types of identifiers not only solves the problem of IP addresses exhaustion,but also enhances the security,credibility,and availability of the industrial Internet identification resolution system.An inter-translation scheme between multiple identifiers is designed to support multiple identifiers and the standard ones.We present an addressing and routing algorithm for identifier resolution to make it convenient to put our strategy into practice.
基金supported by the National Polytechnic Institute(SIP-20221151,SIP-20220916)。
文摘This paper addresses the design of an exponential function-based learning law for artificial neural networks(ANNs)with continuous dynamics.The ANN structure is used to obtain a non-parametric model of systems with uncertainties,which are described by a set of nonlinear ordinary differential equations.Two novel adaptive algorithms with predefined exponential convergence rate adjust the weights of the ANN.The first algorithm includes an adaptive gain depending on the identification error which accelerated the convergence of the weights and promotes a faster convergence between the states of the uncertain system and the trajectories of the neural identifier.The second approach uses a time-dependent sigmoidal gain that forces the convergence of the identification error to an invariant set characterized by an ellipsoid.The generalized volume of this ellipsoid depends on the upper bounds of uncertainties,perturbations and modeling errors.The application of the invariant ellipsoid method yields to obtain an algorithm to reduce the volume of the convergence region for the identification error.Both adaptive algorithms are derived from the application of a non-standard exponential dependent function and an associated controlled Lyapunov function.Numerical examples demonstrate the improvements enforced by the algorithms introduced in this study by comparing the convergence settings concerning classical schemes with non-exponential continuous learning methods.The proposed identifiers overcome the results of the classical identifier achieving a faster convergence to an invariant set of smaller dimensions.
基金Project supported by the Shanghai Leading Academic Discipline Project(Grnat No.J50103)the Ph D Programs Foundation of Ministry of Education of China(Grant No.20080280007)+1 种基金the Innovation Program of Municipal Education Commission of Shanghai Municipality(Grant No.11Y203)the Innovation Foundation of Shanghai University
文摘Cytoscape is one of the most popular platforms for biomolecular networks research. However Cytoscape cannot display biomolecular names according to their accession identifiers in different databases. A plugin named Ai2NU is designed and implemented in this paper. It can make biomolecular names displayed automatically in biomolecular networks graphs in Cytoscape by constructing a local dictionary. It is convenient for researchers to recognize biomolecules and enhance the research efficiency.
文摘In this paper, fuzzy systems are used as identifiers for unknown nonlinear dynamic systems. The fuzzy identifier can incorporate linguistic knowledge of nonlinear dynamic systems with input-output pairs directly into the design. In the case where there is the modelling error, a new identification algorithm is proposed. It is proved that the fuzzy identifier is globally stable and the identification error converges to zero exponentially fast.
文摘Inland waters support the growth of several sectors including mining, agriculture, and health. This makes it crucial to have sustainable quantity and quality through conservation practices. Achieving sustainability requires information on the spatial distribution of water bodies. This requirement is particularly critical in low-income nations where dependence on natural resources is a key driver to economic growth. Unfortunately, these nations lack the resources to promote costly waterbody characterization. This study pre-sents a cost-effective approach in assigning Unique Identifiers (UIDs) that define locations and characteristics of rivers and streams. Our objective is to develop a scheme that can be used to identify and characterize rivers and streams in a nation. We utilized an open-source Digital Elevation Model (DEM) of NASA’s ASTER satellite and the hydrology tool in ArcGIS 10.7.1. The DEM was imported to ArcGIS followed by delineation of hydrologic regions, subregions, and stream orders. Each stream segment was given a UID based on its region and Strahler’s stream order system. We present a case study analysis for two regions within Sierra Leone using water quality data of selected rivers and streams. These will lay the foundation for a nationwide coding exercise and provide a useful reference for water resource practitioners.
