Evidence is presented for the nonchaotic random behaviour in a second-order autonomous deterministic system. This behaviour is different from chaos and strange nonchaotic attractor. The nonchaotic random behaviour is ...Evidence is presented for the nonchaotic random behaviour in a second-order autonomous deterministic system. This behaviour is different from chaos and strange nonchaotic attractor. The nonchaotic random behaviour is very sensitive to the initial conditions. Slight difference of the initial conditions will generate wholly different phase trajectories. This random behaviour has a transient random nature and is very similar to the coin-throwing case in the classical theory of probability. The existence of the nonchaotic random behaviour not only can be derived from the theoretical analysis, but also is proved by the results of the simulated experiments in this paper.展开更多
Behavior-based autonomous systems rely on human intelligence to resolve multi-mission conflicts by designing mission priority rules and nonlinear controllers.In this work,a novel twolayer reinforcement learning behavi...Behavior-based autonomous systems rely on human intelligence to resolve multi-mission conflicts by designing mission priority rules and nonlinear controllers.In this work,a novel twolayer reinforcement learning behavioral control(RLBC)method is proposed to reduce such dependence by trial-and-error learning.Specifically,in the upper layer,a reinforcement learning mission supervisor(RLMS)is designed to learn the optimal mission priority.Compared with existing mission supervisors,the RLMS improves the dynamic performance of mission priority adjustment by maximizing cumulative rewards and reducing hardware storage demand when using neural networks.In the lower layer,a reinforcement learning controller(RLC)is designed to learn the optimal control policy.Compared with existing behavioral controllers,the RLC reduces the control cost of mission priority adjustment by balancing control performance and consumption.All error signals are proved to be semi-globally uniformly ultimately bounded(SGUUB).Simulation results show that the number of mission priority adjustment and the control cost are significantly reduced compared to some existing mission supervisors and behavioral controllers,respectively.展开更多
Autonomous systems are an emerging AI technology functioning without human intervention underpinned by the latest advances in intelligence,cognition,computer,and systems sciences.This paper explores the intelligent an...Autonomous systems are an emerging AI technology functioning without human intervention underpinned by the latest advances in intelligence,cognition,computer,and systems sciences.This paper explores the intelligent and mathematical foundations of autonomous systems.It focuses on structural and behavioral properties that constitute the intelligent power of autonomous systems.It explains how system intelligence aggregates from reflexive,imperative,adaptive intelligence to autonomous and cognitive intelligence.A hierarchical intelligence model(HIM)is introduced to elaborate the evolution of human and system intelligence as an inductive process.The properties of system autonomy are formally analyzed towards a wide range of applications in computational intelligence and systems engineering.Emerging paradigms of autonomous systems including brain-inspired systems,cognitive robots,and autonomous knowledge learning systems are described.Advances in autonomous systems will pave a way towards highly intelligent machines for augmenting human capabilities.展开更多
The problem of transforming autonomous systems into Birkhoffian systems is studied. A reasonable form of linear autonomous Birkhoff equations is given. By combining them with the undetermined tensor method, a necessar...The problem of transforming autonomous systems into Birkhoffian systems is studied. A reasonable form of linear autonomous Birkhoff equations is given. By combining them with the undetermined tensor method, a necessary and sufficient condition for an autonomous system to have a representation in terms of linear autonomous Birkhoff equations is obtained. The methods of constructing Birkhoffian dynamical functions are given. Two examples are given to illustrate the application of the results.展开更多
A direct method to find the first integral for two-dimensional autonomous system in polar coordinates is suggested. It is shown that if the equation of motion expressed by differential 1-forms for a given autonomous H...A direct method to find the first integral for two-dimensional autonomous system in polar coordinates is suggested. It is shown that if the equation of motion expressed by differential 1-forms for a given autonomous Hamiltonian system is multiplied by a set of multiplicative functions, then the general expression of the first integral can be obtained, An example is given to illustrate the application of the results.展开更多
This paper introduces a new three dimensional autonomous system with five equilibrium points. It demonstrates complex chaotic behaviours within a wide range of parameters, which are described by phase portraits, Lyapu...This paper introduces a new three dimensional autonomous system with five equilibrium points. It demonstrates complex chaotic behaviours within a wide range of parameters, which are described by phase portraits, Lyapunov exponents, frequency spectrum, etc. Analysis of the bifurcation and Poincar@ map is used to reveal mechanisms of generating these complicated phenomena. The corresponding electronic circuits are designed, exhibiting experimental chaotic attractors in accord with numerical simulations. Since frequency spectrum analysis shows a broad frequency bandwidth, this system has perspective of potential applications in such engineering fields as secure communication.展开更多
A kind of packet labeling algorithm for autonomous system is introduced. The fairness of the algorithm for each traffic stream in the integrated-services is analyzed. It is shown that the rate of each stream in the in...A kind of packet labeling algorithm for autonomous system is introduced. The fairness of the algorithm for each traffic stream in the integrated-services is analyzed. It is shown that the rate of each stream in the integrated-services would converge to a stable value if the transmittfing or forwarding rates converge to that of the receiving exponentially.展开更多
A generalized hyperbolic perturbation method is presented for homoclinic solutions of strongly nonlinear autonomous oscillators, in which the perturbation proce- dure is improved for those systems whose exact homoclin...A generalized hyperbolic perturbation method is presented for homoclinic solutions of strongly nonlinear autonomous oscillators, in which the perturbation proce- dure is improved for those systems whose exact homoclinic generating solutions cannot be explicitly derived. The generalized hyperbolic functions are employed as the basis functions in the present procedure to extend the validity of the hyperbolic perturbation method. Several strongly nonlinear oscillators with quadratic, cubic, and quartic nonlinearity are studied in detail to illustrate the efficiency and accuracy of the present method.展开更多
In this manuscript, Local dynamic behaviors including stability and Hopf bifurcation of a new four-dimensional quadratic autonomous system are studied both analytically and numerically. Determining conditions of equil...In this manuscript, Local dynamic behaviors including stability and Hopf bifurcation of a new four-dimensional quadratic autonomous system are studied both analytically and numerically. Determining conditions of equilibrium points on different parameters are derived. Next, the stability conditions are investigated by using Routh-Hurwitz criterion and bifurcation conditions are investigated by using Hopf bifurcation theory, respectively. It is found that Hopf bifurcation on the initial point is supercritical in this four-dimensional autonomous system. The theoretical results are verified by numerical simulation. Besides, the new four-dimensional autonomous system under the parametric conditions of hyperchaos is studied in detail. It is also found that the system can enter hyperchaos, first through Hopf bifurcation and then through periodic bifurcation.展开更多
The border gateway protocol (BGP) is the default inter domain routing protocol used on the internet for exchanging information between autonomous systems. Available literature suggests that BGP is vulnerable to sessio...The border gateway protocol (BGP) is the default inter domain routing protocol used on the internet for exchanging information between autonomous systems. Available literature suggests that BGP is vulnerable to session hijacking attacks. There are a number of proposals aimed at improving BGP security which have not been fully implemented. This paper examines a number of approaches for securing BGP through a comparative study and identifies the reasons why these proposals have not been implemented commercially. This paper analyses the architecture of internet routing and the design of BGP while focusing on the problem of BGP session hijacking attacks. Using Graphical Network Simulator 3 (GNS-3), a session hijack is demonstrated and a solution which involves the implementation of route filtering, policy-maps and route-maps on CISCO routers representing ASes is carried out. In the end, a workable industry standard framework for securing and protecting BGP sessions and border routers from exploitation with little or no modification to the existing routing infrastructure is demonstrated.展开更多
We study how the graph structure of the Internet at the Autonomous Systems (AS) level evolved during a decade. For each year of the period 2008-2017 we consider a snapshot of the AS graph and examine how many features...We study how the graph structure of the Internet at the Autonomous Systems (AS) level evolved during a decade. For each year of the period 2008-2017 we consider a snapshot of the AS graph and examine how many features related to structure, connectivity and centrality changed over time. The analysis of these metrics provides topological and data traffic information and allows to clarify some assumptions about the models concerning the evolution of the Internet graph structure. We find that the size of the Internet roughly doubled. The overall trend of the average connectivity is an increase over time, while that of the shortest path length is a decrease over time. The internal core of the Internet is composed of a small fraction of big AS and is more stable and connected the external cores. A hierarchical organization emerges where a small fraction of big hubs are connected to many regions with high internal cohesiveness, poorly connected among them and containing AS with low and medium numbers of links. Centrality measurements indicate that the average number of shortest paths crossing an AS or containing a link between two of them decreased over time.展开更多
The mathematical model of single degree of freedom(DOF)nonlinear autonomous bearing system under constant flow supporting model is deduced.The single DOF nonlinear autonomous bearing system is transformed with the met...The mathematical model of single degree of freedom(DOF)nonlinear autonomous bearing system under constant flow supporting model is deduced.The single DOF nonlinear autonomous bearing system is transformed with the method of linear and nonlinear treatment,the mathematical expression and parameters sensitivity of relative error of stiffness and damping are presented.Finally,the main factors of magnetic-liquid double suspension bearing(MLDSB)are analyzed,and the influence on bearing performance indicators of single DOF nonlinear autonomous bearing system of main factors is revealed.The results show that linear stiffness/damping is the first part of equivalent stiffness/damping,and the second and third parts are high order minor term of Tayor series transform.The film thickness,the magnetic-liquid proportionality coefficient,the mass of rotor are the major influence factor of the bearing performance.The research can provide the theoretical reference for the design and nonlinear analysis of MLDSB.展开更多
A photovoltaic (PV) string with multiple modules with bypass diodes frequently deployed on a variety of autonomous PV systems may present multiple power peaks under uneven shading. For optimal solar harvesting, there ...A photovoltaic (PV) string with multiple modules with bypass diodes frequently deployed on a variety of autonomous PV systems may present multiple power peaks under uneven shading. For optimal solar harvesting, there is a need for a control schema to force the PV string to operate at global maximum power point (GMPP). While a lot of tracking methods have been proposed in the literature, they are usually complex and do not fully take advantage of the available characteristics of the PV array. This work highlights how the voltage at operating point and the forward voltage of the bypass diode are considered to design a global maximum power point tracking (GMPPT) algorithm with a very limited global search phase called Fast GMPPT. This algorithm successfully tracks GMPP between 94% and 98% of the time under a theoretical evaluation. It is then compared against Perturb and Observe, Deterministic Particle Swarm Optimization, and Grey Wolf Optimization under a sequence of irradiance steps as well as a power-over-voltage characteristics profile that mimics the electrical characteristics of a PV string under varying partial shading conditions. Overall, the simulation with the sequence of irradiance steps shows that while Fast GMPPT does not have the best convergence time, it has an excellent convergence rate as well as causes the least amount of power loss during the global search phase. Experimental test under varying partial shading conditions shows that while the GMPPT proposal is simple and lightweight, it is very performant under a wide range of dynamically varying partial shading conditions and boasts the best energy efficiency (94.74%) out of the 4 tested algorithms.展开更多
The development of autonomous vehicles has become one of the greatest research endeavors in recent years. These vehicles rely on many complex systems working in tandem to make decisions. For practical use and safety r...The development of autonomous vehicles has become one of the greatest research endeavors in recent years. These vehicles rely on many complex systems working in tandem to make decisions. For practical use and safety reasons, these systems must not only be accurate, but also quickly detect changes in the surrounding environment. In autonomous vehicle research, the environment perception system is one of the key components of development. Environment perception systems allow the vehicle to understand its surroundings. This is done by using cameras, light detection and ranging (LiDAR), with other sensor systems and modalities. Deep learning computer vision algorithms have been shown to be the strongest tool for translating camera data into accurate and safe traversability decisions regarding the environment surrounding a vehicle. In order for a vehicle to safely traverse an area in real time, these computer vision algorithms must be accurate and have low latency. While much research has studied autonomous driving for traversing well-structured urban environments, limited research exists evaluating perception system improvements in off-road settings. This research aims to investigate the adaptability of several existing deep-learning architectures for semantic segmentation in off-road environments. Previous studies of two Convolutional Neural Network (CNN) architectures are included for comparison with new evaluation of Vision Transformer (ViT) architectures for semantic segmentation. Our results demonstrate viability of ViT architectures for off-road perception systems, having a strong segmentation accuracy, lower inference speed and memory footprint compared to previous results with CNN architectures.展开更多
In the process of performing a task,autonomous unmanned systems face the problem of scene changing,which requires the ability of real-time decision-making under dynamically changing scenes.Therefore,taking the unmanne...In the process of performing a task,autonomous unmanned systems face the problem of scene changing,which requires the ability of real-time decision-making under dynamically changing scenes.Therefore,taking the unmanned system coordinative region control operation as an example,this paper combines knowledge representation with probabilistic decisionmaking and proposes a role-based Bayesian decision model for autonomous unmanned systems that integrates scene cognition and individual preferences.Firstly,according to utility value decision theory,the role-based utility value decision model is proposed to realize task coordination according to the preference of the role that individual is assigned.Then,multi-entity Bayesian network is introduced for situation assessment,by which scenes and their uncertainty related to the operation are semantically described,so that the unmanned systems can conduct situation awareness in a set of scenes with uncertainty.Finally,the effectiveness of the proposed method is verified in a virtual task scenario.This research has important reference value for realizing scene cognition,improving cooperative decision-making ability under dynamic scenes,and achieving swarm level autonomy of unmanned systems.展开更多
The latest 6G improvements secured autonomous driving's realism in Intelligent Autonomous Transport Systems(IATS).Despite the IATS's benefits,security remains a significant challenge.Blockchain technology has ...The latest 6G improvements secured autonomous driving's realism in Intelligent Autonomous Transport Systems(IATS).Despite the IATS's benefits,security remains a significant challenge.Blockchain technology has grown in popularity as a means of implementing safe,dependable,and decentralised independent IATS systems,allowing for more utilisation of legacy IATS infrastructures and resources,which is especially advantageous for crowdsourcing technologies.Blockchain technology can be used to address security concerns in the IATS and to aid in logistics development.In light of the inadequacy of reliance and inattention to rights created by centralised and conventional logistics systems,this paper discusses the creation of a blockchain-based IATS powered by deep learning for secure cargo and vehicle matching(BDL-IATS).The BDL-IATS approach utilises Ethereum as the primary blockchain for storing private data such as order and shipment details.Additionally,the deep belief network(DBN)model is used to select suitable vehicles and goods for transportation.Additionally,the chaotic krill herd technique is used to tune the DBN model’s hyper-parameters.The performance of the BDL-IATS technique is validated,and the findings are inspected under a variety of conditions.The simulationfindings indicated that the BDL-IATS strategy outperformed recent state-of-the-art approaches.展开更多
Decision-making and motion planning are extremely important in autonomous driving to ensure safe driving in a real-world environment.This study proposes an online evolutionary decision-making and motion planning frame...Decision-making and motion planning are extremely important in autonomous driving to ensure safe driving in a real-world environment.This study proposes an online evolutionary decision-making and motion planning framework for autonomous driving based on a hybrid data-and model-driven method.First,a data-driven decision-making module based on deep reinforcement learning(DRL)is developed to pursue a rational driving performance as much as possible.Then,model predictive control(MPC)is employed to execute both longitudinal and lateral motion planning tasks.Multiple constraints are defined according to the vehicle’s physical limit to meet the driving task requirements.Finally,two principles of safety and rationality for the self-evolution of autonomous driving are proposed.A motion envelope is established and embedded into a rational exploration and exploitation scheme,which filters out unreasonable experiences by masking unsafe actions so as to collect high-quality training data for the DRL agent.Experiments with a high-fidelity vehicle model and MATLAB/Simulink co-simulation environment are conducted,and the results show that the proposed online-evolution framework is able to generate safer,more rational,and more efficient driving action in a real-world environment.展开更多
The attention is a scarce resource in decentralized autonomous organizations(DAOs),as their self-governance relies heavily on the attention-intensive decision-making process of“proposal and voting”.To prevent the ne...The attention is a scarce resource in decentralized autonomous organizations(DAOs),as their self-governance relies heavily on the attention-intensive decision-making process of“proposal and voting”.To prevent the negative effects of pro-posers’attention-capturing strategies that contribute to the“tragedy of the commons”and ensure an efficient distribution of attention among multiple proposals,it is necessary to establish a market-driven allocation scheme for DAOs’attention.First,the Harberger tax-based attention markets are designed to facilitate its allocation via continuous and automated trading,where the individualized Harberger tax rate(HTR)determined by the pro-posers’reputation is adopted.Then,the Stackelberg game model is formulated in these markets,casting attention to owners in the role of leaders and other competitive proposers as followers.Its equilibrium trading strategies are also discussed to unravel the intricate dynamics of attention pricing.Moreover,utilizing the single-round Stackelberg game as an illustrative example,the existence of Nash equilibrium trading strategies is demonstrated.Finally,the impact of individualized HTR on trading strategies is investigated,and results suggest that it has a negative correlation with leaders’self-accessed prices and ownership duration,but its effect on their revenues varies under different conditions.This study is expected to provide valuable insights into leveraging attention resources to improve DAOs’governance and decision-making process.展开更多
This paper investigates the path-following control problem with obstacle avoidance of autonomous surface vehicles in the presence of actuator faults,uncertainty and external disturbances.Autonomous surface vehicles in...This paper investigates the path-following control problem with obstacle avoidance of autonomous surface vehicles in the presence of actuator faults,uncertainty and external disturbances.Autonomous surface vehicles inevitably suffer from actuator faults in complex sea environments,which may cause existing obstacle avoidance strategies to fail.To reduce the influence of actuator faults,an improved artificial potential function is constructed by introducing the lower bound of actuator efficiency factors.The nonlinear state observer,which only depends on measurable position information of the autonomous surface vehicle,is used to address uncertainties and external disturbances.By using a backstepping technique and adaptive mechanism,a path-following control strategy with obstacle avoidance and fault tolerance is designed which can ensure that the tracking errors converge to a small neighborhood of zero.Compared with existing results,the proposed control strategy has the capability of obstacle avoidance and fault tolerance simultaneously.Finally,the comparison results through simulations are given to verify the effectiveness of the proposed method.展开更多
The transition to sustainable energy systems is one of the defining challenges of our time, necessitating innovations in how we generate, distribute, and manage electrical power. Micro-grids, as localized energy hubs,...The transition to sustainable energy systems is one of the defining challenges of our time, necessitating innovations in how we generate, distribute, and manage electrical power. Micro-grids, as localized energy hubs, have emerged as a promising solution to integrate renewable energy sources, ensure energy security, and improve system resilience. The Autonomous multi-factor Energy Flow Controller (AmEFC) introduced in this paper addresses this need by offering a scalable, adaptable, and resilient framework for energy management within an on-grid micro-grid context. The urgency for such a system is predicated on the increasing volatility and unpredictability in energy landscapes, including fluctuating renewable outputs and changing load demands. To tackle these challenges, the AmEFC prototype incorporates a novel hierarchical control structure that leverages Renewable Energy Sources (RES), such as photovoltaic systems, wind turbines, and hydro pumps, alongside a sophisticated Battery Management System (BMS). Its prime objective is to maintain an uninterrupted power supply to critical loads, efficiently balance energy surplus through hydraulic storage, and ensure robust interaction with the main grid. A comprehensive Simulink model is developed to validate the functionality of the AmEFC, simulating real-world conditions and dynamic interactions among the components. The model assesses the system’s reliability in consistently powering critical loads and its efficacy in managing surplus energy. The inclusion of advanced predictive algorithms enables the AmEFC to anticipate energy production and consumption trends, integrating weather forecasting and inter-controller communication to optimize energy flow within and across micro-grids. This study’s significance lies in its potential to facilitate the seamless incorporation of RES into existing power systems, thus propelling the energy sector towards a more sustainable, autonomous, and resilient future. The results underscore the potential of such a system to revolutionize energy management practices and highlight the importance of smart controller systems in the era of smart grids.展开更多
基金Project supported by the National Natural Science Foundation of China （Grant No 59577025） and the Fundamental Research Foundation of Tsinghua University （Grant No JC2001021）. The authors would like to thank Professor Tang Tongyi for much beneficial help.
文摘Evidence is presented for the nonchaotic random behaviour in a second-order autonomous deterministic system. This behaviour is different from chaos and strange nonchaotic attractor. The nonchaotic random behaviour is very sensitive to the initial conditions. Slight difference of the initial conditions will generate wholly different phase trajectories. This random behaviour has a transient random nature and is very similar to the coin-throwing case in the classical theory of probability. The existence of the nonchaotic random behaviour not only can be derived from the theoretical analysis, but also is proved by the results of the simulated experiments in this paper.
基金the National Natural Science Foundation of China(61603094)。
文摘Behavior-based autonomous systems rely on human intelligence to resolve multi-mission conflicts by designing mission priority rules and nonlinear controllers.In this work,a novel twolayer reinforcement learning behavioral control(RLBC)method is proposed to reduce such dependence by trial-and-error learning.Specifically,in the upper layer,a reinforcement learning mission supervisor(RLMS)is designed to learn the optimal mission priority.Compared with existing mission supervisors,the RLMS improves the dynamic performance of mission priority adjustment by maximizing cumulative rewards and reducing hardware storage demand when using neural networks.In the lower layer,a reinforcement learning controller(RLC)is designed to learn the optimal control policy.Compared with existing behavioral controllers,the RLC reduces the control cost of mission priority adjustment by balancing control performance and consumption.All error signals are proved to be semi-globally uniformly ultimately bounded(SGUUB).Simulation results show that the number of mission priority adjustment and the control cost are significantly reduced compared to some existing mission supervisors and behavioral controllers,respectively.
基金supported in part by the Department of National Defence’s Innovation for Defence Excellence and Security(IDEa S)Program,Canadathrough the Project of Auto Defence Towards Trustworthy Technologies for Autonomous Human-Machine Systems,NSERCthe IEEE SMC Society Technical Committee on Brain-Inspired Systems(TCBCS)。
文摘Autonomous systems are an emerging AI technology functioning without human intervention underpinned by the latest advances in intelligence,cognition,computer,and systems sciences.This paper explores the intelligent and mathematical foundations of autonomous systems.It focuses on structural and behavioral properties that constitute the intelligent power of autonomous systems.It explains how system intelligence aggregates from reflexive,imperative,adaptive intelligence to autonomous and cognitive intelligence.A hierarchical intelligence model(HIM)is introduced to elaborate the evolution of human and system intelligence as an inductive process.The properties of system autonomy are formally analyzed towards a wide range of applications in computational intelligence and systems engineering.Emerging paradigms of autonomous systems including brain-inspired systems,cognitive robots,and autonomous knowledge learning systems are described.Advances in autonomous systems will pave a way towards highly intelligent machines for augmenting human capabilities.
基金Project supported by the National Natural Science Foundation of China(Grant Nos.10932002,11172120,and 11202090)
文摘The problem of transforming autonomous systems into Birkhoffian systems is studied. A reasonable form of linear autonomous Birkhoff equations is given. By combining them with the undetermined tensor method, a necessary and sufficient condition for an autonomous system to have a representation in terms of linear autonomous Birkhoff equations is obtained. The methods of constructing Birkhoffian dynamical functions are given. Two examples are given to illustrate the application of the results.
文摘A direct method to find the first integral for two-dimensional autonomous system in polar coordinates is suggested. It is shown that if the equation of motion expressed by differential 1-forms for a given autonomous Hamiltonian system is multiplied by a set of multiplicative functions, then the general expression of the first integral can be obtained, An example is given to illustrate the application of the results.
基金supported by the National Natural Science Foundation of China (Grant No. 10771088)Natural Science Foundation of Jiangsu Province,China (Grant No. 2007098)+3 种基金Outstanding Personnel Program in Six Fields of Jiangsu Province,China (Grant No. 6-A-029)National Natural Science (Youth) Foundation of China (Grant No. 10801140)Youth Foundation of Chongqing Normal University,China (Grant No. 08XLQ04)the Natural Science Foundation of the Jiangsu Higher Education Institutions of China (Grant No. 09B 202Z)
文摘This paper introduces a new three dimensional autonomous system with five equilibrium points. It demonstrates complex chaotic behaviours within a wide range of parameters, which are described by phase portraits, Lyapunov exponents, frequency spectrum, etc. Analysis of the bifurcation and Poincar@ map is used to reveal mechanisms of generating these complicated phenomena. The corresponding electronic circuits are designed, exhibiting experimental chaotic attractors in accord with numerical simulations. Since frequency spectrum analysis shows a broad frequency bandwidth, this system has perspective of potential applications in such engineering fields as secure communication.
文摘A kind of packet labeling algorithm for autonomous system is introduced. The fairness of the algorithm for each traffic stream in the integrated-services is analyzed. It is shown that the rate of each stream in the integrated-services would converge to a stable value if the transmittfing or forwarding rates converge to that of the receiving exponentially.
基金Project supported by the National Natural Science Foundation of China (Nos. 10972240 and 11102045)the Natural Science Foundation of Guangdong Province of China (No. S20110400040)+2 种基金the Foundation of Guangdong Education Department of China (No. LYM10108)the Foundation of Guangzhou Education Bureau of China (No. 10A024)the Research Grant Council of Hong Kong of China (No. GRF-HKU-7173-09E)
文摘A generalized hyperbolic perturbation method is presented for homoclinic solutions of strongly nonlinear autonomous oscillators, in which the perturbation proce- dure is improved for those systems whose exact homoclinic generating solutions cannot be explicitly derived. The generalized hyperbolic functions are employed as the basis functions in the present procedure to extend the validity of the hyperbolic perturbation method. Several strongly nonlinear oscillators with quadratic, cubic, and quartic nonlinearity are studied in detail to illustrate the efficiency and accuracy of the present method.
文摘In this manuscript, Local dynamic behaviors including stability and Hopf bifurcation of a new four-dimensional quadratic autonomous system are studied both analytically and numerically. Determining conditions of equilibrium points on different parameters are derived. Next, the stability conditions are investigated by using Routh-Hurwitz criterion and bifurcation conditions are investigated by using Hopf bifurcation theory, respectively. It is found that Hopf bifurcation on the initial point is supercritical in this four-dimensional autonomous system. The theoretical results are verified by numerical simulation. Besides, the new four-dimensional autonomous system under the parametric conditions of hyperchaos is studied in detail. It is also found that the system can enter hyperchaos, first through Hopf bifurcation and then through periodic bifurcation.
文摘The border gateway protocol (BGP) is the default inter domain routing protocol used on the internet for exchanging information between autonomous systems. Available literature suggests that BGP is vulnerable to session hijacking attacks. There are a number of proposals aimed at improving BGP security which have not been fully implemented. This paper examines a number of approaches for securing BGP through a comparative study and identifies the reasons why these proposals have not been implemented commercially. This paper analyses the architecture of internet routing and the design of BGP while focusing on the problem of BGP session hijacking attacks. Using Graphical Network Simulator 3 (GNS-3), a session hijack is demonstrated and a solution which involves the implementation of route filtering, policy-maps and route-maps on CISCO routers representing ASes is carried out. In the end, a workable industry standard framework for securing and protecting BGP sessions and border routers from exploitation with little or no modification to the existing routing infrastructure is demonstrated.
文摘We study how the graph structure of the Internet at the Autonomous Systems (AS) level evolved during a decade. For each year of the period 2008-2017 we consider a snapshot of the AS graph and examine how many features related to structure, connectivity and centrality changed over time. The analysis of these metrics provides topological and data traffic information and allows to clarify some assumptions about the models concerning the evolution of the Internet graph structure. We find that the size of the Internet roughly doubled. The overall trend of the average connectivity is an increase over time, while that of the shortest path length is a decrease over time. The internal core of the Internet is composed of a small fraction of big AS and is more stable and connected the external cores. A hierarchical organization emerges where a small fraction of big hubs are connected to many regions with high internal cohesiveness, poorly connected among them and containing AS with low and medium numbers of links. Centrality measurements indicate that the average number of shortest paths crossing an AS or containing a link between two of them decreased over time.
基金the National Natural Science Foundation of China(No.51705445)General Project of Natural Science Foundation of Hebei Province(No.E2016203324)Youth Fund Project of Scientific Research Project of Hebei University(No.QN202013).
文摘The mathematical model of single degree of freedom(DOF)nonlinear autonomous bearing system under constant flow supporting model is deduced.The single DOF nonlinear autonomous bearing system is transformed with the method of linear and nonlinear treatment,the mathematical expression and parameters sensitivity of relative error of stiffness and damping are presented.Finally,the main factors of magnetic-liquid double suspension bearing(MLDSB)are analyzed,and the influence on bearing performance indicators of single DOF nonlinear autonomous bearing system of main factors is revealed.The results show that linear stiffness/damping is the first part of equivalent stiffness/damping,and the second and third parts are high order minor term of Tayor series transform.The film thickness,the magnetic-liquid proportionality coefficient,the mass of rotor are the major influence factor of the bearing performance.The research can provide the theoretical reference for the design and nonlinear analysis of MLDSB.
文摘A photovoltaic (PV) string with multiple modules with bypass diodes frequently deployed on a variety of autonomous PV systems may present multiple power peaks under uneven shading. For optimal solar harvesting, there is a need for a control schema to force the PV string to operate at global maximum power point (GMPP). While a lot of tracking methods have been proposed in the literature, they are usually complex and do not fully take advantage of the available characteristics of the PV array. This work highlights how the voltage at operating point and the forward voltage of the bypass diode are considered to design a global maximum power point tracking (GMPPT) algorithm with a very limited global search phase called Fast GMPPT. This algorithm successfully tracks GMPP between 94% and 98% of the time under a theoretical evaluation. It is then compared against Perturb and Observe, Deterministic Particle Swarm Optimization, and Grey Wolf Optimization under a sequence of irradiance steps as well as a power-over-voltage characteristics profile that mimics the electrical characteristics of a PV string under varying partial shading conditions. Overall, the simulation with the sequence of irradiance steps shows that while Fast GMPPT does not have the best convergence time, it has an excellent convergence rate as well as causes the least amount of power loss during the global search phase. Experimental test under varying partial shading conditions shows that while the GMPPT proposal is simple and lightweight, it is very performant under a wide range of dynamically varying partial shading conditions and boasts the best energy efficiency (94.74%) out of the 4 tested algorithms.
文摘The development of autonomous vehicles has become one of the greatest research endeavors in recent years. These vehicles rely on many complex systems working in tandem to make decisions. For practical use and safety reasons, these systems must not only be accurate, but also quickly detect changes in the surrounding environment. In autonomous vehicle research, the environment perception system is one of the key components of development. Environment perception systems allow the vehicle to understand its surroundings. This is done by using cameras, light detection and ranging (LiDAR), with other sensor systems and modalities. Deep learning computer vision algorithms have been shown to be the strongest tool for translating camera data into accurate and safe traversability decisions regarding the environment surrounding a vehicle. In order for a vehicle to safely traverse an area in real time, these computer vision algorithms must be accurate and have low latency. While much research has studied autonomous driving for traversing well-structured urban environments, limited research exists evaluating perception system improvements in off-road settings. This research aims to investigate the adaptability of several existing deep-learning architectures for semantic segmentation in off-road environments. Previous studies of two Convolutional Neural Network (CNN) architectures are included for comparison with new evaluation of Vision Transformer (ViT) architectures for semantic segmentation. Our results demonstrate viability of ViT architectures for off-road perception systems, having a strong segmentation accuracy, lower inference speed and memory footprint compared to previous results with CNN architectures.
基金the Military Science Postgraduate Project of PLA(JY2020B006).
文摘In the process of performing a task,autonomous unmanned systems face the problem of scene changing,which requires the ability of real-time decision-making under dynamically changing scenes.Therefore,taking the unmanned system coordinative region control operation as an example,this paper combines knowledge representation with probabilistic decisionmaking and proposes a role-based Bayesian decision model for autonomous unmanned systems that integrates scene cognition and individual preferences.Firstly,according to utility value decision theory,the role-based utility value decision model is proposed to realize task coordination according to the preference of the role that individual is assigned.Then,multi-entity Bayesian network is introduced for situation assessment,by which scenes and their uncertainty related to the operation are semantically described,so that the unmanned systems can conduct situation awareness in a set of scenes with uncertainty.Finally,the effectiveness of the proposed method is verified in a virtual task scenario.This research has important reference value for realizing scene cognition,improving cooperative decision-making ability under dynamic scenes,and achieving swarm level autonomy of unmanned systems.
文摘The latest 6G improvements secured autonomous driving's realism in Intelligent Autonomous Transport Systems(IATS).Despite the IATS's benefits,security remains a significant challenge.Blockchain technology has grown in popularity as a means of implementing safe,dependable,and decentralised independent IATS systems,allowing for more utilisation of legacy IATS infrastructures and resources,which is especially advantageous for crowdsourcing technologies.Blockchain technology can be used to address security concerns in the IATS and to aid in logistics development.In light of the inadequacy of reliance and inattention to rights created by centralised and conventional logistics systems,this paper discusses the creation of a blockchain-based IATS powered by deep learning for secure cargo and vehicle matching(BDL-IATS).The BDL-IATS approach utilises Ethereum as the primary blockchain for storing private data such as order and shipment details.Additionally,the deep belief network(DBN)model is used to select suitable vehicles and goods for transportation.Additionally,the chaotic krill herd technique is used to tune the DBN model’s hyper-parameters.The performance of the BDL-IATS technique is validated,and the findings are inspected under a variety of conditions.The simulationfindings indicated that the BDL-IATS strategy outperformed recent state-of-the-art approaches.
基金the financial support of the National Key Research and Development Program of China(2020AAA0108100)the Shanghai Municipal Science and Technology Major Project(2021SHZDZX0100)the Shanghai Gaofeng and Gaoyuan Project for University Academic Program Development for funding。
文摘Decision-making and motion planning are extremely important in autonomous driving to ensure safe driving in a real-world environment.This study proposes an online evolutionary decision-making and motion planning framework for autonomous driving based on a hybrid data-and model-driven method.First,a data-driven decision-making module based on deep reinforcement learning(DRL)is developed to pursue a rational driving performance as much as possible.Then,model predictive control(MPC)is employed to execute both longitudinal and lateral motion planning tasks.Multiple constraints are defined according to the vehicle’s physical limit to meet the driving task requirements.Finally,two principles of safety and rationality for the self-evolution of autonomous driving are proposed.A motion envelope is established and embedded into a rational exploration and exploitation scheme,which filters out unreasonable experiences by masking unsafe actions so as to collect high-quality training data for the DRL agent.Experiments with a high-fidelity vehicle model and MATLAB/Simulink co-simulation environment are conducted,and the results show that the proposed online-evolution framework is able to generate safer,more rational,and more efficient driving action in a real-world environment.
基金supported by the National Natural Science Foundation of China(62103411)the Science and Technology Development Fund of Macao SAR(0093/2023/RIA2,0050/2020/A1)。
文摘The attention is a scarce resource in decentralized autonomous organizations(DAOs),as their self-governance relies heavily on the attention-intensive decision-making process of“proposal and voting”.To prevent the negative effects of pro-posers’attention-capturing strategies that contribute to the“tragedy of the commons”and ensure an efficient distribution of attention among multiple proposals,it is necessary to establish a market-driven allocation scheme for DAOs’attention.First,the Harberger tax-based attention markets are designed to facilitate its allocation via continuous and automated trading,where the individualized Harberger tax rate(HTR)determined by the pro-posers’reputation is adopted.Then,the Stackelberg game model is formulated in these markets,casting attention to owners in the role of leaders and other competitive proposers as followers.Its equilibrium trading strategies are also discussed to unravel the intricate dynamics of attention pricing.Moreover,utilizing the single-round Stackelberg game as an illustrative example,the existence of Nash equilibrium trading strategies is demonstrated.Finally,the impact of individualized HTR on trading strategies is investigated,and results suggest that it has a negative correlation with leaders’self-accessed prices and ownership duration,but its effect on their revenues varies under different conditions.This study is expected to provide valuable insights into leveraging attention resources to improve DAOs’governance and decision-making process.
基金the National Natural Science Foundation of China(51939001,52171292,51979020,61976033)Dalian Outstanding Young Talents Program(2022RJ05)+1 种基金the Topnotch Young Talents Program of China(36261402)the Liaoning Revitalization Talents Program(XLYC20-07188)。
文摘This paper investigates the path-following control problem with obstacle avoidance of autonomous surface vehicles in the presence of actuator faults,uncertainty and external disturbances.Autonomous surface vehicles inevitably suffer from actuator faults in complex sea environments,which may cause existing obstacle avoidance strategies to fail.To reduce the influence of actuator faults,an improved artificial potential function is constructed by introducing the lower bound of actuator efficiency factors.The nonlinear state observer,which only depends on measurable position information of the autonomous surface vehicle,is used to address uncertainties and external disturbances.By using a backstepping technique and adaptive mechanism,a path-following control strategy with obstacle avoidance and fault tolerance is designed which can ensure that the tracking errors converge to a small neighborhood of zero.Compared with existing results,the proposed control strategy has the capability of obstacle avoidance and fault tolerance simultaneously.Finally,the comparison results through simulations are given to verify the effectiveness of the proposed method.
文摘The transition to sustainable energy systems is one of the defining challenges of our time, necessitating innovations in how we generate, distribute, and manage electrical power. Micro-grids, as localized energy hubs, have emerged as a promising solution to integrate renewable energy sources, ensure energy security, and improve system resilience. The Autonomous multi-factor Energy Flow Controller (AmEFC) introduced in this paper addresses this need by offering a scalable, adaptable, and resilient framework for energy management within an on-grid micro-grid context. The urgency for such a system is predicated on the increasing volatility and unpredictability in energy landscapes, including fluctuating renewable outputs and changing load demands. To tackle these challenges, the AmEFC prototype incorporates a novel hierarchical control structure that leverages Renewable Energy Sources (RES), such as photovoltaic systems, wind turbines, and hydro pumps, alongside a sophisticated Battery Management System (BMS). Its prime objective is to maintain an uninterrupted power supply to critical loads, efficiently balance energy surplus through hydraulic storage, and ensure robust interaction with the main grid. A comprehensive Simulink model is developed to validate the functionality of the AmEFC, simulating real-world conditions and dynamic interactions among the components. The model assesses the system’s reliability in consistently powering critical loads and its efficacy in managing surplus energy. The inclusion of advanced predictive algorithms enables the AmEFC to anticipate energy production and consumption trends, integrating weather forecasting and inter-controller communication to optimize energy flow within and across micro-grids. This study’s significance lies in its potential to facilitate the seamless incorporation of RES into existing power systems, thus propelling the energy sector towards a more sustainable, autonomous, and resilient future. The results underscore the potential of such a system to revolutionize energy management practices and highlight the importance of smart controller systems in the era of smart grids.
