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Towards resilient average consensus in multi-agent systems:a detection and compensation approach

Frontiers of Information Technology & Electronic Engineering 2024年第2期25卷 182-196页

作者： Chongrong FANG Wenzhe ZHENG Zhiyu HE Jianping HE Chengcheng ZHAO Jingpei WANG Department of Automation Shanghai Jiao Tong UniversityShanghai200240China State Key Laboratory of Industrial Control Technology Zhejiang UniversityHangzhou310027China Technology and Engineering Center for Space Utilization Chinese Academy of SciencesBeijing100094China

Consensus is one of the fundamental distributed control technologies for collaboration in multi-agent systems such as collaborative handling in intelligent manufacturing.In this paper,we study the problem of resilient average consensus for multi-agent systems with misbehaving nodes.To protect consensus value from being influenced by misbehaving nodes,we address this problem by detecting misbehaviors,mitigating the corresponding adverse impact,and achieving the resilient average consensus.General types of misbehaviors are considered,including attacks,accidental faults,and link failures.We characterize the adverse impact of misbehaving nodes in a distributed manner via two-hop communication information and develop a deterministic detection compensation based consensus(D-DCC)algorithm with a decaying fault-tolerant error bound.Considering scenarios wherein information sets are intermittently available due to link failures,a stochastic extension named stochastic detection compensation based consensus(S-DCC)algorithm is proposed.We prove that D-DCC and S-DCC allow nodes to asymptotically achieve resilient accurate average consensus and unbiased resilient average consensus in a statistical sense,respectively.Then,the Wasserstein distance is introduced to analyze the accuracy of S-DCC.Finally,extensive simulations are conducted to verify the effectiveness of the proposed algorithms.

关键词： Resilient consensus Multi-agent systems Malicious attacks Detection compensation

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compensation of body shake errors in terahertz beam scanning single frequency holography for standoff personnel screening

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Chinese Physics B 2016年第8期25卷 437-442页

作者：刘玮李超孙兆阳赵宇吴世有方广有 Key Laboratory of Electromagnetic Radiation and Sensing Technology Institute of Electronics Chinese Academy of Sciences Beijing 100190 China Electric Power Research Institute of State Grid Beijing Electric Power Company Beijing 100161 China

In the terahertz（THz） band, the inherent shake of the human body may strongly impair the image quality of a beam scanning single frequency holography system for personnel screening. To realize accurate shake compensation in imaging processing, it is quite necessary to develop a high-precision measure system. However, in many cases, different parts of a human body may shake to different extents, resulting in greatly increasing the difficulty in conducting a reasonable measurement of body shake errors for image reconstruction. In this paper, a body shake error compensation algorithm based on the raw data is proposed. To analyze the effect of the body shake on the raw data, a model of echoed signal is rebuilt with considering both the beam scanning mode and the body shake. According to the rebuilt signal model, we derive the body shake error estimated method to compensate for the phase error. Simulation on the reconstruction of point targets with shake errors and proof-of-principle experiments on the human body in the 0.2-THz band are both performed to confirm the effectiveness of the body shake compensation algorithm proposed.

关键词： body shake compensation THz imaging single frequency holography beam scanning

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compensation trends of the angulation of first molars:retrospective study of 1403 malocclusion cases

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International Journal of Oral Science 2014年第3期6卷 175-181页

作者： Hong Su Bing Han Sa Li Bin Na Wen Ma Tian-Min Xu Department of Orthodontics School and Hospital of Stomatology Peking University Department of Stomatology Shenzhen People’s Hospital Graduate from School and Hospital of Stomatology Peking University Arrail International Dental Clinic

We investigated the compensatory trends of mesiodistal angulation of first molars in malocclusion cases. We compared differences in the angulation of first molars in different developmental stages, malocclusion classifications and skeletal patterns. The medical records and lateral cephalogrammes of 1 403 malocclusion cases taken before treatment were measured to evaluate compensation of molar angulation in relation to the skeletal jaw. The cases were stratified by age, Angle classification and skeletal patterns. Differences in the mesiodistal angulation of the first molars were compared among the stratifications. We observed three main phenomena. First,angulation of the upper first molar varied significantly with age and tipped most distally in cases aged,12 years and least distally in cases aged.16 years. The lower first molar did not show such differences. Second, in Angle Class II or skeletal Class II cases, the upper first molar was the most distally tipped, the lower first molar was the most mesially tipped, and opposite angulation compensation was observed in Class III cases. Third, in high-angle cases, the upper and lower first molars were the most distally tipped, and opposite angulation compensation was observed in low-angle cases. These data suggest that the angulation of the molars compensated for various growth patterns and malocclusion types. Hence, awareness of molar angulation compensation would help to adjust occlusal relationships, control anchorage and increase the chances of long-term stability.

关键词： Angle classification angulation compensation first molar growth stages malocclusion sagittal skeletal patterns verticalskeletal patterns

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Output feedback control with disturbancecompensation in nonlinear MIMO systems undermeasurement noises

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Journal of Control and Decision 2022年第1期9卷 35-44页

作者： Igor Furtat Pavel Gushchin Institute for Problems of Mechanical Engineering of the Russian Academy of Sciences(IPME RAS) St.-PetersburgRussia

A novel output feedback control law with disturbance compensation for nonlinear multiinputmulti-output (MIMO) time-invariant systems under measurement noises is proposed. Thedesigned control law, based on the noise and disturbance estimations, ensures the accuracy insteady state depending on the disturbance, only one component of noise vector and its firstderivatives. Therefore, the proposed algorithm is efficient under noises with large magnitudes.Sufficient conditions in terms of linear matrix inequalities (LMIs) provide a practical exponentialstability of the closed-loop system. The simulations illustrate an efficiency of the proposedmethod compared with some existing ones.

关键词： Nonlinear system disturbance measurement noise compensation S-procedure LMI

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A compensation circuit for the gain temperature drift of silicon photomultiplier tube

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Radiation Detection Technology and Methods 2023年第4期7卷 571-577页

作者： Chang-ge Zi Jin-fan Chang Ming-jie Yang Feng-fan Yang Yu-Sheng Wang Institute of High Energy Physics Chinese Academy of SciencesBeijing100049China University of Chinese Academy of Sciences Beijing100049China State Key Laboratory of Particle Detection and Electronics of China Beijing100049China Key Laboratory of Particle Astrophysics&Experimental Physics Division&Computing Center Institute of High Energy PhysicsChinese Academy of SciencesBeijing100049China TIANFU Cosmic Ray Research Center Chengdu610213SichuanChina

Background Silicon photomultiplier tube(SiPM)has been widely applied in high energy physics experiments.The wide field of view Cherenkov telescope array of Large High Altitude Air Shower Observatory(LHAASO)consists of 12 arrays of SiPMs.Each of the array includes 32*32 pixels.Large Array of imaging atmospheric Cherenkov Telescopes(LACT),the next generation of particle astrophysics experiment,will also adopt SiPM arrays.Purpose LACT will located at a high altitude,leading to a significant operating temperature variation of the SiPM.Since the gain of SiPM is temperature-sensitive,in order to keep it stable,compensation for the gain is necessary by adjusting the bias voltage of SiPM.Methods The compensation circuit provides the bias voltage of SiPM by using a high-voltage output Digital-to-Analog Converter and several high-voltage output amplifiers.To reduce the temperature drift of the gain,the compensation circuit adjust the bias voltage of SiPM according to the operating temperature.Results The compensation circuit supplies SiPM with an adjustable bias voltage from 0 to 80 V,and the adjustment step is 1.22 mV.When the output voltage of the compensation circuit is 64 V,the voltage ripple is 2.59 mV,and the temperature drift is 0.17 mV/℃.In the temperature range from−20 to 30℃,the compensation circuit reduces the gain temperature drift of SiPM to within 2%.

关键词： SiPM Gain compensation LACT

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Profile compensation for Single-Point Diamond Turning of Microlens Array

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Nanomanufacturing and Metrology 2022年第4期5卷 403-411页

作者： Zhiyue Wang Zaozao Chen Xinquan Zhang National Key Laboratory of Science and Technology on Micro/Nano Fabrication Shanghai Jiao Tong UniversityShanghai200240China School of Mechanical Engineering Shanghai Jiao Tong UniversityShanghai200240China

To improve the efficiency and consistency of machined microlens array using single-point diamond turning technology,a theoretical model of surface form error is proposed in this paper.Then,a compensation method for this model is studied.In the proposed tool equivalent tilt angle model,the microlens array is regarded as a freeform surface.The corresponding curvature radius of the surface at each cutting point along the cutting direction is calculated by establishing a slow slide servo cutting model.In the spatial form error model,the assumption is that surface form error has a linear relationship with z-axis maximum speed vz.An empirical linear equation is obtained and verified,with a maximum deviation of 0.4μm.Then,after machining,the surface form error is measured and processed using on-machine measurement.The theoretical and measured surface form errors are consistent.The surface form error is compensated in the machining program.The peak-to-valley value is reduced from 5.4 to 0.6μm after compensation.Findings show that the single-point diamond turning and compensation method for the microlens array presented in this paper can predict the surface form error and significantly improve machining accuracy and consistency.

关键词： Microlens array Single-point diamond turning Slow slide servo On-machine measurement compensation

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An FFT-Based High SNR MWC Back-End Architecture with Analog Low-Pass Filter compensation

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Chinese Journal of Electronics 2020年第3期29卷 563-573页

作者： LIU Sujuan LIU Lei Beijing University of Technology

We study the impacts of non-ideal filters in Modulated wideband converter(MWC). An analog filter compensating method is presented. The limitations of the conventional back-end of the advanced MWC is analyzed and an improved back-end based on Fast Fourier transform(FFT) is proposed. By setting proper length of the digital signal processed each time, the proposed system increases the recovery Signal-to-noise ratio(SNR)and significantly reduces the computation loads. The compensating operation is accurate to each frequency point and the expanding operation is simplified to a splitting of the frequency points. Numerical simulations demonstrate our proposed system against the ideal MWC with different filters. The results indicate that the recovery SNR of over 70 decibel is achieved with almost only one-tenth the computation complexity of the conventional MWC backend.

关键词： Compressed sensing Modulated wideband converter Fast Fourier transform Non-ideal low-pass filters compensation

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Performance analysis of series/parallel and dual side LCC compensation topologies of inductive power transfer for EV battery charging system

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Frontiers in Energy 2020年第1期14卷 166-179页

作者： P.Srinivasa Rao NAYAK Dharavath KISHAN Department of Electrical and Electronics Engineering National Institute of TechnologyTiruchirappalli620015India

In an inductive battery charging system,for better power transfer capability and attaining required power level,compensation is necessary.This paper analyzes series/parallel(S/P)and dual side inductorcapacitor-capacitor(LCC)compensation topologies for inductive power transfer of electric vehicle(EV)battery charging system.The design and modeling steps of inductive power transfer for electric vehicle battery charging system are presented.Besides,the equivalent electrical circuits are used to describe the circuit compensation topologies.The results convey that the efficiency of dual side LCC compensation is higher than that of S/P compensation at variable mutual inductance(misalignment).

关键词： series/parallel compensation electric vehicle(EV) dual side LCC compensation inductive power transfer

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Gene redundancy and gene compensation:An updated view

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Journal of Genetics and Genomics 2019年第7期46卷 329-333页

作者： Jinrong Peng College of Animal Sciences Zhejiang University

Gene knockdown approaches using antisense oligo nucleotides or analogs such as siRNAs and morpholinos have been widely adopted to study gene functions although the off-target issue has been always a concern in these studies.On the other hand,classic genetic analysis relies on the availability of loss-offunction or gain-of-function mutants.The fast development of genome editing technologies such as TALEN and CRISPR/Cas9 has greatly facilitated the generation of null mutants for the functional studies of target genes in a variety of organisms such as zebrafish.Surprisingly,an unexpected discrepancy was observed between morphant phenotype and mutant phenotype for many genes in zebrafish,i.e.,while the morphant often displays an obvious phenotype,the corresponding null mutant appears relatively normal or only exhibits a mild phenotype due to gene compensation.Two recent reports have partially answered this intriguing question by showing that a pre-mature termination codon and homologous sequence are required to elicit the gene compensation and the histone modifying complex COMPASS is involved in activating the expression of the compensatory genes.Here,I summarize these exciting new progress and try to redefine the concept of genetic compensation and gene compensation.

关键词： Gene redundancy Gene compensation Genetic compensation Non-sense-mediated RNA decay(NMD) COMPASS complex Genetic model system Zebrafish Capn3 Upf3a

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A Variable-Parameter-Model-Based Feedforward compensation Method for Tracking Control

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IEEE/CAA Journal of Automatica Sinica 2020年第3期7卷 693-701页

作者： Dailin Zhang Zining Wang Masayoshi Tomizuka School of Mechanical Science and Engineering State Key Laboratory of Digital Manufacturing Equipment and TechnologyHuazhong University of Science and TechnologyWuhan 430074China Department of Mechanical Engineering University of California at BerkeleyBerkeley CA 94720 USA IEEE

Base on the accurate inverse of a system, the feedforward compensation method can compensate the tracking error of a linear system dramatically. However, many control systems have complex dynamics and their accurate inverses are difficult to obtain. In the paper, a variable parameter model is proposed to describe a system and a multi-step adaptive seeking approach is used to obtain its parameters in real time. Based on the proposed model, a variable-parameter-model-based feedforward compensation method is proposed, and a disturbance observer is used to overcome the influence of the model uncertainty. Theoretical analysis and simulation results show that the variable-parametermodel-based feedforward compensation method can obtain better performance than the traditional feedforward compensation.

关键词： Disturbance observer feedforward compensation iterative learning control parameter identification system model

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