提出一种具有自适应预测时域的输入重构弹性自触发模型预测控制(self-triggered model predictive control,ST-MPC)算法,平衡机器人系统网络安全和资源受限之间的矛盾.首先,基于自触发非周期采样特征和虚假数据注入(false data injectio...提出一种具有自适应预测时域的输入重构弹性自触发模型预测控制(self-triggered model predictive control,ST-MPC)算法,平衡机器人系统网络安全和资源受限之间的矛盾.首先,基于自触发非周期采样特征和虚假数据注入(false data injection,FDI)攻击模型设计输入重构机制,确保机器人系统可快速重构,能削弱FDI攻击影响的可行控制序列.其次,结合输入重构机制设计关键数据选取条件和预测时域调节机制,从实现最大化触发间隔和降低优化问题复杂度两个方面降低资源消耗.然后,基于输入重构和预测时域调节机制设计弹性ST-MPC镇定控制算法,并推导FDI攻击下算法的可行性和闭环系统稳定性条件.最后,通过仿真实验验证所提出算法能够在抵御FDI攻击前提下保持较好的控制性能及资源利用率.展开更多
为应对可再生能源大量并网和网络传输安全问题,研究了异构多区域电力系统HMAPSs(heterogeneous multi-area power systems)在切换网络攻击下的的负荷频率控制。首先,提出了一种带有能量受限的具有非周期拒绝服务DoS(denial of service)...为应对可再生能源大量并网和网络传输安全问题,研究了异构多区域电力系统HMAPSs(heterogeneous multi-area power systems)在切换网络攻击下的的负荷频率控制。首先,提出了一种带有能量受限的具有非周期拒绝服务DoS(denial of service)攻击和随机虚假数据注入FDI(false data injection)攻击在时间域上切换的切换网络攻击模型。接着,设计了一种基于确认ACK(acknowledgement)机制的弹性事件触发方案。进一步,通过Lyapunov稳定性理论和切换系统方法,导出了切换网络攻击下HMAPSs的均方指数稳定性判据。最后,仿真实验结果验证了所提方法的有效性。展开更多
Sense of touch is one of the important information from environment for human to live in daily life. Haptic interface is a hot topic in virtual reality but almost all of the devices focus on fingers and hands as targe...Sense of touch is one of the important information from environment for human to live in daily life. Haptic interface is a hot topic in virtual reality but almost all of the devices focus on fingers and hands as targets. In this paper, we focus on the foot haptic device with magnetic flied sensitive elastomer （MSE）. We developed a haptic unit used as a magnetic field generator for MSE and contact point of foot haptic device. MSE samples mixed with 80 wt% carbonyl iron particles were prepared and evaluated with the developed magnet. Experimental results show that the mechanical property of the haptic unit can be modeled with the adjustable friction element. This property has a good advantage for the haptic unit.展开更多
文摘提出一种具有自适应预测时域的输入重构弹性自触发模型预测控制(self-triggered model predictive control,ST-MPC)算法,平衡机器人系统网络安全和资源受限之间的矛盾.首先,基于自触发非周期采样特征和虚假数据注入(false data injection,FDI)攻击模型设计输入重构机制,确保机器人系统可快速重构,能削弱FDI攻击影响的可行控制序列.其次,结合输入重构机制设计关键数据选取条件和预测时域调节机制,从实现最大化触发间隔和降低优化问题复杂度两个方面降低资源消耗.然后,基于输入重构和预测时域调节机制设计弹性ST-MPC镇定控制算法,并推导FDI攻击下算法的可行性和闭环系统稳定性条件.最后,通过仿真实验验证所提出算法能够在抵御FDI攻击前提下保持较好的控制性能及资源利用率.
文摘为应对可再生能源大量并网和网络传输安全问题,研究了异构多区域电力系统HMAPSs(heterogeneous multi-area power systems)在切换网络攻击下的的负荷频率控制。首先,提出了一种带有能量受限的具有非周期拒绝服务DoS(denial of service)攻击和随机虚假数据注入FDI(false data injection)攻击在时间域上切换的切换网络攻击模型。接着,设计了一种基于确认ACK(acknowledgement)机制的弹性事件触发方案。进一步,通过Lyapunov稳定性理论和切换系统方法,导出了切换网络攻击下HMAPSs的均方指数稳定性判据。最后,仿真实验结果验证了所提方法的有效性。
文摘Sense of touch is one of the important information from environment for human to live in daily life. Haptic interface is a hot topic in virtual reality but almost all of the devices focus on fingers and hands as targets. In this paper, we focus on the foot haptic device with magnetic flied sensitive elastomer （MSE）. We developed a haptic unit used as a magnetic field generator for MSE and contact point of foot haptic device. MSE samples mixed with 80 wt% carbonyl iron particles were prepared and evaluated with the developed magnet. Experimental results show that the mechanical property of the haptic unit can be modeled with the adjustable friction element. This property has a good advantage for the haptic unit.
