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Michael Z. Q. Chen

Publications and source records attributed to Michael Z. Q. Chen.

17 recordsLinked to original sources
arXiv2023

Series-Parallel Mechanical Circuit Synthesis of a Positive-Real Third-Order Admittance Using at Most Six Passive Elements for Inerter-Based Control

This paper investigates the circuit synthesis problem for a certain positive-real bicubic (third-order) admittance with a simple pole at the origin (s = 0) to be realizable as a one-port series-parallel damper-spring-inerter circuit consisting of at most six elements, where the results can be directly applied to the design and physical realization of inerter-based control systems. Necessary and sufficient conditions for such a specific bicubic admittance to be realizable by a one-port passive series-parallel mechanical circuit containing at most six elements are derived, and a group of mechanical circuit configurations covering the whole set of realizability conditions are presented together with element value expressions. The conditions and element value expressions are related to the admittance coefficients and the roots of certain algebraic equations. The circuit synthesis results of this paper are illustrated by several numerical examples including the control system design of a train suspension system. Any realization circuit in this paper contains much fewer passive elements than the ten-element realization circuit by the well-known Bott-Duffin circuit synthesis approach. The investigations of this paper can contribute to the theory of circuit synthesis and many other related fields.

math.OC↗
arXiv2018

TROVE Feature Detection for Online Pose Recovery by Binocular Cameras

This paper proposes a new and efficient method to estimate 6-DoF ego-states: attitudes and positions in real time. The proposed method extract information of ego-states by observing a feature called "TROVE" (Three Rays and One VErtex). TROVE features are projected from structures that are ubiquitous on man-made constructions and objects. The proposed method does not search for conventional corner-type features nor use Perspective-n-Point (PnP) methods, and it achieves a real-time estimation of attitudes and positions up to 60 Hz. The accuracy of attitude estimates can reach 0.3 degrees and that of position estimates can reach 2 cm in an indoor environment. The result shows a promising approach for unmanned robots to localize in an environment that is rich in man-made structures.

cs.CV↗
arXiv2017

Controllability of Heterogeneous Multi-Agent Networks

The existing results on controllability of multi-agents networks are mostly based on homogeneous nodes. This paper focuses on controllability of heterogeneous multi-agent networks, where the agents are modeled as two types. One type is that the agents are of the same high-order dynamics, and the interconnection topologies of the information flow in different orders are supposed to be different. It is proved that a heterogeneous-topology network is controllable if and only if the first-order information topology is leader-follower connected, and there exists a Laplacian matrix, which is a linear combination of the Laplacian matrices of each order information, whose corresponding topology is controllable. The other type is that the agents are of generic linear dynamics, and the dynamics are supposed to be heterogeneous. A necessary and sufficient condition for controllability of heterogeneous-dynamic networks is that each agent contains a controllable dynamic part, and the interconnection topology of the network is leader-follower connected. If some dynamics of the agents are not controllable, the controllability between the agents and the whole network is also studied by introducing the concept of eigenvector-uncontrollable. Different illustrative examples are provided to demonstrate the effectiveness of the theoretical results in this paper.

math.OC↗
arXiv2016

Bridging the Gap between Individuality and Joint Improvisation in the Mirror Game

Extensive experiments in Human Movement Science suggest that solo motions are characterized by unique features that define the individuality or motor signature of people. While interacting with others, humans tend to spontaneously coordinate their movement and unconsciously give rise to joint improvisation. However, it has yet to be shed light on the relationship between individuality and joint improvisation. By means of an ad-hoc virtual agent, in this work we uncover the internal mechanisms of the transition from solo to joint improvised motion in the mirror game, a simple yet effective paradigm for studying interpersonal human coordination. According to the analysis of experimental data, normalized segments of velocity in solo motion are regarded as individual motor signature, and the existence of velocity segments possessing a prescribed signature is theoretically guaranteed. In this work, we first develop a systematic approach based on velocity segments to generate \emph{in-silico} trajectories of a given human participant playing solo. Then we present an online algorithm for the virtual player to produce joint improvised motion with another agent while exhibiting some desired kinematic characteristics, and to account for movement coordination and mutual adaptation during joint action tasks. Finally, we demonstrate that the proposed approach succeeds in revealing the kinematic features transition from solo to joint improvised motions, thus revealing the existence of a tight relationship between individuality and joint improvisation.

q-bio.NC↗
arXiv2016

Breaking an image encryption algorithm based on chaos

Recently, a chaos-based image encryption algorithm called MCKBA (Modified Chaotic-Key Based Algorithm) was proposed. This paper analyzes the security of MCKBA and finds that it can be broken with a differential attack, which requires only four chosen plain-images. Performance of the attack is verified by experimental results. In addition, some defects of MCKBA, including insensitivity with respect to changes of plain-image/secret key, are reported.

cs.CR↗
arXiv2016

Breaking a chaotic image encryption algorithm based on modulo addition and XOR operation

This paper re-evaluates the security of a chaotic image encryption algorithm called MCKBA/HCKBA and finds that it can be broken efficiently with two known plain-images and the corresponding cipher-images. In addition, it is reported that a previously proposed breaking on MCKBA/HCKBA can be further improved by reducing the number of chosen plain-images from four to two. The two attacks are both based on the properties of solving a composite function involving the carry bit, which is composed of the modulo addition and the bitwise OR operations. Both rigorous theoretical analysis and detailed experimental results are provided.

cs.CR↗
arXiv2016

Breaking a novel image encryption scheme based on improved hyperchaotic sequences

Recently, a novel image encryption scheme based on improved hyperchaotic sequences was proposed. A pseudo-random number sequence, generated by a hyper-chaos system, is used to determine two involved encryption functions, bitwise exclusive or (XOR) operation and modulo addition. It was reported that the scheme can be broken with some pairs of chosen plain-images and the corresponding cipherimages. This paper re-evaluates the security of the encryption scheme and finds that the encryption scheme can be broken with only one known plain-image. The performance of the known-plaintext attack, in terms of success probability and computation load, become even much better when two known plain-images are available. In addition, security defects on insensitivity of the encryption result with respect to changes of secret key and plain-image are also reported.

cs.CR↗
arXiv2016

Solving the Dynamic Correlation Problem of the Susceptible-Infected-Susceptible Model on Networks

The Susceptible-Infected-Susceptible model is a canonical model for emerging disease outbreaks. Such outbreaks are naturally modeled as taking place on networks. A theoretical challenge in network epidemiology is the dynamic correlations coming from that if one node is occupied, or infected (for disease spreading models), then its neighbors are likely to be occupied. By combining two theoretical approaches---the heterogeneous mean-field theory and the effective degree method---we are able to include these correlations in an analytical solution of the SIS model. We derive accurate expressions for the average prevalence (fraction of infected) and epidemic threshold. We also discuss how to generalize the approach to a larger class of stochastic population models.

physics.soc-ph↗
arXiv2015

Fully Distributed Adaptive Controllers for Cooperative Output Regulation of Heterogeneous Linear Multi-agent Systems with Directed Graphs

This paper considers the cooperative output regulation problem for linear multi-agent systems with a directed communication graph, heterogeneous linear subsystems, and an exosystem whose output is available to only a subset of subsystems. Both the cases with nominal and uncertain linear subsystems are studied. For the case with nominal linear subsystems, a distributed adaptive observer-based controller is designed, where the distributed adaptive observer is implemented for the subsystems to estimate the exogenous signal. For the case with uncertain linear subsystems, the proposed distributed observer and the internal model principle are combined to solve the robust cooperative output regulation problem. Compared with the existing works, one main contribution of this paper is that the proposed control schemes can be designed and implemented by each subsystem in a fully distributed fashion for general directed graphs. For the special case with undirected graphs, a distributed output feedback control law is further presented.

math.OC↗
arXiv2009

Effective leadership in competition

Among natural biological flocks/swarms or even mass social activities, when the collective behaviors of the followers has been dominated by the moving direction or opinion of one leader group, it seems very difficult for later-coming leaders to reverse the orientation of the mass followers, especially when they are in quantitative minority. This Letter reports a counter-intuitive phenomenon, Following the Later-coming Minority, provided that the late-comers obey a favorable distribution pattern which enables them to spread their influence to as many followers as possible in a given time and to accumulate enough power to govern these followers. We introduce a discriminant index to quantify the whole group's orientation under competing leadership, which helps to design an economic way for the minority later-coming leaders to defeat the dominating majority leaders solely by optimizing their distribution pattern. Our investigation provides new insights into the effective leadership in biological systems, with meaningful implication to social and industrial applications.

physics.soc-ph↗
arXiv2008

Predictive protocol of flocks with small-world connection pattern

By introducing a predictive mechanism with small-world connections, we propose a new motion protocol for self-driven flocks. The small-world connections are implemented by randomly adding long-range interactions from the leader to a few distant agents, namely pseudo-leaders. The leader can directly affect the pseudo-leaders, thereby influencing all the other agents through them efficiently. Moreover, these pseudo-leaders are able to predict the leader's motion several steps ahead and use this information in decision making towards coherent flocking with more stable formation. It is shown that drastic improvement can be achieved in terms of both the consensus performance and the communication cost. From the industrial engineering point of view, the current protocol allows for a significant improvement in the cohesion and rigidity of the formation at a fairly low cost of adding a few long-range links embedded with predictive capabilities. Significantly, this work uncovers an important feature of flocks that predictive capability and long-range links can compensate for the insufficiency of each other. These conclusions are valid for both the attractive/repulsive swarm model and the Vicsek model.

physics.data-an↗