INSA Hauts-de-France

This paper addresses the fixed-time leader-follower consensus problem for high-order integrator multiagent systems subject to matched external disturbances. A new cascade control structure, based on a fixed-time distributed observer, is developed to achieve the fixed-time consensus tracking control. A simulation example is included to show the efficacy and the performance of the proposed control structure with respect to different initial conditions.

Abstract The Metaverse has been the centre of attraction for educationists for quite some time. This field got renewed interest with the announcement of social media giant Facebook as it rebranding and positioning it as Meta. While several studies conducted literature reviews to summarize the findings related to the Metaverse in general, no study to the best of our knowledge focused on systematically summarizing the finding related to the Metaverse in education. To cover this gap, this study conducts a systematic literature review of the Metaverse in education. It then applies both content and bibliometric analysis to reveal the research trends, focus, and limitations of this research topic. The obtained findings reveal the research gap in lifelogging applications in educational Metaverse. The findings also show that the design of Metaverse in education has evolved over generations, where generation Z is more targeted with artificial intelligence technologies compared to generation X or Y. In terms of learning scenarios, there have been very few studies focusing on mobile learning, hybrid learning, and micro learning. Additionally, no study focused on using the Metaverse in education for students with disabilities. The findings of this study provide a roadmap of future research directions to be taken into consideration and investigated to enhance the adoption of the Metaverse in education worldwide, as well as to enhance the learning and teaching experiences in the Metaverse.

More than 40 years after fuzzy logic control appeared as an effective tool to deal with complex processes, the research on fuzzy control systems has constantly evolved. Mamdani fuzzy control was originally introduced as a model-free control approach based on expert?s experience and knowledge. Due to the lack of a systematic framework to study Mamdani fuzzy systems, we have witnessed growing interest in fuzzy model-based approaches with Takagi-Sugeno fuzzy systems and singleton-type fuzzy systems (also called piecewise multiaffine systems) over the past decades. This paper reviews the key features of the three above types of fuzzy systems. Through these features, we point out the historical rationale for each type of fuzzy systems and its current research mainstreams. However, the focus is put on fuzzy model-based approaches developed via Lyapunov stability theorem and linear matrix inequality (LMI) formulations. Finally, our personal viewpoint on the perspectives and challenges of the future fuzzy control research is discussed.

Cells have evolved multiple mechanisms to apprehend and adapt finely to their environment. Here we report a new cellular ability, which we term "curvotaxis" that enables the cells to respond to cell-scale curvature variations, a ubiquitous trait of cellular biotopes. We develop ultra-smooth sinusoidal surfaces presenting modulations of curvature in all directions, and monitor cell behavior on these topographic landscapes. We show that adherent cells avoid convex regions during their migration and position themselves in concave valleys. Live imaging combined with functional analysis shows that curvotaxis relies on a dynamic interplay between the nucleus and the cytoskeleton-the nucleus acting as a mechanical sensor that leads the migrating cell toward concave curvatures. Further analyses show that substratum curvature affects focal adhesions organization and dynamics, nuclear shape, and gene expression. Altogether, this work identifies curvotaxis as a new cellular guiding mechanism and promotes cell-scale curvature as an essential physical cue.

This paper presents a novel shared control concept for lane keeping assist (LKA) systems of intelligent vehicles. The core idea is to combine system perception with robust control so that the proposed strategy can successfully share the control authority between human drivers and the LKA system. This shared control strategy is composed of two parts, namely an operational part and a tactical part. Two local optimal-based controllers with two predefined objectives (i.e., lane keeping and conflict management) are designed in the operational part. The control supervisor in the tactical part aims to provide a decision-making signal which allows for a smooth transition between two local controllers. The control design is based on a human-in-the-loop vehicle system to improve the mutual driver-automation understanding, thus reducing or avoiding the conflict. The closed-loop stability of the whole driver-vehicle system can be rigorously guaranteed using the Lyapunov stability argument. In particular, the control design is formulated as an LMI optimization which can be easily solved with numerical solvers. The effectiveness of the proposed shared control method is clearly demonstrated through various hardware experiments with human drivers.

This paper presents a new shared control method for lane keeping assist (LKA) systems of intelligent vehicles. The proposed method allows the LKA system to effectively share the control authority with a human driver by avoiding or minimizing the conflict situations between these two driving actors. To realize the shared control scheme, the unpredictable driver-automation interaction is explicitly taken into account in the control design via a fictive driver activity variable. This latter is judiciously introduced into the driver-road-vehicle system to represent the driver's need for assistance in accordance with his/her real-time driving activity. Using Lyapunov stability arguments, Takagi-Sugeno fuzzy model-based design conditions are derived to handle not only the time-varying driver activity variable, but also a large variation range of vehicle speed. Both simulation and hardware experiments are presented to demonstrate that the proposed control strategy together with a linear matrix inequality design formulation provide an effective tool to deal with the challenging shared steering control issue. In particular, a fuzzy output feedback control scheme is exploited to achieve the shared control goal without at least two important vehicle sensors. These physical sensors are widely employed in previous works to measure the lateral speed and the steering rate for the control design and real-time implementation. The successful results of this idea of sensor-reduction control has an obvious interest from practical viewpoint.

This paper addresses the driver-automation shared driving control for lane keeping and obstacle avoidance of automated vehicles in highway traffic. The proposed shared control framework is established from a novel cooperative trajectory planning algorithm and a fuzzy steering controller. Based on polynomial functions, the cooperative trajectory planning is formulated by judiciously exploiting the information on the maneuver decision, the conflict management, and the driver monitoring. As a result, the planned trajectory of the vehicle is continuously adapted according to the driver's actions and intentions. By means of Lyapunov stability arguments, sufficient conditions in terms of linear matrix inequalities are given to design a Takagi-Sugeno fuzzy model-based controller. This robust steering controller provides a necessary assistive torque to track the planned vehicle trajectory. The new shared driving control framework allows reducing effectively the driver-automation conflict issue while offering the driver more freedom to swerve within a predefined lane. The advantages of the proposed approach are evaluated using both objective and subjective results, experimentally obtained from several human drivers and an advanced interactive dynamic driving simulator.

The Internet of Things (IoT) has continued gaining in popularity and importance in everyday life in recent years. However, this development does not only present advantages. Indeed, due to the number of sensitive and private data produced by IoT systems, they have become the new privileged targets for cyberattackers. At the same time, Machine Learning (ML) has gained a phenomenal success in various fields like telecommunications, transport or cybersecurity. Nonetheless, the application of ML can cause significant damage when put in the hands of an attacker. Contrary to many previous works, we do not focus on the potential contributions of ML in the IoT security systems. Indeed, this survey aims to provide a comprehensive overview of ML approaches to enable more effective and less detectable attacks. Thereby, the purpose of this article is to identify and discuss the advantages of the elaboration of ML attacks and the possible solutions already evoked in the literature. Firstly, we provide an identification of the main threats and potential attacks on IoT networks. Then, we investigate on cyberattacks integrating machine learning algorithms during the last few years and we provide future research directions, especially for jamming, side channel, false data injection and adversarial machine learning attacks.

With more and more stringent requirements on driving comfort, safety and fuel economy, polytopic LPV approaches have become popular in intelligent automotive control systems due to their merits in dealing with the complex nonlinearities. This survey starts with a review on control theory of polytopic LPV systems. Stability analysis and controller design are provided with techniques in obtaining less conservative results. Then, some key applications in vehicle dynamics control are provided. Several LPV models concerning the vertical dynamics, lateral dynamics and integrated dynamics are introduced. Different polytopic LPV control designs are summarized taking various settings on time-varying parameters into account. Moreover, polytopic LPV approaches in vehicle path following and powertrain control are concluded, including the applications in internal combustion engines, electric vehicles and aftertreatment systems. Finally, from recent advances on polytopic LPV control theory and automotive applications, future research directions and related challenges are discussed.

This paper addresses the control problem of heterogeneous vehicle platoons subject to disturbances and modeling errors. The objective is to guarantee spatial-geometry constraints of vehicles in a platoon. We deal with the case where a predecessor-leader following (PLF) communication topology is used and heterogeneous vehicle dynamics is subject to disturbances. To estimate the lumped disturbance, the technique of unknown input proportional multiple-integral (PMI) observer is employed such that both the state and the disturbance are simultaneously estimated. Moreover, tube-based model predictive control (TMPC) is used and the corresponding control law is composed of a feed-forward term, a feedback term, and a disturbance compensation term. The gains in the integrated control strategy are optimized by utilizing the particle swarm optimization (PSO) algorithm with an H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> performance index of an augmented error system. It is proved that the deviations between the actual system and the nominal system are bounded in a robustly positively invariant (RPI) set, that is, the main objective is guaranteed. With the proposed control strategy, simulations and comparisons are carried out. We can see that the control performance of the proposed strategy is significantly improved while the computational time is reduced compared with existing methods.

The fifth-generation (5G) of cellular networks and beyond requires massive connectivity, high data rates, and low latency. Millimeter-wave (mmWave) communications is a key 5G enabling technology to meet these requirements thanks to its technical potentials that can be integrated with other 5G enablers such as ultra-dense networks (UDNs) and massive multiple-input-multiple-output (massive MIMO) systems. However, some technical challenges, which are mainly related to specific characteristics of mmWave propagation, must be addressed. All the aforementioned points will be discussed in this article before presenting the different existing architectures of massive MIMO mmWave systems. This survey mainly aims at presenting a comprehensive state-of-the-art review of the channel estimation techniques associated with the different mmWave system architectures. Subsequently, we will provide a comparison among existing solutions in terms of their respective benefits and shortcomings. Finally, some open directions of research are discussed, and challenges that wait to be met are pointed out.

In this paper, decentralized motion planning and scheduling of automated guided vehicles (AGVs) in a flexible manufacturing system is proposed. A motion planner is combined with a scheduler allowing each AGV to update its destination resource during navigation in order to complete the transported product. The proposed strategy is based on two steps. The first step consists in planning a presumed trajectory to avoid collision conflicts previously detected by a central supervisor, enabling more appropriate decentralized scheduling by AGVs. The presumed trajectories, which represent the intentions of AGVs, are then exchanged with neighboring AGVs. The second step uses the presumed trajectories of neighbors to compute a collision-free trajectory according to the priority policy. Numerical and experimental results are provided to show the pertinence and the feasibility of the proposed strategy.

In this article, we address the simultaneous estimation problem of the lateral speed, the steering input, and the effective engine torque, which play a fundamental role in vehicle handling, stability control, and fault diagnosis of autonomous ground vehicles. Due to the involved longitudinal-lateral coupling dynamics and the presence of unknown inputs (UIs), a new nonlinear observer design technique is proposed to guarantee the asymptotic estimation performance. To this end, we make use of a specific Takagi-Sugeno (TS) fuzzy representation with nonlinear consequents to exactly model the nonlinear vehicle dynamics within a compact set of the vehicle state. This TS fuzzy modeling not only allows reducing significantly the real-time computational effort in estimating the vehicle variables but also enables an effective way to deal with unmeasured nonlinearities. Moreover, via a generalized Luenberger observer structure, the UI decoupling can be achieved without requiring a priori UI information. Using Lyapunov stability arguments, the UI observer design is reformulated as an optimization problem under linear matrix inequalities, which can be effectively solved with standard numerical solvers. The effectiveness of the proposed TS fuzzy UI observer design is demonstrated with real-time hardware-in-the-loop experiments.

Real-time digital twin technology can enhance traffic safety of intelligent vehicular system and provide scientific strategies for intelligent traffic management. At the same time, real-time digital twin depends on strong computation from vehicle side to cloud side. Aiming at the problem of delay caused by the dual dependency of timing and data between computation tasks, and the problem of unbalanced load of mobile edge computing servers, a parallel intelligence-driven resource scheduling scheme for computation tasks with dual dependencies of timing and data in the intelligent vehicular systems (IVS) is proposed. First, the delay and energy consumption models of each computing platform are formulated by considering the dual dependence of sub-tasks. Then, based on the bidding idea of the auction algorithm, the allocation model of computing resources and communication resources is defined, and the load balance model of the mobile edge computing (MEC) server cluster is formulated according to the load status of each MEC server. Secondly, joint optimization problem for offloading, resource allocation, and load balance is formulated. Finally, an adaptive particle swarm with genetic algorithm is proposed to solve the optimization problem. The simulation results show that the proposed scheme can reduce the total cost of the system while satisfying the maximum tolerable delay, and effectively improve the load balance of the edge server cluster.

Fuzzy control has become one of the most effective tools for dealing with complex engineering processes. Over the years, research on fuzzy control systems has continuously evolved, witnessing numerous theoretical contributions and successful real-world achievements. The concept of model-free or data-driven fuzzy control was initially introduced with specific heuristics incorporated into the design. Due to the lack of a systematic framework for stability analysis in model-free fuzzy control, the significance of model-based fuzzy control has grown extensively. This approach ensures systematic design based on precise fuzzy models of the process. This survey focuses on the fundamental aspects of three prominent classes of fuzzy control. First, the paper commences with a review of Takagi–Sugeno fuzzy control systems. This includes discussions on stability analysis and controller design, exploring techniques to derive less conservative and/or complex results from a numerical burden perspective. Second, various aspects of data-driven fuzzy control are analysed in detail including a classification of the most popular data-driven control techniques and their combination with fuzzy control; a representative Iterative Feedback Tuning-based fuzzy controller is described. Third, this survey explores the fundamental aspects of evolving fuzzy control, with a particular emphasis on the significance of stability and control laws, which are not usually the primary focus of evolving intelligent systems research. For each discussed class of fuzzy control, the paper provides a selective list of mechatronics applications to illustrate their performance effectiveness, emphasising research papers published after 2011. Finally, drawing from recent advances in fuzzy control theory and mechatronics applications, future research directions and associated challenges are discussed.

Here, a new spectrum sensing method, called mean-to-square extreme eigenvalue (MSEE), is proposed. Considering a multiple antenna communication system, the proposal is drawn from the arithmetic-to-geometric mean (AGM) algorithm using only the smallest and the largest eigenvalues of the covariance matrix of the received signal. The aim of MSEE is to avoid the heavy computational costs of AGM method. First, based on the random matrix theory, a theoretical development to set the threshold of the proposal is provided. Then, the validity of the expression is verified by simulations. Finally, simulation results show an interesting performance of MSEE compared with several spectrum sensing methods in the literature.

This paper aims to provide a methodology for generating autonomous and non-autonomous systems with a fixed-time stable equilibrium point where an Upper Bound of the Settling Time (UBST) is set a priori as a parameter of the system. Furthermore, some conditions for such an upper bound to be the least one are provided. This construction procedure is a relevant contribution compared with traditional methodologies for generating fixed-time algorithms satisfying time constraints since current estimates of an UBST may be too conservative. The proposed methodology is based on time-scale transformations and Lyapunov analysis. It allows the presentation of a broad class of fixed-time stable systems with predefined UBST, placing them under a common framework with existing methods using time-varying gains. To illustrate the effectiveness of our approach, we generate novel, autonomous and non-autonomous, fixed-time stable algorithms with predefined least UBST.

This article investigates a new observer design method to estimate simultaneously both the vehicle dynamics and the unknown driver's torque. To take into account the time-varying nature of the longitudinal speed, the vehicle system is transformed into a polytopic linear parameter-varying (LPV) model with a reduced level of numerical complexity. Based on Lyapunov stability arguments, we prove that the estimation errors of the system state and of the unknown input (UI) are norm-bounded, which can be made arbitrarily small by minimizing a guaranteed L <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> -gain performance. The design of the LPV UI observer is reformulated as an linear matrix inequality-based optimization which can be effectively solved via semidefinite programming. Extensive hardware experiments are carried out under various driving test scenarios to confirm the effectiveness of the proposed observer design. In particular, a comparative study is performed with a widely adopted observer to emphasize the practical interests of the new estimation solution.

Nowadays the migration to green manufacturing is the interest of many companies. Taken into account sustainability in all industrial activities is the main goal of sustainable intelligent manufacturing system. In recent years, the demand for energy and the investment in energy have continued to increase. This work addresses reducing energy consumption when resolving dynamic flexible job-shop scheduling problem under machine breakdowns. A new rescheduling method is proposed to find a reschedule with minimum makespan and with less global energy consumption. The predictive reactive approach is based Particle Swarm Optimization method.

Resource-constrained CNN implementations are subject to various reliability threats. This article provides an exploratory study investigating the impact of faults (soft errors modeled as bit flips) across the parameters of CNNs and the impact on the CNN weights, which can be used to create reliability-aware design guidelines.