Linear temporal logic(LTL)is an intuitive and expressive language to specify complex control tasks,and how to design an efficient control strategy for LTL specification is still a challenge.In this paper,we implement ...Linear temporal logic(LTL)is an intuitive and expressive language to specify complex control tasks,and how to design an efficient control strategy for LTL specification is still a challenge.In this paper,we implement the dynamic quantization technique to propose a novel hierarchical control strategy for nonlinear control systems under LTL specifications.Based on the regions of interest involved in the LTL formula,an accepting path is derived first to provide a high-level solution for the controller synthesis problem.Second,we develop a dynamic quantization based approach to verify the realization of the accepting path.The realization verification results in the necessity of the controller design and a sequence of quantization regions for the controller design.Third,the techniques of dynamic quantization and abstraction-based control are combined together to establish the local-to-global control strategy.Both abstraction construction and controller design are local and dynamic,thereby resulting in the potential reduction of the computational complexity.Since each quantization region can be considered locally and individually,the proposed hierarchical mechanism is more efficient and can solve much larger problems than many existing methods.Finally,the proposed control strategy is illustrated via two examples from the path planning and tracking problems of mobile robots.展开更多
隐写术是一种利用数据冗余将信息隐藏到数字媒体中的安全的通信技术,实现隐蔽通信的目的。不可感知性和藏量是隐写术中最重要的两个指标。文中首先使用动态排序算法来重新布置矢量量化(VQ)压缩的码本,所提出的隐写算法造成的失真更少。...隐写术是一种利用数据冗余将信息隐藏到数字媒体中的安全的通信技术,实现隐蔽通信的目的。不可感知性和藏量是隐写术中最重要的两个指标。文中首先使用动态排序算法来重新布置矢量量化(VQ)压缩的码本,所提出的隐写算法造成的失真更少。使用重新排序的码本,秘密信息被隐藏在矢量量化压缩图像中。提出的算法通过减小码本中的相邻码字之间的距离,提高了隐写后秘密图像的质量。实验结果表明,与现有算法相比,所提出的算法提高了图像的峰值信噪比(PSNR)约3 d B。展开更多
基金supported by the Fundamental Research Funds for the Central Universities(DUT22RT(3)090)the National Natural Science Foundation of China(61890920,61890921,62122016,08120003)Liaoning Science and Technology Program(2023JH2/101700361).
文摘Linear temporal logic(LTL)is an intuitive and expressive language to specify complex control tasks,and how to design an efficient control strategy for LTL specification is still a challenge.In this paper,we implement the dynamic quantization technique to propose a novel hierarchical control strategy for nonlinear control systems under LTL specifications.Based on the regions of interest involved in the LTL formula,an accepting path is derived first to provide a high-level solution for the controller synthesis problem.Second,we develop a dynamic quantization based approach to verify the realization of the accepting path.The realization verification results in the necessity of the controller design and a sequence of quantization regions for the controller design.Third,the techniques of dynamic quantization and abstraction-based control are combined together to establish the local-to-global control strategy.Both abstraction construction and controller design are local and dynamic,thereby resulting in the potential reduction of the computational complexity.Since each quantization region can be considered locally and individually,the proposed hierarchical mechanism is more efficient and can solve much larger problems than many existing methods.Finally,the proposed control strategy is illustrated via two examples from the path planning and tracking problems of mobile robots.
文摘隐写术是一种利用数据冗余将信息隐藏到数字媒体中的安全的通信技术,实现隐蔽通信的目的。不可感知性和藏量是隐写术中最重要的两个指标。文中首先使用动态排序算法来重新布置矢量量化(VQ)压缩的码本,所提出的隐写算法造成的失真更少。使用重新排序的码本,秘密信息被隐藏在矢量量化压缩图像中。提出的算法通过减小码本中的相邻码字之间的距离,提高了隐写后秘密图像的质量。实验结果表明,与现有算法相比,所提出的算法提高了图像的峰值信噪比(PSNR)约3 d B。
