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General Optimal Trajectory Planning:Enabling Autonomous Vehicles with the Principle of Least Action

engineering 2024年第2期33卷 63-76页

作者： Heye Huang Yicong Liu Jinxin Liu Qisong Yang Jianqiang Wang David Abbink Arkady Zgonnikov School of Vehicle and Mobility Tsinghua UniversityBeijing 100084China Department of Cognitive Robotics Faculty of MechanicalMaritime and Materials Engineering(3mE)Delft University of TechnologyDelft 2628Netherlands Department of Software Technology Faculty of Electrical EngineeringMathematics and Computer ScienceDelft University of TechnologyDelft 2628Netherlands Xi’an Institute of High-Technology Xi’an 710051China

This study presents a general optimal trajectory planning(GOTP)framework for autonomous vehicles(AVs)that can effectively avoid obstacles and guide AVs to complete driving tasks safely and ***,we employ the fifth-order Bezier curve to generate and smooth the reference path along the road *** coordinates are then transformed to achieve the curvature continuity of the generated *** the road constraints and vehicle dynamics,limited polynomial candidate trajectories are generated and smoothed in a curvilinear coordinate ***,in selecting the optimal trajectory,we develop a unified and auto-tune objective function based on the principle of least action by employing AVs to simulate drivers’behavior and summarizing their manipulation characteristics of“seeking benefits and avoiding losses.”Finally,by integrating the idea of receding-horizon optimization,the proposed framework is achieved by considering dynamic multi-performance objectives and selecting trajectories that satisfy feasibility,optimality,and *** simulations and experiments are performed,and the results demonstrate the framework’s feasibility and effectiveness,which avoids both dynamic and static obstacles and applies to various scenarios with multi-source interactive traffic ***,we prove that the proposed method can guarantee real-time planning and safety requirements compared to drivers’manipulation.

关键词： Autonomous vehicle Trajectory planning Multi-performance objectives Principle of least action

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BCIM: Efficient Implementation of Binary Neural Network Based on Computation in Memory

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IEEE Transactions on Emerging Topics in Computing 2024年 1-14页

作者： Zahedi, Mahdi Shahroodi, Taha Escuin, Carlos Gaydadjiev, Georgi Wong, Stephan Hamdioui, Said Department of Quantum and Computer Engineering Delft University of Technology Delft The Netherlands Universidad de Zaragoza Spain Delft University of Technology and Imperial College London U.K

Applications of Binary Neural Networks (BNNs) are promising for embedded systems with hard constraints on energy and computing power. Contrary to conventional neural networks using floating-point datatypes, BNNs use binarized weights and activations to reduce memory and computation requirements. Memristors, emerging non-volatile memory devices, show great potential as a target implementation platform for BNNs by integrating storage and compute units. However, the efficiency of this hardware highly depends on how the network is mapped and executed on these devices. In this paper, we propose an efficient implementation of XNOR-based BNN to maximize parallelization. In this implementation, costly analog-to-digital converters are replaced with sense amplifiers with custom reference(s) to generate activation values. Besides, a novel mapping is introduced to minimize the overhead of data communication between convolution layers mapped to different memristor crossbars. This comes with extensive analytical and simulation-based analysis to evaluate the implication of different design choices considering the accuracy of the network. The results show that our approach achieves up to $5\times$ energy-saving and $100\times$ improvement in latency compared to baselines. IEEE

关键词： Energy efficiency

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Provision of Ramp-rate Limitation as Ancillary Service from Distribution to Transmission System:Definitions and Methodologies for Control and Sizing of Central Battery Energy Storage System

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Journal of Modern Power Systems and Clean Energy 2023年第5期11卷 1507-1518页

作者： Spyros I.Gkavanoudis Kyriaki-Nefeli D.Malamaki Eleftherios O.Kontis Aditya Shekhar Umer Mushtaq Sagar Bandi Venu Charis S.Demoulias Department of Electrical&Computer Engineering Aristotle University of ThessalonikiThessalonikiGreece Electrical Engineering Mathematics&Computer Science DepartmentDelft University of TechnologyDelftNetherlands FENECON Gmbh DeggendorfGermany

The variability of the output power of distributed renewable energy sources(DRESs)that originate from the fastchanging climatic conditions can negatively affect the grid ***,grid operators have incorporated ramp-rate limitations(RRLs)for the injected DRES power in the grid *** the DRES penetration levels increase,the mitigation of high-power ramps is no longer considered as a system support function but rather an ancillary service(AS).Energy storage systems(ESSs)coordinated by RR control algorithms are often applied to mitigate these power ***,no unified definition of active power ramps,which is essential to treat the RRL as AS,currently *** paper assesses the various definitions for ramp-rate RR and proposes RRL method control for a central battery ESS(BESS)in distribution systems(DSs).The ultimate objective is to restrain high-power ramps at the distribution transformer level so that RRL can be traded as AS to the upstream transmission system(TS).The proposed control is based on the direct control of theΔP/Δt,which means that the control parameters are directly correlated with the RR requirements included in the grid *** addition,a novel method for restoring the state of charge(So C)within a specific range following a high ramp-up/down event is ***,a parametric method for estimating the sizing of central BESSs(BESS sizing for short)is *** BESS sizing is determined by considering the RR requirements,the DRES units,and the load mix of the examined *** BESS sizing is directly related to the constant RR achieved using the proposed ***,the proposed methodologies are validated through simulations in MATLAB/Simulink and laboratory tests in a commercially available BESS.

关键词： Battery energy storage system distributed renewable energy resource sizing distribution system transmission system ramp-rate limitation state of charge

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Fault Tolerant Design for Memristor-based AI Accelerators

Fault Tolerant Design for Memristor-based AI Accelerators

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2024 IEEE International Conference on Design, Test and technology of Integrated Systems, DTTIS 2024

作者： Spyrou, Theofilos Zografou, Artemis Hamdioui, Said Gebregiorgis, Anteneh Delft University of Technology Computer Engineering Lab Delft Netherlands

ISBN: (纸本)9798350363128

Computation-In-Memory (CIM) using emerging memristive devices offers a promising solution to implementing energy efficient Artificial Intelligence (AI) hardware accelerators. Though, the non-idealities characterizing memristive devices cause a negative impact on the performance of CIM-based micro-architectures. We propose a two-step fault tolerance strategy to address the impact of Stack-at Faults (SAFs) and conductance variation of RRAM crossbar arrays, composed of a fault tolerant activation function and a retraining method. Evaluation results on Binary Neural Network (BNNs) architectures trained with MNIST, Fashion-MNIST, and CIFAR-10 datasets demonstrate that the proposed techniques can restore the classification accuracy by up to 20%, 40% and 80%, respectively. © 2024 IEEE.

关键词： Memristors

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Hardware-Aware Quantization for Accurate Memristor-Based Neural Networks 24

Hardware-Aware Quantization for Accurate Memristor-Based Neu...

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43rd International Conference on computer-Aided Design, ICCAD 2024

作者： Diware, Sumit Yaldagard, Mohammad Amin Bishnoi, Rajendra Computer Engineering Lab Delft University of Technology Delft Netherlands

ISBN: (纸本)9798400710773

Memristor-based Computation-In-Memory (CIM) has emerged as a compelling paradigm for designing energy-efficient neural network hardware. However, memristors suffer from conductance variation issue, which introduces computational errors in CIM hardware and leads to a degraded inference accuracy. In this paper, we present a hardware-aware quantization to mitigate the impact of conductance variation on CIM-based neural networks. We achieve this using the inherent characteristics of fixed-point arithmetic in CIM hardware. By tuning the bit-precision of weights, we align the conductance variation-induced errors with lower-order output bits. This reduces their numerical impact on the fixed-point output. We further decrease the residual errors by selectively discarding bits with low information and high error. This leads to error-free computations and a high inference accuracy. Our proposed methodology achieves 5.6× correct operations per unit energy compared to the conventional approach, while incurring very low hardware overheads. © 2024 Copyright is held by the owner/author(s).

关键词： Fixed point arithmetic

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Leveraging Large Language Models to Identify the Values Behind Arguments 2nd

Leveraging Large Language Models to Identify the Values Be...

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2nd International Workshop on Value engineering in Artificial Intelligence, VALE 2024

作者： Senthilkumar, Rithik Appachi Homayounirad, Amir Siebert, Luciano Cavalcante Faculty of Electrical Engineering Mathematics and Computer Science Delft University of Technology Delft Netherlands

ISBN: (纸本)9783031854620

Human values capture what people and societies perceive as desirable, transcend specific situations and serve as guiding principles for action. People’s value systems motivate their positions on issues concerning the economy, society and politics among others, influencing the arguments they make. Identifying the values behind arguments can therefore help us find common ground in discourse and uncover the core reasons behind disagreements. Transformer-based large language models (LLMs) have exhibited remarkable performance across language generation and analysis. However, leveraging LLMs in sociotechnical systems that assist with discourse and argumentation necessitates systematically evaluating their ability to analyse and identify the values behind arguments, an under-explored research direction. Using a multi-level human value taxonomy inspired by the Schwartz Theory of Basic Human Values, we present a systematic and critical evaluation of GPT-3.5-turbo in human value identification from a dataset of multi-cultural arguments, across the zero-shot, few-shot and chain-of-thought prompting strategies, carrying forward from prior research on this task which leveraged a fine-tuned BERT model. We observe that prompting strategies exhibit performance levels close to, but still behind fine-tuning for value classification. We also detail some challenges associated with value classification with LLMs, offering potential directions for future research. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Human Values Large Language Models Prompting

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Power Density Limits of Propulsion Motor for Electric Aircraft: A Study on Insulation Thickness

Power Density Limits of Propulsion Motor for Electric Aircra...

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2024 International Conference on Electrical Machines, ICEM 2024

作者： Wang, Jundong Dong, Jianning Niasar, Mohamad Ghaffarian Zhu, Gangwei Bauer, Pavol Delft University of Technology Department of Electrical Engineering Mathematics and Computer Science Delft Netherlands

ISBN: (纸本)9798350370607

This paper studies the power density limits of propulsion motor for electric aircraft considering thermal aspects and breakdown voltage reduction of insulation. The study em-ploys multi-objective optimization (MOO) to explore various mo-tor cooling options and filter configurations. The results show that motors with direct winding heat exchanger (DWHE) can reach higher specific power, while those equipped with water jacket cooling (WJC) offer a moderate design with simpler structure. Furthermore, the impact of sine wave and dv/dt filters on electric motors design is studied. The findings demonstrate that dv/dt filters enable designs with higher overall specific power compared to sine wave filters. Through simulations, this study identify the challenge faced by aviation motor design in significantly increased insulation thickness, necessitating advanced insulation materials with a minimum thermal conductivity of 5 W/(m.K) to facilitate a high specific power design. Based on this assumption, a preliminary design of 9.6 kW/kg with an efficiency of 98% is presented. © 2024 IEEE.

关键词： Thermal insulation

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Implementation of Variable Capacitance to Improve Efficiency for Asymmetric LCC-LCC Compensated Wireless Power Transfer Systems

Implementation of Variable Capacitance to Improve Efficiency...

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2024 Energy Conversion Congress and Expo Europe, ECCE Europe 2024

作者： Zhu, Gangwei Dong, Jianning Wang, Jundong Deng, Zichen Li, Yongpeng Bauer, Pavol Delft University of Technology Mathematics and Computer Science Department of Electrical Engineering Delft Netherlands

ISBN: (纸本)9798350364446

This paper proposes a variable-capacitance-based control strategy to improve efficiency for asymmetric LCC-LCC compensated wireless power transfer (WPT) systems. While the existing triple-phase-shift (TPS) method can achieve power regulation and wide-range zero-voltage-switching (ZVS), it results in significantly increased reactive power under asymmetric LCC-LCC compensation topology. To this end, this paper incorporates a switch-controlled-capacitor (SCC) on the primary side. The impact of variable capacitance on the system characteristics is first investigated. Furthermore, the optimal capacitor tuning factor is derived to achieve the inverter ZVS with minimal reactive power. Through the implementation of variable capacitance, the primary inductor current is notably reduced within a wide range of power. Moreover, the turn-off currents of power switches are minimized. These factors contribute to a reduction in inductor and inverter losses, thus improving the overall efficiency. Experimental results confirm that the proposed method improves the efficiency of an asymmetric LCC-LCC compensated WPT prototype, with a maximum efficiency improvement of up to 1.8%. © 2024 IEEE.

关键词： Capacitor bank

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A Hybrid Rectifier Mode Control for Communication-Free Wireless Power Transfer

A Hybrid Rectifier Mode Control for Communication-Free Wirel...

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2024 IEEE Energy Conversion Congress and Exposition, ECCE 2024

作者： Zhu, Gangwei Dong, Jianning Bauer, Pavol Delft University of Technology Department of Electrical Engineering Mathematics and Computer Science Delft Netherlands

ISBN: (纸本)9798350376067

This paper presents a hybrid rectifier mode control for broad-range output power regulation in wireless power transfer (WPT) systems. The proposed control method employs a secondary-side active rectifier for output tuning, thereby eliminating the necessity for communication links. Furthermore, leveraging the pulse-skipping technique, two hybrid modes are introduced in the proposed approach. These hybrid modes reduce circulating reactive power within the resonant circuits, thereby optimizing the transmission efficiency of the WPT systems. To validate the effectiveness of the proposed method, experiments were conducted using a WPT prototype. Experimental results demonstrate that the proposed approach achieves higher efficiency than the conventional phase-shift control strategy, with a maximum efficiency improvement of up to 3.7%. © 2024 IEEE.

关键词： Inductive power transmission

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Exploring the Real-World Challenges and Efficacy of Internal Coupling in Metastructures: An Experimental Perspective 4

Exploring the Real-World Challenges and Efficacy of Internal...

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4th IEEE International Conference on Electrical, computer, and Energy Technologies, ICECET 2024

作者： Alimohammadi, Hossein Vassiljeva, Kristina Hosseinnia, S. Hassan Ellervee, Peeter Petlenkov, Eduard Tallinn University of Technology Department of Computer Systems Tallinn Estonia Delft University of Technology Precision and Microsystem Engineering Delft Netherlands

ISBN: (纸本)9798350395914

Metastructures with internally coupled resonators promise enhanced vibration control and energy harvesting capabilities by theoretically enabling multiple bandgaps. This paper investigates the feasibility of these theoretical benefits under practical constraints, particularly the challenge of merging multiple bandgaps in continuous systems. Employing a closed-form analytical approach alongside FEM simulations and experimental validation, the study reveals that while internal coupling can modify bandgap behavior, achieving precise stiffness alignment and bandgap merging remains challenging. The findings indicate that practical applications may not fully realize the predicted advantages and also present more challenges in merging multiple bandgaps created in such metastructures, even for metastructures with advanced manufacturing precision and design optimization. The paper contributes to the understanding of the dynamic behavior of internally coupled metastructures and outlines directions for future research to bridge the gap between theory and application. © 2024 IEEE.

关键词： Energy harvesting

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