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Uncertainty-Aware Path Planning with Multiple Constraints for Autonomous Vehicles Based on Nonlinear Reduced-Order Model Predictive control

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IEEE Transactions on Consumer Electronics 2024年

作者： Badiei, Mohammad Hossein Dashtaki, Saeed Mohammadi Vafamand, Navid Piran, Md. Jalil University of Tehran School of Electrical and Computer Engineering College of Engineering Tehran Iran Shiraz University Department of Power and Control Engineering Shiraz Iran Sejong University Department of Computer Science and Engineering Korea Republic of

In this paper, we present a Risk-Aware Nonlinear Reduced-Order Model Predictive control framework that utilizes real-time state estimation, reduced-order modeling, and optimization for reliable and efficient path planning with low energy consumption. Our method employs filtering techniques to estimate the system's state by correcting for process and measurement noise, providing an accurate representation of the vehicle's position and environment. A reduced-order model predicts future states based on the estimated input, while the optimizer adjusts control inputs to meet trajectory and safety constraints, such as avoiding obstacles. By incorporating adapted filtering techniques and optimized cost functions, our approach minimizes computational overhead while maintaining precise control over vehicle navigation. In the experiments, we introduce communication and process noises, allowing the robot to operate without knowing the precise location of obstacles and resulting in potential near-collisions. This involves redefining the constrained optimal control problem for a reduced-order model, addressing input constraints amidst uncertainties. Our method achieves over 94% success in collision-free navigation within the first 50 steps, while maintaining precise trajectory alignment and adapting to environmental changes. It also improves prediction speed up to 15% per cycle compared to NMPC and demonstrates 91% overall effectiveness in avoiding collisions and reaching the target. © 1975-2011 IEEE.

关键词： Cost functions

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Enhanced DDoS Detection using Machine Learning 6

Enhanced DDoS Detection using Machine Learning

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6th International Conference on Information Systems and computer Networks, ISCON 2023

作者： Pandey, Rashmikiran Pandey, Mrinal Nazarov, Alexey Moscow Institute of Physics and Technology Department of Radio Engineering and Cybernetics Moscow Russia Federal Research Center Computer Science and Control Russian Academy of Sciences Moscow Russia

ISBN: (纸本)9798350346961

The rapid growth of internet population poses a serious challenge to the security of internet resources. The security is directly affected by the hits of Denial of Services (DoS) attack which is rampant nowadays. With this evolving threat, designing a cutting-edge method is difficult from a cyber-security perspective. In this study, we propose a deep learning-based system for detecting Distributed Denial of Service (DDoS) attacks, which utilizes Logistic Regression, K- Nearest Neighbor, and Random Forest algorithms. We assess proposed models using a recently updated NSL KDD dataset. Our research's findings also demonstrate that proposed model is highly accurate in detecting Distributed Denial of Service (DDoS) attacks. Our results show that our proposed model significantly improves upon current state-of-the-art attack detection methods. © 2023 IEEE.

关键词： Denial-of-service attack

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Attack Stealthiness and Detection of Multiagent Systems: A Zero-Sum Formulation

Attack Stealthiness and Detection of Multiagent Systems: A Z...

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IEEE Conference on Decision and control

作者： Shiyong Zhu Miaomiao Wang Jie Chen Anders Rantzer Department of Electrical Engineering City University of Hong Kong Hong Kong China Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong China Department of Automatic Control Lund University Lund Sweden

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

Cybersecurity has in recent years emerged as a paramount concern in the design and operation of industrial systems and civil infrastructures, due mainly to their susceptibility to malicious cyber attacks which take advantage of the vulnerability of communication networks and IT devices. In this paper, we investigate such an attack and counter attack scenario by considering multiagent systems, a somewhat basic prototype of cyberphysical systems. We study false data injection attacks launched on the agent sensors, and possible defense of such attacks at the agent actuators. The primary issue under consideration is the stealthiness of the attacks, while steering a multiagent system away from its consensual state. We propose a metric to quantify the stealthiness, and formulate the stealthiness problem as one of zero-sum games. We solve the problem explicitly, which gives rise to a fundamental bound on the stealthiness achievable, and as well optimal attack and defense strategies that achieve the optimal stealthiness, both of which can be obtained in terms of certain augmented controllability Gramians associated with the agents. The stealthiness bound is seen to depend on agent dynamics and network characteristics including a measure of connectivity.

关键词： Actuators Protocols Prototypes Games Sensor phenomena and characterization controllability Sensor systems Game theory Observability Multi-agent systems

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Dual-Active-Bridge Converter with Triple Phase Shift control for a Wide Operating Voltage Range 11

Dual-Active-Bridge Converter with Triple Phase Shift Control...

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11th International Conference on Power Electronics - ECCE Asia, ICPE 2023-ECCE Asia

作者： Chen, Yi-Hsuan Huang, Ta-Wei Kuo, Shih-Hao Chang, Yu-Chen Chiu, Huang-Jen Bachman, Serafin Jasinski, Marek National Taiwan University of Science and Technology Department of Electronics and Computer Engineering Taiwan Warsaw University of Technology Institute of Control and Industrial Electronics Warszawa00-662 Poland

ISBN: (纸本)9788957083505

An optimal modulation scheme with Triple-Phase-Shift (TPS) control that increase efficiency in the whole load range is presented for a Dual Active Bridge (DAB) converter under wide output voltage range conditions. This paper provides a comprehensive analysis of the DAB with TPS modulation, identifying all the switching modes to operate the DAB where expressions for the transfer functions, the peak inductor current and RMS inductor current are provided. An analysis of minimum Peak Current and minimum RMS Current control also are investigated. On this basic all-ZVS modulation scheme is originally proposed to improve light-load efficiency and to reduce the switching losses. A 15 kW prototype circuit is applied, and experimental results are presented to validate that the modulation and efficiency improvement are realized by applying the optimized modulation scheme. The experimental results also verify the effectiveness of the closed-loop control strategy. © 2023 The Korean Institute of Power Electronics.

关键词： Efficiency

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Speech Recognition of Vedic Sanskrit using Deep Learning Algorithm 6

Speech Recognition of Vedic Sanskrit using Deep Learning Alg...

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6th International Conference on Information Systems and computer Networks, ISCON 2023

作者： Pandey, Mrinal Pandey, Rashmikiran Nazarov, Alexey Moscow Institute of Physics and Technology Department of Radio Engineering and Cybernetics Moscow Russia Federal Research Center Computer Science and Control Russian Academy of Sciences Moscow Russia

ISBN: (纸本)9798350346961

In this study, we examined the use of computational techniques for accurately processing acoustic signals of human speech using digital media. Specifically, we focused on the Sanskrit language and applied a language modeling approach to improve recognition by machines. Our implementation of this approach for Sanskrit speech represents a novel approach in the field and has the potential to extract valuable information through automated processing. The ability to accurately process speech is crucial for effective human communication, and our research contributes to the development of more efficient and effective methods for achieving this goal... © 2023 IEEE.

关键词： Speech recognition

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MISROBÆRTA: TRANSFORMERS VERSUS MISINFORMATION

arXiv

引用

arXiv 2023年

作者： Truicǎ, Ciprian-Octavian Apostol, Elena-Simona Department of Information Technology Uppsala University Uppsala Sweden Computer Science and Engineering Department Faculty of Automatic Control and Computers University Politehnica of Bucharest Bucharest Romania

Misinformation is considered a threat to our democratic values and principles. The spread of such content on social media polarizes society and undermines public discourse by distorting public perceptions and generating social unrest while lacking the rigor of traditional journalism. Transformers and transfer learning proved to be state-of-the-art methods for multiple wellknown natural language processing tasks. In this paper, we propose MisRoBÆRTa, a novel transformer-based deep neural ensemble architecture for misinformation detection. MisRoBÆRTa takes advantage of two state-of-the art transformers, i.e., BART and RoBERTa, to improve the performance of discriminating between real news and different types of fake news. We also benchmarked and evaluated the performances of multiple transformers on the task of misinformation detection. For training and testing, we used a large real-world news articles dataset (i.e., 100,000 records) labeled with 10 classes, thus addressing two shortcomings in the current research: (1) increasing the size of the dataset from small to large, and (2) moving the focus of fake news detection from binary classification to multi-class classification. For this dataset, we manually verified the content of the news articles to ensure that they were correctly labeled. The experimental results show that the accuracy of transformers on the misinformation detection problem was significantly influenced by the method employed to learn the context, dataset size, and vocabulary dimension. We observe empirically that the best accuracy performance among the classification models that use only one transformer is obtained by BART, while DistilRoBERTa obtains the best accuracy in the least amount of time required for fine-tuning and training. However, the proposed MisRoBÆRTa outperforms the other transformer models in the task of misinformation detection. To arrive at this conclusion, we performed ample ablation and sensitivity testing with MisRoBÆRTa on t

关键词： Large dataset

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SIMPLEX: A LEXICAL TEXT SIMPLIFICATION ARCHITECTURE

arXiv

引用

arXiv 2023年

作者： Truică, Ciprian-Octavian Andrei-Ionut, Stan Apostol, Elena-Simona Department of Information Technology Uppsala University Uppsala Sweden Computer Science and Engineering Department Faculty of Automatic Control and Computers University Politehnica of Bucharest Bucharest Romania

Text simplification (TS) is the process of generating easy-to-understand sentences from a given sentence or piece of text. The aim of TS is to reduce both the lexical (which refers to vocabulary complexity and meaning) and syntactic (which refers to the sentence structure) complexity of a given text or sentence without the loss of meaning or nuance. In this paper, we present SIMPLEX, a novel simplification architecture for generating simplified English sentences. To generate a simplified sentence, the proposed architecture uses either word embeddings (i.e., Word2Vec) and perplexity, or sentence transformers (i.e., BERT, RoBERTa, and GPT2) and cosine similarity. The solution is incorporated into a user-friendly and simple-to-use software. We evaluate our system using two metrics, i.e., SARI, and Perplexity Decrease. Experimentally, we observe that the transformer models outperform the other models in terms of the SARI score. However, in terms of Perplexity, the Word-Embeddings-based models achieve the biggest decrease. Thus, the main contributions of this paper are: (1) We propose a new Word Embedding and Transformer based algorithm for text simplification;(2) We design SIMPLEX - a modular novel text simplification system - that can provide a baseline for further research;and (3) We perform an in-depth analysis of our solution and compare our results with two state-of-the-art models, i.e., LightLS [19] and NTS-w2v [44]. We also make the code publicly available online. © 2023, CC BY-NC-ND.

关键词： Embeddings

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Unsupervised Learning for Wafer Surface Defect Pattern Recognition

Unsupervised Learning for Wafer Surface Defect Pattern Recog...

引用

Chinese Intelligent Automation Conference, CIAC 2021

作者： Geng, Sheng Liu, Huaping Wang, Feng Zhao, Shimin Liu, Hu Department of Control Science and Engineering Shanghai Institute of Technology Shanghai201418 China Department of Computer Science and Technology Tsinghua University Beijing100084 China

ISBN: (纸本)9789811663710

With the development of the semiconductor industry, the demand for wafer production has gradually increased. Wafer manufacturing is a very complicated process, and any abnormal fluctuations in each process in this process may cause surface defects on the wafer. Accurate and rapid identification of wafer defect patterns can promptly reflect abnormal problems in the production process. Aiming at such tasks, this paper proposes a pattern recognition method for wafer surface defects based on unsupervised learning. The method is divided into two parts: unsupervised pre-training and classification fine-tuning. In the unsupervised pre-training stage, in order to improve the model’s surface defect feature extraction capability, we propose a new wafer-oriented unsupervised sampling method (WaUSM). Our wafer surface defect pattern recognition method uses an unsupervised pre-training model as the initialization to set up a classification model downstream, and fine-tune the classification model through a small number of label images with wafer defect patterns, so that the classification model can more accurately identify various types of defects pattern. The method we proposed was successfully verified by wafer defect pattern recognition on the public dataset WM-811K, and the experimental results fully proved the effectiveness and industrial applicability of the method we proposed. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Unsupervised learning

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Risk-Aware Wasserstein Distributionally Robust control of Vessels in Natural Waterways

arXiv

引用

arXiv 2023年

作者： Nadales, Juan Moreno Hakobyan, Astghik de la Peña, David Muñoz Limon, Daniel Yang, Insoon The Department of Automatic Control and System Engineering University of Seville Spain The Department of Electrical and Computer Engineering Seoul National University Korea Republic of

In the realm of maritime transportation, autonomous vessel navigation in natural inland waterways faces persistent challenges due to unpredictable natural factors. Existing scheduling algorithms fall short in handling these uncertainties, compromising both safety and efficiency. Moreover, these algorithms are primarily designed for non-autonomous vessels, leading to labor-intensive operations vulnerable to human error. To address these issues, this study proposes a risk-aware motion control approach for vessels that accounts for the dynamic and uncertain nature of tide islands in a distributionally robust manner. Specifically, a model predictive control method is employed to follow the reference trajectory in the time-space map while incorporating a risk constraint to prevent grounding accidents. To address uncertainties in tide islands, a novel modeling technique represents them as stochastic polytopes. Additionally, potential inaccuracies in waterway depth are addressed through a risk constraint that considers the worst-case uncertainty distribution within a Wasserstein ambiguity set around the empirical distribution. Using sensor data collected in the Guadalquivir River, we empirically demonstrate the performance of the proposed method through simulations on a vessel. As a result, the vessel successfully navigates the waterway while avoiding grounding accidents, even with a limited dataset of observations. This stands in contrast to existing non-robust controllers, highlighting the robustness and practical applicability of the proposed approach. Copyright © 2023, The Authors. All rights reserved.

关键词： Stochastic systems

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Haptic object identification for advanced manipulation skills 9th

Haptic object identification for advanced manipulation skill...

引用

9th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2020

作者： Gabler, Volker Maier, Korbinian Endo, Satoshi Wollherr, Dirk Automatic Control Engineering Munich Germany Information Oriented Control Department of Electrical and Computer Engineering Technical University of Munich Munich Germany

ISBN: (纸本)9783030643126

In order to identify the characteristics of unknown objects, humans-in contrast to robotic systems-are experts in exploiting their sensory and motoric abilities to refine visual information via haptic perception. While recent research has focused on either estimating the geometry or material properties, this work strives to combine these aspects by outlining a probabilistic framework that efficiently refines initial knowledge from visual sensors by generating a belief state over the object shape while simultaneously learn material parameters. Specifically, we present a grid-based and a shape-based exploration strategy, that both apply the concepts of Bayesian-Filter theory in order to decrease the uncertainty. Furthermore, the presented framework is able to learn about the geometry as well as to distinguish areas of different material types by applying unsupervised machine learning methods. The experimental results from a virtual exploration task highlight the potential of the presented methods towards enabling robots to autonomously explore unknown objects, yielding information about shape and structure of the underlying object and thus, opening doors to robotic applications where environmental knowledge is limited. © Springer Nature Switzerland AG 2020.

关键词： Autonomous agents

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