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American control Conference (ACC)

作者： Zifan Wang Yi Shen Michael M. Zavlanos Karl H. Johansson Division of Decision and Control Systems School of Electrical Enginnering and Computer Science KTH Royal Institute of Technology and also with Digital Futures Stockholm Sweden Department of Mechanical Engineering and Materials Science Duke University Durham NC USA

ISBN: (数字)9798350382655

ISBN: (纸本)9798350382662

This paper considers risk-averse learning in convex games involving multiple agents that aim to minimize their individual risk of incurring significantly high costs. Specifically, the agents adopt the conditional value at risk (CVaR) as a risk measure with possibly different risk levels. To solve this problem, we propose a first-order risk-averse leaning algorithm, in which the CVaR gradient estimate depends on an estimate of the Value at Risk (VaR) value combined with the gradient of the stochastic cost function. Although estimation of the CVaR gradients using finitely many samples is generally biased, we show that the accumulated error of the CVaR gradient estimates is bounded with high probability. Moreover, assuming that the risk-averse game is strongly monotone, we show that the proposed algorithm converges to the risk-averse Nash equilibrium. We present numerical experiments on a Cournot game example to illustrate the performance of the proposed method.

关键词： Reactive power Costs Estimation Games Nash equilibrium Numerical simulation Cost function

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Data-driven Optimal Cooperative Output Regulation of Unknown Linear Discrete-time Multi-agent systems

Data-driven Optimal Cooperative Output Regulation of Unknown...

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Chinese control and Decision Conference, CCDC

作者： Dong Liang Yi Dong Chaoli Wang Engang Tian Department of Control Science and Engineering School of Optical-Electrical and Computer Engineering University of Shanghai for Science and Technology Shanghai China College of Electronic and Information Engineering Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Shanghai China

The cooperative output regulation problem has been extensively studied on the basis of the distributed observer approach. However, the majority of the existing research assumes that the dynamics is known previously. To remove this condition, the cooperative output regulation problem is further solved via the data-driven framework where the dynamics of the plant is unknown. First, a data-driven distributed observer is established to estimate the state of the leader with unknown dynamics subject to external inputs. Second, the unknown regulator equations are solved using the iterative recurrent neural network approach. Third, the state-based data-driven distributed control law is synthesized to solve the problem. The optimal gains are derived by solving convex optimization problems using input and state data. Finally, a numerical example is presented to verify the feasibility of the proposed framework.

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Deep Learning-Based Prediction of Subsurface Oil Reservoir Pressure Using Spatio-Temporal Data 49

Deep Learning-Based Prediction of Subsurface Oil Reservoir P...

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49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023

作者： Cheng, Haibo He, Yunpeng Zeng, Peng Li, Shichao Vyatkin, Valeriy Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang China Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China Luleå University of Technology Department of Computer Science Electrical and Space Engineering Luleå Sweden Aalto University Department of Electrical Engineering and Automation Helsinki Finland

ISBN: (纸本)9798350331820

Prediction of subsurface oil reservoir pressure are critical to hydrocarbon production. However, the accurate pressure estimation faces great challenges due to the complexity and uncertainty of reservoir. The underground seepage flow and petrophysical parameters (permeability and porosity) are important but difficult to measure in oilfield. Deep learning methods have been successfully used in reservoir engineering and oil & gas production process. In this study, the effective but inaccessible subsurface seepage fields are not used, only the spatial coordinates and temporal information are selected as model input to predict reservoir pressure. A stacked GRU-based deep learning model is proposed to map the relationship between spatio-temporal data and reservoir pressure. The proposed deep learning method is verified by using a three-dimensional reservoir model, and compared with commonly-used methods. The results show that the stacked GRU model has a better performance and higher accuracy than other deep learning or machine learning methods in pressure prediction. © 2023 IEEE.

关键词： Forecasting

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Boolean matrix compressed sensing

Boolean matrix compressed sensing

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International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： Qiang Liu Mahdi Soleymani Hessam Mahdavifar National Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Halıcıoğlu Data Science Institute University of California San Diego La Jolla CA USA Department of Electrical and Computer Engineering Northeastern University Boston MA USA

ISBN: (数字)9798350368741

ISBN: (纸本)9798350368758

In real-world datasets, leveraging the low-rank and sparsity properties enables developing efficient algorithms across a diverse array of data-related tasks, including compression, compressed sensing, matrix completion, etc. Notably, these two properties often coexist in certain real-world datasets, especially in Boolean datasets and quantized real-valued datasets. To harness the advantages of low-rank and sparsity simultaneously, we adopt a technique inspired by compressed sensing and Boolean matrix completion. Our approach entails compressing a low-rank sparse Boolean matrix by performing inner product operations with a randomly generated Boolean matrix. We then propose a decoding algorithms based on message-passing techniques to recover the original matrix. Our experiments demonstrate superior recovery performance of our proposed algorithms compared to Boolean matrix completion, with equal measurement requirements.

关键词： Image coding Signal processing algorithms Signal processing Acoustics Sensors Decoding Sparse matrices Speech processing Compressed sensing

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Development of Digital Pressure Observer in Hydraulic Cylinders for Vertical Balancing of Rolling Stand Spindles

Development of Digital Pressure Observer in Hydraulic Cylind...

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IEEE Russian Workshop on Power engineering and Automation of Metallurgy Industry: Research & Practice (PEAMI)

作者： B. M. Loginov O. A. Gasiyarova V. R. Khramshin S. S. Voronin PJSC Magnitogorsk Iron and Steel Works Magnitogorsk Russia Department of Material Science LLC NPP Uchtekh-Profi Chelyabinsk Russia Power Engineering and Automated Systems Institute Nosov Magnitogorsk State Technical University Magnitogorsk Russia Department of Automation and Control Moscow Polytechnic University Moscow Russia

A literature review showed that the causes of accidents frequently occuring at rolling mills are fatigue failures of spindle heads or necks of mill rollers. This confirms the relevance of developing the systems for monitoring the wear degree of the spindle joint components directly during the rolling process. This is relevant for thick plate rolling mills operating under shock load application. As a diagnostic feature, it is proposed to use pressure in hydraulic cylinders of spindle vertical balancing. It has been experimentally proved that the process of fatigue failure development increases such pressure; that is why it is an informative criterion in terms of defect growth. The observer structure is proposed; at the observer output the variable pressure component is restored, and an emergency signal is generated. The algorithm for virtual observer configuration is implemented in the Matlab Simulink package. The proposed algorithm has been implemented in pilot operation on a thick plate mill 5000. The authors give an example of a pre-emergency situation on-line monitoring. The timely emergency warning has been registered and confirmed which proves the technical and economic efficiency of the observer adoption.

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Robust Voltage Regulation for DC Microgrids via Passivity-Based Sliding Mode control

Robust Voltage Regulation for DC Microgrids via Passivity-Ba...

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International Workshop on Variable Structure systems, VSS

作者： Edoardo Vacchini Michele Cucuzzella Pablo Borja Antonella Ferrara Department of Electrical Computer and Biomedical Engineering University of Pavia Pavia Italy Jan C. Willems Center for Systems and Control Engineering and Technology Institute Groningen (ENTEG) Faculty of Science and Engineering University of Groningen Groningen The Netherlands School of Engineering Computing and Mathematics University of Plymouth Plymouth U.K.

ISBN: (数字)9798350353686

ISBN: (纸本)9798350353693

This paper proposes a decentralized sliding mode control approach to the voltage regulation problem in a DC microgrid consisting of distributed generation units interconnected with each other through resistive-inductive power lines and supplying unknown nonlinear loads. In particular, the port-Hamiltonian structure of the system suggests the design of a suitable sliding manifold such that the system on this manifold exhibits desired passivity properties. This approach simplifies the control design and relaxes some restrictive assumptions required by other controllers proposed in the literature, while offering satisfactory performance.

关键词： Manifolds Variable structure systems Power transmission lines Microgrids Power system stability Stability analysis Robustness Reduced order systems Voltage control Sliding mode control

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An Edge Computing System with AMD Xilinx FPGA AI Customer Platform for Advanced Driver Assistance System

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Sensors 2024年第10期24卷 3098页

作者： Chi, Tsun-Kuang Chen, Tsung-Yi Lin, Yu-Chen Lin, Ting-Lan Zhang, Jun-Ting Lu, Cheng-Lin Chen, Shih-Lun Li, Kuo-Chen Abu, Patricia Angela R. Department of Electronic Engineering Chung Yuan Christian University Taoyuan320314 Taiwan Department of Electronic Engineering Feng Chia University Taichung40724 Taiwan Department of Automatic Control Engineering Feng Chia University Taichung40724 Taiwan Department of Electronic Engineering National Taipei University of Technology Taipei10608 Taiwan Department of Information Management Chung Yuan Christian University Taoyuan320317 Taiwan Department of Information Systems and Computer Science Ateneo de Manila University Quezon1108 Philippines

The convergence of edge computing systems with Field-Programmable Gate Array (FPGA) technology has shown considerable promise in enhancing real-time applications across various domains. This paper presents an innovative edge computing system design specifically tailored for pavement defect detection within the Advanced Driver-Assistance systems (ADASs) domain. The system seamlessly integrates the AMD Xilinx AI platform into a customized circuit configuration, capitalizing on its capabilities. Utilizing cameras as input sensors to capture road scenes, the system employs a Deep Learning Processing Unit (DPU) to execute the YOLOv3 model, enabling the identification of three distinct types of pavement defects with high accuracy and efficiency. Following defect detection, the system efficiently transmits detailed information about the type and location of detected defects via the controller Area Network (CAN) interface. This integration of FPGA-based edge computing not only enhances the speed and accuracy of defect detection, but also facilitates real-time communication between the vehicle’s onboard controller and external systems. Moreover, the successful integration of the proposed system transforms ADAS into a sophisticated edge computing device, empowering the vehicle’s onboard controller to make informed decisions in real time. These decisions are aimed at enhancing the overall driving experience by improving safety and performance metrics. The synergy between edge computing and FPGA technology not only advances ADAS capabilities, but also paves the way for future innovations in automotive safety and assistance systems. © 2024 by the authors.

关键词： Deep learning

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Unsupervised Learning for Understanding Diversity: Applying Feature engineering and Cluster Analysis to Deaf and Hard of Hearing Data

Unsupervised Learning for Understanding Diversity: Applying ...

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International Conference on control, Automation and Diagnosis (ICCAD)

作者： Anisha Poly P K Nizar Banu Ahmad Taher Azar Nashwa Ahmad Kamal Department of Computer Science CHRIST (Deemed to be University) Bangalore India College of Computer and Information Sciences Prince Sultan University Riyadh Saudi Arabia Automated Systems and Soft Computing Lab (ASSCL) Prince Sultan University Riyadh Saudi Arabia Faculty of Computers and Artificial Intelligence Benha University Benha Egypt Faculty of Engineering Cairo University Giza Egypt

ISBN: (数字)9798350361025

ISBN: (纸本)9798350361032

As e-Learning emerges as a promising tool for instruction delivery, personalizing the e-Learning platform for DHH learners will benefit them to improve their learning engagement and educational attainment. This study aims to collect and analyze the different features unique to DHH learners and analyze the significant features among them. This study highlights the importance of addressing the diversity among DHH learners, while creating a personalized learning environment for them. With this focus, we employ the K-Means clustering algorithm to group the learners based on similar needs and preferences and identified that distinguishing clusters can be formed within the DHH group. We also tried to understand the significant features contributing to forming well separated groups. These results provide valuable insights into the diverse preferences and requirements when they interact with the learning materials. These findings emphasize the significance of personalized approach for DHH learners in educational settings and serve as the stepping stone to develop a personalized learning environment for them.

关键词： Electronic learning Automation Clustering algorithms Auditory system Unsupervised learning

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Do We Run Large-scale Multi-Robot systems on the Edge? More Evidence for Two-Phase Performance in System Size Scaling

Do We Run Large-scale Multi-Robot Systems on the Edge? More ...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Jonas Kuckling Robin Luckey Viktor Avrutin Andrew Vardy Andreagiovanni Reina Heiko Hamann Department of Computer and Information Science University of Konstanz Konstanz Germany Centre for the Advanced Study of Collective Behaviour University of Konstanz Germany Institute of Computer Engineering University of Lübeck Lübeck Germany Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart Germany Department of Computer Science and the Department of Electrical and Computer Engineering Memorial University of Newfoundland St. John’s Canada IRIDIA Université Libre de Bruxelles Brussels Belgium

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

With increasing numbers of mobile robots arriving in real-world applications, more robots coexist in the same space, interact, and possibly collaborate. Methods to provide such systems with system size scalability are known, for example, from swarm robotics. Example strategies are self-organizing behavior, a strict decentralized approach, and limiting the robot-robot communication. Despite applying such strategies, any multi-robot system breaks above a certain critical system size (i.e., number of robots) as too many robots share a resource (e.g., space, communication channel). We provide additional evidence based on simulations, that at these critical system sizes, the system performance separates into two phases: nearly optimal and minimal performance. We speculate that in real-world applications that are configured for optimal system size, the supposedly high-performing system may actually live on borrowed time as it is on a transient to breakdown. We provide two modeling options (based on queueing theory and a population model) that may help to support this reasoning.

关键词： Limiting System performance Space communications Scalability Sociology Swarm robotics Mobile robots

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Adaptive Stiffness control of Series Elastic Actuator Manipulators Based on Dynamic System

Adaptive Stiffness Control of Series Elastic Actuator Manipu...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Kunlin Guo Chao Zeng Weiyong Si Ning Wang Chenguang Yang Key Laboratory of Autonomous Systems and Networked Control School of Automation Science and Engineering South China University of Technology Guangzhou China Department of Computer Science University of Liverpool Liverpool UK School of Computer Science and Electronic Engineering University of Essex Colchester Bristol Robotics Laboratory University of the West of England Bristol UK

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

In traditional control methods, Series Elastic Actuator (SEA) joint manipulators are limited by their hardware and can only perform simple tasks with low stiffness. To address this issue, we propose a stiffness adjustment control strategy for SEA manipulators based on Dynamic systems (DS) with good generalization performance. By enhancing the generalization capability of DS in complex tasks and combining posture control, the SEA manipulators can autonomously adjust control gains and postures according to task requirements to achieve higher stiffness at the end-effector. Experimental results involving the activation of air switches with different stiffness levels and installation angles have demonstrated the effectiveness of our proposed method. The results indicate that compared to traditional methods of adjusting the control gain and retraining DS for similar tasks, our approach exhibits superior generalization performance while maintaining end-effector stiffness during interactions.

关键词： Actuators computer aided software engineering Automation Adaptive systems control systems End effectors Hardware Dynamical systems Manipulator dynamics

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