In this paper, we consider the problem of predicting unknown targets from data. We propose Online Residual Learning (ORL), a method that combines online adaptation with offline-trained predictions. At a lower level, w...
详细信息
We study model predictive control (MPC) problems for stochastic LTI systems, where the noise distribution is unknown, compactly supported, and only observable through a limited number of i.i.d. noise samples. Building...
We study model predictive control (MPC) problems for stochastic LTI systems, where the noise distribution is unknown, compactly supported, and only observable through a limited number of i.i.d. noise samples. Building upon recent results in the literature, which show that distributional uncertainty can be efficiently captured within a Wasserstein ambiguity set, and that such ambiguity sets propagate exactly through the system dynamics, we start by formulating a novel Wasserstein Tube MPC (WT-MPC) problem. We then show that the WT-MPC problem: (1) is a direct generalization of the (deterministic) Robust Tube MPC (RT-MPC) to the stochastic setting; (2) through a scalar parameter, it interpolates between the data-driven formulation based on sample average approximation and the RT-MPC formulation, allowing us to optimally trade between safety and performance; (3) admits a tractable convex reformulation; and (4) is recursively feasible. We conclude with a numerical comparison of WT-MPC and RT-MPC.
Video surveillance systems are critical infrastructures and that growing in size and complexity. Storage space is the prime resource in such systems but current surveillance setups are centralized and limited in resou...
详细信息
Video surveillance systems are critical infrastructures and that growing in size and complexity. Storage space is the prime resource in such systems but current surveillance setups are centralized and limited in resources due to security and cost constraints. Allocating the correct amount of storage to each camera considering their large differences in characteristics and video content is challenging. In this paper we propose a game theoretic approach to storage allocation for video surveillance camera systems based on the Vickrey-Clarke-Groves (VCG) auction mechanism.
This paper explores alterations in the thermal behavior of rewound induction motors with the aim of achieving functional characteristics different from those initially established during the design process. Through th...
This paper explores alterations in the thermal behavior of rewound induction motors with the aim of achieving functional characteristics different from those initially established during the design process. Through the utilization of Motor-CAD software, the distribution of temperatures within the induction motor structure is analyzed. It is revealed that when rewinding is performed to attain alternative functional characteristics while maintaining the required magnetic field strength, induction motor forces, and current density, the resulting thermal regime differs significantly from the reference version. This divergence can profoundly impact the motor’s operational lifespan.
In this study we demonstrate the appropriate use of statistically based filtering methods for feature selection and describe the application to Heart Rate Variability (HRV) features used to distinguish between arrhyth...
In this study we demonstrate the appropriate use of statistically based filtering methods for feature selection and describe the application to Heart Rate Variability (HRV) features used to distinguish between arrhythmia and normal sinus rhythm electrocardiogram (ECG) signals. The initial set of HRV features is evaluated using both correlation and statistical significance tests. Normality assumption is assessed for each feature in order to select appropriate correlation methods and significance tests. In addition, the impact of outliers on the statistical test results is illustrated by an explorative analysis of correlation before and after outlier removal. Finally, a reduced set of features is selected, and the decision process guided by correlation and statistical significance test results is described and discussed.
Online feedback optimization (OFO) is an emerging control methodology for real-time optimal steady-state control of complex dynamical systems. This tutorial focuses on the application of OFO for the autonomous operati...
Online feedback optimization (OFO) is an emerging control methodology for real-time optimal steady-state control of complex dynamical systems. This tutorial focuses on the application of OFO for the autonomous operation of large-scale transmission grids, with a specific goal of minimizing renewable generation curtailment and losses while satisfying voltage and current limits. When this control methodology is applied to multi-area transmission grids, where each area independently manages its congestion while being dynamically interconnected with the rest of the grid, a non-cooperative game arises. In this context, OFO must be interpreted as an online feedback equilibrium seeking (FES) scheme. Our analysis incorporates technical tools from game theory and monotone operator theory to evaluate the stability and performance of multi-area grid operation. Through numerical simulations, we illustrate the key challenge of this non-cooperative setting: on the one hand, independent multi-area decisions are suboptimal compared to a centralized control scheme; on the other hand, some areas are heavily penalized by the centralized decision, which may discourage participation in the coordination mechanism.
control design for trajectory tracking of multi-rotor aerial vehicles (MAVs) represents a challenging task due to the under-actuated property, highly nonlinear and cross-coupled dynamics, modeling errors, parametric u...
control design for trajectory tracking of multi-rotor aerial vehicles (MAVs) represents a challenging task due to the under-actuated property, highly nonlinear and cross-coupled dynamics, modeling errors, parametric uncertainties and external disturbances. This paper presents the design of the first order sliding mode control (FOSMC) algorithm for trajectory tracking of the octo-rotor unmanned aerial vehicle (UAV) in the presence of various disturbances. The highly nonlinear octo-rotor UAV dynamics is considered via the generalized framework for MAVs modeling. The stability analysis of the closed-loop system is presented using the Lyapunov based approach. The developed FOSMC exhibits finite-time convergence of the octo-rotor trajec-tories to the sliding manifold and the asymptotic stability of the equilibrium in the presence of vanishing disturbances. Simulation studies show a superior tracking performance and robustness properties of the FOSMC in comparison with the concurrent techniques for trajectory tracking of the octo-rotor UAV in the presence of internal and external disturbances.
The paper describes the energy consumption from the battery based on the current measurements for various cases, i.e., speed (PWL adjustment) and loads. The main purpose of the research is to have additional and relia...
The paper describes the energy consumption from the battery based on the current measurements for various cases, i.e., speed (PWL adjustment) and loads. The main purpose of the research is to have additional and reliable information about power consumption and battery life estimation for autonomous guided vehicles (AGV). The authors propose a two-step algorithm. In the first step, a linear classifier was proposed. Then, the KNN classifier was tested; however, it did not give satisfactory results, so it was finally decided to use the random forest to estimate the load and PWL. The time domain current measurement is evaluated, and the beforementioned algorithms process the selected statistical measures. It has been proven that a two-step algorithm allows for achieving high accuracy. Based on the current observation, the paper is a good starting point for further investigation of the AGV because it is usually implemented in the AGV – so it does not require additional hardware. Moreover, it can lead to better energy management and increase battery lifetime.
We study stochastic dynamical systems in settings where only partial statistical information about the noise is available, e.g., in the form of a limited number of noise realizations. Such systems are particularly cha...
详细信息
Fast reroute (FRR) mechanisms that can instantly handle network failures in the data plane are gaining attention in packet-switched networks. In FRR no notification messages are required as the nodes adjacent to the f...
详细信息
暂无评论