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arXiv 2020年

作者： Kulkarni, Abhishek N. Fu, Jie Leslie, Nandi O. Kamhoua, Charles A. Robotics Engineering Program Dept. of Electrical and Computer Engineering Worcester Polytechnic Institute WorcesterMA01609 United States U.S. Army Research Laboratory

With the increasing sophistication of attacks on cyber-physical systems, deception has emerged as an effective tool to improve system security and safety by obfuscating information or providing misleading information. In this paper, we present a solution to the deceptive game in which a control agent is to satisfy a Boolean objective specified by a co-safe temporal logic formula in the presence of an adversary. The agent intentionally introduces asymmetric information to create payoff misperception. This is done by masking information about the logical formula satisfied given the outcome of the game. We introduce hypergames on graphs as a model to capture the asymmetrical information with one-sided payoff misperception. We present the solution of such a hypergame for synthesizing stealthy deceptive strategies that exploit adversary’s misperception. Specifically, deceptive sure winning and deceptive almost-sure winning strategies are developed by reducing the hypergame to a two-player game and one-player stochastic game with reachability objectives. Finally, an illustrative example is introduced to demonstrate the correctness of theory and proposed algorithms. Copyright © 2020, The Authors. All rights reserved.

关键词： Game theory

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Learning Environments and Evidence-Based Practices in Bioengineering and Biomedical engineering

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Biomedical engineering education 2022年第1期2卷 1-16页

作者： Kristen Billiar Donald P Gaver Kenneth Barbee Anita Singh John D DesJardins Beth Pruitt Joe Tranquillo Glenn Gaudette Beth Winkelstein Lee Makowski Jennifer R Amos Ann Saterbak Joe LeDoux Brian Helmke Michele Grimm Paul Benkeser LeAnn Dourte Segan Bryan Pfister David Meaney Treena Arinzeh Susan Margulies Department of Biomedical Engineering Worcester Polytechnic Institute Worcester MA USA. Department of Biomedical Engineering Tulane University New Orleans LA USA. School of Biomedical Engineering Science and Health Systems Drexel University Philadelphia PA USA. Department of Biomedical Engineering Widener University Chester PA USA. Department of Bioengineering Clemson University Clemson SC USA. Mechanical Engineering and BioMolecular Science and Engineering Programs University of California Santa Barbara Santa Barbara CA USA. Departments of Biomedical and Electrical Engineering Bucknell University Lewisburg PA USA. Department of Engineering Boston College Chestnut Hill MA 02467 USA. Department of Bioengineering University of Pennsylvania Philadelphia PA USA. Department of Bioengineering Northeastern University Boston MA USA. Department of Bioengineering University of Illinois Urbana-Champaign Urbana IL USA. Department of Biomedical Engineering Duke University Durham NC USA. Wallace H. Coulter Department of Biomedical Engineering Georgia Institute of Technology and Emory University Atlanta GA USA. Department of Biomedical Engineering University of Virginia Charlottesville VA USA. Department of Mechanical Engineering Michigan State University East Lansing MI USA. Department of Biomedical Engineering New Jersey Institute of Technology Newark NJ USA.

This paper provides a synopsis of discussions related to the Learning Environments track of the Fourth BME Education Summit held at Case Western Reserve University in Cleveland, Ohio in May 2019. This summit was organized by the Council of Chairs of Bioengineering and Biomedical engineering, and participants included over 300 faculty members from 100+ accredited undergraduate programs. The Learning Environments track had six interactive workshops that provided facilitated discussion and provide recommendations in the areas of: (1) Authentic project/problem identification in clinical, industrial, and global settings, (2) Experiential problem/project-based learning within courses, (3) Experiential learning in co-curricular learning settings, (4) Team-based learning, (5) Teaching to reach a diverse classroom, and (6) innovative platforms and pedagogy. A summary of the findings, best practices and recommendations from each of the workshops is provided under separate headings below, and a list of resources is provided at the end of this paper.

关键词： Experiential learning Learning environments Problem-basedlearning Project-based learning Team-based learning

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Robust Maximization of Correlated Submodular Functions

Robust Maximization of Correlated Submodular Functions

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IEEE Annual Conference on Decision and Control

作者： Qiqiang Hou Andrew Clark Department of Electrical and Computer Engineering Worcester Polytechnic Institute Worcester MA USA

ISBN: (数字)9781728113982

ISBN: (纸本)9781728113999

Submodular maximization has applications in networked control, data summarization, and path planning, among other areas. While several efficient algorithms with provable optimality bounds have been developed for maximizing a single submodular function, the more computationally challenging problem of maximizing the minimum of a set of submodular functions (robust submodular maximization) has received less research attention. In this paper, we investigate robust submodular maximization when the objective functions are correlated, i.e., the marginal benefits of adding elements to each function are within a given ratio of each other. We propose a modified greedy algorithm that exploits the correlation ratio to achieve a provable optimality bound. As a case study, we consider minimization of graph effective resistance, and derive bounds on the correlation ratio using the graph spectrum. Our results are evaluated through numerical study.

关键词： Robustness Optimization Correlation Resistance Linear programming Approximation algorithms Laplace equations

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A Submodular Optimization Approach to the Metric Traveling Salesman Problem with Neighborhoods

A Submodular Optimization Approach to the Metric Traveling S...

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IEEE Annual Conference on Decision and Control

作者： Andrew Clark Department of Electrical and Computer Engineering Worcester Polytechnic Institute Worcester MA USA

ISBN: (数字)9781728113982

ISBN: (纸本)9781728113999

The Traveling Salesman Problem with Neighborhoods (TSPN) is a generalization of the classic Traveling Salesman Problem that consists of finding a minimum-length path that reaches a set of regions and then returns to the origin. We consider the metric TSPN, in which the length function is a metric, and develop two approximation algorithms. First, we exploit the connection between the TSP and minimum spanning trees to develop a submodular optimization approach, in which we show that the TSPN is equivalent to maximizing a submodular function with a spanning tree constraint. We prove that the resulting tour is within a factor of 4 of the optimum. Second, we develop a convex relaxation of the problem that gives a lower bound on the optimal tour length, as well as a straightforward rounding procedure that gives an alternative heuristic for TSPN. We evaluate our approaches through numerical study.

关键词： Vegetation Traveling salesman problems Euclidean distance Cost function Approximation algorithms

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A Study of Partially-Shaded PV Modules with Overlapping Diodes

A Study of Partially-Shaded PV Modules with Overlapping Diod...

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IEEE Energy Conversion Congress and Exposition

作者： Zaid Alqaisi Yousef Mahmoud Department of Electrical Computer Engineering Worcester Polytechnic Institute Worcester MA USA

A Configuration of bypass diodes affects the performance of photovoltaic (PV) system when it is exposed to partial shading. The power-voltage (P-V) curve of shaded string has multiple power peaks (MPPs) one of them is a global maximum power (GMPP) due to the exploitation of bypass diodes. There are two configurations of bypass diodes: non-overlapped and overlapped. Almost all PV studies are based on the non-overlapped bypass diodes, the effects of the diodes are well understood. On the other hand, a complete analysis for the effects of the overlapped bypass diodes on the performance of the PV module has not been yet systematically disclosed. In this paper, mathematical equations describe the dynamic performance of the PV module with overlapping diodes under partial shading conditions are developed. The electrical characteristics of the PV module with different bypass diodes configurations are comprehensively studied under different partial shading conditions by using MATLAB Simulink.

关键词： Bypass overlapping partial shading power peaks

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Live Demonstration: A Prototype Towards a Transcutaneous Oxygen Sensing Wearable

Live Demonstration: A Prototype Towards a Transcutaneous Oxy...

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IEEE Biomedical Circuits and Systems (BIOCAS)

作者： Ian Costanzo Devdip Sen Ulkuhan Guler Department of Electrical and Computer Engineering Worcester Polytechnic Institute Worcester MA USA

Monitoring of vital signs and screening at risk patients remotely would improve the outcomes of treatment and promote outpatient care, which is one of the main aims of modern digital health technology. Among the vital signs of human body, respiration is a key component of a person's health. Respiratory health can quantified by rate, volume, and blood-gas content. Traditional respiration monitoring methods such as arterial blood gas monitoring and pulse oximetry have certain advantages and disadvantages. This demo presents a prototype of an oxygen sensing platform which can be transformed to a wearable for monitoring partial pressure of transcutaneous oxygen. A blue light emitting diode (LED) excites a platinum-porpyrin thin film. Re-emitted red light is captured by a photodiode (PD). The developed prototype could successfully sense the changing levels of oxygen and outputs voltage levels in the range of several hundreds of mV that is suitable for further processing. This effort can be considered as a first step towards a partial pressure of transcutaneous oxygen sensing wearable.

关键词： Prototypes Light emitting diodes Sensors Biomedical monitoring Monitoring Atmospheric measurements Current measurement

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A Prototype Towards a Transcutaneous Oxygen Sensing Wearable

A Prototype Towards a Transcutaneous Oxygen Sensing Wearable

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IEEE Biomedical Circuits and Systems (BIOCAS)

作者： Ian Costanzo Devdip Sen Ulkuhan Guler Department of Electrical and Computer Engineering Worcester Polytechnic Institute Worcester MA USA

Monitoring of vital signs and screening at risk patients remotely would improve the outcomes of treatment and promote outpatient care, which is one of the main aims of modern digital health technology. Among the vital signs of human body, respiration is a key component of a person's health. Respiratory health can be quantified by rate, volume, and blood-gas content. Traditional respiration monitoring methods such as arterial blood gas monitoring and pulse oximetry have certain advantages and disadvantages. This paper presents a prototype demonstration of an oxygen sensing platform which can be transformed to a wearable for monitoring partial pressure of transcutaneous oxygen. A blue light emitting diode with peak emission wavelength of 450 nm excites a platinum-porpyrin thin film. Re-emitted red light with peak emission wavelength of 650 nm is captured by a photodiode. The developed prototype could successfully sense the changing levels of oxygen and it outputs voltage levels in the range of several hundreds of mV that is suitable for further processing. This effort can be considered as a first step towards a transcutaneous oxygen sensing wearable.

关键词： Light emitting diodes Sensors Biomedical monitoring Monitoring Blood Sea measurements Heating systems

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Resilient Trajectory Planning in Adversarial Environments

Resilient Trajectory Planning in Adversarial Environments

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IEEE Annual Conference on Decision and Control

作者： Andrew Clark Zhouchi Li Department of Electrical and Computer Engineering Worcester Polytechnic Institute Worcester MA USA

ISBN: (数字)9781728113982

ISBN: (纸本)9781728113999

Autonomous systems, including ground and aerial robots, must plan trajectories in order to satisfy performance requirements in uncertain environments. Current trajectory planning approaches do not incorporate resilience to malicious adversaries. We develop a framework for trajectory planning under false data injection attacks, in which a subset of sensors is vulnerable to compromise by an adversary. We propose a two-step control policy, in which the set of feasible control inputs is constrained based on the observations of the non-vulnerable sensors, and then an optimal control is chosen at each time step. We develop a differential dynamic programming algorithm for selecting a nominal trajectory that achieves a desired trade-off between performance and attack resilience, and prove that the chosen trajectory is locally optimal. Our approach is illustrated through numerical study.

关键词： Trajectory Planning Task analysis Aerospace electronics Resilience Sensor phenomena and characterization

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Comprehensive Approach of Estimating Power-Peaks of Partially Shaded PV Strings with Overlapping Bypass Diodes

Comprehensive Approach of Estimating Power-Peaks of Partiall...

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IEEE Energy Conversion Congress and Exposition

作者： Zaid Alqaisi Yousef Mahmoud Department of Electrical Computer Engineering Worcester Polytechnic Institute Worcester MA USA

A Photovoltaic (PV) modules with overlapping bypass diodes have different electrical characteristics under partial shading than in PV modules with non-overlapping bypass diodes. The performance analysis of PV modules with overlapping bypass diodes is complicated due to the existence of mutual PV cells that are connected with two bypass diodes. Under partial shading, the power-voltage (P-V) curve of the PV string has multiple power-peaks due to the exploitation of the bypass diodes. The locations of shaded parts have significant impacts on the maximum power that can be extracted from PV modules with overlapping bypass diodes, whereas the output power of a PV string with non-overlapping bypass didoes has not been affected by the location of shaded part. This paper develops a fast modeling approach of power peaks for partially shaded PV modules with overlapping by using LAMBERT function. Mathematical expressions for estimating power-peaks of PV string under various environmental conditions without the need to scan the entire P-V curve of the system are derived. The proposed power peaks estimation approach was verified using Matlab Simulink.

关键词： Mathematical model Software packages Computational modeling Electric variables computer aided software engineering Photovoltaic systems

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An Interactive LiDAR to Camera Calibration

An Interactive LiDAR to Camera Calibration

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IEEE Conference on High Performance Extreme Computing (HPEC)

作者： Yecheng Lyu Lin Bai Mahdi Elhousni Xinming Huang Department of Electrical and Computer Engineering Worcester Polytechnic Institute Worcester MA USA

Recent progress in the automated driving system and advanced driver assistant system has shown that the combined use of 3D light detection and ranging (LiDAR) and the camera is essential for an intelligent vehicle to perceive the driving scenarios. LiDAR-camera fusion systems require precise intrinsic and extrinsic transformation between sensors. However, due to the limitation of the calibration equipment and susceptibility to noise, algorithms in existing methods tend to fail in finding LiDAR-camera correspondences in long-range terms. In this paper, we introduced an interactive LiDAR to camera calibration toolbox that estimates the intrinsic and extrinsic transform parameters. This toolbox automatically detects the corner of a planer board from a sequence of LiDAR frames and provides a convenient user interface to annotate the corresponding pixels on camera frames. Since the toolbox only detects the top corner of the board, there is no need to prepare a precise polygon planar board or a checkerboard with different reflectivity areas as in the existing methods. Furthermore, the toolbox uses genetic algorithms to estimate the transforms and supports multiple camera models such as the pinhole camera model and the fisheye camera model. Experiments using Velodyne VLP-16 LiDAR and Point Grey Chameleon 3 camera show robust results.

关键词： Laser radar Cameras Calibration Genetic algorithms Three-dimensional displays Sensors Transforms

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