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arXiv 2022年

作者： Qin, Shuying He, Jianping Fang, Chongrong Lam, James The Dept. of Automation Shanghai Jiao Tong University The Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China The Dept. of Mechanical Engineering The University of Hong Kong Pokfulam Road Hong Kong

Differential privacy is a standard framework to quantify the privacy loss in the data anonymization process. To preserve differential privacy, a random noise adding mechanism is widely adopted, where the trade-off between data privacy level and data utility is of great concern. The privacy and utility properties for the continuous noise adding mechanism have been well studied. However, the related works are insufficient for the discrete random mechanism on discretely distributed data, e.g., traffic data, health records. This paper focuses on the discrete random noise adding mechanisms. We study the basic differential privacy conditions and properties for the general discrete random mechanisms, as well as the trade-off between data privacy and data utility. Specifically, we derive a sufficient and necessary condition for discrete ∊-differential privacy and a sufficient condition for discrete (∊, δ)-differential privacy, with the numerical estimation of differential privacy parameters. These conditions can be applied to analyze the differential privacy properties for the discrete noise adding mechanisms with various kinds of noises. Then, with the differential privacy guarantees, we propose an optimal discrete ∊-differential private noise adding mechanism under the utility-maximization framework, where the utility is characterized by the similarity of the statistical properties between the mechanism's input and output. For this setup, we find that the class of the discrete noise probability distributions in the optimal mechanism is Staircase-shaped. Copyright © 2022, The Authors. All rights reserved.

关键词： Probability distributions

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DROPO: Sim-to-Real Transfer with Offline Domain Randomization

arXiv

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arXiv 2022年

作者： Tiboni, Gabriele Arndt, Karol Kyrki, Ville Dept. of Control and Computer Engineering Politecnico di Torino Francesco Ferrucci Street 112 Torino10141 Italy Intelligent Robotics Group Dept. of Electrical Engineering and Automation Aalto University Maarintie 8 Espoo02150 Finland

In recent years, domain randomization over dynamics parameters has gained a lot of traction as a method for sim-to-real transfer of reinforcement learning policies in robotic manipulation;however, finding optimal randomization distributions can be difficult. In this paper, we introduce DROPO, a novel method for estimating domain randomization distributions for safe sim-to-real transfer. Unlike prior work, DROPO only requires a limited, precollected offline dataset of trajectories, and explicitly models parameter uncertainty to match real data using a likelihood-based approach. We demonstrate that DROPO is capable of recovering dynamic parameter distributions in simulation and finding a distribution capable of compensating for an unmodeled phenomenon. We also evaluate the method in two zero-shot sim-to-real transfer scenarios, showing successful domain transfer and improved performance over prior methods. Copyright © 2022, The Authors. All rights reserved.

关键词： Reinforcement learning

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Modeling Method and Simulation Analysis of Smart Substation Protection Scheme Based at OPNET Process Level

Modeling Method and Simulation Analysis of Smart Substation ...

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2021 IEEE Sustainable Power and Energy Conference, iSPEC 2021

作者： Feng, Teng Han, Liu Xiao, Zhihong Lu, Jialiang Yang, Shenghui He, Ruiwen State Grid Economic and Technological Research Institute Co. Ltd. Automation and Control Design Research Center Beijing China Guangdong University of Technology Dept. of Electrical Engineering Guangzhou China

ISBN: (纸本)9781665414395

Process layer network and its intelligent electronic devices (IED) are the basic equipments that constitute the relay protection in smart substation. In order to further achieve the standardization and accuracy of the process layer relay protection, a method of constructing the protection scheme based on the OPNET process level is proposed. Based on Standard IEC 61850, logic transition modeling of IED application layer at process level is achieved, and the simulation of the whole protection scheme including data acquisition by electronic transformer, operation and decision-making of protection unit and action of intelligent terminal is realized. Combining the examples of protection processes in line bay and transformer bay, the operation mechanism and working principle of the models are explained, the validity and feasibility of the protection scheme are verified. A good simulation analysis tool and platform for engineering applications are provided. © 2021 IEEE.

关键词： Electric power system protection

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Predictability of Stochastic Dynamical System: A Probabilistic Perspective

Predictability of Stochastic Dynamical System: A Probabilist...

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IEEE Conference on Decision and control

作者： Tao Xu Jianping He Dept. of Automation Shanghai Jiao Tong University the Key Laboratory of System Control and Information Processing Ministry of Education of China and Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

In this paper, to characterize the predictability of discrete-time continuous-state stochastic dynamical system (SDS) and use predictability to explain the probability of making accurate predictions, we have proposed a new performance metric, i.e., predictability exponent. This metric quantifies the asymptotic exponential decaying rate of the probability that prediction errors never exceed a fixed ϵ. The novelties of this predictability metric lie in that it is proposed from an asymptotic probabilistic perspective, which i) minimizes the exponential decaying rate of prediction probability, ii) holds an approximated expression deeply related with differential entropy within an error of O(ϵ), and iii) possesses a fast converging speed from finite decaying rate of O(e −K ) in the sense of probability. Numerical examples are given to illustrate the efficiency of the obtained results.

关键词： Measurement Stochastic processes Predictive models Probabilistic logic Entropy Dynamical systems

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Inferring Topology of Networked Dynamical Systems by Active Excitations

arXiv

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arXiv 2022年

作者： Li, Yushan He, Jianping Chen, Cailian Guan, Xinping Dept. of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

Topology inference for networked dynamical systems (NDSs) has received considerable attention in recent years. The majority of pioneering works have dealt with inferring the topology from abundant observations of NDSs, so as to approximate the real one asymptotically. Leveraging the characteristic that NDSs will react to various disturbances and the disturbance’s influence will consistently spread, this paper focuses on inferring the topology by a few active excitations. The key challenge is to distinguish different influences of system noises and excitations from the exhibited state deviations, where the influences will decay with time and the exciatation cannot be arbitrarily large. To practice, we propose a one-shot excitation based inference method to infer h-hop neighbors of a node. The excitation conditions for accurate one-hop neighbor inference are first derived with probability guarantees. Then, we extend the results to h-hop neighbor inference and multiple excitations cases, providing the explicit relationships between the inference accuracy and excitation magnitude. Specifically, the excitation based inference method is not only suitable for scenarios where abundant observations are unavailable, but also can be leveraged as auxiliary means to improve the accuracy of existing methods. Simulations are conducted to verify the analytical results. Copyright © 2022, The Authors. All rights reserved.

关键词： Topology

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Inferring Topology of Networked Dynamical Systems by Active Excitations

Inferring Topology of Networked Dynamical Systems by Active ...

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IEEE Conference on Decision and control

作者： Yushan Li Jianping He Cailian Chen Xinping Guan Dept. of Automation Key Laboratory of System Control and Information Processing Ministry of Education of China and Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

Topology inference for networked dynamical systems (NDSs) has received considerable attention in recent years. The majority of pioneering works have dealt with inferring the topology from abundant observations of NDSs, so as to approximate the real one asymptotically. Leveraging the characteristic that NDSs will react to various disturbances and the disturbance’s influence will consistently spread, this paper focuses on inferring the topology by a few active excitations. The key challenge is to distinguish different influences of system noises and excitations from the exhibited state deviations, where the influences will decay with time and the excitation cannot be arbitrarily large. To practice, we propose a one-shot excitation based inference method to infer h-hop neighbors of a node. The excitation conditions for accurate one-hop neighbor inference are first derived with probability guarantees. Then, we extend the results to h-hop neighbor inference and multiple excitations cases, providing the explicit relationships between the inference accuracy and excitation magnitude. Specifically, the excitation based inference method is not only suitable for scenarios where abundant observations are unavailable, but also can be leveraged as auxiliary means to improve the accuracy of existing methods. Simulations are conducted to verify the analytical results.

关键词： Analytical models Network topology Topology Performance analysis Dynamical systems Testing

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Local Topology Inference of Mobile Robotic Networks under Formation control

arXiv

引用

arXiv 2022年

作者： Li, Yushan He, Jianping Cai, Lin Guan, Xinping The Dept. of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China The Dept. of Electrical and Computer Engineering University of Victoria BC Canada

The interaction topology is critical for efficient cooperation of mobile robotic networks (MRNs). We focus on the local topology inference problem of MRNs under formation control, where an inference robot with limited observation range can manoeuvre among the formation robots. This problem faces new challenges brought by the highly coupled influence of unobservable formation robots, inaccessible formation inputs, and unknown interaction range. The novel idea here is to advocate a range-shrink strategy to perfectly avoid the influence of unobservable robots while filtering the input. To that end, we develop consecutive algorithms to determine a feasible constant robot subset from the changing robot set within the observation range, and estimate the formation input and the interaction range. Then, an ordinary least squares based local topology estimator is designed with the previously inferred information. Resorting to the concentration measure, we prove the convergence rate and accuracy of the proposed estimator, taking the estimation errors of previous steps into account. Extensions on nonidentical observation slots and more complicated scenarios are also analyzed. Comprehensive simulation tests and method comparisons corroborate the theoretical findings. Copyright © 2022, The Authors. All rights reserved.

关键词： Topology

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Innovative Competency-Based Electrical engineering Curriculum 54

Innovative Competency-Based Electrical Engineering Curriculu...

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54th IEEE Frontiers in Education Conference, FIE 2024

作者： Rehder, Gustavo P. Serrano, Ariana L. C. Grimoni, José B. Brandão, Anarosa A. F. Silva, Magno M. T. Moriya, Henrique T. Panazio, Cristiano M. Barbero, Edson Alayo, Marco I. Gianesi, Irineu G. N. Seabra, Antonio C. Universidade de São Paulo Electronic Systems Department The Escola Politécnica São Paulo Brazil Universidade de São Paulo Electric Automation and Energy Dept. The Escola Politécnica São Paulo Brazil Universidade de São Paulo Computer Engineering and Digital Systems Department The Escola Politécnica São Paulo Brazil Universidade de São Paulo Telecommunications and Control Dept. The Escola Politécnica São Paulo Brazil Á lvares Penteado School of Commerce Foundation São Paulo Brazil Instituto Mauá de Tecnologia São Paulo Brazil

ISBN: (纸本)9798350351507

The Electrical engineering undergraduate program of the Escola Politécnica of the Universidade de São Paulo has created an alternative innovative curriculum path for its freshmen students in 2024. The Competency-based Path emphasizes the development of competencies and skills for the unprecedented technological advancements that necessitate a holistic education for future electrical engineers, preparing them with practical skills for real-world challenges. The program was designed using an innovative methodology and centers around semester-long or year-long integrative projects. These projects bridge the gap between theory and practice, as students deal with real-world challenges while fostering social responsibility. © 2024 IEEE.

关键词： Students

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Fragility-Aware Stealthy Attack Strategy for Multi-Robot Systems against Multi-Hop Wireless Networks

Fragility-Aware Stealthy Attack Strategy for Multi-Robot Sys...

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IEEE Conference on Decision and control

作者： Yun Gao Kai Luo Chongrong Fang Jianping He Dept. of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China and Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

This paper proposes a fragility-aware stealthy attack for multiple mobile robots to secretly learn the accurate model of a multi-hop wireless network (MHWN). The stealthy attack scenario consists of three steps: active detection, node hijacking, and network eavesdropping. Our goal is to design distributed motion control strategies for naive attackers, for obtaining the connectivity information to evaluate the fragility degree of each node in MHWN. We designed a switching control strategy, which includes (i) move-to-fragile-neighbors-barycenter (MFNB) law and (ii) move-to-undetected-region-centroid (MURC) law. This strategy can drive mobile attackers to detect, hijack and eavesdrop on the MHWN’s nodes as quickly as possible. As a result, the fragility degree map of MHWN can be secretly learned to paralyze the whole network. Finally, the simulation results show that the proposed strategy is effective.

关键词： Wireless networks Simulation Spread spectrum communication Switches control systems Stability analysis Multi-robot systems

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A Data-Driven Passive Islanding Detection Scheme

A Data-Driven Passive Islanding Detection Scheme

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IEEE Power India Conference

作者： M. Venkateswara Reddy Sourav De Ranjana Sodhi Grid Automation & Control group National Renewable Energy Laboratory Golden United States Dept. of Electrical Engineering Indian Institute of Technology Ropar Punjab India

ISBN: (纸本)9781665459310

This paper proposes a novel statistical parameters based data driven approach for passive islanding detection. The proposed scheme relies in the voltage data, measured at the point of common coupling, and is comprised of three stages. The Stage-1 quickly detects what is termed as coarse islanding, Stage-2 computes the decaying DC detector (DDCD), and 3) finally, the digital relay logic (DRL) is devised in Stage-3. The proposed scheme is tested as per the IEEE-1547, UL 1741 and IEC-62116 standards. Various tests are investigated on the modified IEEE-13 bus system, modeled in PSCAD/EMTDC, under stringent test scenarios such as power mismatch, induction motor starting effect, capacitor bank switching and various level of loads changes, considered for both single and multiple DG systems. The test results reveal that the proposed scheme can detect islanding in less than 2 cycles, and results in nearly zero non detection zone (NDZ). Also, the scheme can very well be used for single-phase microgrids too as it relies only on the single phase voltage information.

关键词： Islanding Voltage measurement Induction motors Detectors Switches Microgrids Threshold voltage

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