检索结果-内蒙古大学图书馆

63rd IEEE Conference on Decision and Control, CDC 2024

作者： Chen, Yingqing Cassandras, Christos G. Xu, Kaiyuan Boston University Division of Systems Engineering and Center for Information and Systems Engineering BrooklineMA02446 United States

ISBN: (纸本)9798350316339

We develop controllers for Connected and Automated Vehicles (CAVs) traversing a single-lane roundabout so as to simultaneously determine the optimal sequence and associated optimal motion control jointly minimizing travel time and energy consumption while providing speed-dependent safety guarantees, as well as satisfying velocity and acceleration constraints. This is achieved by integrating (a) Model Predictive Control (MPC) to enable receding horizon optimization with (b) Control Lyapunov-Barrier Functions (CLBFs) to guarantee convergence to a safe set in finite time, thus providing an extended stability region compared to the use of classic Control Barrier Functions (CBFs). The proposed MPC-CLBF framework addresses both infeasibility and myopic control issues commonly encountered when controlling CAVs over multiple interconnected control zones in a traffic network, which has been a limitation of prior work on CAVs going through roundabouts, while still providing safety guarantees. Simulations under varying traffic demands demonstrate the controller's effectiveness and stability. © 2024 IEEE.

关键词： Travel time

来源：评论

学校读者我要写书评

暂无评论

Attar: RRAM-based in-memory attention accelerator with software-hardware co-optimization

引用

Science China(information Sciences) 2025年第3期68卷 371-387页

作者： Bing LI Ying QI Ying WANG Yinhe HAN Information Engineering College Capital Normal University Research Center for Intelligent Computing Systems Institute of Computing TechnologyChinese Academy of Sciences

The attention mechanism has become a pivotal component in artificial intelligence, significantly enhancing the performance of deep learning applications. However, its quadratic computational complexity and intricate computations lead to substantial inefficiencies when processing long sequences. To address these challenges, we introduce Attar, a resistive random access memory(RRAM)-based in-memory accelerator designed to optimize attention mechanisms through software-hardware co-optimization. Attar leverages efficient Top-k pruning and quantization strategies to exploit the sparsity and redundancy of attention matrices, and incorporates an RRAM-based in-memory softmax engine by harnessing the versatility of the RRAM crossbar. Comprehensive evaluations demonstrate that Attar achieves a performance improvement of up to 4.88× and energy saving of 55.38% over previous computing-in-memory(CIM)-based accelerators across various models and datasets while maintaining comparable accuracy. This work underscores the potential of in-memory computing to enhance the efficiency of attention-based models without compromising their effectiveness.

关键词： RRAM computing-in-memory attention pruning quantization

来源：评论

学校读者我要写书评

暂无评论

A 3D MCAM architecture based on flash memory enabling binary neural network computing for edge AI

引用

Science China(information Sciences) 2024年第12期67卷 302-310页

作者： Maoying BAI Shuhao WU Hai WANG Hua WANG Yang FENG Yueran QI Chengcheng WANG Zheng CHAI Tai MIN Jixuan WU Xuepeng ZHAN Jiezhi CHEN School of Information Science and Engineering Shandong University Center for Spintronic and Quantum Systems State Key Laboratory for Mechanical Behavior of MaterialsSchool of Materials Science and Engineering Xi'an Jiaotong University

The in-memory computing(IMC) architecture implemented by non-volatile memory units shows great possibilities to break the traditional von Neumann bottleneck. In this paper, a 3D IMC architecture is proposed whose unit is based on a multi-bit content-addressable memory(MCAM). The MCAM unit is comprised of two 65 nm flash memory and two transistors(2Flash2T), which is reconfigurable and multifunctional for both data write/search and XNOR logic operation. Moreover, the MCAM array can also support the population count(POPCOUNT) operation, which can be beneficial for the training and inference process in binary neural network(BNN) computing. Based on the well-known MNIST dataset, the proposed 3D MCAM architecture shows a 98.63% recognition accuracy and a 300% noise-tolerant performance without significant accuracy deterioration. Our findings can provide the potential for developing highly energy-efficient BNN computing for complex artificial intelligence(AI) tasks based on flash-based MCAM units.

关键词： reconfigurable multifunction multi-bit content-addressable memory (MCAM) bitwise operation binary neural network edge AI flash memory in-memory computing (IMC)

来源：评论

学校读者我要写书评

暂无评论

Safety-Critical Optimal Control for Autonomous systems

引用

Journal of systems Science & Complexity 2021年第5期34卷 1723-1742页

作者： XIAO Wei CASSANDRAS G.Christos BELTA Calin Division of Systems Engineering and Center for Information and Systems Engineering Boston UniversityBrooklineMA 02446USA

This paper presents an overview of the state of the art for safety-critical optimal control of autonomous *** control methods are well studied,but become computationally infeasible for real-time applications when there are multiple hard safety constraints *** guarantee such safety constraints,it has been shown that optimizing quadratic costs while stabilizing affine control systems to desired(sets of)states subject to state and control constraints can be reduced to a sequence of Quadratic Programs(QPs)by using Control Barrier Functions(CBFs)and Control Lyapunov Functions(CLFs).The CBF method is computationally efficient,and can easily guarantee the satisfaction of nonlinear constraints for nonlinear systems,but its wide applicability still faces several ***,safety is hard to guarantee for systems with high relative degree,and the above mentioned QPs can easily be infeasible if tight or time-varying control bounds are *** resulting solution is also sub-optimal due to its myopic solving ***,this method works conditioned on the system dynamics being accurately *** authors discuss recent solutions to these issues and then present a framework that combines Optimal Control with CBFs,hence termed OCBF,to obtain near-optimal solutions while guaranteeing safety constraints even in the presence of noisy *** application of the OCBF approach is included for autonomous vehicles in traffic networks.

关键词： Control barrier function optimal control safety

来源：评论

学校读者我要写书评

暂无评论

Echo State Network With Probabilistic Regularization for Time Series Prediction

引用

IEEE/CAA Journal of Automatica Sinica 2023年第8期10卷 1743-1753页

作者： Xiufang Chen Mei Liu Shuai Li the Engineering Research Center of Open Source Software and Real-Time Systems Ministry of EducationSchool of Information Science and EngineeringLanzhou UniversityLanzhou 730000China IEEE

Recent decades have witnessed a trend that the echo state network(ESN)is widely utilized in field of time series prediction due to its powerful computational ***,most of the existing research on ESN is conducted under the assumption that data is free of noise or polluted by the Gaussian noise,which lacks robustness or even fails to solve real-world *** work handles this issue by proposing a probabilistic regularized ESN(PRESN)with robustness ***,we design a novel objective function for minimizing both the mean and variance of modeling error,and then a scheme is derived for getting output weights of the ***,generalization performance,robustness,and unbiased estimation abilities of the PRESN are revealed by theoretical ***,experiments on a benchmark dataset and two real-world datasets are conducted to verify the performance of the proposed *** source code is publicly available at https://***/LongJinlab/probabilistic-regularized-echo-state-network.

关键词： Echo state network(ESN) noise probabilistic regularization robustness

来源：评论

学校读者我要写书评

暂无评论

From bricks to bytes: Verifiable data for decarbonizing the building sector

引用

Energy Informatics 2024年第1期7卷 32页

作者： Körner, Marc-Fabian Kranz, Tobias Rockstuhl, Jakob Strüker, Jens Branch Business and Information Systems Engineering of the Fraunhofer FIT Bayreuth Germany FIM Research Center for Information Management University of Bayreuth Bayreuth95444 Germany

Amidst the pressing need to combat climate change and curb greenhouse gas (GHG) emissions, the building sector emerges as a pivotal sector, substantially impacting worldwide emissions. Despite efforts to improve energy efficiency and incorporate non-fossil energy sources, the sector still lags in achieving the necessary decarbonization goals. Existing Building Energy Management systems primarily prioritize economic criteria, overlooking the vital aspect of emissions reduction. Energy Informatics and information systems hold the potential to bridge this gap by enabling precise and verifiable GHG emissions accounting, end-to-end real-time tracking, and automated verification within Energy Management systems (EMS). This paper presents research on designing the advancement of EMSs in the form of a Building Energy Emission Management System (BEEMS) leveraging verifiable emission data for emission-based actions. The central research question revolves around designing BEEMS to facilitate emission-based actions based on verifiable data. Following a multi-step approach, the research methodology encompasses a comprehensive literature review and iterative evaluation of our design principles through a workshop and semi-structured interviews with experts from industry and research. The contributions include a conceptual architecture of a BEEMS and six design principles for future BEEMS development. Ultimately, this research strives to facilitate end-to-end verifiable GHG emissions management in the building sector to enable emission-based energy consumption decisions, contributing to the existing body of knowledge of the Energy Informatics field on BEEMS. © The Author(s) 2024.

关键词： Energy management systems

来源：评论

学校读者我要写书评

暂无评论

Performance-Guaranteed Solutions for Multi-Agent Optimal Coverage Problems using Submodularity, Curvature, and Greedy Algorithms 63

Performance-Guaranteed Solutions for Multi-Agent Optimal Cov...

引用

63rd IEEE Conference on Decision and Control, CDC 2024

作者： Welikala, Shirantha Cassandras, Christos G. Stevens Institute of Technology Department of Electrical and Computer Engineering HobokenNJ07030 United States Boston University Division of Systems Engineering and Center for Information and Systems Engineering BrooklineMA02446 United States

ISBN: (纸本)9798350316339

We consider a class of multi-agent optimal coverage problems in which the goal is to determine the optimal placement of a group of agents in a given mission space so that they maximize a coverage objective that represents a blend of individual and collaborative event detection capabilities. This class of problems is extremely challenging due to the non-convex nature of the mission space and of the coverage objective. With this motivation, greedy algorithms are often used as means of getting feasible coverage solutions efficiently. Even though such greedy solutions are suboptimal, the submodularity (diminishing returns) property of the coverage objective can be exploited to provide performance bound guarantees. Moreover, we show that improved performance bound guarantees (beyond the standard (1-1 / e) performance bound) can be established using various curvature measures of the coverage problem. In particular, we provide a brief review of all existing popular applicable curvature measures, including a recent curvature measure that we proposed, and discuss their effectiveness and computational complexity, in the context of optimal coverage problems. We also propose novel computationally efficient techniques to estimate some curvature measures. Finally, we provide several numerical results to support our findings and propose several potential future research directions. © 2024 IEEE.

关键词： Optimal detection

来源：评论

学校读者我要写书评

暂无评论

Cooperative Output Regulation of Heterogeneous systems over Directed Graphs:A Dynamic Adaptive Event-Triggered Strategy

引用

Journal of systems Science & Complexity 2023年第3期36卷 909-921页

作者： SU Hang CHENG Bin LI Zhongkui State Key Laboratory for Turbulence and Complex Systems and Department of Mechanics and Engineering Science College of EngineeringPeking UniversityBeijing 100871China Department of Control Science and Engineering College of Electronics and Information EngineeringTongji UniversityShanghai 201804China Frontiers Science Center for Intelligent Autonomous Systems Shanghai 201210China

This paper investigates the cooperative output regulation problem of heterogeneous linear multi-agent systems over directed graphs with the constraint of communication *** that there exists an exosystem whose state information is not available to all agents,the authors develop distributed adaptive event-triggered observers for the followers based on relative information between neighboring *** should be pointed out that,two kinds of time-varying gains are introduced to avoid relying on any global information associated with the network,and dynamic triggering conditions are designed to get rid of continuous *** the basis of the designed observers,the authors devise a local controller for each *** with the existing related works,the main contribution of the current paper is that the cooperative output regulation problem for general directed graphs is solved requiring neither global information nor continuous communications.

关键词： Adaptive control consensus cooperative output regulation directed graph event-triggered control multi-agent systems

来源：评论

学校读者我要写书评

暂无评论

Inexact proximal gradient algorithm with random reshuffling for nonsmooth optimization

引用

Science China(information Sciences) 2025年第1期68卷 219-237页

作者： Xia JIANG Yanyan FANG Xianlin ZENG Jian SUN Jie CHEN National Key Lab of Autonomous Intelligent Unmanned Systems School of AutomationBeijing Institute of Technology Beijing Institute of Technology Chongqing Innovation Center School of Electronic and Information Engineering Tongji University

Proximal gradient algorithms are popularly implemented to achieve convex optimization with nonsmooth regularization. Obtaining the exact solution of the proximal operator for nonsmooth regularization is challenging because errors exist in the computation of the gradient; consequently, the design and application of inexact proximal gradient algorithms have attracted considerable attention from researchers. This paper proposes computationally efficient basic and inexact proximal gradient descent algorithms with random reshuffling. The proposed stochastic algorithms take randomly reshuffled data to perform successive gradient descents and implement only one proximal operator after all data pass through. We prove the convergence results of the proposed proximal gradient algorithms under the sampling-without-replacement reshuffling *** computational errors exist in gradients and proximal operations, the proposed inexact proximal gradient algorithms can converge to an optimal solution neighborhood. Finally, we apply the proposed algorithms to compressed sensing and compare their efficiency with some popular algorithms.

关键词： proximal operator random reshuffling inexact computation compressed sensing nonsmooth optimization

来源：评论

学校读者我要写书评

暂无评论

Safe motion planning and formation control of quadruped robots

引用

Autonomous Intelligent systems 2024年第1期4卷 38-49页

作者： Zongrui Ji Yi Dong College of Electronic and Information Engineering National Key Laboratory of Autonomous Intelligent Unmanned SystemsFrontiers Science Center for Intelligent Autonomous SystemsMinistry of EducationTongji UniversityShanghai 200092China

This paper introduces a motion planning and cooperative formation control approach for quadruped robots and multi-agent ***,in order to improve the efficiency and safety of quadruped robots navigating in complex environments,this paper proposes a new planning method that combines the dynamic model of quadruped robots and a gradient-optimized obstacle avoidance strategy without Euclidean Signed Distance *** framework is suitable for both static and slow dynamic obstacle environments,aiming to achieve multiple goals of obstacle avoidance,minimizing energy consumption,reducing impact,satisfying dynamic constraints,and ensuring trajectory *** approach differs in that it reduces energy consumption throughout the movement from a new ***,this method effectively reduces the impact of the ground on the robot,thus mitigating the damage to its ***,we combine the dynamic control barrier function and the virtual leader-follower model to achieve efficient and safe formation control through model predictive ***,the proposed algorithm is validated through both simulations and real-world scenarios testing.

关键词： Efficient motion planning Dynamic model Safety-critical Model predictive control

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：