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arXiv 2023年

作者： Qian, Zhifeng You, Mingyu Zhou, Hongjun Xu, Xuanhui He, Bin The College of Electronic and Information Engineering Frontiers Science Center for Intelligent Autonomous Systems Tongji University Shanghai201800 China

Goal-Conditioned Reinforcement Learning (GCRL) can enable agents to spontaneously set diverse goals to learn a set of skills. Despite the excellent works proposed in various fields, reaching distant goals in temporally extended tasks remains a challenge for GCRL. Current works tackled this problem by leveraging planning algorithms to plan intermediate subgoals to augment GCRL. Their methods need two crucial requirements: (i) a state representation space to search valid subgoals, and (ii) a distance function to measure the reachability of subgoals. However, they struggle to scale to high-dimensional state space due to their non-compact representations. Moreover, they cannot collect high-quality training data through standard GC policies, which results in an inaccurate distance function. Both affect the efficiency and performance of planning and policy learning. In the paper, we propose a goal-conditioned RL algorithm combined with Disentanglement-based Reachability Planning (REPlan) to solve temporally extended tasks. In REPlan, a Disentangled Representation Module (DRM) is proposed to learn compact representations which disentangle robot poses and object positions from high-dimensional observations in a self-supervised manner. A simple REachability discrimination Module (REM) is also designed to determine the temporal distance of subgoals. Moreover, REM computes intrinsic bonuses to encourage the collection of novel states for training. We evaluate our REPlan in three vision-based simulation tasks and one real-world task. The experiments demonstrate that our REPlan significantly outperforms the prior state-of-the-art methods in solving temporally extended tasks. Copyright © 2023, The Authors. All rights reserved.

关键词： Reinforcement learning

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Reference Voltage Adjustment Strategies for Dynamic Voltage Compensator

Reference Voltage Adjustment Strategies for Dynamic Voltage ...

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2023 IEEE International Conference on Environment and Electrical engineering and 2023 IEEE Industrial and Commercial Power systems Europe, EEEIC / I and CPS Europe 2023

作者： Kazemi-Robati, Ehsan Hafezi, Hossein Faranda, Roberto Silva, Bernardo Center of Power & Energy Systems INESC TEC Porto Portugal Tampere University Faculty of Information Technology and Communication Sciences Tampere Finland Politecnico di Milano Department of Energy Milano Italy University of Porto and INESC TEC Faculty of Engineering Porto Portugal

ISBN: (纸本)9798350347432

Modern electrical distribution networks are prone to more severe voltage fluctuations due to the presence of variable loads such as electric vehicles and renewable energy generation units. These fluctuations decrease both the quality of power and the hosting capability of the grid. In such a condition, a Dynamic Voltage Compensator (DVC) can be used to stabilize the voltage of the LV networks. DVC is generally designed to resolve voltage fluctuations reflected from MV systems maintaining the voltage on a constant value. However, it will more effectively improve the voltage quality in the grid if the reference voltage is dynamically adjusted based on measurements inside the LV system. On the other hand, the more complex measurement and coordination strategy may lead to the inapplicability of the methods. Hence, voltage reference adjustment strategies should be developed to conform to the availability of data and measurements inside the grid. Accordingly, in this paper, novel voltage reference adjustment strategies have been developed for DVC based on the measurements at the installation point of the device. In order to examine the proposed methods, they are applied to an LV grid with real measured data and the results are discussed. Based on the provided simulation results, the developed dynamic reference voltage adjustment strategies can successfully improve the quality of voltage and improve the hosting capacity of the LV network. © 2023 IEEE.

关键词： Electric loads

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Wireless, Fully soft, Pressure and Temperature Sensors for Sensitive and Robust Diabetic Foot Ulcer Monitoring

Wireless, Fully soft, Pressure and Temperature Sensors for S...

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IEEE SENSORS

作者： Xinran Li Zhilu Ye Minye Yang Ming Liu Xiaohui Zhang State Key Laboratory for Manufacturing Systems Engineering The Key Laboratory of Biomedical Information Engineering of Ministry of Education Center for Mitochondrial Biology and Medicine School of Life Science and Technology Xi'an Jiaotong University Xi'an Shaanxi China State Key Laboratory for Manufacturing Systems Engineering School of Electronic Science and Engineering Xi'an Jiaotong University Xi'an Shaanxi China

ISBN: (数字)9798350363517

ISBN: (纸本)9798350363524

This study introduces a wireless, fully soft sensor for the sensitive and robust monitoring of foot pressure and temperature, advancing the prevention and diagnostics of diabetic foot ulcers (DFUs). The sensing system leverages parity-time (PT) and PT-reciprocal scaling (PTX) symmetry, creating an exceptional point (EP) that induces rapid frequency shifts in response to sensing parameters, demonstrating high sensitivity. Additionally, the system's eigenfrequencies generate a pair of balanced resonant dips in the reflection spectra, enabling the accurate retrieval of pressure- and temperature-induced resistive perturbations by measuring the resistance of the reader, independent of reader-sensor alignment. The results indicate that the proposed sensing system can robustly monitor pressure (0–400 kPa) and temperature (25–50 °C) with various reader-sensor distances, effectively addressing the longstanding issue linked with inductively coupled passive sensors. Moreover, by integrating a custom-made resistive pressure transducer, the proposed sensor remains fully flexible and soft, showcasing significant potential for DFU management and a broad spectrum of wearable healthcare applications.

关键词： Temperature sensors Wireless communication Temperature measurement Wireless sensor networks Sensor systems Sensors Diabetes Biomedical monitoring Monitoring Wearable sensors

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Comparative Analysis of Emissions from Battery Electric Vehicles (BEV) and Internal Combustion Engine Vehicles (ICEV): A Case Study of the UK and China 29

Comparative Analysis of Emissions from Battery Electric Vehi...

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29th International Conference on engineering, Technology, and Innovation, ICE 2023

作者： Wang, Jie Pawar, Kulwant S. Jayasekara, Deepesh C. Thoben, Klaus-Dieter Nottingham University Business School Division of Operations Management & Information Systems Nottingham United Kingdom University of Nottingham Ningbo Department of Mechanical Materials and Manufacturing Engineering Ningbo China University of Bremen Bremer Institut für Produktion und Logistik GmbH Bremen Germany

ISBN: (纸本)9798350315172

Electric vehicle development has become a trending topic in recent years mainly considering the negative environmental effects of the global transportation sector and the ongoing global energy crisis. The question of whether electric cars are more environmentally friendly than their gasoline counterparts, and in which ways, has caught the attention of scholars. In this context, this paper undertakes a comparative analysis of the harmful emissions generated by battery-operated electric vehicles against petrol vehicles. The objectives of the study are to (1) understand the amount of greenhouse gas emissions during the entire lifecycle of battery electric vehicles from a supply chain perspective, taking into account the transportation of the product until it reaches the end customer and (2) compare the environmental impact of battery-operated and petrol-operated vehicles in China and the UK. The paper develops and analyses a case study presenting two vehicle models, Tesla Model 3 (battery electric) and Toyota Corolla (Petrol) and their emissions in China and the UK. Numerous evaluation methodologies are utilized to arrive at the conclusions including lifecycle evaluation as the primary approach, combined with the well-to-wheel and cradle-to-grave analysis techniques. The study reveals that battery electric vehicles performed better than their petrol counterpart in the respective countries. However, interestingly the study further reveals that the battery electric vehicle in China emitted more greenhouse gases than petrol vehicles in the UK. Therefore, the study emphasises the importance of decarbonising the national grid to reap the ultimate benefits of electric vehicles. © 2023 IEEE.

关键词： Environmental impact

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Hosting Capacity Enhancement Using Open-UPQC in LV Distribution Networks

Hosting Capacity Enhancement Using Open-UPQC in LV Distribut...

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2023 International Conference on Smart Energy systems and Technologies, SEST 2023

作者： Kazemi-Robati, Ehsan Hafezi, Hossein Faranda, Roberto Silva, Bernardo Center of Power & Energy Systems Inesc Tec Porto Portugal Communication Sciences Tampere University Faculty of Information Technology Tampere Finland Politecnico di Milano Department of Energy Milano Italy University of Porto Inesc Tec Faculty of Engineering Porto Portugal

ISBN: (纸本)9798350397901

The deviation of the demand levels of the modern LV distribution systems due to the more loads and distributed generations connected in the same grid leads to the loss of acceptable quality of voltage. These voltage quality problems occur in case of the high difference between the power of the loads and distributed generations in the same area. Accordingly, the high loading conditions lead to the bus voltage decrease while the bus voltage increment occurs in scenarios with the excess of generation. In this condition, the successful voltage stabilization in MV/LV substation can effectively suppress the deviations of the grid voltage values and increase the hosting capacity of the network. There are different custom power devices introduced in the literature which can provide the stabilization of voltage in the grids. In this paper, among the available tools, the application of Open-UPQC is examined in hosting capacity improvement maintaining a desired power quality level;this capability is provided through the successful voltage regulation in the different probable high/low loading scenarios in the grid. According to the results, while the uncoordinated operation of the series and shunt devices does not have the capability of stabilization of the base grid, the Open-UPQC has successfully maintained the voltage profile inside the limits in both the base case and in the presence of high load and PV penetration levels. It should be emphasized that the services of the Open-UPQC are provided in an economical and effective way making the solution strategy applicable in real-world cases. © 2023 IEEE.

关键词： Stabilization

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Sampled-Data Safe Stabilization of Nonlinear Time-Delay systems

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IFAC-PapersOnLine 2024年第27期58卷 78-83页

作者： M. Di Ferdinando A. Borri S. Di Gennaro P. Pepe Department of Information Engineering Computer Science and Mathematics Center of Excellence DEWS University of L'Aquila L'Aquila Italy Institute of Systems Analysis and Computer Science National Research Council Rome Italy

In this paper, the sampled-data stabilization problem under safety constraints is studied for nonlinear time-delay systems. In particular, a methodology for the design of sampled-data safe stabilizers is provided for nonlinear systems affected by state delays. As a first step, the new notion of Safe Steepest Descent Feedback (SSDF), continuous or not, is introduced by suitably combining the well-known notions of Steepest Descent Feedbacks and Barrier functions considered to cope with safety requirements. Then, the stabilization in the sample-and-hold sense theory is used as a tool to show the existence of a suitably fast sampling such that: the digital implementation of SSDFs, continuous or not, ensures the semi–global practical safe stability property of the related closed-loop system with arbitrarily small final target ball of the origin. In the theory developed here, time-varying sampling periods are allowed. The proposed theoretical results are validated through an application concerning the plasma glucose regulation problem in Type-2 diabetic patients via artificial pancreas.

关键词： Sampled-Data Controllers Safe Stabilization Nonlinear Time-Delay systems Stabilization in the Sample-and-Hold sense Barrier Functions Lyapunov-Krasovskii functionals Glucose-Insulin model

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BERT-based Topic Modeling and information Retrieval to Support Fishbone Diagramming for Safe Integration of Unmanned Aircraft systems in Wildfire Response

BERT-based Topic Modeling and Information Retrieval to Suppo...

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Conference on Digital Avionics systems (DASC)

作者： Seydou Mbaye Hannah S. Walsh Garfield Jones Misty Davies Intelligent Systems Division NASA Ames Research Center Moffett Field CA USA Department of Industrial and Systems Engineering Morgan State University Baltimore MD USA

Recent concepts for emerging wildfire response operations have included unmanned aircraft systems (UAS) due to their increasing accessibility and capabilities. To integrate UAS into wildfire response safely, researchers have studied the use of large repositories of historic incident reports to improve the scope of root cause analysis. Recent work has emphasized applying state-of-the-art natural language processing techniques to extract useful information from these repositories. However, it has not yet been studied how these results can be interpreted and integrated into the systems engineering process. In this work, we propose a process in which Bidirectional Encoder Representations from Transformers (BERT)-based topic modeling and information retrieval are applied to a relevant set of documents in order to support the development of a fishbone diagram in a semi-automated process. High-level themes in the document set are identified using topic modeling, which are then refined and interpreted by a human analyst. Then, the themes are used to guide a finer search using information retrieval, which returns specific incident reports of relevance. This provides traceability to specific incidents as well as broader categorizations that comprise the fishbone branches. We apply the proposed process to relevant documents from NASA’s Aviation Safety Reporting System (ASRS). The proposed process is widely applicable when relevant documents are available, and the results from this study will be useful to identifying potential causes of wildfire response UAS incidents.

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Bio-Inspired Home Localization Using Event-Based Vision and Spiking Neural Networks in Simulated Environment

Bio-Inspired Home Localization Using Event-Based Vision and ...

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2025 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2025

作者： Kausar, Rizwana Zayer, Fakhreddine Sudevan, Vidya Viegas, Jaime Dias, Jorge Khalifa University Department of Electrical Engineering United Arab Emirates Khalifa University Center for Autonomous Robotic Systems United Arab Emirates Khalifa University Department of Computer and Information Engineering United Arab Emirates

ISBN: (纸本)9798331516857

In this work, we present a bio-inspired approach for home localization using event-based visual data and spiking convolutional neural networks (S-CNNs) in a simulated environment within NVIDIA Omniverse. Drawing inspiration from the navigational strategies of insects, which utilize visual cues and homing vectors to return to their nests, our approach leverages event cameras that mimic the asynchronous change-driven visual processing of insect eyes. To process this sparse, event-driven input, we employ spiking neural networks (SNNs), which mirror the spike-based transmission of information in biological neural systems. The proposed system utilizes a quadrotor equipped with an event camera to capture dynamic, asynchronous visual data and processes it using an S-CNN trained to estimate relative home vectors. This vector encoding method is inspired by the unit-circle representation of gaze directions observed in insect homing behavior, as outlined in recent studies. By integrating event-based vision and SNNs, our approach ensures energy-efficient computation, robustness to lighting variations, and adaptability to dynamic scenes. We validate the framework in a 3D environment modeled within ISAAC Sim, where the quadrotor autonomously navigates back to a designated "nest"location. Comparative analysis with conventional frame-based neural networks demonstrates the superiority of the proposed system in terms of efficiency, robustness, and accuracy. This work establishes a novel bio-inspired framework for integrating event-based data and spiking neural networks, paving the way for energy-efficient localization in robotics and smart home environments. Future work will explore the deployment of the system in a multi-quadrotor environment to coordinate collaborative tasks including the integration of multi-modal sensory inputs such as Camera, IMU, Gas sensors and GPS data, and the extension of the framework to real-world settings for further validation and scalability. © 2025 IE

关键词： Convolutional neural networks

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Public Acceptance of Autonomous Vehicle Platooning: A Stated-Preference Survey 24

Public Acceptance of Autonomous Vehicle Platooning: A Stated...

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24th COTA International Conference of Transportation Professionals: Resilient, Intelligent, Connected, and Lowcarbon Multimodal Transportation, CICTP 2024

作者： Li, Jiankai Ding, Naikan Li, Hongtao Chen, Jiamin Du, Minglin Hu, Ying Aberdeen Institute of Data Science and Artificial Intelligence South China Normal Univ. Foshan China Intelligent Transportation Systems Research Center Wuhan Univ. of Technology Wuhan China Engineering Research Center of Transportation Information and Safety Ministry of Education Wuhan China School of Civil Engineering and Transportation Northeast Forestry Univ. China Harbin Jin Hui End-of-Life Vehicles Recycling Co. Ltd. China

ISBN: (数字)9780784485484

ISBN: (纸本)9780784485484

Autonomous driving platoon control technology has gradually gained widespread attention, but public receptivity to it is shaped by a variety of factors, encompassing cognitive and personal characteristics. This study aims to understand these factors to promote the broader application of autonomous driving platoon control technology. Through questionnaires, we gathered data pertaining to the cognitive characteristics, individual preferences, and personal characteristics of the public. We used a structural equation model to analyze these data to determine the relationships and impact strengths between these factors. Results indicate that cognitive characteristics have a significant positive impact on individual preferences, particularly cognitive characteristics related to safety confidence and technological understanding. Personal characteristics also impact individual preferences. These findings may help policymakers formulate targeted policies by better understanding public needs and concerns. Moreover, it carries substantial implications for the advancement and utilization of autonomous driving platoon control technology, particularly with regard to marketing strategies. © ASCE.

关键词： Autonomous vehicles

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A 32-channel 100 GHz wavelength division multiplexer by interleaving two silicon arrayed waveguide gratings

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Chinese Physics B 2021年第12期30卷 339-342页

作者： Changjian Xie Xihua Zou Fang Zou Lianshan Yan Wei Pan Yong Zhang Center for Information Photonics and Communications School of Information Science and TechnologySouthwest Jiaotong UniversityChengdu 611756China State Key Laboratory of Advanced Optical Communication Systems and Networks Department of Electronic EngineeringShanghai Jiao Tong UniversityShanghai 200240China

A 32-channel wavelength division multiplexer with 100 GHz spacing is designed and fabricated by interleaving two silicon arrayed waveguide gratings(AWGs).It has a parallel structure consisting of two silicon 16-channel AWGs with200 GHz spacing and a Mach-Zehnder interferometer(MZI)with 200 GHz free spectral *** 16 channels of one silicon AWG are interleaved with those of the other AWG in spectrum,but with an identical spacing of 200 *** the composed wavelength division multiplexer,the experiment results reveal 32 wavelength channels in C-band,a wavelength spacing of 100 GHz,and a channel crosstalk lower than-15 dB.

关键词： wavelength division multiplexer arrayed waveguide grating silicon photonics Mach-Zehnder interferometer

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