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KKL Observer Synthesis for Nonlinear systems via Physics-Informed Learning

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arXiv 2025年

作者： Niazi, M.B. Umar Cao, John Barreau, Matthieu Johansson, Karl Henrik Division of Decision and Control Systems Digital Futures KTH Royal Institute of Technology StockholmSE-100 44 Sweden Laboratory for Information and Decision Systems Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology CambridgeMA02139 United States Department of Electrical Engineering Stanford University StanfordCA94305 United States

This paper proposes a novel learning approach for designing Kazantzis-Kravaris/Luenberger (KKL) observers for autonomous nonlinear systems. The design of a KKL observer involves finding an injective map that transforms the system state into a higher-dimensional observer state, whose dynamics is linear and stable. The observer’s state is then mapped back to the original system coordinates via the inverse map to obtain the state estimate. However, finding this transformation and its inverse is quite challenging. We propose to sequentially approximate these maps by neural networks that are trained using physics-informed learning. We generate synthetic data for training by numerically solving the system and observer dynamics. Theoretical guarantees for the robustness of state estimation against approximation error and system uncertainties are provided. Additionally, a systematic method for optimizing observer performance through parameter selection is presented. The effectiveness of the proposed approach is demonstrated through numerical simulations on benchmark examples and its application to sensor fault detection and isolation in a network of Kuramoto oscillators using learned KKL observers. © 2025, CC BY.

关键词： State estimation

Learning Feasibility Constraints for Control Barrier Functions

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arXiv 2023年

作者： Xiao, Wei Cassandras, Christos G. Belta, Calin A. The Computer Science and Artificial Intelligence Lab Massachusetts Institute of Technology United States The Division of Systems Engineering Center for Information and Systems Engineering Boston University BrooklineMA02446 United States

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). In this paper, we employ machine learning techniques to ensure the feasibility of these QPs, which is a challenging problem, especially for high relative degree constraints where High Order CBFs (HOCBFs) are required. To this end, we propose a sampling-based learning approach to learn a new feasibility constraint for CBFs;this constraint is then enforced by another HOCBF added to the QPs. The accuracy of the learned feasibility constraint is recursively improved by a recurrent training algorithm. We demonstrate the advantages of the proposed learning approach to constrained optimal control problems with specific focus on a robot control problem and on autonomous driving in an unknown environment. Copyright © 2023, The Authors. All rights reserved.

关键词： Lyapunov functions

qIoV: A Quantum-Driven Internet-of-Vehicles-Based Approach for Environmental Monitoring and Rapid Response systems

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arXiv 2024年

作者： Nahar, Ankur Mondal, Koustav Kumar Das, Debasis Buyya, Rajkumar Indian Institute of Technology Jodhpur Department of Computer Science and Engineering Rajasthan Jodhpur342030 India Indian Institute of Technology Jodhpur Inter-disciplinary Research Division - IoT and Application Rajasthan Jodhpur342030 India University of Melbourne Computing and Information Systems MelbourneVIC3052 Australia

This research addresses the critical necessity for advanced rapid response operations in managing a spectrum of environmental hazards. These include leaks in urban pipelines, industrial release of hazardous gases, methane emissions from landfill sites, chlorine gas leaks from water treatment facilities, and carbon monoxide emissions from residential areas, all of which are critical to ensuring public safety and environmental protection. We propose a novel framework, qIoV that integrates quantum computing with the Internet-of-Vehicles (IoV) to leverage the computational efficiency, parallelism, and entanglement properties of quantum mechanics. Our approach involves the use of environmental sensors mounted on vehicles for precise air quality assessment. These sensors are designed to be highly sensitive and accurate, leveraging the principles of quantum mechanics to detect and measure environmental parameters. A salient feature of our proposal is the Quantum Mesh Network Fabric (QMF), a system designed to dynamically adjust the quantum network topology in accordance with vehicular movements. This capability is critical to maintaining the integrity of quantum states against environmental and vehicular disturbances, thereby ensuring reliable data transmission and processing. Moreover, our methodology is further augmented by the incorporation of a variational quantum classifier (VQC) with advanced quantum entanglement techniques. This integration offers a significant reduction in latency for hazard alert transmission, thus enabling expedited communication of crucial data to emergency response teams and the public. Our study on the IBM OpenQSAM 3 platform, utilizing a 127 Qubit system, revealed significant advancements in pair plot analysis, achieving over 90% in precision, recall, and F1-Score metrics and an 83% increase in the speed of toxic gas detection compared to conventional ***, theoretical analyses validate the efficiency of quantum rotation, tele

关键词： Carbon monoxide

DeepBayes - an estimator for parameter estimation in stochastic nonlinear dynamical models

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arXiv 2022年

作者： Ghosh, Anubhab Abdalmoaty, Mohamed Chatterjee, Saikat Hjalmarsson, Håkan Division of Information Science and Engineering and Digital Futures KTH Royal Institute of Technology Stockholm Sweden Division of Systems and Control Department of Information Technology Uppsala University Uppsala Sweden Division of Decision and Control Systems Digital Futures The Competence Centre AdBIOPRO KTH Royal Institute of Technology Stockholm Sweden

Stochastic nonlinear dynamical systems are ubiquitous in modern, real-world applications. Yet, estimating the unknown parameters of stochastic, nonlinear dynamical models remains a challenging problem. The majority of existing methods employ maximum likelihood or Bayesian estimation. However, these methods suffer from some limitations, most notably the substantial computational time for inference coupled with limited flexibility in application. In this work, we propose DeepBayes estimators that leverage the power of deep recurrent neural networks in learning an estimator. The method consists of first training a recurrent neural network to minimize the mean-squared estimation error over a set of synthetically generated data using models drawn from the model set of interest. The a priori trained estimator can then be used directly for inference by evaluating the network with the estimation data. The deep recurrent neural network architectures can be trained offline and ensure significant time savings during inference. We experiment with two popular recurrent neural networks – long short term memory network (LSTM) and gated recurrent unit (GRU). We demonstrate the applicability of our proposed method on different example models and perform detailed comparisons with state-of-the-art approaches. We also provide a study on a real-world nonlinear benchmark problem. The experimental evaluations show that the proposed approach is asymptotically as good as the Bayes estimator. Copyright © 2022, The Authors. All rights reserved.

关键词： Parameter estimation

RadonPy:automated physical property calculation using all-atom classical molecular dynamics simulations for polymer informatics

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npj Computational Materials 2022年第1期8卷 2155-2169页

作者： Yoshihiro Hayashi Junichiro Shiomi Junko Morikawa Ryo Yoshida The Institute of Statistical Mathematics(ISM) Research Organization of Information and Systems10-3 Midori-choTachikawaTokyo190-8562Japan Department of Mechanical Engineering The University of Tokyo7-3-1 HongoBunkyoTokyo113-8656Japan Institute of Engineering Innovation The University of Tokyo2-11 YayoiBunkyo-kuTokyo113-0032Japan Department of Materials Science and Engineering School of Materials and Chemical TechnologyTokyo Institute of Technology2-12-1 OokayamaMeguro-kuTokyo152-8552Japan Research and Services Division of Materials Data and Integrated System(MaDIS) National Institute for Materials Science(NIMS)1-2-1 SengenTsukubaIbaraki305-0047Japan Department of Statistical Science School of Multidisciplinary ScienceThe Graduate University of Advanced Studies(SOKENDAI)10-3 Midori-choTachikawaTokyo190-8562Japan

The spread of data-driven materials research has increased the need for systematically designed materials property ***,the development of polymer databases has lagged far behind other material *** present RadonPy,an open-source library that can automate the complete process of all-atom classical molecular dynamics(MD)simulations applicable to a wide variety of polymeric ***,15 different properties were calculated for more than 1000 amorphous *** MD-calculated properties were systematically compared with experimental data to validate the calculation conditions;the bias and variance in the MD-calculated properties were successfully calibrated by a machine learning *** the high-throughput data production,we identified eight amorphous polymers with extremely high thermal conductivity(>0.4 W∙m^(–1)∙K^(–1))and their underlying *** to the advancement of materials informatics since the advent of computational property databases for inorganic crystals,database construction using RadonPy will promote the development of polymer informatics.

关键词： property calculation dynamics

A Highly-Precise Digital Wind Tunnel

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A Highly-Precise Digital Wind Tunnel

Consumer technology (ICCT-Pacific), International Conference on

作者： Wei-Hsin Hung Meng-Hsiun Tsai Ying-Hsuan Huang Guu-Chang Yang dept. of Electrical Engineering National Chung Hsing University Taichung Taiwan dept. of Management Information Systems National Chung Hsing University Taichung Taiwan Aeronautical Systems Research Division National Chung-Shan Institute of Science and Technology Taichung Taiwan

ISBN: (数字)9798331504120

ISBN: (纸本)9798331504137

A digital wind tunnel (WT) can learn from historical aerodynamic coefficients derived from experiments and simulations to build a prediction model. This model enables the prediction of aerodynamic coefficients without requiring additional experiments or simulations, significantly reducing their overall frequency and cost. In 2020, Huang et al. adopts multi-output back-propagation neural network (BPNN) to simultaneously predict lift coefficient and drag coefficient. However, Huang et al. does not investigate about the following issues, (1) abnormal data detection, (2) other aerodynamic coefficients, (3) overfitting problem. In order to solve these problems, this paper proposed a data-validate strategy and re-designed the single-output BPNN. Experimental results showed that both the mean square error and maximum absolute error of the proposed method is smaller than those of Huang et al. 's method.

关键词： Technological innovation Costs Wind tunnels Neural networks Mean square error methods Predictive models Aerodynamics Data models Overfitting

Relip: Reliable in-Band Parallel Communication for Magnetic MIMO Wireless Power Transfer System

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IEEE Transactions on Mobile Computing 2025年

作者： Wang, Xinyu Zhou, Wangqiu Zhou, Hao Jiang, Shenyao Liu, Zhi Wang, Xiaoyan Ji, Yusheng Song, Qi City University of Hong Kong Department of Computer Science Hong Kong University of Science and Technology of China School of Computer Science and Technology Hefei230027 China The University of Electro-Communications Graduate School of Informatics and Engineering Tokyo182-8585 Japan Ibaraki University Graduate School of Science and Engineering Ibaraki310-8512 Japan National Institute of Informatics Information Systems Architecture Science Research Division Tokyo101-0003 Japan

In magnetic resonant coupling (MRC) based wireless power transfer (WPT) systems, receiver (RX) feedback communication is promising to enhance the capability and efficiency of the system. Although some studies have explored in-band implementations with low overhead costs, it has not been comprehensively investigated. In this paper, we propose Relip, a Reliable layer-level in-band parallel feedback communication mechanism for MIMO MRC-WPT systems, which addresses the impact of RX-RX couplings (i.e., non-negligible interference from strong couplings and positive effects of relay phenomenon), and provides a theoretical analysis of communication reliability. Technically, we first devise an On-Off based two-phase modulation mechanism to achieve RX identification and dependency detection under relay phenomenon. Then, we utilize observed channel decomposability to collect group-level power transfer channel conditions for eliminating the interference caused by strong RX-RX couplings. Furthermore, we perform RX selection to optimize the trade-off between communication reliability and time overhead. We design and implement the Relip prototype and conduct extensive experiments. The results validate the effectiveness of our mechanism, i.e., Relip can provide ≥99% average decoding accuracy for concurrent feedback communication of 14 devices, achieving an 18.31% improvement compared to the state-of-the-art solution. © 2002-2012 IEEE.

关键词： Inductive power transmission

Label Informed Contrastive Pretraining for Node Importance Estimation on Knowledge Graphs

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arXiv 2024年

作者： Zhang, Tianyu Hou, Chengbin Jiang, Rui Zhang, Xuegong Zhou, Chenghu Tang, Ke Lv, Hairong The Ministry of Education Key Laboratory of Bioinformatics Bioinformatics Division Beijing National Research Center for Information Science and Technology Department of Automation Tsinghua University Beijing100084 China The School of Computer Science and Engineering Fuyao Institute of Technology Fuzhou350109 China The State Key Laboratory of Resources and Environmental Information Systems Institute of Geographic Sciences and Natural Resources Research Chinese Academy of Sciences Beijing100101 China The Department of Computer Science and Engineering Southern University of Science and Technology Shenzhen518055 China The Fuzhou Institute of Data Technology Fuzhou350200 China

Node Importance Estimation (NIE) is a task of inferring importance scores of the nodes in a graph. Due to the availability of richer data and knowledge, recent research interests of NIE have been dedicating to knowledge graphs for predicting future or missing node importance scores. Existing state-of-the-art NIE methods train the model by available labels, and they consider every interested node equally before training. However, the nodes with higher importance often require or receive more attention in real-world scenarios, e.g., people may care more about the movies or webpages with higher importance. To this end, we introduce Label Informed ContrAstive Pretraining (LICAP) to the NIE problem for being better aware of the nodes with high importance scores. Specifically, LICAP is a novel type of contrastive learning framework that aims to fully utilize the continuous labels to generate contrastive samples for pretraining embeddings. Considering the NIE problem, LICAP adopts a novel sampling strategy called top nodes preferred hierarchical sampling to first group all interested nodes into a top bin and a non-top bin based on node importance scores, and then divide the nodes within top bin into several finer bins also based on the scores. The contrastive samples are generated from those bins, and are then used to pretrain node embeddings of knowledge graphs via a newly proposed Predicate-aware Graph Attention Networks (PreGAT), so as to better separate the top nodes from non-top nodes, and distinguish the top nodes within top bin by keeping the relative order among finer bins. Extensive experiments demonstrate that the LICAP pretrained embeddings can further boost the performance of existing NIE methods and achieve the new state-of-the-art performance regarding both regression and ranking metrics. The source code for reproducibility is available at https://***/zhangtia16/LICAP Copyright © 2024, The Authors. All rights reserved.

关键词： Knowledge graph

Toward efficient resource utilization at edge nodes in federated learning

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arXiv 2023年

作者： Alawadi, Sadi Ait-Mlouk, Addi Toor, Salman Hellander, Andreas Department of Computer Science Blekinge Institute of Technology Karlskrona Sweden School of Informatics University of Skövde Skövde Sweden Department of Information Technology Division of Scientific Computing Uppsala University Sweden Scaleout Systems Sweden

Federated learning (FL) enables edge nodes to collaboratively contribute to constructing a global model without sharing their data. This is accomplished by devices computing local, private model updates that are then aggregated by a server. However, computational resource constraints and network communication can become a severe bottleneck for larger model sizes typical for deep learning (DL) applications. Edge nodes tend to have limited hardware resources (RAM, CPU), and the network bandwidth and reliability at the edge is a concern for scaling federated fleet applications. In this paper, we propose and evaluate a FL strategy inspired by transfer learning in order to reduce resource utilization on devices, as well as the load on the server and network in each global training round. For each local model update, we randomly select layers to train, freezing the remaining part of the model. In doing so, we can reduce both server load and communication costs per round by excluding all untrained layer weights from being transferred to the server. The goal of this study is to empirically explore the potential trade-off between resource utilization on devices and global model convergence under the proposed strategy. We implement the approach using the FL framework FEDn. A number of experiments were carried out over different datasets (CIFAR-10, CASA, and IMDB), performing different tasks using different DL model architectures. Our results show that training the model partially can accelerate the training process, efficiently utilizes resources on-device, and reduce the data transmission by around 75% and 53% when we train 25%, and 50% of the model layers, respectively, without harming the resulting global model accuracy. Furthermore, our results demonstrate a negative correlation between the number of participating clients in the training process and the number of layers that need to be trained on each client’s side. As the number of clients increases, there is a decrease

关键词： Data privacy