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arXiv 2024年

作者： Hall, Jonas Cassandras, Christos G. Andersson, Sean B. Division of Systems Engineering Boston University United States Department of Electrical and Computer Engineering United States Division of Mechanical Engineering Boston University United States

We consider the problem of using an autonomous agent to persistently monitor a collection of targets distributed in a given environment. We generalize existing work by allowing the agent’s dynamics to vary throughout the environment, leading to a hybrid dynamical system. This introduces an additional layer of complexity towards the planning portion of the problem: we must not only identify in which order to visit the points of interest, but also in which order to traverse the regions. We propose a tailored global path planner and prove that it is not only probabilistically complete, but converges in probability to a time-optimal solution. We then design an offline sequence planner together with an online trajectory optimizer. Simulations validate the results. © 2024, CC BY-SA.

关键词： Dynamical systems

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Merging control in Mixed Traffic with Safety Guarantees: A Safe Sequencing Policy with Optimal Motion control

Merging Control in Mixed Traffic with Safety Guarantees: A S...

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International Conference on Intelligent Transportation

作者： Ehsan Sabouni H.M. Sabbir Ahmad Christos G. Cassandras Wenchao Li Department of Electrical & Computer Engineering Division of Systems Engineering Boston University Boston MA USA

We address the problem of merging traffic from two roadways consisting of both Connected Autonomous Vehicles (CAVs) and Human Driven Vehicles (HDVs). Guaranteeing safe merging in such mixed traffic settings is challenging due to the unpredictability of possibly uncooperative HDVs. We develop a hierarchical controller where at each discrete time step a coordinator first determines the best possible Safe Sequence (SS) which can be realized without any knowledge of human driving behavior. Then, a lower-level decentralized motion controller for each CAV jointly minimizes travel time and energy over a prediction horizon, subject to hard safety constraints dependent on the given safe sequence. This is accomplished using a Model Predictive controller (MPC) subject to constraints based on control Barrier Functions (CBFs) which render it computationally efficient. Extensive simulation results are included showing that this hierarchical controller outperforms the commonly adopted Shortest Distance First (SDF) passing sequence over the full range of CAV penetration rates, while also providing safe merging guarantees.

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Robust Continuous-Time Generation Scheduling under Power Demand Uncertainty: An Affine Decision Rule Approach

arXiv

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arXiv 2025年

作者： Cho, Youngchae Yang, Insoon Ishizaki, Takayuki Department of Systems and Control Engineering Institute of Science Tokyo Tokyo Japan Department of Electrical and Computer Engineering ASRI Seoul National University Seoul Korea Republic of

Most existing generation scheduling models for power systems under demand uncertainty rely on energy-based formulations with a finite number of time periods, which may fail to ensure that power supply and demand are balanced continuously over time. To address this issue, we propose a robust generation scheduling model in a continuous-time framework, employing a decision rule approach. First, for a given set of demand trajectories, we formulate a general robust generation scheduling problem to determine a decision rule that maps these demand trajectories and time points to the power outputs of generators. Subsequently, we derive a surrogate of it as our model by carefully designing a class of decision rules that are affine in the current demand, with coefficients invariant over time and constant terms that are continuous piecewise affine functions of time. As a result, our model can be recast as a finite-dimensional linear program to determine the coefficients and the function values of the constant terms at each breakpoint, solvable via the cutting-plane method. Our model is non-anticipative unlike most existing continuous-time models, which use Bernstein polynomials, making it more practical. We also provide illustrative numerical examples. Copyright © 2025, The Authors. All rights reserved.

关键词： Continuous time systems

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A Tube-Based Reinforcement Learning Approach for Optimal Motion Planning in Unknown Workspaces

A Tube-Based Reinforcement Learning Approach for Optimal Mot...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Panagiotis Rousseas Charalampos P. Bechlioulis Kostas J. Kyriakopoulos School of Mechanical Engineering Control Systems Laboratory National Technical University of Athens Greece Department of Electrical and Computer Engineering University of Patras

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

In this work, a tube-based nearly optimal solution to motion planning in unknown workspaces is presented. The advantages of reactive motion planning are combined with a Policy Iteration Reinforcement Learning scheme to yield a novel solution for unknown workspaces that inherits provable safety, convergence and optimality. Moreover, in simply-connected workspaces, our method is proven to asymptotically provide the globally optimal path. Our method is compared against a provably asymptotically optimal RRT ⋆ method, as well as a relevant reactive method and provides satisfactory performance, closely matching or outperforming the former.

关键词： Reinforcement learning Planning Safety Robotics and automation Convergence

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Automation 5.0: The Key to systems Intelligence and Industry 5.0

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IEEE/CAA Journal of Automatica Sinica 2024年第8期11卷 1723-1727页

作者： Ljubo Vlacic Hailong Huang Mariagrazia Dotoli Yutong Wang Petros A.Ioannou Lili Fan Xingxia Wang Raffaele Carli Chen Lv Lingxi Li Xiaoxiang Na Qing-Long Han Fei-Yue Wang Institute of Intelligent and Integrated Systems and the School of Engineering and Built Environment Griffith UniversityNathanQLD 4111Australia Department of Aeronautical and Aviation Engineering The Hong Kong Polytechnic UniversityHong KongChina Department of Electrical and Information Engineering Polytechnic of Bari70126 BariItaly State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190and also with the Qingdao Academy of Intelligent IndustriesQingdao 266114China Department of Electrical Engineering-Systems University of Southern CaliforniaLos AngelesCA 90007 USA School of Automation Beijing Institute of TechnologyBeijing 100081China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190 School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049 Beijing Huairou Academy of Parallel Sensing Beijing 101499China School of Mechanical and Aerospace Engineering Nanyang Technological UniversitySingapore 639798Singapore Department of Electrical and Computer Engineering Purdue School of Engineering and TechnologyIndiana University-Purdue University IndianapolisIndianapolisIN 46202 USA Department of Engineering University of CambridgeCB21TN CambridgeU.K. School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyMelbourne VIC 3122Australia State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190 School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China Dazhou Artificial Intelligence Institute Dazhouand the Faculty of Innovation EngineeringMacao University of Science and TechnologyMacao 999078China

AUTOMATION has come a long way since the early days of mechanization,i.e.,the process of working exclusively by hand or using animals to work with *** rise of steam engines and water wheels represented the first generation of industry,which is now called Industry Citation:***,***,***,***,***,***,***,***,***,***,***,Q.-***,and F.-***,“Automation 5.0:The key to systems intelligence and Industry 5.0,”IEEE/CAA ***,vol.11,no.8,pp.1723-1727,Aug.2024.

关键词： Automation machinery intelligence

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Construction and optimization of a computational holographic lithography system 8

Construction and optimization of a computational holographic...

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8th International Conference on Speckle Metrology, Speckle 2023

作者： Chen, Rui Lin, Angyi You, Jianfeng Lin, Huixiang Zhao, Wenqing Zhang, Fucai School of Control and Computer Engineering North China Electric Power University Baoding071003 China The Department of Electrical and Electronic Engineering Southern University of Science and Technology Shenzhen518055 China Engineering Research Center of Intelligent Computing for Complex Energy Systems Ministry of Education North China Electric Power University China

ISBN: (数字)9781510674592

ISBN: (纸本)9781510674585

Traditional lithography techniques are currently facing challenges, including high costs and the susceptibility of mask plates to damage. This research aims to elucidate the feasibility and technical constraints of a novel diffraction lithography approach. This method can reduce the size and cost of lithography machines, break through existing technological barriers, and offer new possibilities for the future development of lithography machines. We have built a basic computational holographic lithography system utilizing a 405nm laser and validated the system using holograms obtained with both classical GS algorithm and a newly proposed method. With the GS holograms, patterns with 700nm features have been successfully exposed on the photoresist. With our new algorithms, multiple holograms for the same target pattern can be generated with different settings in the algorithm. Sequential exposure of those holograms resulted in continuous lines 500 nm wide with reduced speckle artifacts, which was about a 1.4-time improvement over the result from the GS algorithm. Future research will focus on optimizing and enhancing the experimental system and the hologram calculation methods to reduce the line widths further and improve the exposure pattern quality. © COPYRIGHT SPIE. Downloading of the abstract is permitted for personal use only.

关键词： Holograms

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Asymptotic network independence and step-size for a distributed subgradient method

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The Journal of Machine Learning Research 2022年第1期23卷 3003-3034页

作者： Alex Olshevsky Department of Electrical and Computer Engineering Division of Systems Engineering Boston University Boston MA

We consider whether distributed subgradient methods can achieve a linear speedup over a centralized subgradient method. While it might be hoped that distributed network of n nodes that can compute n times more subgradients in parallel compared to a single node might, as a result, be n times faster, existing bounds for distributed optimization methods are often consistent with a slowdown rather than speedup compared to a single *** show that a distributed subgradient method has this "linear speedup" property when using a class of square-summable-but-not-summable step-sizes which include 1/tβ when β ∈ (1/2, 1); for such step-sizes, we show that after a transient period whose size depends on the spectral gap of the network, the method achieves a performance guarantee that does not depend on the network or the number of nodes. We also show that the same method can fail to have this "asymptotic network independence" property under the optimally decaying step-size 1/√t and, as a consequence, can fail to provide a linear speedup compared to a single node with 1/√t step-size.

关键词： distributed systems convex optimization subgradient method

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WARA-PS:a research arena for public safety demonstrations and autonomous collaborative rescue robotics experimentation

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Autonomous Intelligent systems 2021年第1期1卷 104-134页

作者： Olov Andersson Patrick Doherty Mårten Lager Jens-Olof Lindh Linnea Persson Elin A.Topp Jesper Tordenlid Bo Wahlberg Department of Computer and Information Science Linköping UniversityLinköpingSweden Saab Kockums MalmöSweden Division of Decision and Control Systems School of Electrical Engineering and Computer ScienceKTH Royal Institute of TechnologyStockholmSweden Department of Computer Science Lund UniversityLundSweden Saab Combitech AB LinköpingSweden Division of Automatic Control Department of Electrical EngineeringLinköping UniversityLinköpingSweden

A research arena(WARA-PS)for sensing,data fusion,user interaction,planning and control of collaborative autonomous aerial and surface vehicles in public safety applications is *** objective is to demonstrate scientific discoveries and to generate new directions for future research on autonomous systems for societal *** enabler is a computational infrastructure with a core system architecture for industrial and academic *** includes a control and command system together with a framework for planning and executing tasks for unmanned surface vehicles and aerial *** motivating application for the demonstration is marine search and rescue operations.A state-of-art delegation framework for the mission planning together with three specific applications is also *** first one concerns model predictive control for cooperative rendezvous of autonomous unmanned aerial and surface *** second project is about learning to make safe real-time decisions under uncertainty for autonomous vehicles,and the third one is on robust terrain-aided navigation through sensor fusion and virtual reality tele-operation to support a GPS-free positioning system in marine *** research results have been experimentally evaluated and demonstrated to industry and public sector audiences at a marine test *** would be most difficult to do experiments on this large scale without the WARA-PS research ***,these demonstrator activities have resulted in effective research dissemination with high public visibility,business impact and new research collaborations between academia and industry.

关键词： Autonomous systems Intelligent system architectures Research demonstration arena Autonomous drones Autonomous marine vessels Public safety and security Collaborative robotics

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Polarization-induced photocurrent switching effect in heterojunction photodiodes

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Nano Research 2023年第4期16卷 5503-5510页

作者： Dingbo Chen Yu-Chang Chen Guang Zeng Yu-Chun Li Xiao-Xi Li Dong Li Chao Shen Nan Chi Boon S.Ooi David Wei Zhang Hong-Liang Lu State Key Laboratory of ASIC and System Shanghai Institute of Intelligent Electronics&SystemsSchool of MicroelectronicsFudan UniversityShanghai 200433China Key Laboratory for Information Science of Electromagnetic Waves Department of Communication Science and EngineeringFudan UniversityShanghai 200433China Photonics Laboratory Division of ComputerElectricaland Mathematical Sciences and EngineeringKing Abdullah University of Science and Technology(KAUST)Thuwal 23955-6900Kingdom of Saudi Arabia

The unipolar photocurrent in conventional photodiodes(PDs)based on photovoltaic effect limits the output modes and potential versatility of these devices in *** photodiodes with photocurrent switching are emerging as a promising solution for obtaining photoelectric devices with unique and attractive functions,such as optical logic ***,we design an all-solid-state chip-scale ultraviolet(UV)PD based on a hybrid GaN heterojunction with engineered bipolar polarized electric *** introducing the polarization-induced photocurrent switching effect,the photocurrent direction can be switched in response to the wavelength of incident light at 0 V *** particular,the photocurrent direction exhibits negative when the irradiation wavelength is less than 315 nm,but positive when the wavelength is longer than 315 *** device shows a responsivity of up to−6.7 mA/W at 300 nm and 5.3 mA/W at 340 nm,*** particular,three special logic gates in response to different dual UV light inputs are demonstrated via a single bipolar PD,which may be beneficial for future multifunctional UV photonic integrated devices and systems.

关键词： GaN heterostructure ultraviolet(UV)photodiodes bipolar photocurrent optical logic device

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Differentially Private Online Federated Learning with Correlated Noise

arXiv

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arXiv 2024年

作者： Zhang, Jiaojiao Zhu, Linglingzhi Johansson, Mikael Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology StockholmSE-100 44 Sweden Department of Systems Engineering and Engineering Management The Chinese University of Hong Kong Hong Kong

We introduce a novel differentially private algorithm for online federated learning that employs temporally correlated noise to enhance utility while ensuring privacy of continuously released models. To address challenges posed by DP noise and local updates with streaming non-iid data, we develop a perturbed iterate analysis to control the impact of the DP noise on the utility. Moreover, we demonstrate how the drift errors from local updates can be effectively managed under a quasi-strong convexity condition. Subject to an (ϵ, δ)DP budget, we establish a dynamic regret bound over the entire time horizon, quantifying the impact of key parameters and the intensity of changes in dynamic environments. Numerical experiments confirm the efficacy of the proposed algorithm. © 2024, CC BY.

关键词： Federated learning

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