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arXiv 2025年

作者： Akinwande, Samuel I. Sidrane, Chelsea Kochenderfer, Mykel J. Barrett, Clark Department of Aeronautical and Astronautical Engineering Stanford University StanfordCA94305 United States Department of Computer Science Stanford University StanfordCA94305 United States Division of Robotics Perception and Learning Intelligent Systems Department School of Electrical Engineering & Computer Science KTH Royal Institute of Technology Stockholm Sweden

As dynamical systems equipped with neural network controllers (neural feedback systems) become increasingly prevalent, it is critical to develop methods to ensure their safe operation. Verifying safety requires extending control theoretic analysis methods to these systems. Although existing techniques can efficiently handle linear neural feedback systems, relatively few scalable methods address the nonlinear case. We propose a novel algorithm for forward reachability analysis of nonlinear neural feedback systems. The approach leverages the structure of the nonlinear transition functions of the systems to compute tight polyhedral enclosures (i.e., abstractions). These enclosures, combined with the neural controller, are then encoded as a mixed-integer linear program (MILP). Optimizing this MILP yields a sound over-approximation of the forward-reachable set. We evaluate our algorithm on representative benchmarks and demonstrate an order of magnitude improvement over the current state of the art. Copyright © 2025, The Authors. All rights reserved.

关键词： Mixed-integer linear programming

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Human-as-advisor in the loop for autonomous lane-keeping

Human-as-advisor in the loop for autonomous lane-keeping

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American Control Conference (ACC)

作者： Rene Mai Sandipan Mishra Agung Julius Department of Mechanical Aerospace and Nuclear Engineering Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY

This paper presents a human-as-advisor architecture for shared human-machine autonomy in dynamic systems. In the human-as-advisor architecture, the human provides suggested control actions to the autonomous system; the system uses a model of the human controller to ascertain the system’s state as perceived by the human. The system combines this information with additional sensor measurements, yielding an improved state estimate. We apply this architecture to the problem of lane-centering an autonomous vehicle in the presence of conflicting lane markings that render the true lane center uncertain. We model conflicting lane markings with a multi-component Gaussian mixture model. The human-suggested course of action is interpreted as an additional sensor measurement, which a Kalman filter is designed to combine with a speedometer and camera for improving the state estimate. With human input from our human-as-advisor architecture, the vehicle centers itself in the lane; without human input, the vehicle does not center itself. We also demonstrate the human-as-advisor architecture is robust to additive output matrix uncertainty and non-linear perturbations in the human model used to interpret the human-suggested control actions.

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Intelligent Additive Manufacturing Architecture for Enhancing Uniformity of Surface Roughness and Mechanical Properties of Laser Powder Bed Fusion Components

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IEEE Transactions on Automation Science and engineering 2023年第4期20卷 2527-2538页

作者： Tran, Hong-Chuong Lo, Yu-Lung Yang, Haw-Ching Hsiao, Hung-Chang Cheng, Fan-Tien Kuo, Tsung-Han Southern Taiwan University of Science and Technology Department of Mechanical Engineering Tainan71005 Taiwan National Cheng Kung University Department of Mechanical Engineering Tainan70101 Taiwan National Kaohsiung First University of Science and Technology Department of Electrical Engineering Kaohsiung82445 Taiwan National Cheng Kung University Department of Computer Science and Information Engineering Tainan70101 Taiwan Institute of Manufacturing Information and Systems National Cheng Kung University Tainan70101 Taiwan

In the Laser Powder Bed Fusion (L-PBF) process, 3D components with complex geometries are fabricated in a layer-by-layer fashion by using a controlled laser beam to selectively melt particular regions of the metal powder bed. However, due to the stochastic nature of the L-PBF process, the top surface roughness of each solidified layer tends to be different even when the optimal processing conditions for the different positions on the build plate are employed. As a result, the mechanical properties of the built components frequently vary from one component to the next. Accordingly, this study proposes an Intelligent Additive Manufacturing Architecture (IAMA) for controlling the surface roughness of each build layer through an appropriate adjustment of the laser re-melting parameters. The IAMA architecture comprises five modules, namely In-Situ Metrology (ISM), Ex-Situ Metrology (ESM), Automatic Virtual Metrology (AVM), Additive Manufacturing Simulation (AMS) and Intelligent Compensator (IC). The feasibility of the proposed architecture is demonstrated by comparing the top surface roughness of cubic and mechanical strengths of tensile test samples built using the proposed method with those built using a traditional L-PBF approach without surface roughness control. It is found that the samples fabricated using the IAMA approach have an average top surface roughness of 1.6μm and a standard deviation is 0.7μm. By contrast, the samples produced using the traditional L-PBF approach have an average surface roughness of 13.45μm and a standard deviation of 2.5μm. In addition, the specimens produced with the assistance of IAMA architecture have an average tensile strength of 1013 MPa with a standard deviation of 69.5 MPa, while those printed without surface roughness control have an average tensile strength of 903 MPa with a standard deviation of 101.4 MPa Note to Practitioners - As L-PBF produce part in a layer-by-layer manner, therefore, the roughness on the top surface of p

关键词： Surface roughness

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Object and Relation Centric Representations for Push Effect Prediction

SSRN

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SSRN 2023年

作者： Tekden, Ahmet E. Erdem, Aykut Erdem, Erkut Asfour, Tamim Ugur, Emre Computer Engineering Department Bogazici University Turkey Electrical Engineering Department Chalmers University of Technology Sweden Computer Engineering Department Koç University Turkey Computer Engineering Department Hacettepe University Turkey Institute for Anthropomatics and Robotics Karlsruhe Institute of Technology Germany

Pushing is an essential non-prehensile manipulation skill used for tasks ranging from pre-grasp manipulation to scene rearrangement, reasoning about object relations in the scene, and thus pushing actions have been widely studied in robotics. The effective use of pushing actions often requires an understanding of the dynamics of the manipulated objects and adaptation to the discrepancies between prediction and reality. For this reason, effect prediction and parameter estimation with pushing actions have been heavily investigated in the literature. However, current approaches are limited because they either model systems with a fixed number of objects or use image-based representations whose outputs are not very interpretable and quickly accumulate errors. In this paper, we propose a graph neural network based framework for effect prediction and parameter estimation of pushing actions by modeling object relations based on contacts or articulations. Our framework is validated both in real and simulated environments containing different shaped multi-part objects connected via different types of joints and objects with different masses, and it outperforms image-based representations on physics prediction. Our approach enables the robot to predict and adapt the effect of a pushing action as it observes the scene. It can also be used for tool manipulation with never-seen tools. Further, we demonstrate 6D effect prediction in the lever-up action in the context of robot-based hard-disk disassembly. © 2023, The Authors. All rights reserved.

关键词： Forecasting

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A distributed algorithm with network-independent step-size and event-triggered mechanism for economic dispatch problem

A distributed algorithm with network-independent step-size a...

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作者： Chen, Baitong Yang, Jianhua Lu, Wei Pedrycz, Witold Sun, Changhai School of Control Science and Engineering Dalian University of Technology Dalian China Department of Electrical and Computer Engineering University of Alberta EdmontonABT6G 2R3 Canada Institute of Systems Engineering Macau University of Science and Technology SARTaipa 999078 China Research Center of Performance and Productivity Analysis Istinye University Istanbul Turkey School of Electrical Engineering Dalian University of Technology Dalian China

The economic dispatch problem (EDP) poses a significant challenge in energy management for modern power systems, particularly as these systems undergo expansion. This growth escalates the demand for communication resources and increases the risk of communication failures. To address this challenge, we propose a distributed algorithm with network-independent step sizes and an event-triggered mechanism, which reduces communication requirements and enhances adaptability. Unlike traditional methods, our algorithm uses network-independent step sizes derived from each agent's local cost functions, thus eliminating the need for detailed network topology knowledge. The theoretical derivation identifies a range of step size values that depend solely on the objective function's strong convexity and the gradient's Lipschitz continuity. Furthermore, the proposed algorithm is shown to achieve a linear convergence rate, assuming the event triggering threshold criteria are met for linear convergence. Numerical experiments further validate the effectiveness and advantages of our proposed distributed algorithm by demonstrating its ability to maintain good convergence characteristics while reducing communication frequency. © 2024 John Wiley & Sons Ltd.

关键词： Cost functions

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Effect of Electron Thermal Conductivity on Resonant Plasmonic Detection in Terahertz Hot-Electron Bolometers Based on Metal/Black-AsP/Graphene FETs

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Physical Review Applied 2023年第6期19卷 064033-064033页

作者： V. Ryzhii C. Tang T. Otsuji M. Ryzhii V. Mitin M.S. Shur Research Institute of Electrical Communication Tohoku University Sendai 980-8577 Japan Department of Computer Science and Engineering University of Aizu Aizu-Wakamatsu 965-8580 Japan Department of Electrical Engineering University at Buffalo SUNY Buffalo New York 14260 USA Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy New York 12180 USA

We analyze the operation of terahertz (THz) bolometric detectors based on field-effect transistor (FET) structures with graphene channels (GCs) and black-phosphorus and black-arsenic gate barrier layers (BLs). Such GC FETs use two-dimensional electron gas (2DEG) heating by the incident THz radiation leading to the thermionic emission of hot electrons from the GC via the BL into the gate. Due to the excitation of plasmonic oscillations in the GC by THz signals, the GC FET detector response can be pronouncedly resonant, leading to elevated values of the detector responsivity. The lateral thermal conductivity of the 2DEG and its Peltier cooling can markedly affect the GC FET responsivity, in particular its spectral characteristics. These effects should be considered for the optimization of GC FET detectors.

关键词： Optoelectronics Plasmonics Field-effect transistors Graphene Phosphorene Bolometers Terahertz techniques

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When Does Sora Show:The Beginning of TAO to Imaginative Intelligence and Scenarios engineering

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IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 809-815页

作者： Fei-Yue Wang Qinghai Miao Lingxi Li Qinghua Ni Xuan Li Juanjuan Li Lili Fan Yonglin Tian Qing-Long Han School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190China Faculty of Innovation Engineering Macao University of Science and TechnologyMacao 999078China Department of Electrical and Computer Engineering Indiana University-Purdue University IndianapolisIndianapolisIN 46202USA Faculty of Innovation Engineering Macao University of Science and TechnologyMacao 999078China Virtual Reality Fundamental Research Laboratory Department of Mathematics and TheoriesPeng Cheng LaboratoryShenzhen 518000China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China School of Information and Electronics Beijing Institute of TechnologyBeijing 100081China School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyMelbourneVIC 3122Australia

DURING our discussion at workshops for writing“What Does ChatGPT Say:The DAO from Algorithmic Intelligence to Linguistic Intelligence”[1],we had expected the next milestone for Artificial Intelligence(AI)would be in the direction of Imaginative Intelligence(II),i.e.,something similar to automatic wordsto-videos generation or intelligent digital movies/theater technology that could be used for conducting new“Artificiofactual Experiments”[2]to replace conventional“Counterfactual Experiments”in scientific research and technical development for both natural and social studies[2]-[6].Now we have OpenAI’s Sora,so soon,but this is not the final,actually far away,and it is just the beginning.

关键词： something Intelligence replace

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HistoSegCap: Capsules for Weakly-Supervised Semantic Segmentation of Histological Tissue Type in Whole Slide Images

arXiv

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arXiv 2024年

作者： Mansoori, Mobina Shahabodini, Sajjad Abouei, Jamshid Mohammadi, Arash Plataniotis, Konstantinos N. Concordia Institute for Information Systems Engineering Concordia University MontrealQC Canada Department of Electrical Engineering University of Yazd Yazd Iran Department of Electrical and Computer Engineering University of Toronto Toronto Canada

Digital pathology involves converting physical tissue slides into high-resolution Whole Slide Images (WSIs), which pathologists analyze for disease-affected tissues. However, large histology slides with numerous microscopic fields pose challenges for visual search. To aid pathologists, computer Aided Diagnosis (CAD) systems offer visual assistance in efficiently examining WSIs and identifying diagnostically relevant regions. This paper presents a novel histopathological image analysis method employing Weakly Supervised Semantic Segmentation (WSSS) based on Capsule Networks, the first such application. The proposed model is evaluated using the Atlas of Digital Pathology (ADP) dataset and its performance is compared with other histopathological semantic segmentation methodologies. The findings underscore the potential of Capsule Networks in enhancing the precision and efficiency of histopathological image analysis. Experimental results show that the proposed model outperforms traditional methods in terms of accuracy and the mean Intersection-over-Union (mIoU) metric. © 2024, CC BY.

关键词： Tissue

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Strong Co-Detectability for Labeled Petri Nets and its Enforcement via Additional Sensors

Strong Co-Detectability for Labeled Petri Nets and its Enfor...

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第43届中国控制会议

作者： Yuling Zhang Ding Liu Christoforos N.Hadjicostis Zhiwu Li School of Electro-Mechanical Engineering Xidian University Department of Electrical and Computer Engineering University of Cyprus Institute of Systems Engineering Macau University of Science and Technology

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

This paper addresses the problem of verifying co-detectability for a labeled Petri net that is observed at multiple observation sites, each with its own observation map. A system is strongly co-detectable if at least one site is able to determine the state of the system uniquely following any long enough sequence of observations. We check strong co-detectability for a labeled Petri net using an approach that exploits the notion of basis markings, which avoids an exhaustive enumeration of all reachable markings of the net. Specifically, a structure called BRG-based co-verifier is exploited for the verification of strong co-detectability. In addition, by employing the proposed BRG-based co-verifier, some rules and relabeling options are provided to identify a new relabeling function such that a system that is not strongly co-detectable becomes strongly co-detectable. Finally,an integer programming problem is formulated to find an optimal relabeling function when considering different relabeling costs on transitions.

关键词： Co-detectability Discrete event system Labeled Petri net

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An Isomerism Learning Model to Solve Time-Varying Problems Through Intelligent Collaboration

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IEEE/CAA Journal of Automatica Sinica 2023年第8期10卷 1772-1774页

作者： Zhihao Hao Guancheng Wang Bob Zhang Leyuan Fang Haisheng Li the Department of Computer and Information Science University of MacaoMacao 999078China the School of Data Science the Chinese University of Hong KongShenzhen 518172 Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen 518000 China Industrial Control Systems Cyber Emergency Response Team Beijing 100040China IEEE the College of Electrical and Information Engineering Hunan UniversityChangsha 410082 the Peng Cheng Laboratory Shenzhen 518000China the Beijing Key Laboratory of Big Data Technology for Food Safety Beijing Technology and Business UniversityBeijing 100048 the School of Computer Science and Engineering Beijing Technology and Business UniversityBeijing 100048China

Dear Editor,This letter deals with a solution for time-varying problems using an intelligent computational(IC)algorithm driven by a novel decentralized machine learning approach called isomerism *** order to meet the challenges of the model’s privacy and security brought by traditional centralized learning models,a private permissioned blockchain is utilized to decentralize the model in order to achieve an effective coordination,thereby ensuring the credibility of the overall model without exposing the specific parameters and solution process.

关键词： ism thereby letter

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