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Annual Allerton Conference on Communication, Control, and Computing

作者： Tong Wu Anna Scaglione Daniel Arnold Tianyi Chen The Department of Electrical and Computer Engi-neering University of Central Florida Orlando FL USA The Department of Electrical and Computer Engineering Cornell Tech Cornell University New York City NY USA Lawrence Berkeley National Laboratory The Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

ISBN: (数字)9798331541033

ISBN: (纸本)9798331541040

Contemporary neural network (NN) detectors for power systems face two primary challenges. First, each power system requires individual training of NN detectors to accommodate its unique configuration and base demands. Second, significant changes within the power system, such as the introduction of new substations or new generators, necessitate retraining. To overcome these issues, we introduce a novel architecture, the Nodal Graph Convolutional Neural Network (NGCN), which utilizes graph convolutions at each bus and its neighborhoods. This approach allows the training process to encompass multiple power systems and include all buses, thereby enhancing the transferability of the method across different power systems. The NGCN is particularly effective for detection tasks, such as cyber-attacks on smart inverters and false data injection attacks. Our tests demonstrate that the NGCN significantly improves performance over traditional NNs, boosting detection accuracy from approximately 85% to around 97% for the aforementioned task. Furthermore, the transferable NGCN, which is trained by samples from multiple power systems, performs considerably better in evaluations than the NGCN trained on a single power system.

关键词： Training Accuracy Substations Detectors computer architecture Inverters Power systems Cyberattack Faces Monitoring

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Temporally Robust Multi-Agent STL Motion Planning in Continuous Time

Temporally Robust Multi-Agent STL Motion Planning in Continu...

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American Control Conference (ACC)

作者： Joris Verhagen Lars Lindemann Jana Tumova Division of Robotics Perception and Learning School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Department of Computer Science University of Southern California Los Angeles CA USA

ISBN: (数字)9798350382655

ISBN: (纸本)9798350382662

Signal Temporal Logic (STL) is a formal language over continuous-time signals (such as trajectories of a multiagent system) that allows for the specification of complex spatial and temporal system requirements (such as staying sufficiently close to each other within certain time intervals). To promote robustness in multi-agent motion planning with such complex requirements, we consider motion planning with the goal of maximizing the temporal robustness of their joint STL specification, i.e. maximizing the permissible time shifts of each agent's trajectory while still satisfying the STL specification. Previous methods presented temporally robust motion planning and control in a discrete-time optimization scheme. In contrast, we parameterize the trajectory by continuous Bézier curves, where the curvature and the time-traversal of the trajectory are parameterized individually. We show an algorithm generating continuous-time temporally robust trajectories and prove soundness of our approach. Moreover, we empirically show that our parametrization realizes this with a considerable speed-up compared to state-of-the-art methods based on constant interval time discretization.

关键词： Redundancy Formal languages Robustness Encoding Trajectory Planning Logic

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SRG Analysis of Lur’e systems and the Generalized Circle Criterion

arXiv

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arXiv 2024年

作者： Krebbekx, Julius P.J. Tóth, Roland Das, Amritam Control Systems Group Department of Electrical Engineering Eindhoven University of Technology Netherlands Systems and Control Lab HUN-REN Institute for Computer Science and Control Budapest Hungary

Scaled Relative Graphs (SRGs) provide a novel graphical frequency-domain method for the analysis of nonlinear systems. However, we show that the current SRG analysis suffers from some pitfalls that limit its applicability in analysing practical nonlinear systems. We overcome these pitfalls by modifying the SRG of a linear time invariant operator, combining the SRG with the Nyquist criterion, and apply our result to Lur’e systems. We thereby obtain a generalization of the celebrated circle criterion, which deals with broader class of nonlinearities, and provides (incremental) L2-gain performance bounds. We illustrate the power of the new approach on the analysis of the controlled Duffing oscillator. © 2024, CC BY.

关键词： Frequency domain analysis

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Automated Disassembly Sequence Prediction for Industry 4.0 Using Enhanced Genetic Algorithm

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computers, Materials & Continua 2021年第11期69卷 2531-2548页

作者： Anil Kumar Gulivindala M.V.A.Raju Bahubalendruni R.Chandrasekar Ejaz Ahmed Mustufa Haider Abidi Abdulrahman Al-Ahmari Department of Mechanical Engineering Industrial Robotics and Manufacturing Automation LaboratoryNational Institute of TechnologyKariakal609609India Department of Computer Science Engineering National Institute of TechnologyKariakal609609India Raytheon Chair for Systems Engineering Advanced Manufacturing InstituteKing Saud UniversityRiyadh11421Saudi Arabia Industrial Engineering Department College of EngineeringKing Saud UniversityRiyadh11421Saudi Arabia

The evolution of Industry 4.0 made it essential to adopt the Internet of Things(IoT)and Cloud Computing(CC)technologies to perform activities in the new age of *** technologies enable collecting,storing,and retrieving essential information from the manufacturing *** collected at sites are shared with others where execution automatedly *** obtained information must be validated at manufacturing to avoid undesirable data losses during the de-manufacturing ***,information sharing from the assembly level at the manufacturing stage to disassembly at the product end-of-life state is a major *** current research validates the information optimally to offer a minimum set of activities to complete the disassembly *** optimal disassembly sequence plan(DSP)can possess valid information to organize the necessary actions in ***,finding an optimal DSP is complex because of its combinatorial *** genetic algorithm(GA)is a widely preferred artificial intelligence(AI)algorithm to obtain a near-optimal solution for the DSP *** converging nature at local optima is a limitation in the traditional *** study improvised the GA workability by integrating with the proposed priori crossover *** optimality function is defined to reduce disassembly effort by considering directional changes as *** enhanced GA method is tested on a real-time product to evaluate the *** obtained results reveal that diversity control depends on the operators employed in the disassembly *** proposed method’s solution can be stored in the cloud and shared through IoT devices for effective resource allocation and disassembly for maximum recovery of the *** effectiveness of the proposed enhanced GA method is determined by making a comparative assessment with traditional GA and other AI methods at different population sizes.

关键词： Automation internet of things disassembly sequence planning priori cross over operator enhanced GA disassembly predicates

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Adaptive Planning and Control with Time-Varying Tire Models for Autonomous Racing Using Extreme Learning Machine

arXiv

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arXiv 2023年

作者： Kalaria, Dvij Lin, Qin Dolan, John M. Robotics Institute Carnegie Mellon University United States Electrical Engineering and Computer Science Department Cleveland State University United States

Autonomous racing is a challenging problem, as the vehicle needs to operate at the friction or handling limits in order to achieve minimum lap times. Autonomous race cars require highly accurate perception, state estimation, planning and precise application of controls. What makes it even more challenging is the accurate identification of vehicle model parameters that dictate the effects of the lateral tire slip, which may change over time, for example, due to wear and tear of the tires. Current works either propose model identification offline or need good parameters to start with (within 15-20% of actual value), which is not enough to account for major changes in tire model that occur during actual races when driving at the control limits. We propose a unified framework which learns the tire model online from the collected data, as well as adjusts the model based on environmental changes even if the model parameters change by a higher margin. We demonstrate our approach in numeric and high-fidelity simulators for a 1:43 scale race car and a full-size car. © 2023, CC BY.

关键词： Control system synthesis

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Constant-time Motion Planning with Anytime Refinement for Manipulation

arXiv

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arXiv 2023年

作者： Mishani, Itamar Feddock, Hayden Likhachev, Maxim The Robotics Institute School of Computer Science Carnegie Mellon University PittsburghPA United States Electrical and Computer Engineering Department Pittsburgh University United States

Robotic manipulators are essential for future autonomous systems, yet limited trust in their autonomy has confined them to rigid, task-specific systems. The intricate configuration space of manipulators, coupled with the challenges of obstacle avoidance and constraint satisfaction, often makes motion planning the bottleneck for achieving reliable and adaptable autonomy. Recently, a class of constant-time motion planners (CTMP) was introduced. These planners employ a preprocessing phase to compute data structures that enable online planning provably guarantee the ability to generate motion plans, potentially sub-optimal, within a user defined time bound. This framework has been demonstrated to be effective in a number of time-critical tasks. However, robotic systems often have more time allotted for planning than the online portion of CTMP requires, time that can be used to improve the solution. To this end, we propose an anytime refinement approach that works in combination with CTMP algorithms. Our proposed framework, as it operates as a constant time algorithm, rapidly generates an initial solution within a user-defined time threshold. Furthermore, functioning as an anytime algorithm, it iteratively refines the solution's quality within the allocated time budget. This enables our approach to strike a balance between guaranteed fast plan generation and the pursuit of optimization over time. We support our approach by elucidating its analytical properties, showing the convergence of the anytime component towards optimal solutions. Additionally, we provide empirical validation through simulation and real-world demonstrations on a 6 degree-of-freedom robot manipulator, applied to an assembly domain. Copyright © 2023, The Authors. All rights reserved.

关键词： Budget control

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Delay Considerations for Reliable Communications in LoRaWAN 19

Delay Considerations for Reliable Communications in LoRaWAN

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19th IEEE Annual Consumer Communications and Networking Conference, CCNC 2022

作者： Rydell, Joar Blom Otterlind, Oliver Butun, Ismail Chalmers University of Technology Department of Computer Science and Engineering GothenburgSE-412 96 Sweden Kth Royal Institute of Technology School of Electrical Engineering and Computer Science Division of Networks and Systems StockholmSE-100 44 Sweden

ISBN: (纸本)9781665431620

With the advent of the latest technologies, the Internet of Things (IoT) is the most widely used field in which billions of devices have been connected over the Internet. Long Range Wide Area Network (LoRaWAN) is among one of the most emerging technologies that deliver packets over very long-range with extremely low power consumption. However, it faces the problem of high latency. To cope with this problem, this paper aims to evaluate LoRaWAN in terms of latency by comparing how the default latency method that exists in LoRaWAN fair against an alternative method that has been researched and presented in the literature. Furthermore, having the concrete results of the latency will help companies to determine whether LoRaWAN is a suitable technology to use for Industrial IoT (IIoT) devices. Moreover, due to its backbone TCP/IP communication support, LoRaWAN will also facilitate the future architecture for the Web of Things (WoT). © 2022 IEEE.

关键词： Internet of things

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StereoVoxelNet: Real-Time Obstacle Detection Based on Occupancy Voxels from a Stereo Camera Using Deep Neural Networks

StereoVoxelNet: Real-Time Obstacle Detection Based on Occupa...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Hongyu Li Zhengang Li Neşet Ünver Akmandor Huaizu Jiang Yanzhi Wang Taşkın Padır Institute for Experiential Robotics Northeastern University Khoury College of Computer Sciences Northeastern University Department of Electrical and Computer Engineering Northeastern University Boston MA USA

Obstacle detection is a safety-critical problem in robot navigation, where stereo matching is a popular vision-based approach. While deep neural networks have shown impressive results in computer vision, most of the previous obstacle detection works only leverage traditional stereo matching techniques to meet the computational constraints for real-time feedback. This paper proposes a computationally efficient method that employs a deep neural network to detect occupancy from stereo images directly. Instead of learning the point cloud correspondence from the stereo data, our approach extracts the compact obstacle distribution based on volumetric representations. In addition, we prune the computation of safety irrelevant spaces in a coarse-to-fine manner based on octrees generated by the decoder. As a result, we achieve real-time performance on the onboard computer (NVIDIA Jetson TX2). Our approach detects obstacles accurately in the range of 32 meters and achieves better IoU (Intersection over Union) and CD (Chamfer Distance) scores with only 2% of the computation cost of the state-of-the-art stereo model. Furthermore, we validate our method's robustness and real-world feasibility through autonomous navigation experiments with a real robot. Hence, our work contributes toward closing the gap between the stereo-based system in robot perception and state-of-the-art stereo models in computer vision. To counter the scarcity of high-quality real-world indoor stereo datasets, we collect a 1.36 hours stereo dataset with a mobile robot which is used to fine-tune our model. The dataset, the code, and further details including additional visualizations are available at https://***/stereovoxelnet/.

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Real-Time-Capable Muscle Force Estimation for Monitoring Robotic Rehabilitation Therapy in the Intensive Care Unit

Real-Time-Capable Muscle Force Estimation for Monitoring Rob...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Kim K. Peper Alexander Aasmann Elisabeth R. Jensen Sami Haddadin Technical University of Munich Germany Department of Computer Engineering Chair of Robotics and Systems Intelligence TUM School of Computation Information and Technology Munich Institute of Robotics and Machine Intelligence (MIRMI)

In this paper, a method is proposed to enable real-time monitoring of muscle forces during robotic rehabilitation therapy in the ICU. This method is solely based on sensor information provided by the rehabilitation robot. In current clinical practice, monitoring primarily takes place in the later stages of rehabilitation, but it would also be highly beneficial during early stages. Musculoskeletal models have large, mostly unrealized potential to support and improve patient monitoring. The method presented in this paper is based on a state-of-the-art muscle-tendon path model, which is applied to the use case of the robotic rehabilitation device VEMOTION. The muscle force estimation is validated against surface electromyography measurements of lower limb muscles from 12 healthy volunteers The results show an overall correlation of R = 0.70 0.25 for the single-joint muscle m. iliopsoas, which has a ±major contribution to hip flexion. Given this correlation, the proposed model could be used for real-time monitoring of active patient participation.

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Critical nonlinear aspects of hopping transport for reconfigurable logic in disordered dopant networks

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Physical Review Applied 2024年第2期22卷 024063页

作者： Henri Tertilt Jonas Mensing Marlon Becker Wilfred G. van der Wiel Peter A. Bobbert Andreas Heuer Institute for Physical Chemistry Department of Physics NanoElectronics Group Faculty of Electrical Engineering Mathematics and Computer Science MESA+ Institute for Nanotechnology and Center for Brain-Inspired Nano Systems (BRAINS) Department of Applied Physics Center for Computational Energy Research (CCER)

Nonlinear behavior in the hopping transport of interacting charges enables reconfigurable logic in disordered dopant network devices, where voltages applied at control electrodes tune the relation between voltages applied at input electrodes and the current measured at an output electrode. From kinetic Monte Carlo simulations we analyze the critical nonlinear aspects of variable-range hopping transport for realizing Boolean logic gates in these devices on three levels. First, we quantify the occurrence of individual gates for random choices of control voltages. We find that linearly inseparable gates such as the xor gate are less likely to occur than linearly separable gates such as the and gate, despite the fact that the number of different regions in the multidimensional control voltage space for which and or xor gates occur is comparable. Second, we use principal-component analysis to characterize the distribution of the output current vectors for the (00,10,01,11) logic input combinations in terms of eigenvectors and eigenvalues of the output covariance matrix. This allows a simple and direct comparison of the behavior of different simulated devices and a comparison to experimental devices. Third, we quantify the nonlinearity in the distribution of the output current vectors necessary for realizing Boolean functionality by introducing three nonlinearity indicators. The analysis provides a physical interpretation of the effects of changing the hopping distance and temperature and is used in a comparison with data generated by a deep neural network trained on a physical device.

关键词： Carrier dynamics Dynamics of networks electrical conductivity Fitness Hopping transport Network optimization Optimization problems Temperature

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