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Machine Learning Assisted Solutions of Mixed Integer MPC on Embedded Platforms

IFAC-PapersOnLine 2020年第2期53卷 5195-5200页

作者： Yannik Löhr Martin Klaučo Miroslav Fikar Martin Mönnigmann Automatic Control and Systems Theory Ruhr-Universität Bochum Bochum Germany Institute of Information Engineering Automation and Mathematics Slovak University of Technology in Bratislava

Many control applications, especially in the field of energy systems, require a simultaneous decision for continuous and binary values of control inputs. In optimal control methods like model predictive control (MPC), this leads to the problem of solving expensive mixed-integer programs online. As this solution in practice has to be calculated with low cost embedded hardware with low energy demand, it is necessary to reduce the computational demand in advance. We present an approach to replacing the mixed-integer program by a simpler quadratic program by means of learning techniques. To be more specific, we design a neural network and a support vector machine to classify the optimal control policies for the binary inputs offline and evaluate this decision in the online step as the basis for the solution of the quadratic program. As a result, we achieve a controller suitable for implementation on embedded hardware. We demonstrate its applicability to a domestic heating system. The results indicate a very high quality of the approximation of the primary optimal controller that solves mixed-integer programs online.

关键词： nonlinear predictive control energy control data-based control neural networks classification heat flows control applications

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Possibility of entanglement of purification to be less than half of the reflected entropy

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Physical Review A 2024年第2期109卷 022426-022426页

作者： Josiah Couch Phuc Nguyen Sarah Racz Georgios Stratis Yuxuan Zhang Beth Israel Deaconess Medical Center Boston Massachusetts 02215 USA Martin A. Fisher School of Physics Brandeis University Waltham Massachusetts 02453 USA Theory Group Weinberg Institute Department of Physics The University of Texas at Austin Austin Texas 78712 USA Department of Electrical and Computer Engineering Northeastern University Boston Massachusetts 02115 USA Department of Physics The University of Texas at Austin Austin Texas 78712 USA Department of Physics and Centre for Quantum Information and Quantum Control University of Toronto 60 Saint George St. Toronto Ontario Canada M5S 1A7 Vector Institute MaRS Centre Toronto Ontario Canada M5G 1M1

In recent work, Akers et al. [arXiv:2306.06163] proved that the entanglement of purification Ep(A:B) is bounded below by half of the q-Rényi reflected entropy SR(q)(A:B) for all q≥2, showing that Ep(A:B)=12SR(q)(A:B) for a class of random tensor-network states. Naturally, the authors raise the question of whether a similar bound holds at q=1. Our work answers that question in the negative by finding explicit counterexamples, which we arrive at through numerical optimization. Nevertheless, this result does not preclude the possibility that restricted sets of states, such as conformal field theory states with semiclassical gravity duals, could obey the bound in question.

关键词： Quantum gravity Quantum information theory

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Supercritical water oxidation of chlorophenols: Catalytic effect, auxiliary fuels, reaction mechanism, and degradation pathway

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Desalination and Water Treatment 2025年 322卷

作者： Peng, Xin Luo, Huiyin Zeng, Li Cheng, Zhiwen Wang, Qingyuan Yang, Bowen Sichuan Provincial Engineering Research Center of City Solid Waste Energy and Building Materials Conversion and Utilization Technology Chengdu University Chengdu 610106 China State Key Laboratory of Subtropical Silviculture Zhejiang A&F University Zhejiang Hangzhou 311300 China College of Architecture & Environment Sichuan University Chengdu 61000 China School of Chemical and Environmental Engineering Shanghai Institute of Technology 100 Haiquan Road Shanghai 201418 China Guangxi Key Laboratory of Environmental Pollution Control Theory and Technology Guilin University of Technology Guilin 541004 China

In this study, the supercritical water oxidation (SCWO) processes of monochlorophenols (ortho-, meta-, and para-chlorophenol, 2-, 3-, and 4-CP), dichlorophenol (2,4-DCP), and trichlorophenol (2,4,6-TCP) were investigated on the basis of experimental data combined with density functional theory (DFT). SCWO experiments were performed in a coiled tubular reactor at 650–800 K, 24 MPa, and 300 % excess oxygen within 5 min with or without catalysts and/or auxiliary fuels. The results indicated that i) the removal efficiency for trichlorophenol was better than those for dichlorophenol and the monochlorophenols;ii) for the three monochlorophenols, the removal efficiencies were in the order of 4-CP > 2-CP > 3-CP;and iii) the chlorophenol removal efficiency increased in the presence of Cu(II) and isopropyl alcohol (IPA). The Fukui index data supported the experimental findings, which showed that i) Cl atoms in the para-position were more susceptible to radical attack than those in the ortho- and meta-positions;ii) the Fukui values of Cl atom(s) were greater than those of carbon, hydrogen, and oxygen atoms;and iii) 2,4-DCP and 2,4,6-TCP could provide more active sites than the monochlorophenols because they possessed more Cl atoms. On the basis of these results, a pathway for the degradation of chlorophenols involving dechlorination, ring opening, and mineralization was proposed. © 2025 The Authors

关键词： Cations Chlorophenols Density functional theory Isopropyl alcohol Supercritical water oxidation

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Design of a Capsule Robot System for Gastric Hemorrhage Detection using Luminol

Design of a Capsule Robot System for Gastric Hemorrhage Dete...

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IEEE International Conference on Mechatronics and Automation

作者： Yuchen Mao Jian Guo Shuxiang Guo Qiang Fu Tianjin Key Laboratory for Control Theory & Application Complicated Systems and Intelligent Robot Laboratory School of Electrical Engineering and Automation Tianjin University of Technology Binshui Xidao Extension 391 Tianjin China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Beijing China

Gastric hemorrhage in upper gastrointestinal bleeding is an obvious indicator of deteriorating gastric disease. This paper proposes a capsule robot system for detecting bleeding in the stomach. The patient ingests a capsule robot containing luminol reagent, which detects bleeding in the stomach via chemiluminescence. The MCU receives the optical sensor signal, and the data is transmitted via radio frequency. The external lower computer receives and forwards the data to the upper computer for processing and display. The data is used to determine the presence and amount of stomach bleeding. Chemiluminescence is an excellent sensor, requiring no external energy supply, and demonstrating excellent sensitivity and selectivity. Combining chemical and electronic sensors presents opportunities for further development. Capsule robot detection reduces the discomfort and risk of secondary injury associated with traditional endoscopy. This paper establishes an experimental platform using porcine blood to simulate human blood, demonstrating the feasibility of the system.

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control of the Vertical Gradient Freeze crystal growth process via backstepping

arXiv

引用

arXiv 2020年

作者： Ecklebe, Stefan Woittennek, Frank Winkler, Jan Institute of Control Theory Technische Universität Dresden Dresden01069 Germany Institute of Automation and Control Engineering University of Health Sciences Medical Informatics and Technology Hall in Tirol 6060 Austria

This contribution presents a backstepping-based state feedback design for the tracking control of a two-phase Stefan problem which is encountered in the Vertical Gradient Freeze crystal growth process. A two-phase Stefan problem consists of two coupled free boundary problems and is a vital part of many crystal growth processes due to the time-varying extent of crystal and melt during growth. In addition, a different approach for the numerical approximation of the backstepping transformations kernel is presented. Copyright © 2020, The Authors. All rights reserved.

关键词： Backstepping

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Bounding the difference between model predictive control and neural networks

arXiv

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arXiv 2022年

作者： Drummond, Ross Duncan, Stephen R. Turner, Matthew C. Pauli, Patricia Allgöwer, Frank Department of Engineering Science University of Oxford 17 Parks Road OxfordOX1 3PJ United Kingdom Department of Electronics and Computer Science University of Southampton SouthamptonSO17 1BJ United Kingdom Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart70569 Germany

There is a growing debate on whether the future of feedback control systems will be dominated by data-driven or model-driven approaches. Each of these two approaches has their own complimentary set of advantages and disadvantages, however, only limited attempts have, so far, been developed to bridge the gap between them. To address this issue, this paper introduces a method to bound the worst-case error between feedback control policies based upon model predictive control (MPC) and neural networks (NNs). This result is leveraged into an approach to automatically synthesize MPC policies minimising the worst-case error with respect to a NN. Numerical examples highlight the application of the bounds, with the goal of the paper being to encourage a more quantitative understanding of the relationship between data-driven and model-driven control. © 2022, CC BY.

关键词： Model predictive control

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Radar-based Dynamic Occupancy Grid Mapping and Object Detection

Radar-based Dynamic Occupancy Grid Mapping and Object Detect...

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International Conference on Intelligent Transportation

作者： Christopher Diehl Eduard Feicho Alexander Schwambach Thomas Dammeier Eric Mares Torsten Bertram Institute of Control Theory and Systems Engineering Dortmund TU Germany HELLA Aglaia Mobile Vision GmbH Berlin Germany

ISBN: (数字)9781728141497

ISBN: (纸本)9781728141503

Environment modeling utilizing sensor data fusion and object tracking is crucial for safe automated driving. In recent years, the classical occupancy grid map approach, which assumes a static environment, has been extended to dynamic occupancy grid maps, which maintain the possibility of a lowlevel data fusion while also estimating the position and velocity distribution of the dynamic local environment. This paper presents the further development of a previous approach. To the best of the author's knowledge, there is no publication about dynamic occupancy grid mapping with subsequent analysis based only on radar data. Therefore in this work, the data of multiple radar sensors are fused, and a grid-based object tracking and mapping method is applied. Subsequently, the clustering of dynamic areas provides high-level object information. For comparison, also a lidar-based method is developed. The approach is evaluated qualitatively and quantitatively with real-world data from a moving vehicle in urban environments. The evaluation illustrates the advantages of the radar-based dynamic occupancy grid map, considering different comparison metrics.

关键词： Vehicle dynamics Sensors Particle measurements Atmospheric measurements Radar Laser radar Heuristic algorithms

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Interaction-Aware Trajectory Prediction based on a 3D Spatio-Temporal Tensor Representation using Convolutional–Recurrent Neural Networks

Interaction-Aware Trajectory Prediction based on a 3D Spatio...

引用

IEEE Symposium on Intelligent Vehicle

作者： Martin Krüger Anne Stockem Novo Till Nattermann Torsten Bertram Institute of Control Theory and Systems Engineering TU Dortmund University Dortmund Germany ZF Group Düsseldorf Germany

ISBN: (数字)9781728166735

ISBN: (纸本)9781728166742

Predicting the future trajectories for all vehicles relevant to the ego vehicle is a crucial, yet unsolved challenge to master automated driving. This paper proposes a combination of two lines of research for predicting all the trajectories of a group of vehicles of arbitrary size, considering the mutual interactions possible. Treating the prediction of other vehicles as a planning task for themselves enables the application of the artificial potential field approach. Modeling the driving situation as a potential field turns the trajectory prediction problem back to its original domain - utility space. Humans generate trajectories (that should be predicted) during driving by balancing costs and rewards, which lead to a total utility. The main difficulty inherent to the potential field approach is the hard problem of parameter tuning. Therefore, it is not directly used for prediction. Instead, the potential field representation is used as input for a neural network, which predicts a distribution over trajectories based on distinct maneuvers. This allows a multi-modal prediction for each vehicle and reflects the pattern recognition character.

关键词： Trajectory Three-dimensional displays Tensors Two dimensional displays Predictive models Planning Kernel

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Constrained extremum seeking: A modified-barrier function approach 11

Constrained extremum seeking: A modified-barrier function ap...

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11th IFAC Symposium on Nonlinear control Systems, NOLCOS 2019

作者： Labar, Christophe Garone, Emanuele Kinnaert, Michel Ebenbauer, Christian Department of Control Engineering and System Analysis Université libre de Bruxelles Brussels1050 Belgium Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart70569 Germany

In this paper, we address the problem of steering the input of a convex function to a value that minimizes the function under a convex constraint. We consider the case where the constraint cannot be violated of more than a user-defined value during the whole transient phase. The mathematical expression of both the cost function and the constraint are assumed to be unknown. The only information available are the on-line values of the cost and the constraint. To tackle this problem, an optimization law, based on a modified-barrier function, and involving the gradient of both the cost function and the constraint, is firstly designed. The Lie bracket formalism is then exploited to approximate this law, by combining time-periodic signals with the on-line measurements of both the cost and the constraint. The stability property of the resulting constrained extremum seeking system is proved, and its effectiveness is shown in simulation. © 2019, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Cost functions

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A Multi-Objective Discrete Social engineering Optimizer for a Disassembly Line Balancing Problem

A Multi-Objective Discrete Social Engineering Optimizer for ...

引用

IEEE International Conference on Networking, Sensing and control

作者： Guangdong Tian Cheng Zhang Lele Zhang Gang Yuan Qi Kang School of Transportation Jilin University of Architecture and technology Changchun China School of Mechanical-Electrical and Vehicle Engineering Beijing University of Civil Engineering and Architecture Beijing China School of Mechanical Engineering Shandong China Transport Management Institute Ministry of Transport of the P.R.China Beijing China Key laboratory of theory and technology of intelligent agricultural machinery and equipment Jiangsu University Zhenjiang China Department of Control Sciences and Engineering Tongji University Shanghai China

ISBN: (纸本)9781665472449

Product disassembly is the key part of recycling and remanufacturing. Disassembly line balancing problem (DLBP) is an important part in the product disassembly process. This study develops a multi-objective discrete social engineering optimizer (SEO) as a new extension to the original SEO. In order to enable the algorithm to formulate the discretization rules, a swap operator and swap sequence are introduced, and three sequence operation operators are defined. Finally, the algorithm is used to solve the disassembly of a worm reducer, and 12 feasible task allocation schemes are obtained. Findings show the effectiveness solving DLBP, and the superiority of the proposed method is verified.

关键词： Integer programming Technological innovation Sensors Recycling Planning Resource management Internet of Things

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