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63rd IEEE Conference on Decision and Control, CDC 2024

作者： Verhagen, Joris Lindemann, Lars Tumova, Jana Kth Royal Institute of Technology Division of Robotics Perception and Learning School of Electrical Engineering and Computer Science Stockholm Sweden University of Southern California Thomas Lord Department of Computer Science Los AngelesCA United States

ISBN: (纸本)9798350316339

This work addresses maximally robust control synthesis under unknown disturbances. We consider a nonlinear system, subject to a Signal Temporal Logic (STL) specification and jointly synthesize the maximal possible disturbance bounds and the corresponding controllers that ensure the STL specification is satisfied under these bounds. Many works have considered STL satisfaction under given bounded disturbances yet, to the authors' best knowledge, this is the first work that aims to maximize the permissible disturbance set and find corresponding maximally robust controllers. We, therefore, introduce disturbance robustness as a model-based robustness metric for STL planning and control synthesis. We extend the notion of disturbance-robust semantics for STL, which is a property of a specification, dynamical system, and controller, and provide an algorithm for maximally robust controllers satisfying an STL specification using Hamilton-Jacobi reachability. We show its soundness and provide a simulation example with an Autonomous Underwater Vehicle (AUV). © 2024 IEEE.

关键词： Control system synthesis

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Knowledge-Driven Possibilistic Clustering with Automatic Cluster Elimination

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computers, Materials & Continua 2024年第9期80卷 4917-4945页

作者： Xianghui Hu Yiming Tang Witold Pedrycz Jiuchuan Jiang Yichuan Jiang The School of Computer Science and Engineering Southeast UniversityNanjing211189China The School of Computer and Information Hefei University of TechnologyHefei230601China The Department of Electrical and Computer Engineering University of AlbertaEdmontonAB T6R 2V4Canada The Systems Research Institute Polish Academy of SciencesWarsaw00-901Poland The School of Information Engineering Nanjing University of Finance and EconomicsNanjing210023China

Traditional Fuzzy C-Means(FCM)and Possibilistic C-Means(PCM)clustering algorithms are data-driven,and their objective function minimization process is based on the available numeric ***,knowledge hints have been introduced to formknowledge-driven clustering algorithms,which reveal a data structure that considers not only the relationships between data but also the compatibility with knowledge ***,these algorithms cannot produce the optimal number of clusters by the clustering algorithm itself;they require the assistance of evaluation ***,knowledge hints are usually used as part of the data structure(directly replacing some clustering centers),which severely limits the flexibility of the algorithm and can lead to *** solve this problem,this study designs a newknowledge-driven clustering algorithmcalled the PCM clusteringwith High-density Points(HP-PCM),in which domain knowledge is represented in the form of so-called high-density ***,a newdatadensitycalculation function is *** Density Knowledge Points Extraction(DKPE)method is established to filter out high-density points from the dataset to form knowledge ***,these hints are incorporated into the PCM objective function so that the clustering algorithm is guided by high-density points to discover the natural data ***,the initial number of clusters is set to be greater than the true one based on the number of knowledge ***,the HP-PCM algorithm automatically determines the final number of clusters during the clustering process by considering the cluster elimination *** experimental studies,including some comparative analyses,the results highlight the effectiveness of the proposed algorithm,such as the increased success rate in clustering,the ability to determine the optimal cluster number,and the faster convergence speed.

关键词： Fuzzy C-Means(FCM) possibilistic clustering optimal number of clusters knowledge-driven machine learning fuzzy logic

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Secured Framework for Vehicle Management Using Blockchain

Secured Framework for Vehicle Management Using Blockchain

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2024 International Conference on System, Computation, Automation and Networking, ICSCAN 2024

作者： Poonguzhali, N. Amarabalan, N. School of Computer and Systems Sciences Jawaharlal Nehru University New Delhi India Manakula Vinayagar Institute of Technology Department of Electrical and Electronics Engineering Puducherry India

ISBN: (纸本)9798331510022

For many years, there were many different ways to arrange a vehicle's information using just the license plate. The number on a vehicle's license plate is the primary symbol used to identify it. The industries used to reciprocate the number plates in order to further uphold their basic standards. Anonymization through encryption is the preferred privacy setting for a license plate. We will have access to all the services required for faultless data maintenance through the Vehicle Management system. The entire system depends on the data, which is technologically encrypted and decrypted. However, data stored on a chip will be more secure than image recognition. It reduces the likelihood of mistakes and misunderstandings of the required information. Vehicle-related data is stored in a decentralized system. The suggested system either retrieves data from the smart number plate or uses an image processing technique to determine the license plate number through edge detection. The required data can be seen with this number. In order to ensure security, these data are encrypted using the SHA-256 algorithm and stored in a decentralized system using the Hyperledger Sawtooth framework, which also employs the PoET and BFT algorithms. © 2024 IEEE.

关键词： Blockchain

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Multispectral Image Segmentation in Agriculture: Evaluating Deep Learning Models with Train-Test Split and Cross-Validation Strategies

Multispectral Image Segmentation in Agriculture: Evaluating ...

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Iberian robotics Conference (ROBOT)

作者： Wilgo Cardoso Tiago Barros Gil Gonçalves Cristiano Premebida Urbano J. Nunes Department of Electrical and Computer Engineering Institute of Systems and Robotics University of Coimbra Portugal Dept. of Mathematics Institute for Systems Engineering and Computers at Coimbra University of Coimbra Portugal

ISBN: (数字)9798350376364

ISBN: (纸本)9798350376371

In agricultural robotics, the integration of multi-spectral image processing and deep learning (DL) has become the state-of-the-art (SOTA) in crop monitoring, yield estimation, and efficient land management. This work addresses the impact of different DL-segmentation models and evaluation protocols on multispectral imagery datasets collected by a UAV over vineyards. In terms of evaluation protocols, we have considered train-test split, standard k-fold cross-validation, and group k-fold cross-validation. While the first two assume that the training and test data are drawn from the same underlying distribution, the group k-fold cross-validation protocol assumes that each fold represents distinct distributions. Most works either adopt train-test split or k-fold cross-validation under the assumption that both the training and test sets are drawn from the same distribution. However, this assumption is rarely met in real-world applications. Therefore, the objective of this study is to evaluate and compare different evaluation protocols within the context of a real-world agricultural task, highlighting their limitations and weaknesses. Two SOTA DL-based segmentation models, SegNet and DeepLabV3, are employed to perform semantic segmentation on datasets of three Vineyards. The models have been trained and tested considering single-modality representations. In addition to the RGB modality, models trained on NDVI, GNDVI and early fusion are also evaluated. The performance of the models are evaluated using the IoU metric across different dataset configurations. The results indicate that the early fusion representation achieves the highest performance across the various splitting protocols, compared to the single-input representations. The results also show that the train-test and random k-fold splitting approaches report similar results. However, when employing group k-fold the performance drops consistently across both models and the modalities. This indicates that the models

关键词： Deep learning Training Precision agriculture Measurement Protocols Data models Yield estimation Robots Monitoring Standards

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Robust Stochastic Shortest-Path Planning via Risk-Sensitive Incremental Sampling 63

Robust Stochastic Shortest-Path Planning via Risk-Sensitive ...

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63rd IEEE Conference on Decision and Control, CDC 2024

作者： Enwerem, Clinton Noorani, Erfaun Baras, John S. Sadler, Brian M. Institute for Systems Research University of Maryland Department of Electrical & Computer Engineering College ParkMD United States University of Texas at Austin TX United States

ISBN: (纸本)9798350316339

With the pervasiveness of Stochastic Shortest-Path (SSP) problems in high-risk industries, such as last-mile autonomous delivery and supply chain management, robust planning algorithms are crucial for ensuring successful task completion while mitigating hazardous outcomes. Mainstream chance-constrained incremental sampling techniques for solving SSP problems tend to be overly conservative and typically do not consider the likelihood of undesirable tail events. We propose an alternative risk-aware approach inspired by the asymptoticallyoptimal Rapidy-Exploring Random Trees (RRT*) planning algorithm, which selects nodes along path segments with minimal Conditional Value-at-Risk (CVaR). Our motivation rests on the step-wise coherence of the CVaR risk measure and the optimal substructure of the SSP problem. Thus, optimizing with respect to the CVaR at each sampling iteration necessarily leads to an optimal path in the limit of the sample size. We validate our approach via numerical path planning experiments in a two-dimensional grid world with obstacles and stochastic pathsegment lengths. Our simulation results show that incorporating risk into the tree growth process yields paths with lengths that are significantly less sensitive to variations in the noise parameter, or equivalently, paths that are more robust to environmental uncertainty. Algorithmic analyses reveal similar query time and memory space complexity to the baseline RRT∗ procedure, with only a marginal increase in processing time. This increase is offset by significantly lower noise sensitivity and reduced planner failure rates. © 2024 IEEE.

关键词： Stochastic systems

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Frequency Domain Auto-tuning of Structured LPV Controllers for High-Precision Motion Control 63

Frequency Domain Auto-tuning of Structured LPV Controllers f...

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63rd IEEE Conference on Decision and Control, CDC 2024

作者： Broens, Yorick Butler, Hans Toth, Roland Asml Veldhoven Netherlands Eindhoven University of Technology Department of Electrical Engineering Eindhoven Netherlands Hunren Institute for Computer Science and Control Systems and Control Laboratory Hungary

ISBN: (纸本)9798350316339

Motion systems are a vital part of many industrial processes. However, meeting the increasingly stringent demands of these systems, especially concerning precision and throughput, requires novel control design methods that can go beyond the capabilities of traditional solutions. Traditional control methods often struggle with the complexity and position-dependent effects inherent in modern motion systems, leading to compromises in performance and a laborious task of controller design. This paper addresses these challenges by introducing a novel structured feedback control auto-tuning approach for multiple-input multiple-output (MIMO) motion systems. By leveraging frequency response function (FRF) estimates and the linear-parameter-varying (LPV) control framework, the proposed approach automates the controller design, while providing local stability and performance guarantees. Key innovations include norm-based magnitude optimization of the sensitivity functions, an automated stability check through a novel extended factorized Nyquist criterion, a modular structured MIMO LPV controller parameterization, and a controller discretization approach which preserves the continuous-time (CT) controller parameterization. The proposed approach is validated through experiments using a state-of-the-art moving-magnet planar actuator prototype. © 2024 IEEE.

关键词： Continuous time systems

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On the Importance of Trust in Next-Generation Networked Cyber-Physical systems

On the Importance of Trust in Next-Generation Networked Cybe...

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International Conference on Computing, Networking and Communications (ICNC)

作者： Nariman Torkzaban Anousheh Gholami John S. Baras Department of Electrical & Computer Engineering Institute for Systems Research

ISBN: (数字)9798350370997

ISBN: (纸本)9798350371000

With 5G and beyond promises to realize massive machine-type communications, a wide range of applications have driven interest in complex heterogeneous networked systems, including multi-agent optimization, large-scale distributed learning, 5G service provisioning, etc. This trend highlights the essence of seamless control, management, and security mechanisms to be in place for the next-generation networked cyber-physical systems (CPS). In this paper, we interpret trust as a relation among networked collaborating entities that can set forth a measure for evaluating the status of network components and secure the execution of the collaborative protocol. In this paper, we will first elaborate on the importance of trust as a metric and then present a mathematical framework for trust computation and aggregation within a network. We consider two use-case examples where trust can be incorporated into the next-generation networked CPS and improve the security of decision-making, i.e. i) federated learning (FL), and ii) network resource provisioning. Finally, we explain the challenges associated with aggregating the trust evidence and briefly explain our ideas to tackle them.

关键词： Measurement Protocols 5G mobile communication Federated learning Distance learning Cyber-physical systems Market research

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Position: Scarce Resource Allocations That Rely On Machine Learning Should Be Randomized 41

Position: Scarce Resource Allocations That Rely On Machine L...

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41st International Conference on Machine Learning, ICML 2024

作者： Jain, Shomik Creel, Kathleen Wilson, Ashia Institute for Data Systems and Society MIT United States Department of Philosophy & Religion Khoury College of Computer Sciences Northeastern University United States Department of Electrical Engineering and Computer Science MIT United States

Contrary to traditional deterministic notions of algorithmic fairness, this paper argues that fairly allocating scarce resources using machine learning often requires randomness. We address why, when, and how to randomize by proposing stochastic procedures that more adequately account for all of the claims that individuals have to allocations of social goods or opportunities. Copyright 2024 by the author(s)

关键词： Adversarial machine learning

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Risk-Aware Decentralized Safe Control via Dynamic Responsibility Allocation 37

Risk-Aware Decentralized Safe Control via Dynamic Responsibi...

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37th AAAI Conference on Artificial Intelligence, AAAI 2023

作者： Lyu, Yiwei Luo, Wenhao Dolan, John M. Department of Electrical and Computer Engineering Carnegie Mellon University United States Department of Computer Science University of North Carolina at Charlotte United States Robotics Institute Carnegie Mellon University United States

ISBN: (纸本)9781577358800

In this work, we present a novel risk-aware decentralized Control Barrier Function (CBF)-based controller for multi-agent systems. The proposed decentralized controller is composed based on pairwise agent responsibility shares (a percentage), calculated from the risk evaluation of each individual agent faces in a multi-agent interaction environment. With our proposed CBF-inspired risk evaluation framework, the responsibility portions between pairwise agents are dynamically updated based on the relative risk they face. Our method allows agents with lower risk to enjoy a higher level of freedom in terms of a wider action space, and the agents exposed to higher risk are constrained more tightly on action spaces, and are therefore forced to proceed with caution. Copyright © 2023, Association for the Advancement of Artificial Intelligence (***). All rights reserved.

关键词： Multi agent systems

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A hybrid deep learning approach for phenotype prediction from clinical notes

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Journal of Ambient Intelligence and Humanized Computing 2023年第4期14卷 4503-4513页

作者： Khalafi, Sahar Ghadiri, Nasser Moradi, Milad Department of Electrical and Computer Engineering Isfahan University of Technology Isfahan84156-83111 Iran Institute for Artificial Intelligence Center for Medical Statistics Informatics and Intelligent Systems Medical University of Vienna Vienna Austria

Identifying patient cohorts from clinical notes in secondary use of electronic health records is a fundamental task in clinical information management. The patient cohort identification process requires identifying the patient phenotypes. However, the growing number of clinical notes makes it difficult to analyze the data manually. Therefore, automatically extracting clinical concepts is crucial to identify patient phenotypes correctly. This paper’s proposed hybrid model is based on a neural bidirectional sequence model (BiLSTM or BiGRU) and a Convolutional Neural Network (CNN) for identifying patients’ phenotypes in clinical notes. Furthermore, an extra CNN layer is run parallel to the hybrid proposed model to extract more features related to each phenotype. We used pre-trained embeddings such as FastText and Word2vec separately as the input layers to evaluate other embedding’s performance in identifying patient phenotypes. We also measured the effect of adding additional data cleaning steps on discharge reports to identify patient phenotypes using deep learning models. Results demonstrated the proposed hybrid model extracts more features than existing methods of patient phenotype extraction and provides a better F1-score. We show that complementing the proposed hybrid model with an extra CNN in identifying different phenotypes improves the F1 scores. In addition, eliminating punctuation, numbers, and stop words in discharge reports before training hybrid models increased model performance. © 2023, The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature.

关键词： Embeddings

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