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arXiv 2024年

作者： Liu, Rong-Peng Song, Yue Liu, Junhong Wang, Xiaozhe Guo, Jinpeng Hou, Yunhe The Department of Electrical and Computer Engineering McGill University MontrealQCH3A 0E9 Canada The State Key Laboratory of Intelligent Autonomous Systems Frontiers Science Center for Intelligent Autonomous Systems Tongji University Shanghai China The Department of Electrical and Electronic Engineering The University of Hong Kong Hong Kong The Department of Energy and Electrical Engineering Ho-Hai University Jiangsu Nanjing China

This letter proposes a hidden convexity-based method to address distributed optimal energy flow (OEF) problems for transmission-level integrated electricity-gas systems. First, we develop a node-wise decoupling method to decompose an OEF problem into multiple OEF subproblems. Then, we propose a hidden convexity-based method to equivalently reformulate nonconvex OEF subproblems as semi-definite programs. This method differs from any approximation and convexification methods that may incur infeasible solutions. Since all OEF subproblems are originally convex or equivalently convexified, we adopt an ADMM to solve the hidden convexity-based distributed OEF problem with convergence analysis. Test results validate the effectiveness of the proposed method, especially in handling a large number of agents. Copyright © 2024, The Authors. All rights reserved.

关键词： Quadratic programming

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Robust Multivariate Detection and Estimation with Fault Frequency Content Information

arXiv

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arXiv 2023年

作者： Dong, Jingwei Pan, Kaikai Pequito, Sérgio Esfahani, Peyman Mohajerin The Delft Center for Systems and Control Delft University of Technology Netherlands The College of Electrical Engineering Zhejiang University China The Department of Electrical and Computer Engineering University of Lisbon Lisbon Portugal

This paper studies the problem of fault detection and estimation (FDE) for linear time-invariant (LTI) systems with a particular focus on frequency content information of faults, possibly as multiple disjoint continuum ranges, and under both disturbances and stochastic noise. To ensure the worst-case fault sensitivity in the considered frequency ranges and mitigate the effects of disturbances and noise, an optimization framework incorporating a mixed H/H2 performance index is developed to compute the optimal detection filter. Moreover, a thresholding rule is proposed to guarantee both the false alarm rate (FAR) and the fault detection rate (FDR). Next, shifting attention to fault estimation in specific frequency ranges, an exact reformulation of the optimal estimation filter design using the restricted H∞ performance index is derived, which is inherently non-convex. However, focusing on finite frequency samples and fixed poles, a lower bound is established via a highly tractable quadratic programming (QP) problem. This lower bound together with an alternating optimization (AO) approach to the original estimation problem leads to a suboptimality gap for the overall estimation filter design. The effectiveness of the proposed approaches is validated through applications of a non-minimum phase hydraulic turbine system and a multi-area power system. Copyright © 2023, The Authors. All rights reserved.

关键词： Hydraulic motors

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Exploiting Hankel–Toeplitz Structures for Fast Computation of Kernel Precision Matrices

arXiv

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arXiv 2024年

作者： Viset, Frida Kullberg, Anton Wesel, Frederiek Solin, Arno Delft Center for Systems and Control Delft University of Technology Netherlands Department of Electrical Engineering Linköping University Sweden Department of Computer Science Aalto University Finland

The Hilbert–space Gaussian Process (hgp) approach offers a hyperparameter-independent basis function approximation for speeding up Gaussian Process (gp) inference by projecting the gp onto M basis functions. These properties result in a favorable data-independent O(M3) computational complexity during hyperparameter optimization but require a dominating one-time precomputation of the precision matrix costing O(NM2) operations. In this paper, we lower this dominating computational complexity to O(NM) with no additional approximations. We can do this because we realize that the precision matrix can be split into a sum of Hankel–Toeplitz matrices, each having O(M) unique entries. Based on this realization we propose computing only these unique entries at O(NM) costs. Further, we develop two theorems that prescribe sufficient conditions for the complexity reduction to hold generally for a wide range of other approximate gp models, such as the Variational Fourier Feature (vff) approach. The two theorems do this with no assumptions on the data and no additional approximations of the gp models themselves. Thus, our contribution provides a pure speed-up of several existing, widely used, gp approximations, without further approximations. © 2024, CC BY.

关键词： Gaussian distribution

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Shortest Trajectory of a Dubins Vehicle with a controllable Laser

arXiv

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arXiv 2024年

作者： Bajaj, Shivam Jha, Bhargav Bopardikar, Shaunak D. Von Moll, Alexander Casbeer, David W. The Electrical and Computer Engineering Department Purdue University West LafayetteIN47906 United States The Electrical and Computer Engineering Department Michigan State University East LansingMI48823 United States Control Science Center Air Force Research Laboratory Ohio United States

We formulate a novel planar motion planning problem for a Dubins-Laser system that consists of a Dubins vehicle with an attached controllable laser. The vehicle moves with unit speed and the laser, having a finite range, can rotate in a clockwise or anti-clockwise direction with a bounded angular rate. From an arbitrary initial position and orientation, the objective is to steer the system so that a given static target is within the range of the laser and the laser is oriented at it in minimum time. We characterize multiple properties of the optimal trajectory and establish that the optimal trajectory for the Dubins-laser system is one out of a total of 16 candidates. Finally, we provide numerical insights that illustrate the properties characterized in this work. © 2024, CC BY-NC-SA.

关键词： Vehicles

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An Extended Stochastic Region of Attraction Estimation Method for Power Systems Under Stochastic Sustained Disturbances

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IEEE Transactions on Power Systems 2025年

作者： Yang, Yuerong Lin, Shunjiang Liu, Mingbo Deng, Leyi Xie, Huifan Li, Qifeng South China University of Technology School of Electric Power Engineering Guangzhou510640 China Power Dispatching and Control Center CSG Guangzhou510663 China University of Central Florida Department of Electrical and Computer Engineering OrlandoFL32816 United States

Stochastic sustained disturbances (SSDs) in renewable energy output impact power system transient stability. This study addresses the dynamic performance of power systems under SSDs using Lévy-driven stochastic differential algebraic equations (LDSDAEs). The stochastic region of attraction for LDSDAEs is divided into a stable region and a probabilistically stable region, collectively termed the extended stochastic region of attraction (ESRA). Traditional methods for estimating the deterministic region of attraction (RA) are inadequate. To address this issue, this study proposes an estimation method for the ESRA of LDSDAEs based on escape probability. We first derive an integro-differential equation for escape probabilities of initial system states near the attractor of LDSDAEs. We then explore the connection between escape probability and ESRA. Finally, we propose a wavelet basis functions-based extended projection method to solve the integro-differential equation, providing an analytical expression for escape probabilities and thus determining the ESRA. Case studies on the modified IEEE 39- and 118-bus systems demonstrate the proposed method's high computational accuracy and efficiency for power systems under Lévy disturbances. © 1969-2012 IEEE.

关键词： Integrodifferential equations

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Power Allocation Strategy for Secret Key Generation Method in Wireless Communications

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computers, Materials & Continua 2021年第8期68卷 2179-2188页

作者： Bin Zhang Muhammad Waqas Shanshan Tu Syed Mudassir Hussain Sadaqat Ur Rehman School of Electronics and Information Engineering Hunan University of Science and EngineeringYongzhou425199China Engineering Research Center of Intelligent Perception and Autonomous Control Faculty of Information TechnologyBeijing University of TechnologyBeijing100124China Faculty of Computer Science and Engineering Ghulam Ishaq Khan(GIK)Institute of Engineering Sciences and TechnologyTopi23460Pakistan Department of Electronics Engineering FICTBalochistan University of Information TechnologyEngineering and Management SciencesQuetta87300Pakistan Department of Computer Science Namal InstituteMianwali42200Pakistan

Secret key generation(SKG)is an emerging technology to secure wireless communication from ***,the SKG at the physical layer is an alternate solution over traditional cryptographic methods due to wireless channels’***,the physical layer secret key generation(PHY-SKG)depends on two fundamental parameters,i.e.,coherence time and power *** coherence time for PHY-SKG is not applicable to secure wireless *** is because coherence time is for a certain period of ***,legitimate users generate the secret keys(SKs)with a shorter key length in ***,an attacker can quickly get information about the ***,the attacker can easily get valuable information from authentic ***,we considered the scheme of power allocation to enhance the secret key generation rate(SKGR)between legitimate ***,we propose an alternative method,i.e.,a power allocation,to improve the *** results show 72%higher SKGR in bits/sec by increasing power *** addition,the power transmission is based on two important parameters,i.e.,epsilon and power loss factor,as given in power transmission *** found out that a higher value of epsilon impacts power transmission and subsequently impacts the *** SKGR is approximately 40.7%greater at 250 from 50 mW at epsilon=*** value of SKGR is reduced to 18.5%at 250 mW when epsilonis ***,the transmission power is also measured against the different power loss factor values,i.e.,3.5,3,and 2.5,respectively,at epsilon=***,it is concluded that the value of epsilon and power loss factor impacts power transmission and,consequently,impacts the SKGR.

关键词： Secret key generation rate power allocation physical layer wireless communication

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Collision-Free Path Generation for Teleoperation of Unmanned Vehicles

Collision-Free Path Generation for Teleoperation of Unmanned...

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International Conference on Advanced Robotics (ICAR)

作者： Fatima Kashwani Bilal Hassan Majid Khonji Jorge Dias Center for Autonomous Robotic Systems (KUCARS) Abu Dhabi UAE Department of Electrical Engineering and Computer Science Khalifa University Abu Dhabi UAE

Teleoperation, or remote driving, constitutes a crucial transitional phase toward the widespread adoption of fully autonomous vehicles. Nevertheless, to enable seamless real-time teleoperation, it is imperative to address the time delay between the driver and the vehicle. Collision-free path generation has emerged as a vital technique facilitating both teleoperation and autonomous driving, particularly in high-level path planning for vehicles. In the context of real-time teleoperation, a generated collision-free path serves as a valuable guide for the teleoperator, effectively mitigating the impact of time delay. In this research, we present a framework dubbed dual transformer network (DTNet), designed to cater to the needs of teleoperation by addressing road scene understanding. The proposed DTNet employs two transformer-based networks to effectively segment the road free space and detect road objects. Additionally, we introduce an innovative fusion mechanism that leverages the combined information from both networks to predict a collision-free path. The efficacy of the DTNet is extensively evaluated using a large-scale BDD100k dataset, substantiating its superior performance in road free space segmentation and road object detection tasks. Remarkably, DTNet achieves a mean intersection over union score of 83.89% for road free space segmentation and an impressive mean average precision score of 34.20% for road object detection. The experimental findings affirm the effectiveness of the DT-Net framework in addressing the challenges of road scene understanding, making it a promising solution to provide a robust and efficient approach for collision-free path generation, with broader implications for the advancement of autonomous driving technologies.

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Event-triggered leader-following formation control for multi-agent systems under communication faults: application to a fleet of unmanned aerial vehicles

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Journal of Systems engineering and Electronics 2021年第5期32卷 1014-1022页

作者： VAZQUEZ TREJO Juan Antonio GUENARD Adrien ADAM-MEDINA Manuel PONSART Jean-Christophe CIARLETTA Laurent ROTONDO Damiano THEILLIOL Didier Research Center for Automatic Control of Nancy University of LorraineNancy F-54000France Electronic Engineering Department National Institute of Technology of MexicoCuernavaca Morelos 62490Mexico Lorraine Research Laboratory in Computer Science and Its Applications University of LorraineNancy F-54000France University of Stavanger Department of Electrical and Computer EngineeringStavanger 4021Norway

The main contribution of this paper is the design of an event-triggered formation control for leader-following consensus in second-order multi-agent systems(MASs)under communication *** the agents must follow the trajectories of a virtual leader despite communication faults considered as smooth time-varying delays dependent on the distance between the *** matrix inequalities(LMIs)-based conditions are obtained to synthesize a controller gain that guarantees stability of the synchronization *** on the closed-loop system,an event-triggered mechanism is designed to reduce the control law update and information exchange in order to reduce energy *** proposed approach is implemented in a real platform of a fleet of unmanned aerial vehicles(UAVs)under communication faults.A comparison between a state-of-the-art technique and the proposed technique has been provided,demonstrating the performance improvement brought by the proposed approach.

关键词： event-triggered leader-following consensus communication fault formation control unmanned aerial vehicle(UAV) experimental result

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Multi-task Learning for Real-time autonomous Driving Leveraging Task-adaptive Attention Generator

Multi-task Learning for Real-time Autonomous Driving Leverag...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Wonhyeok Choi Mingyu Shin Hyukzae Lee Jaehoon Cho Jaehyeon Park Sunghoon Im Department of Electrical Engineering & Computer Science DGIST Daegu Korea Department of Interdisciplinary Studies of Atrificial Intelligence DGIST Daegu Korea Autonomous Driving Center Hyundai Motor Company Seoul Korea

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Real-time processing is crucial in autonomous driving systems due to the imperative of instantaneous decision-making and rapid response. In real-world scenarios, autonomous vehicles are continuously tasked with interpreting their surroundings, analyzing intricate sensor data, and making decisions within split seconds to ensure safety through numerous computer vision tasks. In this paper, we present a new real-time multi-task network adept at three vital autonomous driving tasks: monocular 3D object detection, semantic segmentation, and dense depth estimation. To counter the challenge of negative transfer — the prevalent issue in multi-task learning — we introduce a task-adaptive attention generator. This generator is designed to automatically discern interrelations across the three tasks and arrange the task-sharing pattern, all while leveraging the efficiency of the hard-parameter sharing approach. To the best of our knowledge, the proposed model is pioneering in its capability to concurrently handle multiple tasks, notably 3D object detection, while maintaining real-time processing speeds. Our rigorously optimized network, when tested on the Cityscapes-3D datasets, consistently outperforms various base-line models. Moreover, an in-depth ablation study substantiates the efficacy of the methodologies integrated into our framework.

关键词： Three-dimensional displays Semantic segmentation Estimation Object detection computer architecture Multitasking Real-time systems

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Transformer-Based Multi-Modal Probabilistic Pedestrian Prediction for Risk-Aware autonomous Vehicle Navigation

Transformer-Based Multi-Modal Probabilistic Pedestrian Predi...

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International Conference on Advanced Robotics (ICAR)

作者： Murad Mebrahtu Awet Araia Abiel Ghebreslasie Jorge Dias Majid Khonji Department of Electrical Engineering and Computer Science Khalifa University Abu Dhabi UAE Center for Autonomous Robotic Systems (KUCARS) Abu Dhabi UAE

ISBN: (数字)9798350342291

ISBN: (纸本)9798350342307

Over the past decade, the field of assisted and autonomous driving has experienced significant advancements. However, autonomous driving systems are still challenged by the complexities of dynamic urban environments, especially when it comes to predicting and responding to the often stochastic behavior of pedestrians. Current approaches largely concentrate on most likely predictions but tend to ignore their inherent probabilistic nature. Our research introduces a novel Transformer-based multimodal probabilistic prediction model that utilizes a Gaussian Mixture Model (GMM). This approach is simpler than its predecessors, yet it maintains competitive performance, capable of inferring prediction uncertainties using GMM parameters. Additionally, we demonstrate how our prediction model can be incorporated into a risk-aware behavior planner, based on the Chance-Constrained Stochastic Shortest Path (CC-SSP) framework. This planner uses probabilistic trajectory predictions as a Markov transition function to modulate the speed of the autonomous vehicle, effectively keeping the probability of collision below a defined threshold. Our implementation is available at https://***/Murdism/Probabilistic_Pedestrian_Trajectory_***.

关键词： Pedestrians Stochastic processes Predictive models Probabilistic logic Transformers Behavioral sciences autonomous vehicles

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