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IEEE Conference on Decision and Control

作者： Aditya Mahajan Silviu-Iulian Niculescu Mathukumalli Vidyasagar department of Electrical and Computer Engineering McGill University Montreal QC Canada Laboratory of Signals and Systems (L2S) University of Paris-Saclay CNRS CentraleSupelec Inria Saclay Gif-sur-Yvette France department of Artificial Intelligence Indian Institute of Technology Hyderabad Kandi Telangana India

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

In this paper, we consider constant step-size stochastic approximation with delayed updates. For the non-delayed case, it is well known that under appropriate conditions, the discrete-time iterates of stochastic approximation track the trajectory of a continuous-time ordinary differential equation (ODE). For the delayed case, we show in this paper that, under appropriate conditions, the discrete-time iterates track the trajectory of a delay-differential equation (DDE) rather than an ODE. Thus, delayed updates lead to a qualitative change in the behavior of constant step-size stochastic approximation. We present multiple examples to illustrate the qualitative affect of delay and show that increasing the delay is generally destabilizing but, for some systems, it can be stabilizing as well.

关键词： Sufficient conditions Asymptotic stability Ordinary differential equations Approximation algorithms Trajectory Delays

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Stability of the distributed Kalman filter using general random coefficients

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Science China(Information Sciences) 2021年第7期64卷 66-79页

作者： Die GAN Siyu XIE Zhixin LIU Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of Sciences School of Mathematical Sciences University of Chinese Academy of Sciences The Department of Electrical and Computer Engineering Wayne State University

In this paper, we propose a distributed Kalman filter(DKF) for the dynamical system with general random coefficients. In the proposed method, each estimator shares local innovation pairs with its neighbors to collectively complete the estimation task. Further, we introduce a collective random observability condition by which the Lp-stability of the covariance matrix and the Lp-exponential stability of the homogeneous part of the estimation error equation can be established. In contrast, the stringent conditions on the coefficient matrices, such as independency and stationarity are not required. Besides, the stability of the DKF, i.e., the boundedness of the filtering errors, can be established. Finally, from the simulation result,we demonstrate the cooperative effect of the sensors.

关键词： distributed Kalman filter collective random observability L p-stable L p-exponentially stable state estimation

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Anomaly Detection Based on Principle of Justifiable Granularity and Probability Density Estimation

Anomaly Detection Based on Principle of Justifiable Granular...

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Chinese Automation Congress (CAC)

作者： Sheng Du Xian Ma Xiang Li Min Wu Weihua Cao Witold Pedrycz School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China Department of Electrical and Computer Engineering University of Alberta Edmonton AB Canada Systems Research Institute Polish Academy of Sciences Warsaw Poland Department of Computer Engineering Faculty of Engineering and Natural Sciences Istinye University Sariyer/Istanbul Turkiye

Anomaly detection is essential to ensure the safety of industrial processes. This paper presents an anomaly detection approach based on the probability density estimation and principle of justifiable granularity. First, time series data are transformed into a two-dimensional information granule by the principle of justifiable granularity. Then, the test statistic is constructed, and the probability density and cumulative distribution functions of the test statistic are calculated. Next, the confidence level determines the test threshold. Finally, the time series data of a key parameter in the sintering process is used as a case study. The experimental result demonstrates that the proposed approach can detect abnormal time series data effectively, providing an accurate and effective solution for detecting time series anomalies in industrial processes.

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Correction: Materials laboratories of the future for alloys, amorphous, and composite materials (MRS Bulletin, (2025), 50, 2, (190-207), 10.1557/s43577-024-00846-y)

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MRS Bulletin 2025年 1-2页

作者： Banerjee, Sarbajit Meng, Y. Shirley Minor, Andrew M. Zhang, Minghao Zaluzec, Nestor J. Chan, Maria K.Y. Seidler, Gerald McComb, David W. Agar, Joshua Mukherjee, Partha P. Melot, Brent Chapman, Karena Guiton, Beth S. Klie, Robert F. McCue, Ian D. Voyles, Paul M. Robertson, Ian Li, Ling Chi, Miaofang Destino, Joel F. Devaraj, Arun Marquis, Emmanuelle A. Segre, Carlo U. Liu, Huinan H. Yang, Judith C. Momeni, Kasra Misra, Amit Abdolrahim, Niaz Medvedeva, Julia E. Cai, Wenjun Sehirlioglu, Alp Dizbay-Onat, Melike Mehta, Apurva Graham-Brady, Lori Maruyama, Benji Rajan, Krishna Warner, Jamie H. Taheri, Mitra L. Kalinin, Sergei V. Reeja-Jayan, B. Schwarz, Udo D. Simon, Sindee L. Brown, Craig M. Department of Chemistry and Department of Materials Science & Engineering Texas A & M University College Station United States Pritzker School of Molecular Engineering The University of Chicago Chicago United States Department of Materials Science & Engineering University of California Berkeley Berkeley United States National Center for Electron Microscopy Molecular Foundry Lawrence Berkeley National Laboratory Berkeley United States Center for Nanoscale Materials Argonne National Laboratory Lemont United States Department of Physics University of Washington Seattle United States Department of Materials Science & Engineering The Ohio State University Columbus United States Department of Mechanical Engineering and Mechanics Drexel University Philadelphia United States School of Mechanical Engineering Purdue University West Lafayette United States Department of Chemistry University of Southern California Los Angeles United States Department of Chemistry Stony Brook University The State University of New York Stony Brook United States Department of Chemistry University of Kentucky Lexington United States Department of Physics University of Illinois at Chicago Chicago United States Department of Materials Science & Engineering Northwestern University Evanston Bangladesh Department of Materials Science & Engineering University of Wisconsin–Madison Madison United States Department of Materials Science and Engineering University of Pennsylvania Philadelphia United States Department of Mechanical Engineering and Materials Science Duke University Durham United States Department of Chemistry Creighton University Omaha United States Physical and Computational Sciences Directorate Pacific Northwest National Laboratory Richland United States Department of Materials Science & Engineering University of Michigan–Ann Arbor Ann Arbor United States Department of Physics Illinois Institute of Technology Chicago United States Department of Bioengineering and the Mater

This article was updated to correct Minghao Zhang’s affiliation from "Pritzker School of Molecular engineering, The University of Chicago, Chicago, USA" to "Pritzker School of Molecular engineering, The University of Chicago, Chicago, USA;Argonne National laboratory, Lemont, USA." Argonne National laboratory was left off the original publication. © The Author(s) 2025.

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Power and Voltage regulation of a Solid-State Transformer based Quad-Active Bridge DC-DC Converter using Adaptive Linear Quadratic Regulator and Nonlinear Model Predictive Control 12

Power and Voltage regulation of a Solid-State Transformer ba...

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12th Annual IEEE Energy Conversion Congress and Exposition, ECCE 2020

作者： Hatatah, Mohammed Grainger, Brandon M. University of Pittsburgh Electric Power Systems Laboratory Department of Electrical and Computer Engineering PittsburghPA United States

ISBN: (纸本)9781728158266

Solid-state transformer (SST) has gained increasing attention in the electrical grid. One of the SST architectures is a three stages SST where quadrable active bridge (QAB) can be used in the isolation stage. This work investigates power and voltage regulation of the QAB module-based SST design under unbalanced loading conditions. The proposed control system applied in the QAB implements an adaptive linear quadratic regulator (ALQR) and nonlinear model predictive control (NMPC) to achieve the regulation. The dynamic performance of the QAB based SST is proven analytically and supported by simulation results. © 2020 IEEE.

关键词： Model predictive control

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Model-free Learning of Corridor Clearance: A Near-term Deployment Perspective

arXiv

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arXiv 2023年

作者： Suo, Dajiang Jayawardana, Vindula Wu, Cathy The Polytechnic School Ira A. Fulton Schools of Engineering Arizona State University TempeAZ85281 United States The Department of Electrical Engineering and Computer Science Laboratory for Information & Decision Systems Massachusetts Institute of Technology CambridgeMA02139 United States The Laboratory for Information & Decision Systems Department of Civil and Environmental Engineering Institute of Data Systems and Society Massachusetts Institute of Technology CambridgeMA02139 United States

An emerging public health application of connected and automated vehicle (CAV) technologies is to reduce response times of emergency medical service (EMS) by indirectly coordinating traffic. Therefore, in this work we study the CAV-assisted corridor clearance for EMS vehicles from a short term deployment perspective. Existing research on this topic often overlooks the impact of EMS vehicle disruptions on regular traffic, assumes 100% CAV penetration, relies on real-time traffic signal timing data and queue lengths at intersections, and makes various assumptions about traffic settings when deriving optimal model-based CAV control strategies. However, these assumptions pose significant challenges for near-term deployment and limit the real-world applicability of such methods. To overcome these challenges and enhance real-world applicability in near-term, we propose a model-free approach employing deep reinforcement learning (DRL) for designing CAV control strategies, showing its reduced overhead in designing and greater scalability and performance compared to model-based methods. Our qualitative analysis highlights the complexities of designing scalable EMS corridor clearance controllers for diverse traffic settings in which DRL controller provides ease of design compared to the model-based methods. In numerical evaluations, the model-free DRL controller outperforms the model-based counterpart by improving traffic flow and even improving EMS travel times in scenarios when a single CAV is present. Across 19 considered settings, the learned DRL controller excels by 25% in reducing the travel time in six instances, achieving an average improvement of 9%. These findings underscore the potential and promise of model-free DRL strategies in advancing EMS response and traffic flow coordination, with a focus on practical near-term deployment. Copyright © 2023, The Authors. All rights reserved.

关键词： Reinforcement learning

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Autonomous navigation of a tracked unmanned ground vehicle*

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IFAC-PapersOnLine 2022年第14期55卷 120-125页

作者： Marija Seder Anđela Jurić Ana Šelek Filip Marić Marija Lovrić Ivan Petrović University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Laboratory for Autonomous Systems and Mobile Robotics (LAMOR) Zagreb Croatia University of Zagreb Croatian Military Academy Dr. Franjo Tuđman Zagreb Croatia

This work proposes a complete autonomous navigation system for a tracked vehicle. The system enables a complete autonomous execution of waypoint and patrolling tasks selected by the user. It also enables user-vehicle shared autonomy, switching between the user teleoperation and the vehicle autonomous operation. Our navigation system uses the model predictive control scheme based on a navigation function. We propose the navigation function which takes into account changing environments, any-shape footprint, and non-holonomic motion of the tracked vehicle. Besides the waypoint and patrolling tasks, we implemented a fail-safe scenario in case of the user-vehicle communication loss, in which the vehicle returns autonomously to the previously visited goal where the communication was stable. The efficiency of the proposed system is validated by experimental results on the Komodo tracked vehicle.

关键词： Robot navigation path planning obstacle detection avoidance motion control map building

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Adaptive RBF-Neural-Network Control with Force Observer for Teleoperation Robotic System 1st

Adaptive RBF-Neural-Network Control with Force Observer for...

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1st International Conference on Cognitive Computation and systems, ICCCS 2022

作者： An, Zhaohui Min, Gaochen Jiang, Xiangzuo Yu, Xinbo He, Wei Silvestre, Carlos School of Intelligence Science and Technology Institute of Artificial Intelligence University of Science and Technology Beijing Beijing100083 China Beijing Advanced Innovation Center for Materials Genome Engineering University of Science and Technology Beijing Beijing100083 China Key Laboratory of Intelligent Bionic Unmanned Systems Ministry of Education University of Science and Technology Beijing Beijing100083 China Donald Bren School of Information and Computer Sciences University of California IrvineCA92697 United States Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau China LARSyS Instituto Superior Técnico Universidade de Lisboa Lisbon Portugal

ISBN: (纸本)9789819927883

In this paper, an adaptive radial basis function neural network (RBFNN) control strategy is proposed for bilateral teleoperation robotic system with uncertainty and time delay. Meantime, the force observer method is used to estimate the interaction force between the slave robot and environment. The model of teleoperation robotic system is analyzed, and then the uncertainty of bilateral teleoperation robotic system is estimated by using RBFNN. Using Lyapunov stability theorem, the stability of teleoperation robotic system under our proposed control is proved. Finally, the effectiveness of the proposed control algorithm is verified by Matlab Simulink, and position tracking and force estimation performance of the teleoperation robotic system are guaranteed. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Time delay

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Urban Digital Twins for Intelligent Road Inspection

Urban Digital Twins for Intelligent Road Inspection

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2022 IEEE International Conference on Big Data, Big Data 2022

作者： Fan, Rui Zhang, Yikang Guo, Sicen Li, Jiahang Feng, Yi Su, Shuai Zhang, Yanting Wang, Wenshuo Jiang, Yu Junaid Bocus, Mohammud Zhu, Xingyi Chen, Qijun Department of Control Science & Engineering Frontiers Science Center for Intelligent Autonomous Systems State Key Laboratory of Intelligent Autonomous Systems Shanghai201804 China Donghua University Department of Computer Science & Technology Shanghai201620 China McGill University Department of Civil Engineering MontrealH3A 0C3 Canada Cto Office at ClearMotion BillericaMA01821 United States University of Bristol Department of Electrical & Electronic Engineering BristolBS8 1UB United Kingdom Tongji University Key Laboratory of Road and Traffic Engineering Ministry of Education Shanghai200092 China

ISBN: (纸本)9781665480451

Urban digital twin (UDT) technologies offer new opportunities for intelligent road inspection (IRI). This paper first reviews the state-of-the-art algorithms used in the two key components of UDT-based IRI systems: (1) multi-temporal, multi-dimension, multi-score, and heterogeneous road data acquisition, and (2) road distress detection. This paper then summarizes the UDTIRI competition, organized in conjunction with IEEE Bigdata 2022. More details on our competition are available at ***/view/udtiri-workshop/bigdata-2022. © 2022 IEEE.

关键词： Data acquisition

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Asynchronous Multiuser Detection for SCMA with Unknown Delays: A Compressed Sensing Approach

arXiv

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arXiv 2022年

作者： Wheeler, Dylan Tripp, Erin E. Natarajan, Balasubramaniam Department of Electrical and Computer Engineering Kansas State University United States The High Performance Systems Branch The Air Force Research Laboratory Information Directorate United States

Despite being the subject of a growing body of research, non-orthogonal multiple access has failed to garner sufficient support to be included in modern standards. One of the more promising approaches to non-orthogonal multiple access is sparse code multiple access, which seeks to utilize non-orthogonal, sparse spreading codes to share bandwidth among users more efficiently than traditional orthogonal methods. Nearly all of the studies regarding sparse code multiple access assume synchronization at the receiver, which may not always be a practical assumption. In this work, we aim to bring this promising technology closer to a practical realization by dropping the assumption of synchronization. We therefore propose a compressed sensing-based delay estimation technique developed specifically for an uplink sparse code multiple access system. The proposed technique can be used with nearly all of the numerous decoding algorithms proposed in the existing literature, including the popular message passing approach. Furthermore, we derive a theoretical bound regarding the recovery performance of the proposed technique, and use simulations to demonstrate its viability in a practical uplink system. Copyright © 2022, The Authors. All rights reserved.

关键词： Compressed sensing

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