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control Technology and Applications (CCTA),

作者： Mohamad Al Ahdab Torben Knudsen Jakob Stoustrup John Leth Department of Electronic Systems Section of Automation and Control Aalborg University Aalborg Øst Denmark

In this paper, we present two simple and novel methods for automatic personalization of target blood glucose concentration values for individuals with Type 2 Diabetes (T2D). The methods can be integrated with any insulin dosing algorithm, or used to provide an individualized reference BG concentration value for medical professionals to consider when determining long-acting insulin doses and other oral medications. The proposed methods were tested in three different simulation models, with different long-acting insulin dosing strategies, and were found to reduce instances of hypoglycemia.

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XSpace: Self-learning platform for implementation of digital control algorithms 14

XSpace: Self-learning platform for implementation of digital...

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14th IEEE Global Engineering Education Conference, EDUCON 2023

作者： Caceres, Pablo Cardenas Cieza Huane, Leslie Y. Horna Vilcahuaman, Ingrid M. Pauyac Estrada, Claudia R. Casano, Celso De-La-Cruz Tafur Sotelo, Julio C. Pontificia Universidad Catolica Del Peru Department of Engineering Electronics Section Lima Peru Degree Program Pontificia Universidad Catolica Del Peru Department of Engineering Control and Automation Master Engineering Lima Peru

ISBN: (纸本)9798350399431

In the electronic engineering undergraduate program, Peruvian universities offer different theoretical courses of Automatic control that do not present enough practical approach to the algorithms that are studied during the progress of these courses;however, the approach to implementation is very important to achieve good performance in the industry and researching. In this work is presented XSpace, an innovative and friendly platform which consists of a robust hardware that allows the student to take it home;this way, the student is given the opportunity to implement digital control algorithms learned in the theoretical classes. The effectiveness of this platform is shown using a proposed methodology which evidences greater interest, efficiency and efficacy in students at the Automatic control area. This project was implemented in the 'control Systems' course at Pontificia Universidad Catolica del Peru (PUCP) from 2020 to 2022. Results are presented through a student survey and a history of average grades during the academic periods the platform was employed. © 2023 IEEE.

关键词： Students

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Online Model-Free Safety Verification for Markov Decision Processes Without Safety Violation

Online Model-Free Safety Verification for Markov Decision Pr...

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European control Conference (ECC)

作者： Abhijit Mazumdar Rafal Wisniewski Manuela L. Bujorianu Section of Automation & Control Aalborg University Aalborg East Denmark Department of Computer Science University College London UK

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

In this paper, we consider the problem of safety assessment for Markov decision processes without explicit knowledge of the model. We aim to learn probabilistic safety specifications associated with a given policy without compromising the safety of the process. To accomplish our goal, we characterize a subset of the state-space namely proxy set, which contains the states that are near in a probabilistic sense to the forbidden set consisting of all unsafe states. We compute the safety function using the single-step temporal difference method. To thi s end, we relate the safety function computation to that of the value function estimation using temporal difference learning. Since the given control policy could be unsafe, we use a safe baseline sub-policy to generate data for learning. We then use an off-policy temporal difference learning method with importance sampling to learn the safety function corresponding to the given policy. Finally, we demonstrate our results using a numerical example.

关键词： Monte Carlo methods Markov decision processes Temporal difference learning Process control Europe Estimation Probabilistic logic

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Safe Reinforcement Learning for Constrained Markov Decision Processes with Stochastic Stopping Time

Safe Reinforcement Learning for Constrained Markov Decision ...

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IEEE Conference on Decision and control

作者： Abhijit Mazumdar Rafal Wisniewski Manuela L. Bujorianu Section of Automation & Control Aalborg University Aalborg East Denmark Department of Computer Science University College London UK

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

In this paper, we present an online reinforcement learning algorithm for constrained Markov decision processes with a safety constraint. Despite the necessary attention of the scientific community, considering stochastic stopping time, the problem of learning optimal policy without violating safety constraints during the learning phase is yet to be addressed. To this end, we propose an algorithm based on linear programming that does not require a process model. We show that the learned policy is safe with high confidence. We also propose a method to compute a safe baseline policy, which is central in developing algorithms that do not violate the safety constraints. Finally, we provide simulation results to show the efficacy of the proposed algorithm. Further, we demonstrate that efficient exploration can be achieved by defining a subset of the state-space called proxy set.

关键词： Markov decision processes Simulation Computational modeling Stochastic processes Process control Reinforcement learning Linear programming Safety

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Safe Force/Position Tracking control via control Barrier Functions for Floating Base Mobile Manipulator Systems

Safe Force/Position Tracking Control via Control Barrier Fun...

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European control Conference (ECC)

作者： Maryam Sharifi Shahab Heshmati-Alamdari ABB Corporate Research Västerås Sweden Department of Electronic Systems Section of Automation & Control Aalborg University Denmark

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

This paper introduces a safe force/position tracking control strategy designed for Free-Floating Mobile Manipulator Systems (MMSs) engaging in compliant contact with planar surfaces. The strategy uniquely integrates the control Barrier Function (CBF) to manage operational limitations and safety concerns. It effectively addresses safety-critical aspects in the kinematic as well as dynamic level, such as manipulator joint limits, system velocity constraints, and inherent system dynamic uncertainties. The proposed strategy remains robust to the uncertainties of the MMS dynamic model, external disturbances, or variations in the contact stiffness model. The proposed control method has low computational demand ensures easy implementation on onboard computing systems, endorsing real-time operations. Simulation results verify the strategy's efficacy, reflecting enhanced system performance and safety.

关键词： Uncertainty System dynamics Computational modeling Welding System performance Dynamics Kinematics

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Safe Force/Position Tracking control via control Barrier Functions for Floating Base Mobile Manipulator Systems

arXiv

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arXiv 2024年

作者： Sharifi, Maryam Heshmati-Alamdari, Shahab ABB Corporate Research Västerås Sweden The Section of Automation & Control Department of Electronic Systems Aalborg University Denmark

关键词： Real time systems

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Measurement-Based control for Minimizing Energy Functions in Quantum Systems

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IFAC-PapersOnLine 2023年第2期56卷 5171-5178页

作者： Henrik Glavind Clausen Salahuddin Abdul Rahman Özkan Karabacak Rafal Wisniewski Section for Automation and Control Department of Electronic Systems Aalborg University Aalborg Denmark Department of Mechatronics Engineering Kadir Has University Istanbul Turkey

In variational quantum algorithms (VQAs), the most common objective is to find the minimum energy eigenstate of a given energy Hamiltonian. In this paper, we consider the general problem of finding a sufficient control Hamiltonian structure that, under a given feedback control law, ensures convergence to the minimum energy eigenstate of a given energy function. By including quantum non-demolition (QND) measurements in the loop, convergence to a pure state can be ensured from an arbitrary mixed initial state. Based on existing results on strict control Lyapunov functions, we formulate a semidefinite optimization problem, whose solution defines a non-unique control Hamiltonian, which is sufficient to ensure almost sure convergence to the minimum energy eigenstate under the given feedback law and the action of QND measurements. A numerical example is provided to showcase the proposed methodology.

关键词： Lyapunov control quantum non-demolition measurements semidefinite programming variational quantum algorithms

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Safe Reinforcement Learning for Constrained Markov Decision Processes with Stochastic Stopping Time

arXiv

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arXiv 2024年

作者： Mazumdar, Abhijit Wisniewski, Rafal Bujorianu, Manuela L. Section of Automation & Control Aalborg University Aalborg East9220 Denmark The Department of Computer Science University College London United Kingdom

关键词： Reinforcement learning

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Stochastic Safety in Space Conjunctions

Stochastic Safety in Space Conjunctions

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IEEE Conference on Decision and control

作者： Aitor R. Gómez Rafael Wisniewski Section of Automation & Control Aalborg University Aalborg East Denmark

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

The stochastic reach-avoid problem termed p-safety is further examined in the context of space debris and short-term orbital encounters. We define the collision probability problem, and reformulate it as a strong p-safety problem, which offers a computable solution. Enabling computation comes at the cost of a more restrictive formulation which requires several relaxation schemes. To this end, Bernstein forms are employed as polynomial approximation of the nonlinear dynamics, and sum-of-squares as bases to attain certificates of positivity. Finally, a stochastic version of the unperturbed planetary equations is used to model the dynamics.

关键词： Space vehicles Costs Space debris Computational modeling Stochastic processes Mathematical models Safety

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Feedback-Based Quantum Algorithm for Excited States Calculation

arXiv

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arXiv 2024年

作者： Rahman, Salahuddin Abdul Karabacak, Özkan Wisniewski, Rafal Automation and Control section Department of electronic systems Aalborg University Aalborg Denmark Department of Mechatronics Engineering Kadir Has University Istanbul Turkey

Recently, feedback-based quantum algorithms have been introduced to calculate the ground states of Hamiltonians, inspired by quantum Lyapunov control theory. This paper aims to generalize these algorithms to the problem of calculating an eigenstate of a given Hamiltonian, assuming that the lower energy eigenstates are known. To this aim, we propose a new design methodology that combines the layer-wise construction of the quantum circuit in feedback-based quantum algorithms with a new feedback law based on a new Lyapunov function to assign the quantum circuit parameters. We present two approaches for evaluating the circuit parameters: one based on the expectation and overlap estimation of the terms in the feedback law and another based on the gradient of the Lyapunov function. We demonstrate the algorithm through an illustrative example and through an application in quantum chemistry. To assess its performance, we conduct numerical simulations and execution on IBM’s superconducting quantum computer. © 2024, CC BY.

关键词： Lyapunov functions

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