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arXiv 2024年

作者： Zeng, Runhao Zhou, Dingjie Liang, Qiwei Liu, Junlin Li, Hui Huang, Changxin Li, Jianqiang Hu, Xiping Sun, Fuchun Artificial Intelligence Research Institute Shenzhen MSU-BIT University China College of Mechatronics and Control Engineering Shenzhen University China College of Computer Science and Software Engineering Shenzhen University China National Engineering Laboratory for Big Data System Computing Technology Shenzhen University China Department of Computer Science and Technology Tsinghua University China

Learning behavior in legged robots presents a significant challenge due to its inherent instability and complex constraints. Recent research has proposed the use of a large language model (LLM) to generate reward functions in reinforcement learning, thereby replacing the need for manually designed rewards by experts. However, this approach, which relies on textual descriptions to define learning objectives, fails to achieve controllable and precise behavior learning with clear directionality. In this paper, we introduce a new video2reward method, which directly generates reward functions from videos depicting the behaviors to be mimicked and learned. Specifically, we first process videos containing the target behaviors, converting the motion information of individuals in the videos into keypoint trajectories represented as coordinates through a video2text transforming module. These trajectories are then fed into an LLM to generate the reward function, which in turn is used to train the policy. To enhance the quality of the reward function, we develop a video-assisted iterative reward refinement scheme that visually assesses the learned behaviors and provides textual feedback to the LLM. This feedback guides the LLM to continually refine the reward function, ultimately facilitating more efficient behavior learning. Experimental results on tasks involving bipedal and quadrupedal robot motion control demonstrate that our method surpasses the performance of state-of-the-art LLM-based reward generation methods by over 37.6% in terms of human normalized score. More importantly, by switching video inputs, we find our method can rapidly learn diverse motion behaviors such as walking and running. Copyright © 2024, The Authors. All rights reserved.

关键词： Robots

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Data-Driven Adequacy and Security Assessment: Machine Learning Trends for Reliable Smart Energy Networks

Data-Driven Adequacy and Security Assessment: Machine Learni...

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Smart Grid Conference (SGC)

作者： Mohammad Mohsen Hayati Hassan Majidi Hossein Shahinzadeh Mehdi Abapour Mahmud Fotuhi-Firuzabad Gevork B. Gharehpetian Faculty of Electrical and Computer Engineering Energy Systems Research Institute (ESRI) University of Tabriz Tabriz Iran Department of Electrical Engineering Amirkabir University of Technology Tehran Iran Center of Excellence in Power System Management and Control (CEPSMC) Sharif University of Technology Tehran Iran

ISBN: (数字)9798331511333

ISBN: (纸本)9798331511340

Smart energy networks (SENs) face numerous challenges related to security, reliability, operational uncertainties, and increasing penetration of renewable energies (REs), necessitating advanced methodologies for adequacy and security assessment. This study delves into the utilization of machine learning-driven approaches (MLDAs) to quantify reliability and gauge the dependability of future sustainable SENs. By autonomously acquiring knowledge from datasets, MLDAs offer swift and reliable evaluations, surpassing traditional methodologies. The integration of artificial intelligence (AI) in enhancing power system reliability is highlighted, emphasizing the importance of extensive datasets and evolving AI algorithms. Data-driven approaches empower energy network operators to proactively identify and mitigate security risks, enhancing the reliability of critical infrastructure systems. The research underscores the significance of constructing reliable databases, addressing challenges in real-time operations, and ensuring the performance and trustworthiness of machine learning (ML) algorithms. Overall, the study showcases the potential of ML techniques in revolutionizing reliability management and risk assessment in smart energy networks, paving the way for sustainable and reliable power systems.

关键词： Uncertainty Machine learning algorithms Databases Machine learning Power system reliability Smart grids Management Reliability Security Risk management

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A Performance-Based Model Recovery Anti-Windup Design for Linear systems Subject to Actuator Saturation

A Performance-Based Model Recovery Anti-Windup Design for Li...

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American control Conference (ACC)

作者： Wenxin Lai Yuanlong Li Zongli Lin Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China Charles L. Brown Department of Electrical and Computer Engineering University of Virginia Char-lottesville VA U.S.A.

ISBN: (数字)9798350382655

ISBN: (纸本)9798350382662

In this paper, we investigate the problem of reference tracking for a class of linear systems subject to actuator saturation and propose a performance-based model recovery anti-windup strategy. We adopt the classic model recovery anti-windup framework and regard the states or one of the outputs of the anti-windup compensator as the tracking error, by which the difference between the unconstrained system and the saturated system is quantified. Then, instead of employing the commonly used $\mathcal{L}_{2}$ gain, we present the prescribed performance functions (PPFs) to characterize the real-time tracking error such that the system performance can be captured more specifically. In particular, to avoid singular issues arising from the occurrence of saturation, we modify the existing PPFs with an auxiliary system when saturation occurs. Based on these modified performance functions, we follow a modified prescribed performance control approach and design the remaining output of the anti-windup compensator. Such a design procedure is constructive, making it more promising for extension to nonlinear systems. Theoretical results establish the boundedness of all signals in the closed-loop system. Simulation results verify the effectiveness of our design strategy.

关键词： Linear systems Actuators Simulation system performance Stability analysis Real-time systems Trajectory

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LU2Net: A Lightweight Network for Real-time Underwater Image Enhancement

arXiv

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arXiv 2024年

作者： Yang, Haodong Xu, Jisheng Lin, Zhiliang He, Jianping The Department of Computer Science Shanghai Jiao Tong University China The Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China The School of Ocean and Civil Engineering Shanghai Jiao Tong University State Key Laboratory of Ocean Engineering Shanghai200240 China

computer vision techniques have empowered underwater robots to effectively undertake a multitude of tasks, including object tracking and path planning. However, underwater optical factors like light refraction and absorption present challenges to underwater vision, which cause degradation of underwater images. A variety of underwater image enhancement methods have been proposed to improve the effectiveness of underwater vision perception. Nevertheless, for real-time vision tasks on underwater robots, it is necessary to overcome the challenges associated with algorithmic efficiency and real-time capabilities. In this paper, we introduce Lightweight Underwater Unet (LU2Net), a novel U-shape network designed specifically for real-time enhancement of underwater images. The proposed model incorporates axial depthwise convolution and the channel attention module, enabling it to significantly reduce computational demands and model parameters, thereby improving processing speed. The extensive experiments conducted on the dataset and real-world underwater robots demonstrate the exceptional performance and speed of proposed model. It is capable of providing well-enhanced underwater images at a speed 8 times faster than the current state-of-the-art underwater image enhancement method. Moreover, LU2Net is able to handle real-time underwater video enhancement. Copyright © 2024, The Authors. All rights reserved.

关键词： Motion planning

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Sensing metric-based hybrid underlay/overlay transmission framework for CR-IoT networks for smart city applications

Sensing metric-based hybrid underlay/overlay transmission fr...

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7th IET Smart Cities Symposium (SCS 2023)

作者： Indu Bala Maad M. Mijwil Mostafa Abotaleb El-Sayed M. El-kenawy Abdelhameed Ibrahim School of Electrical and Electronics Engineering Lovely Professional University Punjab India Computer Techniques Engineering Department Baghdad College of Economic Sciences University Baghdad Iraq Department of System Programming South Ural State University Chelyabinsk Russia Department of Communications and Electronics Delta Higher Institute of Engineering and Technology Egypt Computer Engineering and Control Systems Department Faculty of Engineering Mansoura University Mansoura Egypt

With the increasing number of IoT devices, there is a growing need for bandwidth to support their communication. Unfortunately, there is a shortage of available bandwidth due to preallocated bands for various services. To address this issue, Cognitive Internet of Things (CR-IoT) enables devices to optimize their efficiency and enhance their communication capabilities by intelligently accessing available bandwidth. This is achieved through the use of soft sensing metrics, where devices continuously monitor the RF environment and transmit data opportunistically in overlay mode if a free channel is detected, or in underlay mode if not. In this paper, a soft sensing metric based hybrid transmission framework is proposed for CR-IoT devices to meet the data rate requirement for the smart city applications. The efficacy of this approach is demonstrated through simulation results.

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A Deep Learning-Based Algorithm for Energy and Performance Optimization of Computational Offloading in Mobile Edge Computing

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Wireless Communications and Mobile Computing 2023年第1期2023卷

作者： Khan, Israr Raza, Salman Rehman, Waheed Ur Khan, Razaullah Nahida, Kiran Tao, Xiaofeng National Engineering Laboratory for Mobile Network Technologies Beijing University of Posts and Telecommunications Beijing100876 China Department of Computer Science National Textile University Faisalabad Pakistan Department of Computer Science University of Peshawar Peshawar Pakistan Department of Computer Science University of Engineering and Technology Mardan Pakistan Beijing Laboratory of Advanced Information Network Beijing Key Laboratory of Network System Architecture and Convergence Beijing University of Posts and Telecommunications China

Mobile edge computing (MEC) has produced incredible outcomes in the context of computationally intensive mobile applications by offloading computation to a neighboring server to limit the energy usage of user equipment (UE). However, choosing a pool of application components to offload in addition to the volume of data transfer along with the latency in communication is an intricate issue. In this article, we introduce a novel energy-efficient offloading scheme based on deep neural networks. The proposed scheme trains an intelligent decision-making model that picks a robust pool of application components. The selection is based on factors such as the remaining UE battery power, network conditions, the volume of data transfer, required energy by the application components, postponements in communication, and computational load. We have designed the cost function taking all the mentioned factors, get the cost for all conceivable combinations of component offloading decisions, pick the robust decisions over an extensive dataset, and train a deep neural network as a substitute for the exhaustive computations associated. Model outcomes illustrate that our proposed scheme is proficient in the context of accuracy, root mean square error (RMSE), mean absolute error (MAE), and energy usage of UE. © 2023 Israr Khan et al.

关键词： Data transfer

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Data poisoning: issues, challenges, and needs

Data poisoning: issues, challenges, and needs

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7th IET Smart Cities Symposium (SCS 2023)

作者： Mohammad Aljanabi Alaa Hamza Omran Maad M Mijwil Mostafa Abotaleb El-Sayed M. El-kenawy Sahar Yousif Mohammed Abdelhameed Ibrahim Department of computer College of Education Aliarqai university Baghdad Iraq University of information technology and communications Baghdad Iraq Computer Techniques Engineering Department Baghdad College of Economic Sciences University Baghdad Iraq Department of System Programming South Ural State University Chelyabinsk Russia Department of Communications and Electronics Delta Higher Institute of Engineering and Technology Egypt Computer Science Department Computer Science & Information Technology College Anbar University Anbar Iraq Computer Engineering and Control Systems Department Faculty of Engineering Mansoura University Mansoura Egypt

Data poisoning attacks, where adversaries manipulate training data to degrade model performance, are an emerging threat as machine learning becomes widely deployed in sensitive applications. This paper provides a comprehensive overview of data poisoning including attack techniques, adversary incentives, impacts on security and reliability, detection methods, defenses, and key research gaps. We examine label flipping, instance injection, backdoors, and other attack categories that enable malicious outcomes ranging from IP theft to accidents in autonomous systems. Promising detection approaches include statistical tests, robust learning, and forensics. However, significant challenges remain in translating academic defenses like adversarial training and sanitization into practical tools ready for operational use. With safety and trustworthiness at stake, more research on benchmarking evaluations, adaptive attacks, fundamental tradeoffs, and real-world deployment of defenses is urgently needed. Understanding vulnerabilities and developing resilient machine learning pipelines will only grow in importance as data integrity is fundamental to developing safe artificial intelligence.

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Multi-Objective DER Planning Framework as a TEP Alternative: An Augmented Epsilon-Constraint Approach

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IEEE Transactions on Industry Applications 2025年

作者： Saber, Hossein Ranjbar, Hossein Mazaheri, Hesam Sharif University of Technology Center of Excellence in Power System Control and Management Electrical Engineering Department Tehran 11365-11155 Iran University of Adelaide School of Electrical and Mechanical Engineering Adelaide Australia Texas A&M University Department of Electrical and Computer Engineering College Station TX United States

Recently, the construction of new transmission lines has faced extreme challenges due to ever-increasing environmental concerns and construction costs. Investing in distributed energy resources (DERs) offers a viable alternative to reduce reliance on new transmission lines. This study introduces a multi-objective bi-level DER planning model as an alternative to transmission network reinforcement. The upper-level problem aims to minimize the total cost of DERs, mitigate the congestion cost of the transmission network, and improve the system reliability while ensuring the profitability of the DER investment. In the lower-level problem, the wholesale electricity market is cleared to determine the optimal locational marginal prices and the operational status of the bulk power system. A scenario-based approach is employed to account for uncertainties in future loads, renewable generation, and generator bid prices. The bi-level problem is reformulated as a single-level optimization using the strong duality condition, with non-linear terms linearized through the big-M method and complementary slackness conditions. The augmented epsilon-constraint method is then employed to solve the multi-objective optimization problem. Finally, the effectiveness and applicability of the proposed DER planning model are evaluated using the IEEE 24-bus test system, offering insights from both system operators and DER investors. © 1972-2012 IEEE.

关键词： Augmented epsilon-constraint method distributed energy resources multi-objective optimization planning studies private investment

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Cold Ironing Techno-Economical Study for a Port with Photovoltaic Plants

SSRN

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SSRN 2024年

作者： Tsekouras, George J. Lamprinidi, Eleni P. Orfanos-Pepainas, Stamatios Kanellos, Fotios D. Prousalidis, John M. Vlachos, Andreas Tsirekis, Constantinos D. School of Electrical & Computer Engineering National Technical University of Athens Greece Department of Electrical and Electronics Engineering Faculty of Engineering University of West Attica Greece School of Electrical & Computer Engineering Technical University of Crete Greece School of Naval Architecture & Marine Engineering National Technical University of Athens Greece Department of Long Term Energy Planning Renewable Energy Sources & Environmental Policy Regulatory Authority of Energy Greece Strategy & System Planning Department Hellenic Independent Power Transmission Operator Greece

According to European regulation 2023/1804/EU, all member states shall ensure the availability of cold ironing (CI) in large ports for at least 90% of the total number of port calls of seagoing ships above 5,000 gross tonnes, by the end of 2029. This is a measure expected to improve air quality, especially in the vicinity of the port’s urban environment. Preliminary studies show that there are financial viability issues related to CI installations, under the current electricity pricing policies and the high investment cost for CI infrastructure. In this paper, the financial viability of the penetration of photovoltaic (PV) units optimized from spatial and power produced point of view is investigated. The proposed method is applied to various ship types, indicatively for the Thessaloniki Port, taking into consideration the connection with the Medium Voltage (MV) electricity distribution grid, as well as the construction, operation, and maintenance costs, under modified economic criterion of benefit cost ratio (BCR). © 2024, The Authors. All rights reserved.

关键词： Air quality

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Identify Influential Nodes in Complex Networks: A K-Orders Entropy-Based Method

SSRN

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SSRN 2023年

作者： Wu, Yali Dong, Ang Ren, Yuanguang Jiang, Qiaoyong Department of Information and Control Engineering Xi’an University of Technology Xi’an710048 China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Xi’an710048 China The School of Computer Science and Engineering Xi’an University of Technology Xi’an710048 China

Identifying influential nodes is a recognized challenge for the tremendous number of nodes in complex networks. Most of proposed methods detect the influential nodes based on their degree or topological location, which only consider the local or global information of the network causing inaccuracy. In this paper, we propose a k-orders entropy-based method to identify influential nodes. The influence of node is determined by its entropy with local and global information. The entropy reflecting local information is measured by the different order neighbors' information of nodes while the entropy reflecting global information by the betweenness centrality. The experiments conducted on real-world networks demonstrate the proposed method is more accurate than other methods. © 2023, The Authors. All rights reserved.

关键词： Complex networks

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