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Risk-Aware MPC for Stochastic systems with Runtime Temporal Logics

IFAC-PapersOnLine 2024年第11期58卷 93-98页

作者： M.H.W. Engelaar Z. Zhang M. Lazar S. Haesaert Department of Electrical Engineering (Control Systems Group) Eindhoven University of Technology The Netherlands

This paper concerns the risk-aware control of stochastic systems with temporal logic specifications dynamically assigned during runtime. Conventional risk-aware control typically assumes that all specifications are predefined and remain unchanged during runtime. In this paper, we propose a novel, provably correct model predictive control scheme for linear systems with additive unbounded stochastic disturbances that dynamically evaluates the feasibility of runtime signal temporal logic specifications and automatically reschedules the control inputs accordingly. The control method guarantees the probabilistic satisfaction of newly accepted specifications without sacrificing the satisfaction of the previously accepted ones. The proposed control method is validated by a robotic motion planning case study.

关键词： Linear stochastic systems Probabilistic constraints Real-time control Stochastic model predictive control Temporal logic

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SYSDYNET - A MATLAB App and Toolbox for Dynamic Network Identification ⁎ , ⁎⁎

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IFAC-PapersOnLine 2024年第15期58卷 574-579页

作者： Paul M.J. Van den Hof Shengling Shi Harm H.M. Weerts Xiaodong Cheng Karthik R. Ramaswamy Arne G. Dankers H.J. (Mannes) Dreef Stefanie J.M. Fonken Tom R.V. Steentjes Job B.T. Meijer Control Systems Group Department of Electrical Engineering Eindhoven University of Technology The Netherlands

Identification in interconnected systems requires the handling of phenomena that go beyond the classical open-loop and closed-loop type of identification problems. Over the last decade a comprehensive theory has been developed for addressing identification problems in linear dynamic networks, formulated in a module framework, where the network structure is characterized by a directed graph in which nodes are signals and links are transfer functions. The resulting methods and approaches have been collected in a MATLAB App and Toolbox, supported by an attractive graphical user interface that provides an interactive workflow for manipulating the structural properties of dynamic networks, applying basic network operations like immersion and module invariance testing, and for investigating network/module generic identifiability and selecting appropriate predictor model inputs and outputs. The workflow supports the allocation of external excitation signals (actuation) and measured node signals (sensing) so as to achieve generic identifiability and provide consistent estimation of target modules. The Toolbox includes algorithms for actual network simulation and identification.

关键词： System identification identifiability dynamic networks interconnected systems

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A Moreau Envelope Approach for LQR Meta-Policy Estimation 63

A Moreau Envelope Approach for LQR Meta-Policy Estimation

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Aravind, Ashwin Toghani, Mohammad Taha Uribe, Cesar A. Iit Bombay Centre for Systems and Control MH Mumbai India Rice University Department of Electrical and Computer Engineering HoustonTX United States

ISBN: (纸本)9798350316339

We study the problem of policy estimation for the Linear Quadratic Regulator (LQR) in discrete-time linear timeinvariant uncertain dynamical systems. We propose a Moreau Envelope-based surrogate LQR cost, built from a finite set of realizations of the uncertain system, to define a meta-policy efficiently adjustable to new realizations. Moreover, we design an algorithm to find an approximate first-order stationary point of the meta-LQR cost function. Numerical results show that the proposed approach outperforms naive averaging of controllers on new realizations of the linear system. We also provide empirical evidence that our method has better sample complexity than Model-Agnostic Meta-Learning (MAML) approaches. © 2024 IEEE.

关键词： Cost functions

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Data Fusion-based Hybrid Framework for Cyber-physical Security of the Smart Grid

Data Fusion-based Hybrid Framework for Cyber-physical Securi...

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2024 Resilience Week, RWS 2024

作者： Boamah, Sharon A. Mathieu, Reynold Faillace, Victor Agnew, Dennis McNair, Janise Bretas, Arturo University of Florida Department of Electrical and Computer Engineering GainesvilleFL United States Sandia National Laboratory Distributed Systems Group United States

ISBN: (纸本)9798350388985

The integration of information communication technology with the power grid exposes it to cyber threats. The network state estimation process provides stability to the smart grid. The communication network plays a major role in ensuring the successful transmission of state information. However, these network measurements are vulnerable to malicious attacks. This subsequently affects the network measurement such as associated high transmission delays and packet losses affecting the reliability of the smart grid. In this work, we propose a hybrid physics-based data-driven model that uses data fusion from the state-of-the-art physics-based Network State Estimation model and a data-driven model to detect false data injection attacks in the communication network layer of the smart grid. The performance of the data fusion method is evaluated and the simulation results show that the proposed model outperforms the standalone approaches in the detection of bad data. This shows that the proposed scheme is able to improve the cyber-physical security of the communication network layer of the smart grid. © 2024 IEEE.

关键词： Cyber attacks

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Quantifying, Activating and Rewarding Flexibility in Renewable Energy Communities

Quantifying, Activating and Rewarding Flexibility in Renewab...

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2024 IEEE PES Innovative Smart Grid Technologies Europe Conference, ISGT EUROPE 2024

作者： Allard, Julien Vallée, François De Grève, Zacharie Stegen, Thomas Glavic, Mevludin Cornélusse, Bertrand University of Mons Power Systems and Markets Research Group Electrical Power Engineering Unit Mons Belgium University of Liège Department of Electrical Engineering and Computer Science Liège Belgium

ISBN: (纸本)9789531842976

Demand-side flexibility from renewable energy community members increases the benefits of local production and exchanges. To effectively harness this flexibility, end-users must be rewarded for their efforts regarding the shifted energy volumes and the associated discomfort. This work quantifies these last two quantities for three types of loads (electric vehicles, thermal loads and wet appliances). Then, a two-step model is proposed which first optimally activates the offered flexibility and then shares the benefits of this activation among the renewable energy community members through a rule-based or an optimization-based approach. Results show that the community framework can further increase the benefits brought by flexible demand. © 2024 IEEE.

关键词： Demand response

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Point Cloud Classification Using Content-Based Transformer via Clustering in Feature Space

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IEEE/CAA Journal of Automatica Sinica 2024年第1期11卷 231-239页

作者： Yahui Liu Bin Tian Yisheng Lv Lingxi Li Fei-Yue Wang the State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190 the School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100190 IEEE the Transportation and Autonomous Systems Institute(TASI)and the Department of Electrical and Computer Engineering Purdue School of Engineering and TechnologyIndiana University-Purdue University Indianapolis(IUPUI)Indianapolis 46202 USA

Recently, there have been some attempts of Transformer in 3D point cloud classification. In order to reduce computations, most existing methods focus on local spatial attention,but ignore their content and fail to establish relationships between distant but relevant points. To overcome the limitation of local spatial attention, we propose a point content-based Transformer architecture, called PointConT for short. It exploits the locality of points in the feature space(content-based), which clusters the sampled points with similar features into the same class and computes the self-attention within each class, thus enabling an effective trade-off between capturing long-range dependencies and computational complexity. We further introduce an inception feature aggregator for point cloud classification, which uses parallel structures to aggregate high-frequency and low-frequency information in each branch separately. Extensive experiments show that our PointConT model achieves a remarkable performance on point cloud shape classification. Especially, our method exhibits 90.3% Top-1 accuracy on the hardest setting of ScanObjectN N. Source code of this paper is available at https://***/yahuiliu99/PointC onT.

关键词： Content-based Transformer deep learning feature aggregator local attention point cloud classification

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Automated and controlled patch generation for enhanced fixing of communication software vulnerabilities

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Intelligent and Converged Networks 2024年第3期5卷 222-236页

作者： Shuo Feng Shuai Yuan Zhitao Guan Xiaojiang Du School of Control and Computer Engineering North China Electric Power UniversityBeijing 100029China Department of Finance Operationsand Information SystemsBrock UniversitySt.Catharines L2S3A1Canada Department of Electrical and Computer Engineering Stevens Institute of TechnologyHobokenNJ 07030USA

Software is a crucial component in the communication systems,and its security is of paramount ***,it is susceptible to different types of attacks due to potential ***,significant time and effort is required to fix such *** propose an automated program repair method based on controlled text generation ***,we utilize a fine-tuned language model for patch generation and introduce a discriminator to evaluate the generation process,selecting results that contribute most to vulnerability ***,we perform static syntax analysis to expedite the patch verification *** effectiveness of the proposed approach is validated using QuixBugs and Defects4J datasets,demonstrating significant improvements in generating correct patches compared to other existing methods.

关键词： automatic program repair controlled text generation communication software security program language model

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Reinforcement learning-based unknown reference tracking control of HMASs with nonidentical communication delays

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Science China(Information Sciences) 2023年第7期66卷 46-57页

作者： Yong XU Zheng-Guang WU Wei-Wei CHE Deyuan MENG School of Automation Beijing Institute of Technology Institute of Cyber-Systems and Control Zhejiang University College of Mathematics and Computer Science Zhejiang Normal University Department of Automation Qingdao University School of Automation Science and Electrical Engineering Beihang University(BUAA)

This paper focuses on the optimal output synchronization control problem of heterogeneous multiagent systems(HMASs) subject to nonidentical communication delays by a reinforcement learning *** with existing studies assuming that the precise model of the leader is globally or distributively accessible to all or some of the followers, the leader's precise dynamical model is entirely inaccessible to all the followers in this paper. A data-based learning algorithm is first proposed to reconstruct the leader's unknown system matrix online. A distributed predictor subject to communication delays is further devised to estimate the leader's state, where interaction delays are allowed to be nonidentical. Then, a learning-based local controller, together with a discounted performance function, is projected to reach the optimal output synchronization. Bellman equations and game algebraic Riccati equations are constructed to learn the optimal solution by developing a model-based reinforcement learning(RL) algorithm online without solving regulator equations, which is followed by a model-free off-policy RL algorithm to relax the requirement of all agents' dynamics faced by the model-based RL algorithm. The optimal tracking control of HMASs subject to unknown leader dynamics and communication delays is shown to be solvable under the proposed RL algorithms. Finally, the effectiveness of theoretical analysis is verified by numerical simulations.

关键词： heterogeneous multiagent systems HMAS reinforcement learning RL optimal output synchronization communication delays

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Guidance of Agricultural Ground Robots Team with an Aerial Vehicle: A Cost-Effective Solution 56

Guidance of Agricultural Ground Robots Team with an Aerial V...

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56th International Symposium on Robotics, ISR Europe 2023

作者： Ugurlu, Halil Ibrahim Bardakci, Deniz Pham, Huy Xuan Kayacan, Erdal The Department of Electrical and Computer Engineering Aarhus University Aarhus C8000 Denmark Automatic Control Group Department of Electrical Engineering and Information Technology Paderborn University Paderborn Germany

ISBN: (纸本)9783800761418

Increasing the operational efficiency of agricultural machines is essential by the use of artificial intelligence (AI)-based navigation, planning, and control algorithms to handle the increasing demand for food production without compromising sustainability. In this study, an end-to-end path planning algorithm (AgroRL) is proposed for aerial-ground robots team collaboration. In the proposed solution, while main operations in the field are handled by the ground vehicle, the aerial robot is responsible for re-planning a collision-free trajectory for the ground robot when the robot faces an obstacle. Deep reinforcement learning is used for training the end-to-end policy for local re-planning of the aerial robot. The agent, informed by the global trajectory, generates local plans based on depth images. Variational autoencoders are also investigated for dimension reduction of the depth images in obstacle avoidance context to speed up deep reinforcement learning and alleviate the computational complexity of the policy network. The agriculture environment is developed in the Webots open-source robot simulator for training and testing purposes. The efficiency and efficacy of the end-to-end planner are evaluated over a number of cluttered field scenarios. The simulation experiments demonstrate a single aerial vehicle guiding multiple ground robots in agricultural operations. © VDE VERLAG GMBH Berlin Offenbach.

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BitMoD: Bit-serial Mixture-of-Datatype LLM Acceleration 31

BitMoD: Bit-serial Mixture-of-Datatype LLM Acceleration

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31st IEEE International Symposium on High Performance computer Architecture, HPCA 2025

作者： Chen, Yuzong Abouelhamayed, Ahmed F. Dai, Xilai Wang, Yang Andronic, Marta Constantinides, George A. Abdelfattah, Mohamed S. Cornell University Computer Systems Lab United States Systems and Networking Research Group Microsoft Research United States Imperial College London Department of Electrical and Electronic Engineering United Kingdom

ISBN: (纸本)9798331506476

Large language models (LLMs) have demonstrated remarkable performance across various machine learning tasks. Yet the substantial memory footprint of LLMs significantly hinders their deployment. In this paper, we improve the accessibility of LLMs through BitMoD1, an algorithm-hardware co-design solution that enables efficient LLM acceleration at low weight precision. On the algorithm side, BitMoD introduces fine-grained data type adaptation that uses a different numerical data type to quantize a group of (e.g., 128) weights. Through the careful design of these new data types, BitMoD is able to quantize LLM weights to very low precision (e.g., 4 bits and 3 bits) while maintaining high accuracy. On the hardware side, BitMoD employs a bitserial processing element to easily support multiple numerical precisions and data types;our hardware design includes two key innovations: First, it employs a unified representation to process different weight data types, thus reducing the hardware cost. Second, it adopts a bit-serial dequantization unit to rescale the per-group partial sum with minimal hardware overhead. Our evaluation on six representative LLMs demonstrates that BitMoD significantly outperforms state-of-the-art LLM quantization and acceleration methods. For discriminative tasks, BitMoD can quantize LLM weights to 4 -bit with © 2025 IEEE.

关键词： Integrated circuit design

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