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European control Conference (ECC)

作者： Gehui Xu Guanpu Chen Yiguang Hong Baris Fidan Thomas Parisini Karl H. Johansson Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Beijing China Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Department of Control Science and Engineering Tongji University Shanghai China Shanghai Research Institute for Intelligent Autonomous Systems Shanghai China Department of Mechanical and Mechatronics Engineering University of Waterloo Waterloo ON Canada Department of Electrical and Electronic Engineering Imperial College London London UK Department of Engineering and Architecture University of Trieste Trieste Italy

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

Sensor network localization (SNL) problems require determining the physical coordinates of all sensors in a network. This process relies on the global coordinates of anchors and the available measurements between non-anchor and anchor nodes. Attributed to the intrinsic non-convexity, obtaining a globally optimal solution to SNL is challenging, as well as implementing corresponding algorithms. In this paper, we formulate a non-convex multi-player potential game for a generic SNL problem to investigate the identification condition of the global Nash equilibrium (NE) therein, where the global NE represents the global solution of SNL. We employ canonical duality theory to transform the non-convex game into a complementary dual problem. Then we develop a conjugation-based algorithm to compute the stationary points of the complementary dual problem. On this basis, we show an identification condition of the global NE: the stationary point of the proposed algorithm satisfies a duality relation. Finally, simulation results are provided to validate the effectiveness of the theoretical results.

关键词： Location awareness Coordinate measuring machines Simulation Current measurement Noise Europe Games

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Robust Sliding Manifold Design for Uncertain Linear systems

Robust Sliding Manifold Design for Uncertain Linear Systems

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European control Conference (ECC)

作者： Edoardo Vacchini Nikolas Sacchi Michele Cucuzzella Antonella Ferrara Department of Electrical Computer Science and Biomedical Engineering University of Pavia Pavia Italy Center for Systems and Control ENTEG Faculty of Science and Engineering (FSE) University of Groningen (UG) Groningen Netherlands

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

This paper proposes a novel approach for the design of stabilizing sliding manifolds for linear systems affected by model uncertainties and external disturbances. In classical sliding mode control approaches, rejecting model uncertainties and external disturbances often relies on designing a dis-continuous control law with a suitable gain. Specifically, the greater the uncertainty, the larger the control gain. However, this approach might be detrimental to the plant. Instead, the proposed technique deals with this problem by focusing on the design of a suitable sliding manifold, where stability is guaranteed despite model uncertainties. This approach exhibits several benefits such as not needing any further identification process and designing a smaller control gain.

关键词： Manifolds Linear systems Uncertainty RLC circuits Stability analysis Mathematical models Robustness

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Computationally Efficient Predictive control Based on ANN State-Space Models

Computationally Efficient Predictive Control Based on ANN St...

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IEEE Conference on Decision and control

作者： Jan H. Hoekstra Bence Cseppento Gerben I. Beintema Maarten Schoukens Zsolt Kollár Roland Tóth Dept. of Electrical Engineering at the Eindhoven Control Systems group University of Technology The Netherlands Dept. of Measurement and Information Systems Budapest University of Technology and Economics Hungary Institute for Computer Science and Control Budapest Hungary

Artificial neural networks (ANN) have been shown to be flexible and effective function estimators for the identification of nonlinear state-space models. However, if the resulting models are used directly for nonlinear model predictive control (NMPC), the resulting nonlinear optimization problem is often overly complex due to the size of the network, requires the use of high-order observers to track the states of the ANN model, and the overall control scheme does not exploit the available autograd tools for these models. In this paper, we propose an efficient approach to auto-convert ANN statespace models to linear parameter-varying (LPV) form and solve predictive control problems by successive solutions of linear model predictive problems, corresponding to quadratic programs (QPs). Furthermore, we show how existing deep-learning methods, such as SUBNET that uses a state encoder, enable efficient implementation of MPCs on identified ANN models. Performance of the proposed approach is demonstrated by a simulation study on an unbalanced disc system.

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Critical nonlinear aspects of hopping transport for reconfigurable logic in disordered dopant networks

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Physical Review Applied 2024年第2期22卷 024063页

作者： Henri Tertilt Jonas Mensing Marlon Becker Wilfred G. van der Wiel Peter A. Bobbert Andreas Heuer Institute for Physical Chemistry Department of Physics NanoElectronics Group Faculty of Electrical Engineering Mathematics and Computer Science MESA+ Institute for Nanotechnology and Center for Brain-Inspired Nano Systems (BRAINS) Department of Applied Physics Center for Computational Energy Research (CCER)

Nonlinear behavior in the hopping transport of interacting charges enables reconfigurable logic in disordered dopant network devices, where voltages applied at control electrodes tune the relation between voltages applied at input electrodes and the current measured at an output electrode. From kinetic Monte Carlo simulations we analyze the critical nonlinear aspects of variable-range hopping transport for realizing Boolean logic gates in these devices on three levels. First, we quantify the occurrence of individual gates for random choices of control voltages. We find that linearly inseparable gates such as the xor gate are less likely to occur than linearly separable gates such as the and gate, despite the fact that the number of different regions in the multidimensional control voltage space for which and or xor gates occur is comparable. Second, we use principal-component analysis to characterize the distribution of the output current vectors for the (00,10,01,11) logic input combinations in terms of eigenvectors and eigenvalues of the output covariance matrix. This allows a simple and direct comparison of the behavior of different simulated devices and a comparison to experimental devices. Third, we quantify the nonlinearity in the distribution of the output current vectors necessary for realizing Boolean functionality by introducing three nonlinearity indicators. The analysis provides a physical interpretation of the effects of changing the hopping distance and temperature and is used in a comparison with data generated by a deep neural network trained on a physical device.

关键词： Carrier dynamics Dynamics of networks electrical conductivity Fitness Hopping transport Network optimization Optimization problems Temperature

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

arXiv

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arXiv 2024年

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

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 bit-serial 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 © 2024, CC BY-NC-ND.

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Differentially Private Online Federated Learning with Correlated Noise

arXiv

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arXiv 2024年

作者： Zhang, Jiaojiao Zhu, Linglingzhi Johansson, Mikael Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology StockholmSE-100 44 Sweden Department of Systems Engineering and Engineering Management The Chinese University of Hong Kong Hong Kong

We introduce a novel differentially private algorithm for online federated learning that employs temporally correlated noise to enhance utility while ensuring privacy of continuously released models. To address challenges posed by DP noise and local updates with streaming non-iid data, we develop a perturbed iterate analysis to control the impact of the DP noise on the utility. Moreover, we demonstrate how the drift errors from local updates can be effectively managed under a quasi-strong convexity condition. Subject to an (ϵ, δ)DP budget, we establish a dynamic regret bound over the entire time horizon, quantifying the impact of key parameters and the intensity of changes in dynamic environments. Numerical experiments confirm the efficacy of the proposed algorithm. © 2024, CC BY.

关键词： Federated learning

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Condition Monitoring with Incomplete Data: An Integrated Variational Autoencoder and Distance Metric Framework

Condition Monitoring with Incomplete Data: An Integrated Var...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Maryam Ahang Mostafa Abbasi Todd Charter Homayoun Najjaran Department of Electrical and Computer Engineering University of Victoria Victoria Canada Advanced Control and Intelligent Systems Laboratory (ACIS) University of Victoria Victoria Canada Department of Mechanical Engineering University of Victoria Victoria Canada

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

Condition monitoring of industrial systems is crucial for ensuring safety and maintenance planning, yet notable challenges arise in real-world settings due to the limited or non-existent availability of fault samples. This paper introduces an innovative solution to this problem by proposing a new method for fault detection and condition monitoring for unseen data. Adopting an approach inspired by zero-shot learning, our method can identify faults and assign a relative health index to various operational conditions. Typically, we have plenty of data on normal operations, some data on compromised conditions, and very few (if any) samples of severe faults. We use a variational autoencoder to capture the probabilistic distribution of previously seen and new unseen conditions. The health status is determined by comparing each sample’s deviation from a normal operation reference distribution in the latent space. Faults are detected by establishing a threshold for the health indexes, allowing the model to identify severe, unseen faults with high accuracy, even amidst noise. We validate our approach using the run-to-failure IMS-bearing dataset and compare it with other methods. The health indexes generated by our model closely match the established descriptive model of bearing wear, attesting to the robustness and reliability of our method. These findings highlight the potential of our methodology in augmenting fault detection capabilities within industrial domains, thereby contributing to heightened safety protocols and optimized maintenance practices.

关键词： Condition monitoring Fault diagnosis Protocols Fault detection Zero shot learning Probabilistic logic Robustness Safety Maintenance Indexes

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Energy-Aware Task Allocation for Teams of Multi-mode Robots

arXiv

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arXiv 2025年

作者： Ito, Takumi Funada, Riku Sampei, Mitsuji Notomista, Gennaro Department of Systems and Control Engineering Institute of Science Tokyo Tokyo152-8550 Japan Department of Electrical and Computer Engineering University of Waterloo WaterlooONN2L 3G1 Canada

This work proposes a novel multi-robot task allocation framework for robots that can switch between multiple modes, e.g., flying, driving, or walking. We first provide a method to encode the multi-mode property of robots as a graph, where the mode of each robot is represented by a node. Next, we formulate a constrained optimization problem to decide both the task to be allocated to each robot as well as the mode in which the latter should execute the task. The robot modes are optimized based on the state of the robot and the environment, as well as the energy required to execute the allocated task. Moreover, the proposed framework is able to encompass kinematic and dynamic models of robots alike. Furthermore, we provide sufficient conditions for the convergence of task execution and allocation for both robot models. Copyright © 2025, The Authors. All rights reserved.

关键词： Constrained optimization

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Revolutionizing Road Safety: YOLOv8-Powered Driver Fatigue Detection

Revolutionizing Road Safety: YOLOv8-Powered Driver Fatigue D...

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2023 IEEE Asia-Pacific Conference on computer Science and Data engineering, CSDE 2023

作者： Xie, Shuaiyue Chuah, Joong Huang Chai, Grace Mei Ting Electronics and Computer Science University of Southampton SouthamptonSO17 1BJ United Kingdom University of Malaya Faculty of Engineering Department of Electrical Engineering Kuala Lumpur50603 Malaysia Smart Manufacturing Systems Research Group University of Southampton Malaysia Johor Iskandar Puteri79100 Malaysia

ISBN: (纸本)9798350341072

Driver fatigue is a significant cause of road accidents. Effective real-time fatigue detection systems are necessary to improve road safety. Utilizing a lightweight and fast model and creating an effective fatigue judgment rule is important in detecting fatigue in real-time. In this research, we propose a fatigue detection model based on You Look Only Once version 8 (YOLOv8) model to detect driver's facial features and use percentage of eyelid closure over the pupil over time (PERCLOS) and Percentage of Open Mouth (POM) indicators to identify fatigue. This research is divided into two parts. The first part involves creating, labeling, and preprocessing the dataset. We use the YawDD dataset as the original dataset and manually label a new dataset using the Roboflow platform. We then preprocessed the new dataset to train the YOLOv8 model for face features detection. In the second part, we established a multi-indicator fatigue determination rule that uses PERCLOS and POM indicators and set a threshold to determine whether the driver is fatigue. By combining the YOLOv8 model with the fatigue determination rules based on PERCLOS and POM, we successfully built a model to identify a driver's fatigue. Finally, the fatigue detection model based on YOLOv8 achieves a high accuracy rate of 96.9% and a high speed of 11.4 ms/frame in face features detection, surpassing other traditional models and previous generations of YOLO models. This model can effectively detect fatigue in both driver-driving pictures and videos. © 2023 IEEE.

关键词： Roads and streets

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Adaptive One Sample Ahead Preview control for Non-Sinusoidal PMSM with dq Coordinate Implementation

Adaptive One Sample Ahead Preview Control for Non-Sinusoidal...

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International Conference on electrical Machines and systems (ICEMS)

作者： Guilherme V. Hollweg Lucas R. Rocha Van-Hai Bui Rodrigo P. Vieira Mengqi Wang Wencong Su Department of Electrical and Computer Engineering (ECE) University of Michigan-Dearborn Dearborn USA Power Electronics and Control Group Federal University of Santa Maria Santa Maria Brazil

ISBN: (数字)9784886864406

ISBN: (纸本)9798350379105

This paper shows a Adaptive One Sample Ahead Preview (AOSAP) control structure designed for Non-Sinusoidal Permanent Magnet Synchronous Motors (PMSMs), implemented in both $d$ and $q$ coordinates. The control strategy employs a first-order reference model and is systematically compared against conventional Proportional-Integral (PI) controllers. Experimental evaluations conducted on a Typhoon Hardware-in-the-Loop (HIL) 604 platform demonstrate the superior performance of the proposed AOSAP controller. It exhibits lower tracking errors, leading to reduced torque ripple, and demonstrates faster regulation when compared to classical PI structures. The control algorithms are practically realized on a TMS320F28335 digital signal processor (DSP), showcasing the feasibility and efficiency of the proposed approach in real applications.

关键词： Torque PI control Tropical cyclones Digital signal processors Signal processing algorithms Permanent magnet motors Harmonic analysis Regulation Torque measurement Optimization

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