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1st ACM Virtual Global Computing Education Conference V. 1, SIGCSE Virtual 2024

作者： Indra, R. Parthasarathy, P.D. Ambasana, Jatin Satavlekar, Spruha Department of Information Science and Engineering B.M.S. College of Engineering Bengaluru India Department of Computer Science and Information Systems Bits Pilani KK Birla Goa Campus Goa India Centre for Educational Technology Indian Institute of Technology Bombay Mumbai India

ISBN: (纸本)9798400705984

Machine learning (ML) course for undergraduates face challenges in assessing student learning and providing practical exposure. Group project-based learning, an increasingly popular form of experiential learning in CS education, encounters certain limitation in participation and non-participation from a few students. Studies also suggest that students find longer programming assignments and project-based assessments distracting and struggle to maintain focus when they coincide with other courses. To tackle these issues, we introduced FlashHack: a monitored, incremental, in-classroom micro Hackathon that combines project-based learning with Hackathon elements. Engaging 229 third year CS undergraduate students in teams of four, FlashHack prompted them to tackle predefined challenges using machine learning techniques within a set timeframe. Assessment criteria emphasized machine learning application, problem-solving, collaboration, and creativity. Our results indicate high student engagement and satisfaction, alongside simplified assessment processes for instructors. This experience report outlines the Hackathon design and implementation, highlights successes and areas for improvement making it feasible for replication by interested computing educators. © 2024 ACM.

关键词： Adversarial machine learning

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Beyond Common Randomness: Quantum Resources in Decentralized control

Beyond Common Randomness: Quantum Resources in Decentralized...

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IEEE Conference on Decision and control

作者： Shashank A. Deshpande Ankur A. Kulkarni Department of Aeronautics and Astronautics DINaMo group Massachusetts Institute of Technology Department of Systems and Control Engineering Indian Institute of Technology Bombay Mumbai

Ananthram and Borkar [1] showed that there exist strategies that are consistent with the requirements of a decentralized information structure but are unattainable through the use of common randomness. This opens the question of discovering physically realisable mechanisms that provide access to this region of the strategic space. In our previous work we introduced a class of quantum strategies that allow such access in a two-agent setting. In this paper, we consider the problem of optimal allocation of a $k$ -partite quantum resource amongst $n$ agents, $k < n$ . We study the problem of decentralized estimation of a binary source by agents that are informed through independent binary symmetric channels, and face a cost that is homogeneous in their actions. We show a $k$ -partite quantum resource produces the maximum advantage over classical strategies when allocated to the agents with the $k$ most reliable channels.

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Wobble control of a pendulum actuated spherical robot

arXiv

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arXiv 2023年

作者： Singhal, Animesh Modi, Sahil Gupta, Abhishek Vachhani, Leena Systems and Control Engineering Dept. Indian Institute of Technology Bombay Mumbai India General Electric Research Bangalore India Mechanical Engineering Dept. Indian Institute of Technology Bombay Mumbai India

Spherical robots can conduct surveillance in hostile, cluttered environments without being damaged, as their protective shell can safely house sensors such as cameras. However, lateral oscillations, also known as wobble, occur when these sphere-shaped robots operate at low speeds, leading to shaky camera feedback. These oscillations in a pendulum-actuated spherical robot are caused by the coupling between the forward and steering motions due to nonholonomic constraints. Designing a controller to limit wobbling in these robots is challenging due to their underactuated nature. We propose a model-based controller to navigate a pendulum-actuated spherical robot using wobble-free turning maneuvers consisting of circular arcs and straight lines. The model is developed using Lagrange-D’Alembert equations and accounts for the coupled forward and steering motions. The model is further analyzed to derive expressions for radius of curvature, precession rate, wobble amplitude, and wobble frequency during circular motions. Finally, we design an input-output feedback linearization-based controller to control the robot’s heading direction and wobble. Overall, the proposed controller enables a teleoperator to command a specific forward velocity and pendulum angle as per the desired turning radius while limiting the robot’s lateral oscillations to enhance the quality of camera feedback. © 2023, CC BY.

关键词： Robots

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On Linear Convergence of PI Consensus Algorithm under the Restricted Secant Inequality

On Linear Convergence of PI Consensus Algorithm under the Re...

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indian control Conference (ICC)

作者： Kushal Chakrabarti Mayank Baranwal Division of Data & Decision Sciences Tata Consultancy Services Research Mumbai India Faculty of Systems & Control Engineering Indian Institute of Technology Bombay

ISBN: (数字)9798331517212

ISBN: (纸本)9798331517229

This paper considers solving distributed optimization problems in peer-to-peer multi-agent networks. The network is synchronous and connected. By using the proportional-integral (PI) control strategy, various algorithms with fixed stepsize have been developed. Two notable among them are the PI algorithm and the PI consensus algorithm. Although the PI algorithm has provable linear or exponential convergence without the standard requirement of (strong) convexity, a similar guarantee for the PI consensus algorithm is unavailable. In this paper, using Lyapunov theory, we guarantee exponential convergence of the PI consensus algorithm for global cost functions that satisfy the restricted secant inequality, with rate-matching discretization, without requiring convexity. To accelerate the PI consensus algorithm, we incorporate local pre-conditioning in the form of constant positive definite matrices and numerically validate its efficiency compared to the prominent distributed convex optimization algorithms. Unlike classical pre-conditioning, where only the gradients are multiplied by a pre-conditioner, the proposed pre-conditioning modifies both the gradients and the consensus terms, thereby controlling the effect of the communication graph on the algorithm.

关键词： Logistic regression Accelerated aging Consensus algorithm Cost function Convex functions Peer-to-peer computing Linear matrix inequalities Standards Convergence Lyapunov methods

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Nonlinear control Design for an Unmanned Aerial Vehicle for Path Following

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IFAC-PapersOnLine 2022年第1期55卷 592-597页

作者： Shivam Kumar Singh Abhinav Sinha Shashi Ranjan Kumar Intelligent Systems & Control Lab Department of Aerospace Engineering Indian Institute of Technology Bombay Mumbai India

In this work, we design a nonlinear controller for an autonomous unmanned aerial vehicle (UAV) to follow a predefined trajectory. The UAV is made to follow the desired path by driving the UAV’s relative distance to the path, and its look angle to zero. The proposed design is easy to implement as it does not need path curvature information and uses the philosophy of target pursuit to follow the predefined path. We further demonstrate the merits of the proposed method through simulations for various cases in accurately tracking straight line and curvilinear paths.

关键词： Trajectory tracking Autonomous vehicles Sliding mode control Path following Unmanned Aerial Vehicle (UAV)/Drone

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Polynomial based Impact Time and Impact Angle Constrained Guidance

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IFAC-PapersOnLine 2022年第1期55卷 486-491页

作者： Prajakta Surve Arnab Maity Shashi Ranjan Kumar Intelligent Systems & Control Lab Department of Aerospace Engineering Indian Institute of Technology Bombay Mumbai India

A guidance strategy is proposed in this paper that ensures near-zero miss distance along with simultaneous control over the direction and time of impact. The line-of-sight angle between the interceptor and the target is shaped as a nonlinear polynomial function of relative range between them. This polynomial function provides the desired line-of-sight orientations to achieve the mission objectives. The coefficients of the line-of-sight polynomial are obtained by subjecting it to the boundary conditions that adhere to the desired terminal constraints. A controller is designed using the nonlinear dynamic inversion control technique to track the reference flight path directions derived using the desired line-of-sight orientations. The simulation results obtained from various numerical simulations validate the efficacy of the proposed guidance law.

关键词： Impact time impact angle terminal constraints LOS shaping dynamic inversion

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Survival of Unmanned Aerial Vehicles by Luring Pursuers in Angle Constrained Interception

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IFAC-PapersOnLine 2022年第1期55卷 20-25页

作者： Naveen Kumar S Shashi Ranjan Kumar Intelligent Systems & Control Lab Department of Aerospace Engineering Indian Institute of Technology Bombay Mumbai India

In this paper, a sliding mode control-based cooperative guidance strategy for a team of two unmanned aerial vehicles (aircraft), which ensures their survival against pursuers, is proposed. The pursuing interceptors are assumed to employ augmented proportional navigation guidance. The cooperating aircraft maneuver in a way to lure their respective pursuers to an impact angle constrained collision. The problem of controlling impact angle is first transformed to that of tracking line-of-sight angle and its rate, and then the same is achieved by enforcing sliding mode on appropriate chosen switching surface. Furthermore, the allocation of aircraft’s lateral accelerations is performed in a way to minimize the instantaneous aerodynamic drag acting on both unmanned aerial vehicles. Numerical simulations are presented to validate the effectiveness of the proposed guidance strategy under different engagement geometries.

关键词： Cooperative guidance impact angle nonlinear guidance sliding mode control aircraft survival

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Three-dimensional Nonlinear Impact Time Guidance Accounting for Autopilot Lag

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IFAC-PapersOnLine 2022年第1期55卷 26-31页

作者： Iftisam Abhinav Sinha Shashi Ranjan Kumar Intelligent Systems & Control Lab Department of Aerospace Engineering Indian Institute of Technology Bombay Mumbai India

In this paper, a nonlinear impact time constrained three-dimensional guidance strategy to intercept a stationary target is proposed. The guidance strategy is based on non-singular terminal sliding mode control that uses an improved time-to-go estimate in the design process, thereby provisioning for the interceptor’s large heading angle errors. Unlike existing approaches in the literature of three-dimensional terminal guidance, the proposed technique does not decouple the nonlinear three-dimensional engagement kinematics to design the guidance commands. Additionally, the proposed technique also considers the effect of autopilot whose dynamics are usually ignored. The stability of the proposed guidance strategy is certified using Lyapunov stability theory. Simulation results show the effective performance of the proposed guidance commands for various engagement conditions. The results in this paper are further backed with a comparison with an existing strategy that vindicates the superior performance of the proposed strategy.

关键词： Three-dimensional guidance Impact time Autopilot dynamics Nonlinear guidance Non-singular terminal sliding mode control Decoupled engagement kinematics

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Extension of a Linear controller Scheme to Non-Linear systems and its Application on Inverted Pendulum

arXiv

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arXiv 2022年

作者： Jacob, Justin Khaneja, Navin Systems and Control Engineering Department Indian Institute of Technology Bombay India

This paper presents the control and stabilization of the rotary inverted pendulum based on a general controller scheme. The proposed scheme has its foundation in classical control theory, and the importance of an integrator in disturbance rejection is emphasized. The system's dynamics are obtained by the Euler Lagrange method and are approximated for small-angle as balancing the pendulum is the objective. Experimental results demonstrate that the proposed control scheme can achieve the stabilization of a non-linear system. Also, the boundedness and convergence of the non-linear system with the controller subjected to the initial condition are *** Codes 34Gxx, 37Nxx, 70E50, 70K20 © 2022, CC BY.

关键词： Inverted pendulum

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Sliding Mode control of Non-Minimum Phase Autonomous Underwater Vehicles in the Dive Plane

Sliding Mode Control of Non-Minimum Phase Autonomous Underwa...

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OCEANS

作者： Gauravi Pore Machhindranath Patil Leena Vachhani Systems and Control Engineering Indian Institute of Technology Bombay Mumbai India Department of Instrumentation Engineering V.E.S Institute of Technology Mumbai India

This paper shows that the torpedo-type Autonomous Underwater Vehicle (AUV) exhibits the non-minimum phase behavior in the depth control operation for a certain range of forward velocity. Contributions in this paper are (i) Transform AUV's 6 DOF dynamic model in a diving plane to the normal form. (ii) A method to determine the range of the forward surge velocity for which zero dynamics is unstable. Understanding the non-minimum phase behavior provides insight into the controller designs in the future, specifically for the identified ranges of the forward surge velocities.

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