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2023 MTS/IEEE U.S. Gulf Coast, OCEANS 2023

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

ISBN: (纸本)9798218142186

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. © 2023 The Marine technology Society (MTS).

关键词： Autonomous underwater vehicles

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On Linear Convergence of PI Consensus Algorithm under the Restricted Secant Inequality 10

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

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10th indian control Conference, ICC 2024

作者： Chakrabarti, Kushal Baranwal, Mayank The Division of Data & Decision Sciences Tata Consultancy Services Research Mumbai400607 India The Faculty of Systems & Control Engineering Indian Institute of Technology Bombay India

ISBN: (纸本)9798331517212

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 preconditioning 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. © 2024 IEEE.

关键词： Consensus algorithm

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Detection of False Data Injection Attacks in Cyber-Physical systems

Detection of False Data Injection Attacks in Cyber-Physical ...

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IEEE International Symposium on Information Theory

作者： Souvik Das Avishek Ghosh Debasish Chatterjee Systems and Control Engineering Indian Institute of Technology Bombay India

ISBN: (数字)9798350382846

ISBN: (纸本)9798350382853

This article addresses the problem of detecting, with high probability, the presence of a large class of history-dependent false data injection actuator attacks in cyber-physical systems (CPSs) modeled as stochastic linear time-invariant systems. Among the primary contributions is the introduction of a new detection algorithm or scheme that leverages the fundamental idea of separating or classifying two classes of state trajectories: The first class comprises state trajectories generated by the CPS under attack situations, while the second class includes state trajectories generated under nominal conditions. The existence and non-existence of such a separator are studied and these results are asymptotic. We then establish finite-time guarantees associated with the detection algorithm or scheme. A numerical example is provided to demonstrate the theory.

关键词： Actuators Particle separators Stochastic processes Cyber-physical systems Data models Trajectory Detection algorithms

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Relative Terrain Navigation Based Lunar Lander Simulator Using Computer Vision Techniques

Relative Terrain Navigation Based Lunar Lander Simulator Usi...

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Space, Aerospace and Defence Conference (SPACE), IEEE

作者： Sudip Mondal Sukumar Srikant Systems and Control Engineering Indian Institute of Technology Bombay India

ISBN: (数字)9798350367386

ISBN: (纸本)9798350367393

Moon research is closely related to space exploration, with research stations being deployed on its surface for long-term. An essential element in this context is the provision of a soft landing system which is highly accurate and reliable. This paper aims to develop a relative terrain based navigation system using computer vision techniques to aid in accurate softlanding. High-quality surface images can now be obtained at all stages of landing using modern computer vision systems, and they can be processed in real-time. The viability of using computer vision techniques is demonstrated using a lunar lander simulator developed in-house.

关键词： Space vehicles Computer vision Accuracy Navigation Moon Aerospace electronics Real-time systems

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Deadtime Compensation-Based Approximate Decoupling control Approach for Multivariable Processes

Deadtime Compensation-Based Approximate Decoupling Control A...

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2024 IEEE Region 10 Conference, TENCON 2024

作者： Aldhandi, Suresh Detroja, Ketan P. Indian Institute of Technology The Systems and Control Group Department of Electrical Engineering Telangana Hyderabad502285 India

ISBN: (纸本)9798350350821

The interaction effects among individual loops and multiple time delays are the prime reasons for degrading the closed-loop performance of multivariable systems. For highly interacting systems, decouplers are used to counteract interaction effects. However, decouplers may not be realizable and even if they are realizable, for high dimensional systems, decoupler elements may be complex. To improve the decoupler realizability, a dead-time compensation (DTC) approach is proposed in this work. The DTC framework can minimise the impact of dead-time on system dynamics. The proposed decoupler is designed based on the dynamic relative gain array (DRGA) to compensate for interaction effects. The DRGA reveals more insights about the coupling effect between a pair of input-output loops. The DRGA elements are used as decoupler elements for the multivariable process. The minimization of both interaction effects and dead-time dynamics can be achieved with the proposed DTC-based decoupling control approach. The simple IM C PI tuning rules are utilized to implement controllers for each loop. The simulation study affirming the proposed method provides better desired closed-loop performance, error indices for nominal and plant model mismatches, and robust stability against plant uncertainty over the popular existing decoupler based approaches. © 2024 IEEE.

关键词： Multivariable control systems

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Efficient Modulo Multiplier

Electronics

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Electronics 2023年第1期27卷 18-24页

作者： Ahmed, Rekib Uddin Thabah, Sheba Diamond Haque, Mridul Saha, Prabir Department of Electronics and Communication Engineering National Institute of Technology Meghalaya Shillong793003 India Department of Electrical Engineering Indian Institute of Technology Bombay Mumbai India IBM Systems Bangalore India Department of Computational and Data Science Indian Institute of Science Bangalore560012 India

The paper presents the methodology to compute modulo multiplication with the moduli set 2n, 2n−1, 2n+1. In addition to this, designs of the modulo multipliers, namely 2n, 2n−1, and 2n+1 (with n = 4, 8, and 16), have been proposed which are based on half adders, full adders, 4:3 compressor, 7:3 compressor, and the multi-column compressor namely 5,5:4. The gate level design of 4:3 compressor is carried out by solving the truth table using the K-map reduction. To verify the functionalities we have implemented the proposed modulo multipliers using VHDL coding in Xilinx 14.2 design suite. Simulation using Virtex-6 device has been performed to estimate delay, power consumption, and power-delay product (PDP). Moreover, the modulo multipliers are simulated in Cadence RC compiler using 0.18 μm technology to estimate the area. One of the major contributions to the arts of this work is in the partial product reduction stage which utilizes the multi-column 5,5:4 compressor to reduce power and area. The modulo 2n−1 multiplier of operand size 4-bit shows an improvement of 66.34% in terms of area over the best-reported paper. On the other hand, the modulo 2n+1 multiplier of operand size 4-bit shows an improvement of 58.59% terms of in area and the same of operand size 8-bit shows an improvement of 22.72% over the best-reported paper. The proposed algorithms of moduli multiplication are applicable to Booth multiplication of signed numbers. © 2023, Electronics. All Rights Reserved.

关键词： Adders

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Choreographing Safety: Planning via Ice-cone-Inspired Motion Sets of Feedback controllers for Car-Like Robots

Choreographing Safety: Planning via Ice-cone-Inspired Motion...

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International Workshop on Robot Motion and control (RoMoCo)

作者： Veejay Karthik J Anushka Verma Leena Vachhani ARMS Lab Systems and Control Engineering Indian Institute of Technology Bombay Mumbai India Department of Aerospace Engineering Indian Institute of Technology Bombay Mumbai India Department of Systems and Control Engineering Indian Institute of Technology Bombay Mumbai India

ISBN: (数字)9798350393965

ISBN: (纸本)9798350393972

Safe navigation of car-like robots operating via onboard sensing on crowded roads is a challenging task in general. Our primary objective in this work is the development of a novel sensor-based control structure that directly computes safe control inputs for navigation based on the motion sets of pre-designed feedback controllers. We demonstrate an input-constrained feedback controller to induce motion sets whose geometric structure is an ice-cone. The key implication of this is that the naturally induced system trajectories evolve within this motion set during stabilization. We then propose an instantaneous planning strategy for safe navigation that choreographs a sequence of ice-cones within the bounds of safety. This enables the robot to navigate safely without the explicit requirement of adhering to pre-computed paths/trajectories. We demonstrate the proposed methodology via ROS simulations on test scenarios using the CAT vehicle testbed. Further, we demonstrate its application in a traffic intersection scenario using the trajec-tory information collected from the interaction dataset. The proposed approach especially finds applications in scenarios where pre-computing safe trajectories based on the predicted trajectories of neighboring agents is difficult/unreliable during run-time.

关键词： Navigation Dynamics Robot sensing systems Trajectory Safety Planning Mobile robots

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Smart Meter Data Analytics for Residential Consumers

Smart Meter Data Analytics for Residential Consumers

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National Power systems Conference (NPSC)

作者： Deepti Shakya Siddhant Vibhute Anupama Kowli Electrical Engineering Indian Institute of Technology Bombay Mumbai India Systems & Control Engineering Indian Institute of Technology Bombay Mumbai India

ISBN: (数字)9798331519568

ISBN: (纸本)9798331519575

According to data on indian household consumption, air conditioners (AC) and water heaters (WH) are the main contributors to the high peak demand in residential houses. To study the consumption behavior of these appliances, smart meter data from Pune households with AC and WH ownership is analyzed to extract attributes corresponding to AC and WH usage. Specifically, peak events are observed and their attributes are analyzed. These attributes facilitate understanding of the usage of AC and WH appliances and the associated behavioral patterns. To enrich the limited dataset, a synthetic dataset generation algorithm is proposed: it constructs household profiles by using suitable randomization on peak event attributes, thereby capturing consumption behaviors similar to real households. Statistical metrics indicate that the generated profiles closely resemble real household behavior, although their monthly average power consumption profile differs. Synthetic households provide a rich and diverse dataset for academia and electric utilities to study demand response and demand side management scenarios.

关键词： Measurement Home appliances Data analysis Demand side management Water heating Smart meters Power industry Demand response Power systems Synthetic data

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A Transactive Energy Framework for Real-Time Primary Frequency Support by Active Distribution Networks 13

A Transactive Energy Framework for Real-Time Primary Frequen...

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13th IEEE Power and Energy Society: Innovative Smart Grid Technologies - Asia, ISGT Asia 2024

作者： Mishra, Abhishek Mallick, Arghya Hota, Ashish R. Pullaguram, Deepak Bajpai, Prabodh Indian Institute of Technology Kharagpur Department of Electrical Engineering India Delft University of Technology Delft Center for Systems and Control Netherlands Indian Institute of Technology Kanpur Department of Sustainable Energy Engineering India

ISBN: (纸本)9798350373929

Modern active distribution networks possess significant potential to deliver ancillary services to transmission networks owing to the rising integration of renewable energy sources. This study explores the provision of primary frequency support from active distribution network to transmission network via price-based transactive control of microgrid inverters. The proposed method aims to achieve efficient coordination among microgrids, optimizing their utility, while also assisting the active distribution network in optimal primary frequency support provision to transmission network. The feasibility of this approach for real-time application is validated using a real-time simulator. © 2024 IEEE.

关键词： Power distribution networks

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Optimal Stochastic Decision Rule for Strategic Classification

Optimal Stochastic Decision Rule for Strategic Classificatio...

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National Conference on Communications (NCC)

作者： Manish Kumar Singh Ankur A. Kulkarni Systems and Control Engineering Indian Institute of Technology Bombay Mumbai India

The decision problem of strategic classification is one where the classifier knows the underlying classification rule as opposed to learning it from the data. The classifier has to perform classification in the presence of a startegic agent who can manipulate the feature vector at a cost to obtain their desired label. Such strategic behaviour results in errors, necessitating the classifier to adjust the decision rule to account for the adversary's actions. In this paper, we construct an optimal stochastic decision rule and show that, by allowing for randomization, it makes fewer errors than a deterministic decision rule. Furthermore, the stochastic decision rule has a similar structural form to that of the deterministic decision rule.

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