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Modular Model Reduction of Interconnected Systems: A Top-Down Approach

IFAC-PapersOnLine 2023年第2期56卷 4246-4251页

作者： Lars A.L. Janssen Bart Besselink Rob H.B. Fey Nathan van de Wouw Dynamics and Control group Department of Mechanical Engineering Eindhoven University of Technology Bernoulli Institute for Mathematics Computer Science and Artificial Intelligence University of Groningen

Complex systems often involve interconnected subsystem models developed by multi-disciplinary teams. To simulate and control such systems, a reduced-order model of the interconnected system is required. In the scope of this paper, we pursue this goal by subsystem reduction to warrant modularity of the reduction approach. However, reducing subsystem models affects not only the subsystems accuracy, but also the interconnected model accuracy, making it difficult to predict a priori the accuracy impact of subsystem reduction. To address this challenge, we introduce a top-down approach using mathematical tools from robust performance analysis, enabling the translation of accuracy requirements from the interconnected model to the subsystem level. This enables independent subsystem reduction while ensuring the desired accuracy of the interconnected model. We demonstrate the effectiveness of our approach through a structural dynamics case study.

关键词： Complex systems Model reduction control of interconnected systems Robust performance Top-down approach Error bounds

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Explaining complex systems: a tutorial on transparency and interpretability in machine learning models (part II)

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IFAC-PapersOnLine 2024年第15期58卷 497-501页

作者： Donatello Materassi Sean Warnick Cristian Rojas Maarten Schoukens Elizabeth Cross Department of Electrical and Computer Engineering University of Minnesota US Department of Homeland Security Science and Technology Directorate EECS/Division of Decision and Control Systems KTH Royal Institute of Technology Control Systems Group Eindhoven University of Technology Eindhoven The Netherlands Department of Mechanical Engineering University of Sheffield

In the second segment of the tutorial, we transition from the granularity of local interpretability to a broader exploration of eXplainable AI (XAI) methods. Building on the specific focus of the first part, which delved into Local Interpretable Model-Agnostic Explanations (LIME) and SHapley Additive exPlanations (SHAP), this section takes a more expansive approach. We will navigate through various XAI techniques of more global nature, covering counterfactual explanations, equation discovery, and the integration of physics-informed AI. Unlike the initial part, which concentrated on two specific methods, this section offers a general overview of these broader classes of techniques for explanation. The objective is to provide participants with a comprehensive understanding of the diverse strategies available for making complex machine learning models interpretable on a more global scale.

关键词： eXplainable AI

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Algorithms to Calculate the Most Reliable Maximum Flow in Content Delivery Network

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computer Systems Science & engineering 2022年第5期41卷 699-715页

作者： Baili Zhang Keke Ling Pei Zhang Zhao Zhang Mingjun Zhong School of Computer Science and Engineering Southeast UniversityNanjing211189China State Key Laboratory of Smart Grid Protection and Control Nanjing211106China Nari Group Corporation Nanjing211106China Department of Computing Science University of AberdeenAberdeenAB243UEUK

Calculating the most reliable maximum flow(MRMF)from the edge cache node to the requesting node can provide an important reference for selecting the best edge cache node in a content delivery network(CDN).However,SDBA,as the current state-of-the-art MRMF algorithm,is too complex to meet real-time computing *** paper proposes a set of MRMF algorithms:NWCD(Negative Weight Community Deletion),SCPDAT(Single-Cycle Preference Deletion Approximation algorithm with Time constraint)and SCPDAP(Single-Cycle Preference Deletion Approximation algorithm with Probability constraint).NWCD draws on the“flow-shifting”algorithm of minimum cost and maximum flow,and further defines the concept of negative weight *** algorithm continuously deletes the negative weight communities,which can increase reliability while keeping the flow constant in the residual *** is proven that when all negative weight communities are deleted,the corresponding maximum flow is the *** tries to approach the optimal solution to the greatest extent possible within the limited time,while SCPDAP tries to reach the probability threshold in the shortest amount of *** of these adopt the strategy of first deleting single-cycle communities(which contribute more to the reliability with lower time cost).Experiments show that,compared with SDBA,NWCD combined with the probabilistic pruning achieves an order of magnitude improvement in time cost,while SCPDAT and SCPDAP demonstrate better time performance and increased applicability.

关键词： Content delivery network uncertain graph maximum flow flow reliability

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Learning Reduced-Order Linear Parameter-Varying Models of Nonlinear Systems ⁎

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IFAC-PapersOnLine 2024年第15期58卷 265-270页

作者： Patrick J.W. Koelewijn Rajiv Singh Peter Seiler Roland Tóth Sioux Technologies B.V. Eindhoven The Netherlands Control Systems Group Eindhoven University of Technology Eindhoven The Netherlands The MathWorks Inc. Natick USA Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor USA Systems and Control Laboratory HUN-REN Institute for Computer Science and Control Budapest Hungary

In this paper, we consider the learning of a Reduced-Order Linear Parameter-Varying Model (ROLPVM) of a nonlinear dynamical system based on data. This is achieved by a two-step procedure. In the first step, we learn a projection to a lower dimensional state-space. In step two, an LPV model is learned on the reduced-order state-space using a novel, efficient parameterization in terms of neural networks. The improved modeling accuracy of the method compared to an existing method is demonstrated by simulation examples.

关键词： Reduced-order modeling Neural Networks Linear Parameter-Varying Models

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Equilibrium-Independent control of Continuous-Time Nonlinear Systems via the LPV Framework - Extended Version

arXiv

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arXiv 2023年

作者： Koelewijn, Patrick J.W. Weiland, Siep Tóth, Roland The Control Systems Group Department of Electrical Engineering Eindhoven University of Technology Eindhoven Netherlands The Systems and Control Laboratory Institute for Computer Science and Control Budapest Hungary

In this paper, we consider the analysis and control of continuous-time nonlinear systems to ensure universal shifted stability and performance, i.e., stability and performance w.r.t. each forced equilibrium point of the system. This "equilibrium-free" concept is especially beneficial for control problems that require the tracking of setpoints and rejection of persistent disturbances, such as input loads. In this paper, we show how the velocity form, i.e., the time-differentiated dynamics of the system, plays a crucial role in characterizing these properties and how the analysis of it can be solved by the application of Linear Parameter-Varying (LPV) methods in a computationally efficient manner. Furthermore, by leveraging the properties of the velocity form and the LPV framework, a novel controller synthesis method is presented which ensures closed-loop universal shifted stability and performance. The proposed controller design is verified in a simulation study and also experimentally on a real system. Additionally, we compare the proposed method to a standard LPV control design, demonstrating the improved stability and performance guarantees of the new approach. Copyright © 2023, The Authors. All rights reserved.

关键词： controllers

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An Integrated Environment for the Reliability Assessment of CNNs Accelerators Implemented in FPGAs

An Integrated Environment for the Reliability Assessment of ...

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Latin American Test Workshop, LATW

作者： Luis Ariel Mesa Juan-David Guerrero-Balaguera Erika D. Castañeda Ernesto Sanchez Wilson-Javier Pérez-Holguín GIRA Research Group Universidad Pedagogica y Tecnologica de Colombia (UPTC) Department of Control and Computer Engineering (DAUIN) Politecnico di Torino

ISBN: (数字)9798350365559

ISBN: (纸本)9798350365566

This work presents the development of an integrated framework that facilitates the resilience evaluation of CNNs w.r.t. hardware faults by resorting to fault emulation strategies. The proposed framework leverages the flexibility of Field-Programmable Gate-Arrays (FPGAs) to implement and evaluate any DL accelerator architecture. In addition, we describe the detailed procedure to emulate faults inside a DL architecture. We report the cost, simulation time, and hardware overhead required by the proposed technique when using a stream-processing DL accelerator to deploy some of the most relevant layers of LeNet5. The experimental results were gathered in four different FPGA-based platforms, demonstrating the flexibility of the proposed approach.

关键词： Costs Emulation Accelerator architectures Life estimation Logic gates Hardware Reliability

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Invisible Servoing: A Visual Servoing Approach with Return-Conditioned Latent Diffusion

Invisible Servoing: A Visual Servoing Approach with Return-C...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Bishoy Gerges Barbara Bazzana Nicolò Botteghi Youssef Aboudorra Antonio Franchi Robotics and Mechatronics group Faculty of Electrical Engineering Mathematics and Computer Science University of Twente Enschede The Netherlands Department of Applied Mathematics University of Twente Enschede The Netherlands Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy

ISBN: (数字)9798331513283

ISBN: (纸本)9798331513290

In this paper, we present a novel visual servoing (VS) approach based on latent Denoising Diffusion Probabilistic Models (DDPMs), that explores the application of generative models for vision-based navigation of UAVs (Uncrewed Aerial Vehicles). Opposite to classical VS methods, the proposed approach allows reaching the desired target view, even when the target is initially not visible. This is possible thanks to the learning of a latent representation that the DDPM uses for planning and a dataset of trajectories encompassing target-invisible initial views. A compact representation is learned from raw images using a Cross-Modal Variational Autoencoder. Given the current image, the DDPM generates trajectories in the latent space driving the robotic platform to the desired visual target. The approach has been validated in simulation using two generic multi-rotor UAVs (a quadrotor and a hexarotor). The results show that we can successfully reach the visual target, even if not visible in the initial view. A video summary with simulations can be found in: https://***/2Hb3nkkcszE.

关键词： Location awareness Visualization Pipelines Noise reduction Autonomous aerial vehicles Visual servoing Trajectory Planning Standards Robots

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Multi-loop Sliding-Mode control for a Battery Charger Using a Quadratic Buck Converter 8

Multi-loop Sliding-Mode Control for a Battery Charger Using ...

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8th Southern Power Electronics Conference and the 17th Brazilian Power Electronics Conference, SPEC / COBEP 2023

作者： López-Santos, Oswaldo Flores-Bahamonde, F. Torres-Pinzón, C.A. Haroun, Reham Valderrama-Blavi, Hugo Garriga, Juan A. Martínez-Salamero, Luis Rovira i Virgili University Group of Automatic Control and Industrial Electronics Tarragona Spain Universidad Andres Bello Energy Transformation Center Faculty of Enigineering Chile Universidad Santo Tomás Faculty of Electronic Engineering Colombia University of Lleida Department of Computer Science and Industrial Engineering Lleida Spain

ISBN: (纸本)9798350321128

In this paper, the quadratic buck converter (QBC) is proposed as competitive alternative to implement a battery charger. Since, QBC is a high order system, the required control is designed to follow the conventional constant-current constant-voltage regime by means of three loops. Namely, i) an inner-loop operating in sliding mode to control the current of the closest inductor to the input port providing the properly stability of the system, ii) a first outer loop designed to regulate the battery voltage providing the reference of the inner loop, and finally iii) a second outer loop to regulate the battery current modifying the reference of the voltage loop. Proportional Integral (PI) controllers are used in both outer loops. Simulation results are presented validating the theoretical study. © 2023 IEEE.

关键词： Battery charger Quadratic Buck Converter Sliding Mode control

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Abstracting Linear Stochastic Systems via Knowledge Filtering

arXiv

引用

arXiv 2023年

作者： Engelaar, Maico Hendrikus Wilhelmus Romao, Licio Gao, Yulong Lazar, Mircea Abate, Alessandro Haesaert, Sofie Department of Electrical Engineering Control Systems Group Eindhoven University of Technology Netherlands Department of Computer Science University of Oxford United Kingdom

In this paper, we propose a new model reduction technique for linear stochastic systems that builds upon knowledge filtering and utilizes optimal Kalman filtering techniques. This new technique will reduce the dimension of the noise disturbance and will allow any controller designed for the reduced model to be refined into a controller for the original stochastic system, while preserving any specification on the output. Although initially the reduced model will be time-varying, a method will be provided with which the reduced model can become time-invariant if it satisfies some minor technical conditions. We present our theoretical findings with an example that supports the proposed framework and illustrates how model reduction and controller refinement of stochastic systems can be achieved. We finish the paper by considering specific examples to analyze both completeness with respect to controller synthesis and model order reduction with respect to the state. © 2023, CC BY-NC-ND.

关键词： Stochastic systems

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Abstracting Linear Stochastic Systems via Knowledge Filtering

Abstracting Linear Stochastic Systems via Knowledge Filterin...

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IEEE Conference on Decision and control

作者： M.H.W. Engelaar L. Romao Y. Gao M. Lazar A. Abate S. Haesaert Department of Electrical Engineering (Control Systems Group) Eindhoven University of Technology The Netherlands Department of Computer Science University of Oxford United Kingdom

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