Researcher profile

Minghui Zhu

Minghui Zhu contributes to research discovery and scholarly infrastructure.

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Published work

7 published item(s)

preprint2026arXiv

Differentiation Between Faults and Cyberattacks through Combined Analysis of Cyberspace Logs and Physical Measurements

In recent years, cyberattacks - along with physical faults - have become an increasing factor causing system failures, especially in DER (Distributed Energy Resources) systems. In addition, according to the literature, a number of faults have been reported to remain undetected. Consequently, unlike anomaly detection works that only identify abnormalities, differentiating undetected faults and cyberattacks is a challenging task. Although several works have studied this problem, they crucially fall short of achieving an accurate distinction due to the reliance on physical laws or physical measurements. To resolve this issue, the industry typically conducts an integrated analysis with physical measurements and cyberspace information. Nevertheless, this industry approach consumes a significant amount of time due to the manual efforts required in the analysis. In this work, we focus on addressing these crucial gaps by proposing a non-trivial approach of distinguishing undetected faults and cyberattacks in DER systems. Specifically, first, a special kind of dependency graph is constructed using a novel virtual physical variable-oriented taint analysis (PVOTA) algorithm. Then, the graph is simplified using an innovative node pruning technique, which is based on a set of context-dependent operations. Next, a set of patterns capturing domain-specific knowledge is derived to bridge the semantic gaps between the cyber and physical sides. Finally, these patterns are matched to the relevant events that occurred during failure incidents, and possible root causes are concluded based on the pattern matching results. In the end, the efficacy of our proposed automatic integrated analysis is evaluated through four case studies covering failure incidents caused by the FDI attack, undetected faults, and memory corruption attacks.

preprint2026arXiv

Interactive Inverse Reinforcement Learning of Interaction Scenarios via Bi-level Optimization

Inverse reinforcement learning (IRL) learns a reward function and a corresponding policy that best fit the demonstration data of an expert. However, in the current IRL setting, the learner is isolated from the expert and can only passively observe the expert demonstrations. This limits the applicability of IRL to interactive settings, where the learner actively interacts with the expert and needs to infer the expert's reward function from the interactions. To bridge the gap, this paper studies interactive IRL (IIRL) where a learner aims to learn the reward function of an expert and a policy to interact with the expert during its interactions with the expert. We formulate IIRL as a stochastic bi-level optimization problem where the lower level learns a reward function to explain the behaviors of the expert, and the upper level learns a policy to interact with the expert. We develop a double-loop algorithm, Bi-level Interactive Scenarios Inverse Reinforcement Learning (BISIRL), which solves the lower-level problem in the inner loop and the upper-level problem in the outer loop. We formally guarantee that BISIRL converges and validate our algorithm through extensive experiments.

preprint2024arXiv

iPolicy: Incremental Policy Algorithms for Feedback Motion Planning

This paper presents policy-based motion planning for robotic systems. The motion planning literature has been mostly focused on open-loop trajectory planning which is followed by tracking online. In contrast, we solve the problem of path planning and controller synthesis simultaneously by solving the related feedback control problem. We present a novel incremental policy (iPolicy) algorithm for motion planning, which integrates sampling-based methods and set-valued optimal control methods to compute feedback controllers for the robotic system. In particular, we use sampling to incrementally construct the state space of the system. Asynchronous value iterations are performed on the sampled state space to synthesize the incremental policy feedback controller. We show the convergence of the estimates to the optimal value function in continuous state space. Numerical results with various different dynamical systems (including nonholonomic systems) verify the optimality and effectiveness of iPolicy.

preprint2020arXiv

Distributed Robust Adaptive Frequency Control of Power Systems with Dynamic Loads

This paper investigates the frequency control of multi-machine power systems subject to uncertain and dynamic net loads. We propose distributed internal model controllers that coordinate synchronous generators and demand response to tackle the unpredictable nature of net loads. Frequency stability is formally guaranteed via Lyapunov analysis. Numerical simulations on the IEEE 68-bus test system demonstrate the effectiveness of the controllers.

preprint2020arXiv

Pareto optimal multi-robot motion planning

This paper studies a class of multi-robot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to identify the Pareto optimal solutions where no robot can unilaterally reduce its traveling time without extending others'. The consistent approximation of the algorithm in the epigraphical profile sense is guaranteed using set-valued numerical analysis. Experiments on an indoor multi-robot platform and computer simulations show the anytime property of the proposed algorithm; i.e., it is able to quickly return a feasible control policy that safely steers the robots to their goal regions and it keeps improving policy optimality if more time is given.

preprint2010arXiv

Distributed coverage games for mobile visual sensor networks

Motivated by current challenges in data-intensive sensor networks, we formulate a coverage optimization problem for mobile visual sensors as a (constrained) repeated multi-player game. Each visual sensor tries to optimize its own coverage while minimizing the processing cost. We present two distributed learning algorithms where each sensor only remembers its own utility values and actions played during the last plays. These algorithms are proven to be convergent in probability to the set of (constrained) Nash equilibria and global optima of certain coverage performance metric, respectively.

preprint2010arXiv

On the convergence time of asynchronous distributed quantized averaging algorithms

We come up with a class of distributed quantized averaging algorithms on asynchronous communication networks with fixed, switching and random topologies. The implementation of these algorithms is subject to the realistic constraint that the communication rate, the memory capacities of agents and the computation precision are finite. The focus of this paper is on the study of the convergence time of the proposed quantized averaging algorithms. By appealing to random walks on graphs, we derive polynomial bounds on the expected convergence time of the algorithms presented.