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24 featured work(s)

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preprint2019arXiv

A Scalable Max-Consensus Protocol For Noisy Ultra-Dense Networks

We introduce \emph{ScalableMax}, a novel communication scheme for achieving max-consensus in a network of multiple agents which harnesses the interference in the wireless channel as well as its multicast capabilities. In a sufficiently dense network, the amount of communication resources required grows logarithmically with the number of nodes, while in state-of-the-art approaches, this growth is at least linear. ScalableMax can handle additive noise and works well in a high SNR regime. For medium and low SNR, we propose the \emph{ScalableMax-EC} scheme, which extends the ideas of ScalableMax by introducing a novel error correction scheme. It achieves lower error rates at the cost of using more channel resources. However, it preserves the logarithmic growth with the number of agents in the system.

0 citations0 reviewsNo code linkedOpen access
preprint2019arXiv

Robust Transmission Network Expansion Planning Problem Considering Storage Units

This paper addresses the transmission network expansion planning problem considering storage units under uncertain demand and generation capacity. A two-stage adaptive robust optimization framework is adopted whereby short- and long-term uncertainties are accounted for. This work differs from previously reported solutions in an important aspect, namely, we include binary recourse variables to avoid the simultaneous charging and discharging of storage units once uncertainty is revealed. Two-stage robust optimization with discrete recourse problems is a challenging task, so we propose using a nested column-and-constraint generation algorithm to solve the resulting problem. This algorithm guarantees convergence to the global optimum in a finite number of iterations. The performance of the proposed algorithm is illustrated using the Garver's test system.

0 citations0 reviewsNo code linkedOpen access
preprint2019arXiv

Deep Reinforcement Learning Algorithm for Dynamic Pricing of Express Lanes with Multiple Access Locations

This article develops a deep reinforcement learning (Deep-RL) framework for dynamic pricing on managed lanes with multiple access locations and heterogeneity in travelers' value of time, origin, and destination. This framework relaxes assumptions in the literature by considering multiple origins and destinations, multiple access locations to the managed lane, en route diversion of travelers, partial observability of the sensor readings, and stochastic demand and observations. The problem is formulated as a partially observable Markov decision process (POMDP) and policy gradient methods are used to determine tolls as a function of real-time observations. Tolls are modeled as continuous and stochastic variables, and are determined using a feedforward neural network. The method is compared against a feedback control method used for dynamic pricing. We show that Deep-RL is effective in learning toll policies for maximizing revenue, minimizing total system travel time, and other joint weighted objectives, when tested on real-world transportation networks. The Deep-RL toll policies outperform the feedback control heuristic for the revenue maximization objective by generating revenues up to 9.5% higher than the heuristic and for the objective minimizing total system travel time (TSTT) by generating TSTT up to 10.4% lower than the heuristic. We also propose reward shaping methods for the POMDP to overcome the undesired behavior of toll policies, like the jam-and-harvest behavior of revenue-maximizing policies. Additionally, we test transferability of the algorithm trained on one set of inputs for new input distributions and offer recommendations on real-time implementations of Deep-RL algorithms. The source code for our experiments is available online at https://github.com/venktesh22/ExpressLanes_Deep-RL

0 citations0 reviewsNo code linkedOpen access
preprint2019arXiv

ODE network model for nonlinear and complex agricultural nutrient solution system

In closed hydroponic systems, periodic readjustment of nutrient solution is necessary to continuously provide stable environment to plant roots because the interaction between plant and nutrient solution changes the rate of ions in it. The traditional method is to repeat supplying small amount of premade concentrated nutrient solution, measuring total electric conductivity and pH of the tank only. As it cannot control the collapse of ion rates, recent researches try to measure the concentration of individual components to provide insufficient ions only. However, those approaches use titrationlike heuristic approaches, which repeat adding small amount of components and measuring ion density a lot of times for a single control input. Both traditional and recent methods are not only time-consuming, but also cannot predict chemical reactions related with control inputs because the nutrient solution is a nonlinear complex system, including many precipitation reactions and complicated interactions. We present a continuous network model of the nutrient solution system, whose reactions are described as differential equations. The model predicts molar concentration of each chemical components and total dissolved solids with low error. This model also can calculate the amount of chemical compounds needed to produce a desired nutrient solution, by reverse calculation from dissolved ion concentrations.

0 citations0 reviewsNo code linkedOpen access
preprint2019arXiv

Touché: Towards Ideal and Efficient Cache Compression By Mitigating Tag Area Overheads

Compression is seen as a simple technique to increase the effective cache capacity. Unfortunately, compression techniques either incur tag area overheads or restrict data placement to only include neighboring compressed cache blocks to mitigate tag area overheads. Ideally, we should be able to place arbitrary compressed cache blocks without any placement restrictions and tag area overheads. This paper proposes Touché, a framework that enables storing multiple arbitrary compressed cache blocks within a physical cacheline without any tag area overheads. The Touché framework consists of three components. The first component, called the ``Signature'' (SIGN) engine, creates shortened signatures from the tag addresses of compressed blocks. Due to this, the SIGN engine can store multiple signatures in each tag entry. On a cache access, the physical cacheline is accessed only if there is a signature match (which has a negligible probability of false positive). The second component, called the ``Tag Appended Data'' (TADA) mechanism, stores the full tag addresses with data. TADA enables Touché to detect false positive signature matches by ensuring that the actual tag address is available for comparison. The third component, called the ``Superblock Marker'' (SMARK) mechanism, uses a unique marker in the tag entry to indicate the occurrence of compressed cache blocks from neighboring physical addresses in the same cacheline. Touché is completely hardware-based and achieves an average speedup of 12\% (ideal 13\%) when compared to an uncompressed baseline.

0 citations0 reviewsNo code linkedOpen access
preprint2019arXiv

Representative Days for Expansion Decisions in Power Systems

Short-term uncertainty should be properly modeled when the expansion planning problem in a power system is analyzed. Since the use of all available historical data may lead to intractability, clustering algorithms should be applied in order to reduce computer workload without renouncing accuracy representation of historical data. In this paper, we propose a modified version of the traditional K-means method that seeks to attain the representation of maximum and minimum values of input data, namely, the electric load and the renewable production in several locations of an electric energy system. The crucial role of depicting extreme values of these parameters lies in the fact that they can have a great impact on the expansion and operation decisions taken. The proposed method is based on the traditional K-means algorithm that represents the correlation between electric load and wind-power production. Chronology of historical data, which influences the performance of some technologies, is characterized though representative days, each one composed of 24 operating conditions. A realistic case study based on the generation and transmission expansion planning of the IEEE 24-bus Reliability Test System is analyzed applying representative days and comparing the results obtained using the traditional K-means technique and the proposed method.

0 citations0 reviewsNo code linkedOpen access
preprint2019arXiv

Data-Driven Wide-Area Control Design of Power System Using the Passivity Shortage Framework

A novel wide-area control design is presented to mitigate inter-area power frequency oscillations. A large-scale power system is decomposed into a network of passivity-short subsystems whose nonlinear interconnections have a state-dependent affine form, and by utilizing the passivity shortage framework a two-level design procedure is developed. At the lower level, any generator control can be viewed as one that makes the generator passivity-short and $L_2$ stable, and the stability impact of the lower-level control on the overall system can be characterized in terms of two parameters. While the system is nonlinear, the impact parameters can be optimized by solving a data-driven matrix inequality (DMI), and the high-level wide-area control is then designed by solving another Lyapunov matrix inequality in terms of the design parameters. The proposed methodology makes the design modular, and the resulting control is adaptive with respect to operating conditions of the power system. A test system is used to illustrate the proposed design, including DMI and the wide-area control, and simulation results demonstrate effectiveness in damping out inter-area oscillations.

0 citations0 reviewsNo code linkedOpen access
preprint2019arXiv

SOS: Safe, Optimal and Small Strategies for Hybrid Markov Decision Processes

For hybrid Markov decision processes, UPPAAL Stratego can compute strategies that are safe for a given safety property and (in the limit) optimal for a given cost function. Unfortunately, these strategies cannot be exported easily since they are computed as a very long list. In this paper, we demonstrate methods to learn compact representations of the strategies in the form of decision trees. These decision trees are much smaller, more understandable, and can easily be exported as code that can be loaded into embedded systems. Despite the size compression and actual differences to the original strategy, we provide guarantees on both safety and optimality of the decision-tree strategy. On the top, we show how to obtain yet smaller representations, which are still guaranteed safe, but achieve a desired trade-off between size and optimality.

0 citations0 reviewsNo code linkedOpen access
preprint2019arXiv

Control of nonlinear, complex and black-boxed greenhouse system with reinforcement learning

Modern control theories such as systems engineering approaches try to solve nonlinear system problems by revelation of causal relationship or co-relationship among the components; most of those approaches focus on control of sophisticatedly modeled white-boxed systems. We suggest an application of actor-critic reinforcement learning approach to control a nonlinear, complex and black-boxed system. We demonstrated this approach on artificial green-house environment simulator all of whose control inputs have several side effects so human cannot figure out how to control this system easily. Our approach succeeded to maintain the circumstance at least 20 times longer than PID and Deep Q Learning.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Event Detection in Micro-PMU Data: A Generative Adversarial Network Scoring Method

A new data-driven method is proposed to detect events in the data streams from distribution-level phasor measurement units, a.k.a., micro-PMUs. The proposed method is developed by constructing unsupervised deep learning anomaly detection models; thus, providing event detection algorithms that require no or minimal human knowledge. First, we develop the core components of our approach based on a Generative Adversarial Network (GAN) model. We refer to this method as the basic method. It uses the same features that are often used in the literature to detect events in micro-PMU data. Next, we propose a second method, which we refer to as the enhanced method, which is enforced with additional feature analysis. Both methods can detect point signatures on single features and also group signatures on multiple features. This capability can address the unbalanced nature of power distribution circuits. The proposed methods are evaluated using real-world micro-PMU data. We show that both methods highly outperform a state-of-the-art statistical method in terms of the event detection accuracy. The enhanced method also outperforms the basic method.

0 citations0 reviewsNo code linkedOpen access
preprint2019arXiv

Exploration of the Applicability of Probabilistic Inference for Learning Control in Underactuated Autonomous Underwater Vehicles

Underwater vehicles are employed in the exploration of dynamic environments where tuning of a specific controller for each task would be time-consuming and unreliable as the controller depends on calculated mathematical coefficients in idealised conditions. For such a case, learning task from experience can be a useful alternative. This paper explores the capability of probabilistic inference learning to control autonomous underwater vehicles that can be used for different tasks without re-programming the controller. Probabilistic inference learning uses a Gaussian process model of the real vehicle to learn the correct policy with a small number of real field experiments. The use of probabilistic reinforced learning looks for a simple implementation of controllers without the burden of coefficients calculation, controller tuning or system identification. A series of computational simulations were employed to test the applicability of model-based reinforced learning in underwater vehicles. Three simulation scenarios were evaluated: waypoint tracking, depth control and 3D path tracking control. The 3D path tracking is done by coupling together a line-of-sight law with probabilistic inference for learning control. As a comparison study LOS-PILCO algorithm can perform better than a robust LOS-PID. The results shows that probabilistic model based reinforced learning is a possible solution to motion control of underactuated AUVs as can generate capable policies with minimum quantity of episodes.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

dtControl: Decision Tree Learning Algorithms for Controller Representation

Decision tree learning is a popular classification technique most commonly used in machine learning applications. Recent work has shown that decision trees can be used to represent provably-correct controllers concisely. Compared to representations using lookup tables or binary decision diagrams, decision trees are smaller and more explainable. We present dtControl, an easily extensible tool for representing memoryless controllers as decision trees. We give a comprehensive evaluation of various decision tree learning algorithms applied to 10 case studies arising out of correct-by-construction controller synthesis. These algorithms include two new techniques, one for using arbitrary linear binary classifiers in the decision tree learning, and one novel approach for determinizing controllers during the decision tree construction. In particular the latter turns out to be extremely efficient, yielding decision trees with a single-digit number of decision nodes on 5 of the case studies.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Data-Driven Permanent Magnet Temperature Estimation in Synchronous Motors with Supervised Machine Learning

Monitoring the magnet temperature in permanent magnet synchronous motors (PMSMs) for automotive applications is a challenging task for several decades now, as signal injection or sensor-based methods still prove unfeasible in a commercial context. Overheating results in severe motor deterioration and is thus of high concern for the machine's control strategy and its design. Lack of precise temperature estimations leads to lesser device utilization and higher material cost. In this work, several machine learning (ML) models are empirically evaluated on their estimation accuracy for the task of predicting latent high-dynamic magnet temperature profiles. The range of selected algorithms covers as diverse approaches as possible with ordinary and weighted least squares, support vector regression, $k$-nearest neighbors, randomized trees and neural networks. Having test bench data available, it is shown that ML approaches relying merely on collected data meet the estimation performance of classical thermal models built on thermodynamic theory, yet not all kinds of models render efficient use of large datasets or sufficient modeling capacities. Especially linear regression and simple feed-forward neural networks with optimized hyperparameters mark strong predictive quality at low to moderate model sizes.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Optimal Controller Synthesis and Dynamic Quantizer Switching for Linear-Quadratic-Gaussian Systems

In networked control systems, often the sensory signals are quantized before being transmitted to the controller. Consequently, performance is affected by the coarseness of this quantization process. Modern communication technologies allow users to obtain resolution-varying quantized measurements based on the prices paid. In this paper, we consider optimal controller synthesis of a Quantized-Feedback Linear-Quadratic-Gaussian (QF-LQG) system where the measurements are to be quantized before being transmitted to the controller. The system is presented with several choices of quantizers, along with the cost of operating each quantizer. The objective is to jointly select the quantizers and the controller that would maintain an optimal balance between control performance and quantization cost. Under certain assumptions, this problem can be decoupled into two optimization problems: one for optimal controller synthesis and the other for optimal quantizer selection. We show that, similarly to the classical LQG problem, the optimal controller synthesis subproblem is characterized by Riccati equations. On the other hand, the optimal quantizer selection policy is found by solving a certain Markov-Decision-Process (MDP).

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

A Model of Distributed Disorders Detection

The paper deals with disorders detection in the multivariate stochastic process. We consider the multidimensional Poisson process or the multivariate renewal process. This class of processes can be used as a description of the distributed detection system. The multivariate renewal process can be seen as the sequence of random vectors, where parts of its coordinates are holding times, others are the size of jumps and the index of stream, at which the new event appears. It is assumed that at each stream two kinds of changes are possible: in the holding time or in the size of jumps distribution. The various specific mutual relations between the change points are possible. The aim of the research is to derive the detectors which realize the optimal value of the specified criterion. The change point moment estimates have been obtained in some cases. The difficulties have appeared for the dependent streams with unspecified order of change points. The presented results suggest further research on the construction of detectors in the general model.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Adaptive motion control of parallel robots with kinematic and dynamic uncertainties

One of the most challenging issues in adaptive control of robot manipulators with kinematic uncertainties is requirement of the inverse of Jacobian matrix in regressor form. This requirement is inevitable in the case of the control of parallel robots, whose dynamic equations are written directly in the task space. In this paper, an adaptive controller is designed for parallel robots based on representation of Jacobian matrix in regressor form, such that asymptotic trajectory tracking is ensured. The main idea is separation of determinant and adjugate of Jacobian matrix and then organize new regressor forms. Simulation and experimental results on a 2--DOF R\underline{P}R and 3--DOF redundant cable driven robot, verify promising performance of the proposed methods.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Rotated spectral principal component analysis (rsPCA) for identifying dynamical modes of variability in climate systems

Spectral PCA (sPCA), in contrast to classical PCA, offers the advantage of identifying organized spatio-temporal patterns within specific frequency bands and extracting dynamical modes. However, the unavoidable tradeoff between frequency resolution and robustness of the PCs leads to high sensitivity to noise and overfitting, which limits the interpretation of the sPCA results. We propose herein a simple non-parametric implementation of the sPCA using the continuous analytic Morlet wavelet as a robust estimator of the cross-spectral matrices with good frequency resolution. To improve the interpretability of the results when several modes of similar amplitude exist within the same frequency band, we propose a rotation of eigenvectors that optimizes the spatial smoothness in the phase domain. The developed method, called rotated spectral PCA (rsPCA), is tested on synthetic data simulating propagating waves and shows impressive performance even with high levels of noise in the data. Applied to historical sea surface temperature (SST) time series over the Pacific Ocean, the method accurately captures the El Niño-Southern Oscillation (ENSO) at low frequency (2 to 7 years periodicity). At high frequencies (sub-annual periodicity), at which several extratropical patterns of similar amplitude are identified, the rsPCA successfully unmixes the underlying modes, revealing spatially coherent patterns with robust propagation dynamics. Identification of higher frequency space-time climate modes holds promise for seasonal to subseasonal prediction and for diagnostic analysis of climate models.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Benefiting from Linear Behaviour of a Nonlinear Reset-based Element at Certain Frequencies

This paper addresses a phenomenon caused by resetting only one of the two states of a so-called second order "Constant in gain Lead in phase" (CgLp) element. CgLp is a recently introduced reset-based nonlinear element, bound to circumvent the well-known linear control limitation -- the waterbed effect. The ideal behaviour of such a filter in the frequency domain is unity gain while providing a phase lead for a broad range of frequencies, which clearly violates the linear Bode's gain phase relationship. However, CgLp's ideal behaviour is based on a describing function, which is a first order approximation that neglects the effects of higher order harmonics in the output of the filter. Consequently, achieving the ideal behaviour is challenging when higher order harmonics are relatively large. It is shown in this paper that by resetting only one of the two states of a second order CgLp, the nonlinear filter will act as a linear one at a certain frequency, provided that some conditions are met. This phenomenon can be used to the benefit of reducing higher order harmonics of CgLp's output and achieving the ideal behaviour and thus better performance in terms of precision.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Satellite Relative Motion Modeling and Estimation via Nodal Elements

In this paper, a new parametrization of the relative motion between two satellites orbiting a central body is presented. The parametrization is based on the nodal elements: a set of angles describing the orbit geometry with respect to the relative line of nodes. These are combined with classical orbital elements to yield a nonsingular relative motion description. The exact nonlinear, perturbed dynamic model resulting from the new parametrization is established. The proposed parameter set captures the fundamental Keplerian invariants, while retaining a simple relationship with local orbital coordinates. An angles-only relative navigation filter and a collision avoidance scheme are devised by exploiting these features. The navigation solution is validated on a case study of an asteroid flyby mission. It is shown that a collision can be detected early on in the estimation process, which allows one to issue a timely evasive maneuver.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Flattening the curves: on-off lock-down strategies for COVID-19 with an application to Brazi

The current COVID-19 pandemic is affecting different countries in different ways. The assortment of reporting techniques alongside other issues, such as underreporting and budgetary constraints, makes predicting the spread and lethality of the virus a challenging task. This work attempts to gain a better understanding of how COVID-19 will affect one of the least studied countries, namely Brazil. Currently, several Brazilian states are in a state of lock-down. However, there is political pressure for this type of measures to be lifted. This work considers the impact that such a termination would have on how the virus evolves locally. This was done by extending the SEIR model with an on / off strategy. Given the simplicity of SEIR we also attempted to gain more insight by developing a neural regressor. We chose to employ features that current clinical studies have pinpointed has having a connection to the lethality of COVID-19. We discuss how this data can be processed in order to obtain a robust assessment.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Inter-Body Coupling in Electro-Quasistatic Human Body Communication: Theory and Analysis of Security and Interference Properties

Radiative communication using electromagnetic fields is the backbone of today's wirelessly connected world, which implies that the physical signals are available for malicious interceptors to snoop within a 5-10 m distance, also increasing interference and reducing channel capacity. Recently, Electro-quasistatic (EQS) human body communication was demonstrated which utilizes the human body's conductive properties to communicate without radiating the signals outside the body. Previous experiments showed that an attack with an antenna is unsuccessful, more than 1 cm of the body surface and 15 cm of an EQS-HBC device. However, since this is a new communication modality, it calls for investigation of new attack modalities - that can potentially exploit the physics utilized in the EQS-HBC to break the system. In this study, we present a novel attack method for EQS-HBC devices, using the body of the attacker itself as a coupling surface and capacitive inter-body coupling between the user and the attacker. We develop theoretical understanding backed by experimental results for inter-body coupling, as a function of distance between the subjects. We utilize this newly developed understanding to design EQS-HBC transmitters to minimize the attack distance through inter-body coupling as well as minimize the interference among multiple EQS-HBC users due to inter-body coupling. This understanding allows us to develop more secure and robust EQS-HBC based body area networks in the future.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Reference design for closed loop system optimization

An optimization-based method for improving the productivity of precision machine tools is proposed, where the reference path is computed in local coordinates, and information about the machine tool performance is learned from experimental data. The optimization yields a modified reference that is tracked by the existing low-level controller. The method is tested in simulation for a biaxial positioning system. The positioning system is modelled as double integrator, and the controller characteristic is modelled from experimental data using a least-squares fit. Simulation results show that the method is effective in designing optimal references even for challenging geometries such as sharp corners. The application of this procedure allows the retrofit of the control of existing machines with minimal overhead, by providing a modified reference file to track.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

A Frequency-Domain Stability Method for Reset Systems

Nowadays, the demand for an alternative to linear PID controllers has increased because of the rising expectations of the high-precision industry. The potential of reset controllers to solve this important challenge has been extensively demonstrated in the literature. However, similarly to other non-linear controllers, the stability analysis for these controllers is complex and relies on parametric models of the systems which may hinder the applicability of these controllers in industry. The well-known Hbeta method tries to solve this significant issue. However, assessing the H\b{eta} condition in the frequency-domain is complex, especially for high dimensional plants. In addition, it cannot be used to assess UBIBS stability of reset control systems in the case of reseting to non-zero values. These problems have been solved in this paper for the first order reset elements, and an easy-to-use frequency approach for assessing stability of reset control systems is proposed. The effectiveness of the proposed approach is demonstrated through a practical example.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

A Game-Theoretic Analysis of the Social Impact of Connected and Automated Vehicles

In this paper, we address the much-anticipated deployment of connected and automated vehicles (CAVs) in society by modeling and analyzing the social-mobility dilemma in a game-theoretic approach. We formulate this dilemma as a normal-form game of players making a binary decision: whether to travel with a CAV (CAV travel) or not (non-CAV travel) and by constructing an intuitive payoff function inspired by the socially beneficial outcomes of a mobility system consisting of CAVs. We show that the game is equivalent to the Prisoner's dilemma, which implies that the rational collective decision is the opposite of the socially optimum. We present two different solutions to tackle this phenomenon: one with a preference structure and the other with institutional arrangements. In the first approach, we implement a social mechanism that incentivizes players to non-CAV travel and derive a lower bound on the players that ensures an equilibrium of non-CAV travel. In the second approach, we investigate the possibility of players bargaining to create an institution that enforces non-CAV travel and show that as the number of players increases, the incentive ratio of non-CAV travel over CAV travel tends to zero. We conclude by showcasing the last result with a numerical study.

0 citations0 reviewsNo code linkedOpen access

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Ranked from 12110 total author signal(s) in this topic.