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On Cyclic Finite-State Approximation of Data-Driven SystemsJul 15 2019In this document, some novel theoretical and computational techniques for constrained approximation of data-driven systems, are presented. The motivation for these techniques came from structure-preserving matrix approximation problems, that appear in ... More

Dynamic Tube MPC for Nonlinear SystemsJul 15 2019Modeling error or external disturbances can severely degrade the performance of Model Predictive Control (MPC) in real-world scenarios. Robust MPC (RMPC) addresses this limitation by optimizing over feedback policies but at the expense of increased computational ... More

Alternating Direction Method of Multipliers (ADMMs) Based Distributed Approach For Wide-Area ControlJul 15 2019In this paper, an alternating direction method of multipliers based novel distributed wide-area control architecture is proposed for damping the interarea oscillations. In this approach, first, an interconnected power system is divided into areas based ... More

Compound TCP with Random Early Detection (RED): stability, bifurcation and performance analysesJul 15 2019The problem of increased queueing delays in the Internet motivates the study of currently implemented transport protocols and active queue management (AQM) policies. We study Compound TCP (default protocol in Windows) with Random Early Detection (RED). ... More

ALFA: A Dataset for UAV Fault and Anomaly DetectionJul 14 2019We present a dataset of several fault types in control surfaces of a fixed-wing Unmanned Aerial Vehicle (UAV) for use in Fault Detection and Isolation (FDI) and Anomaly Detection (AD) research. Currently, the dataset includes processed data for 47 autonomous ... More

Hybrid Model-Based and Data-Driven Wind Velocity Estimator for the Navigation System of a Robotic AirshipJul 14 2019In the context of autonomous airships, several works in control and guidance use wind velocity to design a control law. However, in general, this information is not directly measured in robotic airships. This paper presents three alternative versions ... More

Emergency DC Power Support Strategy Based on Coordinated Droop Control in Multi-Infeed HVDC SystemJul 14 2019With the complex hybrid AC-DC power system in China coming into being, the HVDC faults, such as DC block faults, have an enormous effect on the frequency stability of the AC side. In multi-infeed HVDC (MIDC) system, to improve the frequency stability ... More

Continuous-Time Markov Decision Processes with Controlled ObservationsJul 13 2019In this paper, we study a continuous-time discounted jump Markov decision process with both controlled actions and observations. The observation is only available for a discrete set of time instances. At each time of observation, one has to select an ... More

Seeker based Adaptive Guidance via Reinforcement Meta-Learning Applied to Asteroid Close Proximity OperationsJul 13 2019Current practice for asteroid close proximity maneuvers requires extremely accurate characterization of the environmental dynamics and precise spacecraft positioning prior to the maneuver. This creates a delay of several months between the spacecraft's ... More

The Use of Gaussian Processes in System IdentificationJul 13 2019Gaussian processes are used in machine learning to learn input-output mappings from observed data. Gaussian process regression is based on imposing a Gaussian process prior on the unknown regressor function and statistically conditioning it on the observed ... More

Gait Generation using Intrinsically Stable MPC in the Presence of Persistent DisturbancesJul 13 2019Maintaining balance while walking is not a simple task for a humanoid robot because of its complex dynamics. The presence of a persistent disturbance makes this task even more challenging, as it can cause a loss of balance and ultimately lead the the ... More

Learning a Curve Guardian for MotorcyclesJul 12 2019Up to 17% of all motorcycle accidents occur when the rider is maneuvering through a curve and the main cause of curve accidents can be attributed to inappropriate speed and wrong intra-lane position of the motorcycle. Existing curve warning systems lack ... More

Associate submersions and qualitative properties of nonlinear circuits with implicit characteristicsJul 12 2019We introduce in this paper an equivalence notion for submersions $U \to \R$, $U$ open in $\R^2$, which makes it possible to identify a smooth planar curve with a unique class of submersions. This idea, which extends to the nonlinear setting the construction ... More

From Observability to Significance in Distributed Information SystemsJul 12 2019To understand and explain process behaviour we need to be able to see it, and decide its significance, i.e. be able to tell a story about its behaviours. This paper describes a few of the modelling challenges that underlie monitoring and observation of ... More

Pareto Optimal Demand Response Based on Energy Costs and Load Factor in Smart GridJul 12 2019Demand response for residential users is essential to the realization of modern smart grids. This paper proposes a multiobjective approach to designing a demand response program that considers the energy costs of residential users and the load factor ... More

Transient Stability of Droop-Controlled Inverter Networks with Operating ConstraintsJul 12 2019Due to the rise of distributed energy resources, the control of networks of grid-forming inverters is now a pressing issue for power system operation. Droop control is a popular control strategy in the literature for frequency control of these inverters. ... More

Integrated Offline and Online Optimization-Based Control in a Base-Parallel ArchitectureJul 11 2019We propose an integrated control architecture to address the gap that currently exists for efficient real-time implementation of MPC-based control approaches for highly nonlinear systems with fast dynamics and a large number of control constraints. The ... More

Combining Social Force Model with Model Predictive Control for Vehicle's Longitudinal Speed Regulation in Pedestrian-Dense ScenariosJul 11 2019In pedestrian-dense traffic scenarios, an autonomous vehicle may have to safely drive through a crowd of pedestrians while the vehicle tries to keep the desired speed as much as possible. This requires a model that can predict the motion of crowd pedestrians ... More

Approximate Nonlinear Regulation via Identification-Based Adaptive Internal ModelsJul 11 2019This paper concerns the problem of adaptive output regulation for multivariable nonlinear systems in normal form. We present a regulator employing an adaptive internal model of the exogenous signals based on the theory of nonlinear Luenberger observers. ... More

Safety Control with Preview AutomatonJul 10 2019This paper considers the problem of safety controller synthesis for systems equipped with sensor modalities that can provide preview information. We consider switched systems where switching mode is an external signal for which preview information is ... More

Secure Authentication of ADS-B Aircraft Communications using Retroactive Key PublicationJul 10 2019Automatic Dependent Surveillance-Broadcast(ADSB), is the next generation Air Traffic management system to monitor the airspace for air traffic communication and traffic information. While the ADS-B empowers aircraft to broadcast their location information ... More

Short-term ASV Collision Avoidance with Static and Moving ObstaclesJul 10 2019This article considers collision avoidance (COLAV) for both static and moving obstacles using the branching-course model predictive control (BC-MPC) algorithm, which is designed for use by autonomous surface vehicles (ASVs). The BC-MPC algorithm originally ... More

On uniform stability of certain parallel server networks with no abandonment in the Halfin-Whitt regimeJul 10 2019In this paper we show that a large class of parallel server networks, with $\sqrt n$-safety staffing, and no abandonment, in the Halfin-Whitt regime are exponentially ergodic and their invariant probability distributions are tight. This includes all networks ... More

Robust Transmission Network Expansion Planning Problem Considering Storage UnitsJul 10 2019This 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 ... More

Cooperative Localization with Angular Measurements and Posterior LinearizationJul 10 2019The application of cooperative localization in vehicular networks is attractive to improve accuracy and coverage. Conventional distance measurements between vehicles are limited by the need for synchronization and provide no heading information of the ... More

Simple Kinematic Feedback Enhances Autonomous Learning in Bio-Inspired Tendon-Driven SystemsJul 10 2019Error feedback is known to improve performance by correcting control signals in response to perturbations. Here we show how adding simple error feedback can also accelerate and robustify autonomous learning in robots. We implemented two versions of the ... More

DOB-Net: Actively Rejecting Unknown Excessive Time-Varying DisturbancesJul 10 2019This paper presents an observer-integrated Reinforcement Learning (RL) approach, called Disturbance OBserver Network (DOB-Net), for robots operating in environments where disturbances are unknown and time-varying, and may frequently exceed robot control ... More

Controlling Power and Virtual Inertia from Storage for Frequency ResponseJul 10 2019Nowadays, power imbalance happens more frequently due to the more integration of renewable energy sources. Energy storage is a kind of devices that can charge energy at one time and discharge energy at another time. This function makes that storage is ... More

Deep Lagrangian Networks: Using Physics as Model Prior for Deep LearningJul 10 2019Deep learning has achieved astonishing results on many tasks with large amounts of data and generalization within the proximity of training data. For many important real-world applications, these requirements are unfeasible and additional prior knowledge ... More

Deep Lagrangian Networks for end-to-end learning of energy-based control for under-actuated systemsJul 10 2019Applying Deep Learning to control has a lot of potential for enabling the intelligent design of robot control laws. Unfortunately common deep learning approaches to control, such as deep reinforcement learning, require an unrealistic amount of interaction ... More

An MPC Approach to Transient Control of Liquid-Propellant Rocket EnginesJul 09 2019The current context of launchers reusability requires the improvement of control algorithms for their liquid-propellant rocket engines. Their transient phases are generally still performed in open loop. In this paper, it is aimed at enhancing the control ... More

Bi-objective Optimisation of Data-parallel Applications on Heterogeneous Platforms for Performance and Energy via Workload DistributionJul 09 2019Performance and energy are the two most important objectives for optimisation on modern parallel platforms. Latest research demonstrated the importance of workload distribution as a decision variable in the bi-objective optimisation for performance and ... More

Control of Painlevé Paradox in a Robotic SystemJul 09 2019The Painlev\'e paradox is a phenomenon that causes instability in mechanical systems subjects to unilateral constraints. While earlier studies were mostly focused on abstract theoretical settings, recent work confirmed the occurrence of the paradox in ... More

Impact of climate change on the cost optimal mix of decentralized heating in EuropeJul 09 2019Residential demands for space heating and hot water account for 31% of the total European energy demand. Space heating is highly dependent on ambient conditions and susceptible to climate change. We adopt a techno-economic standpoint and assess the impact ... More

Impact of climate change on the cost optimal mix of decentralized heating in EuropeJul 09 2019Jul 10 2019Residential demands for space heating and hot water account for 31% of the total European energy demand. Space heating is highly dependent on ambient conditions and susceptible to climate change. We adopt a techno-economic standpoint and assess the impact ... More

Distributed Integer Balancing under Weight Constraints in the Presence of Transmission Delays and Packet DropsJul 09 2019We consider the distributed weight balancing problem in networks of nodes that are interconnected via directed edges, each of which is able to admit a positive integer weight within a certain interval, captured by individual lower and upper limits. A ... More

Randomized Constraints Consensus for Distributed Robust Mixed-Integer ProgrammingJul 09 2019In this paper, we consider a network of processors aiming at cooperatively solving mixed-integer convex programs subject to uncertainty. Each node only knows a common cost function and its local uncertain constraint set. We propose a randomized, distributed ... More

Decentralized Gaussian Mixture Fusion through Unified Quotient ApproximationsJul 09 2019This work examines the problem of using finite Gaussian mixtures (GM) probability density functions in recursive Bayesian peer-to-peer decentralized data fusion (DDF). It is shown that algorithms for both exact and approximate GM DDF lead to the same ... More

Simulation Credibility Assessment Methodology with FPGA-based Hardware-in-the-loop PlatformJul 09 2019Electronic control systems are becoming more and more complicated, which makes it difficult to test them sufficiently only through experiments. Simulation is an efficient way in the development and testing of complex electronic systems, but the simulation ... More

Parametrically Amplified Low-Power MEMS Capacitive Humidity SensorJul 08 2019We present the design, fabrication, and response of a polymer-based Laterally Amplified Chemo-Mechanical (LACM) humidity sensor based on mechanical leveraging and parametric amplification. The device consists of a sense cantilever asymmetrically patterned ... More

Smart Households Demand Response Management with Micro GridJul 08 2019Nowadays the emerging smart grid technology opens up the possibility of two-way communication between customers and energy utilities. Demand Response Management (DRM) offers the promise of saving money for commercial customers and households while helps ... More

Bounded Model Checking of Max-Plus Linear Systems via Predicate AbstractionsJul 08 2019This paper introduces the abstraction of max-plus linear (MPL) systems via predicates. Predicates are automatically selected from system matrix, as well as from the specifications under consideration. We focus on verifying time-difference specifications, ... More

Appliance-level Flexible Scheduling for Socio-technical Smart Grid OptimisationJul 08 2019Participation in energy demand response programs requires an active role by users of residential appliances: they contribute flexibility in appliance usage as the means to adjust energy consumption and improve Smart Grid reliability. Understanding the ... More

Real Time Control and Performance Analysis of A Smart Multi-Machine System through Hardware-in-the-Loop SimulationJul 08 2019This paper presents an implementation of a smart power system using inter-device communication and supervisory control through Simulink integrated with the physical system. This control includes features of real-time control, load management, fault detection ... More

Smart Switching and Control of a Distributed Generator Synchronized With National GridJul 08 2019Distributed generation is widely being utilized, so the basic theme of this research is to have a hands-on experience to synchronize a Distributed Energy Resource (DER) to the Mains Grid. A control algorithm is implemented for energy supply from both ... More

Variational Inference MPC for Bayesian Model-based Reinforcement LearningJul 08 2019In recent studies on model-based reinforcement learning (MBRL), incorporating uncertainty in forward dynamics is a state-of-the-art strategy to enhance learning performance, making MBRLs competitive to cutting-edge model free methods, especially in simulated ... More

System Architecture for Real-time Surface Inspection Using Multiple UAVsJul 07 2019This paper presents a real-time control system for surface inspection using multiple unmanned aerial vehicles (UAVs). The UAVs are coordinated in a specific formation to collect data of the inspecting objects. The communication platform for data transmission ... More

Modeling, Analysis, and Control of Mechanical Systems under Power ConstraintsJul 07 2019Significant improvements have been achieved in motion control systems with the availability of high speed power switches and microcomputers on the market. Even though motor drivers are able to provide high torque control bandwidth under nominal conditions, ... More

Time Distance: A Novel Collision Prediction and Path Planning MethodJul 07 2019Motion planning is an active field of research in robot navigation and autonomous driving. There are plenty of classical and heuristic motion planning methods applicable to mobile robots and ground vehicles. This paper is dedicated to introducing a novel ... More

Backward Reachability for Polynomial Systems on A Finite HorizonJul 07 2019A method is presented to obtain an inner-approximation of the backward reachable set (BRS) of a given target tube, along with an admissible controller that maintains trajectories inside this tube. The proposed optimization algorithms are formulated as ... More

Decentralized Dynamic State Estimation in MicrogridsJul 06 2019This paper proposes a decentralized dynamic state estimation scheme for microgrids. The approach employs the voltage and current measurements in the dq0 reference frame through phasor synchronization to be able to exclude orthogonal functions from their ... More

A Reconfigurable Solar Photovoltaic Grid-Tied Inverter Architecture for Enhanced Energy Access in Backup Power ApplicationsJul 06 2019In this paper, a photovoltaic (PV) reconfigurable grid-tied inverter (RGTI) scheme is proposed. Unlike a conventional GTI that ceases operation during a power outage, the RGTI is designed to act as a regular GTI in the on-grid mode but it is reconfigured ... More

A New Approach to Distributed Hypothesis Testing and Non-Bayesian Learning: Improved Learning Rate and Byzantine-ResilienceJul 05 2019We study a setting where a group of agents, each receiving partially informative private signals, seek to collaboratively learn the true underlying state of the world (from a finite set of hypotheses) that generates their joint observation profiles. To ... More

Design and Characterization of Superconducting Nanowire-Based Processors for Acceleration of Deep Neural Network TrainingJul 05 2019Training of deep neural networks (DNNs) is a computationally intensive task and requires massive volumes of data transfer. Performing these operations with the conventional von Neumann architectures creates unmanageable time and power costs. Recent studies ... More

Energy of Computing on Multicore CPUs: Predictive Models and Energy Conservation LawJul 05 2019Energy is now a first-class design constraint along with performance in all computing settings. Energy predictive modelling based on performance monitoring counts (PMCs) is the leading method used for prediction of energy consumption during an application ... More

PV Source Integrated Micro-Grid for Power Quality Improvement using MPPT TechniqueJul 05 2019The demand for Electrical energy is increasing day by day as it can be easily converted to another form of energy. All consumers expect Electrical energy with high power quality. Most of the commercial and industrial loads are inductive in nature and ... More

Double Input Boost/Y-Source DC-DC Converter for Renewable Energy SourcesJul 05 2019With the increasing adoption of renewable energy sources by domestic users, decentralisation of the grid is fast becoming a reality. Distributed generation is an important part of a decentralised grid. This approach employs several small-scale technologies ... More

Warm-Started Optimized Trajectory Planning for ASVsJul 05 2019We consider warm-started optimized trajectory planning for autonomous surface vehicles (ASVs) by combining the advantages of two types of planners: an A* implementation that quickly finds the shortest piecewise linear path, and an optimal control-based ... More

MetaAnalysis of Methods for Scaling Blockchain Technology for Automotive UsesJul 04 2019The automotive industry has seen an increased need for connectivity, both as a result of the advent of autonomous driving and the rise of connected cars and truck fleets. This shift has led to issues such as trusted coordination and a wider attack surface ... More

A Soft-switched Fast Cell-to-Cell Voltage Equalizer for Electrochemical Energy StorageJul 04 2019Batteries are connected in series to meet the voltage requirement in many applications. A voltage equalizer circuit is necessary to ensure that none of the batteries is over-charged or over-discharged. A novel fast soft-switched cell-to-cell voltage equalizer ... More

Cable Layout Optimization of Offshore Wind Farms Collection SystemsJul 04 2019A mathematical program for global optimization of the cable layout of Offshore Wind Farms (OWFs) is presented. The model consists on a Mixed Integer Linear (MILP) program. Modern branch-and-cut solvers are able to solve largescale instances, defined by ... More

A novel passivity based controller for a piezoelectric beamJul 04 2019This paper presents a new passivity property for distributed piezoelectric devices with integrable port-variables. We present two new control methodologies by exploiting the integrability property of the port-variables. The derived controllers have a ... More

The Optimal Power Flow Operator: Theory and ComputationJul 04 2019Optimal power flow problems (OPFs) are mathematical programs used to distribute power over networks subject to network operation constraints and the physics of power flows. In this work we take the view of treating an OPF problem as an operator which ... More

Small-Signal Stability Analysis for Droop-Controlled Inverter-based Microgrids with Losses and FilteringJul 04 2019An islanded microgrid supplied by multiple distributed energy resources (DERs) often employs droop-control mechanisms for power sharing. Because microgrids do not include inertial elements, and low pass filtering of noisy measurements introduces lags ... More

Safe Approximate Dynamic Programming Via Kernelized Lipschitz EstimationJul 03 2019We develop a method for obtaining safe initial policies for reinforcement learning via approximate dynamic programming (ADP) techniques for uncertain systems evolving with discrete-time dynamics. We employ kernelized Lipschitz estimation and semidefinite ... More

Distributed Constrained Policy Learning for Power Management of Networked MicrogridsJul 03 2019This paper presents a multi-agent constrained reinforcement learning (RL) policy gradient method for optimal power management of networked microgrids (MGs) in distribution systems. While conventional RL algorithms are black box decision models that could ... More

Generalized Proportional Allocation Policies for Robust Control of Dynamical Flow NetworksJul 03 2019We study a robust control problem for dynamical flow networks. In the considered dynamical models, traffic flows along the links of a transportation network --modeled as a capacited multigraph-- and queues up at the nodes, whereby control policies determine ... More

Technical report for "Virtual Energy Storage Sharing and Capacity Allocation"Jul 03 2019Energy storage can play an important role in energy management of end users. To promote an efficient utilization of energy storage, we develop a novel business model to enable virtual storage sharing among a group of users. Specifically, a storage aggregator ... More

Technical report for "Virtual Energy Storage Sharing and Capacity Allocation"Jul 03 2019Jul 07 2019Energy storage can play an important role in energy management of end users. To promote an efficient utilization of energy storage, we develop a novel business model to enable virtual storage sharing among a group of users. Specifically, a storage aggregator ... More

Cooperative Schedule-Driven Intersection Control with Connected and Autonomous VehiclesJul 03 2019Recent work in decentralized, schedule-driven traffic control has demonstrated the ability to improve the efficiency of traffic flow in complex urban road networks. In this approach, a scheduling agent is associated with each intersection. Each agent ... More

Toward Real-Time Wireless Control of Mobile Platforms for Future Industrial SystemsJul 03 2019The use of mobile platforms (MPs) is particularly attractive for various industrial applications. This demonstration highlights the importance of remote control of MPs and shows its viability over a high-performance wireless solution designed for closed-loop ... More

Using Bi-Directional Information Exchange to Improve Decentralized Schedule-Driven Traffic ControlJul 03 2019Recent work in decentralized, schedule-driven traffic control has demonstrated the ability to improve the efficiency of traffic flow in complex urban road networks. In this approach, a scheduling agent is associated with each intersection. Each agent ... More

Self-triggered stabilizing controllers for linear continuous-time systemsJul 03 2019Self-triggered control is an improvement on event-triggered control methods. Unlike the latter, self-triggered control does not require monitoring the behavior of the system constantly. Instead, self-triggered algorithms predict the events at which the ... More

Statistical Characteristics of Driver Accelerating Behavior and Its Probability ModelJul 03 2019The naturalistic driving data are employed to study the accelerating behavior of the driver. Firstly, the question that whether the database is big enough to achieve a convergent accelerating behavior of the driver is studied. The kernel density estimation ... More

Recommendations on Designing Practical Interval Type-2 Fuzzy SystemsJul 03 2019Interval type-2 (IT2) fuzzy systems have become increasingly popular in the last 20 years. They have demonstrated superior performance in many applications. However, the operation of an IT2 fuzzy system is more complex than that of its type-1 counterpart. ... More

Solvents based model reduction of linear systemsJul 03 2019Model order reduction is the approximation of dynamical systems into equivalent systems with smaller order. Model reduction has been studied extensively for different types of systems. In this paper, we present two methods for multi input multi output ... More

Multi-object Tracking in Unknown Detection Probability with the PMBM FilterJul 02 2019This paper focuses on the joint multi-object tracking (MOT) and the estimate of detection probability with Poisson multi-Bernoulli mixture (PMBM) filter. In a majority of multi-object scenarios, the knowledge of detection probability is usually uncertain, ... More

Multi-object Tracking in Unknown Detection Probability with the PMBM FilterJul 02 2019Jul 11 2019This paper focuses on the joint multi-object tracking (MOT) and the estimate of detection probability with the \emph{Poisson multi-Bernoulli mixture} (PMBM) filter. In a majority of multi-object scenarios, the knowledge of detection probability is usually ... More

Interference Avoidance Position Planning in Dual-hop and Multi-hop UAV Relay NetworksJul 02 2019Jul 10 2019We consider unmanned aerial vehicle (UAV)-assisted wireless communication employing UAVs as relay nodes to increase the throughput between a pair of transmitter and receiver. We focus on developing effective methods to position the UAV(s) in the sky in ... More

Interference Avoidance Position Planning in Dual-hop and Multi-hop UAV Relay NetworksJul 02 2019We consider unmanned aerial vehicle (UAV)-assisted wireless communication employing UAVs as relay nodes to increase the throughput between a pair of transmitter and receiver. We focus on developing effective methods to position the UAV(s) in the sky in ... More

Surrogate model approach for investigating the stability of a friction-induced oscillator of Duffing's typeJul 02 2019Parametric studies for dynamic systems are of high interest to detect instability domains. This prediction can be demanding as it requires a refined exploration of the parametric space due to the disrupted mechanical behavior. In this paper, an efficient ... More

Time-optimal path tracking for industrial robot: A model-free reinforcement approachJul 02 2019Jul 11 2019In pursuit of the time-optimal motion of a robot manipulator along a preset path, a previously identified dynamic model is typically used to calculate the required optimal trajectory for perfect tracking. However, due to the inevitable model-plant mismatch, ... More

Time-optimal path tracking for industrial robot: A model-free reinforcement approachJul 02 2019In pursuit of the time-optimal motion of a robot manipulator along a preset path, a previously identified dynamic model is typically used to calculate the required optimal trajectory for perfect tracking. However, due to the inevitable model-plant mismatch, ... More

Scalar Field Estimation with Mobile Sensor NetworksJul 02 2019In this paper, we consider the problem of estimating a scalar field using a network of mobile sensors which can measure the value of the field at their instantaneous location. The scalar field to be estimated is assumed to be represented by positive definite ... More

Gaussian Mixture Marginal Distributions for Modelling Remaining Pipe Wall Thickness of Critical Water Mains in Non-Destructive EvaluationJul 02 2019Rapidly estimating the remaining wall thickness (RWT) is paramount for the non-destructive condition assessment evaluation of large critical metallic pipelines. A robotic vehicle with embedded magnetism-based sensors has been developed to traverse the ... More

Online Charge Scheduling for Electric Vehicles in Autonomous Mobility on Demand FleetsJul 01 2019In this paper, we study an online charge scheduling strategy for fleets of autonomous-mobility-on-demand electric vechicles (AMoD EVs). We consider the case where vehicles complete trips and then enter a between-ride state throughout the day, with their ... More

Equation Discovery for Nonlinear System IdentificationJul 01 2019Equation discovery methods enable modelers to combine domain-specific knowledge and system identification to construct models most suitable for a selected modeling task. The method described and evaluated in this paper can be used as a nonlinear system ... More

On-chip learning in a conventional silicon MOSFET based Analog Hardware Neural NetworkJul 01 2019On-chip learning in a crossbar array based analog hardware Neural Network (NN) has been shown to have major advantages in terms of speed and energy compared to training NN on a traditional computer. However analog hardware NN proposals and implementations ... More

Fingerprint-based Localization using Commercial LTE Signals: A Field-Trial StudyJul 01 2019Wireless localization for mobile device has attracted more and more interests by increasing the demand for location based services. Fingerprint-based localization is promising, especially in non-Line-of-Sight (NLoS) or rich scattering environments, such ... More

Model-free Friction Observers for Flexible Joint Robots with Torque MeasurementsJul 01 2019This paper tackles a friction compensation problem without using a friction model. The unique feature of the proposed friction observer is that the nominal motor-side signal is fed back into the controller instead of the measured signal. By doing so, ... More

A Formal Approach for Efficient Navigation Management of Hybrid Electric Vehicles on Long TripsJul 01 2019Plug-in Hybrid Electric Vehicles (PHEVs) are gaining popularity due to their economic efficiency as well as their contribution to green management. PHEVs allow the driver to use electric power exclusively for driving and then switch to gasoline as needed. ... More

Automatic Real-time Anomaly Detection for Autonomous Aerial VehiclesJul 01 2019The recent increase in the use of aerial vehicles raises concerns about the safety and reliability of autonomous operations. There is a growing need for methods to monitor the status of these aircraft and report any faults and anomalies to the safety ... More

Exploiting Acceleration Features of LabVIEW platform for Real-Time GNSS Software Receiver OptimizationJun 30 2019This paper presents the new generation of LabVIEW-based GPS receiver testbed that is based on National Instruments' (NI) LabVIEW (LV) platform in conjunction to C/C++ dynamic link libraries (DLL) used inside the platform for performance execution. This ... More

A Reduced Complexity Cross-correlation Interference Mitigation Technique on a Real-time Software-defined Radio GPS L1 ReceiverJun 30 2019The U.S. global position system (GPS) is one of the existing global navigation satellite systems (GNSS) that provides position and time information for users in civil, commercial and military backgrounds. Because of its reliance on many applications nowadays, ... More

N-Person Discrete-Time Dynamic Games of Asymmetric InformationJun 30 2019This paper considers a class of N-person discrete-time dynamic games with an asymmetric information structure. Each player has private information revealed only to himself, which is modeled as a random variable called the type. Each player aims to find ... More

Discrete Event Simulation of Driver's Routing Behavior Rule at a Road IntersectionJun 30 2019Several factors influence traffic congestion and overall traffic dynamics. Simulation modeling has been utilized to understand the traffic performance parameters during traffic congestions. This paper focuses on driver behavior of route selection by differentiating ... More

Dedicated Lane for Connected and Automated Vehicle: How Much Does A Homogeneous Traffic Flow Contribute?Jun 30 2019Dedicated lanes for connected and automated vehicles (CAVs) can not only provide the technological accommodation, but also the desired market incentive for road user to adapt CAVs. Thus far, the majority of the impact assessment of CAV focused on the ... More

Reinforcement Learning for Robotic Time-optimal Path Tracking Using Prior KnowledgeJun 30 2019Time-optimal path tracking, as a significant tool for industrial robots, has attracted the attention of numerous researchers. In most time-optimal path tracking problems, the actuator torque constraints are assumed to be conservative, which ignores the ... More

Development of a novel matrix-based methodology for system engineering: A case studyJun 30 2019Developing a structured method for analyzing various aspects of a system requires a novel methodology. This study is aimed at developing such as methodology through combining two major matrix methods, namely, Design Structure Matrix (DSM) and Interface ... More

Design and Implementation of an Automatic Synchronizing and Protection Relay through Power-Hardware-in-the-Loop (PHIL) SimulationJun 30 2019This paper focuses on the design and implementation of an automatic synchronizing and protection relay to automate the synchronization process of a Distributed Energy Resource (DER) to the Main Grid. The proposed design utilize a cost-effective data acquisition ... More