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Simulation Model of Two-Robot Cooperation in Common Operating EnvironmentAug 22 2019The article considers a simulation modelling problem related to the chess game process occurring between two three-tier manipulators. The objective of the game construction lies in developing the procedure of effective control of the autonomous manipulator ... More
Distributed Cooperative Online Estimation With Random Observation Matrices, Communication Graphs and Time-DelaysAug 22 2019We analyze convergence of distributed cooperative online estimation algorithms by a network of multiple nodes via information exchanging in an uncertain environment. Each node has a linear observation of an unknown parameter with randomly time-varying ... More
Power Factor Angle Droop Control-A General Decentralized Control of Cascaded invertersAug 22 2019This letter proposes a general decentralized control of cascaded inverters-power factor angle droop control. Compared to the existing control strategies, it has the following attractive benefits: 1) it is suitable for both grid-connected and islanded ... More
Benchmarking air-conditioning energy performance of residential rooms based on regression and clustering techniquesAug 22 2019Air conditioning (AC) accounts for a critical portion of the global energy consumption. To improve its energy performance, it is important to fairly benchmark its energy performance and provide the evaluation feedback to users. However, this task has ... More
cSeiz: An Edge-Device for Accurate Seizure Detection and Control for Smart HealthcareAug 21 2019Epilepsy is one of the most common neurological disorders affecting up to 1% of the world's population and approximately 2.5 million people in the United States. Seizures in more than 30% of epilepsy patients are refractory to anti-epileptic drugs. An ... More
Constrained Thompson Sampling for Real-Time Electricity Pricing with Grid Reliability ConstraintsAug 21 2019We consider the problem of an aggregator attempting to learn customers' load flexibility models while implementing a load shaping program by means of broadcasting daily dispatch signals. We adopt a multi-armed bandit formulation to account for the stochastic ... More
Energy Management of Airport Service Electric Vehicles to Match Renewable Generation through Rollout ApproachAug 21 2019Traditional diesel-based airport service vehicles are characterized by a heavy-duty, high-usage-frequency nature and a high carbon intensity per vehicle per hour. Transforming these vehicles into electric vehicles would reduce CO2 emissions and potentially ... More
Event-Triggered Output Synchronization of Heterogeneous Nonlinear Multi-AgentsAug 21 2019This paper addresses the output synchronization problem for heterogeneous nonlinear multi-agent systems with distributed event-based controllers. Employing the two-step synchronization process, we first outline the distributed event-triggered consensus ... More
Pipe Roughness Identification of Water Distribution Networks: The Full Turbulent CaseAug 21 2019This paper proposes a technique to identify individual pipe roughness parameters in a water distribution network by means of the inversion of the steady-state hydraulic network equations. By enabling the reconstruction of these hydraulic friction parameters ... More
First 20 Years of Green RadiosAug 21 2019Green radios jointly consider the spectrum efficiency and the energy efficiency in wireless networks in order to provide sustainable development. In the past two decades, various green radio solutions for different types of terminals and radio access ... More
Detection-averse optimal and receding-horizon control for Markov decision processesAug 21 2019In this paper, we consider a Markov decision process (MDP), where the ego agent has a nominal objective to pursue while needs to hide its state from detection by an adversary. After formulating the problem, we first propose a value iteration (VI) approach ... More
Pedestrian Dead-Reckoning Algorithms For Dual Foot-Mounted Inertial SensorsAug 20 2019This work proposes algorithms for reconstruction of closed-loop pedestrian trajectories based on two foot-mounted inertial measurement units (IMU). The first proposed algorithm allows calculation of a trajectory using measurements from only one IMU. The ... More
Improvements to Warm-Started Optimized Trajectory Planning for ASVsAug 20 2019We present improvements to a recently developed method for trajectory planning for autonomous surface vehicles (ASVs) in terms of run time. The original method combines two types of planners: An A* implementation that quickly finds the global shortest ... More
An efficient non-condensed approach for linear and nonlinear model predictive control with bounded variablesAug 20 2019This paper presents a new approach to solving linear and nonlinear model predictive control (MPC) problems that requires minimal memory footprint and throughput and is particularly suitable when the model and/or controller parameters change at runtime. ... More
Implementation of a Low-Cost Flight Tracking System for High-Altitude BallooningAug 20 2019High altitude balloons (HABs) are typically tracked via GPS data sent via real-time radio-based communication systems such as the Automated Packet Reporting System (APRS). Prefabricated APRS-compatible tracker modules have made it trivial to transmit ... More
The Silver Ratio and its Relation to ControllabilityAug 19 2019This note investigates the controllability of two unstable second-order systems that are coupled through a common input. These dynamics occur for different types of inverted-pendulum systems. Controllability is quantified by the volume of the state-space ... More
Information Design for Regulating Traffic Flows under Uncertain Network StateAug 19 2019Traffic navigation services have gained widespread adoption in recent years. The route recommendations generated by these services often leads to severe congestion on urban streets, raising concerns from neighboring residents and city authorities. This ... More
Probability Estimation with Truncated Inverse Binomial SamplingAug 19 2019In this paper, we develop a general theory of truncated inverse binomial sampling. In this theory, the fixed-size sampling and inverse binomial sampling are accommodated as special cases. In particular, the classical Chernoff-Hoeffding bound is an immediate ... More
Computational Flight Control: A Domain-Knowledge-Aided Deep Reinforcement Learning ApproachAug 19 2019This papers aims to examine the potential of using the emerging deep reinforcement learning techniques in flight control. Instead of learning from scratch, the autopilot structure is fixed as typical three-loop autopilot and deep reinforcement learning ... More
Time Delay in the Swing Equation: A Variety of BifurcationsAug 19 2019The present paper addresses the swing equation with additional delayed damping as an example for pendulum-like systems. In this context, it is proved that recurring sub- and supercritical Hopf bifurcations occur if time delay is increased. To this end, ... More
On Using Signal Magnitude in Diffusion Magnetic Resonance Measurements of Restricted MotionAug 19 2019Tissue microstructure has significance as a biomarker, however its accurate inference with diffusion magnetic resonance (MR) is still an open problem. With few exceptions, diffusion weighted (DW) MR models either process diffusion MR data using signal ... More
Distributed Stochastic Gradient Method for Non-Convex Problems with Applications in Supervised LearningAug 19 2019We develop a distributed stochastic gradient descent algorithm for solving non-convex optimization problems under the assumption that the local objective functions are twice continuously differentiable with Lipschitz continuous gradients and Hessians. ... More
Mitigating Multi-Stage Cascading Failure by Reinforcement LearningAug 19 2019This paper proposes a cascading failure mitigation strategy based on Reinforcement Learning (RL) method. Firstly, the principles of RL are introduced. Then, the Multi-Stage Cascading Failure (MSCF) problem is presented and its challenges are investigated. ... More
Asynchronous Distributed Voltage Control in Active Distribution NetworksAug 19 2019With the explosion of distributed energy resources (DERs), voltage regulation in distribution networks has been facing a great challenge. This paper derives an asynchronous distributed voltage control strategy based on the partial primal-dual gradient ... More
State Synchronization for Homogeneous Networks of Non-introspective Agents in Presence of Input Saturation -A Scale-free Protocol DesignAug 18 2019This paper studies global and semi-global regulated state synchronization of homogeneous networks of non-introspective agents in presence of input saturation based on additional information exchange where the reference trajectory is given by a so-called ... More
A false data injection attack method for generator dynamic state estimationAug 18 2019Accurate and reliable dynamic state quantities of generators are very important for real-time monitoring and control of the power system. The emergence of cyber attacks has brought new challenges to the state estimation of generators. Especially, false ... More
Long-Duration Fully Autonomous Operation of Rotorcraft Unmanned Aerial Systems for Remote-Sensing Data AcquisitionAug 18 2019Recent applications of unmanned aerial systems (UAS) to precision agriculture have shown increased ease and efficiency in data collection at precise remote locations. However, further enhancement of the field requires operation over long periods of time, ... More
Techno-economic analysis and optimization of a microgrid considering demand-side managementAug 17 2019The control and managing of power demand and supply become very crucial because of penetration of renewables in the electricity networks and energy demand increase in residential and commercial sectors. In this paper, a new approach is presented to bridge ... More
Design Automation and Optimization Methodology for Electric Multicopter UAVsAug 17 2019The traditional multicopter design method usually requires a long iterative process to find the optimal design based on given performance requirements. The method is uneconomical and inefficient. In this paper, a practical method is proposed to automatically ... More
Push-Pull Optimization of Quantum ControlsAug 17 2019Quantum optimal control involves setting up an objective function that evaluates the quality of an operator representing the realized process w.r.t. the target process. Here we propose a stronger objective function which incorporates not only the target ... More
Multi-Objective Evolutionary Framework for Non-linear System Identification: A Comprehensive InvestigationAug 17 2019The present study proposes a multi-objective framework for structure selection of nonlinear systems which are represented by polynomial NARX models. This framework integrates the key components of Multi-Criteria Decision Making (MCDM) which include preference ... More
Optimal scheduling strategy for networked estimation with energy harvestingAug 16 2019Joint optimization of scheduling and estimation policies is considered for a system with two sensors and two non-collocated estimators. Each sensor produces an independent and identically distributed sequence of random variables, and each estimator forms ... More
Stability Results for the Continuity EquationAug 16 2019We provide a thorough study of stability of the 1-D continuity equation, which models many physical conservation laws. In our system-theoretic perspective, the velocity is considered to be an input. An additional input appears in the boundary condition ... More
Secure State Estimation and Control for Cyber Security of AC MicrogridsAug 16 2019A timely, accurate, and secure dynamic state estimation is needed for reliable monitoring and efficient control of microgrids. The synchrophasor technology enables us to obtain synchronized measurements in real-time and to develop dynamic state estimators ... More
An Analytical Probabilistic Expression for Modeling Sum of Spatial-dependent Wind Power OutputAug 16 2019Applying probability-related knowledge to accurately explore and exploit the inherent uncertainty of wind power output is one of the key issues that need to be solved urgently in the development of smart grid. This letter develops an analytical probabilistic ... More
Persistent Surveillance With Energy-Constrained UAVs and Mobile Charging StationsAug 15 2019We address the problem of achieving persistent surveillance over an environment by using energy-constrained unmanned aerial vehicles (UAVs), which are supported by unmanned ground vehicles (UGVs) serving as mobile charging stations. Specifically, we plan ... More
Distributed Path Planning for Executing Cooperative Tasks with Time WindowsAug 15 2019We investigate the distributed planning of robot trajectories for optimal execution of cooperative tasks with time windows. In this setting, each task has a value and is completed if sufficiently many robots are simultaneously present at the necessary ... More
Voltage Instability Prediction Using a Deep Recurrent Neural NetworkAug 15 2019This paper develops a new method for voltage instability prediction using a recurrent neural network with long short-term memory. The method is aimed to be used as a supplementary warning system for system operators, capable of assessing whether the current ... More
Shield Synthesis for Real: Enforcing Safety in Cyber-Physical SystemsAug 15 2019Cyber-physical systems are often safety-critical in that violations of safety properties may lead to catastrophes. We propose a method to enforce the safety of systems with real-valued signals by synthesizing a runtime enforcer called the shield. Whenever ... More
Analysis of Various Transformer Structures for High Frequency Isolation ApplicationsAug 15 2019High frequency transformers are an integral part of power electronics devices and their parasitic parameters influence the performance and efficiency of the overall system. In this paper, transformer leakage inductances and parasitic capacitances are ... More
Resonant Machine Learning Based on Complex Growth Transform Dynamical SystemsAug 15 2019In this paper we propose an energy-efficient learning framework which exploits structural and functional similarities between a machine learning network and a general electrical network satisfying the Tellegen's theorem. The proposed formulation ensures ... More
Continuous Control for High-Dimensional State Spaces: An Interactive Learning ApproachAug 14 2019Deep Reinforcement Learning (DRL) has become a powerful methodology to solve complex decision-making problems. However, DRL has several limitations when used in real-world problems (e.g., robotics applications). For instance, long training times are required ... More
PMU Data Feature Considerations for Realistic, Synthetic Data GenerationAug 14 2019It is critical that the qualities and features of synthetically-generated, PMU measurements used for grid analysis matches those of measurements obtained from field-based PMUs. This ensures that analysis results generated by researchers during grid studies ... More
A Survey of Recent Scalability Improvements for Semidefinite Programming with Applications in Machine Learning, Control, and RoboticsAug 14 2019Historically, scalability has been a major challenge to the successful application of semidefinite programming in fields such as machine learning, control, and robotics. In this paper, we survey recent approaches for addressing this challenge including ... More
Neural Network Predictive Controller for Grid-Connected Virtual Synchronous GeneratorAug 14 2019In this paper, a neural network predictive controller is proposed to regulate the active and the reactive power delivered to the grid generated by a three-phase virtual inertia-based inverter. The concept of the conventional virtual synchronous generator ... More
Heuristic Dynamic Programming for Adaptive Virtual Synchronous GeneratorsAug 14 2019In this paper a neural network heuristic dynamic programing (HDP) is used for optimal control of the virtual inertia based control of grid connected three phase inverters. It is shown that the conventional virtual inertia controllers are not suited for ... More
Dual Heuristic Dynamic Programing Control of Grid-Connected SynchronvertersAug 14 2019In this paper a new approach to control a grid-connected synchronverter by using a dual heuristic dynamic programing (DHP) design is presented. The disadvantages of conventional synchronverter controller such as the challenges to cope with nonlinearity, ... More
New Results on Parameter Estimation via Dynamic Regressor Extension and Mixing: Continuous and Discrete-time CasesAug 14 2019We present some new results on the dynamic regressor extension and mixing parameter estimators for linear regression models recently proposed in the literature. This technique has proven instrumental in the solution of several open problems in system ... More
Cyber-Physical Systems Resilience: State of the Art, Research Issues and Future TrendsAug 14 2019Ideally, full integration is needed between the Internet and Cyber-Physical Systems (CPSs). These systems should fulfil time-sensitive functions with variable levels of integration with their environment, incorporating data storage, computation, communications, ... More
Robust Translational Force Control of Multi-Rotor UAV for Precise Acceleration TrackingAug 14 2019In this paper, we introduce a translational force control method with disturbance observer (DOB)-based force disturbance cancellation for precise three-dimensional acceleration control of a multi-rotor UAV. The acceleration control of the multi-rotor ... More
Monthly electricity consumption forecasting by the fruit fly optimization algorithm enhanced Holt-Winters smoothing methodAug 14 2019The electricity consumption forecasting is a critical component of the intelligent power system. And accurate monthly electricity consumption forecasting, as one of the the medium and long term electricity consumption forecasting problems, plays an important ... More
Distributed Estimation in the Presence of Strategic Data SourcesAug 13 2019Distributed estimation that recruits potentially large groups of humans to collect data about a phenomenon of interest has emerged as a paradigm applicable to a broad range of detection and estimation tasks. However, it also presents a number of challenges ... More
Inverse Rational Control with Partially Observable Continuous Nonlinear DynamicsAug 13 2019Continuous control and planning remains a major challenge in robotics and machine learning. Neuroscience offers the possibility of learning from animal brains that implement highly successful controllers, but it is unclear how to relate an animal's behavior ... More
Practical Active Disturbance Rejection Control: Bumpless Transfer, Rate Limitation and Incremental AlgorithmAug 13 2019Practical applications of controllers often impose further requirements on the implementation beyond the actual control performance, such as the ability to switch between manual and automatic control or between different control laws or controller parameter ... More
A Simulative Study on Active Disturbance Rejection Control (ADRC) as a Control Tool for PractitionersAug 13 2019As an alternative to both classical PID-type and modern model-based approaches to solving control problems, active disturbance rejection control (ADRC) has gained significant traction in recent years. With its simple tuning method and robustness against ... More
A Building-Block Approach to State-Space Modeling of DC-DC Converter SystemsAug 13 2019Small-signal models of DC-DC converters are often based on a state-space averaging approach, from which both control-oriented and other frequency-domain characteristics, such as input or output impedance, can be derived. Updating these models when extending ... More
Reinforcement Learning based Interconnection Routing for Adaptive Traffic OptimizationAug 13 2019Applying Machine Learning (ML) techniques to design and optimize computer architectures is a promising research direction. Optimizing the runtime performance of a Network-on-Chip (NoC) necessitates a continuous learning framework. In this work, we demonstrate ... More
Dynamic Contract Design for Systemic Cyber Risk Management of Interdependent Enterprise NetworksAug 12 2019The interconnectivity of cyber and physical systems and Internet of things has created ubiquitous concerns of cyber threats for enterprise system managers. It is common that the asset owners and enterprise network operators need to work with cybersecurity ... More
Comparison of coupled nonlinear oscillator models for the transient response of power generating stations connected to low inertia systemsAug 12 2019Coupled nonlinear oscillators, e.g., Kuramoto models, are commonly used to analyze electrical power systems. The cage model from statistical mechanics has also been used to describe the dynamics of synchronously connected generation stations. Whereas ... More
Active Damping of Power Oscillations Following Frequency Changes in Low Inertia Power SystemsAug 12 2019The absolute requirement to increase the amount of energy generation from renewable sources e.g. predominantly asynchronously connected wind turbines and photovoltaic installations, may in practice during transient events (where frequency changes are ... More
Solving high-dimensional nonlinear filtering problems using a tensor train decomposition methodAug 12 2019In this paper, we propose an efficient numerical method to solve high-dimensional nonlinear filtering (NLF) problems. Specifically, we use the tensor train decomposition method to solve the forward Kolmogorov equation (FKE) arising from the NLF problem. ... More
Open Traffic Models -- A framework for hybrid simulation of transportation networksAug 12 2019This paper introduces a new approach to hybrid traffic modeling, along with its implementation in software. The software allows modelers to assign traffic models to individual links in a network. Each model implements a series of methods, refered to as ... More
Mixed $H_2/H_{\infty}$ Control for Markov Jump Linear Systems with State and Mode-observation DelaysAug 12 2019In this paper, we study state-feedback control of Markov jump linear systems with state and mode-observation delays. We assume that the delay of the mode observation induced by the controllers follows an exponential distribution. We also introduce a time-varying ... More
Discounted Differential Privacy: Privacy of Evolving Datasets over an Infinite HorizonAug 12 2019In this paper, we define discounted differential privacy, as an alternative to (conventional) differential privacy, to investigate privacy of evolving datasets, containing time series over an unbounded horizon. Evolving datasets arise in energy systems ... More
Incentivizing Collaboration in Heterogeneous Teams via Common-Pool Resource GamesAug 11 2019We consider a team of heterogeneous agents that is collectively responsible for servicing and subsequently reviewing a stream of homogeneous tasks. Each agent (autonomous system or human operator) has an associated mean service time and mean review time ... More
Secret Securing with Multiple Protections and Minimum CostsAug 11 2019In this paper we study a security problem of protecting secrets with multiple protections and minimum costs. The target system is modeled as a discrete-event system (DES) in which a few states are secrets, and there are multiple subsets of protectable ... More
Stable spline identification of linear systems under missing dataAug 11 2019A different route to identification of time-invariant linear systems has been recently proposed which does not require committing to a specific parametric model structure. Impulse responses are described in a nonparametric Bayesian framework as zero-mean ... More
Frequency Observations and Statistic Analysis of Worldwide Main Power Grids Using FNET/GridEyeAug 10 2019With the increasing renewable energy sources, concerns about how renewable energy sources impact frequency have risen. There are few reports regarding power frequency status in worldwide main power grids and what are differences of frequency status between ... More
Optimization-based Settingless Algorithm Combining Protection and Fault IdentificationAug 10 2019The demand for faster protection algorithms is growing due to the increasingly faster dynamics in the system. The majority of existing algorithms require empirically selected set-points, which may reduce sensitivity to internal faults and cause security ... More
Fallback Strategies in Operation Control of Microgrids with Communication FailuresAug 10 2019This paper proposes a model predictive control (MPC)-based energy management system to address communication failures in an islanded microgrid (MG). The energy management system relies on a communication network to monitor and control power generation ... More
Optimal charging guidance strategies for electric vehicles by considering dynamic charging requests in a time-varying road networkAug 10 2019Electric vehicles (EVs) have enjoyed increasing adoption because of the global concerns about the petroleum dependence and greenhouse gas emissions. However, their limited driving range fosters the occurrence of charging requests deriving from EV drivers ... More
Learning physics-based reduced-order models for a single-injector combustion processAug 09 2019This paper presents a physics-based data-driven method to learn predictive reduced-order models (ROMs) from high-fidelity simulations, and illustrates it in the challenging context of a single-injector combustion process. The method combines the perspectives ... More
Learning physics-based reduced-order models for a single-injector combustion processAug 09 2019Aug 13 2019This paper presents a physics-based data-driven method to learn predictive reduced-order models (ROMs) from high-fidelity simulations, and illustrates it in the challenging context of a single-injector combustion process. The method combines the perspectives ... More
RuDaCoP: The Dataset for Smartphone-based Intellectual Pedestrian NavigationAug 09 2019This paper presents the large and diverse dataset for development of smartphone-based pedestrian navigation algorithms. This dataset consists of about 1200 sets of inertial measurements from sensors of several smartphones. The measurements are collected ... More
A Data-Driven and Model-Based Approach to Fault Detection and Isolation in Networked SystemsAug 09 2019Fault detection and isolation is a field of engineering dealing with designing on-line protocols for systems that allow one to identify the existence of faults, pinpoint their exact location, and overcome them. We consider the case of multi-agent systems, ... More
A Preliminary Study on A Physical Model Oriented Learning Algorithm with Application to UAVsAug 09 2019This paper provides a preliminary study for an efficient learning algorithm by reasoning the error from first principle physics to generate learning signals in near real time. Motivated by iterative learning control (ILC), this learning algorithm is applied ... More
Stability Analysis of Reservoir Computers Dynamics via Lyapunov FunctionsAug 09 2019A Lyapunov design method is used to analyze the nonlinear stability of a generic reservoir computer for both the cases of continuous-time and discrete-time dynamics. Using this method, for a given nonlinear reservoir computer, a radial region of stability ... More
Monitor-Based Runtime Assurance for Temporal Logic SpecificationsAug 08 2019This paper introduces the safety controller architecture as a runtime assurance mechanism for system specifications expressed as safety properties in Linear Temporal Logic (LTL). The safety controller has three fundamental components: a performance controller, ... More
Utility-Scale Energy Storage in an Imperfectly Competitive Power SectorAug 08 2019Interest in sustainability has increased the share of variable renewable energy sources (VRES) in power generation. Energy storage systems' potential to mitigate intermittencies from non-dispatchable VRES has enhanced their appeal. However, the impacts ... More
UAV Surveillance Under Visibility and Dwell-Time Constraints: A Sampling-Based ApproachAug 08 2019A framework is introduced for planning unmanned aerial vehicle flight paths for visual surveillance of ground targets, each having particular viewing requirements. Specifically, each target is associated with a set of imaging parameters, including a desired ... More
Disturbance Decoupling and Instantaneous Fault Detection in Boolean Control NetworksAug 08 2019The literature available on disturbance decoupling (DD) of Boolean control network (BCN) is built on a restrictive notion of what constitutes as disturbance decoupling. The results available on necessary and sufficient conditions are of limited applicability ... More
HyperStream: a Workflow Engine for Streaming DataAug 07 2019This paper describes HyperStream, a large-scale, flexible and robust software package, written in the Python language, for processing streaming data with workflow creation capabilities. HyperStream overcomes the limitations of other computational engines ... More
Principal Cross-Border Flow Patterns in the European Electricity MarketsAug 07 2019The interconnected European Electricity Markets see considerable cross-border trade between different countries. In conjunction with the structure and technical characteristics of the power grid and its operating rules, the corresponding commercial flows ... More
Loss Minimization with Optimal Power Dispatch in Multi-Frequency HVac Power SystemsAug 07 2019Low-frequency high voltage ac transmission scheme has recently been proposed as an alternative approach for bulk power transmission. This paper proposes a multi-period optimal power flow (OPF) for a multi-frequency HVac transmission system that interconnects ... More
Loss Minimization with Optimal Power Dispatch in Multi-Frequency HVac Power SystemsAug 07 2019Aug 13 2019Low-frequency high voltage ac transmission scheme has recently been proposed as an alternative approach for bulk power transmission. This paper proposes a multi-period optimal power flow (OPF) for a multi-frequency HVac transmission system that interconnects ... More
Control of Cooperative Unmanned Aerial Vehicles: Review of Applications, Challenges, and AlgorithmsAug 07 2019A system of cooperative unmanned aerial vehicles (UAVs) is a group of agents interacting with each other and the surrounding environment to achieve a specific task. In contrast with a single UAV, UAV swarms are expected to benefit efficiency, flexibility, ... More
Unified Simulation and Test Platform for Control Systems of Unmanned VehiclesAug 07 2019Control systems on unmanned vehicles are safety-critical systems whose requirements on reliability and safety are ever-increasing. Currently, testing a complex autonomous control system is an expensive and time-consuming process, which requires massive ... More
Cable-driven robotic interface for lower limb neuromechanics identificationAug 07 2019This paper presents a versatile cable-driven robotic interface to investigate the single-joint joint neuromechanics of the hip, knee and ankle. This endpoint-based interface offers highly dynamic interaction and accurate position control, as is typically ... More
Large-scale traffic signal control using machine learning: some traffic flow considerationsAug 07 2019This paper uses supervised learning, random search and deep reinforcement learning (DRL) methods to control large signalized intersection networks. The traffic model is Cellular Automaton rule 184, which has been shown to be a parameter-free representation ... More
Comparison of Bounds for Optimal PMU Placement for State Estimation in Distribution GridsAug 07 2019The lack of measurements in distribution grids poses a severe challenge for their monitoring: since there may not be enough sensors to achieve numerical observability, load forecasts (pseudo-measurements) are typically used, and thus an accurate state ... More
Leader-Follower Network Aggregative Game with Stochastic Agents' Communication and ActivenessAug 07 2019This technical note presents a leader-follower scheme for network aggregative games. The followers and leader are selfish cost minimizing agents. The cost function of each follower is affected by strategy of leader and aggregated strategies of its neighbors ... More
Optimization-Based Learning Control for Nonlinear Time-Varying SystemsAug 07 2019Learning to perform perfect tracking tasks based on measurement data is desirable in the controller design of systems operating repetitively. This motivates the present paper to seek an optimization-based design approach for iterative learning control ... More
Analytical Performance Models for NoCs with Multiple Priority Traffic ClassesAug 07 2019Networks-on-chip (NoCs) have become the standard for interconnect solutions in industrial designs ranging from client CPUs to many-core chip-multiprocessors. Since NoCs play a vital role in system performance and power consumption, pre-silicon evaluation ... More
Evaluation of Headway Threshold-based Coordinated Platooning over a Cascade of Highway JunctionsAug 07 2019Platooning of vehicles with coordinated adaptive cruise control (CACC) capabilities is a promising technology with a strong potential for fuel savings and congestion mitigation. Although some researchers have studied the vehicle-level fuel savings of ... More
Moving-Target Defense for Detecting Coordinated Cyber-Physical Attacks in Power GridsAug 06 2019This work proposes a moving target defense (MTD) strategy to detect coordinated cyber-physical attacks (CCPAs) against power grids. A CCPA consists of a physical attack, such as disconnecting a transmission line, followed by a coordinated cyber attack ... More
Subspace Identification of Temperature DynamicsAug 06 2019Data-driven modeling and control of temperature dynamics in mechatronics systems and industrial processes are challenging control engineering problems. This is mainly because the temperature dynamics is inherently infinite-dimensional, nonlinear, spatially ... More
Runtime Monitoring of Real time Safety Requirements in Smart CitiesAug 06 2019There is an increasing need for the runtime monitoring of real time safety and performance requirements in smart cities. In this paper, we present SaSTL, a novel Spatial Aggregation Signal Temporal Logic, to specify and monitor real time requirements ... More
A Public Network Trace of a Control and Automation SystemAug 06 2019The increasing number of attacks against automation systems such as SCADA and their network infrastructure have demonstrated that there is a need to secure those systems. Unfortunately, directly applying existing ICT security mechanisms to automation ... More
Adaptive Critic Based Optimal Kinematic Control for a Robot ManipulatorAug 06 2019This paper is concerned with the optimal kinematic control of a robot manipulator where the robot end effector position follows a task space trajectory. The joints are actuated with the desired velocity profile to achieve this task. This problem has been ... More
Comprehensive Fuzzy Turing Machines, An Evolution to the Concept of Finite State Machine ControlAug 06 2019The Turing machine is an abstract concept of a computing device which introduced new models for computation. The idea of Fuzzy algorithms defined by Zadeh and Lee was followed by introducing Fuzzy Turing Machine (FTM) to create a platform for a new fuzzy ... More