In this paper, we present a decentralized control approach based on a Nonlinear Model Predictive Control (NMPC) method that employs barrier certificates for safe navigation of multiple nonholonomic wheeled mobile robots in unknown environments with static and/or dynamic obstacles. This method incorporates a Learned Barrier Function (LBF) into the NMPC design in order to guarantee safe robot navigation, i.e., prevent robot collisions with other robots and the obstacles. We refer to our proposed control approach as NMPC-LBF. Since each robot does not have a priori knowledge about the obstacles and other robots, we use a Deep Neural Network (DeepNN) running in real-time on each robot to learn the Barrier Function (BF) only from the robot's LiDAR and odometry measurements. The DeepNN is trained to learn the BF that separates safe and unsafe regions. We implemented our proposed method on simulated and actual Turtlebot3 Burger robot(s) in different scenarios. The implementation results show the effectiveness of the NMPC-LBF method at ensuring safe navigation of the robots.
In this paper, we present a deep neural network based adaptive learning (DNN-AL) approach for switched systems. Currently, deep neural network based methods are actively developed for learning governing equations in unknown dynamic systems, but their efficiency can degenerate for switching systems, where structural changes exist at discrete time instants. In this new DNN-AL strategy, observed datasets are adaptively decomposed into subsets, such that no structural changes within each subset. During the adaptive procedures, DNNs are hierarchically constructed, and unknown switching time instants are gradually identified. Especially, network parameters at previous iteration steps are reused to initialize networks for the later iteration steps, which gives efficient training procedures for the DNNs. For the DNNs obtained through our DNN-AL, bounds of the prediction error are established. Numerical studies are conducted to demonstrate the efficiency of DNN-AL.
As the number of devices connected to the Internet of Things (IoT) increases significantly, it leads to an exponential growth in the number of services that need to be processed and stored in the large-scale Cloud-based service repositories. An efficient service indexing model is critical for service retrieval and management of large-scale Cloud-based service repositories. The multilevel index model is the state-of-art service indexing model in recent years to improve service discovery and combination. This paper aims to optimize the model to consider the impact of unequal appearing probability of service retrieval request parameters and service input parameters on service retrieval and service addition operations. The least-used key selection method has been proposed to narrow the search scope of service retrieval and reduce its time. The experimental results show that the proposed least-used key selection method improves the service retrieval efficiency significantly compared with the designated key selection method in the case of the unequal appearing probability of parameters in service retrieval requests under three indexing models.
Several techniques for multivariate time series anomaly detection have been proposed recently, but a systematic comparison on a common set of datasets and metrics is lacking. This paper presents a systematic and comprehensive evaluation of unsupervised and semi-supervised deep-learning based methods for anomaly detection and diagnosis on multivariate time series data from cyberphysical systems. Unlike previous works, we vary the model and post-processing of model errors, i.e. the scoring functions independently of each other, through a grid of 10 models and 4 scoring functions, comparing these variants to state of the art methods. In time-series anomaly detection, detecting anomalous events is more important than detecting individual anomalous time-points. Through experiments, we find that the existing evaluation metrics either do not take events into account, or cannot distinguish between a good detector and trivial detectors, such as a random or an all-positive detector. We propose a new metric to overcome these drawbacks, namely, the composite F-score ($Fc_1$), for evaluating time-series anomaly detection. Our study highlights that dynamic scoring functions work much better than static ones for multivariate time series anomaly detection, and the choice of scoring functions often matters more than the choice of the underlying model. We also find that a simple, channel-wise model - the Univariate Fully-Connected Auto-Encoder, with the dynamic Gaussian scoring function emerges as a winning candidate for both anomaly detection and diagnosis, beating state of the art algorithms.
Nonlinear state estimation (SE), with the goal of estimating complex bus voltages based on all types of measurements available in the power system, is usually solved using the iterative Gauss-Newton method. The nonlinear SE presents some difficulties when considering inputs from both phasor measurement units and supervisory control and data acquisition system. These include numerical instabilities, convergence time depending on the starting point of the iterative method, and the quadratic computational complexity of a single iteration regarding the number of state variables. This paper introduces an original graph neural network based SE implementation over the augmented factor graph of the nonlinear power system SE, capable of incorporating measurements on both branches and buses, as well as both phasor and legacy measurements. The proposed regression model has linear computational complexity during the inference time once trained, with a possibility of distributed implementation. Since the method is noniterative and non-matrix-based, it is resilient to the problems that the Gauss-Newton solver is prone to. Aside from prediction accuracy on the test set, the proposed model demonstrates robustness when simulating cyber attacks and unobservable scenarios due to communication irregularities. In those cases, prediction errors are sustained locally, with no effect on the rest of the power system's results.
We describe our workflow to create an engaging remote learning experience for a university course, while minimizing the post-production time of the educators. We make use of ubiquitous and commonly free services and platforms, so that our workflow is inclusive for all educators and provides polished experiences for students. Our learning materials provide for each lecture: 1) a recorded video, uploaded on YouTube, with exact slide timestamp indices, which enables an enhanced navigation UI; and 2) a high-quality flow-text automated transcript of the narration with proper punctuation and capitalization, improved with a student participation workflow on GitHub. All these results could be created by hand in a time consuming and costly way. However, this would generally exceed the time available for creating course materials. Our main contribution is to automate the transformation and post-production between raw narrated slides and our published materials with a custom toolchain. Furthermore, we describe our complete workflow: from content creation to transformation and distribution. Our students gave us overwhelmingly positive feedback and especially liked our use of ubiquitous platforms. The most used feature was YouTube's chapter UI enabled through our automatically generated timestamps. The majority of students, who started using the transcripts, continued to do so. Every single transcript was corrected by students, with an average word-change of 6%. We conclude with the positive feedback that our enhanced content formats are much appreciated and utilized. Important for educators is how our low overhead production workflow was sustainable throughout a busy semester.
The line coverage problem is to find efficient routes for coverage of linear features by one or more resource-constrained robots. Linear features model environments such as road networks, power lines, and oil and gas pipelines. We define two modes of travel for the robots: servicing and deadheading. A robot services a feature if it performs task-specific actions, e.g., taking images, as it traverses the feature; otherwise, it is deadheading. Traversing the environment incurs costs (e.g., travel time) and demands on resources (e.g., battery life). Servicing and deadheading can have different cost and demand functions, and we further permit them to be direction-dependent. We model the environment as a graph and provide an integer linear program. As the problem is NP-hard, we develop a fast and efficient heuristic algorithm, Merge-Embed-Merge (MEM). The constructive property of the algorithm enables solving the multi-depot version for large graphs. We further extend the MEM algorithm to handle turning costs and nonholonomic constraints. We benchmark the algorithm on a dataset of 50 road networks and demonstrate the algorithm in experiments using aerial robots on road networks.
This paper proposes a method for lifelong learning of Recurrent Neural Networks, such as NNARX, ESN, LSTM, and GRU, to be used as plant models in control system synthesis. The problem is significant because in many practical applications it is required to adapt the model when new information is available and/or the system undergoes changes, without the need to store an increasing amount of data as time proceeds. Indeed, in this context, many problems arise, such as the well known Catastrophic Forgetting and Capacity Saturation ones. We propose an adaptation algorithm inspired by Moving Horizon Estimators, deriving conditions for its convergence. The described method is applied to a simulated chemical plant, already adopted as a challenging benchmark in the existing literature. The main results achieved are discussed.
We present a soluble biped walking model based on an inverted pendulum with two massless articulated legs capable of walking on uneven floors and inclined planes. The stride of the two-legged robot results from the pendular motion of a standing leg and the articulated motion of a trailing leg. Gaiting is possible due to the alternating role of the legs, the standing and the trailing leg, and the conservation of energy of the pendular motion. The motion on uneven surfaces and inclined planes is possible by imposing the same maximal opening angle between the two legs in the transition between strides and the adaptability of the time of each stride. This model is soluble in closed form and is reversible in time, modelling different types of biped motion. Several optimisation results for the speed of gaiting as a function of the robot parameters have been derived.
Introduction: For supervised deep learning (DL) tasks, researchers need a large annotated dataset. In medical data science, one of the major limitations to develop DL models is the lack of annotated examples in large quantity. This is most often due to the time and expertise required to annotate. We introduce Lirot.ai, a novel platform for facilitating and crowd-sourcing image segmentations. Methods: Lirot.ai is composed of three components; an iPadOS client application named Lirot.ai-app, a backend server named Lirot.ai-server and a python API name Lirot.ai-API. Lirot.ai-app was developed in Swift 5.6 and Lirot.ai-server is a firebase backend. Lirot.ai-API allows the management of the database. Lirot.ai-app can be installed on as many iPadOS devices as needed so that annotators may be able to perform their segmentation simultaneously and remotely. We incorporate Apple Pencil compatibility, making the segmentation faster, more accurate, and more intuitive for the expert than any other computer-based alternative. Results: We demonstrate the usage of Lirot.ai for the creation of a retinal fundus dataset with reference vasculature segmentations. Discussion and future work: We will use active learning strategies to continue enlarging our retinal fundus dataset by including a more efficient process to select the images to be annotated and distribute them to annotators.