pwc-archive/papers-with-abstracts huggingface dataset:
Measuring Perceived Trust in XAI-Assisted Decision-Making by Eliciting a Mental Model
Authors: Mohsen Abbaspour Onari, Isel Grau, Marco S. Nobile, Yingqian Zhang
Date: 2023-07-15 00:00:00
Tasks: Decision Making, Diagnostic, Explainable artificial intelligence, Explainable Artificial Intelligence (XAI), Interpretable Machine Learning

This empirical study proposes a novel methodology to measure users' perceived trust in an Explainable Artificial Intelligence (XAI) model. To do so, users' mental models are elicited using Fuzzy Cognitive Maps (FCMs). First, we exploit an interpretable Machine Learning (ML) model to classify suspected COVID-19 patients into positive or negative cases. Then, Medical Experts' (MEs) conduct a diagnostic decision-making task based on their knowledge and then prediction and interpretations provided by the XAI model. In order to evaluate the impact of interpretations on perceived trust, explanation satisfaction attributes are rated by MEs through a survey. Then, they are considered as FCM's concepts to determine their influences on each other and, ultimately, on the perceived trust. Moreover, to consider MEs' mental subjectivity, fuzzy linguistic variables are used to determine the strength of influences. After reaching the steady state of FCMs, a quantified value is obtained to measure the perceived trust of each ME. The results show that the quantified values can determine whether MEs trust or distrust the XAI model. We analyze this behavior by comparing the quantified values with MEs' performance in completing diagnostic tasks.
Rethinking Trust Repair in Human-Robot Interaction
Authors: Connor Esterwood
Date: 2023-07-14 00:00:00

As robots become increasingly prevalent in work-oriented collaborations, trust has emerged as a critical factor in their acceptance and effectiveness. However, trust is dynamic and can erode when mistakes are made. Despite emerging research on trust repair in human-robot interaction, significant questions remain about identifying reliable approaches to restoring trust in robots after trust violations occur. To address this problem, my research aims to identify effective strategies for designing robots capable of trust repair in human-robot interaction (HRI) and to explore the underlying mechanisms that make these strategies successful. This paper provides an overview of the fundamental concepts and key components of the trust repair process in HRI, as well as a summary of my current published work in this area. Additionally, I discuss the research questions that will guide my future work and the potential contributions that this research could make to the field.
Proceeding of the 1st Workshop on Social Robots Personalisation At the crossroads between engineering and humanities (CONCATENATE)
Authors: Imene Tarakli, Georgios Angelopoulos, Mehdi Hellou, Camille Vindolet, Boris Abramovic, Rocco Limongelli, Dimitri Lacroix, Andrea Bertolini, Silvia Rossi, Alessandro Di Nuovo, Angelo Cangelosi, Gordon Cheng
Date: 2023-07-10 00:00:00
Tasks: Attribute

Nowadays, robots are expected to interact more physically, cognitively, and socially with people. They should adapt to unpredictable contexts alongside individuals with various behaviours. For this reason, personalisation is a valuable attribute for social robots as it allows them to act according to a specific user's needs and preferences and achieve natural and transparent robot behaviours for humans. If correctly implemented, personalisation could also be the key to the large-scale adoption of social robotics. However, achieving personalisation is arduous as it requires us to expand the boundaries of robotics by taking advantage of the expertise of various domains. Indeed, personalised robots need to analyse and model user interactions while considering their involvement in the adaptative process. It also requires us to address ethical and socio-cultural aspects of personalised HRI to achieve inclusive and diverse interaction and avoid deception and misplaced trust when interacting with the users. At the same time, policymakers need to ensure regulations in view of possible short-term and long-term adaptive HRI. This workshop aims to raise an interdisciplinary discussion on personalisation in robotics. It aims at bringing researchers from different fields together to propose guidelines for personalisation while addressing the following questions: how to define it - how to achieve it - and how it should be guided to fit legal and ethical requirements.
Newton Nonholonomic Source Seeking for Distance-Dependent Maps
Authors: Velimir Todorovski, Miroslav Krstic
Date: 2023-07-21 00:00:00

The topics of source seeking and Newton-based extremum seeking have flourished, independently, but never combined. We present the first Newton-based source seeking algorithm. The algorithm employs forward velocity tuning, as in the very first source seeker for the unicycle, and incorporates an additional Riccati filter for inverting the Hessian inverse and feeding it into the demodulation signal. Using second-order Lie bracket averaging, we prove convergence to the source at a rate that is independent of the unknown Hessian of the map. The result is semiglobal and practical, for a map that is quadratic in the distance from the source. The paper presents a theory and simulations, which show advantage of the Newton-based over the gradient-based source seeking.
Integration of Frame- and Label-synchronous Beam Search for Streaming Encoder-decoder Speech Recognition
Authors: Emiru Tsunoo, Hayato Futami, Yosuke Kashiwagi, Siddhant Arora, Shinji Watanabe
Date: 2023-07-24 00:00:00
Tasks: Automatic Speech Recognition, Decoder, speech-recognition, Speech Recognition

Although frame-based models, such as CTC and transducers, have an affinity for streaming automatic speech recognition, their decoding uses no future knowledge, which could lead to incorrect pruning. Conversely, label-based attention encoder-decoder mitigates this issue using soft attention to the input, while it tends to overestimate labels biased towards its training domain, unlike CTC. We exploit these complementary attributes and propose to integrate the frame- and label-synchronous (F-/L-Sync) decoding alternately performed within a single beam-search scheme. F-Sync decoding leads the decoding for block-wise processing, while L-Sync decoding provides the prioritized hypotheses using look-ahead future frames within a block. We maintain the hypotheses from both decoding methods to perform effective pruning. Experiments demonstrate that the proposed search algorithm achieves lower error rates compared to the other search methods, while being robust against out-of-domain situations.
Timely Target Tracking: Distributed Updating in Cognitive Radar Networks
Authors: William W. Howard, Anthony F. Martone, R. Michael Buehrer
Date: 2023-07-24 00:00:00
Tasks: Decision Making

Cognitive radar networks (CRNs) are capable of optimizing operating parameters in order to provide actionable information to an operator or secondary system. CRNs have been proposed to answer the need for low-cost devices tracking potentially large numbers of targets in geographically diverse regions. Networks of small-scale devices have also been shown to outperform legacy, large scale, high price, single-device installations. In this work, we consider a CRN tracking multiple targets with a goal of providing information which is both fresh and accurate to a measurement fusion center (FC). We show that under a constraint on the update rate of each radar node, the network is able to utilize Age of Information (AoI) metrics to maximize the resource utilization and minimize error per track. Since information freshness is critical to decision-making, this structure enables a CRN to provide the highest-quality information possible to a downstream system or operator. We discuss centralized and distributed approaches to solving this problem, taking into account the quality of node observations, the maneuverability of each target, and a limit on the rate at which any node may provide updates to the FC. We present a centralized AoI-inspired node selection metric, where a FC requests updates from specific nodes. We compare this against several alternative techniques. Further, we provide a distributed approach which utilizes the Age of Incorrect Information (AoII) metric, allowing each independent node to provide updates according to the targets it can observe. We provide mathematical analysis of the rate limits defined for the centralized and distributed approaches, showing that they are equivalent. We conclude with numerical simulations demonstrating that the performance of the algorithms exceeds that of alternative approaches, both in resource utilization and in tracking performance.
Topology-aware Piecewise Linearization of the AC Power Flow through Generative Modeling
Authors: Young-ho Cho, Hao Zhu
Date: 2023-07-24 00:00:00

Effective power flow modeling critically affects the ability to efficiently solve large-scale grid optimization problems, especially those with topology-related decision variables. In this work, we put forth a generative modeling approach to obtain a piecewise linear (PWL) approximation of AC power flow by training a simple neural network model from actual data samples. By using the ReLU activation, the NN models can produce a PWL mapping from the input voltage magnitudes and angles to the output power flow and injection. Our proposed generative PWL model uniquely accounts for the nonlinear and topology-related couplings of power flow models, and thus it can greatly improve the accuracy and consistency of output power variables. Most importantly, it enables to reformulate the nonlinear power flow and line status-related constraints into mixed-integer linear ones, such that one can efficiently solve grid topology optimization tasks like the AC optimal transmission switching (OTS) problem. Numerical tests using the IEEE 14- and 118-bus test systems have demonstrated the modeling accuracy of the proposed PWL approximation using a generative approach, as well as its ability in enabling competitive OTS solutions at very low computation order.
Efficient STL Control Synthesis under Asynchronous Temporal Robustness Constraints
Authors: Xinyi Yu, Xiang Yin, Lars Lindemann
Date: 2023-07-24 00:00:00

In time-critical systems, such as air traffic control systems, it is crucial to design control policies that are robust to timing uncertainty. Recently, the notion of Asynchronous Temporal Robustness (ATR) was proposed to capture the robustness of a system trajectory against individual time shifts in its sub-trajectories. In a multi-robot system, this may correspond to individual robots being delayed or early. Control synthesis under ATR constraints is challenging and has not yet been addressed. In this paper, we propose an efficient control synthesis method under ATR constraints which are defined with respect to simple safety or complex signal temporal logic specifications. Given an ATR bound, we compute a sequence of control inputs so that the specification is satisfied by the system as long as each sub-trajectory is shifted not more than the ATR bound. We avoid combinatorially exploring all shifted sub-trajectories by first identifying redundancy between them. We capture this insight by the notion of instant-shift pair sets, and then propose an optimization program that enforces the specification only over the instant-shift pair sets. We show soundness and completeness of our method and analyze its computational complexity. Finally, we present various illustrative case studies.
Trust-aware Safe Control for Autonomous Navigation: Estimation of System-to-human Trust for Trust-adaptive Control Barrier Functions
Authors: Saad Ejaz, Masaki Inoue
Date: 2023-07-24 00:00:00
Tasks: Autonomous Navigation, Model Predictive Control

A trust-aware safe control system for autonomous navigation in the presence of humans, specifically pedestrians, is presented. The system combines model predictive control (MPC) with control barrier functions (CBFs) and trust estimation to ensure safe and reliable navigation in complex environments. Pedestrian trust values are computed based on features, extracted from camera sensor images, such as mutual eye contact and smartphone usage. These trust values are integrated into the MPC controller's CBF constraints, allowing the autonomous vehicle to make informed decisions considering pedestrian behavior. Simulations conducted in the CARLA driving simulator demonstrate the feasibility and effectiveness of the proposed system, showcasing more conservative behaviour around inattentive pedestrians and vice versa. The results highlight the practicality of the system in real-world applications, providing a promising approach to enhance the safety and reliability of autonomous navigation systems, especially self-driving vehicles.
A High Frequency Active Clamp Forward Converter with Coreless Transformer
Authors: Reza Asrar Ghaderloo, Ali Parsa Sirat, Abbas Shoulaie
Date: 2023-07-24 00:00:00

In this paper, a highly compact, low power (<10W), high frequency (2 MHz) isolated active clamp forward converter, comprising a coreless Printed Circuit Board-based transformer is proposed. To decrease the size of converter, high switching frequency is considered which lead to decrease in inductor, capacitor and transformer size. Highly switch loss due to hard switching is an important constraint of forward topology to increase frequency. In this paper, the active clamp circuit is added to forward topology to achieve zero voltage switching and decrease switching loss drastically. Due to zero voltage switching, the proposed converter can operate in high frequency. The principle of active clamp forward converter is described in this paper. Another constraint to increase the switching frequency of forward converter is transformer core losses. In this paper, coreless PCB-based transformer is proposed and implemented to be utilized in the structure of the active clamp forward converter. Instead of classic core-based transformer, using a PCB-based transformer as the power transmitter has increased the efficiency due to elimination of core hysteresis loss. The equivalent circuit, transfer function and input impedance of PCB-based coreless transformer are presented in high frequency. Finally, an experimental prototype of the active clamp forward converter which uses a coreless transformer is implemented. The experimental results of proposed converter are presented to evaluate the theoretical analysis and performance.
Sequential Quadratic Programming-based Iterative Learning Control for Nonlinear Systems
Authors: Samuel Balula, Efe C. Balta, Dominic Liao-McPherson, Alisa Rupenyan, John Lygeros
Date: 2023-07-24 00:00:00

Learning-based control methods for industrial processes leverage the repetitive nature of the underlying process to learn optimal inputs for the system. While many works focus on linear systems, real-world problems involve nonlinear dynamics. In this work, we propose an algorithm for the nonlinear iterative learning control problem based on sequential quadratic programming, a well-studied method for nonconvex optimization. We repeatedly solve quadratic subproblems built using approximate nonlinear models and process measurements, to find an optimal input for the original system. We demonstrate our method in a trajectory optimization problem for a precision motion system. We present simulations to illustrate the performance of the proposed method for linear and nonlinear dynamics models.
Outage Performance of Multi-tier UAV Communication with Random Beam Misalignment
Authors: WeiHao Wang, Zesong Fei, Jing Guo, Salman Durrani, Halim Yanikomeroglu
Date: 2023-07-24 00:00:00

By exploiting the degree of freedom on the altitude, unmanned aerial vehicle (UAV) communication can provide ubiquitous communication for future wireless networks. In the case of concurrent transmission of multiple UAVs, the directional beamforming formed by multiple antennas is an effective way to reduce co-channel interference. However, factors such as airflow disturbance or estimation error for UAV communications can cause the occurrence of beam misalignment. In this paper, we investigate the system performance of a multi-tier UAV communication network with the consideration of unstable beam alignment. In particular, we propose a tractable random model to capture the impacts of beam misalignment in the 3D space. Based on this, by utilizing stochastic geometry, an analytical framework for obtaining the outage probability in the downlink of a multi-tier UAV communication network for the closest distance association scheme and the maximum average power association scheme is established. The accuracy of the analysis is verified by Monte-Carlo simulations. The results indicate that in the presence of random beam misalignment, the optimal number of UAV antennas needs to be adjusted to be relatively larger when the density of UAVs increases or the altitude of UAVs becomes higher.
Effective Scaling of High-Fidelity Electric Motor Models for Electric Powertrain Design Optimization
Authors: Olaf Borsboom, Martijn Lokker, Mauro Salazar, Theo Hofman
Date: 2023-07-24 00:00:00
Tasks: Bayesian Optimization

In general, electric motor design procedures for automotive applications go through expensive trial-and-error processes or use simplified models that linearly stretch the efficiency map. In this paper, we explore the possibility of efficiently optimizing the motor design directly, using high-fidelity simulation software and derivative-free optimization solvers. In particular, we proportionally scale an already existing electric motor design in axial and radial direction, as well as the sizes of the magnets and slots separately, in commercial motor design software. We encapsulate this motor model in a vehicle model together with the transmission, simulate a candidate design on a drive cycle, and find an optimum through a Bayesian optimization solver. We showcase our framework on a small city car, and observe an energy consumption reduction of 0.13% with respect to a completely proportional scaling method, with a motor that is equipped with relatively shorter but wider magnets and slots. In the extended version of this paper, we include a comparison with the linear models, and add experiments on different drive cycles and vehicle types.
Safety monitoring under stealthy sensor injection attacks using reachable sets
Authors: Cédric Escudero, Michelle S. Chong, Paolo Massioni, Eric Zamaï
Date: 2023-07-24 00:00:00

Stealthy sensor injection attacks are serious threats for industrial plants as they can compromise the plant's integrity without being detected by traditional fault detectors. In this manuscript, we study the possibility of revealing the presence of such attacks by monitoring only the control input. This approach consists in computing an ellipsoidal bound of the input reachable set. When the control input does not belong to this set, this means that a stealthy sensor injection attack is driving the plant to critical states. The problem of finding this ellipsoidal bound is posed as a convex optimization problem (convex cost with Linear Matrix Inequalities constraints). Our monitoring approach is tested in simulation.
A Dynamic Equivalent Energy Storage Model of Natural Gas Networks for Joint Optimal Dispatch of Electricity-Gas Systems
Authors: Siyuan Wang, Wenchuan Wu, Chenhui Lin, Binbin Chen
Date: 2023-07-24 00:00:00

The development of energy conversion techniques enhances the coupling between the gas network and power system. However, challenges remain in the joint optimal dispatch of electricity-gas systems. The dynamic model of the gas network, described by partial differential equations, is complex and computationally demanding for power system operators. Furthermore, information privacy concerns and limited accessibility to detailed gas network models by power system operators necessitate quantifying the equivalent energy storage capacity of gas networks. This paper proposes a multi-port energy storage model with time-varying capacity to represent the dynamic gas state transformation and operational constraints in a compact and intuitive form. The model can be easily integrated into the optimal dispatch problem of the power system. Test cases demonstrate that the proposed model ensures feasible control strategies and significantly reduces the computational burden while maintaining high accuracy in the joint optimal dispatch of electricity-gas systems. In contrast, the existing static equivalent model fails to capture the full flexibility of the gas network and may yield infeasible results.
Algorithmic construction of Lyapunov functions for continuous vector fields via convex semi-infinite programs
Authors: Raavi Gupta, Sameep Chattopadhyay, Pradyumna Paruchuri, Debasish Chatterjee
Date: 2023-07-24 00:00:00

This article presents a novel numerically tractable technique for synthesizing Lyapunov functions for equilibria of nonlinear vector fields. In broad strokes, corresponding to an isolated equilibrium point of a given vector field, a selection is made of a compact neighborhood of the equilibrium and a dictionary of functions in which a Lyapunov function is expected to lie. Then an algorithmic procedure based on the recent work [DACC22] is deployed on the preceding neighborhood-dictionary pair and charged with the task of finding a function satisfying a compact family of inequalities that defines the behavior of a Lyapunov function on the selected neighborhood. The technique applies to continuous nonlinear vector fields without special algebraic structures and does not even require their analytical expressions to proceed. Several numerical examples are presented to illustrate our results.
Capacity Expansion of High Renewable Penetrated Energy Systems Considering Concentrating Solar Power for Seasonal Energy Balance
Authors: Jing Li, Tianguang Lu, Xinning Yi, Shaorui Wang, Xueqian He
Date: 2023-07-23 00:00:00

With the increasing proportion of variable renewable energy which owns fluctuation characteristics and the promotion of the Clean Heating policy, the seasonal energy imbalance of the system has been more and more challenging. There is a lack of effective means to mitigate this challenge under the background of gradual compression of the traditional thermal unit construction. Concentrating solar power (CSP) is a promising technology to replace thermal units by integrating emergency boilers to cope with extreme weather, and can meet long-time energy balance as a seasonal peak regulation source. In this paper, we propose a long-term high-resolution expansion planning model of the energy system under high renewable penetration which integrates CSP technology for seasonal energy balance. With the projection to 2050, by taking the energy system in Xinjiang province which is a typical area of the Clean Heating project with rich irradiance as a case study, it shows that the optimal deployment of CSP and electric boiler (EB) can reduce the cost, peak-valley difference of net load and renewable curtailment by 8.73%, 19.72% and 58.24% respectively at 65% renewable penetration compared to the base scenario.