pwc-archive/papers-with-abstracts huggingface dataset:
Reliability-Based Planning of Cable Layout for Offshore Wind Farm Electrical Collector System Considering Post-Fault Network Reconfiguration
Authors: Xiaochi Ding, Yunfei Du, Xinwei Shen, Qiuwei Wu, Xuan Zhang, Nikos D. Hatziargyriou
Date: 2024-09-19 00:00:00

The electrical collector system (ECS) plays a crucial role in determining the performance of offshore wind farms (OWFs). Existing research has predominantly restricted ECS cable layouts to conventional radial or ring structures and employed graph theory heuristics for solutions. However, both economic efficiency and reliability of the OWFs heavily depend on their ECS structure, and the optimal ECS cable layout often deviates from typical configurations. In this context, this paper introduces a novel reliability-based ECS cable layout planning method for large-scale OWFs, employing a two-stage stochastic programming approach to address uncertainties of wind power and contingencies. To enhance reliability, the model incorporates optimal post-fault network reconfiguration strategies by adjusting wind turbine power supply paths through link cables. To tackle computation challenges arising from numerous contingency scenarios, a customized progressive contingency incorporation (CPCI) framework is developed to solve the model with higher efficiency by iteratively identifying non-trivial scenarios and solving the simplified problems. The convergence and optimality are theoretically proven. Numerical tests on several real-world OWFs validate the necessity of fully optimizing ECS structures and demonstrate the efficiency of the CPCI algorithm.
Reinforcement Learning-based Model Predictive Control for Greenhouse Climate Control
Authors: Samuel Mallick, Filippo Airaldi, Azita Dabiri, Congcong Sun, Bart De Schutter
Date: 2024-09-19 00:00:00
Tasks: Model Predictive Control, Prediction, reinforcement-learning, Reinforcement Learning, Reinforcement Learning (RL)

Greenhouse climate control is concerned with maximizing performance in terms of crop yield and resource efficiency. One promising approach is model predictive control (MPC), which leverages a model of the system to optimize the control inputs, while enforcing physical constraints. However, prediction models for greenhouse systems are inherently inaccurate due to the complexity of the real system and the uncertainty in predicted weather profiles. For model-based control approaches such as MPC, this can degrade performance and lead to constraint violations. Existing approaches address uncertainty in the prediction model with robust or stochastic MPC methodology; however, these necessarily reduce crop yield due to conservatism and often bear higher computational loads. In contrast, learning-based control approaches, such as reinforcement learning (RL), can handle uncertainty naturally by leveraging data to improve performance. This work proposes an MPC-based RL control framework to optimize the climate control performance in the presence of prediction uncertainty. The approach employs a parametrized MPC scheme that learns directly from data, in an online fashion, the parametrization of the constraints, prediction model, and optimization cost that minimizes constraint violations and maximizes climate control performance. Simulations show that the approach can learn an MPC controller that significantly outperforms the current state-of-the-art in terms of constraint violations and efficient crop growth.
Probabilistically Robust Trajectory Planning of Multiple Aerial Agents
Authors: Christian Vitale, Savvas Papaioannou, Panayiotis Kolios, Georgios Ellinas
Date: 2024-09-19 00:00:00
Tasks: Model Predictive Control, Trajectory Planning

Current research on robust trajectory planning for autonomous agents aims to mitigate uncertainties arising from disturbances and modeling errors while ensuring guaranteed safety. Existing methods primarily utilize stochastic optimal control techniques with chance constraints to maintain a minimum distance among agents with a guaranteed probability. However, these approaches face challenges, such as the use of simplifying assumptions that result in linear system models or Gaussian disturbances, which limit their practicality in complex realistic scenarios. To address these limitations, this work introduces a novel probabilistically robust distributed controller enabling autonomous agents to plan safe trajectories, even under non-Gaussian uncertainty and nonlinear systems. Leveraging exact uncertainty propagation techniques based on mixed-trigonometric-polynomial moment propagation, this method transforms non-Gaussian chance constraints into deterministic ones, seamlessly integrating them into a distributed model predictive control framework solvable with standard optimization tools. Simulation results demonstrate the effectiveness of this technique, highlighting its ability to consistently handle various types of uncertainty, ensuring robust and accurate path planning in complex scenarios.
From Data to Control: A Formal Compositional Framework for Large-Scale Interconnected Networks
Authors: Omid Akbarzadeh, Amy Nejati, Abolfazl Lavaei
Date: 2024-09-19 00:00:00

We introduce a compositional data-driven methodology with noisy data for designing fully-decentralized safety controllers applicable to large-scale interconnected networks, encompassing a vast number of subsystems with unknown mathematical models. Our compositional scheme leverages the interconnection topology and breaks down the network analysis into the examination of distinct subsystems. This is accompanied by utilizing a concept of control storage certificates (CSCs) to capture joint dissipativity-type properties among subsystems. These CSCs are instrumental in a compositional derivation of a control barrier certificate (CBC) specialized for the interconnected network, thereby ensuring its safety. In our data-driven scheme, we gather only a single noise-corrupted input-state trajectory from each unknown subsystem within a specified time frame. By fulfilling a specific rank condition, this process facilitates the construction of a CSC for each subsystem. Following this, by adhering to compositional dissipativity reasoning, we compose CSCs derived from noisy data and build a CBC for the unknown network, ensuring its safety over an infinite time horizon, while providing correctness guarantees. We demonstrate that our compositional data-driven approach significantly enhances the design of a CBC and its robust safety controller under noisy data across the interconnected network. This advancement is achieved by reducing the computational complexity from a polynomial growth in relation to network dimension, when using sum-of-squares (SOS) optimization, to a linear scale based on the number of subsystems. We apply our data-driven findings to a variety of benchmarks, involving physical networks with unknown models and diverse interconnection topologies.
Event-Driven Real-Time Multi-Objective Charging Schedule Optimization For Electric Vehicle Fleets
Authors: Jose Peeterson Emerson Raja, Arvind Easwaran
Date: 2024-09-19 00:00:00

The utilization of Electric Vehicles (EVs) in car rental services is gaining momentum around the world and most commercial fleets are expected to fully adopt EVs by 2030. At the moment, the baseline solution that most fleet operators use is a Business as Usual (BAU) policy of charging at the maximum power at all times when charging EVs. Unlike petrol prices that are fairly constant, electricity prices are more volatile and can vary vastly within several minutes depending on electricity supply which is influenced by intermittent energy supplies like renewable energy and increased demand due to electrification in many industrial sectors including transportation. The battery in EVs is the most critical component as it is the most expensive component to replace and the most dangerous component with fire risks. For safe operation and battery longevity it is imperative to prevent battery capacity fade whenever the EVs are under the control of the fleet operator such as during charging.Fundamentally, the fleet operator would like to service as much demand as possible to maximize the revenue generated at a particular time instance.This is achieved by minimizing the EVs time spent on charging and thereby increasing their availability for rides.The three goals of reducing charging cost, battery capacity fade and maximizing ride availability are formulated as a multi-objective optimization problem. The formulation is tested using the Gurobi solver on two cases from the real-world ACN dataset involving low and high EV charging densities over a week long period. The results of the proposed solution show 33.3% reduction in peak electricity loading period, 53.2% savings in charging cost and 16% lower battery capacity fade for the fleet operator.
Robust Model-Free Control Framework with Safety Constraints for a Fully Electric Linear Actuator System
Authors: Mehdi Heydari Shahna, Pauli Mustalahti, Jouni Mattila
Date: 2024-09-19 00:00:00

This paper introduces a novel model-free control strategy for a complex multi-stage gearbox electromechanical linear actuator (EMLA) system, driven by a permanent magnet synchronous motor (PMSM) with non-ideal ball screw characteristics. The proposed control approach aims to (1) manage user-specified safety constraints, (2) identify optimal control parameters for minimizing tracking errors, (3) ensure robustness, and (4) guarantee uniformly exponential stability. First, this paper employs a trajectory-setting interpolation-based algorithm to specify the piecewise definition of a smooth and jerk-bounded reference trajectory. Then, a dual robust subsystem-based barrier Lyapunov function (DRS-BLF) control is proposed for the PMSM-powered EMLA system to track the reference motions, guaranteeing user-specified safety related to constraints on system characteristics and alleviating control signal efforts. This methodology guarantees robustness and uniform exponential convergence. Lastly, optimal control parameter values are determined by customizing a swarm intelligence technique known as the Jaya (a term derived from the Sanskrit word for `victory') algorithm to minimize tracking errors. Experimental results validate the performance of the DRS-BLF control.
Incremental Composition of Learned Control Barrier Functions in Unknown Environments
Authors: Paul Lutkus, Deepika Anantharaman, Stephen Tu, Lars Lindemann
Date: 2024-09-19 00:00:00
Tasks: valid

We consider the problem of safely exploring a static and unknown environment while learning valid control barrier functions (CBFs) from sensor data. Existing works either assume known environments, target specific dynamics models, or use a-priori valid CBFs, and are thus limited in their safety guarantees for general systems during exploration. We present a method for safely exploring the unknown environment by incrementally composing a global CBF from locally-learned CBFs. The challenge here is that local CBFs may not have well-defined end behavior outside their training domain, i.e. local CBFs may be positive (indicating safety) in regions where no training data is available. We show that well-defined end behavior can be obtained when local CBFs are parameterized by compactly-supported radial basis functions. For learning local CBFs, we collect sensor data, e.g. LiDAR capturing obstacles in the environment, and augment it with simulated data from a safe oracle controller. Our work complements recent efforts to learn CBFs from safe demonstrations -- where learned safe sets are limited to their training domains -- by demonstrating how to grow the safe set over time as more data becomes available. We evaluate our approach on two simulated systems, where our method successfully explores an unknown environment while maintaining safety throughout the entire execution.
Linear Model Predictive Control for Quadrotors with An Analytically Derived Koopman Model
Authors: Santosh M. Rajkumar, Sheng Cheng, Naira Hovakimyan, Debdipta Goswami
Date: 2024-09-19 00:00:00
Tasks: model, Model Predictive Control

This letter presents a Koopman-theoretic lifted linear parameter-varying (LPV) system with countably infinite dimensions to model the nonlinear dynamics of a quadrotor on SE(3) for facilitating control design. The LPV system evolves in time in the space of the observables, called the lifted space. A primary challenge in utilizing the Koopman-based linearization is identifying a set of observables that can adequately span the lifted space, with the majority of the current methods using data to learn these observables. In this study, we analytically derive the observables for the quadrotor dynamics on SE(3) to formulate the lifted LPV system. The lifted LPV system has a countably infinite dimension which is then truncated for practical control design. The truncation is analytically justified by showing vanishing residual property in a bounded trajectory regime. The LPV system is then approximated as a linear time-invariant (LTI) system with a set of virtual control inputs. The controllability of the lifted LTI system is translatable to the true quadrotor system on SE(3). A linear model-predictive control (LMPC) scheme is formulated and implemented in numerical simulations employing this LTI framework for various tracking problems, with attention given to the potential for real-time implementation.
Optimal Linear Filtering for Discrete-Time Systems with Infinite-Dimensional Measurements
Authors: Maxwell Varley, Timothy L. Molloy, Girish N. Nair
Date: 2024-09-19 00:00:00
Tasks: State Estimation

Systems equipped with modern sensing modalities such as vision and lidar gain access to increasingly high-dimensional measurements with which to enact estimation and control schemes. In this article, we examine the continuum limit of high-dimensional measurements and analyze state estimation in linear time-invariant systems with infinite-dimensional measurements but finite-dimensional states, both corrupted by additive noise. We propose a linear filter and derive the corresponding optimal gain functional in the sense of the minimum mean square error, analogous to the classic Kalman filter. By modeling the measurement noise as a wide-sense stationary random field, we are able to derive the optimal linear filter explicitly, in contrast to previous derivations of Kalman filters in distributed-parameter settings. Interestingly, we find that we need only impose conditions that are finite-dimensional in nature to ensure that the filter is asymptotically stable. The proposed filter is verified via simulation of a linearized system with a pinhole camera sensor.
Bilevel Optimization for Real-Time Control with Application to Locomotion Gait Generation
Authors: Zachary Olkin, Aaron D. Ames
Date: 2024-09-18 00:00:00
Tasks: Bilevel Optimization, Model Predictive Control

Model Predictive Control (MPC) is a common tool for the control of nonlinear, real-world systems, such as legged robots. However, solving MPC quickly enough to enable its use in real-time is often challenging. One common solution is given by real-time iterations, which does not solve the MPC problem to convergence, but rather close enough to give an approximate solution. In this paper, we extend this idea to a bilevel control framework where a "high-level" optimization program modifies a controller parameter of a "low-level" MPC problem which generates the control inputs and desired state trajectory. We propose an algorithm to iterate on this bilevel program in real-time and provide conditions for its convergence and improvements in stability. We then demonstrate the efficacy of this algorithm by applying it to a quadrupedal robot where the high-level problem optimizes a contact schedule in real-time. We show through simulation that the algorithm can yield improvements in disturbance rejection and optimality, while creating qualitatively new gaits.
Wing Optimisation for a tractor propeller driven Micro Aerial Vehicle
Authors: Arjun Sharma, Roddam Narasimha
Date: 2024-09-18 00:00:00
Tasks: Philosophy

This paper describes an investigation of the possible benefits from wing optimisation in improving the performance of Micro Air Vehicles (MAVs). As an example we study the Avion (3.64 kg mass, 1.60 m span), being designed at the CSIR National Aerospace Laboratories (NAL), Bengaluru. The optimisation is first carried out using the methodology described by Rakshith \emph{et al.} (using an in\textendash house software PROWING), developed for large transport aircraft, with certain modifications to adapt the code to the special features of the MAV. The chief among such features is the use of low Reynolds number aerofoils with significantly different aerodynamic characteristics on a small MAV. These characteristics are taken from test data when available, and/or estimated by the XFOIL code of Drela. A total of 8 optimisation cases are studied for the purpose, leading to 6 different options for new wing planforms (and associated twist distributions along the wing span) with an improved performance. It is found that the improvements in drag coefficient using the PROWING code are about 5%. However, by allowing the operating lift coefficient $C_L$ to float within a specified range, drag bucket characteristics of the Eppler E423 aerofoil used on Avion can be exploited to improve the endurance, which is a major performance parameter for Avion. Thus, compared to the control wing $W_0$ (with operating point at $C_L$ =0.7) used in the preliminary design, permitting a variation of $C_L$ over a range of $\pm$ 10% is shown to enhance the endurance of wing $W_4$ by 18.6%, and of wing $W_{6}$ with a permitted $C_L$ range of $\pm$ 50% by 39.2%. Apart from the philosophy of seeking optimal operating conditions for a given configuration, the advantages of optimising design parameters such as washout of a simple wing proposed in the preliminary design stage, is also demonstrated.
On Convergent Dynamic Mode Decomposition and its Equivalence with Occupation Kernel Regression
Authors: Moad Abudia, Joel A. Rosenfeld, Rushikesh Kamalapurkar
Date: 2024-09-18 00:00:00

This paper presents a new technique for norm-convergent dynamic mode decomposition of deterministic systems. The developed method utilizes recent results on singular dynamic mode decomposition where it is shown that by appropriate selection of domain and range Hilbert spaces, the Liouville operator (also known as the Koopman generator) can be made to be compact. In this paper, it is shown that by selecting appropriate collections of finite basis functions in the domain and the range, a novel finite-rank representation of the Liouville operator may be obtained. It is also shown that the model resulting from dynamic mode decomposition of the finite-rank representation is closely related to regularized regression using the so-called occupation kernels as basis functions.
Optimal Control for Discrete-Time Systems under Bounded Disturbances
Authors: Egor Dogadin, Alexey Peregudin, Dmitriy Shirokih
Date: 2024-09-18 00:00:00
Tasks: Computational Efficiency

This paper introduces a novel approach to the optimal control of linear discrete-time systems subject to bounded disturbances. Our approach is based on the newly established duality between ellipsoidal approximations of reachable and hardly observable sets. We provide exact solutions for state-feedback control and filtering problems, aligning with existing methods while offering improved computational efficiency. Moreover, our main contribution is the optimal solution to the output-feedback control problem for discrete-time systems which was not known before. Numerical simulations demonstrate the superiority of this result over previous sub-optimal ones.
Stochastic quasi-cycles as a simple explanation for the time evolution of the Cape Rodney-Okakari Point Marine ecological reserve
Authors: César Parra-Rojas, Duccio Fanelli, Alan J. McKane
Date: 2024-09-28 00:00:00

The dataset collected at the Cape Rodney-Okakari Point Marine (CR-OPM) reserve on the North Island of New Zealand is rather unique. It describes the cyclic time evolution of a rocky intertidal community, with the relative abundances of the various coastal species that have been meticulously monitored for more than 20 years. Past theoretical studies, anchored on a deterministic description, required invoking ad hoc mechanisms to reproduce the observed dynamical paths. Following a maximum likelihood approach to interpolate individual stochastic trajectories, we here propose quasi-cycles as an alternative and simpler mechanism to explain the oscillations observed in the population numbers of the ecosystem. From a general standpoint, we also show that it is possible to return conclusive evidence on the existence of stochastic quasi-cycles, without resorting to global fitting strategies which necessitate handling a large collection of independent replicas of the dynamics, a possibility that is often precluded in real life applications.
Information thermodynamics: from physics to neuroscience
Authors: Jan Karbowski
Date: 2024-09-26 00:00:00

This paper provides a perspective on applying the concepts of information thermodynamics, developed recently in non-equilibrium statistical physics, to problems in theoretical neuroscience. Historically, information and energy in neuroscience have been treated separately, in contrast to physics approaches, where the relationship of entropy production with heat is a central idea. It is argued here that also in neural systems information and energy can be considered within the same theoretical framework. Starting from basic ideas of thermodynamics and information theory on a classic Brownian particle, it is shown how noisy neural networks can infer its probabilistic motion. The decoding of the particle motion by neurons is performed with some accuracy and it has some energy cost, and both can be determined using information thermodynamics. In a similar fashion, we also discuss how neural networks in the brain can learn the particle velocity, and maintain that information in the weights of plastic synapses from a physical point of view. Generally, it is shown how the framework of stochastic and information thermodynamics can be used practically to study neural inference, learning, and information storing.
Hydrogen under Pressure as a Benchmark for Machine-Learning Interatomic Potentials
Authors: Thomas Bischoff, Bastian Jäckl, Matthias Rupp
Date: 2024-09-20 00:00:00

Machine-learning interatomic potentials (MLPs) are fast, data-driven surrogate models of atomistic systems' potential energy surfaces that can accelerate ab-initio molecular dynamics (MD) simulations by several orders of magnitude. The performance of MLPs is commonly measured as the prediction error in energies and forces on data not used in their training. While low prediction errors on a test set are necessary, they do not guarantee good performance in MD simulations. The latter requires physically motivated performance measures obtained from running accelerated simulations. However, the adoption of such measures has been limited by the effort and domain knowledge required to calculate and interpret them. To overcome this limitation, we present a benchmark that automatically quantifies the performance of MLPs in MD simulations of a liquid-liquid phase transition in hydrogen under pressure, a challenging benchmark system. The benchmark's h-llpt-24 dataset provides reference geometries, energies, forces, and stresses from density functional theory MD simulations at different temperatures and mass densities. The benchmark's Python code automatically runs MLP-accelerated MD simulations and calculates, quantitatively compares and visualizes pressures, stable molecular fractions, diffusion coefficients, and radial distribution functions. Employing this benchmark, we show that several state-of-the-art MLPs fail to reproduce the liquid-liquid phase transition.