arXiv - EE - Systems and Control最新文献_第10页

The Lynchpin of In-Memory Computing: A Benchmarking Framework for Vector-Matrix Multiplication in RRAMs 内存计算的关键：RRAM 中的矢量矩阵乘法基准框架

arXiv - EE - Systems and Control Pub Date : 2024-09-10 DOI: arxiv-2409.06140

Md Tawsif Rahman Chowdhury, Huynh Quang Nguyen Vo, Paritosh Ramanan, Murat Yildirim, Gozde Tutuncuoglu

{"title":"The Lynchpin of In-Memory Computing: A Benchmarking Framework for Vector-Matrix Multiplication in RRAMs","authors":"Md Tawsif Rahman Chowdhury, Huynh Quang Nguyen Vo, Paritosh Ramanan, Murat Yildirim, Gozde Tutuncuoglu","doi":"arxiv-2409.06140","DOIUrl":"https://doi.org/arxiv-2409.06140","url":null,"abstract":"The Von Neumann bottleneck, a fundamental challenge in conventional computer\u0000architecture, arises from the inability to execute fetch and data operations\u0000simultaneously due to a shared bus linking processing and memory units. This\u0000bottleneck significantly limits system performance, increases energy\u0000consumption, and exacerbates computational complexity. Emerging technologies\u0000such as Resistive Random Access Memories (RRAMs), leveraging crossbar arrays,\u0000offer promising alternatives for addressing the demands of data-intensive\u0000computational tasks through in-memory computing of analog vector-matrix\u0000multiplication (VMM) operations. However, the propagation of errors due to\u0000device and circuit-level imperfections remains a significant challenge. In this\u0000study, we introduce MELISO (In-Memory Linear Solver), a comprehensive\u0000end-to-end VMM benchmarking framework tailored for RRAM-based systems. MELISO\u0000evaluates the error propagation in VMM operations, analyzing the impact of RRAM\u0000device metrics on error magnitude and distribution. This paper introduces the\u0000MELISO framework and demonstrates its utility in characterizing and mitigating\u0000VMM error propagation using state-of-the-art RRAM device metrics.","PeriodicalId":501175,"journal":{"name":"arXiv - EE - Systems and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142217673","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Autonomous Iterative Motion Learning (AI-MOLE) of a SCARA Robot for Automated Myocardial Injection 用于自动心肌注射的 SCARA 机器人的自主迭代运动学习 (AI-MOLE)

arXiv - EE - Systems and Control Pub Date : 2024-09-10 DOI: arxiv-2409.06361

Michael Meindl, Raphael Mönkemöller, Thomas Seel

{"title":"Autonomous Iterative Motion Learning (AI-MOLE) of a SCARA Robot for Automated Myocardial Injection","authors":"Michael Meindl, Raphael Mönkemöller, Thomas Seel","doi":"arxiv-2409.06361","DOIUrl":"https://doi.org/arxiv-2409.06361","url":null,"abstract":"Stem cell therapy is a promising approach to treat heart insufficiency and\u0000benefits from automated myocardial injection which requires highly precise\u0000motion of a robotic manipulator that is equipped with a syringe. This work\u0000investigates whether sufficiently precise motion can be achieved by combining a\u0000SCARA robot and learning control methods. For this purpose, the method\u0000Autonomous Iterative Motion Learning (AI-MOLE) is extended to be applicable to\u0000multi-input/multi-output systems. The proposed learning method solves reference\u0000tracking tasks in systems with unknown, nonlinear, multi-input/multi-output\u0000dynamics by iteratively updating an input trajectory in a plug-and-play fashion\u0000and without requiring manual parameter tuning. The proposed learning method is\u0000validated in a preliminary simulation study of a simplified SCARA robot that\u0000has to perform three desired motions. The results demonstrate that the proposed\u0000learning method achieves highly precise reference tracking without requiring\u0000any a priori model information or manual parameter tuning in as little as 15\u0000trials per motion. The results further indicate that the combination of a SCARA\u0000robot and learning method achieves sufficiently precise motion to potentially\u0000enable automatic myocardial injection if similar results can be obtained in a\u0000real-world setting.","PeriodicalId":501175,"journal":{"name":"arXiv - EE - Systems and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142217669","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Analysis of a Simple Neuromorphic Controller for Linear Systems: A Hybrid Systems Perspective 线性系统的简单神经形态控制器分析：混合系统视角

arXiv - EE - Systems and Control Pub Date : 2024-09-10 DOI: arxiv-2409.06353

E. Petri, K. J. A. Scheres, E. Steur, W. P. M. H. Heemels

引用次数: 0

Safe and Stable Connected Cruise Control for Connected Automated Vehicles with Response Lag 为有响应滞后的互联自动驾驶汽车提供安全稳定的互联巡航控制

arXiv - EE - Systems and Control Pub Date : 2024-09-10 DOI: arxiv-2409.06884

Yuchen Chen, Gabor Orosz, Tamas G. Molnar

{"title":"Safe and Stable Connected Cruise Control for Connected Automated Vehicles with Response Lag","authors":"Yuchen Chen, Gabor Orosz, Tamas G. Molnar","doi":"arxiv-2409.06884","DOIUrl":"https://doi.org/arxiv-2409.06884","url":null,"abstract":"Controlling connected automated vehicles (CAVs) via vehicle-to-everything\u0000(V2X) connectivity holds significant promise for improving fuel economy and\u0000traffic efficiency. However, to deploy CAVs and reap their benefits, their\u0000controllers must guarantee their safety. In this paper, we apply control\u0000barrier function (CBF) theory to investigate the safety of CAVs implementing\u0000connected cruise control (CCC). Specifically, we study how stability,\u0000connection architecture, and the CAV's response time impact the safety of CCC.\u0000Through safety and stability analyses, we derive stable and safe choices of\u0000control gains, and show that safe CAV operation requires plant and head-to-tail\u0000string stability in most cases. Furthermore, the reaction time of vehicles,\u0000which is represented as a first-order lag, has a detrimental effect on safety.\u0000We determine the critical value of this lag, above which safe CCC gains do not\u0000exist. To guarantee safety even with lag while preserving the benefits of CCC,\u0000we synthesize safety-critical CCC using CBFs. With the proposed safety-critical\u0000CCC, the CAV can leverage information from connected vehicles farther ahead to\u0000improve its safety. We evaluate this controller by numerical simulation using\u0000real traffic data.","PeriodicalId":501175,"journal":{"name":"arXiv - EE - Systems and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142217834","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Self-calibrated Microring Weight Function for Neuromorphic Optical Computing 用于神经形态光学计算的自校准微oring 权重函数

arXiv - EE - Systems and Control Pub Date : 2024-09-10 DOI: arxiv-2409.06604

J. Garcia-Echeverria, D. Musat, A. Mahsafar, K. R. Mojaver, D. Rolston, G. Cowan, O. Liboiron-Ladouceur

引用次数: 0

Bayesian hypergame approach to equilibrium stability and robustness in moving target defense 用贝叶斯超博弈方法解决移动目标防御中的平衡稳定性和鲁棒性问题

arXiv - EE - Systems and Control Pub Date : 2024-09-10 DOI: arxiv-2409.06610

Hanzheng Zhang, Zhaoyang Cheng, Guanpu Chen, Karl Henrik Johansson

引用次数: 0

On Epistemic Properties in Discrete-Event Systems: A Uniform Framework and Its Applications 论离散事件系统中的认识论属性：统一框架及其应用

arXiv - EE - Systems and Control Pub Date : 2024-09-10 DOI: arxiv-2409.06588

Bohan Cui, Ziyue Ma, Shaoyuan Li, Xiang Yin

{"title":"On Epistemic Properties in Discrete-Event Systems: A Uniform Framework and Its Applications","authors":"Bohan Cui, Ziyue Ma, Shaoyuan Li, Xiang Yin","doi":"arxiv-2409.06588","DOIUrl":"https://doi.org/arxiv-2409.06588","url":null,"abstract":"In this paper, we investigate the property verification problem for\u0000partially-observed DES from a new perspective. Specifically, we consider the\u0000problem setting where the system is observed by two agents independently, each\u0000with its own observation. The purpose of the first agent, referred to as the\u0000low-level observer, is to infer the actual behavior of the system, while the\u0000second, referred to as the high-level observer, aims to infer the knowledge of\u0000Agent 1 regarding the system. We present a general notion called the epistemic\u0000property capturing the inference from the high-level observer to the low-level\u0000observer. A typical instance of this definition is the notion of high-order\u0000opacity, which specifies that the intruder does not know that the system knows\u0000some critical information. This formalization is very general and supports any\u0000user-defined information-state-based knowledge between the two observers. We\u0000demonstrate how the general definition of epistemic properties can be applied\u0000in different problem settings such as information leakage diagnosis or tactical\u0000cooperation without explicit communications. Finally, we provide a systematic\u0000approach for the verification of epistemic properties. Particularly, we\u0000identify some fragments of epistemic properties that can be verified more\u0000efficiently.","PeriodicalId":501175,"journal":{"name":"arXiv - EE - Systems and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142217827","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Hardened CO$_2$ Sensor for In-Ground Continuous Measurement in a Perennial Grass System 用于多年生草地系统地面连续测量的硬化 CO$_2$ 传感器

arXiv - EE - Systems and Control Pub Date : 2024-09-10 DOI: arxiv-2409.06828

Bobby Schulz, Bryan Runck, Andrew Hollman, Ann Piotrowski, Eric Watkins

{"title":"A Hardened CO$_2$ Sensor for In-Ground Continuous Measurement in a Perennial Grass System","authors":"Bobby Schulz, Bryan Runck, Andrew Hollman, Ann Piotrowski, Eric Watkins","doi":"arxiv-2409.06828","DOIUrl":"https://doi.org/arxiv-2409.06828","url":null,"abstract":"Carbon dioxide levels below the soil surface are an important measurement\u0000relating to plant health, especially for plants such as perennial grasses in\u0000northern climates where ice encasement can occur over winter. In such cases,\u0000the CO$_2$ levels can build up and become toxic. This is likely a significant\u0000contributor to turfgrass death over winter; however, there is an insufficient\u0000amount of data regarding this phenomenon in large part due to the lack of\u0000effective sensors. Many off the shelf CO$_2$ sensors exist, but they are not\u0000sufficiently hardened for in ground deployment over winter. As a result, the\u0000only options currently available are very costly automated gas samplers or\u0000manual sampling at intervals with laboratory testing -- a process that results\u0000in a limited number of data points and is labor intensive. To combat this\u0000problem we have taken an established NDIR CO$_2$ sensor and hardened it for use\u0000in winter and ice encased environments to allow for continuous automated\u0000sampling of subsurface CO$_2$ levels to better understand ice encasement damage\u0000in perennial grass systems.","PeriodicalId":501175,"journal":{"name":"arXiv - EE - Systems and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142217813","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Equilibria and Their Stability Do Not Depend on the Control Barrier Function in Safe Optimization-Based Control 基于优化的安全控制中的均衡点及其稳定性不取决于控制障碍函数

arXiv - EE - Systems and Control Pub Date : 2024-09-10 DOI: arxiv-2409.06808

Yiting Chen, Pol Mestres, Jorge Cortes, Emiliano Dall'Anese

{"title":"Equilibria and Their Stability Do Not Depend on the Control Barrier Function in Safe Optimization-Based Control","authors":"Yiting Chen, Pol Mestres, Jorge Cortes, Emiliano Dall'Anese","doi":"arxiv-2409.06808","DOIUrl":"https://doi.org/arxiv-2409.06808","url":null,"abstract":"Control barrier functions (CBFs) play a critical role in the design of safe\u0000optimization-based controllers for control-affine systems. Given a CBF\u0000associated with a desired ``safe'' set, the typical approach consists in\u0000embedding CBF-based constraints into the optimization problem defining the\u0000control law to enforce forward invariance of the safe set. While this approach\u0000effectively guarantees safety for a given CBF, the CBF-based control law can\u0000introduce undesirable equilibrium points (i.e., points that are not equilibria\u0000of the original system); open questions remain on how the choice of CBF\u0000influences the number and locations of undesirable equilibria and, in general,\u0000the dynamics of the closed-loop system. This paper investigates how the choice\u0000of CBF impacts the dynamics of the closed-loop system and shows that: (i) The\u0000CBF does not affect the number, location, and (local) stability properties of\u0000the equilibria in the interior of the safe set; (ii) undesirable equilibria\u0000only appear on the boundary of the safe set; and, (iii) the number and location\u0000of undesirable equilibria for the closed-loop system do not depend of the\u0000choice of the CBF. Additionally, for the well-established safety filters and\u0000controllers based on both CBF and control Lyapunov functions (CLFs), we show\u0000that the stability properties of equilibria of the closed-loop system are\u0000independent of the choice of the CBF and of the associated extended class-K\u0000function.","PeriodicalId":501175,"journal":{"name":"arXiv - EE - Systems and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142217814","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

An Ontology-based Approach Towards Traceable Behavior Specifications in Automated Driving 基于本体的自动驾驶可追溯行为规范方法

arXiv - EE - Systems and Control Pub Date : 2024-09-10 DOI: arxiv-2409.06607

Nayel Fabian Salem, Marcus Nolte, Veronica Haber, Till Menzel, Hans Steege, Robert Graubohm, Markus Maurer

{"title":"An Ontology-based Approach Towards Traceable Behavior Specifications in Automated Driving","authors":"Nayel Fabian Salem, Marcus Nolte, Veronica Haber, Till Menzel, Hans Steege, Robert Graubohm, Markus Maurer","doi":"arxiv-2409.06607","DOIUrl":"https://doi.org/arxiv-2409.06607","url":null,"abstract":"Vehicles in public traffic that are equipped with Automated Driving Systems\u0000are subject to a number of expectations: Among other aspects, their behavior\u0000should be safe, conforming to the rules of the road and provide mobility to\u0000their users. This poses challenges for the developers of such systems:\u0000Developers are responsible for specifying this behavior, for example, in terms\u0000of requirements at system design time. As we will discuss in the article, this\u0000specification always involves the need for assumptions and trade-offs. As a\u0000result, insufficiencies in such a behavior specification can occur that can\u0000potentially lead to unsafe system behavior. In order to support the\u0000identification of specification insufficiencies, requirements and respective\u0000assumptions need to be made explicit. In this article, we propose the Semantic\u0000Norm Behavior Analysis as an ontology-based approach to specify the behavior\u0000for an Automated Driving System equipped vehicle. We use ontologies to formally\u0000represent specified behavior for a targeted operational environment, and to\u0000establish traceability between specified behavior and the addressed stakeholder\u0000needs. Furthermore, we illustrate the application of the Semantic Norm Behavior\u0000Analysis in two example scenarios and evaluate our results.","PeriodicalId":501175,"journal":{"name":"arXiv - EE - Systems and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142217835","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0