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At least 163 records · Page 9

HSolo: Homography from a single affine aware correspondence

The performance of existing robust homography estimation algorithms is highly dependent on the inlier rate of feature point correspondences. In this paper, we present a novel procedure for homography estimation that is particularly well suited for inlier-poor domains. By utilizing the scale and rotation byproducts created by affine aware feature detectors such as SIFT and SURF, we obtain an initial homography estimate from a single correspondence pair. This estimate allows us to filter the correspondences to an inlier-rich subset for use with a robust estimator. Especially at low inlier rates, our novel algorithm provides dramatic performance improvements.

97 MATHEMATICS AND COMPUTING↗

Correlation-Aided Robust Decentralized Dynamic State Estimation of Power Systems with Unknown Control Inputs

This paper proposes a correlation-aided robust adaptive unscented Kalman filter for power system decentralized dynamic state estimation with unknown inputs, termed as robust AUKF-UI. The temporal and spatial correlations among the unknown inputs are used to derive a vector auto-regressive (VAR) model in an adaptive manner. This VAR model is further integrated together with state transition and measurement models for joint state and unknown inputs estimation. This allows taking into account the implicit cross-correlations between the states and the unknown inputs. As a result, the rank requirement for unknown input vector estimation is relaxed and the local generator frequency measurement is not required. The temporal correlations of time series innovation vectors, predicted state and input vectors are also leveraged by the robust AUKFUI to detect, identify and process bad data. Without these correlations, it is very challenging to address bad data with unknown inputs. Simulation results carried out on the IEEE 39-bus system demonstrate that the proposed robust AUKF-UI achieves much better results than other methods in the presence of low measurement redundancy, strong nonlinearity, and bad data.

Zhao, Junbo↗

Stochastic Satbility and Performance Robustness of Linear Multivariable Systems

Stochastic robustness, a simple technique used to estimate the robustness of linear, time invariant systems, is applied to a single-link robot arm control system. Concepts behind stochastic stability robustness are extended to systems with estimators and to stochastic performance robustness. Stochastic performance robustness measures based on classical design specifications are introduced, and the relationship between stochastic robustness measures and control system design parameters are discussed. The application of stochastic performance robustness, and the relationship between performance objectives and design parameters are demonstrated by means of example. The results prove stochastic robustness to be a good overall robustness analysis method that can relate robustness characteristics to control system design parameters.

Ryan, Laurie E.↗

Stochastic stability and performance robustness of linear multivariable systems

Stochastic robustness, a simple technique used to estimate the robustness of linear, time-invariant systems, is applied to a single-link robot arm control system. Concepts behind stochastic stability robustness are extended to systems with estimators and to stochastic performance robustness. Stochastic performance robustness measures based on classical design specifications are introduced, and the relationship between stochastic robustness measures and control system design parameters is discussed. The application of stochastic performance robustness and the relationship between performance objectives and design parameters are demonstrated by means of the example. The results prove stochastic robustness to be a good overall robustness analysis method that can relate robustness characteristics to control system design parameters.

Stengel, Robert F.↗

Nonparametric probability density estimation by optimization theoretic techniques

Two nonparametric probability density estimators are considered. The first is the kernel estimator. The problem of choosing the kernel scaling factor based solely on a random sample is addressed. An interactive mode is discussed and an algorithm proposed to choose the scaling factor automatically. The second nonparametric probability estimate uses penalty function techniques with the maximum likelihood criterion. A discrete maximum penalized likelihood estimator is proposed and is shown to be consistent in the mean square error. A numerical implementation technique for the discrete solution is discussed and examples displayed. An extensive simulation study compares the integrated mean square error of the discrete and kernel estimators. The robustness of the discrete estimator is demonstrated graphically.

Scott, D. W.↗

Aeroservoelastic Uncertainty Model Identification from Flight Data

Uncertainty modeling is a critical element in the estimation of robust stability margins for stability boundary prediction and robust flight control system development. There has been a serious deficiency to date in aeroservoelastic data analysis with attention to uncertainty modeling. Uncertainty can be estimated from flight data using both parametric and nonparametric identification techniques. The model validation problem addressed in this paper is to identify aeroservoelastic models with associated uncertainty structures from a limited amount of controlled excitation inputs over an extensive flight envelope. The challenge to this problem is to update analytical models from flight data estimates while also deriving non-conservative uncertainty descriptions consistent with the flight data. Multisine control surface command inputs and control system feedbacks are used as signals in a wavelet-based modal parameter estimation procedure for model updates. Transfer function estimates are incorporated in a robust minimax estimation scheme to get input-output parameters and error bounds consistent with the data and model structure. Uncertainty estimates derived from the data in this manner provide an appropriate and relevant representation for model development and robust stability analysis. This model-plus-uncertainty identification procedure is applied to aeroservoelastic flight data from the NASA Dryden Flight Research Center F-18 Systems Research Aircraft.

Brenner, Martin J.↗

Heterogeneous estimations of non-pharmaceutical mitigation behavior during the COVID-19 pandemic

The COVID-19 pandemic highlighted the importance of human behavior in mitigating the spread of disease. Nonetheless, human behavior is often overlooked in models of disease spread, particularly by underutilizing real-world data. We address this by estimating probabilities that individuals engage in behaviors that influence SARS-CoV-2 transmission risk during the COVID-19 pandemic, between September 2020 and June 2022. These behaviors include wearing a mask, using public transportation, spending time with others, avoiding contact with others, and going to work. Our estimates account for the age and sex of individuals and are generated for every county in the United States. We utilized multiple open-source datasets and United States Census data to produce these estimates. Multiple datasets were used for validation, showing our estimates demonstrated comparable accuracy and robustness. Our estimates aid in understanding human behavior dynamics during the COVID-19 pandemic and could be used to inform monthly or longer-term behavior in simulations of COVID-19. Moreover, the methods presented can be applied to other behaviors and features for future simulations of infectious disease.

97 MATHEMATICS AND COMPUTING↗

Robustness enhancement of neurocontroller and state estimator

The feasibility of enhancing neurocontrol robustness, through training of the neurocontroller and state estimator in the presence of system uncertainties, is investigated on the example of a multivariable aircraft control problem. The performance and robustness of the newly trained neurocontroller are compared to those for an existing neurocontrol design scheme. The newly designed dynamic neurocontroller exhibits a better trade-off between phase and gain stability margins, and it is significantly more robust to degradations of the plant dynamics.

Troudet, Terry↗

Model-Based Method for Sensor Validation

Fault detection, diagnosis, and prognosis are essential tasks in the operation of autonomous spacecraft, instruments, and in situ platforms. One of NASA s key mission requirements is robust state estimation. Sensing, using a wide range of sensors and sensor fusion approaches, plays a central role in robust state estimation, and there is a need to diagnose sensor failure as well as component failure. Sensor validation can be considered to be part of the larger effort of improving reliability and safety. The standard methods for solving the sensor validation problem are based on probabilistic analysis of the system, from which the method based on Bayesian networks is most popular. Therefore, these methods can only predict the most probable faulty sensors, which are subject to the initial probabilities defined for the failures. The method developed in this work is based on a model-based approach and provides the faulty sensors (if any), which can be logically inferred from the model of the system and the sensor readings (observations). The method is also more suitable for the systems when it is hard, or even impossible, to find the probability functions of the system. The method starts by a new mathematical description of the problem and develops a very efficient and systematic algorithm for its solution. The method builds on the concepts of analytical redundant relations (ARRs).

Vatan, Farrokh↗

Stochastic performance robustness of aircraft control systems

Stochastic robustness, a simple technique used to estimate the robustness of linear, time-invariant systems, is applied to a twin-jet transport aircraft control system. Concepts behind stochastic stability robustness are extended to stochastic performance robustness. Stochastic performance robustness measures based on classical design specifications and measures specific to aircraft handling qualities are introduced. Confidence intervals for both individual stochastic robustness measures and for comparing two measures are presented. The application of stochastic performance robustness, the use of confidence intervals, and tradeoffs between performance objectives are demonstrated by means of the twin-jet aircraft example.

Stengel, Robert F.↗

Robust Adaptive Decentralized Dynamic State Estimation with Unknown Control Inputs using Field PMU Measurements

This paper proposes a robust adaptive decentralized dynamic state estimation method for power system with unknown inputs of the highly detailed synchronous machine model. The temporal and spatial correlations among the unknown inputs are used to derive a vector auto-regressive model. The latter is further integrated together with state transition and measurement models for joint state and unknown inputs estimation. Thanks to the consideration of implicit cross-correlations between the states and the unknown inputs, only generator terminal voltage and current phasors are needed. Test results on the US WECC system using the field PMU measurements show that the proposed method is able to track both the system dynamic states and unknown controller inputs. These information could significantly benefit the validation and calibration of generator controller parameters.

Zhao, Junbo↗

Spatial Transferability of Machine Learning Based Volume Estimation Models

High-quality traffic volume data is essential for efficient transportation planning and operations. However, such high-quality data is expensive to collect, owing primarily to the high capital cost of installing and maintaining continuous counting stations (CCSs). Recent availability of probe-based vehicle data offers a cost-effective solution for increasing the observability of traffic volumes. However, having ample ground truth traffic data is a prerequisite for developing robust volume estimation models. Though this might not be a big issue in many states, states with scarce CCS data might be able to benefit from robust volume estimation models developed in (adjacent) data-rich states. While there is a reasonable amount of spatial transferability research in the transportation domain, there is a dearth of knowledge on the spatial transferability of probe-based volume estimation models. To address this gap, this paper explores spatial transferability of volume estimation models developed from data in three states (Colorado, North Carolina, and Pennsylvania). Results indicate that it is extremely important to maintain temporal consistency when attempting spatial transferability of volume estimation models. It was also found that models trained on regions with lower peak traffic volumes will limit the performance of models transferred to states with higher peak hourly traffic volumes. Corroborating findings from existing spatial transferability research on other topics, it was found that a meta-model (developed using data from multiple states) performs better than volume estimation models developed within any one of the states.

ADVANCED PROPULSION SYSTEMS↗

Towards Resilient Autonomous Navigation of Drones

Robots and particularly drones are especially useful in exploring extreme environments that pose hazards to humans. To ensure safe operations in these situations, usually perceptually degraded and without good GNSS, it is critical to have a reliable and robust state estimation solution. The main body of literature in robot state estimation focuses on developing complex algorithms favoring accuracy. Typically, these approaches rely on a strong underlying assumption: the main estimation engine will not fail during operation. In contrast, we propose an architecture that pursues robustness in state estimation by considering redundancy and heterogeneity in both sensing and estimation algorithms. The architecture is designed to expect and detect failures and adapt the behavior of the system to ensure safety. To this end, we present HeRO (Heterogeneous Redundant Odometry): a stack of estimation algorithms running in parallel supervised by a resiliency logic. This logic carries out three main functions: a) perform confidence tests both in data quality and algorithm health; b) re-initialize those algorithms that might be malfunctioning; c) generate a smooth state estimate by multiplexing the inputs based on their quality. The state and quality estimates are used by the guidance and control modules to adapt the mobility behaviors of the system. The validation and utility of the approach are shown with real experiments on a ying robot for the use case of autonomous exploration of subterranean environments, with particular results from the STIX event of the DARPA Subterranean Challenge.

Agha-mohammadi, Ali-akbar↗

Robust eigensystem assignment for second-order estimators

An approach for the robust eigensystem assignment of flexible structures using full state or output feedback is developed. Using the second-order dynamic equations, the approach can assign the eigenvalues of the system via velocity and displacement feedbacks, or acceleration and velocity feedbacks. The eigenvalues and eigenvectors of the system are assigned, via the second-order eigenvalue problem for the structural system, in two steps. First, an orthonormal basis spanning the attainable closed-loop eigenvector space corresponding to each desired closed-loop eigenvalue is generated using the Singular Value or QR decompositions. Second, a sequential procedure is used to choose a set of closed-loop eigenvectors that are as close as possible to the column space of a well-conditioned target matrix. Among the possible choices of the target matrix, the closest unitary matrix to the open-loop eigenvector matrix appears to be a suitable choice. A numerical example is given to illustrate the proposed algorithm.

Juang, Jer-Nan↗

Robust Real-Time Modeling of Distribution Systems with Data-Driven Grid-Wise Observability (Final Technical Report)

The overall objective of this project is to leverage existing and emerging sensor measurements to develop data-driven observability enhancement algorithms as well as robust state estimation and parameter identification techniques to enable real-time grid-wise monitoring and modeling of loads and distributed energy resources (DERs). The project resulted in a holistic framework with the following key components: 1) data-driven and machine learning-based grid-edge visibility enhancement, 2) robust branch-current-based state estimation (BCSE), and 3) robust real-time steady-state and dynamic-state modeling of loads and DERs. The research outcomes have provided utility companies better network visibility, higher-fidelity load/DER models, and more accurate assessment of DERs’ impacts, thus, facilitating the integration of renewable energy sources. The synergistic collaborative project among Iowa State University (ISU), Argonne National Laboratory (ANL), Electric Power Research Center (EPRC), SIEMENS Industry, Alliant Energy, Cedar Falls Utilities (CFU), and Maquoketa Valley Electric Cooperative (MVEC) to leverage the team’s extensive expertise and experience in power distribution systems, state estimation, online modeling and identification, and DER integrations. The proposed frameworks have been verified with industry adopted software and attempted integrated with existing tool wherever possible

24 POWER TRANSMISSION AND DISTRIBUTION↗

Robust and scalable uncertainty estimation with conformal prediction for machine-learned interatomic potentials

Abstract Uncertainty quantification (UQ) is important to machine learning (ML) force fields to assess the level of confidence during prediction, as ML models are not inherently physical and can therefore yield catastrophically incorrect predictions. Established a-posteriori UQ methods, including ensemble methods, the dropout method, the delta method, and various heuristic distance metrics, have limitations such as being computationally challenging for large models due to model re-training. In addition, the uncertainty estimates are often not rigorously calibrated. In this work, we propose combining the distribution-free UQ method, known as conformal prediction (CP), with the distances in the neural network’s latent space to estimate the uncertainty of energies predicted by neural network force fields. We evaluate this method (CP+latent) along with other UQ methods on two essential aspects, calibration, and sharpness, and find this method to be both calibrated and sharp under the assumption of independent and identically-distributed (i.i.d.) data. We show that the method is relatively insensitive to hyperparameters selected, and test the limitations of the method when the i.i.d. assumption is violated. Finally, we demonstrate that this method can be readily applied to trained neural network force fields with traditional and graph neural network architectures to obtain estimates of uncertainty with low computational costs on a training dataset of 1 million images to showcase its scalability and portability. Incorporating the CP method with latent distances offers a calibrated, sharp and efficient strategy to estimate the uncertainty of neural network force fields. In addition, the CP approach can also function as a promising strategy for calibrating uncertainty estimated by other approaches.

74 ATOMIC AND MOLECULAR PHYSICS↗

Response to “how robust are reductions in modeled estimates from GTAP-BIO of the indirect land use change induced by conventional biofuels?”

Malins et al. (2020) recently published "How robust are reductions in modeled estimates from GTAP-BIO of the indirect land use change induced by conventional biofuels?", provided their narrative from the model improvements in GTAP-BIO over time, made several critical points regarding this model, and argued that the implemented improvements in this model tended to decrease Induce Land Use Changes (ILUC) emissions. Furthermore, they also provided several critical points regarding the Carbon Calculator for Land Use Change from Biofuels Production (CCLUB) emissions model. In this response to Malins et al. we address these critiques point-by-point by providing our detailed responses to key issues: 1) the GTAP-BIO model and its improvements over time; 2) the inclusion of cropland pasture in the model; 3) the observed land use changes in the US that have been the bases for improvements in GTAP-BIO model, 4) the time trends in corn price and yield to challenge the concept of the yield to price response; 5) some sources of land intensification in crop production; 6) the FAO notifications with respect to the comparison between harvested area and arable land; and 7) the GTAP-BIO results for multiple cropping. We also provided responses to Malins et al. critical points regarding the CCLUB emissions model. We hope that this response letter will open more constructive discussion among the LUC modeling community to remain focused on the big picture regarding agriculture's role as a very effective GHG mitigation tool that can shape the new policies to govern the production and consumption of biofuels.

09 BIOMASS FUELS↗