Scalable Approach to Uncertainty Quantification and Robust Design of Interconnected Dynamical Systems

Development of robust dynamical systems and networks such as autonomous aircraft systems capable of accomplishing complex missions faces challenges due to the dynamically evolving uncertainties coming from model uncertainties, necessity to operate in a hostile cluttered urban environment, and the distributed and dynamic nature of the communication and computation resources. Model-based robust design is difficult because of the complexity of the hybrid dynamic models including continuous vehicle dynamics, the discrete models of computations and communications, and the size of the problem. We will overview recent advances in methodology and tools to model, analyze, and design robust autonomous aerospace systems operating in uncertain environment, with stress on efficient uncertainty quantification and robust design using the case studies of the mission including model-based target tracking and search, and trajectory planning in uncertain urban environment. To show that the methodology is generally applicable to uncertain dynamical systems, we will also show examples of application of the new methods to efficient uncertainty quantification of energy usage in buildings, and stability assessment of interconnected power networks

Sequential Design for Ranking Response Surfaces

We propose and analyze sequential design methods for the problem of ranking several response surfaces. Namely, given $L \ge 2$ response surfaces over a continuous input space $\cal X$, the aim is to efficiently find the index of the minimal response across the entire $\cal X$. The response surfaces are not known and have to be noisily sampled one-at-a-time. This setting is motivated by stochastic control applications and requires joint experimental design both in space and response-index dimensions. To generate sequential design heuristics we investigate stepwise uncertainty reduction approaches, as well as sampling based on posterior classification complexity. We also make connections between our continuous-input formulation and the discrete framework of pure regret in multi-armed bandits. To model the response surfaces we utilize kriging surrogates. Several numerical examples using both synthetic data and an epidemics control problem are provided to illustrate our approach and the efficacy of respective adaptive designs.Comment: 26 pages, 7 figures (updated several sections and figures

Smart Traction Control Systems for Electric Vehicles Using Acoustic Road-type Estimation

The application of traction control systems (TCS) for electric vehicles (EV) has great potential due to easy implementation of torque control with direct-drive motors. However, the control system usually requires road-tire friction and slip-ratio values, which must be estimated. While it is not possible to obtain the first one directly, the estimation of latter value requires accurate measurements of chassis and wheel velocity. In addition, existing TCS structures are often designed without considering the robustness and energy efficiency of torque control. In this work, both problems are addressed with a smart TCS design having an integrated acoustic road-type estimation (ARTE) unit. This unit enables the road-type recognition and this information is used to retrieve the correct look-up table between friction coefficient and slip-ratio. The estimation of the friction coefficient helps the system to update the necessary input torque. The ARTE unit utilizes machine learning, mapping the acoustic feature inputs to road-type as output. In this study, three existing TCS for EVs are examined with and without the integrated ARTE unit. The results show significant performance improvement with ARTE, reducing the slip ratio by 75% while saving energy via reduction of applied torque and increasing the robustness of the TCS.Comment: Accepted to be published by IEEE Trans. on Intelligent Vehicles, 22 Jan 201