Computational approaches for voltage stability monitoring and control in power systems

The electric power grid is a complex, non-linear, non-stationary system comprising of thousands of components such as generators, transformers, transmission lines and advanced power electronics based control devices, and customer loads. The complexity of the grid has been further increased by the introduction of smart grid technologies. Smart grid technology adds to the traditional power grids advanced methods of communication, computation and control as well as increased use of renewable energy sources such as wind and solar farms and a higher penetration of plug-in electric vehicles among others. The smart grid has resulted in much more distributed generation, bi-directional powerflows between customers and the grid, and the semi-autonomous control of subsystems. Due to this added complexity of the grid and the need to maintain reliable, quality, efficient, economical, and environmentally friendly power supply, advanced monitoring and control technologies are needed for real-time operation of various systems that integrate into the transmission and distribution network. In this dissertation, the development of computational intelligence methods for on-line monitoring of voltage stability in a power system is presented. In order to carry out on-line assessment of voltage stability, data from Phasor Measurement Units (PMUs) is utilized. An intelligent algorithm for optimal location of PMUs for voltage stability monitoring is developed. PMU information is used for estimation of voltage stability load index in a power system with plug-in electric vehicle and wind farm included. The estimated voltage stability index is applied in the development of an adaptive dynamic programming based optimal secondary voltage controller to coordinate the reactive power capability of two FACTS devices --Abstract, page iii

Learning-based Intelligent Surface Configuration, User Selection, Channel Allocation, and Modulation Adaptation for Jamming-resisting Multiuser OFDMA Systems

Reconfigurable intelligent surfaces (RISs) can potentially combat jamming attacks by diffusing jamming signals. This paper jointly optimizes user selection, channel allocation, modulation-coding, and RIS configuration in a multiuser OFDMA system under a jamming attack. This problem is non-trivial and has never been addressed, because of its mixed-integer programming nature and difficulties in acquiring channel state information (CSI) involving the RIS and jammer. We propose a new deep reinforcement learning (DRL)-based approach, which learns only through changes in the received data rates of the users to reject the jamming signals and maximize the sum rate of the system. The key idea is that we decouple the discrete selection of users, channels, and modulation-coding from the continuous RIS configuration, hence facilitating the RIS configuration with the latest twin delayed deep deterministic policy gradient (TD3) model. Another important aspect is that we show a winner-takes-all strategy is almost surely optimal for selecting the users, channels, and modulation-coding, given a learned RIS configuration. Simulations show that the new approach converges fast to fulfill the benefit of the RIS, due to its substantially small state and action spaces. Without the need of the CSI, the approach is promising and offers practical value.Comment: accepted by IEEE TCOM in Jan. 202

Drone deep reinforcement learning: A review

Unmanned Aerial Vehicles (UAVs) are increasingly being used in many challenging and diversified applications. These applications belong to the civilian and the military fields. To name a few; infrastructure inspection, traffic patrolling, remote sensing, mapping, surveillance, rescuing humans and animals, environment monitoring, and Intelligence, Surveillance, Target Acquisition, and Reconnaissance (ISTAR) operations. However, the use of UAVs in these applications needs a substantial level of autonomy. In other words, UAVs should have the ability to accomplish planned missions in unexpected situations without requiring human intervention. To ensure this level of autonomy, many artificial intelligence algorithms were designed. These algorithms targeted the guidance, navigation, and control (GNC) of UAVs. In this paper, we described the state of the art of one subset of these algorithms: the deep reinforcement learning (DRL) techniques. We made a detailed description of them, and we deduced the current limitations in this area. We noted that most of these DRL methods were designed to ensure stable and smooth UAV navigation by training computer-simulated environments. We realized that further research efforts are needed to address the challenges that restrain their deployment in real-life scenarios

Learning Control Policies for Fall Prevention and Safety in Bipedal Locomotion

The ability to recover from an unexpected external perturbation is a fundamental motor skill in bipedal locomotion. An effective response includes the ability to not just recover balance and maintain stability but also to fall in a safe manner when balance recovery is physically infeasible. For robots associated with bipedal locomotion, such as humanoid robots and assistive robotic devices that aid humans in walking, designing controllers which can provide this stability and safety can prevent damage to robots or prevent injury related medical costs. This is a challenging task because it involves generating highly dynamic motion for a high-dimensional, non-linear and under-actuated system with contacts. Despite prior advancements in using model-based and optimization methods, challenges such as requirement of extensive domain knowledge, relatively large computational time and limited robustness to changes in dynamics still make this an open problem. In this thesis, to address these issues we develop learning-based algorithms capable of synthesizing push recovery control policies for two different kinds of robots : Humanoid robots and assistive robotic devices that assist in bipedal locomotion. Our work can be branched into two closely related directions : 1) Learning safe falling and fall prevention strategies for humanoid robots and 2) Learning fall prevention strategies for humans using a robotic assistive devices. To achieve this, we introduce a set of Deep Reinforcement Learning (DRL) algorithms to learn control policies that improve safety while using these robots. To enable efficient learning, we present techniques to incorporate abstract dynamical models, curriculum learning and a novel method of building a graph of policies into the learning framework. We also propose an approach to create virtual human walking agents which exhibit similar gait characteristics to real-world human subjects, using which, we learn an assistive device controller to help virtual human return to steady state walking after an external push is applied. Finally, we extend our work on assistive devices and address the challenge of transferring a push-recovery policy to different individuals. As walking and recovery characteristics differ significantly between individuals, exoskeleton policies have to be fine-tuned for each person which is a tedious, time consuming and potentially unsafe process. We propose to solve this by posing it as a transfer learning problem, where a policy trained for one individual can adapt to another without fine tuning.Ph.D

Reinforcement learning in continuous state and action spaces

Many traditional reinforcement-learning algorithms have been designed for problems with small finite state and action spaces. Learning in such discrete problems can been difficult, due to noise and delayed reinforcements. However, many real-world problems have continuous state or action spaces, which can make learning a good decision policy even more involved. In this chapter we discuss how to automatically find good decision policies in continuous domains. Because analytically computing a good policy from a continuous model can be infeasible, in this chapter we mainly focus on methods that explicitly update a representation of a value function, a policy or both. We discuss considerations in choosing an appropriate representation for these functions and discuss gradient-based and gradient-free ways to update the parameters. We show how to apply these methods to reinforcement-learning problems and discuss many specific algorithms. Amongst others, we cover gradient-based temporal-difference learning, evolutionary strategies, policy-gradient algorithms and actor-critic methods. We discuss the advantages of different approaches and compare the performance of a state-of-the-art actor-critic method and a state-of-the-art evolutionary strategy empirically

Review : Deep learning in electron microscopy

Deep learning is transforming most areas of science and technology, including electron microscopy. This review paper offers a practical perspective aimed at developers with limited familiarity. For context, we review popular applications of deep learning in electron microscopy. Following, we discuss hardware and software needed to get started with deep learning and interface with electron microscopes. We then review neural network components, popular architectures, and their optimization. Finally, we discuss future directions of deep learning in electron microscopy