144 research outputs found
Efficient STL Control Synthesis under Asynchronous Temporal Robustness Constraints
In time-critical systems, such as air traffic control systems, it is crucial
to design control policies that are robust to timing uncertainty. Recently, the
notion of Asynchronous Temporal Robustness (ATR) was proposed to capture the
robustness of a system trajectory against individual time shifts in its
sub-trajectories. In a multi-robot system, this may correspond to individual
robots being delayed or early. Control synthesis under ATR constraints is
challenging and has not yet been addressed. In this paper, we propose an
efficient control synthesis method under ATR constraints which are defined with
respect to simple safety or complex signal temporal logic specifications. Given
an ATR bound, we compute a sequence of control inputs so that the specification
is satisfied by the system as long as each sub-trajectory is shifted not more
than the ATR bound. We avoid combinatorially exploring all shifted
sub-trajectories by first identifying redundancy between them. We capture this
insight by the notion of instant-shift pair sets, and then propose an
optimization program that enforces the specification only over the
instant-shift pair sets. We show soundness and completeness of our method and
analyze its computational complexity. Finally, we present various illustrative
case studies.Comment: This paper was accepted to CDC202
Safe-by-Construction Autonomous Vehicle Overtaking using Control Barrier Functions and Model Predictive Control
Ensuring safety for vehicle overtaking systems is one of the most fundamental
and challenging tasks in autonomous driving. This task is particularly
intricate when the vehicle must not only overtake its front vehicle safely but
also consider the presence of potential opposing vehicles in the opposite lane
that it will temporarily occupy. In order to tackle the overtaking task in such
challenging scenarios, we introduce a novel integrated framework tailored for
vehicle overtaking maneuvers. Our approach integrates the theories of
varying-level control barrier functions (CBF) and time-optimal model predictive
control (MPC). The main feature of our proposed overtaking strategy is that it
is safe-by-construction, which enables rigorous mathematical proof and
validation of the safety guarantees. We show that the proposed framework is
applicable when the opposing vehicle is either fully autonomous or driven by
human drivers. To demonstrate our framework, we perform a set of simulations
for overtaking scenarios under different settings. The simulation results show
the superiority of our framework in the sense that it ensures collision-free
and achieves better safety performance compared with the standard MPC-based
approach without safety guarantees
Sleep When Everything Looks Fine: Self-Triggered Monitoring for Signal Temporal Logic Tasks
Online monitoring is a widely used technique in assessing if the performance
of the system satisfies some desired requirements during run-time operation.
Existing works on online monitoring usually assume that the monitor can acquire
system information periodically at each time instant. However, such a periodic
mechanism may be unnecessarily energy-consuming as it essentially requires to
turn on sensors consistently. In this paper, we proposed a novel self-triggered
mechanism for model-based online monitoring of discrete-time dynamical system
under specifications described by signal temporal logic (STL) formulae.
Specifically, instead of sampling the system state at each time instant, a
self-triggered monitor can actively determine when the next system state is
sampled in addition to its monitoring decision regarding the satisfaction of
the task. We propose an effective algorithm for synthesizing such a
self-triggered monitor that can correctly evaluate a given STL formula
on-the-fly while maximizing the time interval between two observations. We show
that, compared with the standard online monitor with periodic information, the
proposed self-triggered monitor can significantly reduce observation burden
while ensuring that no information of the STL formula is lost. Case studies are
provided to illustrate the proposed monitoring mechanism
Mechanisms of microemulsion enhancing the oral bioavailability of puerarin: comparison between oil-in-water and water-in-oil microemulsions using the single-pass intestinal perfusion method and a chylomicron flow blocking approach
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Tin-graphene tubes as anodes for lithium-ion batteries with high volumetric and gravimetric energy densities.
Limited by the size of microelectronics, as well as the space of electrical vehicles, there are tremendous demands for lithium-ion batteries with high volumetric energy densities. Current lithium-ion batteries, however, adopt graphite-based anodes with low tap density and gravimetric capacity, resulting in poor volumetric performance metric. Here, by encapsulating nanoparticles of metallic tin in mechanically robust graphene tubes, we show tin anodes with high volumetric and gravimetric capacities, high rate performance, and long cycling life. Pairing with a commercial cathode material LiNi0.6Mn0.2Co0.2O2, full cells exhibit a gravimetric and volumetric energy density of 590 W h Kg-1 and 1,252 W h L-1, respectively, the latter of which doubles that of the cell based on graphite anodes. This work provides an effective route towards lithium-ion batteries with high energy density for a broad range of applications
Diffusion-based Data Augmentation for Nuclei Image Segmentation
Nuclei segmentation is a fundamental but challenging task in the quantitative
analysis of histopathology images. Although fully-supervised deep
learning-based methods have made significant progress, a large number of
labeled images are required to achieve great segmentation performance.
Considering that manually labeling all nuclei instances for a dataset is
inefficient, obtaining a large-scale human-annotated dataset is time-consuming
and labor-intensive. Therefore, augmenting a dataset with only a few labeled
images to improve the segmentation performance is of significant research and
application value. In this paper, we introduce the first diffusion-based
augmentation method for nuclei segmentation. The idea is to synthesize a large
number of labeled images to facilitate training the segmentation model. To
achieve this, we propose a two-step strategy. In the first step, we train an
unconditional diffusion model to synthesize the Nuclei Structure that is
defined as the representation of pixel-level semantic and distance transform.
Each synthetic nuclei structure will serve as a constraint on histopathology
image synthesis and is further post-processed to be an instance map. In the
second step, we train a conditioned diffusion model to synthesize
histopathology images based on nuclei structures. The synthetic histopathology
images paired with synthetic instance maps will be added to the real dataset
for training the segmentation model. The experimental results show that by
augmenting 10% labeled real dataset with synthetic samples, one can achieve
comparable segmentation results with the fully-supervised baseline.Comment: MICCAI 2023, released code: https://github.com/lhaof/Nudif
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