Finite-horizon optimal control of linear and a class of nonlinear systems

Traditionally, optimal control of dynamical systems with known system dynamics is obtained in a backward-in-time and offline manner either by using Riccati or Hamilton-Jacobi-Bellman (HJB) equation. In contrast, in this dissertation, finite-horizon optimal regulation has been investigated for both linear and nonlinear systems in a forward-in-time manner when system dynamics are uncertain. Value and policy iterations are not used while the value function (or Q-function for linear systems) and control input are updated once a sampling interval consistent with standard adaptive control. First, the optimal adaptive control of linear discrete-time systems with unknown system dynamics is presented in Paper I by using Q-learning and Bellman equation while satisfying the terminal constraint. A novel update law that uses history information of the cost to go is derived. Paper II considers the design of the linear quadratic regulator in the presence of state and input quantization. Quantization errors are eliminated via a dynamic quantizer design and the parameter update law is redesigned from Paper I. Furthermore, an optimal adaptive state feedback controller is developed in Paper III for the general nonlinear discrete-time systems in affine form without the knowledge of system dynamics. In Paper IV, a NN-based observer is proposed to reconstruct the state vector and identify the dynamics so that the control scheme from Paper III is extended to output feedback. Finally, the optimal regulation of quantized nonlinear systems with input constraint is considered in Paper V by introducing a non-quadratic cost functional. Closed-loop stability is demonstrated for all the controller designs developed in this dissertation by using Lyapunov analysis while all the proposed schemes function in an online and forward-in-time manner so that they are practically viable --Abstract, page iv

A unified 3D phase diagram of growth induced surface instabilities

Biological world metabolizes itself with germination, growth, development, and aging every second. A variety of fascinating morphological patterns arise on surfaces of growing, developing or aging tissues, organs and micro--organism colonies. The basic mechanism has been long believed to be the mechanical mismatch due to -differential growth between layers with different biological compositions. These patterns have been observed in separate systems and topologically classified as crease, wrinkle-fold, period-double, ridge, delaminated-buckle, and coexistence states. However, a general and systematic understanding of their initiation and evolution remains largely elusive. We construct a unified 3D phase diagram that predicts initially flat tissue layers can transform to various instability patterns, systematically depending on three physical parameters: mismatch strain, modulus ratio between layers, and adhesion energy on the interface. Our phase diagram matches consistently with our mimic in vitro experiments and documented data in state-of-the-art literature

Iteratively Optimized Patch Label Inference Network for Automatic Pavement Disease Detection

We present a novel deep learning framework named the Iteratively Optimized Patch Label Inference Network (IOPLIN) for automatically detecting various pavement diseases that are not solely limited to specific ones, such as cracks and potholes. IOPLIN can be iteratively trained with only the image label via the Expectation-Maximization Inspired Patch Label Distillation (EMIPLD) strategy, and accomplish this task well by inferring the labels of patches from the pavement images. IOPLIN enjoys many desirable properties over the state-of-the-art single branch CNN models such as GoogLeNet and EfficientNet. It is able to handle images in different resolutions, and sufficiently utilize image information particularly for the high-resolution ones, since IOPLIN extracts the visual features from unrevised image patches instead of the resized entire image. Moreover, it can roughly localize the pavement distress without using any prior localization information in the training phase. In order to better evaluate the effectiveness of our method in practice, we construct a large-scale Bituminous Pavement Disease Detection dataset named CQU-BPDD consisting of 60,059 high-resolution pavement images, which are acquired from different areas at different times. Extensive results on this dataset demonstrate the superiority of IOPLIN over the state-of-the-art image classification approaches in automatic pavement disease detection. The source codes of IOPLIN are released on \url{https://github.com/DearCaat/ioplin}.Comment: Revision on IEEE Trans on IT

Designing bioinspired ondemand displays by electroactivating mechanochemically responsive elastomers

Cephalopods display dazzling colors by locally contracting skin muscles that reversibly activate chromatophores pigments. Inspired by this bioluminescent strategy, we demonstrate a new on-demand display by selectively activating a mechanochemically responsive elastomer controlled by external electric fields. The mechanoresponsive elastomer covalently embedded with mechanochromic molecules, if loaded with sufficiently large force, can reversibly emit visible color and strong fluorescent signals. Upon this reactive elastomer, we employ a controlled electric field to trigger a self-assembled topological pattern that features patterned large deformation, hence displaying a fluorescent pattern. The fluorescent intensity can be predicted by analyzing three-dimensional deformation of the reactive elastomer. We demonstrate on-demand displays such as self-assembled fluorescent rings and lines, and other arbitrary geometries such as letters. The reported technique may pave ways for creating next generation optoelectronics, biomedical luminescent devices, dynamic camouflage coatings, and photoelastic elastomer for damage detection

Assume/Guarantee Contracts for Dynamical Systems:Theory and Computational Tools

Modern engineering systems include many components of different types and functions. Verifying that these systems satisfy given specifications can be an arduous task, as most formal verification methods are limited to systems of moderate size. Recently, contract theory has been proposed as a modular framework for defining specifications. In this paper, we present a contract theory for discrete-time dynamical control systems relying on assume/guarantee contracts, which prescribe assumptions on the input of the system and guarantees on the output. We then focus on contracts defined by linear constraints, and develop efficient computational tools for verification of satisfaction and refinement based on linear programming. We exemplify these tools in a simulation example, proving safety for a two-vehicle autonomous driving setting.Comment: 7 pages, 5 figure

A Self-attention Knowledge Domain Adaptation Network for Commercial Lithium-ion Batteries State-of-health Estimation under Shallow Cycles

Accurate state-of-health (SOH) estimation is critical to guarantee the safety, efficiency and reliability of battery-powered applications. Most SOH estimation methods focus on the 0-100\% full state-of-charge (SOC) range that has similar distributions. However, the batteries in real-world applications usually work in the partial SOC range under shallow-cycle conditions and follow different degradation profiles with no labeled data available, thus making SOH estimation challenging. To estimate shallow-cycle battery SOH, a novel unsupervised deep transfer learning method is proposed to bridge different domains using self-attention distillation module and multi-kernel maximum mean discrepancy technique. The proposed method automatically extracts domain-variant features from charge curves to transfer knowledge from the large-scale labeled full cycles to the unlabeled shallow cycles. The CALCE and SNL battery datasets are employed to verify the effectiveness of the proposed method to estimate the battery SOH for different SOC ranges, temperatures, and discharge rates. The proposed method achieves a root-mean-square error within 2\% and outperforms other transfer learning methods for different SOC ranges. When applied to batteries with different operating conditions and from different manufacturers, the proposed method still exhibits superior SOH estimation performance. The proposed method is the first attempt at accurately estimating battery SOH under shallow-cycle conditions without needing a full-cycle characteristic test