Related papers: End-to-End Deep Fault Tolerant Control
This paper presents a novel auto-tuning subsystem-based fault-tolerant control (SBFC) system designed for robotic manipulator systems with n degrees of freedom (DoF). It initially proposes a novel model for joint torques, incorporating an…
Isoperimetric robotic trusses can adapt to different tasks and environments because they have a high strength-to-weight ratio, can change their own shape dramatically, and can be reconfigured into a variety of different shapes. However,…
Controllability is a fundamental property of control systems, serving as the prerequisite for controller design. While controllability test is well established in modelic (i.e., model-driven) control systems, extending it to datatic (i.e.,…
Multi-sensor fusion is essential for autonomous vehicle localization, as it is capable of integrating data from various sources for enhanced accuracy and reliability. The accuracy of the integrated location and orientation depends on the…
Conventional electrical fault models, which rely on static thresholds and instantaneous trip mechanisms, fail to capture the time-evolving dynamics of real faults, creating vulnerabilities in modern power systems. This paper introduces a…
Supercomputing systems today often come in the form of large numbers of commodity systems linked together into a computing cluster. These systems, like any distributed system, can have large numbers of independent hardware components…
We elaborate on a metamorphic approach for testing industrial control systems. The proposed approach consists of two phases: an exploration phase in which we learn about fault patterns of the system under test and an exploitation phase…
A sensor network can be described as a collection of sensor nodes which co-ordinate with each other to perform some specific function. These sensor nodes are mainly in large numbers and are densely deployed either inside the phenomenon or…
Fault tolerance is increasingly being use to design Dependable Digital Systems (DDS), which refers to the capability of a system to keep performing its intended functions in existence of faults. DDS are typically used in Safety-critical…
In networked control systems, communication is a shared and therefore scarce resource. Event-triggered control (ETC) can achieve high performance control with a significantly reduced amount of samples compared to classical, periodic control…
This paper studies the problem of real-time fault recovery control for nonlinear control-affine systems subject to actuator loss of effectiveness faults and external disturbances. We derive a two-stage framework that combines causal…
Network-on-Chip (NoC) paradigm has been proposed as an auspicious solution to handle the strict communication requirements between the increasingly large number of cores on a single multi and many-core chips. However, NoC systems are…
Transmission networks consist of thousands of branches for large-scale real power systems. They are built with a high degree of redundancy for reliability concern. Thus, it is very likely that there exist various network topologies that can…
How can we rely on an end-to-end autonomous vehicle's complex decision-making system during deployment? One common solution is to have a ``fallback layer'' that checks the planned trajectory for rule violations and replaces it with a…
Controller networks in today's automotive systems consist of more than 100 ECUs connected by various bus protocols. Seamless operation of the entire system requires a well-orchestrated interaction of these ECUs. Consequently, to ensure…
Deep Neural Network (DNN) has achieve great success in solving a wide range of machine learning problems. Recently, they have been deployed in datacenters (potentially for business-critical or industrial applications) and safety-critical…
End-to-End driving is a promising paradigm as it circumvents the drawbacks associated with modular systems, such as their overwhelming complexity and propensity for error propagation. Autonomous driving transcends conventional traffic…
Overloading in DC servo motors is a major concern in industries, as many companies face the problem of finding expert operators, and also human monitoring may not be an effective solution. Therefore, this paper proposed an embedded…
We are experiencing an explosion in the amount of sensors measuring our activities and the world around us. These sensors are spread throughout the built environment and can help us perform state estimation and control of related systems,…
The mathematical modeling of open-switch faults in two-level machine-side converters and the fault-tolerant current control of isotropic permanent-magnet synchronous generators are discussed. The proposed converter model is generic for any…