Related papers: A Counterfactual Reasoning Framework for Fault Dia…

This study proposes a novel paradigm for enhancing fault detection and isolation (FDI) of gas generators in all-electric auxiliary power unit (APU) by utilizing shaft power information from the starter/generator. First, we conduct a…

Causal discovery is central to inferring causal relationships from observational data. In the presence of latent confounding, algorithms such as Fast Causal Inference (FCI) learn a Partial Ancestral Graph (PAG) representing the true model's…

PUBLISHED ON IEEE/ASME TRANSACTIONS ON MECHATRONICS, DOI: 10.1109/TMECH.2021.3100150. Ideally, accurate sensor measurements are needed to achieve a good performance in the closed-loop control of mechatronic systems. As a consequence, sensor…

Many modern robotics applications require robots to function autonomously in dynamic environments including other decision making agents, such as people or other robots. This calls for fast and scalable interactive motion planning. This…

State estimation estimates the system condition in real-time and provides a base case for other energy management system (EMS) applications including real-time contingency analysis and security-constrained economic dispatch. Recent work in…

Accurate and reliable sensor measurements are critical for ensuring the safety and longevity of complex engineering systems such as wind turbines. In this paper, we propose a novel framework for sensor fault detection, isolation, and…

Modern autonomous systems rely on perception modules to process complex sensor measurements into state estimates. These estimates are then passed to a controller, which uses them to make safety-critical decisions. It is therefore important…

As causal ground truth is incredibly rare, causal discovery algorithms are commonly only evaluated on simulated data. This is concerning, given that simulations reflect preconceptions about generating processes regarding noise…

Fault detection and diagnosis of the interconnects are crucial for prognostics and health management (PHM) of electronics. Traditional methods, which rely on electronic signals as prognostic factors, often struggle to accurately identify…

The focus of this paper is on intrinsic methods to detect overfitting. By intrinsic methods, we mean methods that rely only on the model and the training data, as opposed to traditional methods (we call them extrinsic methods) that rely on…

Object recognition is a crucial step in perception systems for autonomous and intelligent vehicles, as evidenced by the numerous research works in the topic. In this paper, object recognition is explored by using multisensory and…

Making sense of incomplete and conflicting narrative knowledge in the presence of abnormalities, unobservable processes, and other real world considerations is a challenge and crucial requirement for cognitive robotics systems. An added…

Classification models play a central role in data-driven decision-making applications such as medical diagnosis, recommendation systems, and risk assessment. Traditional performance metrics, such as accuracy and AUC, focus on overall error…

In this paper a novel approach to co-design controller and attack detector for nonlinear cyber-physical systems affected by false data injection (FDI) attack is proposed. We augment the model predictive controller with an additional…

Causal discovery across multiple datasets is often constrained by data privacy regulations and cross-site heterogeneity, limiting the use of conventional methods that require a single, centralized dataset. To address these challenges, we…

We propose an architecture for training generative models of counterfactual conditionals of the form, 'can we modify event A to cause B instead of C?', motivated by applications in robot control. Using an 'adversarial training' paradigm, an…

Cognitive sensing refers to a reconfigurable sensor that dynamically adapts its sensing mechanism by using stochastic control to optimize its sensing resources. For example, cognitive radars are sophisticated dynamical systems; they use…

With the increased availability of condition monitoring data and the increased complexity of explicit system physics-based models, the application of data-driven approaches for fault detection and isolation has recently grown. While…

Recent research has developed a number of eXplainable AI (XAI) techniques, such as gradient-based approaches, input perturbation-base methods, and black-box explanation methods. While these XAI techniques can extract meaningful insights…

While the most visible part of the safety verification process of automated vehicles concerns the planning and control system, it is often overlooked that safety of the latter crucially depends on the fault-tolerance of the preceding…