Uncontrollable Part Research Articles

A robotic skill transfer learning framework of dynamic manipulation for fabric placement

A robotic skill transfer learning framework of dynamic manipulation for fabric placement

Sequential action-induced invariant representation for reinforcement learning

How to accurately learn task-relevant state representations from high-dimensional observations with visual distractions is a realistic and challenging problem in visual reinforcement learning. Recently, unsupervised representation learning methods based on bisimulation metrics, contrast, prediction, and reconstruction have shown the ability for task-relevant information extraction. However, due to the lack of appropriate mechanisms for the extraction of task information in the prediction, contrast, and reconstruction-related approaches and the limitations of bisimulation-related methods in domains with sparse rewards, it is still difficult for these methods to be effectively extended to environments with distractions. To alleviate these problems, in the paper, the action sequences, which contain task-intensive signals, are incorporated into representation learning. Specifically, we propose a Sequential Action-induced invariant Representation (SAR) method, which decouples the controlled part (i.e., task-relevant information) and the uncontrolled part (i.e., task-irrelevant information) in noisy observations through sequential actions, thereby extracting effective representations related to decision tasks. To achieve it, the characteristic function of the action sequence's probability distribution is modeled to specifically optimize the state encoder. We conduct extensive experiments on the distracting DeepMind Control suite while achieving the best performance over strong baselines. We also demonstrate the effectiveness of our method at disregarding task-irrelevant information by applying SAR to real-world CARLA-based autonomous driving with natural distractions. Finally, we provide the analysis results of generalization drawn from the generalization decay and t-SNE visualization. Code and demo videos are available at https://github.com/DMU-XMU/SAR.git.

Small-time global approximate controllability for incompressible MHD with coupled Navier slip boundary conditions

Small-time global approximate controllability for incompressible MHD with coupled Navier slip boundary conditions

Robust Stabilization of Time-Varying Nonlinear Systems With Time-Varying Delays: A Fully Actuated System Approach.

A general time-varying nonlinear uncertain system with time-varying delays is proposed, which is composed of two subsystems: one is an uncertain fully actuated subsystem representing the controllable part in the system, the other is an isolated globally uniformly asymptotically (GUA) stable autonomous subsystem which represents the uncontrollable part in the system. Both the single-order fully actuated system (FAS) and the multiorder FAS representations of the controllable subsystem are introduced. The problem of robust stabilization of such a compound system with full-state feedback can be converted into an input-to-state GUA stabilization problem of the fully actuated subsystem, which is solved for both types of single- and multiorder FASs with very general assumptions on the uncertain perturbed functions. Under certain conditions, the solution reduces to that for robust stabilization with partial-state feedback, and naturally reduce to that for robust stabilization of FASs. Two illustrative examples demonstrate both the effect and the application procedure of the proposed robust stabilization approach.

Global exact controllability of the viscous and resistive MHD system in a rectangle thanks to the lateral sides and to distributed phantom forces

We consider the 2-D incompressible viscous and resistive magnetohydrodynamics (MHD) system in a rectangle, with controls on the lateral sides. The velocity satisfies Dirichlet boundary conditions, while the magnetic field follows perfectly conducting wall boundary conditions on the remaining, uncontrolled part of the boundary. We extend the small-time global exact null controllability result of Coron et al. in [Ann PDE 5(2):1-49, 2019] from Navier-Stokes equations to MHD equations, with a little help of distributed phantom forces, which can be chosen arbitrarily small in any given Sobolev spaces. Our analysis relies on Coron’s return method, the well-prepared dissipation method, long-time nonlinear Cauchy-Kovalevskaya estimates and Badra’s local exact controllability result.

Implementation of the concept of relationship marketing in retail

The article is devoted to the research of retail marketing from the positions and tasks of implementing the principles of the concept of mutual relations, which is focused on building a long-term partnership not only with consumers, but also with other market entities that form the microenvironment of the functioning of trade companies. The relevance of the chosen topic is dictated by the need to find ways to increase the competitiveness of retail companies through the use of modern marketing approaches, which are based on building a system of relationships through the formation of additional values for the subjects of interaction on the market, the end result of which is obtaining mutual benefits for each of the partners. A theoretical substantiation of the feasibility of developing and building partnership relations between retail companies and market entities is the purpose of the article. According to the results of the study, the concept of marketing in retail trade and trade marketing that is often identified with it, which involves the influence on all participants of the distribution channel and consumers, are distinguished. The essence of the modern concept of relationship marketing is considered, which makes it possible to assert the expediency of abandoning the use of stimulation as a tool of influence in favor of motivation as a process aimed not just at stimulation, but at the conditions for changing the intentions, attitudes, and opinions of the participants of the relationship. It is determined that the retail trade company with the set of elements of the marketing complex, expanded due to the added "partnership" tool, through the motivational field represented by controlled and uncontrolled parts, directs its efforts to market entities, such as consumers, suppliers, competitors, intermediaries, as well as contact audiences. It is noted that the motivational field should be understood as an environment formed from a set of all interests, motives and incentives that determine the mutual influence on the participants of the relationship, determining the goals and the set of actions related to their achievement. The desired results of the retail trade company's motivation of the participants of the relationship are determined and conclusions have been made regarding the feasibility of providing and benefits of partnership with such entities as suppliers and competitors

Optimal control method of induction motor torque ripple based on harmonic component

AbstractThe torque ripple of an induction motor has strong harmonic interference, which causes stator current distortion. Stability control is always a difficult problem in this field. An optimal control method for the torque ripple of induction motors based on harmonic components is proposed. To address the instability and significant energy loss caused by torque ripple in induction motors, an optimization control method for torque ripple in induction motors based on harmonic components is studied and designed. On the basis of the induction motor model, according to the characteristics and generation principle of torque ripple, combined with controllable and uncontrollable parts of harmonic torque, the stator current harmonics are used to suppress torque harmonics and minimize torque ripple. For the purpose of to cancel the harmonic component of the output voltage, achieve digital output voltage filtering, reduce the harmonic component of the stator current, and achieve optimal control of the torque ripple of the induction motor, the resonant digital filter is simultaneously deployed at the controller's output. The test results showed that the maximum torque ripple value was 2 Nm and the minimum torque ripple value was 0.1 Nm, which can restrain the distortion of stator current to the greatest extent and reduce the harmonic content of torque. In summary, the optimization control method proposed in the study can effectively suppress harmonic interference, which has important practical implications for future harmonic research.

EMI Shielding Using Flexible Optically Transparent Screens for Smart Electromagnetic Environments

Past generations of wireless systems focused largely toward power and bandwidth to support higher data rates, coverage, and quality of service. Smart electromagnetic environments, on the other hand, are aimed at meeting these expectations through modifications in the electromagnetic properties of the geometry, which were once considered an uncontrollable part of a wireless system. This is done through careful placement of smart electromagnetic structures that can constructively manipulate the propagation of electromagnetic waves. In this work, we present optically transparent electromagnetic screens for shielding applications that require visual observation. New aluminum-doped zinc oxide (AZO) thin films, that are low-loss, and optically transparent, are deposited on plastic for use as absorbing-type shields. We also present a simple and reliable technique to fabricate all-metallic single-layer reflecting-type shields. All these shields have a unique combination of shielding effectiveness (SE) and optical transparency that advance the state of the art. They can be used as curtains or walls in indoor environments, windows for autonomous vehicles and as covers to shield smart IoT devices.

Stabilization of the Linearized Water Tank System

In this article we study the so-called water tank system. In this system, the behavior of water contained in a 1-D tank is modelled by Saint-Venant equations, with a scalar distributed control. It is well-known that the linearized systems around uniform steady-states are not controllable, the uncontrollable part being of infinite dimension. Here we will focus on the linearized systems around non-uniform steady states, corresponding to a constant acceleration of the tank. We prove that these systems are controllable in Sobolev spaces, using the moments method and perturbative spectral estimates. Then, for steady states corresponding to small enough accelerations, we design an explicit Proportional Integral feedback law (obtained thanks to a well-chosen dynamic extension of the system) that stabilizes these systems exponentially with arbitrarily large decay rate. Our design relies on feedback equivalence/backstepping.

Smooth Controllability of the Navier–Stokes Equation with Navier Conditions: Application to Lagrangian Controllability

We deal with the 3D Navier–Stokes equation in a smooth simply connected bounded domain, with controls on a non-empty open part of the boundary and a Navier slip-with-friction boundary condition on the remaining, uncontrolled, part of the boundary. We extend the small-time global exact null controllability result in Coron et al. (J Eur Math Soc 22:1625–1673, 2020) from Leray weak solutions to the case of smooth solutions. Our strategy relies on a refinement of the method of well-prepared dissipation of the viscous boundary layers which appear near the uncontrolled part of the boundary, which allows to handle the multi-scale features in a finer topology. As a byproduct of our analysis we also obtain a small-time global approximate Lagrangian controllability result, extending to the case of the Navier–Stokes equations the recent results (Glass and Horsin in J Math Pures Appl (9) 93:61–90, 2010; Glass and Horsin in SIAM J Control Optim 50: 2726–2742, 2012; Horsin and Kavian in ESAIM Control Optim Calc Var 23:1179–1200, 2017) in the case of the Euler equations and the result (Glass and Horsin in ESAIM Control Optim Calc Var 22:1040–1053, 2016) in the case of the steady Stokes equations.

Криминогенность миграционных процессов: и снова о шкале рисков

The relevance of the study is due to the need for constant monitoring of the criminogenic risks of migration processes, including those associated with illegal migration, a phenomenon difficult for criminological assessment that poses a threat to national security. Purpose: rethinking the risks of criminogenicity of migration processes to improve measures to counter national and transnational crime. Objectives: to obtain objective data on the structure of migration crime; to identify trends in its development in order to meaningfully fill the scale of risks of migration processes; generalization of the results obtained. The research methodology is based on a dialectical approach, also includes sociological, statistical, expert assessment method, analysis, synthesis, mathematical, comparative methods. The results. Based on the analysis of up-to-date official statistics and comparison of the results with previously obtained data, as well as expert assessments, the objectivity of which is due to the high latency of migration crime, the criminogenic migration risks corresponding to the average risk indicators have been adjusted. The results obtained are structured depending on the status of migrants and the prevalence of acts committed by them or in relation to them and are summarized in the scale of criminogenicity risks of migration processes (migration) (from minimal to ultra-high). Conclusions. Based on the results of the study, particular conclusions were made about the appropriateness of adjusting the accounting system for crimes committed by foreign citizens and stateless persons and in relation to them, and rethinking the criminological approach to determining migration crime that does not include a group of acts directly related to illegal migration (articles 322.1, 322.2, 322.3 of the Criminal Code The Russian Federation), as well as the general conclusion about the need for constant monitoring of the criminogenic risks of migration (especially its uncontrolled part) in order to coordinate migration policy and counteract various types of crime, which is of great par-ticular importance in the unstable migration situation during crises.

Decomposed Modeling of Controllable and Uncontrollable Components in Power Systems with High Penetration of Renewable Energies

The high penetration of variable renewable energies requires the flexibility from both the generation and demand sides. This raises the necessity of modeling stochastic and flexible energy resources in power system operation. However, some distributed energy resources have both stochasticity and flexibility, e.g., prosumers with distributed photovoltaics and energy storage, and plug-in electric vehicles with stochastic charging behavior and demand response capability. Such partly controllable participants pose challenges to modeling the aggregate behavior of large numbers of entities in power system operation. This paper proposes a new perspective on the aggregate modeling of such energy resources in power system operation. Specifically, a unified controllability-uncontrollability-decomposed model for various energy resources is established by modeling the controllable and uncontrollable parts of energy resources separately. Such decomposition enables the straightforward aggregate modeling of massive energy resources with different controllabilities by integrating their controllable components with linking constraints and uncontrollable components with dependent discrete convolution. Furthermore, a two-stage stochastic unit commitment model based on the proposed model for power system operation is established. The proposed model is tested using a three-bus system and real Qinghai provincial power grid of China. The result shows that this model is able to characterize at high accuracy the aggregate behavior of massive energy resources with different levels of controllability so that their flexibility can be fully explored.

Politik Uang di Pemilu Indonesia: Sebuah Tinjauan

Money politics in general and local elections have become an integral part of the development of democracy inIndonesia. This study aims to reveal the causes of money politics in national and local elections. This study uses datafrom journals published and selected from 2015 to 2019. The results of this study provide an overview of the practice ofbuying and selling votes, which has become an uncontrollable part of the implementation of elections, both locally andnationally in Indonesia. National elections and local elections have been contaminated by the behavior of money. Animportant implication of the study is that money politics in elections needs immediate attention and the best solutionbecause it will guarantee the stability and quality of Indonesian democracy in the future. The methodology usedincludes 1) defining research questions; 2) determination of literature sources; 3) determination of literature searchkeywords; 4) Literature selection; and 5) extracting data. Based on the methodology, the results obtained contain 10papers. There are 10 studies that address the topic of money politics in elections, both local and national, and shareknowledge that explains that the two components influence each other. Further studies may be conducted by examiningthe extent to which money politics can be used as political costs in campaigning, but is controlled and does not violatethe rule of law.

CONCENTRATION OF SOLUBLE SALTS IN COOLING WATER OF POWER PLANTS WITH BLOW DOWN RECIRCULATION

The method for calculating the dynamics of concentration of soluble salts (tracers) using the assumption of their homogeneous distribution in the water volume of the circulated cooling system (CCS) under the conditions of recirculation of part of the purge water was proposed. The assumption of homogeneity of salt distribution is substantiated by the fact that the period of mixing of cold water (CW) in CCS is equal to several hours, and the period of setting the concentration limits is calculated in tens of days. In this approximation the law of change of concentration of tracers in time from the moment of their supply in CCS in modes without and with recirculation of a part of purge water and without any processing is received. It is shown that without recirculating treatment, recirculation of purge water increases the maximum salt concentration and the time to reach it. Attention is drawn to the fact that the flow rate consists of two parts: controlled and uncontrolled. When calculating the allowable amount of purge recirculation, it is necessary to use the value of the total purge flow. It is important to understand that the relative change in total purge is always less than the controlled one. To obtain the cost of full purge, it is necessary to calculate its uncontrolled part. The procedure for calculating the uncontrolled purge is given in the paper. Since there are restrictions for of maximum allowable concentration (MAC) on the concentrations of tracers in the CCS, the expressions obtained in this work are consistent with the requirements of the MAC and allow for a given degree of concentration of salts φ, to calculate the limit of recirculation flow. It is shown that the recirculation regime can be applied without additional measures for CCS with a low initial degree of salt concentration and low concentration in the feed water. The proposed algorithm is used to predict the results of recirculation in the case of a specific CСS for thermal power plants with an electrical capacity of 1200 MW and the ratio CMAC/C0 = 5. It is shown that in this case recirculation has significant economic and environmental effects. However, at high, concentrations of tracers C0, compared to MAC, feed water recirculation is meaningless. The calculation algorithm applies to tracers, i.e. salts that do not give deposits, but only limited by the MAC requirements and the risk of corrosion or environmental considerations. Therefore, the above technique cannot be directly used for sparingly soluble salts, such as calcium carbonate. In this case, it requires significant correction. Note the convenient use in calculations of the earlier introduced by us concept of regime (dynamic) factor φ, especially when comparing the real consumption of the main flows of ССS to calculated and in determining the evaporative capacity of cooling towers, or assessing the degree of salt concentration.

Optimal Construction of Koopman Eigenfunctions for Prediction and Control

This article presents a novel data-driven framework for constructing eigenfunctions of the Koopman operator geared toward prediction and control. The method leverages the richness of the spectrum of the Koopman operator away from attractors to construct a set of eigenfunctions such that the state (or any other observable quantity of interest) is in the span of these eigenfunctions and hence predictable in a linear fashion. The eigenfunction construction is optimization-based with no dictionary selection required. Once a predictor for the uncontrolled part of the system is obtained in this way, the incorporation of control is done through a multistep prediction error minimization, carried out by a simple linear least-squares regression. The predictor so obtained is in the form of a linear controlled dynamical system and can be readily applied within the Koopman model predictive control (MPC) framework of (M. Korda and I. Mezić, 2018) to control nonlinear dynamical systems using linear MPC tools. The method is entirely data-driven and based predominantly on convex optimization. The novel eigenfunction construction method is also analyzed theoretically, proving rigorously that the family of eigenfunctions obtained is rich enough to span the space of all continuous functions. In addition, the method is extended to construct generalized eigenfunctions that also give rise Koopman invariant subspaces and hence can be used for linear prediction. Detailed numerical examples demonstrate the approach, both for prediction and feedback control. <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">**</sup> Code for the numerical examples is available from https://homepages.laas.fr/mkorda/Eigfuns.zip.

A general formulation of time-optimal quantum control and optimality of singular protocols

We present a general theoretical framework for finding the time-optimal unitary evolution of the quantum systems when the Hamiltonian is subject to arbitrary constraints. Quantum brachistochrone (QB) is such a framework based on the variational principle, whose drawback is that it only deals with equality constraints. While inequality constraints can be reduced to equality ones in some situations, they usually cannot, especially when a drift field, an uncontrollable part, is present in the Hamiltonian. We first develop a framework based on Pontryagin’s maximum principle (MP) in order to deal with inequality constraints as well. The new framework contains QB as a special case, and their detailed correspondence is given. Second, we address the problem of singular controls, which satisfy MP trivially so as to cause a trouble in determining the optimal protocol. To overcome this difficulty, we derive an additional necessary condition for a singular protocol to be optimal by applying the generalized Legendre–Clebsch condition. Third, we discuss general relations among the drift, the singular controls, and the inequality constraints. Finally, we demonstrate how our framework and results work in some examples. We also discuss the physical meaning of singular controls.

Normal acceleration response to canard control with wind for spin-stabilized projectiles

In this investigation, the normal acceleration response to the control inputs of spin-stabilized projectiles considering the atmospheric wind with the coupled effects of canard control, gravity, and aerodynamic forces, being an important reference for the guidance design of low-cost guided projectiles with less measurement information (only translational motion), is deduced and analyzed. Based on the approximate formulas predicting the angle of attack under canard control and considering the atmospheric wind obtained by a linear model of the pitch and yaw motion, estimated expressions for the normal acceleration response to canard control are deduced and analyzed. To analyze the cross-coupling between pitch and yaw and simplify the design of guidance and control, the acceleration response is divided into controllable and uncontrollable parts. The phase shift between the controllable acceleration response and the direction of the control input is defined to represent the coupling effect between the pitch and the yaw; this is found to be strongly dependent on the projectiles' state parameters rather than the control parameters. The results indicate that the acceleration and phase are dramatically altered under different control directions. This condition adversely affects guidance and control because uncontrollable directions arise when the deflection angle is smaller than the critical angle.

A Sampling-and-Discarding Approach to Stochastic Model Predictive Control for Renewable Energy Systems

Abstract The paper applies the scenario approach to stochastic model predictive control for renewable energy systems. First, the controllable and the (quasi-periodic) uncontrollable parts are decomposed. The latter is modeled by a Box-Jenkins system with appropriately chosen inputs. For the controllable part, a linear state space model is used with an affine state-feedback controller. Several numerical experiments are presented on a public lighting microgrid, e.g., about forecasting the energy balance, the effects of various controller parametrizations, reoptimization frequencies, and discarding unfavorable scenarios. The results indicate that even a low order, time-independent controller with a slow reoptimization frequency can be efficient.

Synthesizing adaptive test strategies from temporal logic specifications

Constructing good test cases is difficult and time-consuming, especially if the system under test is still under development and its exact behavior is not yet fixed. We propose a new approach to compute test strategies for reactive systems from a given temporal logic specification using formal methods. The computed strategies are guaranteed to reveal certain simple faults in every realization of the specification and for every behavior of the uncontrollable part of the system’s environment. The proposed approach supports different assumptions on occurrences of faults (ranging from a single transient fault to a persistent fault) and by default aims at unveiling the weakest one. We argue that such tests are also sensitive for more complex bugs. Since the specification may not define the system behavior completely, we use reactive synthesis algorithms with partial information. The computed strategies are adaptive test strategies that react to behavior at runtime. We work out the underlying theory of adaptive test strategy synthesis and present experiments for a safety-critical component of a real-world satellite system. We demonstrate that our approach can be applied to industrial specifications and that the synthesized test strategies are capable of detecting bugs that are hard to detect with random testing.

Predictive control algorithms for congestion management in electric power distribution grids

• We propose a new control methodology for dealing with the congestion and balancing problems of the distribution grid. • The method is based on the Distributed Model Predictive Control architecture. • It optimizes the efficiency of the available demand response strategies. • The feasibility of the proposed method is tested on a benchmark smart grid under different scenarios. In this paper, model predictive control methodologies are developed to address two main issues which arise in electric power distribution systems, namely the congestion of the distribution lines and the balancing problem. Consumer energy demand is divided into an uncontrollable part, a controllable part that can be either stored in energy storage devices in order to be consumed at later times or shifted in time in the form of hourly consumption or a consumption that maintains a pattern. Demand – response strategies involve consumers actively in the balancing effort and are part of the MPC methodologies, which are formulated as Mixed Integer Quadratic Program optimization problems involving both continuous and binary variables. Finally, these new developments are tested on the IEEE European Low Voltage Test Feeder which highlights the performance of the proposed control schemes.