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公开(公告)号：US10809701B2
公开(公告)日：2020-10-20
申请号：US16218900
申请日：2018-12-13
发明人： Yebin Wang , Yehan Ma , Philip Orlik , Toshiaki Koike-Akino , Jianlin Guo
IPC分类号： G05B19/418 , G05B13/04 , G05B19/045 , H04L29/08
摘要： A control system for controlling a plant includes a local controller to generate local control commands according to a local control policy to control the plant and a receiver to received remote control commands generated by a remote controller to control the plant according to remote control policy. Local and remote control policies are designed for the same control objective and time resolution such that there is the same Lyapunov function having a negative definite time derivative for controlling the plant according to first or second control policies. The plant is controller with either remote or local control commands in dependence of a success of receiving a remote control command for a time step of the control.
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132.发明授权公开(公告)号：US10804736B2
公开(公告)日：2020-10-13
申请号：US16188967
申请日：2018-11-13
发明人： Hongbo Sun , Shiva Poudel
摘要： Systems and methods for configuring micro-grids to restore some power in a power distribution grid (PDG) in response to a power disruption over the PDG. A computing system configured to receive current condition information from devices in the PDG. Form a minimum spanning forest (MSF) to identify a set of micro-grids, each spanning tree in a forest is a self-sustained islanded micro-grid network. Assign a ranking to each inter-bus link within each micro-grid according to constraints, to identify some inter-bus links above a high-ranking threshold to be switched off during a restoration period. Identify switches that restore power to some critical loads of a subset of critical loads with different forest configurations, based on buses that are switched on, to determine a subset of micro-grids less susceptible for link failures during the restoration period. Upon receiving a power disruption, activate the switches to restore some power to the PDG.
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133.发明申请公开(公告)号：US20200311971A1
公开(公告)日：2020-10-01
申请号：US16365831
申请日：2019-03-27
摘要： An object detection system for detecting and manipulating objects on a workspace includes a three dimensional (3D) sensor configured to acquire and transmit point clouds of a scene, each point cloud including one or more objects in the workspace, manipulator configured to move or grip each of the one or more objects, a memory to store the images and a computer executable program including an object detection-localization program, a segmentation program, a gripping-moving program and a geometry reconstruction program, a processor to perform the computer executable program using the images in connection with the 3D sensor, the memory and the manipulator. The computer executable program is configured to cause the processor to perform steps of generating frames including the point clouds and measurements, generating an initial map from a first frame, moving part of the one or more objects by using the manipulator using the first image, acquiring, after the moving step, a second frame, generating a first dynamic map and a static map from the initial map using the second frame, moving another part of the one or more objects based on the first dynamic map, splitting at least one dynamic map among the first dynamic map and the second dynamic maps when the at least one dynamic map includes a segment being outlier with respect to the one or more objects, reconstructing a 3D geometry of the one or more objects from the split map, and determining when the one or more objects are separated from each other.
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公开(公告)号：US20200310400A1
公开(公告)日：2020-10-01
申请号：US16369109
申请日：2019-03-29
发明人： Devesh Jha , Wenyu Zhang , Emil Laftchiev , Daniel Nikovski
摘要： A system evaluates a plurality of faults in an operation of a machine at a set of future instances of time. The system uses a neural network including a first subnetwork sequentially connected with a sequence of second subnetworks for each of the future instance of time such that an output of one subnetwork is an input to a subsequent subnetwork. The first subnetwork accepts the current time-series data and the current setpoints of operation of the machine. Each of the second subnetworks accepts the output of a preceding subnetwork, an internal state of the preceding subnetwork, and a future setpoint for a corresponding future instance of time. Each of the second subnetworks outputs an individual prediction of each fault of a plurality of faults at the corresponding future instance of time.
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公开(公告)号：US20200294394A1
公开(公告)日：2020-09-17
申请号：US16351910
申请日：2019-03-13
发明人： Jianlin Guo , Fei Ye , Kyeong Jin Kim , Philip Orlik , Heejin Ahn , Stefano Di Cairano
IPC分类号： G08G1/01 , G08G1/0967 , G08G1/16 , H04W4/44
摘要： A system jointly controls vehicles according to traffic configuration of a zone of intersection of a first road and a second road. The intersection zone includes a sequencing zone and a control zone covering sections of the first and the second road in proximity to the intersection. The system groups vehicles traveling within the sequencing zone on the first and the second roads into a set of groups of the vehicles and prevents the vehicles of different groups to travel concurrently in the control zone such that the first vehicle of the following group cannot pass the last vehicle of the preceding group. The system determines motion trajectories for the vehicles of the same group traveling in the control zone on the first and the second roads to pass the intersection and transmits the motion trajectories to the corresponding vehicles.
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公开(公告)号：US20200293010A1
公开(公告)日：2020-09-17
申请号：US16298271
申请日：2019-03-11
发明人： Karl Berntorp
摘要： A system is controlled using particle filter executed to estimate weights of a set of particles based on fitting of the particles into a measurement model, wherein a particle includes a motion model of the system having an uncertainty modeled as a Gaussian process over possible motion models of the system and a state of the system determined with the uncertainty of the motion model of the particle, wherein a distribution of the Gaussian process of the motion model of one particle is different from a distribution of the Gaussian process of the motion model of another particle. Each execution of the particle filter updates the state of the particle according to a control input to the system and the motion model of the particle with the uncertainty and determines particle weights by fitting the state of the particle in the measurement model subject to measurement noise.
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公开(公告)号：US20200285209A1
公开(公告)日：2020-09-10
申请号：US16293818
申请日：2019-03-06
发明人： Ankush Chakrabarty , Rien Quirynen , Claus Danielson , Weinan Gao
IPC分类号： G05B19/045 , G06F17/16 , G08G1/16 , G06F17/11
摘要： A machine subject to state and control input constraints is control, while the control policy is learned from data collected during an operation of the machine. To ensure satisfaction of the constraints, the state of machine is maintained within a constraint admissible invariant set (CAIS) satisfying the constraints and the machine is controlled with corresponding control policy mapping a state of the system within the CAIS to a control input satisfying the control input constraints. The machine is controlled using a constrained policy iteration, in which a constrained policy evaluation updates CAIS and value function and a constrained policy improvement updates control policy that improves the cost function of operation according to the updated CAIS and the corresponding updated value function.
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公开(公告)号：US10768585B2
公开(公告)日：2020-09-08
申请号：US16007372
申请日：2018-06-13
发明人： Yebin Wang
IPC分类号： G05B13/04
摘要： A control system controls a machine according to a control policy parameterized on a lifted state space of the machine having an unknown onto mapping to a state space of the machine. The control system accepts measurements of state variables that form a portion of the state of the machine and determines a derivative of at least one measured state variable using values of the state variable measured for multiple time instances, such that a combination of the measured state variables and the derivative of the at least one measured state variable defines the lifted state for the time instance. The control system updates the control policy by evaluating a value function of the control policy using the lifted states, such that a control input to the machine is determined using the lifted state and the updated control policy.
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公开(公告)号：US10768294B2
公开(公告)日：2020-09-08
申请号：US15924710
申请日：2018-03-19
摘要： A radar imaging system to reconstruct a radar reflectivity image of a scene including an object moving with the scene, includes an optical sensor to track the object over a period of time including multiple time steps to produce, for each of the multiple time steps, a deformation of a nominal shape of the object, and an electromagnetic sensor to acquire snapshots of the scene over the multiple time steps to produce a set of radar reflectivity image of the object with deformed shapes defined by the corresponding deformations of the nominal shape of the object. The system also includes a processor configured to determine, for each of the multiple time steps using the deformation determined for the corresponding time step, a transformation between the radar reflectivity image of the object acquired by the electromagnetic sensor at the corresponding time step and a radar reflectivity image of the object in the prototypical pose, and to combine the radar reflectivity images of the object with deformed shapes transformed with the corresponding transformations to produce the radar reflectivity image of the object in the prototypical pose.
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公开(公告)号：US10767887B2
公开(公告)日：2020-09-08
申请号：US16013083
申请日：2018-06-20
摘要： A thermal conditioning system for controlling a thermal comfort of an occupant of a building includes a vapor compression system to control an air temperature in the building space and a radiant system to control a radiant temperature in the building space. The system also includes a feedback controller to generate a first control signal for controlling a state of the vapor compression system to reduce an error between a set-point air temperature and a current air temperature in the building space and includes a feedforward controller to generate a second control signal control for controlling a state of the radiant system based on the state of the vapor compression system.
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