A diesel engine air path model with a WG and an ETV for exhaust temperature controller design and embedded control

In this paper a mean value model of a turbocharged diesel engine air path with an electric wastegate (WG) and an exhaust throttle valve (ETV) is presented. The model is designed with regard to system analysis, controller design, and real-time feasibility. That means, care is taken to ensure that the model contains the relevant dynamics on the one hand and that the requirements for computing power and memory (RAM) are kept as low as possible on the other hand. New approaches for modeling the ETV and the exhaust gas temperature are presented. The latter is formulated via an artificial neural network (ANN) computed outside the model. The ANN is integrated into the model in such a way that the differentiation of the model still provides meaningful results for controller design. Thus, this model may also be used for online computation of nonlinear model predictive controllers (MPC) or nonlinear state observers. The parameters of the model are determined using GT-Power simulation data covering the entire working range of the engine. Only measured variables that are also accessible on the engine test bench are used. All optimization problems to be solved within the parameter determination are presented. It is analyzed which sensors are suitable to support the model in an implementation on an electronic control unit (ECU), and the effect without and with sensor correction is shown in a dynamic test bench measurement. Furthermore, the properties of the generated C code are presented, which are the number of mathematical operations, the runtimes, and the stack size. An evaluation of the real time capability is given based on eigenvalue analyses and the properties of the C code .

UAV-Assisted Privacy-Preserving Online Computation Offloading for Internet of Things

Unmanned aerial vehicle (UAV) plays a more and more important role in Internet of Things (IoT) for remote sensing and device interconnecting. Due to the limitation of computing capacity and energy, the UAV cannot handle complex tasks. Recently, computation offloading provides a promising way for the UAV to handle complex tasks by deep reinforcement learning (DRL)-based methods. However, existing DRL-based computation offloading methods merely protect usage pattern privacy and location privacy. In this paper, we consider a new privacy issue in UAV-assisted IoT, namely computation offloading preference leakage, which lacks through study. To cope with this issue, we propose a novel privacy-preserving online computation offloading method for UAV-assisted IoT. Our method integrates the differential privacy mechanism into deep reinforcement learning (DRL), which can protect UAV’s offloading preference. We provide the formal analysis on security and utility loss of our method. Extensive real-world experiments are conducted. Results demonstrate that, compared with baseline methods, our method can learn cost-efficient computation offloading policy without preference leakage and a priori knowledge of the wireless channel model.

Trajectory Optimization of CAVs in Freeway Work Zone considering Car-Following Behaviors Using Online Multiagent Reinforcement Learning

Work zone areas are frequent congested sections considered as the freeway bottleneck. Connected and autonomous vehicle (CAV) trajectory optimization can improve the operating efficiency in bottleneck areas by harmonizing vehicles’ manipulations. This study presents a joint trajectory optimization of cooperative lane changing, merging, and car-following actions for CAV control at a local merging point together with upstream points. The multiagent reinforcement learning (MARL) method is applied in this system, with one agent providing a merging advisory service at the merging point and controlling the inner-lane vehicles’ headway for smooth outer-lane vehicle merging, while other agents provide lane-changing advisory services at advance lane-changing points to control how vehicles make lane changes in advance and perform corresponding headway adjustment, similar to and jointly with the merging advisory service. Uniting all agents, the coordination graph (CG) method is applied to seek the global optimum, overcoming the exponential growth problem in MARL. Using MATLAB and the VISSIM COM interface, an online simulation platform is established. The simulation results show that MARL is effective for online computation with in-timing response. More importantly, comparisons of the results obtained in various scenarios demonstrate that the proposed system obtained smoother vehicle trajectories in all controlled sections, rather than only in the merging area, indicating that it can achieve better traffic conditions in freeway work zone areas.

Learning-‘N-Flying: A Learning-Based, Decentralized Mission-Aware UAS Collision Avoidance Scheme

Urban Air Mobility, the scenario where hundreds of manned and Unmanned Aircraft Systems (UASs) carry out a wide variety of missions (e.g., moving humans and goods within the city), is gaining acceptance as a transportation solution of the future. One of the key requirements for this to happen is safely managing the air traffic in these urban airspaces. Due to the expected density of the airspace, this requires fast autonomous solutions that can be deployed online. We propose Learning-‘N-Flying (LNF), a multi-UAS Collision Avoidance (CA) framework. It is decentralized, works on the fly, and allows autonomous Unmanned Aircraft System (UAS)s managed by different operators to safely carry out complex missions, represented using Signal Temporal Logic, in a shared airspace. We initially formulate the problem of predictive collision avoidance for two UASs as a mixed-integer linear program, and show that it is intractable to solve online. Instead, we first develop Learning-to-Fly (L2F) by combining (1) learning-based decision-making and (2) decentralized convex optimization-based control. LNF extends L2F to cases where there are more than two UASs on a collision path. Through extensive simulations, we show that our method can run online (computation time in the order of milliseconds) and under certain assumptions has failure rates of less than 1% in the worst case, improving to near 0% in more relaxed operations. We show the applicability of our scheme to a wide variety of settings through multiple case studies.

Stochastic model predictive control framework for resilient cyber-physical systems: review and perspectives

In the era of Industrial 4.0, the next-generation control system regards the cyber-physical system (CPS) as the core ingredient thanks to the comprehensive integration of physical systems, online computation, networking and control. A reliable, stable and resilient CPS should pledge robustness and safety. A significant concern in CPS development arises from security issues since the CPS is vulnerable to physical constraints, ubiquitous uncertainties and malicious cyber attacks. The integration of the stochastic model predictive control (MPC) framework and the resilient mechanism is a possible approach to guarantee robustness in the presence of stochastic uncertainties and enable resilience against cyber attacks. This review paper aims to offer a detailed overview of existing stochastic MPC algorithms and their CPS applications. More specifically, we first review existing stochastic MPC algorithms for both linear and nonlinear systems subject to probabilistic constraints. We then discuss how to extend the stochastic MPC framework to incorporate resilience mechanisms for constrained CPS under various malicious attacks. Finally, we present an architectural stochastic MPC-based framework for resilient CPS and identify future research challenges. This article is part of the theme issue ‘Towards symbiotic autonomous systems’.

Higher-Order Lookup Table Masking in Essentially Constant Memory

Masking using randomised lookup tables is a popular countermeasure for side-channel attacks, particularly at small masking orders. An advantage of this class of countermeasures for masking S-boxes compared to ISW-based masking is that it supports pre-processing and thus significantly reducing the amount of computation to be done after the unmasked inputs are available. Indeed, the “online” computation can be as fast as just a table lookup. But the size of the randomised lookup table increases linearly with the masking order, and hence the RAM memory required to store pre-processed tables becomes infeasible for higher masking orders. Hence demonstrating the feasibility of full pre-processing of higher-order lookup table-based masking schemes on resource-constrained devices has remained an open problem. In this work, we solve the above problem by implementing a higher-order lookup table-based scheme using an amount of RAM memory that is essentially independent of the masking order. More concretely, we reduce the amount of RAM memory needed for the table-based scheme of Coron et al. (TCHES 2018) approximately by a factor equal to the number of shares. Our technique is based upon the use of pseudorandom number generator (PRG) to minimise the randomness complexity of ISW-based masking schemes proposed by Ishai et al. (ICALP 2013) and Coron et al. (Eurocrypt 2020). Hence we show that for lookup table-based masking schemes, the use of a PRG not only reduces the randomness complexity (now logarithmic in the size of the S-box) but also the memory complexity, and without any significant increase in the overall running time. We have implemented in software the higher-order table-based masking scheme of Coron et al. (TCHES 2018) at tenth order with full pre-processing of a single execution of all the AES S-boxes on a ARM Cortex-M4 device that has 256 KB RAM memory. Our technique requires only 41.2 KB of RAM memory, whereas the original scheme would have needed 440 KB. Moreover, our 8-bit implementation results demonstrate that the online execution time of our variant is about 1.5 times faster compared to the 8-bit bitsliced masked implementation of AES-128.

AFQN: approximate Qn estimation in data streams

We present afqn (Approximate Fast Qn), a novel algorithm for approximate computation of the Qn scale estimator in a streaming setting, in the sliding window model. It is well-known that computing the Qn estimator exactly may be too costly for some applications, and the problem is a fortiori exacerbated in the streaming setting, in which the time available to process incoming data stream items is short. In this paper we show how to efficiently and accurately approximate the Qn estimator. As an application, we show the use of afqn for fast detection of outliers in data streams. In particular, the outliers are detected in the sliding window model, with a simple check based on the Qn scale estimator. Extensive experimental results on synthetic and real datasets confirm the validity of our approach by showing up to three times faster updates per second. Our contributions are the following ones: (i) to the best of our knowledge, we present the first approximation algorithm for online computation of the Qn scale estimator in a streaming setting and in the sliding window model; (ii) we show how to take advantage of our UDDSketch algorithm for quantile estimation in order to quickly compute the Qn scale estimator; (iii) as an example of a possible application of the Qn scale estimator, we discuss how to detect outliers in an input data stream.

Robust Model Predictive Controller Using Recurrent Neural Networks for Input–Output Linear Parameter Varying Systems

This paper develops a model predictive controller (MPC) for constrained nonlinear MIMO systems subjected to bounded disturbances. A linear parameter varying (LPV) model assists MPC in dealing with nonlinear dynamics. In this study, the nonlinear process is represented by an LPV using past input–output information (LPV-IO). Two primary objectives of this study are to reduce online computational load compared with the existing literature of MPC with an LPV-IO model and to confirm the robustness of the controller in the presence of disturbance. For the first goal, a recurrent neural network (RNN) is employed to solve real-time optimization problems with lower online computation. Regarding robustness, a new control law is developed, which comprises a fixed control gain (K) and a free perturbation (C). The proposed method enjoys a shrunken conservatism owing to the finding of a larger possible terminal region and using free control moves. The strategy is examined in an alkylation of benzene process and displays outstanding performance in both setpoint tracking and disturbance rejection problems. Moreover, the superiority of RNN over three conventional optimization algorithms is underlined in terms of MSE, the average time for solving the optimization problem, and the value of the cost function.