Robotics Commons^™

Event-Triggered Optimal Adaptive Control Of Partially Unknown Linear Continuous-Time Systems With State Delay, Rohollah Moghadam, Vignesh Narayanan, Sarangapani Jagannathan

Publications

This paper proposes an event-triggered optimal adaptive output feedback control design approach by utilizing integral reinforcement learning (IRL) for linear time-invariant systems with state delay and uncertain internal dynamics. In the proposed approach, the general optimal control problem is formulated into the game-theoretic framework by treating the event-triggering threshold and the optimal control policy as players. A cost function is defined and a value functional, which includes the delayed system output, is considered. First, by using the value functional and applying stationarity conditions using the Hamiltonian function, the output game delay algebraic Riccati equation (OGDARE) and optimal control policy are …

Demo Abstract: Porting And Execution Of Anomalies Detection Models On Embedded Systems In Iot, Bharath Sudharsan, Pankesh Patel, Abdul Wahid, Muhammad Yahya, John G. Breslin, Muhammad Intizar Ali

Publications

In the Industry 4.0 era, Microcontrollers (MCUs) based tiny embedded sensor systems have become the sensing paradigm to interact with the physical world. In 2020, 25.6 billion MCUs were shipped, and over 250 billion MCUs are already operating in the wild. Such low-power, low-cost MCUs are being used as the brain to control diverse applications and soon will become the global digital nervous system. In an Industrial IoT setup, such tiny MCU-based embedded systems are equipped with anomaly detection models and mounted on production plant machines for monitoring the machine’s health/condition. These models process the machine’s health data (from temperature, …

Owsnet: Towards Real-Time Offensive Words Spotting Network For Consumer Iot Devices, Bharath Sudharsan, Sweta Malik, Peter Corcoran, Pankesh Patel, John G. Breslin, Muhammad Intizar Ali

Publications

Every modern household owns at least a dozen of IoT devices like smart speakers, video doorbells, smartwatches, where most of them are equipped with a Keyword spotting(KWS) system-based digital voice assistant like Alexa. The state-of-the-art KWS systems require a large number of operations, higher computation, memory resources to show top performance. In this paper, in contrast to existing resource-demanding KWS systems, we propose a light-weight temporal convolution based KWS system named OWSNet, that can comfortably execute on a variety of IoT devices around us and can accurately spot multiple keywords in real-time without disturbing the device's routine functionalities.

When OWSNet …

Cognitive Digital Twins For Smart Manufacturing, Muhammad Intizar Ali, Pankesh Patel, John G. Breslin, Ramy Harik, Amit Sheth

Publications

Smart manufacturing or Industry 4.0, a trend initiated a decade ago, aims to revolutionize traditional manufacturing using technology-driven approaches. Modern digital technologies such as the Industrial Internet of Things (IIoT), Big Data Analytics, Augmented/Virtual Reality, and Artificial Intelligence (AI) are the key enablers of new smart manufacturing approaches. The digital twin is an emerging concept whereby a digital replica can be built of any physical object. Digital twins are becoming mainstream; many organizations have started to rely on digital twins to monitor, analyze, and simulate physical assets and processes. The current use of digital twins for smart manufacturing is largely …