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- Lifelong learning (6)
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Articles 1 - 14 of 14
Full-Text Articles in Engineering
Qc-Sane: Robust Control In Drl Using Quantile Critic With Spiking Actor And Normalized Ensemble, Surbhi Gupta, Gaurav Singal, Deepak Garg, Sarangapani Jagannathan
Qc-Sane: Robust Control In Drl Using Quantile Critic With Spiking Actor And Normalized Ensemble, Surbhi Gupta, Gaurav Singal, Deepak Garg, Sarangapani Jagannathan
Electrical and Computer Engineering Faculty Research & Creative Works
Recently Introduced Deep Reinforcement Learning (DRL) Techniques in Discrete-Time Have Resulted in Significant Advances in Online Games, Robotics, and So On. Inspired from Recent Developments, We Have Proposed an Approach Referred to as Quantile Critic with Spiking Actor and Normalized Ensemble (QC-SANE) for Continuous Control Problems, Which Uses Quantile Loss to Train Critic and a Spiking Neural Network (NN) to Train an Ensemble of Actors. the NN Does an Internal Normalization using a Scaled Exponential Linear Unit (SELU) Activation Function and Ensures Robustness. the Empirical Study on Multijoint Dynamics with Contact (MuJoCo)-Based Environments Shows Improved Training and Test Results Than …
Optimal Adaptive Tracking Control Of Partially Uncertain Nonlinear Discrete-Time Systems Using Lifelong Hybrid Learning, Behzad Farzanegan, Rohollah Moghadam, Sarangapani Jagannathan, Pappa Natarajan
Optimal Adaptive Tracking Control Of Partially Uncertain Nonlinear Discrete-Time Systems Using Lifelong Hybrid Learning, Behzad Farzanegan, Rohollah Moghadam, Sarangapani Jagannathan, Pappa Natarajan
Electrical and Computer Engineering Faculty Research & Creative Works
This article addresses a multilayer neural network (MNN)-based optimal adaptive tracking of partially uncertain nonlinear discrete-time (DT) systems in affine form. By employing an actor–critic neural network (NN) to approximate the value function and optimal control policy, the critic NN is updated via a novel hybrid learning scheme, where its weights are adjusted once at a sampling instant and also in a finite iterative manner within the instants to enhance the convergence rate. Moreover, to deal with the persistency of excitation (PE) condition, a replay buffer is incorporated into the critic update law through concurrent learning. To address the vanishing …
Continual Reinforcement Learning Formulation For Zero-Sum Game-Based Constrained Optimal Tracking, Behzad Farzanegan, Sarangapani Jagannathan
Continual Reinforcement Learning Formulation For Zero-Sum Game-Based Constrained Optimal Tracking, Behzad Farzanegan, Sarangapani Jagannathan
Electrical and Computer Engineering Faculty Research & Creative Works
This study provides a novel reinforcement learning-based optimal tracking control of partially uncertain nonlinear discrete-time (DT) systems with state constraints using zero-sum game (ZSG) formulation. To address optimal tracking, a novel augmented system consisting of tracking error and its integral value, along with an uncertain desired trajectory, is constructed. A barrier function (BF) with a tradeoff factor is incorporated into the cost function to keep the state trajectories to remain within a compact set and to balance safety with optimality. Next, by using the modified value functional, the ZSG formulation is introduced wherein an actor–critic neural network (NN) framework is …
Optimal Tracking Of Nonlinear Discrete-Time Systems Using Zero-Sum Game Formulation And Hybrid Learning, Behzad Farzanegan, S. (Sarangapani) Jagannathan
Optimal Tracking Of Nonlinear Discrete-Time Systems Using Zero-Sum Game Formulation And Hybrid Learning, Behzad Farzanegan, S. (Sarangapani) Jagannathan
Electrical and Computer Engineering Faculty Research & Creative Works
This paper presents a novel hybrid learning-based optimal tracking method to address zero-sum game problems for partially uncertain nonlinear discrete-time systems. An augmented system and its associated discounted cost function are defined to address optimal tracking. Three multi-layer neural networks (NNs) are utilized to approximate the optimal control and the worst-case disturbance inputs, and the value function. The critic weights are tuned using the hybrid technique, whose weights are updated once at the sampling instants and in an iterative manner over finite times within the sampling instants. The proposed hybrid technique helps accelerate the convergence of the approximated value functional …
Securing The Transportation Of Tomorrow: Enabling Self-Healing Intelligent Transportation, Elanor Jackson, Sahra Sedigh Sarvestani
Securing The Transportation Of Tomorrow: Enabling Self-Healing Intelligent Transportation, Elanor Jackson, Sahra Sedigh Sarvestani
Electrical and Computer Engineering Faculty Research & Creative Works
The safety of autonomous vehicles relies on dependable and secure infrastructure for intelligent transportation. The doctoral research described in this paper aims to enable self-healing and survivability of the intelligent transportation systems required for autonomous vehicles (AV-ITS). The proposed approach is comprised of four major elements: qualitative and quantitative modeling of the AV-ITS, stochastic analysis to capture and quantify interdependencies, mitigation of disruptions, and validation of efficacy of the self-healing process. This paper describes the overall methodology and presents preliminary results, including an agent-based model for detection of and recovery from disruptions to the AV-ITS.
Personalizing Student Graduation Paths Using Expressed Student Interests, Nicolas Dobbins, Ali R. Hurson, Sahra Sedigh
Personalizing Student Graduation Paths Using Expressed Student Interests, Nicolas Dobbins, Ali R. Hurson, Sahra Sedigh
Electrical and Computer Engineering Faculty Research & Creative Works
This paper proposes an intelligent recommendation approach to facilitate personalized education and help students in planning their path to graduation. The goal is to identify a path that aligns with a student's interests and career goals and approaches optimality with respect to one or more criteria, such as time-to-graduation or credit hours taken. The approach is illustrated and verified through application to undergraduate curricula at the Missouri University of Science and Technology.
Rafid: A Lightweight Approach To Radio Frequency Interference Detection In Time Domain Using Lstm And Statistical Analysis, Luke A. Smith, Vishesh Kumar Tanwar, Maciej Jan Zawodniok, Sanjay Kumar Madria
Rafid: A Lightweight Approach To Radio Frequency Interference Detection In Time Domain Using Lstm And Statistical Analysis, Luke A. Smith, Vishesh Kumar Tanwar, Maciej Jan Zawodniok, Sanjay Kumar Madria
Electrical and Computer Engineering Faculty Research & Creative Works
Recently, the utilization of Radio Frequency (RF) devices has increased exponentially over numerous vertical platforms. This rise has led to an abundance of Radio Frequency Interference (RFI) continues to plague RF systems today. The continued crowding of the RF spectrum makes RFI efficient and lightweight mitigation critical. Detecting and localizing the interfering signals is the foremost step for mitigating RFI concerns. Addressing these challenges, we propose a novel and lightweight approach, namely RaFID, to detect and locate the RFI by incorporating deep neural networks (DNNs) and statistical analysis via batch-wise mean aggregation and standard deviation (SD) calculations. RaFID investigates the …
Lifelong Deep Learning-Based Control Of Robot Manipulators, Irfan Ganie, Jagannathan Sarangapani
Lifelong Deep Learning-Based Control Of Robot Manipulators, Irfan Ganie, Jagannathan Sarangapani
Electrical and Computer Engineering Faculty Research & Creative Works
This study proposes a lifelong deep learning control scheme for robotic manipulators with bounded disturbances. This scheme involves the use of an online tunable deep neural network (DNN) to approximate the unknown nonlinear dynamics of the robot. The control scheme is developed by using a singular value decomposition-based direct tracking error-driven approach, which is utilized to derive the weight update laws for the DNN. To avoid catastrophic forgetting in multi-task scenarios and to ensure lifelong learning (LL), a novel online LL scheme based on elastic weight consolidation is included in the DNN weight-tuning laws. Our results demonstrate that the resulting …
Continual Learning-Based Optimal Output Tracking Of Nonlinear Discrete-Time Systems With Constraints: Application To Safe Cargo Transfer, Behzad Farzanegan, S. (Sarangapani) Jagannathan
Continual Learning-Based Optimal Output Tracking Of Nonlinear Discrete-Time Systems With Constraints: Application To Safe Cargo Transfer, Behzad Farzanegan, S. (Sarangapani) Jagannathan
Electrical and Computer Engineering Faculty Research & Creative Works
This Paper Addresses a Novel Lifelong Learning (LL)-Based Optimal Output Tracking Control of Uncertain Non-Linear Affine Discrete-Time Systems (DT) with State Constraints. First, to Deal with Optimal Tracking and Reduce the Steady State Error, a Novel Augmented System, Including Tracking Error and its Integral Value and Desired Trajectory, is Proposed. to Guarantee Safety, an Asymmetric Barrier Function (BF) is Incorporated into the Utility Function to Keep the Tracking Error in a Safe Region. Then, an Adaptive Neural Network (NN) Observer is Employed to Estimate the State Vector and the Control Input Matrix of the Uncertain Nonlinear System. Next, an NN-Based …
Lifelong Learning Control Of Nonlinear Systems With Constraints Using Multilayer Neural Networks With Application To Mobile Robot Tracking, Irfan Ganie, S. (Sarangapani) Jagannathan
Lifelong Learning Control Of Nonlinear Systems With Constraints Using Multilayer Neural Networks With Application To Mobile Robot Tracking, Irfan Ganie, S. (Sarangapani) Jagannathan
Electrical and Computer Engineering Faculty Research & Creative Works
This Paper Presents a Novel Lifelong Multilayer Neural Network (MNN) Tracking Approach for an Uncertain Nonlinear Continuous-Time Strict Feedback System that is Subject to Time-Varying State Constraints. the Proposed Method Uses a Time-Varying Barrier Function to Accommodate the Constraints Leading to the Development of an Efficient Control Scheme. the Unknown Dynamics Are Approximated using a MNN, with Weights Tuned using a Singular Value Decomposition (SVD)-Based Technique. an Online Lifelong Learning (LL) based Elastic Weight Consolidation (EWC) Scheme is Also Incorporated to Alleviate the Issue of Catastrophic Forgetting. the Stability of the overall Closed-Loop System is Analyzed using Lyapunov Analysis. the …
Lifelong Learning-Based Multilayer Neural Network Control Of Nonlinear Continuous-Time Strict-Feedback Systems, Irfan Ahmad Ganie, S. (Sarangapani) Jagannathan
Lifelong Learning-Based Multilayer Neural Network Control Of Nonlinear Continuous-Time Strict-Feedback Systems, Irfan Ahmad Ganie, S. (Sarangapani) Jagannathan
Electrical and Computer Engineering Faculty Research & Creative Works
In This Paper, We Investigate Lifelong Learning (LL)-Based Tracking Control for Partially Uncertain Strict Feedback Nonlinear Systems with State Constraints, employing a Singular Value Decomposition (SVD) of the Multilayer Neural Networks (MNNs) Activation Function based Weight Tuning Scheme. the Novel SVD-Based Approach Extends the MNN Weight Tuning to (Formula Presented.) Layers. a Unique Online LL Method, based on Tracking Error, is Integrated into the MNN Weight Update Laws to Counteract Catastrophic Forgetting. to Adeptly Address Constraints for Safety Assurances, Taking into Account the Effects Caused by Disturbances, We Utilize a Time-Varying Barrier Lyapunov Function (TBLF) that Ensures a Uniformly Ultimately …
Towards Robust Consensus For Intelligent Decision-Making In Iot Blockchain Networks, Charles Rawlins, S. (Sarangapani) Jagannathan
Towards Robust Consensus For Intelligent Decision-Making In Iot Blockchain Networks, Charles Rawlins, S. (Sarangapani) Jagannathan
Electrical and Computer Engineering Faculty Research & Creative Works
Distributed consensus is the core aspect of blockchain protocol security design. Recent protocols like IOTA have improved concurrency and scalability over Proof-of-work (PoW) with Bitcoin but have core design decisions that are inefficient for limited devices and do not take advantage of previous network experience to reduce calculations. This work proposes the first blockchain consensus protocol based on active machine-learning decisions, called Proof-of-history (PoH). PoH is setup as a distributed reinforcement-learning task for monitoring classification and training of blockchain transactions with an inner deep classifier. Early theoretical analysis and simulations show that PoH is robust to uncoordinated byzantine attacks through …
Improved Intelligent Ledger Construction For Realistic Iot Blockchain Networks, Charles Rawlins, S. (Sarangapani) Jagannathan
Improved Intelligent Ledger Construction For Realistic Iot Blockchain Networks, Charles Rawlins, S. (Sarangapani) Jagannathan
Electrical and Computer Engineering Faculty Research & Creative Works
Scalability is essential for next generation blockchain technology to integrate with large mobile networks like Internet of Things (IoT). The IOTA distributed ledger protocol has combined transaction generation and verification to address this, but at the expense of increased reliance on connectivity to resolve conflicts with a novel ledger data structure. Intelligent Ledger Construction (ILC) was proposed as an auditable lightweight reinforcement-learning scheme to address this constraint with proposal of local conflict resolution with machine-learning classification. This effort presents an improved reliability reward model to enhance training for ILC and further reduce adversarial gaming and resource usage. Testing this revision …
Continual Optimal Adaptive Tracking Of Uncertain Nonlinear Continuous-Time Systems Using Multilayer Neural Networks, Irfan Ganie, S. (Sarangapani) Jagannathan
Continual Optimal Adaptive Tracking Of Uncertain Nonlinear Continuous-Time Systems Using Multilayer Neural Networks, Irfan Ganie, S. (Sarangapani) Jagannathan
Electrical and Computer Engineering Faculty Research & Creative Works
This study provides a lifelong integral reinforcement learning (LIRL)-based optimal tracking scheme for uncertain nonlinear continuous-time (CT) systems using multilayer neural network (MNN). In this LIRL framework, the optimal control policies are generated by using both the critic neural network (NN) weights and single-layer NN identifier. The critic MNN weight tuning is accomplished using an improved singular value decomposition (SVD) of its activation function gradient. The NN identifier, on the other hand, provides the control coefficient matrix for computing the control policies. An online weight velocity attenuation (WVA)-based consolidation scheme is proposed wherein the significance of weights is derived by …