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- Genre: Doctoral Dissertation
Description
Collision-free path planning is also a major challenge in managing unmanned aerial vehicles (UAVs) fleets, especially in uncertain environments. The design of UAV routing policies using multi-agent reinforcement learning has been considered, and propose a Multi-resolution, Multi-agent, Mean-field reinforcement learning algorithm, named 3M-RL, for flight planning, where multiple vehicles need to avoid collisions with each other while moving towards their destinations. In this system, each UAV makes decisions based on local observations, and does not communicate with other UAVs. The algorithm trains a routing policy using an Actor-Critic neural network with multi-resolution observations, including detailed local information and aggregated global information based on mean-field. The algorithm tackles the curse-of-dimensionality problem in multi-agent reinforcement learning and provides a scalable solution. The proposed algorithm is tested in different complex scenarios in both 2D and 3D space and the simulation results show that 3M-RL result in good routing policies. Also as a compliment, dynamic data communications between UAVs and a control center has also been studied, where the control center needs to monitor the safety state of each UAV in the system in real time, where the transition of risk level is simply considered as a Markov process. Given limited communication bandwidth, it is impossible for the control center to communicate with all UAVs at the same time. A dynamic learning problem with limited communication bandwidth is also discussed in this paper where the objective is to minimize the total information entropy in real-time risk level tracking. The simulations also demonstrate that the algorithm outperforms policies such as a Round & Robin policy.
ContributorsWang, Weichang (Author) / Ying, Lei (Thesis advisor) / Liu, Yongming (Thesis advisor) / Zhang, Junshan (Committee member) / Zhang, Yanchao (Committee member) / Arizona State University (Publisher)
Created2021
Description
Nanocrystalline (NC) materials are of great interest to researchers due to their multitude of properties such as exceptional strength and radiation resistance owing to their high fraction of grain boundaries that act as defect sinks for radiation-induced defects, provided they are microstructurally stable. In this dissertation, radiation effects in microstructurally stable bulk NC copper (Cu)- tantalum (Ta) alloys engineered with uniformly dispersed Ta nano-precipitates are systematically probed. Towards this, both ex-situ and in-situ irradiations using heavy (self) ion, helium ion, and concurrent dual ion beams (He+Au) followed by isochronal annealing inside TEM were utilized to understand radiation tolerance and underlying mechanisms of microstructure evolution in stable NC alloys. With systematic self-ion irradiation, the high density of tantalum nanoclusters in Cu-10at.%Ta were observed to act as stable sinks in suppressing radiation hardening, in addition to stabilizing the grain boundaries; while the large incoherent precipitates experienced ballistic mixing and dissolution at high doses. Interestingly, the alloy exhibited a microstructure self-healing mechanism, where with a moderate thermal input, this dissolved tantalum eventually re-precipitated, thus replenishing the sink density. The high stability of these tantalum nanoclusters is attributed to the high positive enthalpy of mixing of tantalum in copper which also acted as a critical driving force against atomic mixing to facilitate re-precipitation of tantalum nanoclusters. Furthermore, these nanoclusters proved to be effective trapping sites for helium, thus sequestering helium into isolated small bubbles and aid in increasing the overall swelling threshold of the alloy. The alloy was then compositionally optimized to reduce the density of large incoherent precipitates without compromising on the grain size and nanocluster density (Cu-3at.%Ta) which resulted in a consistent and more promising response to high dose self-ion irradiation. In-situ helium and dual beam irradiation coupled with isochronal annealing till 723 K, also revealed a comparable microstructural stability and enhanced ability of Cu-3Ta in controlling bubble growth and suppressing swelling compared to Cu-10Ta indicating a promising improvement in radiation tolerance in the optimized composition. Overall, this work helps advancing the current understanding of radiation tolerance in stable nanocrystalline alloys and aid developing design strategies for engineering radiation tolerant materials with stable interfaces.
ContributorsSrinivasan, Soundarya (Author) / Solanki, Kiran (Thesis advisor) / Peralta, Pedro (Committee member) / Alford, Terry (Committee member) / Darling, Kristopher (Committee member) / Arizona State University (Publisher)
Created2021
Description
Applications over a gesture-based human-computer interface (HCI) require a new user login method with gestures because it does not have traditional input devices. For example, a user may be asked to verify the identity to unlock a device in a mobile or wearable platform, or sign in to a virtual site over a Virtual Reality (VR) or Augmented Reality (AR) headset, where no physical keyboard or touchscreen is available. This dissertation presents a unified user login framework and an identity input method using 3D In-Air-Handwriting (IAHW), where a user can log in to a virtual site by writing a passcode in the air very fast like a signature. The presented research contains multiple tasks that span motion signal modeling, user authentication, user identification, template protection, and a thorough evaluation in both security and usability. The results of this research show around 0.1% to 3% Equal Error Rate (EER) in user authentication in different conditions as well as 93% accuracy in user identification, on a dataset with over 100 users and two types of gesture input devices. Besides, current research in this area is severely limited by the availability of the gesture input device, datasets, and software tools. This study provides an infrastructure for IAHW research with an open-source library and open datasets of more than 100K IAHW hand movement signals. Additionally, the proposed user identity input method can be extended to a general word input method for both English and Chinese using limited training data. Hence, this dissertation can help the research community in both cybersecurity and HCI to explore IAHW as a new direction, and potentially pave the way to practical adoption of such technologies in the future.
ContributorsLu, Duo (Author) / Huang, Dijiang (Thesis advisor) / Li, Baoxin (Committee member) / Zhang, Junshan (Committee member) / Yang, Yezhou (Committee member) / Arizona State University (Publisher)
Created2021
Description
Organic materials have emerged as an attractive component of electronics over the past few decades, particularly in the development of efficient and stable organic light-emitting diodes (OLEDs) and organic neuromorphic devices. The electrical, chemical, physical, and optical studies of organic materials and their corresponding devices have been conducted for efficient and stable electronics. The development of efficient and stable deep blue OLED devices remains a challenge that has obstructed the progress of large-scale OLED commercialization. One approach was taken to achieve a deep blue emitter through a color tuning strategy. A new complex, PtNONS56-dtb, was designed and synthesized by controlling the energy gap between T1 and T2 energy states to achieve narrowed and blueshifted emission spectra. This emitter material showed an emission spectrum at 460 nm with a FWHM of 59 nm at room temperature in PMMA, and the PtNONS56-dtb-based device exhibited a peak EQE of 8.5% with CIE coordinates of (0.14, 0.27).
A newly developed host and electron blocking materials were demonstrated to achieve efficient and stable OLED devices. The indolocarbazole-based materials were designed to have good hole mobility and high triplet energy. BCN34 as an electron blocking material achieved the estimated LT80 of 12509 h at 1000 cd m-2 with a peak EQE of 30.3% in devices employing Pd3O3 emitter. Additionally, a device with bi-layer emissive layer structure, using BCN34 and CBP as host materials doped with PtN3N emitter, achieved a peak EQE of 16.5% with the LT97 of 351 h at 1000 cd m-2. A new neuromorphic device using Ru(bpy)3(PF6)2 as an active layer was designed to emulate the short-term characteristics of a biological synapse. This memristive device showed a similar operational mechanism with biological synapse through the movement of ions and electronic charges. Furthermore, the performance of the device showed tunability by adding salt. Ultimately, the device with 2% LiClO4 salt shows similar timescales to short-term plasticity characteristics of biological synapses.
ContributorsShin, Samuel (Author) / Li, Jian (Thesis advisor) / Adams, James (Committee member) / Alford, Terry (Committee member) / Arizona State University (Publisher)
Created2021
Description
Voltage Source Converters (VSCs) have been widely used in grid-connected applications with Distributed Energy Resource (DER) and Electric Vehicle (EV) applications. Replacement of traditional thyristors with Silicon/Silicon-Carbide based active switches provides full control capability to the converters and allows bidirectional power flow between the source and active loads. In this study, advanced control strategies for DER inverters and EV traction inverters will be explored.Chapter 1 gives a brief introduction to State-of-the-Art of VSC control strategies and summarizes the existing challenges in different applications. Chapter 2 presents multiple advanced control strategies of grid-connected DER inverters. Various grid support functions have been implemented in simulations and hardware experiments under both normal and abnormal operating conditions. Chapter 3 proposes an automated design and optimization process of a robust H-infinity controller to address the stability issue of grid-connected inverters caused by grid impedance variation. The principle of the controller synthesis is to select appropriate weighting functions to shape the systems closed-loop transfer function and to achieve robust stability and robust performance. An optimal controller will be selected by using a 2-Dimensional Pareto Front. Chapter 4 proposes a high-performance 4-layer communication architecture to facilitate the control of a large distribution network with high Photovoltaic (PV) penetration. Multiple strategies have been implemented to address the challenges
of coordination between communication and system control and between different communication protocols, which leads to a boost in the communication efficiency and makes the architecture highly scalable, adaptive, and robust. Chapter 5 presents the control strategies of a traditional Modular Multilevel Converter (MMC) and a novel Modular Isolated Multilevel Converter (MIMC) in grid-connected and variable speed drive applications. The proposed MIMC is able to achieve great size reduction for the submodule capacitors since the fundamental and double-line frequency voltage ripple has been cancelled. Chapter 6 shows a detailed hardware and controller design for a 48 V Belt-driven Starter Generator (BSG) inverter using automotive gate driver ICs and microcontroller. The inverter prototype has reached a power density of 333
W/inch3, up to 200 A phase current and 600 Hz output frequency.
ContributorsSi, Yunpeng (Author) / Lei, Qin (Thesis advisor) / Ayyanar, Raja (Committee member) / Vittal, Vijay (Committee member) / Zhang, Junshan (Committee member) / Arizona State University (Publisher)
Created2022
Description
Nowadays, wireless communications and networks have been widely used in our daily lives. One of the most important topics related to networking research is using optimization tools to improve the utilization of network resources. In this dissertation, we concentrate on optimization for resource-constrained wireless networks, and study two fundamental resource-allocation problems: 1) distributed routing optimization and 2) anypath routing optimization. The study on the distributed routing optimization problem is composed of two main thrusts, targeted at understanding distributed routing and resource optimization for multihop wireless networks. The first thrust is dedicated to understanding the impact of full-duplex transmission on wireless network resource optimization. We propose two provably good distributed algorithms to optimize the resources in a full-duplex wireless network. We prove their optimality and also provide network status analysis using dual space information. The second thrust is dedicated to understanding the influence of network entity load constraints on network resource allocation and routing computation. We propose a provably good distributed algorithm to allocate wireless resources. In addition, we propose a new subgradient optimization framework, which can provide findgrained convergence, optimality, and dual space information at each iteration. This framework can provide a useful theoretical foundation for many networking optimization problems. The study on the anypath routing optimization problem is composed of two main thrusts. The first thrust is dedicated to understanding the computational complexity of multi-constrained anypath routing and designing approximate solutions. We prove that this problem is NP-hard when the number of constraints is larger than one. We present two polynomial time K-approximation algorithms. One is a centralized algorithm while the other one is a distributed algorithm. For the second thrust, we study directional anypath routing and present a cross-layer design of MAC and routing. For the MAC layer, we present a directional anycast MAC. For the routing layer, we propose two polynomial time routing algorithms to compute directional anypaths based on two antenna models, and prove their ptimality based on the packet delivery ratio metric.
ContributorsFang, Xi (Author) / Xue, Guoliang (Thesis advisor) / Yau, Sik-Sang (Committee member) / Ye, Jieping (Committee member) / Zhang, Junshan (Committee member) / Arizona State University (Publisher)
Created2013
Description
With the proliferation of mobile computing and Internet-of-Things (IoT), billions of mobile and IoT devices are connected to the Internet, generating zillions of Bytes of data at the network edge. Driving by this trend, there is an urgent need to push the artificial intelligence (AI) frontiers to the network edge to unleash the potential of the edge big data fully. This dissertation aims to comprehensively study collaborative learning and optimization algorithms to build a foundation of edge intelligence. Under this common theme, this dissertation is broadly organized into three parts. The first part of this study focuses on model learning with limited data and limited computing capability at the network edge. A global model initialization is first obtained by running federated learning (FL) across many edge devices, based on which a semi-supervised algorithm is devised for an edge device to carry out quick adaptation, aiming to address the insufficiency of labeled data and to learn a personalized model efficiently. In the second part of this study, collaborative learning between the edge and the cloud is studied to achieve real-time edge intelligence. More specifically, a distributionally robust optimization (DRO) approach is proposed to enable the synergy between local data processing and cloud knowledge transfer. Two attractive uncertainty models are investigated corresponding to the cloud knowledge transfer: the distribution uncertainty set based on the cloud data distribution and the prior distribution of the edge model conditioned on the cloud model. Collaborative learning algorithms are developed along this line. The final part focuses on developing an offline model-based safe Inverse Reinforcement Learning (IRL) algorithm for connected Autonomous Vehicles (AVs). A reward penalty is introduced to penalize unsafe states, and a risk-measure-based approach is proposed to mitigate the model uncertainty introduced by offline training. The experimental results demonstrate the improvement of the proposed algorithm over the existing baselines in terms of cumulative rewards.
ContributorsZhang, Zhaofeng (Author) / Zhang, Junshan (Thesis advisor) / Zhang, Yanchao (Thesis advisor) / Dasarathy, Gautam (Committee member) / Fan, Deliang (Committee member) / Arizona State University (Publisher)
Created2023