The goal of the state estimation (SE) algorithm is to estimate complex bus voltages as state variables based on the available set of measurements in the power system. Because phasor measurement units (PMUs) are increasingly being used in transmission power systems, there is a need for a fast SE solver that can take advantage of high sampling rates of PMUs. This paper proposes training a graph neural network (GNN) to learn the estimates given the PMU voltage and current measurements as inputs, with the intent of obtaining fast and accurate predictions during the evaluation phase. GNN is trained using synthetic datasets, created by randomly sampling sets of measurements in the power system and labelling them with a solution obtained using a linear SE with PMUs solver. The presented results display the accuracy of GNN predictions in various test scenarios and tackle the sensitivity of the predictions to the missing input data.
Automated equipment health monitoring from streaming multisensor time-series data can be used to enable condition-based maintenance, avoid sudden catastrophic failures, and ensure high operational availability. We note that most complex machinery has a well-documented and readily accessible underlying structure capturing the inter-dependencies between sub-systems or modules. Deep learning models such as those based on recurrent neural networks (RNNs) or convolutional neural networks (CNNs) fail to explicitly leverage this potentially rich source of domain-knowledge into the learning procedure.…
The accurate online estimation of the road-friction coefficient is an essential feature for any advanced brake control system. In this study, a data-driven scheme based on a MLP Neural Net is proposed to estimate the optimum friction coefficient as a function of windowed slip-friction measurements. A stochastic NN weights drop-out mechanism is used to online estimate the confidence interval of the estimated best friction coefficient thus providing a characterization of the epistemic uncertainty associated to the NN block. Open loop and closed loop simulations of the landing phase of an aircraf…
Carnegie Mellon University（卡内基梅隆大学）；University of California Berkeley（加州大学伯克利分校）
We study the problem of estimating at a central server the mean of a set of vectors distributed across several nodes (one vector per node). When the vectors are high-dimensional, the communication cost of sending entire vectors may be prohibitive, and it may be imperative for them to use sparsification techniques. While most existing work on sparsified mean estimation is agnostic to the characteristics of the data vectors, in many practical applications such as federated learning, there may be spatial correlations (similarities in the vectors sent by different nodes) or temporal correlations (…
Electric vehicles (EVs) have been growing rapidly in popularity in recent years and have become a future trend. It is an important aspect of user experience to know the Remaining Charging Time (RCT) of an EV with confidence. However, it is difficult to find an algorithm that accurately estimates the RCT for vehicles in the current EV market. The maximum RCT estimation error of the Tesla Model X can be as high as 60 minutes from a 10 % to 99 % state-of-charge (SOC) while charging at direct current (DC). A highly accurate RCT estimation algorithm for electric vehicles is in high demand and will …
Inria（法国国家信息与自动化研究所）；CEA（法国原子能和替代能源委员会）；Université Paris-Saclay（巴黎萨克雷大学）；University of Liège（列日大学）
Inferring the parameters of a stochastic model based on experimental observations is central to the scientific method. A particularly challenging setting is when the model is strongly indeterminate, i.e. when distinct sets of parameters yield identical observations. This arises in many practical situations, such as when inferring the distance and power of a radio source (is the source close and weak or far and strong?) or when estimating the amplifier gain and underlying brain activity of an electrophysiological experiment. In this work, we present hierarchical neural posterior estimation (HNP…
Robust localization in dense urban scenarios using a low-cost sensor setup and sparse HD maps is highly relevant for the current advances in autonomous driving, but remains a challenging topic in research. We present a novel monocular localization approach based on a sliding-window pose graph that leverages predicted uncertainties for increased precision and robustness against challenging scenarios and per frame failures. To this end, we propose an efficient multi-task uncertainty-aware perception module, which covers semantic segmentation, as well as bounding box detection, to enable the loca…
Monocular depth estimation plays a crucial role in 3D recognition and understanding. One key limitation of existing approaches lies in their lack of structural information exploitation, which leads to inaccurate spatial layout, discontinuous surface, and ambiguous boundaries. In this paper, we tackle this problem in three aspects. First, to exploit the spatial relationship of visual features, we propose a structure-aware neural network with spatial attention blocks. These blocks guide the network attention to global structures or local details across different feature layers. Second, we introd…
