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Publications (24)
Motivated by various distributed control applications, we consider a linear system with Gaussian noise observed by multiple sensors which transmit measurements over a dynamic lossy network. We characterize the stationary optimal sensor scheduling policy for the finite horizon, discounted, and long-term average cost problems and show that the value...
Motivated by various distributed control applications, we consider a linear system with Gaussian noise observed by multiple sensors which transmit measurements over a dynamic lossy network. We characterize the stationary optimal sensor scheduling policy for the finite horizon, discounted, and long-term average cost problems and show that the value...
A general class of mean field games are considered where the governing
dynamics are controlled diffusions in $\mathbb{R}^d$. The optimization
criterion is the long time average of a running cost function. Under various
sets of hypotheses, we establish the existence of mean field game solutions. We
also study the long time behavior of mean field gam...
Traditional assessment of programming ability, as well as more recent automated assessment systems, consider only the completed program submitted by the student. We present a system which automatically monitors and assesses the code-production process as well as the final product, allowing adaptive feedback and assessment of programming competency....
This paper proposes and validates a real-time on-road vehicle detection system, which uses a single camera for the purpose of intelligent driver assistance. A three-step vehicle detection framework is presented to detect and track the target vehicle within an image. In the first step, probable vehicle locations are hypothesized using pattern recogn...
Adaptive Cruise Control (ACC) is a relatively new system designed to assist automobile drivers in maintaining a safe following distance. This paper proposes and validates a vision-based ACC system which uses a single camera to obtain the clearance distance between the preceding vehicle and the ACC vehicle. Pattern matching, with the aid of lane det...
Automation systems are the modern means of operation for a wide spectrum of industrial production processes, such as chemical plants, steel mills, paper mills, oil refineries or mineral processes. The automation system is increasingly not only the platform for control algorithms but also for planning and scheduling solutions. Because of the importa...
This paper outlines the design strategy for the University of Johannesburg's (UJ's) alternative energy vehicles which were entered into the 2012 South African Solar Challenge (SASC). The SASC is an event which occurs every two years, and showcases novel alternative energy technologies. A methodology is presented which was used in the construction o...
Solar vehicles compete in various events around the world, called Solar Challenges. Successful vehicles must carefully plan and optimise their energy consumption for the course of the race. Doing so requires detailed information about the vehicle dynamics, the route, and the availability of solar energy at each point along the route. This paper des...
A logical step on the path to full automation of an automobile is following a lead vehicle. Most studies in vehicle following use the chase vehicle's estimated speed and steering angle to calculate a series of approximate waypoints in an absolute coordinate frame to create a path for the chase vehicle to follow. However, state estimation requires i...
This paper outlines the design strategy for the University of Johannesburg's (UJ's) hybrid vehicle entry into the South African Solar Challenge (SASC) 2010. The SASC is a biennial event focused on alternative energies and showcasing various automotive technologies. The SASC is broken up into different classes; UJ entered in the Greenfleet Technolog...
A shipboard power system is self contained, tightly coupled, and small enough to allow nearly real time state estimation, given the right equivalent circuit representations. Redirecting power flow is the preeminent task of reconfiguration. This redirection should be accomplished in less than two cycles, while never compromising system stability or...
In this paper, we survey different formulations of the reconfiguration problem and the different techniques used for its solution. We also compare the problem of reconfiguration of shipboard power systems to that of large scale systems. The reconfiguration of closely coupled power systems offers some unique challenges and limits the applicability o...
We present a systematic design method for automatically controlling the reconfiguration of shipboard power systems, which is implemented primarily via switching actions. This method takes advantage of the hybrid system model of the power network, in which certain parameters may be varied discretely or continuously to control the system. Any given s...
This paper focuses on three aspects of research being performed for the Office of Naval Research at the University of Texas at Austin. The first topic is power system reconfiguration, where the objective is, for example, to dynamically reconfigure a shipboard power system to minimize load shedding due to generation loss, or to alleviate overloads....