arXiv subjects

Gabor Orosz

Publications and source records attributed to Gabor Orosz.

At least 37 records · Page 2Linked to original sources

arXiv2022

Input-to-State Safety with Input Delay in Longitudinal Vehicle Control

Safe longitudinal control is discussed for a connected automated truck traveling behind a preceding connected vehicle. A controller is proposed based on control barrier function theory and predictor feedback for provably safe, collision-free behavior by taking into account the significant response time of the truck as input delay and the uncertainty of its dynamical model as input disturbance. The benefits of the proposed controller compared to control designs that neglect the delay or treat the delay as disturbance are shown by numerical simulations.

eess.SY↗

arXiv2022

Safety-Critical Control of Compartmental Epidemiological Models with Measurement Delays

We introduce a methodology to guarantee safety against the spread of infectious diseases by viewing epidemiological models as control systems and by considering human interventions (such as quarantining or social distancing) as control input. We consider a generalized compartmental model that represents the form of the most popular epidemiological models and we design safety-critical controllers that formally guarantee safe evolution with respect to keeping certain populations of interest under prescribed safe limits. Furthermore, we discuss how measurement delays originated from incubation period and testing delays affect safety and how delays can be compensated via predictor feedback. We demonstrate our results by synthesizing active intervention policies that bound the number of infections, hospitalizations and deaths for epidemiological models capturing the spread of COVID-19 in the USA.

eess.SY↗

arXiv2022

Energy-efficient Reactive and Predictive Connected Cruise Control

In this paper, we propose a framework for the longitudinal control of connected and automated vehicles traveling in mixed traffic consisting of connected and non-connected human-driven vehicles. Reactive and predictive controllers are proposed. Reactive controllers are given by explicit feedback control laws. In predictive controllers, the control input is optimized in a receding-horizon fashion, which depends on the predictions of motions of preceding vehicles. Beyond-line-of-sight information is obtained via vehicle-to-vehicle (V2V) communication, and is utilized in the proposed reactive and predictive controllers. Simulations utilizing real traffic data are used to show that connectivity can bring significant energy savings.

eess.SY↗

arXiv2022

The Astrometric Animation of Water Masers towards the Mira Variable BX Cam

We report VLBI monitoring observations of the 22 GHz water (H$_{2}$O) masers around the Mira variable BX Cam, which were carried out as a part of the EAVN Synthesis of Stellar Maser Animations (ESTEMA) project. Data of 37 epochs in total were obtained from 2018 May to 2021 June with a time interval of 3-4 weeks, spanning approximately three stellar pulsation periods ($P= \sim$440 d). In particular, the dual-beam system equipped on the VERA stations was used to measure the kinematics and parallaxes of the H$_{2}$O maser features. The measured parallax, $π=1.79\pm 0.08$ mas, is consistent with $Gaia$ EDR3 and previously measured VLBI parallaxes within a 1-$σ$ error level. The position of the central star was estimated, based on both the $Gaia$ EDR3 data and the center position of the ring-like 43 GHz silicon-monoxide (SiO) maser distribution imaged with the KVN. The three-dimensional H$_{2}$O maser kinematics indicates that the circumstellar envelope is expanding at a velocity of $13\pm4$ km s$^{-1}$, while there are asymmetries in both the spatial and velocity distributions of the maser features. Furthermore, the H$_{2}$O maser animation achieved by our dense monitoring program manifests the propagation of shock waves in the circumstellar envelope of BX Cam.

astro-ph.SR↗

arXiv2022

Learning Time Delay Systems with Neural Ordinary Differential Equations

A novel way of using neural networks to learn the dynamics of time delay systems from sequential data is proposed. A neural network with trainable delays is used to approximate the right hand side of a delay differential equation. We relate the delay differential equation to an ordinary differential equation by discretizing the time history and train the corresponding neural ordinary differential equation (NODE) to learn the dynamics. An example on learning the dynamics of the Mackey-Glass equation using data from chaotic behavior is given. After learning both the nonlinearity and the time delay, we demonstrate that the bifurcation diagram of the neural network matches that of the original system.

cs.LG↗

arXiv2022

Control Barrier Functionals: Safety-critical Control for Time Delay Systems

This work presents a theoretical framework for the safety-critical control of time delay systems. The theory of control barrier functions, that provides formal safety guarantees for delay-free systems, is extended to systems with state delay. The notion of control barrier functionals is introduced to attain formal safety guarantees, by enforcing the forward invariance of safe sets defined in the infinite dimensional state space. The proposed framework is able to handle multiple delays and distributed delays both in the dynamics and in the safety condition, and provides an affine constraint on the control input that yields provable safety. This constraint can be incorporated into optimization problems to synthesize pointwise optimal and provable safe controllers. The applicability of the proposed method is demonstrated by numerical simulation examples.

eess.SY↗

arXiv2022

Control Barrier Functions and Input-to-State Safety with Application to Automated Vehicles

Balancing safety and performance is one of the predominant challenges in modern control system design. Moreover, it is crucial to robustly ensure safety without inducing unnecessary conservativeness that degrades performance. In this work we present a constructive approach for safety-critical control synthesis via Control Barrier Functions (CBF). By filtering a hand-designed controller via a CBF, we are able to attain performant behavior while providing rigorous guarantees of safety. In the face of disturbances, robust safety and performance are simultaneously achieved through the notion of Input-to-State Safety (ISSf). We take a tutorial approach by developing the CBF-design methodology in parallel with an inverted pendulum example, making the challenges and sensitivities in the design process concrete. To establish the capability of the proposed approach, we consider the practical setting of safety-critical design via CBFs for a connected automated vehicle (CAV) in the form of a class-8 truck without a trailer. Through experimentation we see the impact of unmodeled disturbances in the truck's actuation system on the safety guarantees provided by CBFs. We characterize these disturbances and using ISSf, produce a robust controller that achieves safety without conceding performance. We evaluate our design both in simulation, and for the first time on an automotive system, experimentally.

eess.SY↗

arXiv2022

Energy-efficient Connected Cruise Control with Lean Penetration of Connected Vehicles

This paper focuses on energy-efficient longitudinal controller design for a connected automated truck that travels in mixed traffic consisting of connected and non-connected vehicles. The truck has access to information about connected vehicles beyond line of sight using vehicle-to-vehicle (V2V) communication. A novel connected cruise control design is proposed which incorporates additional delays into the control law when responding to distant connected vehicles to account for the finite propagation of traffic waves. The speeds of non-connected vehicles are modeled as stochastic processes. A fundamental theorem is proven which links the spectral properties of the motion signals to the average energy consumption. This enables us to tune controller parameters and maximize energy efficiency. Simulations with synthetic data and real traffic data are used to demonstrate the energy efficiency of the control design. It is demonstrated that even with lean penetration of connected vehicles, our controller can bring significant energy savings.

eess.SY↗

arXiv2022

Virtual Rings on Highways: Traffic Control by Connected Automated Vehicles

This work gives introduction to traffic control by connected automated vehicles. The influence of vehicle control on vehicular traffic and traffic control strategies are discussed and compared. It is highlighted that vehicle-to-everything connectivity allows connected automated vehicles to access the state of the traffic behind them such that feedback can be utilized to mitigate evolving congestions. Numerical simulations demonstrate that such connectivity-based traffic control is beneficial for smoothness and energy efficiency of highway traffic. The dynamics and stability of traffic flow, under the proposed controllers, are analyzed in detail to construct stability charts that guide the selection of stabilizing control gains.

eess.SY↗

arXiv2021

Molecular line search toward the flaring 6.7-GHz methanol masers of G24.33+0.13 and G359.6-0.243: rare maser transitions detected

We have performed a molecular line search toward the flaring 6.7-GHz masers G24.33+0.13 and G359.62-0.24 using the Australia Telescope Compact Array. We present spectra of the 6.7-GHz class~II methanol and 22.2-GHz water masers toward these sources and provide comparison with other recent flaring events these sources have experienced. We also detect the fourth example of a 23.4-GHz class~I methanol maser, and the eleventh example of a 4.8-GHz formaldehyde maser toward G24.33+0.13. Alongside these results, we observe the previously detected ammonia (3,3) emission and report upper limits on the presence of various other cm-wavelength methanol, ammonia and OH transitions. Our results are consistent with the flaring of G24.33+0.13 being driven by a variable accretion rate in the host high-mass young stellar object.

astro-ph.GA↗

arXiv2021

Fallback in bipolar Planetary Nebulae ?

The subclass of bipolar Planetary Nebulae (PN) exhibits well-defined low-power outflows and some show shock-related equatorial spiderweb structures and hourglass structures surrounding these outflows. These structures are distinctly different from the phenomena associated with spherical and elliptical PN and suggest a non-standard way to simultaneously energise both kind of structures. This paper presents evidence from the published literature on bipolar PN Hb\,12 and other sources in support of an alternative scenario for energizing these structures by means of accretion from material shells deposited during earlier post-AGB and pre-PN evolutionary stages. In addition to energizing the bipolar outflow, a sub-Eddington accretion scenario could hydrodynamically explain the spiderweb and outer hourglass structures as oblique shockwaves for guiding the accreting material into the equatorial region of the source. Estimates of the accretion rate resulting from fallback-related spherical accretion could indeed help to drive a low-power outflow and contribute to the total luminosity of these sources.

astro-ph.SR↗

arXiv2020

FLASHING: New high-velocity H$_2$O masers in IRAS 18286$-$0959

We discovered new high-velocity components of H$_2$O maser emission in one of the "water fountain" sources, IRAS~18286$-$0959, which has been monitored using the Nobeyama 45 m telescope in the new FLASHING (Finest Legacy Acquisitions of SiO- and H$_2$O-maser Ignitions by Nobeyama Generation) project since 2018 December. The maser spectra show new, extremely high expansion velocities ($>$200~km~s$^{-1}$ projected in the line of sight) components, some of which are located symmetrically in the spectrum with respect to the systemic velocity. They were also mapped with KaVA (KVN and VERA Combined Array) in 2019 March. We located some of these maser components closer to the central stellar system than other high velocity components (50--200~km~s$^{-1}$) that have been confirmed to be associated with the known bipolar outflow. The new components would flash in the fast collimated jet at a speed over 300~km~s$^{-1}$ (soon) after 2011 when they had not been detected. The fastest of the new components seem to indicate rapid deceleration in these spectra, however our present monitoring is still too sparse to unambiguously confirm it (up to 50~km~s$^{-1}$yr$^{-1}$) and too short to reveal their terminal expansion velocity, which will be equal to the expansion velocity that has been observed ($v_{\rm exp}\sim$120~km~s$^{-1}$). Future occurrences of such extreme velocity components may provide a good opportunity to investigate possible recurrent outflow ignitions. Thus sculpture of the parental envelope will be traced by the dense gas that is entrained by the fast jet and exhibits spectacular distributions of the relatively stable maser features.

astro-ph.SR↗

arXiv2020

Shaping the envelope of the asymptotic giant branch star W43A with a collimated fast jet

One of the major puzzles in the study of stellar evolution is the formation process of bipolar and multi-polar planetary nebulae. There is growing consensus that collimated jets create cavities with dense walls in the slowly-expanding (10--20 ~km~s$^{-1}$) envelope ejected in previous evolutionary phases, leading to the observed morphologies. However, the launching of the jet and the way it interacts with the circumstellar material to create such asymmetric morphologies have remained poorly known. Here we present for the first time CO emission from the asymptotic giant branch star W43A that traces the whole stream of a jet, from the vicinity of its driving stellar system out to the regions where it shapes the circumstellar envelope. We found that the jet has a launch velocity of 175~km~s$^{-1}$ and decelerates to a velocity of 130~km~s$^{-1}$ as it interacts with circumstellar material. The continuum emission reveals a bipolar shell with a compact bright dot in the centre that pinpoints the location of the driving source of the jet. The kinematical ages of the jet and the bipolar shell are equal, $τ$$\sim$60~years, indicating that they were created simultaneously, probably by a common underlying mechanism, and in an extremely short time. These results provide key initial conditions for the theoretical models that aim to explain the formation of bipolar morphologies in the circumstellar envelopes of low and intermediate mass stars.

astro-ph.SR↗

arXiv2019

Control Regularization for Reduced Variance Reinforcement Learning

Dealing with high variance is a significant challenge in model-free reinforcement learning (RL). Existing methods are unreliable, exhibiting high variance in performance from run to run using different initializations/seeds. Focusing on problems arising in continuous control, we propose a functional regularization approach to augmenting model-free RL. In particular, we regularize the behavior of the deep policy to be similar to a policy prior, i.e., we regularize in function space. We show that functional regularization yields a bias-variance trade-off, and propose an adaptive tuning strategy to optimize this trade-off. When the policy prior has control-theoretic stability guarantees, we further show that this regularization approximately preserves those stability guarantees throughout learning. We validate our approach empirically on a range of settings, and demonstrate significantly reduced variance, guaranteed dynamic stability, and more efficient learning than deep RL alone.

cs.LG↗

arXiv2019

End-to-End Safe Reinforcement Learning through Barrier Functions for Safety-Critical Continuous Control Tasks

Reinforcement Learning (RL) algorithms have found limited success beyond simulated applications, and one main reason is the absence of safety guarantees during the learning process. Real world systems would realistically fail or break before an optimal controller can be learned. To address this issue, we propose a controller architecture that combines (1) a model-free RL-based controller with (2) model-based controllers utilizing control barrier functions (CBFs) and (3) on-line learning of the unknown system dynamics, in order to ensure safety during learning. Our general framework leverages the success of RL algorithms to learn high-performance controllers, while the CBF-based controllers both guarantee safety and guide the learning process by constraining the set of explorable polices. We utilize Gaussian Processes (GPs) to model the system dynamics and its uncertainties. Our novel controller synthesis algorithm, RL-CBF, guarantees safety with high probability during the learning process, regardless of the RL algorithm used, and demonstrates greater policy exploration efficiency. We test our algorithm on (1) control of an inverted pendulum and (2) autonomous car-following with wireless vehicle-to-vehicle communication, and show that our algorithm attains much greater sample efficiency in learning than other state-of-the-art algorithms and maintains safety during the entire learning process.

cs.LG↗

arXiv2018

Multi-epoch VLBI of a double maser super burst

In a rare and spectacular display, two well-known massive star forming regions, W49N and G25.65+1.05, recently underwent maser 'super burst' - their fluxes suddenly increasing above 30,000 and 18,000 Jy, respectively, reaching several orders of magnitude above their usual values. In quick-response, ToO observations with the EVN, VLBA and KaVA were obtained constituting a 4 week campaign - producing a high-cadence multi-epoch VLBI investigation of the maser emission. The combination of high-resolution, polarisation and flux monitoring during the burst provides one of the best accounts, to date, of the maser super burst phenomenon, aiding their use as astrophysical tools. These proceedings contain the preliminary results of our campaign.

astro-ph.SR↗

arXiv2018

Rapidly-evolving episodic outflow in IRAS 18113-2503: clues to the ejection mechanism of the fastest water fountain

Water fountains are evolved stars showing early stages of collimated mass loss during transition from the asymptotic giant branch, providing valuable insight into the formation of asymmetric planetary nebulae. We report the results of multi-epoch VLBI observations, which determine the spatial and three-dimensional kinematic structure of H2O masers associated with the water fountain IRAS 18113-2503. The masers trace three pairs of high-velocity (~150-300 km/s) bipolar bow shocks on a scale of 0.18'' (~2000 au). The expansion velocities of the bow shocks exhibit an exponential decrease as a function of distance from the central star, which can be explained by an episodic, jet-driven outflow decelerating due to drag forces in a circumstellar envelope. Using our model, we estimate an initial ejection velocity ~840 km/s, a period for the ejections ~10 yr, with the youngest being ~12 yr old, and an average envelope density within the H2O maser region n(H2) ~ 10^6 cm^(-3). We hypothesize that IRAS 18113-2503 hosts a binary central star with a separation of ~10 au, revealing novel clues about the launching mechanisms of high-velocity collimated outflows in water fountains.

astro-ph.SR↗

arXiv2018

VERA monitoring of the radio jet 3C 84 during 2007--2013: detection of non-linear motion

We present a kinematic study of the subparsec-scale radio jet of the radio galaxy 3C 84/NGC 1275 with the VLBI Exploration of Radio Astrometry (VERA) array at 22 GHz for 80 epochs from 2007 October to 2013 December. The averaged radial velocity of the bright component "C3" with reference to the radio core is found to be $0.27 pm 0.02c$ between 2007 October and 2013 December. This constant velocity of C3 is naturally explained by the advancing motion of the head of the mini-radio lobe. We also find a non-linear component in the motion of C3 with respect to the radio core. We briefly discuss possible origins of this non-linear motion.

astro-ph.GA↗