Toyota Motor Engineering & Manufacturing North America, Inc.

Curtiss-wright Electro-mechanical Corporation

University of Southern California

Université Joseph Fourier

James P Kapinski

Jyotirmoy Vinay Deshmukh

Xiaoqing Jin

David Jonathan Hall

Luan V Nguyen

Danil V Prokhorov

Thomas Andrew Lemak

Dennis Pavlik

Tommaso Dreossi

Ayca Balkan

Thao Dang

Systems and methods are provided for implementing safety-aware artificial intelligence (AI) that can be used for autonomously controlling systems, such as an autonomous vehicle, in a manner that is proven to satisfy given safety constraints. Additionally, a safety-aware training technique can be applied to learned AI-based models, such as neural networks. The safety-aware training techniques can apply automated reasoning tools (ART) while the AI model is trained, in order to produce a model that is provable safe with respect to the safety constraints. The ART can integrate verification into the training process, and thereby dynamically re-train the model based on the safety verification in a feedback loop approach. The ART can be configured to either verify that the AI model is provably safety, or to provide updates to the training parameters used during to re-train the AI model in instances when the safety verification has failed.

Systems and methods for safety-aware training of AI-based control systems

Systems and methods are provided for monitoring time-series data relative to a temporal logic specification regarding expected behavior of a system, such as a vehicle. The time-series data and a threshold value(s) specified in the temporal logic specification may be encrypted and analyzed without decrypting the time-series data to maintain the privacy of a user(s) of the vehicle. Encryption of the time-series data and the threshold value(s) may be accomplished using an order preserving encryption scheme. Analysis of the time-series data may be accomplished utilizing a batch processing-type architecture or a continuous processing-type architecture. When utilizing the continuous processing-type architecture, historical time-series data may be stored and utilized to determine whether currently-monitored time-series data satisfies the temporal logic specification.

Privacy-aware signal monitoring systems and methods

Systems and methods for evaluating closed-loop control systems are disclosed. In one embodiment, a method of evaluating a control system includes determining, using a processing device, one or more convergence classifier functions from a closed-loop model, wherein the one or more convergence classifier functions convey convergent behavior of the closed-loop model over a pre-determined period of time. The method further includes generating, using the processing device, a plurality of test cases of an input space of the closed-loop model under evaluation, and determining, using the processing device, whether one or more individual test cases of the plurality of test cases do not satisfy the one or more convergence classifier functions.

Systems and methods for testing convergence of closed-loop control systems

A computer-implemented method for automatically identifying a faulty behavior of a control system. The method includes receiving, at a test processor, a description of the faulty behavior. The method also includes selecting, using the test processor, a goal state based on a heuristic decision. The method also includes selecting, using the test processor, a selected system state. The method also includes selecting, using the test processor, a selected variable to the control system based on the goal state. The method also includes loading, from a memory, a control model of the control system. The method also includes performing, using the test processor, a simulation of the control model using the selected variable and the selected system state as parameters of the simulation. The method also includes determining, using the test processor, whether the faulty behavior was observed based on the simulation.

Coverage guided technique for bug finding in control systems and software

A computer system may seek to identify at least one contraction metric that satisfies contraction conditions for a design of a dynamical system. The computer system may do so by formulating a search for a candidate contraction metric that is suspected of satisfying the contraction conditions for the design of the dynamical system from a set of simulation traces that describe the behavior of the dynamical system for a specific set of operating conditions. The search for the candidate contraction metric may then be performed. The computer system may seek to verify that a candidate contraction metric for a design of a dynamical system satisfies contraction conditions by performing a process that uses solvers based on decision procedures.

Simulation-guided incremental stability analysis

A control system for a harmonic neutralized frequency changer. The control system includes a processor, a narrow band harmonic controller and a fundamental current controller. The narrow band harmonic controller is communicably connected to the processor and is configured to reduce a positive sequence component, a negative sequence component and a zero sequence component of a harmonic generated by a cycloconverter of the harmonic neutralized frequency changer. The fundamental current controller is communicably connected to the processor and is configured to reduce a fundamental frequency component of current flowing in a neutralization inverter of the harmonic neutralized frequency changer.

Harmonic neutralized frequency changer (HFNC) control system and a HFNC including the same

In one embodiment, a method of evaluating stability of software code for a control system includes receiving a set of initial trajectories by a semidefinite programming solver module, and determining one or more candidate Lyapunov functions based on the set of initial trajectories. The method further includes performing a plurality of simulations using a model of the control system to create a set of discovered trajectories, and evaluating the set of discovered trajectories to determine one or more counterexample trajectories that violate one or more Lyapunov conditions. If one or more counterexample trajectories are discovered, then the method includes inputting the set of discovered trajectories including the one or more counterexample trajectories into the semidefinite programming solver module, and determining, by the semidefinite programming solver module, one or more additional candidate Lyapunov functions from the set of initial trajectories and the set of discovered trajectories.

Systems and methods for evaluating stability of software code for control systems

Systems and methods for improving the current pulse from multiple pairs of pulsed alternators used for driving large loads such as an electromagnetic launcher (i.e., 'rail gun') load. Conventional current pulse ripples are reduced by interleaving pulses from multiple pairs of contra-rotating pulsed alternators. Current pulses supplied by different pairs of pulsed alternators are timed so that they are interspersed between one another to provide more pulses for a given launch time. The interleaved current pulses increase the frequency and reduce the magnitude of the ripple on the average load current.

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Redondo Beach, CA, United States of America

James P Kapinski