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Papers by Daniel Nikovski

2015 IEEE Power & Energy Society Innovative Smart Grid Technologies Conference (ISGT), 2015

Transactions of the Society of Instrument and Control Engineers, 2006

2013 IEEE Innovative Smart Grid Technologies-Asia (ISGT Asia), 2013

ABSTRACT

2014 International Conference on Power System Technology, 2014

2014 International Conference on Power System Technology, 2014

Proceedings 1999 IEEE International Symposium on Computational Intelligence in Robotics and Automation. CIRA'99 (Cat. No.99EX375), 1999

... Since the agent has to reason under uncer-tainty, it cannot be completely sure about the exac... more ... Since the agent has to reason under uncer-tainty, it cannot be completely sure about the exact state the POMDP is in; instead, it has to maintain a belief state Bel(S) represented as a probability distri-bution over all states in S. 2.1 Belief updating ... Bel(st) = aP(otlat)B'l(st), ...

Lecture Notes in Business Information Processing, 2013

ABSTRACT We address the problem of automating the process of deciding whether two data schema ele... more ABSTRACT We address the problem of automating the process of deciding whether two data schema elements match (that is, refer to the same actual object or concept), and propose several methods for combining evidence computed by multiple basic matchers. One class of methods uses Bayesian networks to account for the conditional dependency between the similarity values produced by individual matchers that use the same or similar information, so as to avoid overconfidence in match probability estimates and improve the accuracy of matching. Another class of methods relies on optimization switches that mitigate this dependency in a domain-independent manner. Experimental results under several testing protocols suggest that the matching accuracy of the Bayesian composite matchers can significantly exceed that of the individual component matchers, and the careful selection of optimization switches can improve matching accuracy even further.

2013 North American Power Symposium (NAPS), 2013

ABSTRACT

2012 IEEE International Conference on Power System Technology (POWERCON), 2012

ABSTRACT

2012 50th Annual Allerton Conference on Communication, Control, and Computing (Allerton), 2012

Energy Procedia, 2011

This paper proposes a fast and robust load flow method for balanced power distribution systems wi... more This paper proposes a fast and robust load flow method for balanced power distribution systems with distributed generation sources. The method formulates the power flow equations in PQ decoupled form with polar coordinates. Second-order terms are included in the active power mismatch iteration, and resistances are fully modeled without any simplifications. The impacts of zero-impedance branches are explicitly modeled through reconfiguring of the adjacent branches with impedances. Typical distribution generation models and distribution load models are included. A hybrid direct and indirect solution technique is used to achieve efficiency and robustness of the algorithm. Active power correction is solved by means of a sparse LU decomposition algorithm with partial pivoting, and the reactive power correction is solved by means of restarted Generalized Minimal Residual algorithm with incomplete LU preconditioner. The numerical examples on a sample distribution system with widespread Photovoltaic installations are given to demonstrate the effectiveness of the proposed method.

IEEE/RSJ International Conference on Intelligent Robots and System, 2002

We propose a learning algorithm for acquiring a stochastic model of the behavior of a mobile robo... more We propose a learning algorithm for acquiring a stochastic model of the behavior of a mobile robot, which allows the robot to localize itself along the outer boundary of its environment while traversing it. Compared to previously suggested solutions based on learning self-organizing neural nets, our approach achieves much higher spatial resolution which is limited only by the control time-step of the robot. We demonstrate the successful work of the algorithm on a small robot with only three infrared range sensors and a digital compass, and suggest how this algorithm can be extended to learn probabilistic models for full decision-theoretic reasoning and planning.

IEEE/RSJ International Conference on Intelligent Robots and System, 2002

We present an experiment in sequential visual servo control of a dynamic manipulation task with u... more We present an experiment in sequential visual servo control of a dynamic manipulation task with unknown equations of motion and feedback from an uncalibrated camera. Our algorithm constructs a model of a Markov decision process (MDP) by means of grounding states in observed trajectories, and uses the model to find a control policy based on visual input, which maximizes a

Proceedings. 2005 IEEE Intelligent Transportation Systems, 2005., 2005

This paper presents an experimental comparison of several statistical machine learning methods fo... more This paper presents an experimental comparison of several statistical machine learning methods for short-term prediction of travel times on road segments. The comparison includes linear regression, neural networks, regression trees, k-nearest neighbors, and locally-weighted regression, tested on the same historical data. In spite of the expected superiority of non-linear methods over linear regression, the only non-linear method that could consistently

IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004, 2004

We consider the problem of optimally parking empty cars in an elevator group so as to anticipate ... more We consider the problem of optimally parking empty cars in an elevator group so as to anticipate and intercept the arrival of new passengers and minimize their waiting times. Two solutions are proposed, for the down-peak and up-peak traffic patterns. We demonstrate that matching the distribution of free cars to the arrival distribution of passengers is sufficient to produce savings of up to 80 % in down-peak traffic. Since this approach is not useful for the much harder case of up-peak traffic, we propose a solution based on the representation of the elevator system as a Markov decision process (MDP) model with relatively few aggregated states, and determination of the optimal parking policy by means of dynamic programming on the MDP model. Abstract-We consider the problem of optimally parking empty cars in an elevator group so as to anticipate and intercept the arrival of new passengers and minimize their waiting times. Two solutions are proposed, for the down-peak and up-peak traffic patterns. We demonstrate that matching the distribution of free cars to the arrival distribution of passengers is sufficient to produce savings of up to 80% in down-peak traffic. Since this approach is not useful for the much harder case of up-peak traffic, we propose a solution based on the representation of the elevator system as a Markov decision process (MDP) model with relatively few aggregated states, and determination of the optimal parking policy by means of dynamic programming on the MDP model.

IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics, 2006

We investigate the accuracy of two predictive modeling methods for the purpose of fault detection... more We investigate the accuracy of two predictive modeling methods for the purpose of fault detection and diagnosis (FDD) for HVAC equipment. The comparison is performed within an FDD framework consisting of two steps. In the first step, a predictive regression model is built to represent the dependence of the internal state variables of the HVAC device on the external driving

2013 American Control Conference, 2013

2012 Electrical Systems for Aircraft, Railway and Ship Propulsion, 2012

... John Hancock, Martial Hebert, and Chuck Thorpe [jhancock, hebert, cet]@ri.cmu.edu Robotics In... more ... John Hancock, Martial Hebert, and Chuck Thorpe [jhancock, hebert, cet]@ri.cmu.edu Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213 ... Recent tests with the Franklin laser scanner have shown that a laser reflectance-based system can detect 1-foot-high ...

2015 IEEE Power & Energy Society Innovative Smart Grid Technologies Conference (ISGT), 2015

Transactions of the Society of Instrument and Control Engineers, 2006

2013 IEEE Innovative Smart Grid Technologies-Asia (ISGT Asia), 2013

ABSTRACT

2014 International Conference on Power System Technology, 2014

2014 International Conference on Power System Technology, 2014

Proceedings 1999 IEEE International Symposium on Computational Intelligence in Robotics and Automation. CIRA'99 (Cat. No.99EX375), 1999

... Since the agent has to reason under uncer-tainty, it cannot be completely sure about the exac... more ... Since the agent has to reason under uncer-tainty, it cannot be completely sure about the exact state the POMDP is in; instead, it has to maintain a belief state Bel(S) represented as a probability distri-bution over all states in S. 2.1 Belief updating ... Bel(st) = aP(otlat)B'l(st), ...

Lecture Notes in Business Information Processing, 2013

ABSTRACT We address the problem of automating the process of deciding whether two data schema ele... more ABSTRACT We address the problem of automating the process of deciding whether two data schema elements match (that is, refer to the same actual object or concept), and propose several methods for combining evidence computed by multiple basic matchers. One class of methods uses Bayesian networks to account for the conditional dependency between the similarity values produced by individual matchers that use the same or similar information, so as to avoid overconfidence in match probability estimates and improve the accuracy of matching. Another class of methods relies on optimization switches that mitigate this dependency in a domain-independent manner. Experimental results under several testing protocols suggest that the matching accuracy of the Bayesian composite matchers can significantly exceed that of the individual component matchers, and the careful selection of optimization switches can improve matching accuracy even further.

2013 North American Power Symposium (NAPS), 2013

ABSTRACT

2012 IEEE International Conference on Power System Technology (POWERCON), 2012

ABSTRACT

2012 50th Annual Allerton Conference on Communication, Control, and Computing (Allerton), 2012

Energy Procedia, 2011

This paper proposes a fast and robust load flow method for balanced power distribution systems wi... more This paper proposes a fast and robust load flow method for balanced power distribution systems with distributed generation sources. The method formulates the power flow equations in PQ decoupled form with polar coordinates. Second-order terms are included in the active power mismatch iteration, and resistances are fully modeled without any simplifications. The impacts of zero-impedance branches are explicitly modeled through reconfiguring of the adjacent branches with impedances. Typical distribution generation models and distribution load models are included. A hybrid direct and indirect solution technique is used to achieve efficiency and robustness of the algorithm. Active power correction is solved by means of a sparse LU decomposition algorithm with partial pivoting, and the reactive power correction is solved by means of restarted Generalized Minimal Residual algorithm with incomplete LU preconditioner. The numerical examples on a sample distribution system with widespread Photovoltaic installations are given to demonstrate the effectiveness of the proposed method.

IEEE/RSJ International Conference on Intelligent Robots and System, 2002

We propose a learning algorithm for acquiring a stochastic model of the behavior of a mobile robo... more We propose a learning algorithm for acquiring a stochastic model of the behavior of a mobile robot, which allows the robot to localize itself along the outer boundary of its environment while traversing it. Compared to previously suggested solutions based on learning self-organizing neural nets, our approach achieves much higher spatial resolution which is limited only by the control time-step of the robot. We demonstrate the successful work of the algorithm on a small robot with only three infrared range sensors and a digital compass, and suggest how this algorithm can be extended to learn probabilistic models for full decision-theoretic reasoning and planning.

IEEE/RSJ International Conference on Intelligent Robots and System, 2002

We present an experiment in sequential visual servo control of a dynamic manipulation task with u... more We present an experiment in sequential visual servo control of a dynamic manipulation task with unknown equations of motion and feedback from an uncalibrated camera. Our algorithm constructs a model of a Markov decision process (MDP) by means of grounding states in observed trajectories, and uses the model to find a control policy based on visual input, which maximizes a

Proceedings. 2005 IEEE Intelligent Transportation Systems, 2005., 2005

This paper presents an experimental comparison of several statistical machine learning methods fo... more This paper presents an experimental comparison of several statistical machine learning methods for short-term prediction of travel times on road segments. The comparison includes linear regression, neural networks, regression trees, k-nearest neighbors, and locally-weighted regression, tested on the same historical data. In spite of the expected superiority of non-linear methods over linear regression, the only non-linear method that could consistently

IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004, 2004

We consider the problem of optimally parking empty cars in an elevator group so as to anticipate ... more We consider the problem of optimally parking empty cars in an elevator group so as to anticipate and intercept the arrival of new passengers and minimize their waiting times. Two solutions are proposed, for the down-peak and up-peak traffic patterns. We demonstrate that matching the distribution of free cars to the arrival distribution of passengers is sufficient to produce savings of up to 80 % in down-peak traffic. Since this approach is not useful for the much harder case of up-peak traffic, we propose a solution based on the representation of the elevator system as a Markov decision process (MDP) model with relatively few aggregated states, and determination of the optimal parking policy by means of dynamic programming on the MDP model. Abstract-We consider the problem of optimally parking empty cars in an elevator group so as to anticipate and intercept the arrival of new passengers and minimize their waiting times. Two solutions are proposed, for the down-peak and up-peak traffic patterns. We demonstrate that matching the distribution of free cars to the arrival distribution of passengers is sufficient to produce savings of up to 80% in down-peak traffic. Since this approach is not useful for the much harder case of up-peak traffic, we propose a solution based on the representation of the elevator system as a Markov decision process (MDP) model with relatively few aggregated states, and determination of the optimal parking policy by means of dynamic programming on the MDP model.

IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics, 2006

We investigate the accuracy of two predictive modeling methods for the purpose of fault detection... more We investigate the accuracy of two predictive modeling methods for the purpose of fault detection and diagnosis (FDD) for HVAC equipment. The comparison is performed within an FDD framework consisting of two steps. In the first step, a predictive regression model is built to represent the dependence of the internal state variables of the HVAC device on the external driving

2013 American Control Conference, 2013

2012 Electrical Systems for Aircraft, Railway and Ship Propulsion, 2012

... John Hancock, Martial Hebert, and Chuck Thorpe [jhancock, hebert, cet]@ri.cmu.edu Robotics In... more ... John Hancock, Martial Hebert, and Chuck Thorpe [jhancock, hebert, cet]@ri.cmu.edu Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213 ... Recent tests with the Franklin laser scanner have shown that a laser reflectance-based system can detect 1-foot-high ...