Power grid operation is becoming more complex due to the increase in generation of renewable energy. The recent series of Learning To Run a Power Network (L2RPN) competitions have encouraged the use of artificial agents to assist human dispatchers in operating power grids. However, the combinatorial nature of the action space poses a challenge to both conventional optimizers and learned controllers. Action space factorization, which breaks down decision-making into smaller sub-tasks, is one approach to tackle the curse of dimensionality. In this study, we propose a centrally coordinated multi-agent (CCMA) architecture for action space factorization. In this approach, regional agents propose actions and subsequently a coordinating agent selects the final action. We investigate several implementations of the CCMA architecture, and benchmark in different experimental settings against various L2RPN baseline approaches. The CCMA architecture exhibits higher sample efficiency and superior final performance than the baseline approaches. The results suggest high potential of the CCMA approach for further application in higher-dimensional L2RPN as well as real-world power grid settings.

We present a fully autonomous self-recharging drone system capable of long-duration sustained operations near powerlines. The drone is equipped with a robust onboard perception and navigation system that enables it to locate powerlines and approach them for landing. A passively actuated gripping mechanism grasps the powerline cable during landing after which a control circuit regulates the magnetic field inside a split-core current transformer to provide sufficient holding force as well as battery recharging. The system is evaluated in an active outdoor three-phase powerline environment. We demonstrate multiple contiguous hours of fully autonomous uninterrupted drone operations composed of several cycles of flying, landing, recharging, and takeoff, validating the capability of extended, essentially unlimited, operational endurance.

Classification performance based on ImageNet is the de-facto standard metric for CNN development. In this work we challenge the notion that CNN architecture design solely based on ImageNet leads to generally effective convolutional neural network (CNN) architectures that perform well on a diverse set of datasets and application domains. To this end, we investigate and ultimately improve ImageNet as a basis for deriving such architectures. We conduct an extensive empirical study for which we train $500$ CNN architectures, sampled from the broad AnyNetX design space, on ImageNet as well as $8$ additional well known image classification benchmark datasets from a diverse array of application domains. We observe that the performances of the architectures are highly dataset dependent. Some datasets even exhibit a negative error correlation with ImageNet across all architectures. We show how to significantly increase these correlations by utilizing ImageNet subsets restricted to fewer classes. These contributions can have a profound impact on the way we design future CNN architectures and help alleviate the tilt we see currently in our community with respect to over-reliance on one dataset.

Traditional power grid systems have become obsolete under more frequent and extreme natural disasters. Reinforcement learning (RL) has been a promising solution for resilience given its successful history of power grid control. However, most power grid simulators and RL interfaces do not support simulation of power grid under large-scale blackouts or when the network is divided into sub-networks. In this study, we proposed an updated power grid simulator built on Grid2Op, an existing simulator and RL interface, and experimented on limiting the action and observation spaces of Grid2Op. By testing with DDQN and SliceRDQN algorithms, we found that reduced action spaces significantly improve training performance and efficiency. In addition, we investigated a low-rank neural network regularization method for deep Q-learning, one of the most widely used RL algorithms, in this power grid control scenario. As a result, the experiment demonstrated that in the power grid simulation environment, adopting this method will significantly increase the performance of RL agents.

We propose a new adversarial training approach for injecting robustness when designing controllers for upcoming cyber-physical power systems. Previous approaches relying deeply on simulations are not able to cope with the rising complexity and are too costly when used online in terms of computation budget. In comparison, our method proves to be computationally efficient online while displaying useful robustness properties. To do so we model an adversarial framework, propose the implementation of a fixed opponent policy and test it on a L2RPN (Learning to Run a Power Network) environment. That environment is a synthetic but realistic modeling of a cyber-physical system accounting for one third of the IEEE 118 grid. Using adversarial testing, we analyze the results of submitted trained agents from the robustness track of the L2RPN competition. We then further assess the performance of those agents in regards to the continuous N-1 problem through tailored evaluation metrics. We discover that some agents trained in an adversarial way demonstrate interesting preventive behaviors in that regard, which we discuss.

ALPS, known for its in-car electronics components has put together a Done system that can autonomously inspect powerline infrastructure. The drone has highly precise and sensitive sensors, including a Lidar, which is a laser-based radar that provides 3D awareness of what's around the drone. As an upgrade, ALPS is working on adapting an RF (radio-frequency) positioning system that has a 30cm (11-inch) precision instead of the normal 16 feet precision of civilian GPS systems. Power companies like PG&E have tested drone inspections since 2016, and it would typically be used for difficult terrain where it is dangerous and time-consuming (expensive) for human personnel to go. An inspection requires a drone pilot and a supporting team.