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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Liu, Qiao He, Ke-xue Jiang, Liang-zhong Changsha Univ Sci & Technol Elect & Informat Engn Coll Changsha 410076 Peoples R China S China Univ Technol Dept Mech Engn Guangzhou 510640 Peoples R China

ISBN: (纸本)9781424402588

By modeling the networked robot system (NRS) that drops packets randomly, we considered the problem of optimal linear quadratic Gaussian (LQG) control and analyzed the stability of a NRS. We presented a mathematical model based on a packet-based setting, extended the familiar LQG separation principle that allows us to solve this problem using a standard LQR state-feedback design, proposed an optimal algorithm irrespective of the packet drop pattern by constructing an encoder for the unreliable channel and designing the decoder that uses the information it receives across the link to construct an estimate of the state of the networked robot. For the case of packet drops occurring according to a Markov chain, the stability analysis was carried out. Because the separation theorem for linear systems and quadratic cost does not apply to the general framework of NRSs, we used the uncertainty threshold principle to show that under certain conditions there was a rate for dropped packets for which an undisturbed networked control system with imperfect state observation was mean square stable, used a sub-optimal method to simplify the calculation of the estimator and controller, got the solution to the Riccati-like equation and guaranteed the mean square stability of the NRS with perfect state information. This design does not assume any statistical model of the packet drop events and can be implemented as a small modification of an existing LQG control design.

关键词： LQG control networked robot system (NRS) data dropout stability analysis optimal algorithm

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On the complexity of searching for a maximum of a function on a quantum computer

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QUANTUM INFORMATION PROCESSING 2006年第1期5卷 31-41页

作者： Gocwin, Maciej AGH Univ Sci & Technol Dept Appl Math PL-30059 Krakow Poland

We deal with the problem of finding a maximum of a function from the Holder class on a quantum computer We show matching lower and upper bounds oil the complexity of this problem. We prove upper bounds by constructing an alogorithm that uses a pre-exisiting quantum algorithm for finding maximum of a discrete sequence. To prove lower bounds we use results for finding the logical OR of sequence of bits. We show that quantum computation yields a quadratic speed-up over deterministic and randomized algorithms.

关键词： numerical optimization optimal algorithm quantum computing query complexity

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On the complexity of parabolic initial-value problems with variable drift

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JOURNAL OF COMPLEXITY 2006年第1期22卷 118-145页

作者： Petras, K Ritter, K Tech Univ Carolo Wilhelmina Braunschweig Inst Angew Math D-38106 Braunschweig Germany Tech Univ Darmstadt Fachbereich Math D-64289 Darmstadt Germany

We study the intrinsic difficulty of solving linear parabolic initial-value problems numerically at a single point. We present a worst-case analysis for deterministic as well as for randomized (or Monte Carlo) algorithms, assuming that the drift coefficients and the potential vary in given function spaces. We use fundamental solutions (parametrix method) for equations with unbounded coefficients to relate the initial-value problem to multivariate integration and weighted approximation problems. Hereby we derive lower and upper bounds for the minimal errors. The upper bounds are achieved by algorithms that use Smolyak formulas and, in the randomized case, variance reduction. We apply our general results to equations with coefficients from Holder classes, and here, in many cases, the upper and lower bounds almost coincide and our algorithms are almost optimal. (C) 2005 Elsevier Inc. All rights reserved.

关键词： parabolic initial value problem variable coefficients worst case analysis optimal algorithm Smolyak formula variance reduction

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Farthest line segment Voronoi diagrams

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INFORMATION PROCESSING LETTERS 2006年第6期100卷 220-225页

作者： Aurenhammer, F. Drysdale, R. L. S. Krasser, H. Graz Univ Technol Inst Theoret Comp Sci A-8010 Graz Austria Dartmouth Coll Dept Math & Comp Sci Hanover NH 03755 USA

The farthest line segment Voronoi diagram shows properties different from both the closest-segment Voronoi diagram and the farthest-point Voronoi diagram. Surprisingly, this structure did not receive attention in the computational geometry literature. We analyze its combinatorial and topological properties and outline an O(n log n) time construction algorithm that is easy to implement. No restrictions are placed upon the n input line segments;they are allowed to touch or cross. (c) 2006 Elsevier B.V. All rights reserved.

关键词： computational geometry Voronoi diagram farthest line segment optimal algorithm

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Tight bounds on the simulation of meshes with dynamically reconfigurable row/column buses by meshes with statically partitioned buses

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JOURNAL OF PARALLEL AND DISTRIBUTED COMPUTING 2006年第10期66卷 1338-1346页

作者： Matsumae, Susumu Tottori Univ Environm Studies Dept Informat Syst Tottori 6891111 Japan

This paper studies the simulation problem of meshes with separable buses (MSB) by meshes with multiple partitioned buses (MMPB). The M S B and the M M P B are the mesh-connected computers with row/column broadcasting buses. The broadcasting buses of the M S B can be dynamically sectioned into smaller bus segments by program control, while those of the MMPB are statically partitioned in advance. In the M S B, each row/column has only one separable bus, while in the M M P B, each row/column has L partitioned buses (L >= 1, L is a fixed constant). Two results are shown: (1) the n x n MMPB can simulate any step of the n x n MSB time-optimally in O(n(1/(2L+1))) steps, and (2) the m x in MMPB with L = 1 can simulate any step of the n x n MSB in O(n(2)/m(2) + n(1/3)) steps (m <= n). The latter implies that the MMPB with L = 1 can solve the scaling-simulation problem of the MSB time-optimally when m = O(n(5/6)) holds. (C) 2006 Elsevier Inc. All rights reserved.

关键词： mesh-connected computer broadcasting bus reconfigurable bus simulation algorithm optimal algorithm

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optimal algorithms for constructing knight's tours on arbitrary nxm chessboards

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DISCRETE APPLIED MATHEMATICS 2005年第3期146卷 219-232页

作者： Lin, SS Wei, CL Natl Taiwan Normal Univ Grad Inst Comp Sci & Informat Engn Taipei Taiwan Natl Taiwan Normal Univ Dept Informat & Comp Educ Taipei Taiwan

The knight's tour problem is an ancient puzzle whose goal is to find out how to construct a series of legal moves made by a knight so that it visits every square of a chessboard exactly once. In previous works. researchers have partially solved this problem by offering algorithms for subsets of chessboards. For example, among prior studies, Parberry proposed a divided-and-conquer algorithm that can build a closed knight's tour on an n x n, an n x (n + 1) or an n x (n + 2) chessboard in O(n(2)) (i.e.. linear in area) time on a sequential processor. In this paper we completely solve this problem by presenting new methods that can construct a closed knight's tour or an open knight's tour on an arbitrary n x in chessboard if such a solution exists. Our algorithms also run in linear time (O(nm)) on a sequential processor. (C) 2004 Elsevier B.V. All rights reserved.

关键词： divide-and-conquer algorithm knight's tour problem optimal algorithm

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On the consistency of linear and quadratic systems

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Computational Mathematics and Mathematical Physics 2006年第4期46卷 537-540页

作者： Arutyunov, A.V. Kruglova, E.V. Department of Differential Equations Russian University of Peoples' Friendship Moscow 117923 ul. Ordzhonikidze Russian Federation Faculty of Computational Mathematics and Cybernetics Moscow State University Leninskie gory Moscow 119992 Russian Federation

A system of linear inhomogeneous inequalities is examined. An algorithm is presented for isolating all the consistent subsystems in this system that are maximal with respect to inclusion, and justification of this algorithm is given. A criterion for the consistency of a system of quadratic inhomogeneous equations and inequalities is proposed. © MAIK "Nauka/ Interperiodica" (Russia), 2006.

关键词： Criterion for consistency Linear inequalities optimal algorithm Quadratic inequalities

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optimal and suboptimal algorithms in set membership identification

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MATHEMATICAL AND COMPUTER MODELLING OF DYNAMICAL SYSTEMS 2005年第2期11卷 159-169页

作者： Kacewicz, B AGH Univ Sci & Technol Dept Appl Math PL-30059 Krakow Poland

We discuss in this paper optimality properties of identification algorithms in a set membership framework. We deal with restricted-complexity (conditional) identification, where approximations (models) to a possibly complex system are selected from a low dimensional space. We discuss the worst- and average-case settings. In the worst-case setting, we present results on optimality, or suboptimality, of algorithms based on computing the unconditional or conditional Chebyshev centres of an uncertainty set. In the average-case setting, we show that the optimal algorithm is given by the projection of the unconditional Chebyshev centre. We show explicit formulas for its average errors, allowing us to see the contribution of all problem parameters to the minimal error. We discuss the case of weighted average errors corresponding to non-uniform distributions over uncertainty sets, and show how the weights influence the minimal identification error.

关键词： identification worst-case setting average-case setting weights optimal algorithm suboptimal algorithm

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An optimal certificate dispersal algorithm for mobile ad hoc networks

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IEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES 2005年第5期E88A卷 1258-1266页

作者： Zheng, H Omura, S Uchida, J Wada, K Nagoya Inst Technol Grad Sch Engn Dept Comp Sci & Engn Nagoya Aichi 4668555 Japan

In this paper, we focus on the problem that in an ad hoc network, how to send a message securely between two users using the certificate dispersal system. In this system, special data called certificate is issued between two users and these issued certificates are stored among the network. Our final purpose on this certificate dispersal problem is to construct certificate graphs with lower dispersability cost which indicates the average number of certificates stored in each node in an ad hoc network. As our first step, when a certificate graph is given, we construct two efficient certificate dispersal algorithms for strongly connected graphs and directed graphs in this paper. We can show that for a strongly connected graph G = (V, E) and a directed graph H = (V', E'), new upper bounds on dispersability cost on the average number of certificates stored in one node are O(D-G + vertical bar E vertical bar/vertical bar V vertical bar) and O(p(G)d(max) + vertical bar E'vertical bar/vertical bar V'vertical bar) respectively, where D-G is the diameter of G, d(max) is the maximum diameter of strongly connected components of H and PG is the number of strongly connected components of H. Furthermore, we give some new lower bounds for the problem and we also show that our algorithms are optimal for several graph classes.

关键词： Certificate dispersability Certificate dispersal algorithm Mobile ad hoc network optimal algorithm

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RETRACTED: A biologically inspired intelligent PID controller tuning for AVR systems (Retracted article. See vol. 9, pg. 814, 2011)

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INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS 2006年第5期4卷 624-636页

作者： Kim, Dong Hwa Cho, Jae Hoon Hanbat Natl Univ Sch Elect Elect Control & Instrumentat Engn Taejon 305716 South Korea Chungbuk Natl Univ Sch Elect & Comp Engn Chungbuk 361763 South Korea

This paper proposes a hybrid approach involving Genetic algorithm (GA) and Bacterial Foraging (BF) for tuning the PID controller of an AVR. Recently the social foraging behavior of E. coli bacteria has been used to solve optimization problems. We first illustrate the proposed method using four test functions and the performance of the algorithm is studied with an emphasis on mutation, crossover, variation of step sizes, chemotactic steps, and the life time of the bacteria. Further;the proposed algorithm is used for tuning the PID controller of an AVR. Simulation results are very encouraging and this approach provides us a novel hybrid model based on foraging behavior with a possible new connection between evolutionary forces in social foraging and distributed non-gradient optimization algorithm design for global optimization over noisy surfaces.

关键词： bacterial foraging optimization genetic algorithm hybrid system optimal algorithm

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