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IEEE Conference on decision and control

作者： X. Fu Y. Jia J. Du F. Yu Seventh Research Division and the Department of Systems and Control Beihang University Beijing China Beihang University Beijing CN Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo Henan China

This paper is devoted to the problem of state estimation for a class of dynamic system with multiple nonlinear-linear (NL) mixing state constraints. A computational algorithm was developed by C. Yang and E. Blasch to incorporate a positive definite quadratic form equality constraint into the Kalman filtering for the ground vehicle tracking. However, when the target tracked in multidimensional space, a single positive definite quadratic form constraint is not enough due to the involvement of other surface such as hyperboloid, paraboloid, or even plane. A analytic method of incorporating multiple nonlinear-linear mixing state constraints into the Kalman filter is presented here, and a sufficient condition is obtained that guarantee the existence of solution. The constraints may be time varying. At each time step the unconstrained Kalman filter solution is projected onto the state constraints surface. This significantly improves the prediction accuracy of the filter. The use of this algorithm is demonstrated on a nonlinear-linear mixing spacecraft positioning problem.

关键词： Kalman filters Symmetric matrices State estimation Optimization Covariance matrix Noise

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An integrated control of shading blinds, natural ventilation, and HVAC systems for energy saving and human comfort

An integrated control of shading blinds, natural ventilation...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Biao Sun Peter B. Luh Qing-Shan Jia Ziyan Jiang Fulin Wang Chen Song Center of Intelligent and Networked Systems (CFINS) Tsinghua National Laboratory of Information Science and Technology Tsinghua University Beijing China Department of Electrical and Computer Engineering University of Connecticut Storrs CT USA Department of Building Science Tsinghua University Beijing China Safety and Control Systems China and the Tsinghu-UTC Research Institute of Integrated Building Energy United Technologies Research Center Inc. Beijing China

Improving the control of shading blinds, lights, natural ventilation, and HVAC systems while satisfying human comfort requirements can result in significant energy cost savings with time-of-day electricity pricing. Traditionally, the above-mentioned devices are controlled separately. In this paper, a novel formulation for the integrated control and the corresponding solution methodology are presented. The problem is to minimize daily energy costs of lights and HVAC systems while satisfying equipment capacities, system dynamics, and human comfort. The problem is complicated since 1) individual rooms are coupled as they compete for the HVAC with limited capacity and nonlinear characteristics, and 2) the problem is believed to be NP-hard in view that decision variables are all discrete. A solution methodology that combines Lagrangian relaxation and stochastic dynamic programming is developed within the surrogate optimization framework to obtain near-optimal strategies. These strategies are further refined to become novel control rules for easy practical implementation. Numerical simulation results show that both of the above strategies can effectively reduce the total energy cost, and that the integrated control works better than selected traditional control strategies.

关键词： Ventilation Humidity Equations Optimization Heating Humans

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Describing fuzzy sets using a new concept:fuzzify functor

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Optoelectronics Letters 2009年第1期5卷 69-72页

作者：魏克新王兆霞王权 Tianjin Key Laboratory of Control Theory & Applications in Complicated Systems Tianjin University of Technology Department of Electrical and Computer Engineering National University of Singapore

This paper proposed a fuzzify functor as an extension of the concept of fuzzy *** fuzzify functor and the first-order operated fuzzy set are *** the theory analysis,it can be observed that when the fuzzify functor acts on a simple crisp set,we get the first order fuzzy set or type-1 fuzzy *** operating the fuzzify functor on fuzzy sets,we get the higher order fuzzy sets or higher type fuzzy sets and their membership *** the fuzzify functor we can exactly describe the type-1 fuzz...

关键词： Membership functions

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Dynamic Power Allocation Under Arbitrary Varying Channels - The Multi-User Case

Dynamic Power Allocation Under Arbitrary Varying Channels - ...

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2010 Proceedings IEEE INFOCOM

作者： Niv Buchbinder Liane Lewin-Eytan Ishai Menache Joseph (Seffi) Naor Ariel Orda Microsoft Research New England Cambridge MA 02142 IBM Haifa Research Laboratory Haifa 31905 Israel Laboratory for Information and Decision Systems Massachusetts Institute of Technology Computer Science Department Technion Israel Institute of Technology Department of Electrical Engineering Technion Israel Institute of Technology

ISBN: (纸本)9781424458363

We consider the power control problem in a time-slotted wireless channel, shared by a finite number of mobiles that transmit to a common base station. The channel between each mobile and the base station is time varying, and the system objective is to maximize the overall data throughput. It is assumed that each transmitter has a limited power budget, to be sequentially divided during the lifetime of the battery. We deviate from the classic work in this area, by considering a realistic scenario where the channel quality of each mobile changes arbitrarily from one transmission to the other. Assuming first that each mobile is aware of the channel quality of all other mobiles, we propose an online power-allocation algorithm, and prove its optimality under mild assumptions. We then indicate how to implement the algorithm when only local state information is available, requiring minimal communication overhead. Notably, the competitive ratio of our algorithm (nearly) matches the bound obtained for the (much simpler) single-transmitter case [2], albeit requiring significantly different algorithmic solutions.

关键词： Base stations Throughput Transmitters Batteries Laboratories Time varying systems Power system modeling Communications Society computer science Power control

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Asymptotically stable walking of a five-link underactuated 3-D bipedal robot

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IEEE Transactions on Robotics 2009年第1期25卷 37-50页

作者： Chevallereau, Christine Grizzle, J.W. Shih, Ching-Long 44321 Nantes France Control Systems Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI 48109-2122 United States Department of Electrical Engineering National Taiwan University of Science and Technology 106 Taipei Taiwan

This paper presents three feedback controllers that achieve an asymptotically stable, periodic, and fast walking gait for a 3-D bipedal robot consisting of a torso, revolute knees, and passive (unactuated) point feet. The walking surface is assumed to be rigid and flat;the contact between the robot and the walking surface is assumed to inhibit yaw rotation. The studied robot has 8 DOF in the single support phase and six actuators. In addition to the reduced number of actuators, the interest of studying robots with point feet is that the feedback control solution must explicitly account for the robot's natural dynamics in order to achieve balance while walking. We use an extension of the method of virtual constraints and hybrid zero dynamics (HZD), a very successful method for planar bipeds, in order to simultaneously compute a periodic orbit and an autonomous feedback controller that realizes the orbit, for a 3-D (spatial) bipedal walking robot. This method allows the computations for the controller design and the periodic orbit to be carried out on a 2-DOF subsystem of the 8-DOF robot model. The stability of the walking gait under closed-loop control is evaluated with the linearization of the restricted Poincaré map of the HZD. Most periodic walking gaits for this robot are unstable when the controlled outputs are selected to be the actuated coordinates. Three strategies are explored to produce stable walking. The first strategy consists of imposing a stability condition during the search of a periodic gait by optimization. The second strategy uses an event-based controller to modify the eigenvalues of the (linearized) Poincaré map. In the third approach, the effect of output selection on the zero dynamics is discussed and a pertinent choice of outputs is proposed, leading to stabilization without the use of a supplemental event-based controller. © 2009 IEEE.

关键词： Anthropomorphic robots

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Sparse and low-rank matrix decompositions

Sparse and low-rank matrix decompositions

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15th IFAC Symposium on System Identification, SYSID 2009

作者： Chandrasekaran, Venkat Sanghavi, Sujay Parrilo, Pablo A. Willsky, Alan S. Laboratory for Information and Decision Systems Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology Cambridge MA 02139 United States School of Electrical and Computer Engineering Purdue University West Lafayette IN 47907 United States

ISBN: (纸本)9783902661470

Suppose we are given a matrix that is formed by adding an unknown sparse matrix to an unknown low-rank matrix. Our goal is to decompose the given matrix into its sparse and low-rank components. Such a problem arises in a number of applications in model and system identification, but obtaining an exact solution is NP-hard in general. In this paper we consider a convex optimization formulation to splitting the specified matrix into its components;in fact our approach reduces to solving a semidefinite program. We provide sufficient conditions that guarantee exact recovery of the components by solving the semidefinite program. We also show that when the sparse and low-rank matrices are drawn from certain natural random ensembles, these sufficient conditions are satisfied with high probability. We conclude with simulation results on synthetic matrix decomposition problems. © 2009 IFAC.

关键词： Convex optimization

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EW-PESQ: A quality assessment method for speech signals sampled at 48 kHz

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AES: Journal of the Audio engineering Society 2010年第4期58卷 251-268页

作者： Bispo, Bruno C. Esquef, Paulo A.A. Biscainho, Luiz W.P. De Lima, Amaro A. Freeland, Fabio P. De Jesus, Rafael A. Said, Amir Lee, Bowon Schafer, Ronald W. Kalker, Ton Department of Electrical and Computer Engineering University of Porto Porto Portugal Coordination of Systems and Control National Laboratory for Scientific Computing LNCC/MCT Petrópolis RJ Brazil LPS-PEE/COPPE Federal University of Rio de Janeiro Rio de Janeiro RJ Brazil Nova Iguaçu RJ Brazil Rio de Janeiro RJ Brazil PETROBRAS/E and P Rio de Janeiro RJ Brazil Multimedia Communications and Networking Lab Hewlett-Packard Laboratories Palo Alto CA United States

Extended models of the W-PESQ method are presented which are capable of assessing the subjective quality of noisy speech signals sampled at 48 kHz. Two methods are proposed: a version backward compatible with the W-PESQ standard, called EW-PESQ(E), and another, called EW-PESQ(R), in which the original psychoacoustic models are entirely replaced with alternative formulations available in the literature. Performance figures of both the EW-PESQ(E) and the EW-PESQ(R) in predicting the subjective quality of extrawide-band speech (sampled at 48 kHz) corrupted with broad-band and environmental noise are reported. In both cases the results obtained reveal a strong correlation (approximately 97%) with mean opinion scores.

关键词： Speech communication

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A Dynamic Random Access Game with Energy Constraints

A Dynamic Random Access Game with Energy Constraints

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7th International Symposium on Modeling and Optimization in Mobile, Ad Hoc and Wireless

作者： Altman, Eitan Basar, Tamer Menache, Ishai Tembine, Hamidou INRIA MAESTRO Group Sophia-Antipolis United States Department of Electrical and Computer Engineering University of Illinois Urbana-Champaign United States Laboratory for Information and Decision Systems Massachusetts Institute of Technology United States

ISBN: (纸本)9781424449194

We study a dynamic random access game with a finite number of opportunities for transmission and with energy constraints. We provide sufficient conditions for feasible strategies and for existence of Nash-Pareto solutions and show that finding Nash-Pareto policies of the dynamic random access game is equivalent to partitioning the set of time slot opportunities with constraints into a set of terminals. We further derive upper bounds for pure Nash-Pareto policies, and extend the study to non-integer energy constraints and unknown termination time, where Time Division Multiplexing policies can be suboptimal. We show that the dynamic random access game has several strong equilibria (resilient to coalition of any size), and we compute them explicitly. We introduce the (strong) price of anarchy concept to measure the gap between the payoff under strong equilibria and the social optimum.

关键词： Dynamic game multiple access control strong equilibria TDM policy

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Dynamic Power Allocation Under Arbitrary Varying Channels - An Online Approach

Dynamic Power Allocation Under Arbitrary Varying Channels - ...

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IEEE INFOCOM Conference 2009

作者： Buchbinder, Niv Lewin-Eytan, Liane Menache, Ishai Naor, Joseph (Seffi) Orda, Ariel Microsoft Research New England United States Department of Electrical Engineering Technion Israel Institute of Technology Israel Computer Science Department Technion Israel Institute of Technology Israel Laboratory for Information and Decision Systems Massachusetts Institute of Technology United States

ISBN: (纸本)9781424435128

A major problem in wireless networks is coping with limited resources, such as bandwidth and energy. These issues become a major algorithmic challenge in view of the dynamic nature of the wireless domain. We consider in this paper the single-transmitter power assignment problem under time-varying channels, with the objective of maximizing the data throughput. It is assumed that the transmitter has a limited power budget, to be sequentially divided during the lifetime of the battery. We deviate from the classic work in this area, which leads to explicit "water-filling" solutions, by considering a realistic scenario where the channel state quality changes arbitrarily from one transmission to the other. The problem is accordingly tackled within the framework of competitive analysis, which allows for worst case performance guarantees in setups with arbitrarily varying channel conditions. We address both a "discrete" case, where the transmitter can transmit only at a fixed power level, and a "continuous" case, where the transmitter can choose any power level out of a bounded interval. For both cases, we propose online power-allocation algorithms with proven worst-case performance bounds. In addition, we establish lower bounds on the worst-case performance of any online algorithm, and show that our proposed algorithms are optimal.

关键词： Transmitters

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A Positive Definite Polynomial Hessian that Does not Factor

A Positive Definite Polynomial Hessian that Does not Factor

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Joint 48th IEEE Conference on decision and control and 28th Chinese control Conference

作者： Amir Ali Ahmadi Pablo A.Parrilo the Laboratory for Information and Decision Systems Department of Electrical Engineering and Computer ScienceMassachusetts Institute of Technology

The notion of sos-convexity has recently been proposed as a tractable sufficient condition for convexity of polynomials based on a sum of squares decomposition of the Hessian matrix. A multivariate polynomial p（x） = p（x,..., x_n） is said to be sos-convex if its Hessian H（x） can be factored as H（x） = M（x）M（x） with a possibly nonsquare polynomial matrix M（x）. The problem of deciding sos-convexity of a polynomial can be reduced to the feasibility of a semidefinite program, which can be checked efficiently. Motivated by this computational tractability, it has been speculated whether every convex polynomial must necessarily be sos-convex. In this paper,we answer this question in the negative by presenting an explicit example of a trivariate homogeneous polynomial of degree eight that is convex but not sos-convex.

关键词： Hessian A Positive Definite Polynomial Hessian that Does not Factor

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