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IEEE Annual Conference on Decision and Control

作者： Jean-Philippe Condomines Cedric Seren Gautier Hattenberger Laboratory in Applied Mathematics Computer Science and Automatics For Air Transport (MA-IAA) ENAC University BP 54005 Toulouse Cedex 4 31055 France Department of Control Systems and Flight Dynamics ONERA-The French Aerospace Lab BP 74025 Toulouse Cedex 4 31055 France

ISBN: (纸本)9781467360890

A novel approach based on Unscented Kalman Filter (UKF) is proposed for nonlinear state estimation. The Invariant UKF, named π-IUKF, is a recently introduced algorithm dedicated to nonlinear systems possessing symmetries as illustrated by the quaternion-based mini Remotely Piloted Aircraft System (RPAS) kinematics modeling considered in this paper. Within an invariant framework, this algorithm suggests a systematic approach to determine all the symmetry-preserving terms which correct accordingly the nonlinear state-space representation used for prediction, without requiring any linearization. Thus, based on both invariant filters, for which Lie groups have been identified and UKF theoretical principles, the developed π-IUKF has been previously and successfully applied to the mini-RPAS attitude estimation problem, highlighting remarkable invariant properties. We propose in this paper to extend the theoretical background and the applicability of our proposed π-IUKF observer to the case of a mini-RPAS equipped with an aided Inertial Navigation System (INS) which leads to augment the nonlinear state space representation with both velocity and position differential equations. All the measurements are provided on board by a set of low-cost and low-performance sensors (accelerometers, gyrometers, magnetometers, barometer and even Global Positioning System (GPS)). Our designed π-IUKF estimation algorithm is described in this paper and its performances are evaluated by exploiting successfully real flight test data. Indeed, the whole approach has been implemented onboard using a data logger based on the well-known Paparazzi system. The results show promising perspectives and demonstrate that nonlinear state estimation converges on a much bigger set of trajectories than for more traditional approaches.

关键词： Sensor fusion State-space Representation State estimation flight test data Invariant barometers Kalman filters nonlinearity Inertial navigation systems trajectory drone honey bees Radio controlled miniatures

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Interplay of network dynamics and heterogeneity of ties on spreading dynamics

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Physical Review E 2014年第1期90卷 012812-012812页

作者： Luca Ferreri Paolo Bajardi Mario Giacobini Silvia Perazzo Ezio Venturino GECO-Computational Epidemiology Group Department of Veterinary Sciences University of Torino largo Braccini 2 IT-10095 Grugliasco (TO) ARCS - Applied Research on Computational Complex Systems Group Department of Computer Science University of Torino corso Svizzera 185 IT-10149 Torino CSU-Complex Systems Unit Molecular Biotechnology Centre University of Torino via Nizza 52 IT-10126 Torino Department of Mathematics “Giuseppe Peano” University of Torino via Carlo Alberto 10 IT-10123 Torino

The structure of a network dramatically affects the spreading phenomena unfolding upon it. The contact distribution of the nodes has long been recognized as the key ingredient in influencing the outbreak events. However, limited knowledge is currently available on the role of the weight of the edges on the persistence of a pathogen. At the same time, recent works showed a strong influence of temporal network dynamics on disease spreading. In this work we provide an analytical understanding, corroborated by numerical simulations, about the conditions for infected stable state in weighted networks. In particular, we reveal the role of heterogeneity of edge weights and of the dynamic assignment of weights on the ties in the network in driving the spread of the epidemic. In this context we show that when weights are dynamically assigned to ties in the network, a heterogeneous distribution is able to hamper the diffusion of the disease, contrary to what happens when weights are fixed in time.

关键词： computer networks DISTRIBUTION (Probability theory) computer simulation EPIDEMICS UNIDIMENSIONAL unfolding model

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Energy shaping of boundary controlled linear port Hamiltonian systems

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IFAC Proceedings Volumes 2014年第3期47卷 1580-1585页

作者： Yann Le Gorrec Alessandro Macchelli Hector Ramirez Hans Zwart Department of Automation and Micro-Mechatronic Systems FEMTO-ST UMR CNRS 6174 ENSMM 26 chemin de l'épitaphe F-25030 Besançon France Department of Electrical Electronic and Information Engineering “Guglielmo Marconi” (DEI) University of Bologna viale del Risorgimento 2 40136 Bologna Italy University of Twente Faculty of Electrical Engineering Mathematics and Computer Science Department of Applied Mathematics P.O. Box 217 7500 AE Enschede The Netherlands

In this paper, we consider the asymptotic stabilization of a class of one dimensional boundary controlled port Hamiltonian systems by an immersion/reduction approach and the use of Casimir invariants. We first extend existing results on asymptotic stability of linear infinite dimensional systems controlled at their boundary to the case of stable Port Hamiltonian controllers including some physical constraints as clamping. Then the relation between structural invariants, namely Casimir functions, and the controller structure is computed. The Casimirs are employed in the selection of the controllers Hamiltonian to shape the total energy function of the closed loop system and introduce a minimum in the desired equilibrium configuration. The approach is illustrated on the model of a micro manipulation process with partial-actuation on one side of the spatial domain.

关键词： Infinite dimensional port Hamiltonian systems asymptotic stability immersion reduction control design

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Static analysis of worst-case stack cache behavior 13

Static analysis of worst-case stack cache behavior

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21st International Conference on Real-Time Networks and systems, RTNS 2013

作者： Jordan, Alexander Brandner, Florian Schoeberl, Martin Compilers and Languages Group Institute of Computer Languages Vienna University of Technology Austria Embedded Systems Engineering Section Dep. of Applied Mathematics and Computer Science Technical University of Denmark Denmark

ISBN: (纸本)9781450320580

Utilizing a stack cache in a real-time system can aid predictability by avoiding interference that heap memory traffic causes on the data cache. While loads and stores are guaranteed cache hits, explicit operations are responsible for managing the stack cache. The behavior of these operations can be analyzed statically. We present algorithms that derive worst-case bounds on the latency-inducing operations of the stack cache. Their results can be used by a static WCET tool. By breaking the analysis down into subproblems that solve intra-procedural data-flow analysis and path searches on the call-graph, the worst-case bounds can be efficiently yet precisely determined. Our evaluation using the MiBench benchmark suite shows that only 37% and 21% of potential stack cache operations actually store to and load from memory, respectively. Analysis times are modest, on average running between 0.46s and 1.30s per benchmark, depending on the size of the stack cache. © 2013 ACM.

关键词： Real time systems

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Controller Modification applied for Active Fault Detection

Controller Modification Applied for Active Fault Detection

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American Control Conference

作者： Henrik Niemann Jakob Stoustrup Niels Kjolstad Poulsen Dept. of Electrical Engineering Automation and Control Tech. University of Denmark DK-2800 Kgs. Lyngby Denmark Dept. of Electronic Systems Automation & Control Aalborg University DK-9220 Aalborg Denmark Dept. of Applied Mathematics and Computer Science Tech. University of Denmark DK-2800 Kgs. Lyngby Denmark

ISBN: (纸本)9781479932757

This paper is focusing on active fault detection (AFD) for parametric faults in closed-loop systems. This auxiliary input applied for the fault detection will also disturb the external output and consequently reduce the performance of the controller. Therefore, only small auxiliary inputs are used with the result that the detection and isolation time can be long. In this paper it will be shown, that this problem can be handled by using a modification of the feedback controller. By applying the YJBK-parameterization (after Youla, Jabr, Bongiorno and Kucera) for the controller, it is possible to modify the feedback controller with a minor effect on the external output in the fault free case. Further, in the faulty case, the signature of the auxiliary input can be optimized. This is obtained by using a band-pass filter for the YJBK parameter that is only effective in a small frequency range where the frequency for the auxiliary input is selected. This gives that it is possible to apply an auxiliary input with a reduced amplitude. An example is included to show the results.

关键词： Active fault detection parametric faults feedback controllers YJBK parameterization controller modification

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Identification of Dynamic systems Using a Differential Evolution-Based Recurrent Fuzzy System

Identification of Dynamic Systems Using a Differential Evolu...

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IEEE International Conference on Fuzzy systems

作者： Cristian K. dos Santos Rogerio P. Espindola Vinicius F. Vieira Alexandre G. Evsukoff Inertial Systems Laboratory Brazilian Navy Research Institute (IPqM) Rio de Janeiro RJ Brazil Department of Computing and Applied Mathematics Westside State University Center (UEZO) Rio de Janeiro RJ Brazil Computer Science Department Federal University of sao João Del-Rei (UFSJ) São João Del Rei MG Brazil Federal University of Rio de Janeiro Rio de Janeiro RJ Brazil Getulio Vargas Foundation (FGV) School of Applied Mathematics Rio de Janeiro RJ Brazil

This work presents the development of a simulation model based on a recurrent fuzzy system with structure and parameter identification by a differential evolution algorithm. The proposed model is formulated by state space equation, in which the state transition function is a recurrent fuzzy system with two feedback connections and adjustable delay operators and the output function is a linear function of the states. The identification process relies on two instances of the differential evolution algorithm in a hierarchical fashion. The outermost is considered for combinatorial structure optimization and the innermost for optimization of continuous parameters. The new model is evaluatedin some benchmark problems and the results showed the model achieved good numerical performance. Moreover, the results demonstrated the ability of differential evolution algorithm to optimize both the parameters as well as the structure of the model.

关键词： Vectors Optimization Fuzzy systems Mathematical model Fuzzy sets Delays Parameter estimation

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Nonlinear analysis of dynamical complex networks 2014

Abstract and Applied Analysis

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Abstract and applied Analysis 2014年第SI42期2014卷 1-4页

作者： Wang, Zidong Shen, Bo Dong, Hongli Hu, Jun He, Xiao Ding, Derui Department of Computer Science Brunel University Uxbridge Middlesex UB8 3PH United Kingdom Communication Systems and Networks (CSN) Research Group Faculty of Engineering King Abdulaziz University Jeddah 21589 Saudi Arabia School of Information Science and Technology Donghua University Shanghai 200051 China College of Electrical and Information Engineering Northeast Petroleum University Daqing 163318 China Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin 150001 China Department of Applied Mathematics Harbin University of Science and Technology Harbin 150080 China Department of Automation Tsinghua University Beijing 100084 China Department of Applied Mathematics Anhui Polytechnic University Wuhu 241000 China

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A novel software toolkit for graph edit distance computation

A novel software toolkit for graph edit distance computation

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9th IAPR-TC-15 International Workshop on Graph-Based Representations in Pattern Recognition, GbRPR 2013

作者： Riesen, Kaspar Emmenegger, Sandro Bunke, Horst Institute for Information Systems University of Applied Sciences and Arts Northwestern Switzerland Riggenbachstrasse 16 CH-4600 Olten Switzerland Institute of Computer Science and Applied Mathematics University of Bern Neubrückstrasse 10 CH-3012 Bern Switzerland

ISBN: (纸本)9783642382208

Graph edit distance is one of the most flexible mechanisms for error-tolerant graph matching. Its key advantage is that edit distance is applicable to unconstrained attributed graphs and can be tailored to a wide variety of applications by means of specific edit cost functions. The computational complexity of graph edit distance, however, is exponential in the number of nodes, which makes it feasible for small graphs only. In recent years the authors of the present paper introduced several powerful approximations for fast suboptimal graph edit distance computation. The contribution of the present work is a self standing software tool integrating these suboptimal graph matching algorithms. It is about being made publicly available. The idea of this software tool is that the powerful and flexible algorithmic framework for graph edit distance computation can easily be adapted to specific problem domains via a versatile graphical user interface. The aim of the present paper is twofold. First, it reviews the implemented approximation methods and second, it thoroughly describes the features and application of the novel graph matching software. © 2013 Springer-Verlag.

关键词： Graphical user interfaces

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Mobile Cloud Networking: Mobile network, compute, and storage as one service on-demand

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2013 Annual Future Internet Assembly, FIA 2013

作者： Jamakovic, Almerima Bohnert, Thomas Michael Karagiannis, Georgios University of Bern Communication and Distributed Systems Group Institute of Computer Science and Applied Mathematics Neubrückstrasse 10 CH-3012 Bern Switzerland Zurich University of Applied Sciences ZHAW/ICCLab Institute of Information Technology Obere Kirchgasse 2 CH-8400 Winterthur Switzerland University of Twente Design and Analysis of Communication Systems Group Faculty for Electrical Engineering Mathematics and Computer Science P.O. Box 217 7500 AE Enschede Netherlands

ISBN: (纸本)9783642380815

The Future Communication Architecture for Mobile Cloud Services: Mobile Cloud Networking (MCN)1 is a EU FP7 Large-scale Integrating Project (IP) funded by the European Commission. MCN project was launched in November 2012 for the period of 36 month. In total top-tier 19 partners from industry and academia commit to jointly establish the vision of Mobile Cloud Networking, to develop a fully cloud-based mobile communication and application platform. © The Author(s).

关键词： Mobile telecommunication systems

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On the interplay between social and topical structure

On the interplay between social and topical structure

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7th International AAAI Conference on Weblogs and Social Media, ICWSM 2013

作者： Romero, Daniel M. Tan, Chenhao Ugander, Johan Northwestern Institute on Complex Systems Northwestern University Evanston IL United States Dept. of Computer Science Cornell University Ithaca NY United States Center for Applied Mathematics Cornell University Ithaca NY United States

ISBN: (纸本)9781577356103

People's interests and people's social relationships are intuitively connected, but understanding their interplay and whether they can help predict each other has remained an open question. We examine the interface of two decisive structures forming the backbone of online social media: the graph structure of social networks - who connects with whom - and the set structure of topical affiliations - who is interested in what. In studying this interface, we identify key relationships whereby each of these structures can be understood in terms of the other. The context for our analysis is Twitter, a complex social network of both follower relationships and communication relationships. On Twitter, "hash-tags" are used to label conversation topics, and we examine hashtag usage alongside these social structures. We find that the hashtags that users adopt can predict their social relationships, and also that the social relationships between the initial adopters of a hashtag can predict the future popularity of that hashtag. By studying weighted social relationships, we observe that while strong reciprocated ties are the easiest to predict from hashtag structure, they are also much less useful than weak directed ties for predicting hash-tag popularity. Importantly, we show that computationally simple structural determinants can provide remarkable performance in both tasks. While our analyses focus on Twitter, we view our findings as broadly applicable to topical affiliations and social relationships in a host of diverse contexts, including the movies people watch, the brands people like, or the locations people frequent. Copyright © 2013, Association for the Advancement of Artificial Intelligence (***). All rights reserved.

关键词： Social networking (online)

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