61,083 research outputs found
Diffusion Maps Kalman Filter for a Class of Systems with Gradient Flows
In this paper, we propose a non-parametric method for state estimation of
high-dimensional nonlinear stochastic dynamical systems, which evolve according
to gradient flows with isotropic diffusion. We combine diffusion maps, a
manifold learning technique, with a linear Kalman filter and with concepts from
Koopman operator theory. More concretely, using diffusion maps, we construct
data-driven virtual state coordinates, which linearize the system model. Based
on these coordinates, we devise a data-driven framework for state estimation
using the Kalman filter. We demonstrate the strengths of our method with
respect to both parametric and non-parametric algorithms in three tracking
problems. In particular, applying the approach to actual recordings of
hippocampal neural activity in rodents directly yields a representation of the
position of the animals. We show that the proposed method outperforms competing
non-parametric algorithms in the examined stochastic problem formulations.
Additionally, we obtain results comparable to classical parametric algorithms,
which, in contrast to our method, are equipped with model knowledge.Comment: 15 pages, 12 figures, submitted to IEEE TS
Stability and Performance Analysis of Systems Under Constraints
All real world control systems must deal with actuator and state constraints. Standard conic sector bounded nonlinearity stability theory provides methods for analyzing the stability and performance of systems under constraints, but it is well-known that these conditions can be very conservative. A method is developed to reduce conservatism in the analysis of constraints by representing them as nonlinear real parametric uncertainty
Nonlinear Information Bottleneck
Information bottleneck (IB) is a technique for extracting information in one
random variable that is relevant for predicting another random variable
. IB works by encoding in a compressed "bottleneck" random variable
from which can be accurately decoded. However, finding the optimal
bottleneck variable involves a difficult optimization problem, which until
recently has been considered for only two limited cases: discrete and
with small state spaces, and continuous and with a Gaussian joint
distribution (in which case optimal encoding and decoding maps are linear). We
propose a method for performing IB on arbitrarily-distributed discrete and/or
continuous and , while allowing for nonlinear encoding and decoding
maps. Our approach relies on a novel non-parametric upper bound for mutual
information. We describe how to implement our method using neural networks. We
then show that it achieves better performance than the recently-proposed
"variational IB" method on several real-world datasets
Analysis of parametric biological models with non-linear dynamics
In this paper we present recent results on parametric analysis of biological
models. The underlying method is based on the algorithms for computing
trajectory sets of hybrid systems with polynomial dynamics. The method is then
applied to two case studies of biological systems: one is a cardiac cell model
for studying the conditions for cardiac abnormalities, and the second is a
model of insect nest-site choice.Comment: In Proceedings HSB 2012, arXiv:1208.315
Robust Stability Analysis of Nonlinear Hybrid Systems
We present a methodology for robust stability analysis of nonlinear hybrid systems, through the algorithmic construction of polynomial and piecewise polynomial Lyapunov-like functions using convex optimization and in particular the sum of squares decomposition of multivariate polynomials. Several improvements compared to previous approaches are discussed, such as treating in a unified way polynomial switching surfaces and robust stability analysis for nonlinear hybrid systems
A new Edge Detector Based on Parametric Surface Model: Regression Surface Descriptor
In this paper we present a new methodology for edge detection in digital
images. The first originality of the proposed method is to consider image
content as a parametric surface. Then, an original parametric local model of
this surface representing image content is proposed. The few parameters
involved in the proposed model are shown to be very sensitive to
discontinuities in surface which correspond to edges in image content. This
naturally leads to the design of an efficient edge detector. Moreover, a
thorough analysis of the proposed model also allows us to explain how these
parameters can be used to obtain edge descriptors such as orientations and
curvatures.
In practice, the proposed methodology offers two main advantages. First, it
has high customization possibilities in order to be adjusted to a wide range of
different problems, from coarse to fine scale edge detection. Second, it is
very robust to blurring process and additive noise. Numerical results are
presented to emphasis these properties and to confirm efficiency of the
proposed method through a comparative study with other edge detectors.Comment: 21 pages, 13 figures and 2 table
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