Invariance principles for switched systems with restrictions

In this paper we consider switched nonlinear systems under average dwell time switching signals, with an otherwise arbitrary compact index set and with additional constraints in the switchings. We present invariance principles for these systems and derive by using observability-like notions some convergence and asymptotic stability criteria. These results enable us to analyze the stability of solutions of switched systems with both state-dependent constrained switching and switching whose logic has memory, i.e., the active subsystem only can switch to a prescribed subset of subsystems.Comment: 29 pages, 2 Appendixe

Local measurements of nonlocal observables and the relativistic reduction process

In this paper we reconsider the constraints which are imposed by relativistic requirements to any model of dynamical reduction. We review the debate on the subject and we call attention on the fundamental contributions by Aharonov and Albert. Having done this we present a new formulation, which is much simpler and more apt for our analysis, of the proposal put forward by these authors to perform measurements of nonlocal observables by means of local interactions and detections. We take into account recently proposed relativistic models of dynamical reduction and we show that, in spite of some mathematical difficulties related to the appearence of divergences, they represent a perfectly appropriate conceptual framework which meets all necessary requirements for a relativistic account of wave packet reduction. Subtle questions like the appropriate way to deal with counterfactual reasoning in a relativistic and nonlocal context are also analyzed in detail

Local movement: agent-based models of pedestrian flows

Modelling movement within the built environment has hitherto been focused on rather coarse spatial scales where the emphasis has been upon simulating flows of traffic between origins and destinations. Models of pedestrian movement have been sporadic, based largely on finding statistical relationships between volumes and the accessibility of streets, with no sustained efforts at improving such theories. The development of object-orientated computing and agent-based models which have followed in this wake, promise to change this picture radically. It is now possible to develop models simulating the geometric motion of individual agents in small-scale environments using theories of traffic flow to underpin their logic. In this paper, we outline such a model which we adapt to simulate flows of pedestrians between fixed points of entry - gateways - into complex environments such as city centres, and points of attraction based on the location of retail and leisure facilities which represent the focus of such movements. The model simulates the movement of each individual in terms of five components; these are based on motion in the direction of the most attractive locations, forward movement, the avoidance of local geometric obstacles, thresholds which constrain congestion, and movement which is influenced by those already moving towards various locations. The model has elements which enable walkers to self-organise as well as learn from their geometric experiences so far. We first outline the structure of the model, present a computable form, and illustrate how it can be programmed as a variant of cellular automata. We illustrate it using three examples: its application to an idealised mall where we show how two key components - local navigation of obstacles and movement towards points of global locational attraction - can be parameterised, an application to the more complex town centre of Wolverhampton (in the UK West Midlands) where the paths of individual walkers are used to explore the veracity of the model, and finally it application to the Tate Gallery complex in central London where the focus is on calibrating the model by letting individual agents learn from their experience of walking within the environment

Title-Guided Encoding for Keyphrase Generation

Keyphrase generation (KG) aims to generate a set of keyphrases given a document, which is a fundamental task in natural language processing (NLP). Most previous methods solve this problem in an extractive manner, while recently, several attempts are made under the generative setting using deep neural networks. However, the state-of-the-art generative methods simply treat the document title and the document main body equally, ignoring the leading role of the title to the overall document. To solve this problem, we introduce a new model called Title-Guided Network (TG-Net) for automatic keyphrase generation task based on the encoder-decoder architecture with two new features: (i) the title is additionally employed as a query-like input, and (ii) a title-guided encoder gathers the relevant information from the title to each word in the document. Experiments on a range of KG datasets demonstrate that our model outperforms the state-of-the-art models with a large margin, especially for documents with either very low or very high title length ratios.Comment: AAAI 1

On the Construction of Safe Controllable Regions for Affine Systems with Applications to Robotics

This paper studies the problem of constructing in-block controllable (IBC) regions for affine systems. That is, we are concerned with constructing regions in the state space of affine systems such that all the states in the interior of the region are mutually accessible through the region's interior by applying uniformly bounded inputs. We first show that existing results for checking in-block controllability on given polytopic regions cannot be easily extended to address the question of constructing IBC regions. We then explore the geometry of the problem to provide a computationally efficient algorithm for constructing IBC regions. We also prove the soundness of the algorithm. We then use the proposed algorithm to construct safe speed profiles for different robotic systems, including fully-actuated robots, ground robots modeled as unicycles with acceleration limits, and unmanned aerial vehicles (UAVs). Finally, we present several experimental results on UAVs to verify the effectiveness of the proposed algorithm. For instance, we use the proposed algorithm for real-time collision avoidance for UAVs.Comment: 17 pages, 18 figures, under review for publication in Automatic

Switched Capacitor DC-DC Converter for Miniaturised Wearable Systems

Motivated by the demands of the integrated power system in the modern wearable electronics, this paper presents a new method of inductor-less switched-capacitor (SC) based DC-DC converter designed to produce two simultaneous boost and buck outputs by using a 4-phases logic switch mode regulation. While the existing SC converters missing their reconfigurability during needed spontaneous multi-outputs at the load ends, this work overcomes this limitation by being able to reconfigure higher gain mode at dual outputs. From an input voltage of 2.5 V, the proposed converter achieves step-up and step-down voltage conversions of 3.74 V and 1.233 V for Normal mode, and 4.872 V and 2.48 V for High mode, with the ripple variation of 20–60 mV. The proposed converter has been designed in a standard 0.35 μm CMOS technology and with conversion efficiencies up to 97–98% is in agreement with state-of-the-art SC converter designs. It produces the maximum load currents of 0.21 mA and 0.37 mA for Normal and High modes respectively. Due to the flexible gain accessibility and fast response time with only two clock cycles required for steady state outputs, this converter can be applicable for multi-function wearable devices, comprised of various integrated electronic modules

Dynamics and control of a class of underactuated mechanical systems

This paper presents a theoretical framework for the dynamics and control of underactuated mechanical systems, defined as systems with fewer inputs than degrees of freedom. Control system formulation of underactuated mechanical systems is addressed and a class of underactuated systems characterized by nonintegrable dynamics relations is identified. Controllability and stabilizability results are derived for this class of underactuated systems. Examples are included to illustrate the results; these examples are of underactuated mechanical systems that are not linearly controllable or smoothly stabilizable