47,492 research outputs found
Autonomous frequency domain identification: Theory and experiment
The analysis, design, and on-orbit tuning of robust controllers require more information about the plant than simply a nominal estimate of the plant transfer function. Information is also required concerning the uncertainty in the nominal estimate, or more generally, the identification of a model set within which the true plant is known to lie. The identification methodology that was developed and experimentally demonstrated makes use of a simple but useful characterization of the model uncertainty based on the output error. This is a characterization of the additive uncertainty in the plant model, which has found considerable use in many robust control analysis and synthesis techniques. The identification process is initiated by a stochastic input u which is applied to the plant p giving rise to the output. Spectral estimation (h = P sub uy/P sub uu) is used as an estimate of p and the model order is estimated using the produce moment matrix (PMM) method. A parametric model unit direction vector p is then determined by curve fitting the spectral estimate to a rational transfer function. The additive uncertainty delta sub m = p - unit direction vector p is then estimated by the cross spectral estimate delta = P sub ue/P sub uu where e = y - unit direction vectory y is the output error, and unit direction vector y = unit direction vector pu is the computed output of the parametric model subjected to the actual input u. The experimental results demonstrate the curve fitting algorithm produces the reduced-order plant model which minimizes the additive uncertainty. The nominal transfer function estimate unit direction vector p and the estimate delta of the additive uncertainty delta sub m are subsequently available to be used for optimization of robust controller performance and stability
On line power spectra identification and whitening for the noise in interferometric gravitational wave detectors
In this paper we address both to the problem of identifying the noise Power
Spectral Density of interferometric detectors by parametric techniques and to
the problem of the whitening procedure of the sequence of data. We will
concentrate the study on a Power Spectral Density like the one of the
Italian-French detector VIRGO and we show that with a reasonable finite number
of parameters we succeed in modeling a spectrum like the theoretical one of
VIRGO, reproducing all its features. We propose also the use of adaptive
techniques to identify and to whiten on line the data of interferometric
detectors. We analyze the behavior of the adaptive techniques in the field of
stochastic gradient and in the
Least Squares ones.Comment: 28 pages, 21 figures, uses iopart.cls accepted for pubblication on
Classical and Quantum Gravit
Parametric Regression on the Grassmannian
We address the problem of fitting parametric curves on the Grassmann manifold
for the purpose of intrinsic parametric regression. As customary in the
literature, we start from the energy minimization formulation of linear
least-squares in Euclidean spaces and generalize this concept to general
nonflat Riemannian manifolds, following an optimal-control point of view. We
then specialize this idea to the Grassmann manifold and demonstrate that it
yields a simple, extensible and easy-to-implement solution to the parametric
regression problem. In fact, it allows us to extend the basic geodesic model to
(1) a time-warped variant and (2) cubic splines. We demonstrate the utility of
the proposed solution on different vision problems, such as shape regression as
a function of age, traffic-speed estimation and crowd-counting from
surveillance video clips. Most notably, these problems can be conveniently
solved within the same framework without any specifically-tailored steps along
the processing pipeline.Comment: 14 pages, 11 figure
Modal characterization of the ASCIE segmented optics testbed: New algorithms and experimental results
New frequency response measurement procedures, on-line modal tuning techniques, and off-line modal identification algorithms are developed and applied to the modal identification of the Advanced Structures/Controls Integrated Experiment (ASCIE), a generic segmented optics telescope test-bed representative of future complex space structures. The frequency response measurement procedure uses all the actuators simultaneously to excite the structure and all the sensors to measure the structural response so that all the transfer functions are measured simultaneously. Structural responses to sinusoidal excitations are measured and analyzed to calculate spectral responses. The spectral responses in turn are analyzed as the spectral data become available and, which is new, the results are used to maintain high quality measurements. Data acquisition, processing, and checking procedures are fully automated. As the acquisition of the frequency response progresses, an on-line algorithm keeps track of the actuator force distribution that maximizes the structural response to automatically tune to a structural mode when approaching a resonant frequency. This tuning is insensitive to delays, ill-conditioning, and nonproportional damping. Experimental results show that is useful for modal surveys even in high modal density regions. For thorough modeling, a constructive procedure is proposed to identify the dynamics of a complex system from its frequency response with the minimization of a least-squares cost function as a desirable objective. This procedure relies on off-line modal separation algorithms to extract modal information and on least-squares parameter subset optimization to combine the modal results and globally fit the modal parameters to the measured data. The modal separation algorithms resolved modal density of 5 modes/Hz in the ASCIE experiment. They promise to be useful in many challenging applications
Structural Agnostic Modeling: Adversarial Learning of Causal Graphs
A new causal discovery method, Structural Agnostic Modeling (SAM), is
presented in this paper. Leveraging both conditional independencies and
distributional asymmetries in the data, SAM aims at recovering full causal
models from continuous observational data along a multivariate non-parametric
setting. The approach is based on a game between players estimating each
variable distribution conditionally to the others as a neural net, and an
adversary aimed at discriminating the overall joint conditional distribution,
and that of the original data. An original learning criterion combining
distribution estimation, sparsity and acyclicity constraints is used to enforce
the end-to-end optimization of the graph structure and parameters through
stochastic gradient descent. Besides the theoretical analysis of the approach
in the large sample limit, SAM is extensively experimentally validated on
synthetic and real data
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