9,789 research outputs found
Optimal Navigation Functions for Nonlinear Stochastic Systems
This paper presents a new methodology to craft navigation functions for
nonlinear systems with stochastic uncertainty. The method relies on the
transformation of the Hamilton-Jacobi-Bellman (HJB) equation into a linear
partial differential equation. This approach allows for optimality criteria to
be incorporated into the navigation function, and generalizes several existing
results in navigation functions. It is shown that the HJB and that existing
navigation functions in the literature sit on ends of a spectrum of
optimization problems, upon which tradeoffs may be made in problem complexity.
In particular, it is shown that under certain criteria the optimal navigation
function is related to Laplace's equation, previously used in the literature,
through an exponential transform. Further, analytical solutions to the HJB are
available in simplified domains, yielding guidance towards optimality for
approximation schemes. Examples are used to illustrate the role that noise, and
optimality can potentially play in navigation system design.Comment: Accepted to IROS 2014. 8 Page
ADAM: a general method for using various data types in asteroid reconstruction
We introduce ADAM, the All-Data Asteroid Modelling algorithm. ADAM is simple
and universal since it handles all disk-resolved data types (adaptive optics or
other images, interferometry, and range-Doppler radar data) in a uniform manner
via the 2D Fourier transform, enabling fast convergence in model optimization.
The resolved data can be combined with disk-integrated data (photometry). In
the reconstruction process, the difference between each data type is only a few
code lines defining the particular generalized projection from 3D onto a 2D
image plane. Occultation timings can be included as sparse silhouettes, and
thermal infrared data are efficiently handled with an approximate algorithm
that is sufficient in practice due to the dominance of the high-contrast
(boundary) pixels over the low-contrast (interior) ones. This is of particular
importance to the raw ALMA data that can be directly handled by ADAM without
having to construct the standard image. We study the reliability of the
inversion by using the independent shape supports of function series and
control-point surfaces. When other data are lacking, one can carry out fast
nonconvex lightcurve-only inversion, but any shape models resulting from it
should only be taken as illustrative global-scale ones.Comment: 11 pages, submitted to A&
Wave-Packet Scattering off the Kink-Solution
We investigate the propagation of a wave--packet in the model. We
solve the time-dependent equation of motion for two distinct initial
conditions: The wave-packet in a trivial vacuum background and in the
background of the kink soliton solution. We extract the scattering matrix from
the wave-packet in the kink background at very late times and compare it with
the result from static potential scattering in the small amplitude
approximation. We vary the size of the initial wave-packet to identify
non-linear effects as, for example, the replacement of the center of the kink.Comment: 15 pages, 7 figures (from 14 eps files), 4 tables, Int. J. Mod. Phys.
A, in prin
Scalable Approach to Uncertainty Quantification and Robust Design of Interconnected Dynamical Systems
Development of robust dynamical systems and networks such as autonomous
aircraft systems capable of accomplishing complex missions faces challenges due
to the dynamically evolving uncertainties coming from model uncertainties,
necessity to operate in a hostile cluttered urban environment, and the
distributed and dynamic nature of the communication and computation resources.
Model-based robust design is difficult because of the complexity of the hybrid
dynamic models including continuous vehicle dynamics, the discrete models of
computations and communications, and the size of the problem. We will overview
recent advances in methodology and tools to model, analyze, and design robust
autonomous aerospace systems operating in uncertain environment, with stress on
efficient uncertainty quantification and robust design using the case studies
of the mission including model-based target tracking and search, and trajectory
planning in uncertain urban environment. To show that the methodology is
generally applicable to uncertain dynamical systems, we will also show examples
of application of the new methods to efficient uncertainty quantification of
energy usage in buildings, and stability assessment of interconnected power
networks
Polynomial-Time Algorithms for Prime Factorization and Discrete Logarithms on a Quantum Computer
A digital computer is generally believed to be an efficient universal
computing device; that is, it is believed able to simulate any physical
computing device with an increase in computation time of at most a polynomial
factor. This may not be true when quantum mechanics is taken into
consideration. This paper considers factoring integers and finding discrete
logarithms, two problems which are generally thought to be hard on a classical
computer and have been used as the basis of several proposed cryptosystems.
Efficient randomized algorithms are given for these two problems on a
hypothetical quantum computer. These algorithms take a number of steps
polynomial in the input size, e.g., the number of digits of the integer to be
factored.Comment: 28 pages, LaTeX. This is an expanded version of a paper that appeared
in the Proceedings of the 35th Annual Symposium on Foundations of Computer
Science, Santa Fe, NM, Nov. 20--22, 1994. Minor revisions made January, 199
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