Distributed Set-Based Observers Using Diffusion Strategy

Distributed estimation is more robust against single points of failure and requires less communication overhead compared to the centralized version. Among distributed estimation techniques, set-based estimation has gained much attention as it provides estimation guarantees for safety-critical applications and copes with unknown but bounded uncertainties. We propose two distributed set-based observers using interval-based and set-membership approaches for a linear discrete-time dynamical system with bounded modeling and measurement uncertainties. Both algorithms utilize a new over-approximating zonotopes intersection step named the set-based diffusion step. We use the term diffusion since our intersection of zonotopes formula resembles the traditional diffusion step in the stochastic Kalman filter. Our new zonotopes intersection takes linear time. Our set-based diffusion step decreases the estimation errors and the size of estimated sets and can be seen as a lightweight approach to achieve partial consensus between the distributed estimated sets. Every node shares its measurement with its neighbor in the measurement update step. The neighbors intersect their estimated sets constituting our proposed set-based diffusion step. We represent sets as zonotopes since they compactly represent high-dimensional sets, and they are closed under linear mapping and Minkowski addition. The applicability of our algorithms is demonstrated by a localization example. All used data and code to recreate our findings are publicly availabl

Nonlinear observation in fuel cell systems: a comparison between disturbance estimation and High-Order Sliding-Mode techniques

© . This manuscript version is made available under the CC-BY-NC-ND 4.0 license http://creativecommons.org/licenses/by-nc-nd/4.0/This paper compares two Nonlinear Distributed Parameter Observers (NDPO) for the observation of a Proton Exchange Membrane Fuel Cell (PEMFC). Both NDPOs are based on the discretisation of distributed parameters models and they are used to estimate the state profile of gas concentrations in the anode and cathode gas channels of the PEMFC, giving detailed information about the internal conditions of the system. The reaction and water transport flow rates from the membrane to the channels are uncertainties of the observation problem and they are estimated throughout all the length of the PEMFC without the use of additional sensors. The first observation approach is a Nonlinear Disturbance Observer (NDOB) for the estimation of the disturbances in the NDPO. In the second approach, a novel implementation of a High-Order Sliding-Mode (HOSM) observer is developed to estimate the true value of the states as well as the reaction terms. The proposed observers are tested and compared through a simulation example at different operating points and their performance and robustness is analysed over a given case study, the New European Driving Cycle.Peer ReviewedPostprint (author's final draft

Observer Placement for Source Localization: The Effect of Budgets and Transmission Variance

When an epidemic spreads in a network, a key question is where was its source, i.e., the node that started the epidemic. If we know the time at which various nodes were infected, we can attempt to use this information in order to identify the source. However, maintaining observer nodes that can provide their infection time may be costly, and we may have a budget $k$ on the number of observer nodes we can maintain. Moreover, some nodes are more informative than others due to their location in the network. Hence, a pertinent question arises: Which nodes should we select as observers in order to maximize the probability that we can accurately identify the source? Inspired by the simple setting in which the node-to-node delays in the transmission of the epidemic are deterministic, we develop a principled approach for addressing the problem even when transmission delays are random. We show that the optimal observer-placement differs depending on the variance of the transmission delays and propose approaches in both low- and high-variance settings. We validate our methods by comparing them against state-of-the-art observer-placements and show that, in both settings, our approach identifies the source with higher accuracy.Comment: Accepted for presentation at the 54th Annual Allerton Conference on Communication, Control, and Computin

Identification of weakly coupled multiphysics problems. Application to the inverse problem of electrocardiography

This work addresses the inverse problem of electrocardiography from a new perspective, by combining electrical and mechanical measurements. Our strategy relies on the defini-tion of a model of the electromechanical contraction which is registered on ECG data but also on measured mechanical displacements of the heart tissue typically extracted from medical images. In this respect, we establish in this work the convergence of a sequential estimator which combines for such coupled problems various state of the art sequential data assimilation methods in a unified consistent and efficient framework. Indeed we ag-gregate a Luenberger observer for the mechanical state and a Reduced Order Unscented Kalman Filter applied on the parameters to be identified and a POD projection of the electrical state. Then using synthetic data we show the benefits of our approach for the estimation of the electrical state of the ventricles along the heart beat compared with more classical strategies which only consider an electrophysiological model with ECG measurements. Our numerical results actually show that the mechanical measurements improve the identifiability of the electrical problem allowing to reconstruct the electrical state of the coupled system more precisely. Therefore, this work is intended to be a first proof of concept, with theoretical justifications and numerical investigations, of the ad-vantage of using available multi-modal observations for the estimation and identification of an electromechanical model of the heart

SO(3)-invariant asymptotic observers for dense depth field estimation based on visual data and known camera motion

In this paper, we use known camera motion associated to a video sequence of a static scene in order to estimate and incrementally refine the surrounding depth field. We exploit the SO(3)-invariance of brightness and depth fields dynamics to customize standard image processing techniques. Inspired by the Horn-Schunck method, we propose a SO(3)-invariant cost to estimate the depth field. At each time step, this provides a diffusion equation on the unit Riemannian sphere that is numerically solved to obtain a real time depth field estimation of the entire field of view. Two asymptotic observers are derived from the governing equations of dynamics, respectively based on optical flow and depth estimations: implemented on noisy sequences of synthetic images as well as on real data, they perform a more robust and accurate depth estimation. This approach is complementary to most methods employing state observers for range estimation, which uniquely concern single or isolated feature points.Comment: Submitte

A tutorial on cue combination and Signal Detection Theory: Using changes in sensitivity to evaluate how observers integrate sensory information

Many sensory inputs contain multiple sources of information (‘cues’), such as two sounds of different frequencies, or a voice heard in unison with moving lips. Often, each cue provides a separate estimate of the same physical attribute, such as the size or location of an object. An ideal observer can exploit such redundant sensory information to improve the accuracy of their perceptual judgments. For example, if each cue is modeled as an independent, Gaussian, random variable, then combining Ncues should provide up to a √N improvement in detection/discrimination sensitivity. Alternatively, a less efficient observer may base their decision on only a subset of the available information, and so gain little or no benefit from having access to multiple sources of information. Here we use Signal Detection Theory to formulate and compare various models of cue-combination, many of which are commonly used to explain empirical data. We alert the reader to the key assumptions inherent in each model, and provide formulas for deriving quantitative predictions. Code is also provided for simulating each model, allowing expected levels of measurement error to be quantified. Based on these results, it is shown that predicted sensitivity often differs surprisingly little between qualitatively distinct models of combination. This means that sensitivity alone is not sufficient for understanding decision efficiency, and the implications of this are discussed