545 research outputs found
IEEE Access Special Section Editorial: Recent Advances on Hybrid Complex Networks: Analysis and Control
Complex networks typically involve multiple disciplines due to network dynamics and their statistical nature. When modeling practical networks, both impulsive effects and logical dynamics have recently attracted increasing attention. Hence, it is of interest and importance to consider hybrid complex networks with impulsive effects and logical dynamics. Relevant research is prevalent in cells, ecology, social systems, and communication engineering. In hybrid complex networks, numerous nodes are coupled through networks and their properties usually lead to complex dynamic behaviors, including discrete and continuous dynamics with finite values of time and state space. Generally, continuous and discrete sections of the systems are described by differential and difference equations, respectively. Logical networks are used to model the systems where time and state space take finite values. Although interesting results have been reported regarding hybrid complex networks, the analysis methods and relevant results could be further improved with respect to conservative impulsive delay inequalities and reproducibility of corresponding stability or synchronization criteria. Therefore, it is necessary to devise effective approaches to improve the analysis method and results dealing with hybrid complex networks
Computational paradigm for dynamic logic-gates in neuronal activity
In 1943 McCulloch and Pitts suggested that the brain is composed of reliable
logic-gates similar to the logic at the core of today's computers. This
framework had a limited impact on neuroscience, since neurons exhibit far
richer dynamics. Here we propose a new experimentally corroborated paradigm in
which the truth tables of the brain's logic-gates are time dependent, i.e.
dynamic logicgates (DLGs). The truth tables of the DLGs depend on the history
of their activity and the stimulation frequencies of their input neurons. Our
experimental results are based on a procedure where conditioned stimulations
were enforced on circuits of neurons embedded within a large-scale network of
cortical cells in-vitro. We demonstrate that the underlying biological
mechanism is the unavoidable increase of neuronal response latencies to ongoing
stimulations, which imposes a nonuniform gradual stretching of network delays.
The limited experimental results are confirmed and extended by simulations and
theoretical arguments based on identical neurons with a fixed increase of the
neuronal response latency per evoked spike. We anticipate our results to lead
to better understanding of the suitability of this computational paradigm to
account for the brain's functionalities and will require the development of new
systematic mathematical methods beyond the methods developed for traditional
Boolean algebra.Comment: 32 pages, 14 figures, 1 tabl
A Radio Link Quality Model and Simulation Framework for Improving the Design of Embedded Wireless Systems
Despite the increasing application of embedded wireless systems, developers face numerous challenges during the design phase of the application life cycle. One of the critical challenges is ensuring performance reliability with respect to radio link quality. Specifically, embedded links experience exaggerated link quality variation, which results in undesirable wireless performance characteristics. Unfortunately, the resulting post-deployment behaviors often necessitate network redeployment. Another challenge is recovering from faults that commonly occur in embedded wireless systems, including node failure and state corruption. Self-stabilizing algorithms can provide recovery in the presence of such faults. These algorithms guarantee the eventual satisfaction of a given state legitimacy predicate regardless of the initial state of the network. Their practical behavior is often different from theoretical analyses. Unfortunately, there is little tool support for facilitating the experimental analysis of self-stabilizing systems. We present two contributions to support the design phase of embedded wireless system development. First, we provide two empirical models that predict radio-link quality within specific deployment environments. These models predict link performance as a function of inter-node distance and radio power level. The models are culled from extensive experimentation in open grass field and dense forest environments using all radio power levels and covering up to the maximum distances reachable by the radio. Second, we provide a simulation framework for simulating self-stabilizing algorithms. The framework provides three feature extensions: (i) fault injection to study algorithm behavior under various fault scenarios, (ii) automated detection of non-stabilizing behavior; and (iii) integration of the link quality models described above. Our contributions aim at avoiding problems that could result in the need for network redeployment
Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age
Simultaneous Localization and Mapping (SLAM)consists in the concurrent
construction of a model of the environment (the map), and the estimation of the
state of the robot moving within it. The SLAM community has made astonishing
progress over the last 30 years, enabling large-scale real-world applications,
and witnessing a steady transition of this technology to industry. We survey
the current state of SLAM. We start by presenting what is now the de-facto
standard formulation for SLAM. We then review related work, covering a broad
set of topics including robustness and scalability in long-term mapping, metric
and semantic representations for mapping, theoretical performance guarantees,
active SLAM and exploration, and other new frontiers. This paper simultaneously
serves as a position paper and tutorial to those who are users of SLAM. By
looking at the published research with a critical eye, we delineate open
challenges and new research issues, that still deserve careful scientific
investigation. The paper also contains the authors' take on two questions that
often animate discussions during robotics conferences: Do robots need SLAM? and
Is SLAM solved
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