1,404 research outputs found
Visual-inertial self-calibration on informative motion segments
Environmental conditions and external effects, such as shocks, have a
significant impact on the calibration parameters of visual-inertial sensor
systems. Thus long-term operation of these systems cannot fully rely on factory
calibration. Since the observability of certain parameters is highly dependent
on the motion of the device, using short data segments at device initialization
may yield poor results. When such systems are additionally subject to energy
constraints, it is also infeasible to use full-batch approaches on a big
dataset and careful selection of the data is of high importance. In this paper,
we present a novel approach for resource efficient self-calibration of
visual-inertial sensor systems. This is achieved by casting the calibration as
a segment-based optimization problem that can be run on a small subset of
informative segments. Consequently, the computational burden is limited as only
a predefined number of segments is used. We also propose an efficient
information-theoretic selection to identify such informative motion segments.
In evaluations on a challenging dataset, we show our approach to significantly
outperform state-of-the-art in terms of computational burden while maintaining
a comparable accuracy
A control theoretic approach to achieve proportional fairness in 802.11e EDCA WLANs
This paper considers proportional fairness amongst ACs in an EDCA WLAN for
provision of distinct QoS requirements and priority parameters. A detailed
theoretical analysis is provided to derive the optimal station attempt
probability which leads to a proportional fair allocation of station
throughputs. The desirable fairness can be achieved using a centralised
adaptive control approach. This approach is based on multivariable statespace
control theory and uses the Linear Quadratic Integral (LQI) controller to
periodically update CWmin till the optimal fair point of operation. Performance
evaluation demonstrates that the control approach has high accuracy performance
and fast convergence speed for general network scenarios. To our knowledge this
might be the first time that a closed-loop control system is designed for EDCA
WLANs to achieve proportional fairness
Discrete-time dynamic modeling for software and services composition as an extension of the Markov chain approach
Discrete Time Markov Chains (DTMCs) and Continuous Time Markov Chains (CTMCs) are often used to model various types of phenomena, such as, for example, the behavior of software products. In that case, Markov chains are widely used to describe possible time-varying behavior of “self-adaptive” software systems, where the transition from one state to another represents alternative choices at the software code level, taken according to a certain probability distribution. From a control-theoretical standpoint, some of these probabilities can be interpreted as control signals and others can just be observed. However, the translation between a DTMC or CTMC model and a corresponding first principle model, that can be used to design a control system is not immediate. This paper investigates a possible solution for translating a CTMC model into a dynamic system, with focus on the control of computing systems components. Notice that DTMC models can be translated as well, providing additional information
Game-Theoretic Pricing and Selection with Fading Channels
We consider pricing and selection with fading channels in a Stackelberg game
framework. A channel server decides the channel prices and a client chooses
which channel to use based on the remote estimation quality. We prove the
existence of an optimal deterministic and Markovian policy for the client, and
show that the optimal policies of both the server and the client have threshold
structures when the time horizon is finite. Value iteration algorithm is
applied to obtain the optimal solutions for both the server and client, and
numerical simulations and examples are given to demonstrate the developed
result.Comment: 6 pages, 4 figures, accepted by the 2017 Asian Control Conferenc
Fundamental Limitations of Disturbance Attenuation in the Presence of Side Information
In this paper, we study fundamental limitations of disturbance attenuation of feedback systems, under the assumption that the controller has a finite horizon preview of the disturbance. In contrast with prior work, we extend Bode's integral equation for the case where the preview is made available to the controller via a general, finite capacity, communication system. Under asymptotic stationarity assumptions, our results show that the new fundamental limitation differs from Bode's only by a constant, which quantifies the information rate through the communication system. In the absence of asymptotic stationarity, we derive a universal lower bound which uses Shannon's entropy rate as a measure of performance. By means of a case-study, we show that our main bounds may be achieved
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