Time-Delay Systems

Time delay is very often encountered in various technical systems, such as electric, pneumatic and hydraulic networks, chemical processes, long transmission lines, robotics, etc. The existence of pure time lag, regardless if it is present in the control or/and the state, may cause undesirable system transient response, or even instability. Consequently, the problem of controllability, observability, robustness, optimization, adaptive control, pole placement and particularly stability and robustness stabilization for this class of systems, has been one of the main interests for many scientists and researchers during the last five decades

Towards Improved Homomorphic Encryption for Privacy-Preserving Deep Learning

Mención Internacional en el título de doctorDeep Learning (DL) has supposed a remarkable transformation for many fields, heralded by some as a new technological revolution. The advent of large scale models has increased the demands for data and computing platforms, for which cloud computing has become the go-to solution. However, the permeability of DL and cloud computing are reduced in privacy-enforcing areas that deal with sensitive data. These areas imperatively call for privacy-enhancing technologies that enable responsible, ethical, and privacy-compliant use of data in potentially hostile environments. To this end, the cryptography community has addressed these concerns with what is known as Privacy-Preserving Computation Techniques (PPCTs), a set of tools that enable privacy-enhancing protocols where cleartext access to information is no longer tenable. Of these techniques, Homomorphic Encryption (HE) stands out for its ability to perform operations over encrypted data without compromising data confidentiality or privacy. However, despite its promise, HE is still a relatively nascent solution with efficiency and usability limitations. Improving the efficiency of HE has been a longstanding challenge in the field of cryptography, and with improvements, the complexity of the techniques has increased, especially for non-experts. In this thesis, we address the problem of the complexity of HE when applied to DL. We begin by systematizing existing knowledge in the field through an in-depth analysis of state-of-the-art for privacy-preserving deep learning, identifying key trends, research gaps, and issues associated with current approaches. One such identified gap lies in the necessity for using vectorized algorithms with Packed Homomorphic Encryption (PaHE), a state-of-the-art technique to reduce the overhead of HE in complex areas. This thesis comprehensively analyzes existing algorithms and proposes new ones for using DL with PaHE, presenting a formal analysis and usage guidelines for their implementation. Parameter selection of HE schemes is another recurring challenge in the literature, given that it plays a critical role in determining not only the security of the instantiation but also the precision, performance, and degree of security of the scheme. To address this challenge, this thesis proposes a novel system combining fuzzy logic with linear programming tasks to produce secure parametrizations based on high-level user input arguments without requiring low-level knowledge of the underlying primitives. Finally, this thesis describes HEFactory, a symbolic execution compiler designed to streamline the process of producing HE code and integrating it with Python. HEFactory implements the previous proposals presented in this thesis in an easy-to-use tool. It provides a unique architecture that layers the challenges associated with HE and produces simplified operations interpretable by low-level HE libraries. HEFactory significantly reduces the overall complexity to code DL applications using HE, resulting in an 80% length reduction from expert-written code while maintaining equivalent accuracy and efficiency.El aprendizaje profundo ha supuesto una notable transformación para muchos campos que algunos han calificado como una nueva revolución tecnológica. La aparición de modelos masivos ha aumentado la demanda de datos y plataformas informáticas, para lo cual, la computación en la nube se ha convertido en la solución a la que recurrir. Sin embargo, la permeabilidad del aprendizaje profundo y la computación en la nube se reduce en los ámbitos de la privacidad que manejan con datos sensibles. Estas áreas exigen imperativamente el uso de tecnologías de mejora de la privacidad que permitan un uso responsable, ético y respetuoso con la privacidad de los datos en entornos potencialmente hostiles. Con este fin, la comunidad criptográfica ha abordado estas preocupaciones con las denominadas técnicas de la preservación de la privacidad en el cómputo, un conjunto de herramientas que permiten protocolos de mejora de la privacidad donde el acceso a la información en texto claro ya no es sostenible. Entre estas técnicas, el cifrado homomórfico destaca por su capacidad para realizar operaciones sobre datos cifrados sin comprometer la confidencialidad o privacidad de la información. Sin embargo, a pesar de lo prometedor de esta técnica, sigue siendo una solución relativamente incipiente con limitaciones de eficiencia y usabilidad. La mejora de la eficiencia del cifrado homomórfico en la criptografía ha sido todo un reto, y, con las mejoras, la complejidad de las técnicas ha aumentado, especialmente para los usuarios no expertos. En esta tesis, abordamos el problema de la complejidad del cifrado homomórfico cuando se aplica al aprendizaje profundo. Comenzamos sistematizando el conocimiento existente en el campo a través de un análisis exhaustivo del estado del arte para el aprendizaje profundo que preserva la privacidad, identificando las tendencias clave, las lagunas de investigación y los problemas asociados con los enfoques actuales. Una de las lagunas identificadas radica en el uso de algoritmos vectorizados con cifrado homomórfico empaquetado, que es una técnica del estado del arte que reduce el coste del cifrado homomórfico en áreas complejas. Esta tesis analiza exhaustivamente los algoritmos existentes y propone nuevos algoritmos para el uso de aprendizaje profundo utilizando cifrado homomórfico empaquetado, presentando un análisis formal y unas pautas de uso para su implementación. La selección de parámetros de los esquemas del cifrado homomórfico es otro reto recurrente en la literatura, dado que juega un papel crítico a la hora de determinar no sólo la seguridad de la instanciación, sino también la precisión, el rendimiento y el grado de seguridad del esquema. Para abordar este reto, esta tesis propone un sistema innovador que combina la lógica difusa con tareas de programación lineal para producir parametrizaciones seguras basadas en argumentos de entrada de alto nivel sin requerir conocimientos de bajo nivel de las primitivas subyacentes. Por último, esta tesis propone HEFactory, un compilador de ejecución simbólica diseñado para agilizar el proceso de producción de código de cifrado homomórfico e integrarlo con Python. HEFactory es la culminación de las propuestas presentadas en esta tesis, proporcionando una arquitectura única que estratifica los retos asociados con el cifrado homomórfico, produciendo operaciones simplificadas que pueden ser interpretadas por bibliotecas de bajo nivel. Este enfoque permite a HEFactory reducir significativamente la longitud total del código, lo que supone una reducción del 80% en la complejidad de programación de aplicaciones de aprendizaje profundo que usan cifrado homomórfico en comparación con el código escrito por expertos, manteniendo una precisión equivalente.Programa de Doctorado en Ciencia y Tecnología Informática por la Universidad Carlos III de MadridPresidenta: María Isabel González Vasco.- Secretario: David Arroyo Guardeño.- Vocal: Antonis Michala

Hybrid Analog-Digital Co-Processing for Scientific Computation

In the past 10 years computer architecture research has moved to more heterogeneity and less adherence to conventional abstractions. Scientists and engineers hold an unshakable belief that computing holds keys to unlocking humanity's Grand Challenges. Acting on that belief they have looked deeper into computer architecture to find specialized support for their applications. Likewise, computer architects have looked deeper into circuits and devices in search of untapped performance and efficiency. The lines between computer architecture layers---applications, algorithms, architectures, microarchitectures, circuits and devices---have blurred. Against this backdrop, a menagerie of computer architectures are on the horizon, ones that forgo basic assumptions about computer hardware, and require new thinking of how such hardware supports problems and algorithms. This thesis is about revisiting hybrid analog-digital computing in support of diverse modern workloads. Hybrid computing had extensive applications in early computing history, and has been revisited for small-scale applications in embedded systems. But architectural support for using hybrid computing in modern workloads, at scale and with high accuracy solutions, has been lacking. I demonstrate solving a variety of scientific computing problems, including stochastic ODEs, partial differential equations, linear algebra, and nonlinear systems of equations, as case studies in hybrid computing. I solve these problems on a system of multiple prototype analog accelerator chips built by a team at Columbia University. On that team I made contributions toward programming the chips, building the digital interface, and validating the chips' functionality. The analog accelerator chip is intended for use in conjunction with a conventional digital host computer. The appeal and motivation for using an analog accelerator is efficiency and performance, but it comes with limitations in accuracy and problem sizes that we have to work around. The first problem is how to do problems in this unconventional computation model. Scientific computing phrases problems as differential equations and algebraic equations. Differential equations are a continuous view of the world, while algebraic equations are a discrete one. Prior work in analog computing mostly focused on differential equations; algebraic equations played a minor role in prior work in analog computing. The secret to using the analog accelerator to support modern workloads on conventional computers is that these two viewpoints are interchangeable. The algebraic equations that underlie most workloads can be solved as differential equations, and differential equations are naturally solvable in the analog accelerator chip. A hybrid analog-digital computer architecture can focus on solving linear and nonlinear algebra problems to support many workloads. The second problem is how to get accurate solutions using hybrid analog-digital computing. The reason that the analog computation model gives less accurate solutions is it gives up representing numbers as digital binary numbers, and instead uses the full range of analog voltage and current to represent real numbers. Prior work has established that encoding data in analog signals gives an energy efficiency advantage as long as the analog data precision is limited. While the analog accelerator alone may be useful for energy-constrained applications where inputs and outputs are imprecise, we are more interested in using analog in conjunction with digital for precise solutions. This thesis gives novel insight that the trick to do so is to solve nonlinear problems where low-precision guesses are useful for conventional digital algorithms. The third problem is how to solve large problems using hybrid analog-digital computing. The reason the analog computation model can't handle large problems is it gives up step-by-step discrete-time operation, instead allowing variables to evolve smoothly in continuous time. To make that happen the analog accelerator works by chaining hardware for mathematical operations end-to-end. During computation analog data flows through the hardware with no overheads in control logic and memory accesses. The downside is then the needed hardware size grows alongside problem sizes. While scientific computing researchers have for a long time split large problems into smaller subproblems to fit in digital computer constraints, this thesis is a first attempt to consider these divide-and-conquer algorithms as an essential tool in using the analog model of computation. As we enter the post-Moore’s law era of computing, unconventional architectures will offer specialized models of computation that uniquely support specific problem types. Two prominent examples are deep neural networks and quantum computers. Recent trends in computer science research show these unconventional architectures will soon have broad adoption. In this thesis I show another specialized, unconventional architecture is to use analog accelerators to solve problems in scientific computing. Computer architecture researchers will discover other important models of computation in the future. This thesis is an example of the discovery process, implementation, and evaluation of how an unconventional architecture supports specialized workloads

bifurcation analysis of a delayed worm propagation model with saturated incidence

This paper is concerned with a delayed SVEIR worm propagation model with saturated incidence. The main objective is to investigate the effect of the time delay on the model. Sufficient conditions for local stability of the positive equilibrium and existence of a Hopf bifurcation are obtained by choosing the time delay as the bifurcation parameter. Particularly, explicit formulas determining direction of the Hopf bifurcation and stability of the bifurcating periodic solutions are derived by using the normal form theory and the center manifold theorem. Numerical simulations for a set of parameter values are carried out to illustrate the analytical results

Dynamical Systems in Spiking Neuromorphic Hardware

Dynamical systems are universal computers. They can perceive stimuli, remember, learn from feedback, plan sequences of actions, and coordinate complex behavioural responses. The Neural Engineering Framework (NEF) provides a general recipe to formulate models of such systems as coupled sets of nonlinear differential equations and compile them onto recurrently connected spiking neural networks – akin to a programming language for spiking models of computation. The Nengo software ecosystem supports the NEF and compiles such models onto neuromorphic hardware. In this thesis, we analyze the theory driving the success of the NEF, and expose several core principles underpinning its correctness, scalability, completeness, robustness, and extensibility. We also derive novel theoretical extensions to the framework that enable it to far more effectively leverage a wide variety of dynamics in digital hardware, and to exploit the device-level physics in analog hardware. At the same time, we propose a novel set of spiking algorithms that recruit an optimal nonlinear encoding of time, which we call the Delay Network (DN). Backpropagation across stacked layers of DNs dramatically outperforms stacked Long Short-Term Memory (LSTM) networks—a state-of-the-art deep recurrent architecture—in accuracy and training time, on a continuous-time memory task, and a chaotic time-series prediction benchmark. The basic component of this network is shown to function on state-of-the-art spiking neuromorphic hardware including Braindrop and Loihi. This implementation approaches the energy-efficiency of the human brain in the former case, and the precision of conventional computation in the latter case

New Approaches in Automation and Robotics

The book New Approaches in Automation and Robotics offers in 22 chapters a collection of recent developments in automation, robotics as well as control theory. It is dedicated to researchers in science and industry, students, and practicing engineers, who wish to update and enhance their knowledge on modern methods and innovative applications. The authors and editor of this book wish to motivate people, especially under-graduate students, to get involved with the interesting field of robotics and mechatronics. We hope that the ideas and concepts presented in this book are useful for your own work and could contribute to problem solving in similar applications as well. It is clear, however, that the wide area of automation and robotics can only be highlighted at several spots but not completely covered by a single book

Strategic bidding in an energy brokerage

The main contribution of this research is the definition, and the demonstration of use, of a framework for the development and evaluation of bidding strategies, for participants to use, in preparing and submitting bids to an energy brokerage market. The framework includes the rules under which the market operates, the different types of participants and their objectives, the factors that affect the bidding of the participants, strategies that consider these factors and achieve the objectives, and a simulator to simulate market conditions, including competition from other participants, with which to test these strategies;Strategies that attempt to include competitor behavior by using available market information are developed. A lower bound on the profit from bidding is derived, which is useful in providing an objective function that can be optimized using the limited information assumed to be available in this research. This is followed by derivations for optimal bids that maximize this lower bound, for different assumptions about the probability distribution of the competitors;The simulator is expected to be helpful in testing of the strategies. However, the strategies will be independent of the simulator, and will be applicable to participants who choose a different (presumably more advanced) tool for evaluation. The contribution of this research includes original ways to utilize the information generated by the simulator;Some of the results of the simulations performed using this simulator to test the strategies developed are presented and analyzed. Also, based on these results, some heuristics were developed to improve the performance of the strategies. Results from implementing these heuristics are also presented;A qualitative treatment of the scheduling factors that might affect bidding strategies is presented, followed by numerical examples to illustrate the effects. A treatment of risk preferences by using results from recent developments in utility theory and risk preference functions by researchers in economics, is presented. This is followed by the modeling of bidding objectives as expected utility maximizations, and the comparison of results from using this type of objective to using the expected profit maximization objective for various scheduling scenarios

Computation of the one-dimensional unwrapped phase

Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2006.Includes bibliographical references (p. 101-102). "Cepstrum bibliography" (p. 67-100).In this thesis, the computation of the unwrapped phase of the discrete-time Fourier transform (DTFT) of a one-dimensional finite-length signal is explored. The phase of the DTFT is not unique, and may contain integer multiple of 27r discontinuities. The unwrapped phase is the instance of the phase function chosen to ensure continuity. This thesis presents existing algorithms for computing the unwrapped phase, discussing their weaknesses and strengths. Then two composite algorithms are proposed that use the existing ones, combining their strengths while avoiding their weaknesses. The core of the proposed methods is based on recent advances in polynomial factoring. The proposed methods are implemented and compared to the existing ones.by Zahi Nadim Karam.S.M

Mathematical Methods, Modelling and Applications

This volume deals with novel high-quality research results of a wide class of mathematical models with applications in engineering, nature, and social sciences. Analytical and numeric, deterministic and uncertain dimensions are treated. Complex and multidisciplinary models are treated, including novel techniques of obtaining observation data and pattern recognition. Among the examples of treated problems, we encounter problems in engineering, social sciences, physics, biology, and health sciences. The novelty arises with respect to the mathematical treatment of the problem. Mathematical models are built, some of them under a deterministic approach, and other ones taking into account the uncertainty of the data, deriving random models. Several resulting mathematical representations of the models are shown as equations and systems of equations of different types: difference equations, ordinary differential equations, partial differential equations, integral equations, and algebraic equations. Across the chapters of the book, a wide class of approaches can be found to solve the displayed mathematical models, from analytical to numeric techniques, such as finite difference schemes, finite volume methods, iteration schemes, and numerical integration methods