19,167 research outputs found
Stochastic Sensor Scheduling via Distributed Convex Optimization
In this paper, we propose a stochastic scheduling strategy for estimating the
states of N discrete-time linear time invariant (DTLTI) dynamic systems, where
only one system can be observed by the sensor at each time instant due to
practical resource constraints. The idea of our stochastic strategy is that a
system is randomly selected for observation at each time instant according to a
pre-assigned probability distribution. We aim to find the optimal pre-assigned
probability in order to minimize the maximal estimate error covariance among
dynamic systems. We first show that under mild conditions, the stochastic
scheduling problem gives an upper bound on the performance of the optimal
sensor selection problem, notoriously difficult to solve. We next relax the
stochastic scheduling problem into a tractable suboptimal quasi-convex form. We
then show that the new problem can be decomposed into coupled small convex
optimization problems, and it can be solved in a distributed fashion. Finally,
for scheduling implementation, we propose centralized and distributed
deterministic scheduling strategies based on the optimal stochastic solution
and provide simulation examples.Comment: Proof errors and typos are fixed. One section is removed from last
versio
Minimum-Information LQG Control - Part I: Memoryless Controllers
With the increased demand for power efficiency in feedback-control systems,
communication is becoming a limiting factor, raising the need to trade off the
external cost that they incur with the capacity of the controller's
communication channels. With a proper design of the channels, this translates
into a sequential rate-distortion problem, where we minimize the rate of
information required for the controller's operation under a constraint on its
external cost. Memoryless controllers are of particular interest both for the
simplicity and frugality of their implementation and as a basis for studying
more complex controllers. In this paper we present the optimality principle for
memoryless linear controllers that utilize minimal information rates to achieve
a guaranteed external-cost level. We also study the interesting and useful
phenomenology of the optimal controller, such as the principled reduction of
its order
Deterministic Dicke state preparation with continuous measurement and control
We characterize the long-time projective behavior of the stochastic master
equation describing a continuous, collective spin measurement of an atomic
ensemble both analytically and numerically. By adding state based feedback, we
show that it is possible to prepare highly entangled Dicke states
deterministically.Comment: Additional information is available at
http://minty.caltech.edu/Ensemble
Distributed Constrained Recursive Nonlinear Least-Squares Estimation: Algorithms and Asymptotics
This paper focuses on the problem of recursive nonlinear least squares
parameter estimation in multi-agent networks, in which the individual agents
observe sequentially over time an independent and identically distributed
(i.i.d.) time-series consisting of a nonlinear function of the true but unknown
parameter corrupted by noise. A distributed recursive estimator of the
\emph{consensus} + \emph{innovations} type, namely , is
proposed, in which the agents update their parameter estimates at each
observation sampling epoch in a collaborative way by simultaneously processing
the latest locally sensed information~(\emph{innovations}) and the parameter
estimates from other agents~(\emph{consensus}) in the local neighborhood
conforming to a pre-specified inter-agent communication topology. Under rather
weak conditions on the connectivity of the inter-agent communication and a
\emph{global observability} criterion, it is shown that at every network agent,
the proposed algorithm leads to consistent parameter estimates. Furthermore,
under standard smoothness assumptions on the local observation functions, the
distributed estimator is shown to yield order-optimal convergence rates, i.e.,
as far as the order of pathwise convergence is concerned, the local parameter
estimates at each agent are as good as the optimal centralized nonlinear least
squares estimator which would require access to all the observations across all
the agents at all times. In order to benchmark the performance of the proposed
distributed estimator with that of the centralized nonlinear
least squares estimator, the asymptotic normality of the estimate sequence is
established and the asymptotic covariance of the distributed estimator is
evaluated. Finally, simulation results are presented which illustrate and
verify the analytical findings.Comment: 28 pages. Initial Submission: Feb. 2016, Revised: July 2016,
Accepted: September 2016, To appear in IEEE Transactions on Signal and
Information Processing over Networks: Special Issue on Inference and Learning
over Network
Sensitivity And Out-Of-Sample Error in Continuous Time Data Assimilation
Data assimilation refers to the problem of finding trajectories of a
prescribed dynamical model in such a way that the output of the model (usually
some function of the model states) follows a given time series of observations.
Typically though, these two requirements cannot both be met at the same
time--tracking the observations is not possible without the trajectory
deviating from the proposed model equations, while adherence to the model
requires deviations from the observations. Thus, data assimilation faces a
trade-off. In this contribution, the sensitivity of the data assimilation with
respect to perturbations in the observations is identified as the parameter
which controls the trade-off. A relation between the sensitivity and the
out-of-sample error is established which allows to calculate the latter under
operational conditions. A minimum out-of-sample error is proposed as a
criterion to set an appropriate sensitivity and to settle the discussed
trade-off. Two approaches to data assimilation are considered, namely
variational data assimilation and Newtonian nudging, aka synchronisation.
Numerical examples demonstrate the feasibility of the approach.Comment: submitted to Quarterly Journal of the Royal Meteorological Societ
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Robust H2/H∞-state estimation for systems with error variance constraints: the continuous-time case
Copyright [1999] IEEE. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of Brunel University's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to [email protected]. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.The paper is concerned with the state estimator design problem for perturbed linear continuous-time systems with H∞ norm and variance constraints. The perturbation is assumed to be time-invariant and norm-bounded and enters into both the state and measurement matrices. The problem we address is to design a linear state estimator such that, for all admissible measurable perturbations, the variance of the estimation error of each state is not more than the individual prespecified value, and the transfer function from disturbances to error state outputs satisfies the prespecified H∞ norm upper bound constraint, simultaneously. Existence conditions of the desired estimators are derived in terms of Riccati-type matrix inequalities, and the analytical expression of these estimators is also presented. A numerical example is provided to show the directness and effectiveness of the proposed design approac
Speculative Approximations for Terascale Analytics
Model calibration is a major challenge faced by the plethora of statistical
analytics packages that are increasingly used in Big Data applications.
Identifying the optimal model parameters is a time-consuming process that has
to be executed from scratch for every dataset/model combination even by
experienced data scientists. We argue that the incapacity to evaluate multiple
parameter configurations simultaneously and the lack of support to quickly
identify sub-optimal configurations are the principal causes. In this paper, we
develop two database-inspired techniques for efficient model calibration.
Speculative parameter testing applies advanced parallel multi-query processing
methods to evaluate several configurations concurrently. The number of
configurations is determined adaptively at runtime, while the configurations
themselves are extracted from a distribution that is continuously learned
following a Bayesian process. Online aggregation is applied to identify
sub-optimal configurations early in the processing by incrementally sampling
the training dataset and estimating the objective function corresponding to
each configuration. We design concurrent online aggregation estimators and
define halting conditions to accurately and timely stop the execution. We apply
the proposed techniques to distributed gradient descent optimization -- batch
and incremental -- for support vector machines and logistic regression models.
We implement the resulting solutions in GLADE PF-OLA -- a state-of-the-art Big
Data analytics system -- and evaluate their performance over terascale-size
synthetic and real datasets. The results confirm that as many as 32
configurations can be evaluated concurrently almost as fast as one, while
sub-optimal configurations are detected accurately in as little as a
fraction of the time
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