19,326 research outputs found
PAC: A Novel Self-Adaptive Neuro-Fuzzy Controller for Micro Aerial Vehicles
There exists an increasing demand for a flexible and computationally
efficient controller for micro aerial vehicles (MAVs) due to a high degree of
environmental perturbations. In this work, an evolving neuro-fuzzy controller,
namely Parsimonious Controller (PAC) is proposed. It features fewer network
parameters than conventional approaches due to the absence of rule premise
parameters. PAC is built upon a recently developed evolving neuro-fuzzy system
known as parsimonious learning machine (PALM) and adopts new rule growing and
pruning modules derived from the approximation of bias and variance. These rule
adaptation methods have no reliance on user-defined thresholds, thereby
increasing the PAC's autonomy for real-time deployment. PAC adapts the
consequent parameters with the sliding mode control (SMC) theory in the
single-pass fashion. The boundedness and convergence of the closed-loop control
system's tracking error and the controller's consequent parameters are
confirmed by utilizing the LaSalle-Yoshizawa theorem. Lastly, the controller's
efficacy is evaluated by observing various trajectory tracking performance from
a bio-inspired flapping-wing micro aerial vehicle (BI-FWMAV) and a rotary wing
micro aerial vehicle called hexacopter. Furthermore, it is compared to three
distinctive controllers. Our PAC outperforms the linear PID controller and
feed-forward neural network (FFNN) based nonlinear adaptive controller.
Compared to its predecessor, G-controller, the tracking accuracy is comparable,
but the PAC incurs significantly fewer parameters to attain similar or better
performance than the G-controller.Comment: This paper has been accepted for publication in Information Science
Journal 201
Review of high-contrast imaging systems for current and future ground- and space-based telescopes I. Coronagraph design methods and optical performance metrics
The Optimal Optical Coronagraph (OOC) Workshop at the Lorentz Center in
September 2017 in Leiden, the Netherlands gathered a diverse group of 25
researchers working on exoplanet instrumentation to stimulate the emergence and
sharing of new ideas. In this first installment of a series of three papers
summarizing the outcomes of the OOC workshop, we present an overview of design
methods and optical performance metrics developed for coronagraph instruments.
The design and optimization of coronagraphs for future telescopes has
progressed rapidly over the past several years in the context of space mission
studies for Exo-C, WFIRST, HabEx, and LUVOIR as well as ground-based
telescopes. Design tools have been developed at several institutions to
optimize a variety of coronagraph mask types. We aim to give a broad overview
of the approaches used, examples of their utility, and provide the optimization
tools to the community. Though it is clear that the basic function of
coronagraphs is to suppress starlight while maintaining light from off-axis
sources, our community lacks a general set of standard performance metrics that
apply to both detecting and characterizing exoplanets. The attendees of the OOC
workshop agreed that it would benefit our community to clearly define
quantities for comparing the performance of coronagraph designs and systems.
Therefore, we also present a set of metrics that may be applied to theoretical
designs, testbeds, and deployed instruments. We show how these quantities may
be used to easily relate the basic properties of the optical instrument to the
detection significance of the given point source in the presence of realistic
noise.Comment: To appear in Proceedings of the SPIE, vol. 1069
Self-* overload control for distributed web systems
Unexpected increases in demand and most of all flash crowds are considered
the bane of every web application as they may cause intolerable delays or even
service unavailability. Proper quality of service policies must guarantee rapid
reactivity and responsiveness even in such critical situations. Previous
solutions fail to meet common performance requirements when the system has to
face sudden and unpredictable surges of traffic. Indeed they often rely on a
proper setting of key parameters which requires laborious manual tuning,
preventing a fast adaptation of the control policies. We contribute an original
Self-* Overload Control (SOC) policy. This allows the system to self-configure
a dynamic constraint on the rate of admitted sessions in order to respect
service level agreements and maximize the resource utilization at the same
time. Our policy does not require any prior information on the incoming traffic
or manual configuration of key parameters. We ran extensive simulations under a
wide range of operating conditions, showing that SOC rapidly adapts to time
varying traffic and self-optimizes the resource utilization. It admits as many
new sessions as possible in observance of the agreements, even under intense
workload variations. We compared our algorithm to previously proposed
approaches highlighting a more stable behavior and a better performance.Comment: The full version of this paper, titled "Self-* through self-learning:
overload control for distributed web systems", has been published on Computer
Networks, Elsevier. The simulator used for the evaluation of the proposed
algorithm is available for download at the address:
http://www.dsi.uniroma1.it/~novella/qos_web
Domain adaptation of weighted majority votes via perturbed variation-based self-labeling
In machine learning, the domain adaptation problem arrives when the test
(target) and the train (source) data are generated from different
distributions. A key applied issue is thus the design of algorithms able to
generalize on a new distribution, for which we have no label information. We
focus on learning classification models defined as a weighted majority vote
over a set of real-val ued functions. In this context, Germain et al. (2013)
have shown that a measure of disagreement between these functions is crucial to
control. The core of this measure is a theoretical bound--the C-bound (Lacasse
et al., 2007)--which involves the disagreement and leads to a well performing
majority vote learning algorithm in usual non-adaptative supervised setting:
MinCq. In this work, we propose a framework to extend MinCq to a domain
adaptation scenario. This procedure takes advantage of the recent perturbed
variation divergence between distributions proposed by Harel and Mannor (2012).
Justified by a theoretical bound on the target risk of the vote, we provide to
MinCq a target sample labeled thanks to a perturbed variation-based
self-labeling focused on the regions where the source and target marginals
appear similar. We also study the influence of our self-labeling, from which we
deduce an original process for tuning the hyperparameters. Finally, our
framework called PV-MinCq shows very promising results on a rotation and
translation synthetic problem
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Variable domain transformation for linear PAC analysis of mixed-signal systems
This paper describes a method to perform linear AC analysis on mixed-signal systems which appear strongly nonlinear in the voltage domain but are linear in other variable domains. Common circuits like phase/delay-locked loops and duty-cycle correctors fall into this category, since they are designed to be linear with respect to phases, delays, and duty-cycles of the input and output clocks, respectively. The method uses variable domain translators to change the variables to which the AC perturbation is applied and from which the AC response is measured. By utilizing the efficient periodic AC (PAC) analysis available in commercial RF simulators, the circuit’s linear transfer function in the desired variable domain can be characterized without relying on extensive transient simulations. Furthermore, the variable domain translators enable the circuits to be macromodeled as weakly-nonlinear systems in the chosen domain and then converted to voltage-domain models, instead of being modeled as strongly-nonlinear systems directly
PACMAS: A Personalized, Adaptive, and Cooperative MultiAgent System Architecture
In this paper, a generic architecture, designed to
support the implementation of applications aimed at managing
information among different and heterogeneous sources,
is presented. Information is filtered and organized according
to personal interests explicitly stated by the user. User pro-
files are improved and refined throughout time by suitable
adaptation techniques. The overall architecture has been called
PACMAS, being a support for implementing Personalized, Adaptive,
and Cooperative MultiAgent Systems. PACMAS agents are
autonomous and flexible, and can be made personal, adaptive and
cooperative, depending on the given application. The peculiarities
of the architecture are highlighted by illustrating three relevant
case studies focused on giving a support to undergraduate and
graduate students, on predicting protein secondary structure, and
on classifying newspaper articles, respectively
A review of domain adaptation without target labels
Domain adaptation has become a prominent problem setting in machine learning
and related fields. This review asks the question: how can a classifier learn
from a source domain and generalize to a target domain? We present a
categorization of approaches, divided into, what we refer to as, sample-based,
feature-based and inference-based methods. Sample-based methods focus on
weighting individual observations during training based on their importance to
the target domain. Feature-based methods revolve around on mapping, projecting
and representing features such that a source classifier performs well on the
target domain and inference-based methods incorporate adaptation into the
parameter estimation procedure, for instance through constraints on the
optimization procedure. Additionally, we review a number of conditions that
allow for formulating bounds on the cross-domain generalization error. Our
categorization highlights recurring ideas and raises questions important to
further research.Comment: 20 pages, 5 figure
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