1,138 research outputs found

    Resilient Learning-Based Control for Synchronization of Passive Multi-Agent Systems under Attack

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    In this paper, we show synchronization for a group of output passive agents that communicate with each other according to an underlying communication graph to achieve a common goal. We propose a distributed event-triggered control framework that will guarantee synchronization and considerably decrease the required communication load on the band-limited network. We define a general Byzantine attack on the event-triggered multi-agent network system and characterize its negative effects on synchronization. The Byzantine agents are capable of intelligently falsifying their data and manipulating the underlying communication graph by altering their respective control feedback weights. We introduce a decentralized detection framework and analyze its steady-state and transient performances. We propose a way of identifying individual Byzantine neighbors and a learning-based method of estimating the attack parameters. Lastly, we propose learning-based control approaches to mitigate the negative effects of the adversarial attack

    Estimation and stability of nonlinear control systems under intermittent information with applications to multi-agent robotics

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    This dissertation investigates the role of intermittent information in estimation and control problems and applies the obtained results to multi-agent tasks in robotics. First, we develop a stochastic hybrid model of mobile networks able to capture a large variety of heterogeneous multi-agent problems and phenomena. This model is applied to a case study where a heterogeneous mobile sensor network cooperatively detects and tracks mobile targets based on intermittent observations. When these observations form a satisfactory target trajectory, a mobile sensor is switched to the pursuit mode and deployed to capture the target. The cost of operating the sensors is determined from the geometric properties of the network, environment and probability of target detection. The above case study is motivated by the Marco Polo game played by children in swimming pools. Second, we develop adaptive sampling of targets positions in order to minimize energy consumption, while satisfying performance guarantees such as increased probability of detection over time, and no-escape conditions. A parsimonious predictor-corrector tracking filter, that uses geometrical properties of targets\u27 tracks to estimate their positions using imperfect and intermittent measurements, is presented. It is shown that this filter requires substantially less information and processing power than the Unscented Kalman Filter and Sampling Importance Resampling Particle Filter, while providing comparable estimation performance in the presence of intermittent information. Third, we investigate stability of nonlinear control systems under intermittent information. We replace the traditional periodic paradigm, where the up-to-date information is transmitted and control laws are executed in a periodic fashion, with the event-triggered paradigm. Building on the small gain theorem, we develop input-output triggered control algorithms yielding stable closed-loop systems. In other words, based on the currently available (but outdated) measurements of the outputs and external inputs of a plant, a mechanism triggering when to obtain new measurements and update the control inputs is provided. Depending on the noise environment, the developed algorithm yields stable, asymptotically stable, and Lp-stable (with bias) closed-loop systems. Control loops are modeled as interconnections of hybrid systems for which novel results on Lp-stability are presented. Prediction of a triggering event is achieved by employing Lp-gains over a finite horizon in the small gain theorem. By resorting to convex programming, a method to compute Lp-gains over a finite horizon is devised. Next, we investigate optimal intermittent feedback for nonlinear control systems. Using the currently available measurements from a plant, we develop a methodology that outputs when to update the control law with new measurements such that a given cost function is minimized. Our cost function captures trade-offs between the performance and energy consumption of the control system. The optimization problem is formulated as a Dynamic Programming problem, and Approximate Dynamic Programming is employed to solve it. Instead of advocating a particular approximation architecture for Approximate Dynamic Programming, we formulate properties that successful approximation architectures satisfy. In addition, we consider problems with partially observable states, and propose Particle Filtering to deal with partially observable states and intermittent feedback. Finally, we investigate a decentralized output synchronization problem of heterogeneous linear systems. We develop a self-triggered output broadcasting policy for the interconnected systems. Broadcasting time instants adapt to the current communication topology. For a fixed topology, our broadcasting policy yields global exponential output synchronization, and Lp-stable output synchronization in the presence of disturbances. Employing a converse Lyapunov theorem for impulsive systems, we provide an average dwell time condition that yields disturbance-to-state stable output synchronization in case of switching topology. Our approach is applicable to directed and unbalanced communication topologies.\u2

    Delay dynamics of neuromorphic optoelectronic nanoscale resonators: Perspectives and applications

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    With the recent exponential growth of applications using artificial intelligence (AI), the development of efficient and ultrafast brain-like (neuromorphic) systems is crucial for future information and communication technologies. While the implementation of AI systems using computer algorithms of neural networks is emerging rapidly, scientists are just taking the very first steps in the development of the hardware elements of an artificial brain, specifically neuromorphic microchips. In this review article, we present the current state of the art of neuromorphic photonic circuits based on solid-state optoelectronic oscillators formed by nanoscale double barrier quantum well resonant tunneling diodes. We address, both experimentally and theoretically, the key dynamic properties of recently developed artificial solid-state neuron microchips with delayed perturbations and describe their role in the study of neural activity and regenerative memory. This review covers our recent research work on excitable and delay dynamic characteristics of both single and autaptic (delayed) artificial neurons including all-or-none response, spike-based data encoding, storage, signal regeneration and signal healing. Furthermore, the neural responses of these neuromorphic microchips display all the signatures of extended spatio-temporal localized structures (LSs) of light, which are reviewed here in detail. By taking advantage of the dissipative nature of LSs, we demonstrate potential applications in optical data reconfiguration and clock and timing at high-speeds and with short transients. The results reviewed in this article are a key enabler for the development of high-performance optoelectronic devices in future high-speed brain-inspired optical memories and neuromorphic computing. (C) 2017 Author(s).Fundacao para a Ciencia e a Tecnologia (FCT) [UID/Multi/00631/2013]European Structural and Investment Funds (FEEI) through the Competitiveness and Internationalization Operational Program - COMPETE 2020National Funds through FCT [ALG-01-0145-FEDER-016432/POCI-01-0145-FEDER-016432]European Commission under the project iBROW [645369]project COMBINA [TEC2015-65212-C3-3-PAEI/FEDER UE]Ramon y Cajal fellowshipinfo:eu-repo/semantics/publishedVersio

    Order out of Randomness : Self-Organization Processes in Astrophysics

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    Self-organization is a property of dissipative nonlinear processes that are governed by an internal driver and a positive feedback mechanism, which creates regular geometric and/or temporal patterns and decreases the entropy, in contrast to random processes. Here we investigate for the first time a comprehensive number of 16 self-organization processes that operate in planetary physics, solar physics, stellar physics, galactic physics, and cosmology. Self-organizing systems create spontaneous {\sl order out of chaos}, during the evolution from an initially disordered system to an ordered stationary system, via quasi-periodic limit-cycle dynamics, harmonic mechanical resonances, or gyromagnetic resonances. The internal driver can be gravity, rotation, thermal pressure, or acceleration of nonthermal particles, while the positive feedback mechanism is often an instability, such as the magneto-rotational instability, the Rayleigh-B\'enard convection instability, turbulence, vortex attraction, magnetic reconnection, plasma condensation, or loss-cone instability. Physical models of astrophysical self-organization processes involve hydrodynamic, MHD, and N-body formulations of Lotka-Volterra equation systems.Comment: 61 pages, 38 Figure

    Roadmap on optical rogue waves and extreme events

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    The pioneering paper 'Optical rogue waves' by Solli et al (2007 Nature 450 1054) started the new subfield in optics. This work launched a great deal of activity on this novel subject. As a result, the initial concept has expanded and has been enriched by new ideas. Various approaches have been suggested since then. A fresh look at the older results and new discoveries has been undertaken, stimulated by the concept of 'optical rogue waves'. Presently, there may not by a unique view on how this new scientific term should be used and developed. There is nothing surprising when the opinion of the experts diverge in any new field of research. After all, rogue waves may appear for a multiplicity of reasons and not necessarily only in optical fibers and not only in the process of supercontinuum generation. We know by now that rogue waves may be generated by lasers, appear in wide aperture cavities, in plasmas and in a variety of other optical systems. Theorists, in turn, have suggested many other situations when rogue waves may be observed. The strict definition of a rogue wave is still an open question. For example, it has been suggested that it is defined as 'an optical pulse whose amplitude or intensity is much higher than that of the surrounding pulses'. This definition (as suggested by a peer reviewer) is clear at the intuitive level and can be easily extended to the case of spatial beams although additional clarifications are still needed. An extended definition has been presented earlier by N Akhmediev and E Pelinovsky (2010 Eur. Phys. J. Spec. Top. 185 1-4). Discussions along these lines are always useful and all new approaches stimulate research and encourage discoveries of new phenomena. Despite the potentially existing disagreements, the scientific terms 'optical rogue waves' and 'extreme events' do exist. Therefore coordination of our efforts in either unifying the concept or in introducing alternative definitions must be continued. From this point of view, a number of the scientists who work in this area of research have come together to present their research in a single review article that will greatly benefit all interested parties of this research direction. Whether the authors of this 'roadmap' have similar views or different from the original concept, the potential reader of the review will enrich their knowledge by encountering most of the existing views on the subject. Previously, a special issue on optical rogue waves (2013 J. Opt. 15 060201) was successful in achieving this goal but over two years have passed and more material has been published in this quickly emerging subject. Thus, it is time for a roadmap that may stimulate and encourage further research.Peer ReviewedPostprint (author's final draft

    Fault estimation for time-varying systems with Round-Robin protocol

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    summary:This paper is concerned with the design problem of finite-horizon HH_\infty fault estimator for a class of nonlinear time-varying systems with Round-Robin protocol scheduling. The faults are assumed to occur in a random way governed by a Bernoulli distributed white sequence. The communication between the sensor nodes and fault estimators is implemented via a shared network. In order to prevent the data from collisions, a Round-Robin protocol is utilized to orchestrate the transmission of sensor nodes. By means of the stochastic analysis technique and the completing squares method, a necessary and sufficient condition is established for the existence of fault estimator ensuring that the estimation error dynamics satisfies the prescribed HH_\infty constraint. The time-varying parameters of fault estimator are obtained by recursively solving a set of coupled backward Riccati difference equations. A simulation example is given to demonstrate the effectiveness of the proposed design scheme of the fault estimator
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