Control of Towing Kites for Seagoing Vessels

In this paper we present the basic features of the flight control of the SkySails towing kite system. After introduction of coordinate definitions and basic system dynamics we introduce a novel model used for controller design and justify its main dynamics with results from system identification based on numerous sea trials. We then present the controller design which we successfully use for operational flights for several years. Finally we explain the generation of dynamical flight patterns.Comment: 12 pages, 18 figures; submitted to IEEE Trans. on Control Systems Technology; revision: Fig. 15 corrected, minor text change

Xampling: Signal Acquisition and Processing in Union of Subspaces

We introduce Xampling, a unified framework for signal acquisition and processing of signals in a union of subspaces. The main functions of this framework are two. Analog compression that narrows down the input bandwidth prior to sampling with commercial devices. A nonlinear algorithm then detects the input subspace prior to conventional signal processing. A representative union model of spectrally-sparse signals serves as a test-case to study these Xampling functions. We adopt three metrics for the choice of analog compression: robustness to model mismatch, required hardware accuracy and software complexities. We conduct a comprehensive comparison between two sub-Nyquist acquisition strategies for spectrally-sparse signals, the random demodulator and the modulated wideband converter (MWC), in terms of these metrics and draw operative conclusions regarding the choice of analog compression. We then address lowrate signal processing and develop an algorithm for that purpose that enables convenient signal processing at sub-Nyquist rates from samples obtained by the MWC. We conclude by showing that a variety of other sampling approaches for different union classes fit nicely into our framework.Comment: 16 pages, 9 figures, submitted to IEEE for possible publicatio

Sub-Nyquist Sampling: Bridging Theory and Practice

Sampling theory encompasses all aspects related to the conversion of continuous-time signals to discrete streams of numbers. The famous Shannon-Nyquist theorem has become a landmark in the development of digital signal processing. In modern applications, an increasingly number of functions is being pushed forward to sophisticated software algorithms, leaving only those delicate finely-tuned tasks for the circuit level. In this paper, we review sampling strategies which target reduction of the ADC rate below Nyquist. Our survey covers classic works from the early 50's of the previous century through recent publications from the past several years. The prime focus is bridging theory and practice, that is to pinpoint the potential of sub-Nyquist strategies to emerge from the math to the hardware. In that spirit, we integrate contemporary theoretical viewpoints, which study signal modeling in a union of subspaces, together with a taste of practical aspects, namely how the avant-garde modalities boil down to concrete signal processing systems. Our hope is that this presentation style will attract the interest of both researchers and engineers in the hope of promoting the sub-Nyquist premise into practical applications, and encouraging further research into this exciting new frontier.Comment: 48 pages, 18 figures, to appear in IEEE Signal Processing Magazin

A Quasar Microlensing Light Curve Generator for LSST

We present a tool to generate mock quasar microlensing light curves and sample them according to any observing strategy. An updated treatment of the fixed and random velocity components of observer, lens, and source is used, together with a proper alignment with the external shear defining the magnification map caustic orientation. Our tool produces quantitative results on high magnification events and caustic crossings, which we use to study three lensed quasars known to display microlensing, viz. RX J1131-1231, HE 0230-2130, and Q 2237+0305, as they would be monitored by The Rubin Observatory Legacy Survey of Space and Time (LSST). We conclude that depending on the location on the sky, the lens and source redshift, and the caustic network density, the microlensing variability may deviate significantly than the expected $\sim$20-year average time scale (Mosquera & Kochanek 2011, arXiv:1104.2356). We estimate that $\sim300$ high magnification events with $\Delta$mag$>1$ mag could potentially be observed by LSST each year. The duration of the majority of high magnification events is between 10 and 100 days, requiring a very high cadence to capture and resolve them. Uniform LSST observing strategies perform the best in recovering microlensing high magnification events. Our web tool can be extended to any instrument and observing strategy, and is freely available as a service at http://gerlumph.swin.edu.au/tools/lsst_generator/, along with all the related code.Comment: 10 pages, 6 figures, 2 tables. Published in MNRAS. Updated Table

Malleable coding for updatable cloud caching

In software-as-a-service applications provisioned through cloud computing, locally cached data are often modified with updates from new versions. In some cases, with each edit, one may want to preserve both the original and new versions. In this paper, we focus on cases in which only the latest version must be preserved. Furthermore, it is desirable for the data to not only be compressed but to also be easily modified during updates, since representing information and modifying the representation both incur cost. We examine whether it is possible to have both compression efficiency and ease of alteration, in order to promote codeword reuse. In other words, we study the feasibility of a malleable and efficient coding scheme. The tradeoff between compression efficiency and malleability cost-the difficulty of synchronizing compressed versions-is measured as the length of a reused prefix portion. The region of achievable rates and malleability is found. Drawing from prior work on common information problems, we show that efficient data compression may not be the best engineering design principle when storing software-as-a-service data. In the general case, goals of efficiency and malleability are fundamentally in conflict.This work was supported in part by an NSF Graduate Research Fellowship (LRV), Grant CCR-0325774, and Grant CCF-0729069. This work was presented at the 2011 IEEE International Symposium on Information Theory [1] and the 2014 IEEE International Conference on Cloud Engineering [2]. The associate editor coordinating the review of this paper and approving it for publication was R. Thobaben. (CCR-0325774 - NSF Graduate Research Fellowship; CCF-0729069 - NSF Graduate Research Fellowship)Accepted manuscrip

Robust Rotation Synchronization via Low-rank and Sparse Matrix Decomposition

This paper deals with the rotation synchronization problem, which arises in global registration of 3D point-sets and in structure from motion. The problem is formulated in an unprecedented way as a "low-rank and sparse" matrix decomposition that handles both outliers and missing data. A minimization strategy, dubbed R-GoDec, is also proposed and evaluated experimentally against state-of-the-art algorithms on simulated and real data. The results show that R-GoDec is the fastest among the robust algorithms.Comment: The material contained in this paper is part of a manuscript submitted to CVI

Variations of the McEliece Cryptosystem

Two variations of the McEliece cryptosystem are presented. The first one is based on a relaxation of the column permutation in the classical McEliece scrambling process. This is done in such a way that the Hamming weight of the error, added in the encryption process, can be controlled so that efficient decryption remains possible. The second variation is based on the use of spatially coupled moderate-density parity-check codes as secret codes. These codes are known for their excellent error-correction performance and allow for a relatively low key size in the cryptosystem. For both variants the security with respect to known attacks is discussed

CHARDA: Causal Hybrid Automata Recovery via Dynamic Analysis

We propose and evaluate a new technique for learning hybrid automata automatically by observing the runtime behavior of a dynamical system. Working from a sequence of continuous state values and predicates about the environment, CHARDA recovers the distinct dynamic modes, learns a model for each mode from a given set of templates, and postulates causal guard conditions which trigger transitions between modes. Our main contribution is the use of information-theoretic measures (1)~as a cost function for data segmentation and model selection to penalize over-fitting and (2)~to determine the likely causes of each transition. CHARDA is easily extended with different classes of model templates, fitting methods, or predicates. In our experiments on a complex videogame character, CHARDA successfully discovers a reasonable over-approximation of the character's true behaviors. Our results also compare favorably against recent work in automatically learning probabilistic timed automata in an aircraft domain: CHARDA exactly learns the modes of these simpler automata.Comment: 7 pages, 2 figures. Accepted for IJCAI 201