Comparative evaluation of approaches in T.4.1-4.3 and working definition of adaptive module

The goal of this deliverable is two-fold: (1) to present and compare different approaches towards learning and encoding movements us- ing dynamical systems that have been developed by the AMARSi partners (in the past during the first 6 months of the project), and (2) to analyze their suitability to be used as adaptive modules, i.e. as building blocks for the complete architecture that will be devel- oped in the project. The document presents a total of eight approaches, in two groups: modules for discrete movements (i.e. with a clear goal where the movement stops) and for rhythmic movements (i.e. which exhibit periodicity). The basic formulation of each approach is presented together with some illustrative simulation results. Key character- istics such as the type of dynamical behavior, learning algorithm, generalization properties, stability analysis are then discussed for each approach. We then make a comparative analysis of the different approaches by comparing these characteristics and discussing their suitability for the AMARSi project

The Observability Radius of Networks

This paper studies the observability radius of network systems, which measures the robustness of a network to perturbations of the edges. We consider linear networks, where the dynamics are described by a weighted adjacency matrix, and dedicated sensors are positioned at a subset of nodes. We allow for perturbations of certain edge weights, with the objective of preventing observability of some modes of the network dynamics. To comply with the network setting, our work considers perturbations with a desired sparsity structure, thus extending the classic literature on the observability radius of linear systems. The paper proposes two sets of results. First, we propose an optimization framework to determine a perturbation with smallest Frobenius norm that renders a desired mode unobservable from the existing sensor nodes. Second, we study the expected observability radius of networks with given structure and random edge weights. We provide fundamental robustness bounds dependent on the connectivity properties of the network and we analytically characterize optimal perturbations of line and star networks, showing that line networks are inherently more robust than star networks.Comment: 8 pages, 3 figure

Graph-based learning under perturbations via total least-squares

Graphs are pervasive in different fields unveiling complex relationships between data. Two major graph-based learning tasks are topology identification and inference of signals over graphs. Among the possible models to explain data interdependencies, structural equation models (SEMs) accommodate a gamut of applications involving topology identification. Obtaining conventional SEMs though requires measurements across nodes. On the other hand, typical signal inference approaches “blindly trust” a given nominal topology. In practice however, signal or topology perturbations may be present in both tasks, due to model mismatch, outliers, outages or adversarial behavior. To cope with such perturbations, this work introduces a regularized total least-squares (TLS) approach and iterative algorithms with convergence guarantees to solve both tasks. Further generalizations are also considered relying on structured and/or weighted TLS when extra prior information on the perturbation is available. Analyses with simulated and real data corroborate the effectiveness of the novel TLS-based approaches

Tomographic inversion using ℓ1\ell_1-norm regularization of wavelet coefficients

We propose the use of $\ell_1$ regularization in a wavelet basis for the solution of linearized seismic tomography problems $Am=d$, allowing for the possibility of sharp discontinuities superimposed on a smoothly varying background. An iterative method is used to find a sparse solution $m$ that contains no more fine-scale structure than is necessary to fit the data $d$ to within its assigned errors.Comment: 19 pages, 14 figures. Submitted to GJI July 2006. This preprint does not use GJI style files (which gives wrong received/accepted dates). Corrected typ