96,162 research outputs found
Time-and event-driven communication process for networked control systems: A survey
Copyright © 2014 Lei Zou et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.In recent years, theoretical and practical research topics on networked control systems (NCSs) have gained an increasing interest from many researchers in a variety of disciplines owing to the extensive applications of NCSs in practice. In particular, an urgent need has arisen to understand the effects of communication processes on system performances. Sampling and protocol are two fundamental aspects of a communication process which have attracted a great deal of research attention. Most research focus has been on the analysis and control of dynamical behaviors under certain sampling procedures and communication protocols. In this paper, we aim to survey some recent advances on the analysis and synthesis issues of NCSs with different sampling procedures (time-and event-driven sampling) and protocols (static and dynamic protocols). First, these sampling procedures and protocols are introduced in detail according to their engineering backgrounds as well as dynamic natures. Then, the developments of the stabilization, control, and filtering problems are systematically reviewed and discussed in great detail. Finally, we conclude the paper by outlining future research challenges for analysis and synthesis problems of NCSs with different communication processes.This work was supported in part by the National Natural Science Foundation of China under Grants 61329301, 61374127, and 61374010, the Royal Society of the UK, and the Alexander von Humboldt Foundation of Germany
Spectra: Robust Estimation of Distribution Functions in Networks
Distributed aggregation allows the derivation of a given global aggregate
property from many individual local values in nodes of an interconnected
network system. Simple aggregates such as minima/maxima, counts, sums and
averages have been thoroughly studied in the past and are important tools for
distributed algorithms and network coordination. Nonetheless, this kind of
aggregates may not be comprehensive enough to characterize biased data
distributions or when in presence of outliers, making the case for richer
estimates of the values on the network. This work presents Spectra, a
distributed algorithm for the estimation of distribution functions over large
scale networks. The estimate is available at all nodes and the technique
depicts important properties, namely: robust when exposed to high levels of
message loss, fast convergence speed and fine precision in the estimate. It can
also dynamically cope with changes of the sampled local property, not requiring
algorithm restarts, and is highly resilient to node churn. The proposed
approach is experimentally evaluated and contrasted to a competing state of the
art distribution aggregation technique.Comment: Full version of the paper published at 12th IFIP International
Conference on Distributed Applications and Interoperable Systems (DAIS),
Stockholm (Sweden), June 201
Modeling and identification of a quadrotor using LPV techniques
The aim of this project is to modelize a LPV model and to compare different identification methods. In order to accomplish that, first of all a white box model of the quadrotor has been provided. This model has been used to find a LPV description that can be used in this case. With this data various identification procedures has been tested. This project is focused in the use of particle filters to identify the parameters of the system
Probabilistic Methodology and Techniques for Artefact Conception and Development
The purpose of this paper is to make a state of the art on probabilistic methodology and techniques for artefact conception and development. It is the 8th deliverable of the BIBA (Bayesian Inspired Brain and Artefacts) project. We first present the incompletness problem as the central difficulty that both living creatures and artefacts have to face: how can they perceive, infer, decide and act efficiently with incomplete and uncertain knowledge?. We then introduce a generic probabilistic formalism called Bayesian Programming. This formalism is then used to review the main probabilistic methodology
and techniques. This review is organized in 3 parts: first the probabilistic models from Bayesian networks to Kalman filters and from sensor fusion to CAD systems, second the inference techniques and finally the learning and model acquisition and comparison methodologies. We conclude with the perspectives of the BIBA project as they rise from this state of the art
Inference for Differential Equation Models using Relaxation via Dynamical Systems
Statistical regression models whose mean functions are represented by
ordinary differential equations (ODEs) can be used to describe phenomenons
dynamical in nature, which are abundant in areas such as biology, climatology
and genetics. The estimation of parameters of ODE based models is essential for
understanding its dynamics, but the lack of an analytical solution of the ODE
makes the parameter estimation challenging. The aim of this paper is to propose
a general and fast framework of statistical inference for ODE based models by
relaxation of the underlying ODE system. Relaxation is achieved by a properly
chosen numerical procedure, such as the Runge-Kutta, and by introducing
additive Gaussian noises with small variances. Consequently, filtering methods
can be applied to obtain the posterior distribution of the parameters in the
Bayesian framework. The main advantage of the proposed method is computation
speed. In a simulation study, the proposed method was at least 14 times faster
than the other methods. Theoretical results which guarantee the convergence of
the posterior of the approximated dynamical system to the posterior of true
model are presented. Explicit expressions are given that relate the order and
the mesh size of the Runge-Kutta procedure to the rate of convergence of the
approximated posterior as a function of sample size
Scalable Verification of Markov Decision Processes
Markov decision processes (MDP) are useful to model concurrent process
optimisation problems, but verifying them with numerical methods is often
intractable. Existing approximative approaches do not scale well and are
limited to memoryless schedulers. Here we present the basis of scalable
verification for MDPSs, using an O(1) memory representation of
history-dependent schedulers. We thus facilitate scalable learning techniques
and the use of massively parallel verification.Comment: V4: FMDS version, 12 pages, 4 figure
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