112,277 research outputs found
Probabilistic models of individual and collective animal behavior
Recent developments in automated tracking allow uninterrupted,
high-resolution recording of animal trajectories, sometimes coupled with the
identification of stereotyped changes of body pose or other behaviors of
interest. Analysis and interpretation of such data represents a challenge: the
timing of animal behaviors may be stochastic and modulated by kinematic
variables, by the interaction with the environment or with the conspecifics
within the animal group, and dependent on internal cognitive or behavioral
state of the individual. Existing models for collective motion typically fail
to incorporate the discrete, stochastic, and internal-state-dependent aspects
of behavior, while models focusing on individual animal behavior typically
ignore the spatial aspects of the problem. Here we propose a probabilistic
modeling framework to address this gap. Each animal can switch stochastically
between different behavioral states, with each state resulting in a possibly
different law of motion through space. Switching rates for behavioral
transitions can depend in a very general way, which we seek to identify from
data, on the effects of the environment as well as the interaction between the
animals. We represent the switching dynamics as a Generalized Linear Model and
show that: (i) forward simulation of multiple interacting animals is possible
using a variant of the Gillespie's Stochastic Simulation Algorithm; (ii)
formulated properly, the maximum likelihood inference of switching rate
functions is tractably solvable by gradient descent; (iii) model selection can
be used to identify factors that modulate behavioral state switching and to
appropriately adjust model complexity to data. To illustrate our framework, we
apply it to two synthetic models of animal motion and to real zebrafish
tracking data.Comment: 26 pages, 11 figure
Multivariable norm optimal iterative learning control with auxiliary optimization
The paper describes a substantial extension of Norm Optimal Iterative Learning Control (NOILC) that permits tracking of a class of finite dimensional reference signals whilst simultaneously converging to the solution of a constrained quadratic optimization problem. The theory is presented in a general functional analytical framework using operators between chosen real Hilbert spaces. This is applied to solve problems in continuous time where tracking is only required at selected intermediate points of the time interval but, simultaneously, the solution is required to minimize a specified quadratic objective function of the input signals and chosen auxiliary (state) variables. Applications to the discrete time case, including the case of multi-rate sampling, are also summarized. The algorithms are motivated by practical need and provide a methodology for reducing undesirable effects such as payload spillage, vibration tendencies and actuator wear whilst maintaining the desired tracking accuracy necessary for task completion. Solutions in terms of NOILC methodologies involving both feedforward and feedback components offer the possibilities of greater robustness than purely feedforward actions. Robustness of the feedforward implementation is discussed and the work is illustrated by experimental results from a robotic manipulator
Universal Codes from Switching Strategies
We discuss algorithms for combining sequential prediction strategies, a task
which can be viewed as a natural generalisation of the concept of universal
coding. We describe a graphical language based on Hidden Markov Models for
defining prediction strategies, and we provide both existing and new models as
examples. The models include efficient, parameterless models for switching
between the input strategies over time, including a model for the case where
switches tend to occur in clusters, and finally a new model for the scenario
where the prediction strategies have a known relationship, and where jumps are
typically between strongly related ones. This last model is relevant for coding
time series data where parameter drift is expected. As theoretical ontributions
we introduce an interpolation construction that is useful in the development
and analysis of new algorithms, and we establish a new sophisticated lemma for
analysing the individual sequence regret of parameterised models
Application of MPC and sliding mode control to IFAC benchmark models
The comparison of Model Predictive Control (MPC) and Sliding Mode Control (SMC) are
presented in this paper. This paper investigates the performance of each controller as the navigation system
for IFAC benchmark ship models (cargo vessel and oil tanker). In this investigation the navigation system
regulates the heading angle of the two types of marine vessel with reference to a desired heading
trajectory. In this investigation, the result obtained from MPC is compared with a well-established control
methodology, namely Sliding Mode control theory. Wave disturbances and actuator limits are
implemented to provide a more realistic evaluation and comparison for the proposed control structure
Simultaneous Learning of Nonlinear Manifold and Dynamical Models for High-dimensional Time Series
The goal of this work is to learn a parsimonious and informative representation for high-dimensional time series. Conceptually, this comprises two distinct yet tightly coupled tasks: learning a low-dimensional manifold and modeling the dynamical process. These two tasks have a complementary relationship as the temporal constraints provide valuable neighborhood information for dimensionality reduction and conversely, the low-dimensional space allows dynamics to be learnt efficiently. Solving these two tasks simultaneously allows important information to be exchanged mutually. If nonlinear models are required to capture the rich complexity of time series, then the learning problem becomes harder as the nonlinearities in both tasks are coupled. The proposed solution approximates the nonlinear manifold and dynamics using piecewise linear models. The interactions among the linear models are captured in a graphical model. By exploiting the model structure, efficient inference and learning algorithms are obtained without oversimplifying the model of the underlying dynamical process. Evaluation of the proposed framework with competing approaches is conducted in three sets of experiments: dimensionality reduction and reconstruction using synthetic time series, video synthesis using a dynamic texture database, and human motion synthesis, classification and tracking on a benchmark data set. In all experiments, the proposed approach provides superior performance.National Science Foundation (IIS 0308213, IIS 0329009, CNS 0202067
Bayesian Nonparametric Inference of Switching Linear Dynamical Systems
Many complex dynamical phenomena can be effectively modeled by a system that
switches among a set of conditionally linear dynamical modes. We consider two
such models: the switching linear dynamical system (SLDS) and the switching
vector autoregressive (VAR) process. Our Bayesian nonparametric approach
utilizes a hierarchical Dirichlet process prior to learn an unknown number of
persistent, smooth dynamical modes. We additionally employ automatic relevance
determination to infer a sparse set of dynamic dependencies allowing us to
learn SLDS with varying state dimension or switching VAR processes with varying
autoregressive order. We develop a sampling algorithm that combines a truncated
approximation to the Dirichlet process with efficient joint sampling of the
mode and state sequences. The utility and flexibility of our model are
demonstrated on synthetic data, sequences of dancing honey bees, the IBOVESPA
stock index, and a maneuvering target tracking application.Comment: 50 pages, 7 figure
Switched predictive control design for optimal wet-clutch engagement
Modeling of hydraulic clutch transmissions is far from straightforward due to their nonlinear hybrid dynamics, i.e. switching between three dynamic phases. In this paper we identify a local linear model only for the constrained first phase, based on which a predictive controller is used to track a suitable engagement signal. The robustness of this controller in the latter two phases is guaranteed by making the constraints inactive and pre-tuning the control parameters based on its closed loop formulation and applying robust stability theorem. This controller is then implemented in real-time on a wet-clutch test setup and is shown to achieve optimal engagement
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