Linearly Solvable Stochastic Control Lyapunov Functions

This paper presents a new method for synthesizing stochastic control Lyapunov functions for a class of nonlinear stochastic control systems. The technique relies on a transformation of the classical nonlinear Hamilton-Jacobi-Bellman partial differential equation to a linear partial differential equation for a class of problems with a particular constraint on the stochastic forcing. This linear partial differential equation can then be relaxed to a linear differential inclusion, allowing for relaxed solutions to be generated using sum of squares programming. The resulting relaxed solutions are in fact viscosity super/subsolutions, and by the maximum principle are pointwise upper and lower bounds to the underlying value function, even for coarse polynomial approximations. Furthermore, the pointwise upper bound is shown to be a stochastic control Lyapunov function, yielding a method for generating nonlinear controllers with pointwise bounded distance from the optimal cost when using the optimal controller. These approximate solutions may be computed with non-increasing error via a hierarchy of semidefinite optimization problems. Finally, this paper develops a-priori bounds on trajectory suboptimality when using these approximate value functions, as well as demonstrates that these methods, and bounds, can be applied to a more general class of nonlinear systems not obeying the constraint on stochastic forcing. Simulated examples illustrate the methodology.Comment: Published in SIAM Journal of Control and Optimizatio

Visualization of the homogeneous charge compression ignition/controlled autoignition combustion process using two-dimensional planar laser-induced fluorescence imaging of formaldehyde

The paper reports an investigation into the HCCI/CAI combustion process using the two-dimensional PLIF technique. The PLIF of formaldehyde formed during the low-temperature reactions of HCCI/CAI combustion was exciting by a tunable dye laser at 355nm wavelength and detected by a gated ICCD camera. Times and locations of the two-stage autoignition of HCCI/CAI combustion were observed in a single cylinder optical engine for several fuel blends mixed with n-heptane and iso-octane. The results show, when pure n-heptane was used, the initial formation of formaldehyde and its subsequent burning were closely related to the start of the low temperature heat release stage and the start of the main heat release stage of HCCI combustion respectively. Meanwhile, it was found that the formation of formaldehyde was more affected by the charge temperature than by the fuel concentration. But its subsequent burning or the start of main heat release combustion toke place at those areas where both the fuel concentration and the charge temperature were sufficient high. As a result, it was found that the presence of stratified residual gases affected both the spatial location and the temporal site of autoignition in a HCCI/CAI combustion engine. All studied fuels were found having similar formaldehyde formation timings with n-heptane. This means that the presence of iso-octane did not affect the start of low temperature reactions apparently. However, the heat release during low temperature reaction was significantly reduced with the presence of iso-octane in the studied fuels. In addition, the presence of iso-octane retarded the start of the main combustion stage

Towards Long-endurance Flight: Design and Implementation of a Variable-pitch Gasoline-engine Quadrotor

Majority of today's fixed-pitch, electric-power quadrotors have short flight endurance ($<$ 1 hour) which greatly limits their applications. This paper presents a design methodology for the construction of a long-endurance quadrotor using variable-pitch rotors and a gasoline-engine. The methodology consists of three aspects. Firstly, the rotor blades and gasoline engine are selected as a pair, so that sufficient lift can be comfortably provided by the engine. Secondly, drivetrain and airframe are designed. Major challenges include airframe vibration minimization and power transmission from one engine to four rotors while keeping alternate rotors contra-rotating. Lastly, a PD controller is tuned to facilitate preliminary flight tests. The methodology has been verified by the construction and successful flight of our gasoline quadrotor prototype, which is designed to have a flight time of 2 to 3 hours and a maximum take-off weight of 10 kg.Comment: 6 page

Mobility-Aware Caching for Content-Centric Wireless Networks: Modeling and Methodology

As mobile services are shifting from "connection-centric" communications to "content-centric" communications, content-centric wireless networking emerges as a promising paradigm to evolve the current network architecture. Caching popular content at the wireless edge, including base stations (BSs) and user terminals (UTs), provides an effective approach to alleviate the heavy burden on backhaul links, as well as lowering delays and deployment costs. In contrast to wired networks, a unique characteristic of content-centric wireless networks (CCWNs) is the mobility of mobile users. While it has rarely been considered by existing works in caching design, user mobility contains various helpful side information that can be exploited to improve caching efficiency at both BSs and UTs. In this paper, we present a general framework on mobility-aware caching in CCWNs. Key properties of user mobility patterns that are useful for content caching will be firstly identified, and then different design methodologies for mobility-aware caching will be proposed. Moreover, two design examples will be provided to illustrate the proposed framework in details, and interesting future research directions will be identified.Comment: 16 pages, 5 figures, to appear in IEEE Communications Magazin