839 research outputs found

    Computation-Communication Trade-offs and Sensor Selection in Real-time Estimation for Processing Networks

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    Recent advances in electronics are enabling substantial processing to be performed at each node (robots, sensors) of a networked system. Local processing enables data compression and may mitigate measurement noise, but it is still slower compared to a central computer (it entails a larger computational delay). However, while nodes can process the data in parallel, the centralized computational is sequential in nature. On the other hand, if a node sends raw data to a central computer for processing, it incurs communication delay. This leads to a fundamental communication-computation trade-off, where each node has to decide on the optimal amount of preprocessing in order to maximize the network performance. We consider a network in charge of estimating the state of a dynamical system and provide three contributions. First, we provide a rigorous problem formulation for optimal real-time estimation in processing networks in the presence of delays. Second, we show that, in the case of a homogeneous network (where all sensors have the same computation) that monitors a continuous-time scalar linear system, the optimal amount of local preprocessing maximizing the network estimation performance can be computed analytically. Third, we consider the realistic case of a heterogeneous network monitoring a discrete-time multi-variate linear system and provide algorithms to decide on suitable preprocessing at each node, and to select a sensor subset when computational constraints make using all sensors suboptimal. Numerical simulations show that selecting the sensors is crucial. Moreover, we show that if the nodes apply the preprocessing policy suggested by our algorithms, they can largely improve the network estimation performance.Comment: 15 pages, 16 figures. Accepted journal versio

    Public speaking and presentations a critical review: The caring speaker

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    Aims. It is assumed that the vast majority of the presentations we attend in our daily work leave much to be desired, due to the lack of a structural, methodological and professional approach. This thesis examines whether it is possible to improve individual performances in public speaking through a gradual, incremental, self-training approach. Methods. Over 100 sources (articles, books, papers, websites, video and audio material) have been reviewed to establish best practice in public speaking. A qualitative insight into how professionals (non-professional speakers) approach public speaking has been conducted. Finally a practical approach and tools for the improvement of nonprofessional speakers skills have been developed. Findings. Overall, the literature on public speaking fails to make the link between oratory performances and the personality and the context in which non-professional speakers operate. Objectives and salaries of non-professional speakers are rarely linked to their proficiency at the podium, with consequently very little time and opportunity for training or even preparation. Conclusion. Merging the good practice that emerge from the review of the literature, with the experience from the interviews with non-professional speakers, may have allowed us to find a practical approach to turn non-professional speaker into caring speakers.Objectivos. Supõe-se que a vasta maioria das apresentações públicas que presenciamos diariamente nos nossos contextos laborais não são totalmente satisfatórias, devido à falta de uma visão estruturante, metodológica e profissional. Esta tese procura aferir se é possível melhorar os desempenhos individuais em discursos em público utilizando uma perspectiva de auto-aprendizagem gradual e progressiva. Métodos. Mais de 100 fontes (artigos, livros, páginas Web, vídeos e material áudio) foram revistas para estabelecer as “boas práticas” de discursos em público. Foi conduzida uma análise qualitativa focalizando em como oradores não profissionais perspectivam discursos em público. Finalmente foram desenvolvidas ferramentas e uma perspectiva prática para uma melhoria do desempenho de oradores não profissionais. Resultados. Em geral, a literatura falha ao não encontrar a ligação entre a capacidade oratória em discursos em público e a personalidade e o contexto nos quais os oradores não profissionais estão inseridos. Raramente os objectivos e os salários de tais oradores estão relacionados com a sua performance, que reflectem consequentemente o pouco tempo e oportunidade para treino e preparação. Conclusão. Conseguindo combinar as “boas práticas” que emergem da revisão da literatura, com a experiência das entrevistas realizadas com oradores não profissionais, possibilitou-nos encontrar uma perspectiva prática para tornar oradores não profissionais em oradores empenhados
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