High-Order Leader-Follower Tracking Control under Limited Information Availability

Limited information availability represents a fundamental challenge for control of multi-agent systems, since an agent often lacks sensing capabilities to measure certain states of its own and can exchange data only with its neighbors. The challenge becomes even greater when agents are governed by high-order dynamics. The present work is motivated to conduct control design for linear and nonlinear high-order leader-follower multi-agent systems in a context where only the first state of an agent is measured. To address this open challenge, we develop novel distributed observers to enable followers to reconstruct unmeasured or unknown quantities about themselves and the leader and on such a basis, build observer-based tracking control approaches. We analyze the convergence properties of the proposed approaches and validate their performance through simulation

A Robust Quantum Random Access Memory

A "bucket brigade" architecture for a quantum random memory of $N=2^n$ memory cells needs $n(n+5)/2$ times of quantum manipulation on control circuit nodes per memory call. Here we propose a scheme, in which only average $n/2$ times manipulation is required to accomplish a memory call. This scheme may significantly decrease the time spent on a memory call and the average overall error rate per memory call. A physical implementation scheme for storing an arbitrary state in a selected memory cell followed by reading it out is discussed.Comment: 5 pages, 3 figure

Cross-Scale Cost Aggregation for Stereo Matching

Human beings process stereoscopic correspondence across multiple scales. However, this bio-inspiration is ignored by state-of-the-art cost aggregation methods for dense stereo correspondence. In this paper, a generic cross-scale cost aggregation framework is proposed to allow multi-scale interaction in cost aggregation. We firstly reformulate cost aggregation from a unified optimization perspective and show that different cost aggregation methods essentially differ in the choices of similarity kernels. Then, an inter-scale regularizer is introduced into optimization and solving this new optimization problem leads to the proposed framework. Since the regularization term is independent of the similarity kernel, various cost aggregation methods can be integrated into the proposed general framework. We show that the cross-scale framework is important as it effectively and efficiently expands state-of-the-art cost aggregation methods and leads to significant improvements, when evaluated on Middlebury, KITTI and New Tsukuba datasets.Comment: To Appear in 2013 IEEE Conference on Computer Vision and Pattern Recognition (CVPR). 2014 (poster, 29.88%

Competition and Burn Severity Determine Post-Fire Sapling Recovery in a Nationally Protected Boreal Forest of China: An Analysis from Very High-Resolution Satellite Imagery

Anticipating how boreal forest landscapes will change in response to changing fire regime requires disentangling the effects of various spatial controls on the recovery process of tree saplings. Spatially explicit monitoring of post-fire vegetation recovery through moderate resolution Landsat imagery is a popular technique but is filled with ambiguous information due to mixed pixel effects. On the other hand, very-high resolution (VHR) satellite imagery accurately measures crown size of tree saplings but has gained little attention and its utility for estimating leaf area index (LAI, m2/m2) and tree sapling abundance (TSA, seedlings/ha) in post-fire landscape remains untested. We compared the explanatory power of 30 m Landsat satellite imagery with 0.5-m WorldView-2 VHR imagery for LAI and TSA based on field sampling data, and subsequently mapped the distribution of LAI and TSA based on the most predictive relationships. A random forest (RF) model was applied to assess the relative importance and causal mechanisms of spatial controls on tree sapling recovery. The results showed that pixel percentage of canopy trees (PPCT) derived from VHR imagery outperform all Landsat-derived spectral indices for explaining variance of LAI (R2VHR = 0.676 vs. R2Landsat = 0.427) and TSA (R2VHR = 0.508 vs. R2Landsat = 0.499). The RF model explained an average of 55.5% (SD = 3.0%, MSE = 0.382, N = 50) of the variation of estimated LAI. Understory vegetation coverage (competition) and post-fire surviving mature trees (seed sources) were the most important spatial controls for LAI recovery, followed by burn severity (legacy effect), topographic factors (environmental filter) and nearest distance to unburned area (edge effect). These analyses allow us to conclude that in our study area, mitigating wildfire severity and size may increase forest resilience to wildfire damage. Given the easily-damaged seed banks and relatively short seed dispersal distance of coniferous trees, reasonable human help to natural recovery of coniferous forests is necessary for severe burns with a large patch size, particularly in certain areas. Our research shows the VHR WorldView-2 imagery better resolves key characteristics of forest landscapes like LAI and TSA than Landsat imagery, providing a valuable tool for land managers and researchers alike

2-Methyl-1-phenyl-1H-indole-3-carbo­nitrile

In the title compound, C16H12N2, the dihedral angle between the indole ring system and the pendant phenyl ring is 64.92 (5)°. The crystal packing features aromatic π–π stacking [centroid–centroid separation = 3.9504 (9) Å] and C—H⋯π inter­actions