New results on periodic symbolic sequences of second order digital filters with two’s complement arithmetic

In this article, the second order digital filter with two’s complement arithmetic in [1] is considered. Necessary conditions for the symbolic sequences to be periodic after a number of iterations are given when the filter parameters are at b=a+1 and b=-a+1. Furthermore, for some particular values of a, even when one of the eigenvalues is outside the unit circle, the system may behave as a linear system after a number of iterations and the state vector may toggle between two states or converge to a fixed point at the steady state. The necessary and sufficient conditions for these phenomena are given in this article

Chaotic behaviors of stable second-order digital filters with two’s complement arithmetic

In this paper, the behaviors of stable second-order digital filters with two’s complement arithmetic are investigated. It is found that even though the poles are inside the unit circle and the trajectory converges to a fixed point on the phase plane, that fixed point is not necessarily the origin. That fixed point is found and the set of initial conditions corresponding to such trajectories is determined. This set of initial conditions is a set of polygons inside the unit square, whereas it is an ellipse for the marginally stable case. Also, it is found that the occurrence of limit cycles and chaotic fractal pattern on the phase plane can be characterized by the periodic and aperiodic behaviors of the symbolic sequences, respectively. The fractal pattern is polygonal, whereas it is elliptical for the marginally stable case

Synthesis of the magnetic field using transversal 3D coil system

Magnetic field is usually generated using magnets realized as a set of simple coils. In general, those magnets generate magnetic field with nonzero components in all directions. Usually during the design process only one component of the magnetic field is taken into account, and in the optimisation procedure the currents and positions of simple coils are found to minimize the error between the axial component of the magnetic field and the required magnetic field in the ROI. In this work, it is shown that if the high quality homogeneous magnetic field is generated then indeed one may neglect non-axial components. On the other hand, if the obtained magnetic field is not homogeneous either due to design requirements of too restrictive constrains, then all other components may severely deteriorate the quality of the magnetic field. In the second part of the paper, we show how to design a 3D transversal coil system to solve problems which are intractable in the 1D case

Intermingled basins in coupled Lorenz systems

We consider a system of two identical linearly coupled Lorenz oscillators, presenting synchro- nization of chaotic motion for a specified range of the coupling strength. We verify the existence of global synchronization and antisynchronization attractors with intermingled basins of attraction, such that the basin of one attractor is riddled with holes belonging to the basin of the other attractor and vice versa. We investigated this phenomenon by verifying the fulfillment of the mathematical requirements for intermingled basins, and also obtained scaling laws that characterize quantitatively the riddling of both basins for this system

Combination of exhaustive search and continuation method for the study of sinks in the Hénon map

Abstract-The problem of existence of stable periodic orbits (sinks) for the Hénon map in a neighborhood of classical parameter values is studied numerically. Several parameter values which sustain a sink are found. It is shown rigorously that the sinks exist. Regions of existence in the parameter space of the sinks are located using the continuation method

Viewing the efficiency of chaos control

This paper aims to cast some new light on controlling chaos using the OGY- and the Zero-Spectral-Radius methods. In deriving those methods we use a generalized procedure differing from the usual ones. This procedure allows us to conveniently treat maps to be controlled bringing the orbit to both various saddles and to sources with both real and complex eigenvalues. We demonstrate the procedure and the subsequent control on a variety of maps. We evaluate the control by examining the basins of attraction of the relevant controlled systems graphically and in some cases analytically

Simulation-based reinforcement learning for real-world autonomous driving

We use reinforcement learning in simulation to obtain a driving system controlling a full-size real-world vehicle. The driving policy takes RGB images from a single camera and their semantic segmentation as input. We use mostly synthetic data, with labelled real-world data appearing only in the training of the segmentation network. Using reinforcement learning in simulation and synthetic data is motivated by lowering costs and engineering effort. In real-world experiments we confirm that we achieved successful sim-to-real policy transfer. Based on the extensive evaluation, we analyze how design decisions about perception, control, and training impact the real-world performance

Lagrangian Reachabililty

We introduce LRT, a new Lagrangian-based ReachTube computation algorithm that conservatively approximates the set of reachable states of a nonlinear dynamical system. LRT makes use of the Cauchy-Green stretching factor (SF), which is derived from an over-approximation of the gradient of the solution flows. The SF measures the discrepancy between two states propagated by the system solution from two initial states lying in a well-defined region, thereby allowing LRT to compute a reachtube with a ball-overestimate in a metric where the computed enclosure is as tight as possible. To evaluate its performance, we implemented a prototype of LRT in C++/Matlab, and ran it on a set of well-established benchmarks. Our results show that LRT compares very favorably with respect to the CAPD and Flow* tools.Comment: Accepted to CAV 201