Minimal set of generators of controllability space for singular linear dynamical systems

Due to the significant role played by singular systems in the form E ¿ x ( t ) = Ax ( t ) , on mathematical modeling of science and engineering problems; in the last years recent years its interest in the descriptive analysis of its structural and dynamic properties. However, much less effort has been devoted to studying the exact con- trollability by measuring the minimum set of controls needed to direct the entire system E ¿ x ( t ) = Ax ( t ) to any desired state. In this work, we focus the study on obtaining the set of all matrices B with a minimal number of columns, by making the singular system E ¿ x ( t ) = Ax ( t ) + Bu ( t ) controllable.Postprint (author's final draft

Ball on a beam: stabilization under saturated input control with large basin of attraction

This article is devoted to the stabilization of two underactuated planar systems, the well-known straight beam-and-ball system and an original circular beam-and-ball system. The feedback control for each system is designed, using the Jordan form of its model, linearized near the unstable equilibrium. The limits on the voltage, fed to the motor, are taken into account explicitly. The straight beam-and-ball system has one unstable mode in the motion near the equilibrium point. The proposed control law ensures that the basin of attraction coincides with the controllability domain. The circular beam-and-ball system has two unstable modes near the equilibrium point. Therefore, this device, never considered in the past, is much more difficult to control than the straight beam-and-ball system. The main contribution is to propose a simple new control law, which ensures by adjusting its gain parameters that the basin of attraction arbitrarily can approach the controllability domain for the linear case. For both nonlinear systems, simulation results are presented to illustrate the efficiency of the designed nonlinear control laws and to determine the basin of attraction

Sentiment analysis tools should take account of the number of exclamation marks!!!

There are various factors that affect the sentiment level expressed in textual comments. Capitalization of letters tends to mark something for attention and repeating of letters tends to strengthen the emotion. Emoticons are used to help visualize facial expressions which can affect understanding of text. In this paper, we show the effect of the number of exclamation marks used, via testing with twelve online sentiment tools. We present opinions gathered from 500 respondents towards “like” and “dislike” values, with a varying number of exclamation marks. Results show that only 20% of the online sentiment tools tested considered the number of exclamation marks in their returned scores. However, results from our human raters show that the more exclamation marks used for positive comments, the more they have higher “like” values than the same comments with fewer exclamations marks. Similarly, adding more exclamation marks for negative comments, results in a higher “dislike”

Computationally efficient solutions for tracking people with a mobile robot: an experimental evaluation of Bayesian filters

Modern service robots will soon become an essential part of modern society. As they have to move and act in human environments, it is essential for them to be provided with a fast and reliable tracking system that localizes people in the neighbourhood. It is therefore important to select the most appropriate filter to estimate the position of these persons. This paper presents three efficient implementations of multisensor-human tracking based on different Bayesian estimators: Extended Kalman Filter (EKF), Unscented Kalman Filter (UKF) and Sampling Importance Resampling (SIR) particle filter. The system implemented on a mobile robot is explained, introducing the methods used to detect and estimate the position of multiple people. Then, the solutions based on the three filters are discussed in detail. Several real experiments are conducted to evaluate their performance, which is compared in terms of accuracy, robustness and execution time of the estimation. The results show that a solution based on the UKF can perform as good as particle filters and can be often a better choice when computational efficiency is a key issue

Tracking Performance of the Scintillating Fiber Detector in the K2K Experiment

The K2K long-baseline neutrino oscillation experiment uses a Scintillating Fiber Detector (SciFi) to reconstruct charged particles produced in neutrino interactions in the near detector. We describe the track reconstruction algorithm and the performance of the SciFi after three years of operation.Comment: 24pages,18 figures, and 1 table. Preprint submitted to NI

SU(2) symmetry in a Hubbard model with spin-orbit coupling

We study the underlying symmetry in a spin-orbit coupled tight-binding model with Hubbard interaction. It is shown that, in the absence of the on-site interaction, the system possesses the SU(2) symmetry arising from the timereversal symmetry. The influence of the on-site interaction on the symmetry depends on the topology of the networks: The SU(2) symmetry is shown to be the spin rotation symmetry of a simply-connected lattice, so it still holds in the presence of the Hubbard correlation. In contrary, the on-site interaction breaks the SU(2) symmetry of a multi-connected lattice.Comment: 5 pages, 2 figure

Fermion Pairing Dynamics in the Relativistic Scalar Plasma

Using many-body techniques we obtain the time-dependent Gaussian approximation for interacting fermion-scalar field models. This method is applied to an uniform system of relativistic spin-1/2 fermion field coupled, through a Yukawa term, to a scalar field in 3+1 dimensions, the so-called quantum scalar plasma model. The renormalization for the resulting Gaussian mean-field equations, both static and dynamical, are examined and initial conditions discussed. We also investigate solutions for the gap equation and show that the energy density has a single minimum.Comment: 21 pages, latex, 4 postscript figures, new sections, some literary changes, notation corrections, accepted for publication in Phys. Rev

Effect of correlations on network controllability

A dynamical system is controllable if by imposing appropriate external signals on a subset of its nodes, it can be driven from any initial state to any desired state in finite time. Here we study the impact of various network characteristics on the minimal number of driver nodes required to control a network. We find that clustering and modularity have no discernible impact, but the symmetries of the underlying matching problem can produce linear, quadratic or no dependence on degree correlation coefficients, depending on the nature of the underlying correlations. The results are supported by numerical simulations and help narrow the observed gap between the predicted and the observed number of driver nodes in real networks

Plasma Oscillations and Expansion of an Ultracold Neutral Plasma

We report the observation of plasma oscillations in an ultracold neutral plasma. With this collective mode we probe the electron density distribution and study the expansion of the plasma as a function of time. For classical plasma conditions, i.e. weak Coulomb coupling, the expansion is dominated by the pressure of the electron gas and is described by a hydrodynamic model. Discrepancies between the model and observations at low temperature and high density may be due to strong coupling of the electrons.Comment: 4 pages, 4 figures. Accepted Phys. Rev. Let