Maximum entropy properties of discrete-time first-order stable spline kernel

The first order stable spline (SS-1) kernel is used extensively in regularized system identification. In particular, the stable spline estimator models the impulse response as a zero-mean Gaussian process whose covariance is given by the SS-1 kernel. In this paper, we discuss the maximum entropy properties of this prior. In particular, we formulate the exact maximum entropy problem solved by the SS-1 kernel without Gaussian and uniform sampling assumptions. Under general sampling schemes, we also explicitly derive the special structure underlying the SS-1 kernel (e.g. characterizing the tridiagonal nature of its inverse), also giving to it a maximum entropy covariance completion interpretation. Along the way similar maximum entropy properties of the Wiener kernel are also given

Breastfeeding does not influence the development of inhibitors in haemophilia.

Our aim was to test the hypothesis that breastfeeding may reduce development of inhibitors in male infants with haemophilia by inducing an oral immune tolerance to factor VIII. To achieve that goal, we performed a structured epidemiological survey comprising all males born with severe haemophilia A (in all 100 patients, 19 with inhibitors) or haemophilia B (in all 16 patients, six with inhibitors) in Sweden in 1980-99. Our results show no protective effect of breastfeeding

Estimation of the mixing kernel and the disturbance covariance in IDE-based spatiotemporal systems

The integro-difference equation (IDE) is an increasingly popular mathematical model of spatiotemporal processes, such as brain dynamics, weather systems, and disease spread. We present an efficient approach for system identification based on correlation techniques for linear temporal systems that extended to spatiotemporal IDE-based models. The method is derived from the average (over time) spatial correlations of observations to calculate closed-form estimates of the spatial mixing kernel and the disturbance covariance function. Synthetic data are used to demonstrate the performance of the estimation algorithm

Prediction and Simulator Verification of Roll/Lateral Adverse Aeroservoelastic Rotorcraft–Pilot Couplings

The involuntary interaction of a pilot with an aircraft can be described as pilot-assisted oscillations. Such phenomena are usually only addressed late in the design process when they manifest themselves during ground/flight testing. Methods to be able to predict such phenomena as early as possible are therefore useful. This work describes a technique to predict the adverse aeroservoelastic rotorcraft–pilot couplings, specifically between a rotorcraft’s roll motion and the resultant involuntary pilot lateral cyclic motion. By coupling linear vehicle aeroservoelastic models and experimentally identified pilot biodynamic models, pilot-assisted oscillations and no-pilot-assisted oscillation conditions have been numerically predicted for a soft-in-plane hingeless helicopter with a lightly damped regressive lead–lag mode that strongly interacts with the roll modeat a frequency within the biodynamic band of the pilots. These predictions have then been verified using real-time flight-simulation experiments. The absence of any similar adverse couplings experienced while using only rigid-body models in the flight simulator verified that the observed phenomena were indeed aeroelastic in nature. The excellent agreement between the numerical predictions and the observed experimental results indicates that the techniques developed in this paper can be used to highlight the proneness of new or existing designs to pilot-assisted oscillation

On-to-off-path gaze shift cancellations lead to gaze concentration in cognitively loaded car drivers: A simulator study exploring gaze patterns in relation to a cognitive task and the traffic environment

Appropriate visual behaviour is necessary for safe driving. Many previous studies have found that when performing non-visual cognitive tasks, drivers typically display an increased amount of on-path glances, along with a deteriorated visual scanning pattern towards potential hazards at locations outside their future travel path (off-path locations). This is often referred to as a gaze concentration effect. However, what has not been explored is more precisely how and when gaze concentration arises in relation to the cognitive task, and to what extent the timing of glances towards traffic-situation relevant off-path locations is affected. To investigate these specific topics, a driving simulator study was carried out. Car drivers’ visual behaviour during execution of a cognitive task (n-back) was studied during two traffic scenarios; one when driving through an intersection and one when passing a hidden exit. Aside from the expected gaze concentration effect, several novel findings that may explain this effect were observed. It was found that gaze shifts from an on-path to an off-path location were inhibited during increased cognitive load. However, gaze shifts in the other direction, that is, from an off-path to an on-path location, remained unaffected. This resulted in on-path glances increasing in duration, while off-path glances decreased in number. Furthermore, the inhibited off-path glances were typically not compensated for later. That is, off-path glances were cancelled, not delayed. This was the case both in relation to the cognitive task (near-term) and the traffic environment (far-term). There was thus a general reduction in the number of glances towards situationally relevant off-path locations, but the timing of the remaining glances was unaffected. These findings provide a deeper understanding of the mechanism behind gaze concentration and can contribute to both understanding and prediction of safety relevant effects of cognitive load in car drivers

Aperture synthesis for gravitational-wave data analysis: Deterministic Sources

Gravitational wave detectors now under construction are sensitive to the phase of the incident gravitational waves. Correspondingly, the signals from the different detectors can be combined, in the analysis, to simulate a single detector of greater amplitude and directional sensitivity: in short, aperture synthesis. Here we consider the problem of aperture synthesis in the special case of a search for a source whose waveform is known in detail: \textit{e.g.,} compact binary inspiral. We derive the likelihood function for joint output of several detectors as a function of the parameters that describe the signal and find the optimal matched filter for the detection of the known signal. Our results allow for the presence of noise that is correlated between the several detectors. While their derivation is specialized to the case of Gaussian noise we show that the results obtained are, in fact, appropriate in a well-defined, information-theoretic sense even when the noise is non-Gaussian in character. The analysis described here stands in distinction to ``coincidence analyses'', wherein the data from each of several detectors is studied in isolation to produce a list of candidate events, which are then compared to search for coincidences that might indicate common origin in a gravitational wave signal. We compare these two analyses --- optimal filtering and coincidence --- in a series of numerical examples, showing that the optimal filtering analysis always yields a greater detection efficiency for given false alarm rate, even when the detector noise is strongly non-Gaussian.Comment: 39 pages, 4 figures, submitted to Phys. Rev.

Real-time experimental implementation of predictive control schemes in a small-scale pasteurization plant

Model predictive control (MPC) is one of the most used optimization-based control strategies for large-scale systems, since this strategy allows to consider a large number of states and multi-objective cost functions in a straightforward way. One of the main issues in the design of multi-objective MPC controllers, which is the tuning of the weights associated to each objective in the cost function, is treated in this work. All the possible combinations of weights within the cost function affect the optimal result in a given Pareto front. Furthermore, when the system has time-varying parameters, e.g., periodic disturbances, the appropriate weight tuning might also vary over time. Moreover, taking into account the computational burden and the selected sampling time in the MPC controller design, the computation time to find a suitable tuning is limited. In this regard, the development of strategies to perform a dynamical tuning in function of the system conditions potentially improves the closed-loop performance. In order to adapt in a dynamical way the weights in the MPC multi-objective cost function, an evolutionary-game approach is proposed. This approach allows to vary the prioritization weights in the proper direction taking as a reference a desired region within the Pareto front. The proper direction for the prioritization is computed by only using the current system values, i.e., the current optimal control action and the measurement of the current states, which establish the system cost function over a certain point in the Pareto front. Finally, some simulations of a multi-objective MPC for a real multi-variable case study show a comparison between the system performance obtained with static and dynamical tuning.Peer ReviewedPostprint (author's final draft

Experimental Results of Concurrent Learning Adaptive Controllers

Commonly used Proportional-Integral-Derivative based UAV flight controllers are often seen to provide adequate trajectory-tracking performance only after extensive tuning. The gains of these controllers are tuned to particular platforms, which makes transferring controllers from one UAV to other time-intensive. This paper suggests the use of adaptive controllers in speeding up the process of extracting good control performance from new UAVs. In particular, it is shown that a concurrent learning adaptive controller improves the trajectory tracking performance of a quadrotor with baseline linear controller directly imported from another quadrotors whose inertial characteristics and throttle mapping are very di fferent. Concurrent learning adaptive control uses specifi cally selected and online recorded data concurrently with instantaneous data and is capable of guaranteeing tracking error and weight error convergence without requiring persistency of excitation. Flight-test results are presented on indoor quadrotor platforms operated in MIT's RAVEN environment. These results indicate the feasibility of rapidly developing high-performance UAV controllers by using adaptive control to augment a controller transferred from another UAV with similar control assignment structure.United States. Office of Naval Research. Multidisciplinary University Research Initiative (Grant N000141110688)National Science Foundation (U.S.). Graduate Research Fellowship Program (Grant 0645960)Boeing Scientific Research Laboratorie

Neural Modeling and Control of Diesel Engine with Pollution Constraints

The paper describes a neural approach for modelling and control of a turbocharged Diesel engine. A neural model, whose structure is mainly based on some physical equations describing the engine behaviour, is built for the rotation speed and the exhaust gas opacity. The model is composed of three interconnected neural submodels, each of them constituting a nonlinear multi-input single-output error model. The structural identification and the parameter estimation from data gathered on a real engine are described. The neural direct model is then used to determine a neural controller of the engine, in a specialized training scheme minimising a multivariable criterion. Simulations show the effect of the pollution constraint weighting on a trajectory tracking of the engine speed. Neural networks, which are flexible and parsimonious nonlinear black-box models, with universal approximation capabilities, can accurately describe or control complex nonlinear systems, with little a priori theoretical knowledge. The presented work extends optimal neuro-control to the multivariable case and shows the flexibility of neural optimisers. Considering the preliminary results, it appears that neural networks can be used as embedded models for engine control, to satisfy the more and more restricting pollutant emission legislation. Particularly, they are able to model nonlinear dynamics and outperform during transients the control schemes based on static mappings.Comment: 15 page