Distributed Fault Detection Using Relative Information in Linear Multi-Agent Networks

This paper addresses the problem of fault detection in the context of a collection of agents performing a shared task and exchanging relative information over a communication network. We resort to techniques in the literature to construct a meaningful observable system and overcome the issue that the system of systems is not observable. A solution involving Set-Valued Observers (SVOs) is proposed to estimate the state in a distributed fashion and a proof of convergence of the estimates is given under mild assumptions. The performance of the proposed algorithm is assessed through simulations

Finite-time average consensus in a Byzantine environment using Set-Valued Observers

This paper addresses the problem of consensus in the presence of Byzantine faults, modeled by an attacker injecting a perturbation in the state of the nodes of a network. It is firstly shown that Set-Valued Observers (SVOs) attain finite-time consensus, even in the case where the state estimates are not shared between nodes, at the expenses of requiring large horizons, thus rendering the computation problem intractable in the general case. A novel algorithm is therefore proposed that achieves finite-time consensus, even if the aforementioned requirement is dropped, by intersecting the set-valued state estimates of neighboring nodes, making it suitable for practical applications and enabling nodes to determine a stopping time. This is in contrast with the standard iterative solutions found in the literature, for which the algorithms typically converge asymptotically and without any guarantees regarding the maximum error of the final consensus value, under faulty environments. The algorithm suggested is evaluated in simulation, illustrating, in particular, the finite-time consensus property

Self-Triggered and Event-Triggered Set-Valued Observers

This paper addresses the problem of reducing the required network load and computational power for the implementation of Set-Valued Observers (SVOs) in Networked Control System (NCS). Event- and self-triggered strategies for NCS, modeled as discrete-time Linear Parameter-Varying (LPV) systems, are studied by showing how the triggering condition can be selected. The methodology provided can be applied to determine when it is required to perform a full (``classical'') computation of the SVOs, while providing low-complexity state overbounds for the remaining time, at the expenses of temporarily reducing the estimation accuracy. As part of the procedure, an algorithm is provided to compute a suitable centrally symmetric polytope that allows to find hyper-parallelepiped and ellipsoidal overbounds to the exact set-valued state estimates calculated by the SVOs. By construction, the proposed triggering techniques do not influence the convergence of the SVOs, as at some subsequent time instants, set-valued estimates are computed using the \emph{conventional} SVOs. Results are provided for the triggering frequency of the self-triggered strategy and two interesting cases: distributed systems when the dynamics of all nodes are equal up to a reordering of the matrix; and when the probability distribution of the parameters influencing the dynamics is known. The performance of the proposed algorithm is demonstrated in simulation by using a time-sensitive example

Fault detection for LPV systems using Set-Valued Observers: A coprime factorization approach

This paper addresses the problem of fault detection for linear parameter-varying systems in the presence of measurement noise and exogenous disturbances. The applicability of current methods is limited in the sense that, to increase accuracy, the detection requires a large number of past measurements and the boundedness of the set-valued estimates is only guaranteed for stable systems. In order to widen the class of systems to be modeled and also to reduce the associated computational cost, the aforementioned issues must be addressed. A solution involving left-coprime factorization and deadbeat observers is proposed in order to reduce the required number of past measurements without compromising accuracy and allowing the design of Set-Valued Observers (SVOs) for fault detection of unstable systems by using the resulting stable subsystems of the coprime factorization. The algorithm is shown to produce bounded set-valued estimates and an example is provided. Performance is assessed through simulations, illustrating, in particular that small-magnitude faults (compared to exogenous disturbances) can be detected under mild assumptions

A shell-model calculation in terms of correlated subsystems

A method for solving the shell-model equations in terms of a basis which includes correlated subsystems is presented. It is shown that the method allows drastic truncations of the basis to be made. The corresponding calculations are easy to perform and can be carried out rapidly

Regularity estimates for the solution and the free boundary to the obstacle problem for the fractional Laplacian

We use a characterization of the fractional Laplacian as a Dirichlet to Neumann operator for an appropriate differential equation to study its obstacle problem. We write an equivalent characterization as a thin obstacle problem. In this way we are able to apply local type arguments to obtain sharp regularity estimates for the solution and study the regularity of the free boundary

Stochastic networked control systems with dynamic protocols

We consider networked control systems in which sensors, controllers, and actuators communicate through a shared network that introduces stochastic intervals between transmissions, delays and packet drops. Access to the communication medium is mediated by a protocol that determines which node (one of the sensors, one of the actuators, or the controller) is allowed to transmit a message at each sampling/actuator-update time. We provide conditions for mean exponential stability of the networked closed loop in terms of matrix inequalities, both for investigating the stability of given protocols, such as static round-robin protocols and dynamic maximum error first-try once discard protocols, and to design new dynamic protocols. The main result entailed by these conditions is that if the networked closed loop is stable for a static protocol then we can provide a dynamic protocol for which the networked closed loop is also stable. The stability conditions also allow for obtaining an observer protocol pair that reconstructs the state of an LTI plant in a mean exponential sense and less conservative stability results than other conditions that previously appeared in the literatur

Surgical Treatment of Intravenous Leiomyomatosis: The Role of the IVC Filter

IntroductionIntravenous leiomyomatosis is a rare, life-threatening intravenous tumor associated with uterine leiomyomata.ReportThis report describes the case of a 45-year-old woman with a history of weakness and exertional dyspnea, and an extensive intracaval mass extending to the right side of the heart. The tumor was successfully removed in a two-stage surgical procedure with an inferior vena cava (IVC) filter deployed before the second stage. An extensive DVT was observed postoperatively.DiscussionSurgical removal is the only effective treatment for intravenous leiomyomatosis, and the rate of recurrence remains unclear. An IVC filter should be placed routinely to prevent postoperative or late (in case of recurrence) pulmonary embolism

H^s versus C^0-weighted minimizers

We study a class of semi-linear problems involving the fractional Laplacian under subcritical or critical growth assumptions. We prove that, for the corresponding functional, local minimizers with respect to a C^0-topology weighted with a suitable power of the distance from the boundary are actually local minimizers in the natural H^s-topology.Comment: 15 page

Nonlinear porous medium flow with fractional potential pressure

We study a porous medium equation, with nonlocal diffusion effects given by an inverse fractional Laplacian operator. We pose the problem in n-dimensional space for all t>0 with bounded and compactly supported initial data, and prove existence of a weak and bounded solution that propagates with finite speed, a property that is nor shared by other fractional diffusion models.Comment: 32 pages, Late