Robust Fault Detection of Switched Linear Systems with State Delays

This correspondence deals with the problem of robust fault detection for discrete-time switched systems with state delays under an arbitrary switching signal. The fault detection filter is used as the residual generator, in which the filter parameters are dependent on the system mode. Attention is focused on designing the robust fault detection filter such that, for unknown inputs, control inputs, and model uncertainties, the estimation error between the residuals and faults is minimized. The problem of robust fault detection is converted into an H infin-filtering problem. By a switched Lyapunov functional approach, a sufficient condition for the solvability of this problem is established in terms of linear matrix inequalities. A numerical example is provided to demonstrate the effectiveness of the proposed method

KV-match: A Subsequence Matching Approach Supporting Normalization and Time Warping [Extended Version]

The volume of time series data has exploded due to the popularity of new applications, such as data center management and IoT. Subsequence matching is a fundamental task in mining time series data. All index-based approaches only consider raw subsequence matching (RSM) and do not support subsequence normalization. UCR Suite can deal with normalized subsequence match problem (NSM), but it needs to scan full time series. In this paper, we propose a novel problem, named constrained normalized subsequence matching problem (cNSM), which adds some constraints to NSM problem. The cNSM problem provides a knob to flexibly control the degree of offset shifting and amplitude scaling, which enables users to build the index to process the query. We propose a new index structure, KV-index, and the matching algorithm, KV-match. With a single index, our approach can support both RSM and cNSM problems under either ED or DTW distance. KV-index is a key-value structure, which can be easily implemented on local files or HBase tables. To support the query of arbitrary lengths, we extend KV-match to KV-match$_{DP}$, which utilizes multiple varied-length indexes to process the query. We conduct extensive experiments on synthetic and real-world datasets. The results verify the effectiveness and efficiency of our approach.Comment: 13 page

Generalized Anthropomorphic Functional Grasping with Minimal Demonstrations

This article investigates the challenge of achieving functional tool-use grasping with high-DoF anthropomorphic hands, with the aim of enabling anthropomorphic hands to perform tasks that require human-like manipulation and tool-use. However, accomplishing human-like grasping in real robots present many challenges, including obtaining diverse functional grasps for a wide variety of objects, handling generalization ability for kinematically diverse robot hands and precisely completing object shapes from a single-view perception. To tackle these challenges, we propose a six-step grasp synthesis algorithm based on fine-grained contact modeling that generates physically plausible and human-like functional grasps for category-level objects with minimal human demonstrations. With the contact-based optimization and learned dense shape correspondence, the proposed algorithm is adaptable to various objects in same category and a board range of robot hand models. To further demonstrate the robustness of the framework, over 10K functional grasps are synthesized to train our neural network, named DexFG-Net, which generates diverse sets of human-like functional grasps based on the reconstructed object model produced by a shape completion module. The proposed framework is extensively validated in simulation and on a real robot platform. Simulation experiments demonstrate that our method outperforms baseline methods by a large margin in terms of grasp functionality and success rate. Real robot experiments show that our method achieved an overall success rate of 79\% and 68\% for tool-use grasp on 3-D printed and real test objects, respectively, using a 5-Finger Schunk Hand. The experimental results indicate a step towards human-like grasping with anthropomorphic hands.Comment: 20 pages, 23 figures and 7 table

Control of spiral waves and turbulent states in a cardiac model by travelling-wave perturbations

We propose a travelling-wave perturbation method to control the spatiotemporal dynamics in a cardiac model. It is numerically demonstrated that the method can successfully suppress the wave instability (alternans in action potential duration) in the one-dimensional case and convert spiral waves and turbulent states to the normal travelling wave states in the two-dimensional case. An experimental scheme is suggested which may provide a new design for a cardiac defibrillator.Comment: 9 pages, 5 figure

Kernel Truncated Regression Representation for Robust Subspace Clustering

Subspace clustering aims to group data points into multiple clusters of which each corresponds to one subspace. Most existing subspace clustering approaches assume that input data lie on linear subspaces. In practice, however, this assumption usually does not hold. To achieve nonlinear subspace clustering, we propose a novel method, called kernel truncated regression representation. Our method consists of the following four steps: 1) projecting the input data into a hidden space, where each data point can be linearly represented by other data points; 2) calculating the linear representation coefficients of the data representations in the hidden space; 3) truncating the trivial coefficients to achieve robustness and block-diagonality; and 4) executing the graph cutting operation on the coefficient matrix by solving a graph Laplacian problem. Our method has the advantages of a closed-form solution and the capacity of clustering data points that lie on nonlinear subspaces. The first advantage makes our method efficient in handling large-scale datasets, and the second one enables the proposed method to conquer the nonlinear subspace clustering challenge. Extensive experiments on six benchmarks demonstrate the effectiveness and the efficiency of the proposed method in comparison with current state-of-the-art approaches.Comment: 14 page