Recursive state estimation for discrete‐time nonlinear systems with event‐triggered data transmission,norm‐bounded uncertainties and multiple missing measurements

In this paper, we consider the recursive state estimation problem for a class of discrete‐time nonlinear systems with event‐triggered data transmission, norm‐bounded uncertainties, and multiple missing measurements. The phenomenon of event‐triggered communication mechanism occurs only when the specified event‐triggering condition is violated, which leads to a reduction in the number of excessive signal transmissions in a network. A sequence of independent Bernoulli random variables is employed to model the multiple measurements missing in the transmission. The norm‐bounded uncertainties that could be considered as external disturbances which lie in a bounded set. The purpose of the addressed filtering problem is to obtain an optimal robust recursive filter in the minimum‐variance sense such that with the simultaneous presence of event‐triggered data transmission, norm‐bounded uncertainties, and multiple missing measurements; the filtering error is minimized at each sampling time. By solving two Riccati‐like difference equations, the filter gain is calculated recursively. Based on the stochastic analysis theory, it is proved that the estimation error is bounded under certain conditions. Finally, two numerical examples are presented to demonstrate the effectiveness of the proposed algorithm. Copyright © 2016 John Wiley & Sons, Ltd.     

Dissipative control for state-saturated discrete time-varying systems with randomly occurring nonlinearities and missing measurements

In this paper, the dissipative control problem is investigated for a class of discrete time-varying systems with simultaneous presence of state saturations, randomly occurring nonlinearities as well as multiple missing measurements. In order to render more practical significance of the system model, some Bernoulli distributed white sequences with known conditional probabilities are adopted to describe the phenomena of the randomly occurring nonlinearities and the multiple missing measurements. The purpose of the addressed problem is to design a time-varying output-feedback controller such that the dissipativity performance index is guaranteed over a given finite-horizon. By introducing a free matrix with its infinity norm less than or equal to 1, the system state is bounded by a convex hull so that some sufficient conditions can be obtained in the form of recursive nonlinear matrix inequalities. A novel controller design algorithm is then developed to deal with the recursive nonlinear matrix inequalities. Furthermore, the obtained results are extended to the case when the state saturation is partial. Two numerical simulation examples are provided to demonstrate the effectiveness and applicability of the proposed controller design approach.     

Recursive filtering for state‐saturated systems with randomly occurring nonlinearities and missing measurements

This paper deals with the filtering problem for a class of discrete‐time state‐saturated systems subject to randomly occurring nonlinearities and missing measurements. A set of mutually independent Bernoulli random variables is used to describe the random occurrence of the missing measurements. Due to the simultaneous consideration of the state saturation, the randomly occurring nonlinearities, and the missing measurements, it is extremely hard to calculate the actual filtering error covariance in a closed form. As such, the objective of this paper is to construct an upper bound for the filtering error covariance and then design the filter parameters to minimize such an upper bound. The performance of the proposed filters is analyzed in terms of boundedness and monotonicity. Specially, we have shown that the minimum upper bound is always bounded under a mild assumption. Moreover, the relationship between the estimator performance and the arrival probability of the measurements is discussed. A numerical simulation is used to demonstrate the effectiveness of the filtering method.     

Robust fusion time‐varying Kalman estimators for multisensor networked systems with mixed uncertainties

This paper addresses the problem of designing robust fusion time‐varying Kalman estimators for a class of multisensor networked systems with mixed uncertainties including multiplicative noises, missing measurements, packet dropouts, and uncertain‐variance linearly correlated measurement and process white noises. By the augmented approach, the original system is converted into a stochastic parameter system with uncertain noise variances. Furthermore, applying the fictitious noise approach, the original system is converted into one with constant parameters and uncertain noise variances. According to the minimax robust estimation principle, based on the worst‐case system with the conservative upper bounds of the noise variances, the five robust fusion time‐varying Kalman estimators (predictor, filter, and smoother) are presented by using a unified design approach that the robust filter and smoother are designed based on the robust Kalman predictor, which include three robust weighted state fusion estimators with matrix weights, diagonal matrix weights, and scalar weights, a modified robust covariance intersection fusion estimator, and robust centralized fusion estimator. Their robustness is proved by using a combination method, which consists of Lyapunov equation approach, augmented noise approach, and decomposition approach of nonnegative definite matrix, such that their actual estimation error variances are guaranteed to have the corresponding minimal upper bounds for all admissible uncertainties. The accuracy relations among the robust local and fused time‐varying Kalman estimators are proved. A simulation example is shown with application to the continuous stirred tank reactor system to show the effectiveness and correctness of the proposed results.     

Automatic Detection and Repair Recommendation for Missing Checks

Missing checks for untrusted inputs used in security-sensitive operations is one of the major causes of various vulnerabilities. Efficiently detecting and repairing missing checks are essential for prognosticating potential vulnerabilities and improving code reliability. We propose a systematic static analysis approach to detect missing checks for manipulable data used in security-sensitive operations of C/C++ programs and recommend repair references. First, customized securitysensitive operations are located by lightweight static analysis. Then, the assailability of sensitive data used in securitysensitive operations is determined via taint analysis. And, the existence and the risk degree of missing checks are assessed. Finally, the repair references for high-risk missing checks are recommended. We implemented the approach into an automated and cross-platform tool named Vanguard based on Clang/LLVM 3.6.0. Large-scale experimental evaluation on open-source projects has shown its effectiveness and efficiency. Furthermore, Vanguard has helped us uncover five known vulnerabilities and 12 new bugs.     

井盖缺失警示及无线报警系统设计

针对井盖缺失不能及时警示行人及车辆、行政部门不能及时定位井盖缺失位置的安全问题,提出了一种井盖缺失自动检测并警示、实时无线报警的井盖智能系统.该系统以STC12C5A60S2为核心芯片,利用无线射频技术和GPRS无线数据传输技术,将井盖经纬度及其所在路段信息发送给计算机监测终端,并通过微信小程序帮助维修人员更精确地定位缺失井盖位置.实验结果表明,该系统实现了设计目标.     

基于加性噪声模型的缺失数据因果推断 *

推断数据间存在的因果关系是很多科学领域中的一个基础问题.然而现在暂时还没有快速有效的方法对缺失数据进行因果推断。为此,文中提出一种基于加性噪声模型下适应缺失数据的因果推断算法.该算法是基于加性噪声模型下利用最大似然估计法结合加权样本修复数据的思想构造以似然函数形式的模型评分函数,并以此度量模型相对于缺失数据集的优劣程度,通过迭代学习确定因果方向.每次迭代学习包括使用参数修复数据和在修复后的完整数据集下估计参数.该方法既解决了加性噪声模型中映射函数的参数学习困难性问题,又避免了现有学习方法所存在的主要问题。实验表明,在数据缺失比例扩大的情况下该算法仍具有较高识别能力.     

基于生存分析的GPS轨迹缺失规律挖掘

近年来,智能交通系统(Intelligent Transportation Systems,ITS)已成为提高交通系统性能和增强出行安全性的有效方式。但随着系统数据量的增加,数据缺失问题日益严重,其中由于车载GPS信号丢失导致的轨迹数据缺失是主要的研究问题之一。引起GPS轨迹缺失的原因的多样性造成数据补全工作困难,且至今很少有关于轨迹缺失规律的研究。针对GPS信号丢失原因多样化的问题,基于大量真实数据,首次将生存分析应用于数据缺失领域,提出了基于生存分析的GPS轨迹缺失规律挖掘模型(Survival Analysis-Missing Trajectory Pattern Mining,SA-MTPM)。首先通过生存函数描述信号丢失时长与丢失原因的关系,然后利用Cox回归模型分析信号丢失的关键因素。使用上海市强生出租车公司一个月内13666辆车的数据进行实验,结果表明GPS轨迹缺失存在一定规律,据此可以方便地对信号丢失事件进行识别分类,为进一步对大数据进行研究提供了参考。     

基于肌电信号容错分类的手部动作识别

针对肌电交互系统中因电极断开、损坏及数据传输中断等故障造成的数据错误/丢失问题,提出一种基于高斯混合模型的肌电信号容错分类方法,通过对肌电信号特征样本中错误/丢失数据边缘化或条件均值归错实现非完整数据样本分类.应用所提出的方法识别5种手部动作,实验结果表明,该方法的动作识别精度要高于传统的零归错与均值归错方法.最后,融合容错分类机制开发了肌电假手平台,在线实验验证了提出的方法可以有效提高肌电交互系统的鲁棒性.     

cDNA芯片缺失值处理对基于基因表达谱的疾病分类的影响

选取了4套cDNA芯片数据,分别运用补零和K近邻的方法,对有检测缺失的基因进行了补缺失值处理,分析了不同处理对支持向量机、K近邻分类器、决策树三种分类器分类效能的影响.结果显示: 在cDNA基因表达谱数据中,对检测缺失率不高于5%的基因补缺失值是一种较好的策略,这样可以保留较多的基因供后续的功能分析,同时仍然能够保持很高的疾病分类效能.