Direct synthesis of reduced order H controllers for a class of multivariable plants

Given an nth order, -control input, p-measured output generalized plant, this article proposes a simple, direct approach to design an output feedback H controller with order satisfying for , or for . For this purpose, the output feedback H control problem is transformed into an H state feedback problem for an augmented generalized system. A class of plants for which this transformation always exists and the ensuing controller has order as above, is identified. As a result, for such plants, the reduced order H controller gains are found just by solving a simple linear matrix inequality problem used in state feedback based H control. The efficacy of the proposed approach is studied on some benchmark examples.     

Mixed coordination mechanisms for scheduling games on hierarchical machines

In this paper, we study scheduling games under mixed coordination mechanisms on hierarchical machines. The two scheduling policies involved are ‐ and ‐, where ‐ (resp., ‐) policy sequences jobs in nondecreasing order of their hierarchies, and jobs of the same hierarchy in nonincreasing (resp., nondecreasing) order of their processing times. We first show the existence of a Nash equilibrium. Then we present the price of anarchy and the price of stability for the games with social costs of minimizing the makespan and maximizing the minimum machine load. All the bounds given in this paper are tight.     

A new -gain analysis framework for discrete-time switched systems based on predictive Lyapunov function

The work proposes the pre--gain analysis framework based on the newly raised nonweighted pre--gain performance index and predictive Lyapunov function, which is devoted to nonweighted -gain analysis and relevant control of discrete-time switched systems under mode-dependent average dwell time. This also provides new ideas for other disturbance-related studies. To begin with, the predictive Lyapunov function is established for switched nonlinear systems in the sense of better reflecting future system dynamics and future external disturbances. Hence, it is achievable to develop less conservative stability and nonweighted pre--gain criteria for switched linear systems. Further, a new disturbance-output expression is devised to match with the nonweighted pre--gain, whose function is to estimate and optimize the traditional nonweighted -gain of the underlying system through discussions. Then, a solvable condition is formulated to seek the piecewise time-dependent gains of switching controller in a convex structure, ensuring the global uniform exponential stability with nonweighted pre--gain and thereby attaining much smaller non-weighted -gain. Finally, the simulation comprised of a circuit system and a numerical example manifests the impressive potential of the obtained results for the purpose of preferable disturbance attenuation performances.     

Structural Analogy from a Single Image Pair

The task of unsupervised image‐to‐image translation has seen substantial advancements in recent years through the use of deep neural networks. Typically, the proposed solutions learn the characterizing distribution of two large, unpaired collections of images, and are able to alter the appearance of a given image, while keeping its geometry intact. In this paper, we explore the capabilities of neural networks to understand image structure given only a single pair of images, and . We seek to generate images that are structurally aligned: that is, to generate an image that keeps the appearance and style of , but has a structural arrangement that corresponds to . The key idea is to map between image patches at different scales. This enables controlling the granularity at which analogies are produced, which determines the conceptual distinction between style and content. In addition to structural alignment, our method can be used to generate high quality imagery in other conditional generation tasks utilizing images and only: guided image synthesis, style and texture transfer, text translation as well as video translation. Our code and additional results are available in https://github.com/rmokady/structural-analogy/     

TDBF: Two-dimensional belief function

How to efficiently handle uncertain information is still an open issue. In this paper, a new method to deal with uncertain information, named as two-dimensional belief function (TDBF), is presented. A TDBF has two components, T = (), both and are classical belief functions, while is a measure of reliable of . The definition of TDBF and the discounting algorithm are proposed. Compared with the classical discounting model, the proposed TDBF is more flexible and reasonable. Numerical examples are used to show the efficiency and application of the proposed method.     

Constrained shortest path tour problem: models,valid inequalities,and Lagrangian heuristics

The constrained shortest path tour problem (CSPTP) is an NP‐hard combinatorial optimization problem defined on a connected directed graph , where V is the set of nodes and A is the set of nonnegative weighted arcs. Given two distinct nodes , an integer value , and node disjoint subsets , , the CSPTP aims at finding the shortest trail from s to t while visiting at least one node in every subset , in this order. In this paper, we perform a comparative analysis between two integer programming (IP) models for the problem. We also propose valid inequalities and a Lagrangian‐based heuristic framework. Branch‐and‐bound algorithms from the literature, as well as a metaheuristic approach, are used for comparison. Extensive computational experiments carried out on benchmark data sets show the effective use of valid inequalities and the quality of bounds obtained by the Lagrangian framework. Because benchmark instances do not require a great computational effort of IP models in the sense that their optimality is reached at the root node of the CPLEX branch‐and‐cut search tree, we introduce new challenging CSPTP instances for which our solution approaches outperform existing ones for the problem.     

Correlation and correlation coefficient of generalized orthopair fuzzy sets

Generalized orthopair fuzzy sets are extensions of ordinary fuzzy sets by relaxing restrictions on the degrees of support for and support against. Correlation analysis is to measure the statistical relationships between two samples or variables. In this paper, we propose a function measuring the interrelation of two -rung orthopair fuzzy sets, whose range is the unit interval . First, the correlation and correlation coefficient of -rung orthopair membership grades are presented, and their basic properties are investigated. Second, these concepts are extended to -rung orthopair fuzzy sets on discrete universes. Then, we discuss their applications in cluster analysis under generalized orthopair fuzzy environments. And, a real-world problem involving the evaluation of companies is used to illustrate the detailed processes of the clustering algorithm. Finally, we introduce the correlation and correlation coefficient of -rung orthopair fuzzy sets on both bounded and unbounded continuous universes and provide some numerical examples to substantiate such arguments.     

Approximate Controllabilty of Semilinear Dynamic Equations on Time Scale

In this paper we study the approximate controllability of semilinear systems on time scale. In order to do so, we first give a complete characterization for the controllability of linear systems on time scale in terms of surjective linear operators in Hilbert spaces. Then we will prove that, under certain conditions on the nonlinear term, if the corresponding linear system is exactly controllable on , for any , then semilinear system on time scale is approximately controllable on .     

PAS: A new powerful and simple quantum computing simulator

In recent years, many researchers have been using CPU for quantum computing simulation. However, in reality, the simulation efficiency of the large-scale simulator is low on a single node. Therefore, striving to improve the simulator efficiency on a single node has become a serious challenge that many researchers need to solve. After many experiments, we found that much computational redundancy and frequent memory access are important factors that hinder the efficient operation of the CPU. This paper proposes a new powerful and simple quantum computing simulator: PAS (power and simple). Compared with existing simulators, PAS introduces four novel optimization methods: efficient hybrid vectorization, fast bitwise operation, memory access filtering, and quantum tracking. In the experiment, we tested the QFT (quantum Fourier transform) and RQC (random quantum circuits) of 21 to 30 qubits and selected the state-of-the-art simulator QuEST (quantum exact simulation toolkit) as the benchmark. After experiments, we have concluded that PAS compared with QuEST can achieve a mean speedup of (QFT), (RQC) (up to , ) on the Intel Xeon E5-2670 v3 CPU.     

An iterative approach for the discrete‐time dynamic control of Markov jump linear systems with partial information

The , and mixed dynamic output feedback control of Markov jump linear systems in a partial observation context is studied through an iterative approach. By partial information, we mean that neither the state variable x(k) nor the Markov chain θ(k) are available to the controller. Instead, we assume that the controller relies only on an output y(k) and a measured variable coming from a detector that provides the only information of the Markov chain θ(k). To solve the problem, we resort to an iterative method that starts with a state‐feedback controller and solves at each iteration a linear matrix inequality optimization problem. It is shown that this iterative algorithm yields to a nonincreasing sequence of upper bound costs so that it converges to a minimum value. The effectiveness of the iterative procedure is illustrated by means of two examples in which the conservatism between the upper bounds and actual costs is significantly reduced.     

The generalized discrete ‐centroid problem

The ‐centroid problem or leader–follower problem is generalized considering different customer choice rules where a customer may use facilities belonging to different firms, if the difference in travel distance (or time) is small enough. Assuming essential goods, some particular customer choice rules are analyzed. Linear programming formulations for the generalized ‐medianoid and ‐centroid problems are presented and an exact solution approach is applied. Some computational examples are included.     

Overview obstacle maps for obstacle‐aware navigation of autonomous drones

Achieving the autonomous deployment of aerial robots in unknown outdoor environments using only onboard computation is a challenging task. In this study, we have developed a solution to demonstrate the feasibility of autonomously deploying drones in unknown outdoor environments, with the main capability of providing an obstacle map of the area of interest in a short period of time. We focus on use cases where no obstacle maps are available beforehand, for instance, in search and rescue scenarios, and on increasing the autonomy of drones in such situations. Our vision‐based mapping approach consists of two separate steps. First, the drone performs an overview flight at a safe altitude acquiring overlapping nadir images, while creating a high‐quality sparse map of the environment by using a state‐of‐the‐art photogrammetry method. Second, this map is georeferenced, densified by fitting a mesh model and converted into an Octomap obstacle map, which can be continuously updated while performing a task of interest near the ground or in the vicinity of objects. The generation of the overview obstacle map is performed in almost real time on the onboard computer of the drone, a map of size is created in , therefore, with enough time remaining for the drone to execute other tasks inside the area of interest during the same flight. We evaluate quantitatively the accuracy of the acquired map and the characteristics of the planned trajectories. We further demonstrate experimentally the safe navigation of the drone in an area mapped with our proposed approach.     

Research on arithmetic operations over generalized orthopair fuzzy sets

The four fundamental operations of arithmetic for real (and complex) numbers are well known to everybody and quite often used in our daily life. And they have been extended to classical and generalized fuzzy environments with the demand of practical applications. In this paper, we present the arithmetic operations, including addition, subtraction, multiplication, and division operations, over -rung orthopair membership grades, where subtraction and division operations are both defined in two different ways. One is by solving the equation involving addition or multiplication operations, whereas the other is by determining the infimum or supremum of solutions of the corresponding inequality. Not all of -rung orthopairs can be performed by the former method but by the latter method, and it is proved that the former is a special case of the latter. Moreover, the elementary properties of arithmetic operations as well as mixed operations are extensively investigated. Finally, these arithmetic operations are pointwise defined on -rung orthopair fuzzy sets in which the membership degree of each element is a -rung orthopair.     

The ETH‐MAV Team in the MBZ International Robotics Challenge

This study describes the hardware and software systems of the Micro Aerial Vehicle (MAV) platforms used by the ETH Zurich team in the 2017 Mohamed Bin Zayed International Robotics Challenge (MBZIRC). The aim was to develop robust outdoor platforms with the autonomous capabilities required for the competition, by applying and integrating knowledge from various fields, including computer vision, sensor fusion, optimal control, and probabilistic robotics. This paper presents the major components and structures of the system architectures and reports on experimental findings for the MAV‐based challenges in the competition. Main highlights include securing the second place both in the individual search, pick, and place the task of Challenge 3 and the Grand Challenge, with autonomous landing executed in less than 1 min and a visual servoing success rate of over for object pickups.     

Set stabilization of boolean networks via sampled‐data control

The paper investigates the sampled‐data state feedback control (SDSFC) for set stabilization of Boolean control networks (BCNs). Set stabilization means that a system converges to a subset of the state space under certain controllers. Assume that the given subset is , where and sampling period is τ. We consider two conditions q ≤ τ;q > τ and for any given subset , calculate the corresponding largest control invariant subset (LCIS). Moreover, a design procedure to calculate all possible SDSFCs for set stabilization of BCNs is obtained. Ultimately, we provide an example to demonstrate the efficiency of the results.     

Crowdfunding mechanism comparison when product quality is uncertain

Many entrepreneurs have recently employed crowdfunding to raise money. Although there are several crowdfunding mechanisms, there is no clear dominant strategy for the type of mechanisms that should be adopted by the entrepreneur. This paper compares two commonly used mechanisms of crowdfunding by building a two‐person and two‐period model where the entrepreneur first makes the decision then two consumers follow. The all‐or‐nothing () mechanism allows entrepreneurs to set a funding target and keep nothing unless the goal is achieved. In contrast, entrepreneurs under the keep‐it‐all () mechanism must also set a target and keep any funds regardless of whether the goal has been achieved. To compare these two mechanisms, we assume that customers are not sure about the quality of the product, which is very common in reward‐based crowdfunding. Using a unified model, our results show that large or poorly scalable projects are more likely to choose the mechanism.     

Optimal linear combination of sensors and actuators to enforce an interior conic open‐loop system

This paper presents techniques to linearly combine the sensor measurements and/or actuator inputs of a linear time‐invariant system to obtain a new system that is interior conic with prescribed bounds. In the optimal sensor combination problem, a desired system output is defined, and in the optimal actuator combination problem, a desired system input is defined, along with a frequency bandwidth in which the desired system input or output should be matched. The simultaneous optimal sensor and actuator combination problem includes desired system outputs and inputs. In all cases, the weighted or norm of the difference between the system with linearly combined sensors or actuators and the desired system is minimized while rendering the new system interior conic with prescribed bounds. The weighting transfer matrix used in the ‐ or ‐optimization problem is determined by the frequency bandwidth of interest. The individual sensor and actuator combination methods involve linear matrix inequality constraints and are posed as convex optimization problems, whereas the combined sensor and actuator method is an iterative procedure composed of convex optimization steps. Numerical examples illustrate superior tracking performance with the proposed sensor and actuator combination techniques over comparable techniques in the literature when implemented with a simple feedback controller. Robust asymptotic stability of the closed‐loop system to plant uncertainty is demonstrated in the numerical examples.     

Stubborn state estimation for nonlinear distributed parameter systems subject to measurement outliers

In this article, the state estimation problem is investigated for a class of distributed parameter systems (DPSs). In order to estimate the state of DPSs, we give a partition of spatial interval with a finite sequence and, on each subinterval, one sensor is placed to receive the measurements from the DPS. Due to the unexpected environment changes, the measurements will probably contain some outliers. To eliminate the effects of the possibly occurring outliers, we construct a stubborn state estimator where the innovation is constrained by a saturation function. By using Lyapunov functional, Wirtinger inequality and piecewise integration, some sufficient conditions are obtained under which the resulting estimation error system is exponentially stable and the performance requirement is satisfied. According to the obtained analysis results, the desired state estimator is designed in terms of the solution to a set of matrix inequalities. Finally, a numerical simulation example is given to verify the effectiveness of the proposed state estimation scheme.     

Linear-time algorithms for eliminating claws in graphs

Since many -complete graph problems are polynomial-time solvable when restricted to claw-free graphs, we study the problem of determining the distance of a given graph to a claw-free graph, considering vertex elimination a measure. Claw-free Vertex Deletion (CFVD) consists of determining the minimum number of vertices to be removed from a graph such that the resulting graph is claw-free. Although CFVD is -hard in general and recognizing claw-free graphs is still a challenge, where the current best deterministic algorithm for a graph G consists of performing executions of the best algorithm for matrix multiplication, we present linear-time algorithms for CFVD on weighted block graphs and weighted graphs with bounded treewidth. Furthermore, we show that this problem on forests can be solved in linear time by a simpler algorithm, and we determine the exact values for full k-ary trees. On the other hand, we show that CFVD is -hard even when the input graph is a split graph. We also show that the problem is hard to be approximated within any constant factor better than 2, assuming the unique games conjecture.