A discrete-time stable controller for an omni-directional mobile robot based on an approximated model

An adaptive controller based on multi-input fuzzy rules emulated networks (MIFRENs) is introduced for omni-directional mobile robot systems in the discrete-time domain without any kinematic or dynamic models. An approximated model for unknown systems is developed by using two MIFRENs with an online learning algorithm in addition to the stability analysis. The main theorem in this model is proposed to guarantee closed-loop performance and system robustness for all adjustable parameters inside MIFRENs. The system is validated by an experimental setup with a FESTO omni-directional mobile robot called Robotino^®. The proposed algorithm is shown to have superior performance compared to that of an algorithm that uses only an embedded controller. The advantage of the MIFREN initial setting is verified comparing its results with those of a controller that is based on neural networks.     

Modelling series of studies with a common structure

Consider the situation where the Structuration des Tableaux à Trois Indices de la Statistique (STATIS) methodology is applied to a series of studies, each study being represented by data and weight matrices. Relations between studies may be captured by the Hilbert-Schmidt product of these matrices. Specifically, the eigenvalues and eigenvectors of the Hilbert-Schmidt matrix S may be used to obtain a geometrical representation of the studies. The studies in a series may further be considered to have a common structure whenever their corresponding points lie along the first axis. The matrix S can be expressed as the sum of a rank 1 matrix λuu^T with an error matrix E. Therefore, the components of the vector are sufficient to locate the points associated to the studies. Former models for S where vec(E) are mathematically tractable and yet do not take into account the symmetry of the matrix S. Thus a new symmetric model is proposed as well as the corresponding tests for a common structure. It is further shown how to assess the goodness of fit of such models. An application to the human immunodeficiency virus (HIV) infection is used for assessing the proposed model.     

Regularization of B-Spline Objects

By a d-dimensional B-spline object (denoted as Od), we mean a B-spline curve (d=1), a B-spline surface (d=2) or a B-spline volume (d=3). By regularization of a B-spline object Od we mean the process of relocating the control points of Od such that it approximates an isometric map of its definition domain in certain directions and is shape preserving. In this paper we develop an efficient regularization method for Od, d=1,2,3, based on solving weak form L²-gradient flows constructed from the minimization of certain regularizing energy functionals. These flows are integrated via the finite element method using B-spline basis functions. Our experimental results demonstrate that our new regularization methods are very effective.     

Relationship between the eccentric connectivity index and Zagreb indices

For a (molecular) graph, the first Zagreb index M₁ is equal to the sum of the squares of the degrees of the vertices, and the second Zagreb index M₂ is equal to the sum of the products of the degrees of pairs of adjacent vertices. If G is a connected graph with vertex set V(G), then the eccentric connectivity index of G, ξ^C(G), is defined as, ∑_vi∈V(G)d_ie_i, where d_i is the degree of a vertex v_i and e_i is its eccentricity. In this report we compare the eccentric connectivity index (ξ^C) and the Zagreb indices (M₁ and M₂) for chemical trees. Moreover, we compare the eccentric connectivity index (ξ^C) and the first Zagreb index (M₁) for molecular graphs.     

Triangulation of molecular surfaces

Given a molecule, which consists of a set of atoms, a molecular surface is defined for a spherical probe approximating a solvent molecule. Molecular surface is used for both the visualization of the molecule and the computation of various molecular properties such as the area and volume of a protein, which are important for studying problems such as protein docking and folding.In this paper, we present an O(n) time algorithm, in the worst case, for triangulating molecular surface based on the combinatorial information provided by the β-shape of the molecule with n atoms. The proposed algorithm takes advantage of the concise representation of topology among atoms stored in the β-shape.A molecular surface consists of two parts: a blending surface consisting of blending patches and a (solvent) contact surface consisting of (solvent) contact patches. For each blending patch, the algorithm uses compact masks for the construction of a triangular mesh in O(c^′) time in the worst case, where c^′ is the number of point evaluations on the blending patch. For each contact patch, the algorithm uses a template, for each atom type, for the triangulation of the boundary of the atom. Then, the triangular mesh is trimmed off by hyperplanes where each hyperplane corresponds to an arc of the boundary of the contact patch. The triangulation of a contact patch takes O(c^″) time in the worst case, where c^″ is the number of point evaluations on the boundary of an atom. Since there are at most O(n) patches, the worst case time complexity is O(n).The proposed algorithm also handles internal voids and guarantees the watertightness of the produced triangular mesh of a molecular surface. In addition, the level-of-detail is easily achieved as a by-product of the proposed scheme. The proposed algorithm is fully implemented and statistics from experiments are also collected.     

Three-dimensional beta shapes

The Voronoi diagram of a point set has been extensively used in various disciplines ever since it was first proposed. Its application realms have been even further extended to estimate the shape of point clouds when Edelsbrunner and Mücke introduced the concept of α-shape based on the Delaunay triangulation of a point set.In this paper, we present the theory of β-shape for a set of three-dimensional spheres as the generalization of the well-known α-shape for a set of points. The proposed β-shape fully accounts for the size differences among spheres and therefore it is more appropriate for the efficient and correct solution for applications in biological systems such as proteins.Once the Voronoi diagram of spheres is given, the corresponding β-shape can be efficiently constructed and various geometric computations on the sphere complex can be efficiently and correctly performed. It turns out that many important problems in biological systems such as proteins can be easily solved via the Voronoi diagram of atoms in proteins and β-shapes transformed from the Voronoi diagram.     

Super restricted edge connected Cartesian product graphs

An edge-cut F of a connected graph G is called a restricted edge-cut if G−F contains no isolated vertices. The minimum cardinality of all restricted edge-cuts is called the restricted edge-connectivity λ^′(G) of G. A graph G is said to be λ^′-optimal if λ^′(G)=ξ(G), where ξ(G) is the minimum edge-degree of G. A graph is said to be super-λ^′ if every minimum restricted edge-cut isolates an edge. This article gives a sufficient condition for Cartesian product graphs to be super-λ^′. Using this result, certain classes of networks which are recursively defined by the Cartesian product can be simply shown to be super-λ^′.     

Robust filtering for 2-D discrete-time linear systems with convex-bounded parameter uncertainty

This paper is concerned with the problems of robust H_∞ and H₂ filtering for 2-dimensional (2-D) discrete-time linear systems described by a Fornasini-Marchesini second model with matrices that depend affinely on convex-bounded uncertain parameters. By a suitable transformation, the system is represented by an equivalent difference-algebraic representation. A parameter-dependent Lyapunov function approach is then proposed for the design of 2-D stationary discrete-time linear filters that ensure either a prescribed H_∞ performance or H₂ performance for all admissible uncertain parameters. The filter designs are given in terms of linear matrix inequalities. Numerical examples illustrate the effectiveness of the proposed filter design methods.     

Shortest hop multipath algorithm for wireless sensor networks

Shortest hop or distance path is one of the most common methods used for relaying messages in a wide variety of networks. It provides an efficient message relaying to destination in terms of energy and time. There are many algorithms for constructing shortest hop or distance path. However, according to our knowledge, no algorithm for constructing a shortest hop multipath for wireless sensor networks (WSNs) has yet been proposed in the literature. In this paper, we propose a novel distributed shortest hop multipath algorithm for WSNs in order to generate energy efficient paths for data dissemination or routing. The proposed algorithm generates shortest hop braided multipath to be used for fault-tolerance or load-balancing. It guarantees the BFS tree and generates near optimal paths in O(V.D+V) message complexity and O(D²) time complexity regarding the communication costs towards the sink after termination of algorithm.     

Negative selection algorithms on strings with efficient training and linear-time classification

A string-based negative selection algorithm is an immune-inspired classifier that infers a partitioning of a string space Σ^? into “normal” and “anomalous” partitions from a training set S containing only samples from the “normal” partition. The algorithm generates a set of patterns, called “detectors”, to cover regions of the string space containing none of the training samples. Strings that match at least one of these detectors are then classified as “anomalous”. A major problem with existing implementations of this approach is that the detector generating step needs exponential time in the worst case. Here we show that for the two most widely used kinds of detectors, the r-chunk and r-contiguous detectors based on partial matching to substrings of length r, negative selection can be implemented more efficiently by avoiding generating detectors altogether: for each detector type, training set S⊆Σ^? and parameter r≤? one can construct an automaton whose acceptance behaviour is equivalent to the algorithm’s classification outcome. The resulting runtime is O(|S|?r|Σ|) for constructing the automaton in the training phase and O(?) for classifying a string.     

Representation theorem for probabilities on IFS-events

Rie?an gave in Rie?an (2004) [9] an axiomatic characterization of a probability on IFS-events and proved in Rie?an (2006) [10] a representation theorem for it. In Ren?ová [9], Ren?ová introduced the notions of additive φ-probability and strongly additive φ-probability and gave a representation theorem for strongly additive φ-probabilities.In this paper we give a generalization of the axiomatic characterization given by Rie?an in Rie?an (2006) [10]; from this, the representation theorem for strongly additive φ-probabilities will follow.     

Bounds on the OBDD-size of integer multiplication via universal hashing

Bryant [On the complexity of VLSI implementations and graph representations of boolean functions with applications to integer multiplication, IEEE Trans. Comput. 40 (1991) 205-213] has shown that any OBDD for the function MUL_n-1,n, i.e. the middle bit of the n-bit multiplication, requires at least 2^n/8 nodes. In this paper a stronger lower bound of essentially 2^n/2/61 is proven by a new technique, using a universal family of hash functions. As a consequence, one cannot hope anymore to verify e.g. 128-bit multiplication circuits using OBDD-techniques because the representation of the middle bit of such a multiplier requires more than 3·10¹⁷OBDD-nodes. Further, a first non-trivial upper bound of 7/3·2^4n/3 for the OBDD-size of MUL_n-1,n is provided.     

Unified approach to coefficient-based regularized regression

In this paper, we consider the coefficient-based regularized least-squares regression problem with the l^q-regularizer (1≤q≤2) and data dependent hypothesis spaces. Algorithms in data dependent hypothesis spaces perform well with the property of flexibility. We conduct a unified error analysis by a stepping stone technique. An empirical covering number technique is also employed in our study to improve sample error. Comparing with existing results, we make a few improvements: First, we obtain a significantly sharper learning rate that can be arbitrarily close to O(m⁻¹) under reasonable conditions, which is regarded as the best learning rate in learning theory. Second, our results cover the case q=1, which is novel. Finally, our results hold under very general conditions.     

Improved deterministic algorithms for weighted matching and packing problems

Based on the method of (n,k)-universal sets, we present a deterministic parameterized algorithm for the weighted rd-matching problem with time complexity O^∗(4^{(r−1)k+o(k)}), improving the previous best upper bound O^∗(4^rk+o(k)). In particular, the algorithm applied to the unweighted 3d-matching problem results in a deterministic algorithm with time O^∗(16^k+o(k)), improving the previous best result O^∗(21.26^k). For the weighted r-set packing problem, we present a deterministic parameterized algorithm with time complexity O^∗(2^{(2r−1)k+o(k)}), improving the previous best result O^∗(2^2rk+o(k)). The algorithm, when applied to the unweighted 3-set packing problem, has running time O^∗(32^k+o(k)), improving the previous best result O^∗(43.62^k+o(k)). Moreover, for the weighted r-set packing and weighted rd-matching problems, we give a kernel of size O(k^r), which is the first kernelization algorithm for the problems on weighted versions.     

Application of a new multi-agent Hybrid Co-evolution based Particle Swarm Optimisation methodology in ship design

In this paper, a multiple objective ‘Hybrid Co-evolution based Particle Swarm Optimisation’ methodology (HCPSO) is proposed. This methodology is able to handle multiple objective optimisation problems in the area of ship design, where the simultaneous optimisation of several conflicting objectives is considered. The proposed method is a hybrid technique that merges the features of co-evolution and Nash equilibrium with a ε-disturbance technique to eliminate the stagnation. The method also offers a way to identify an efficient set of Pareto (conflicting) designs and to select a preferred solution amongst these designs. The combination of co-evolution approach and Nash-optima contributes to HCPSO by utilising faster search and evolution characteristics. The design search is performed within a multi-agent design framework to facilitate distributed synchronous cooperation. The most widely used test functions from the formal literature of multiple objectives optimisation are utilised to test the HCPSO. In addition, a real case study, the internal subdivision problem of a ROPAX vessel, is provided to exemplify the applicability of the developed method.     

Sample-weighted clustering methods

Although there have been many researches on cluster analysis considering feature (or variable) weights, little effort has been made regarding sample weights in clustering. In practice, not every sample in a data set has the same importance in cluster analysis. Therefore, it is interesting to obtain the proper sample weights for clustering a data set. In this paper, we consider a probability distribution over a data set to represent its sample weights. We then apply the maximum entropy principle to automatically compute these sample weights for clustering. Such method can generate the sample-weighted versions of most clustering algorithms, such as k-means, fuzzy c-means (FCM) and expectation & maximization (EM), etc. The proposed sample-weighted clustering algorithms will be robust for data sets with noise and outliers. Furthermore, we also analyze the convergence properties of the proposed algorithms. This study also uses some numerical data and real data sets for demonstration and comparison. Experimental results and comparisons actually demonstrate that the proposed sample-weighted clustering algorithms are effective and robust clustering methods.     

Super connectivity of line graphs

The super connectivity κ^′ and the super edge-connectivity λ^′ are more refined network reliability indices than connectivity κ and edge-connectivity λ. This paper shows that for a connected graph G with order at least four rather than a star and its line graph L(G), κ^′(L(G))=λ^′(G) if and only if G is not super-λ^′. As a consequence, we obtain the result of Hellwig et al. [Note on the connectivity of line graphs, Inform. Process. Lett. 91 (2004) 7] that κ(L(G))=λ^′(G). Furthermore, the authors show that the line graph of a super-λ^′ graph is super-λ if the minimum degree is at least three.     

A subband coding approach to control under limited data rates and message losses

For the design of networked control systems, we employ a subband coding technique to efficiently use the available data rate. Such coding schemes have widely been used in signal processing for data compression. We take an approach suitable from the control perspective in that frequency characteristics of a controller are directly used. In particular, we propose a three-step design procedure for the overall controller having the following features: On the coder side, it uses a controller consisting of a filter bank whose outputs are subband signals of the control input. On the decoder side is another filter bank for reconstruction of the subband signals. This decoder is capable to account for random message losses that occur in communication and is designed via an H^∞-type method. For the quantizers in the coder, an efficient bit allocation scheme is also developed.     

Hierarchical trajectory refinement for a class of nonlinear systems

Trajectory generation for nonlinear control systems is an important and difficult problem. In this paper, we provide a constructive method for hierarchical trajectory refinement. The approach is based on the recent notion of φ-related control systems. Given a control affine system satisfying certain assumptions, we construct a φ-related control system of smaller dimension. Trajectories designed for the smaller, abstracted system are guaranteed, by construction, to be feasible for the original system. Constructive procedures are provided for refining trajectories from the coarser to the more detailed system.