Robustness with dynamic IQCs: An exact state-space characterization of nominal stability with applications to robust estimation

For robustness analysis with integral quadratic constraints, we formulate a new positivity condition on the solution of the corresponding linear matrix inequality which is necessary and sufficient for nominal stability of the underlying system. The application of this technical result is illustrated by a complete solution of the L₂-gain and robust H₂-estimator design problems if the uncertainties are characterized by dynamic integral quadratic constraints.     

ProbExplorer: Uncertainty‐guided Exploration and Editing of Probabilistic Medical Image Segmentation

In this paper, we develop an interactive analysis and visualization tool for probabilistic segmentation results in medical imaging. We provide a systematic approach to analyze, interact and highlight regions of segmentation uncertainty. We introduce a set of visual analysis widgets integrating different approaches to analyze multivariate probabilistic field data with direct volume rendering. We demonstrate the user's ability to identify suspicious regions (e.g. tumors) and correct the misclassification results using a novel uncertainty‐based segmentation editing technique. We evaluate our system and demonstrate its usefulness in the context of static and time‐varying medical imaging datasets.     

A General Framework for Expressing Preferences in Causal Reasoning and Planning

We consider the problem of representing arbitrary preferencesin causal reasoning and planning systems. In planning, a preferencemay be seen as a goal or constraint that is desirable, but notnecessary, to satisfy. To begin, we define a very general querylanguage for histories, or interleaved sequences of world statesand actions. Based on this, we specify a second language inwhich preferences are defined. A single preference defines abinary relation on histories, indicating that one history ispreferred to the other. From this, one can define global preferenceorderings on the set of histories, the maximal elements of whichare the preferred histories. The approach is very general andflexible; thus it constitutes a ‘base’ languagein terms of which higher-level preferences may be defined. Tothis end, we investigate two fundamental types of preferencesthat we call choice and temporal preferences. We consider concretestrategies for these types of preferences and encode them interms of our framework. We suggest how to express aggregatesin the approach, allowing, e.g. the expression of a preferencefor histories with lowest total action costs. Last, our approachcan be used to express other approaches and so serves as a commonframework in which such approaches can be expressed and compared.We illustrate this by indicating how an approach due to Sonand Pontelli can be encoded in our approach, as well as thelanguage PDDL3.     

Dependable Low‐altitude Obstacle Avoidance for Robotic Helicopters Operating in Rural Areas

This paper presents a system enabling robotic helicopters to fly safely without user interaction at low altitude over unknown terrain with static obstacles. The system includes a novel reactive behavior‐based method that guides rotorcraft reliably to specified locations in sparsely occupied environments. System dependability is, among other things, achieved by utilizing proven system components in a component‐based design and incorporating safety margins and safety modes. Obstacle and terrain detection is based on a vertically mounted off‐the‐shelf two‐dimensional LIDAR system. We introduce two flight modes, pirouette descent and waggle cruise, which extend the field of view of the sensor by yawing the aircraft. The two flight modes ensure that all obstacles above a minimum size are detected in the direction of travel. The proposed system is designed for robotic helicopters with velocity and yaw control inputs and a navigation system that provides position, velocity, and attitude information. It is cost effective and can be easily implemented on a variety of helicopters of different sizes. We provide sufficient detail to facilitate the implementation on single‐rotor helicopters with a rotor diameter of approximately 1.8 m. The system was extensively flight‐tested in different real‐world scenarios in Queensland, Australia. The tests included flights beyond visual range without a backup pilot. Experimental results show that it is feasible to perform dependable autonomous flight using simple but effective methods. © 2013 Wiley Periodicals, Inc.     

Accuracy analysis of a covariance matching approach for identifying errors-in-variables systems

A system identification method for errors-in-variables problems based on covariance matching was recently proposed. In the first step, a small amount of covariances of noisy input–output data are computed, and then a parametric model is fitted to these covariances. In this paper, the method is further analyzed and the asymptotic accuracy of the parameter estimates is derived. An explicit algorithm for computing the asymptotic covariance matrix of the parameter estimates is given, and the identification method is shown to be asymptotically statistically efficient assuming that the given information is the computed covariances. As an important byproduct, an efficient algorithm is presented for computing the covariance matrix of the computed input–output covariances.     

Interpersonal exchanges in discussion forums: A study of learning communities in distance learning settings

Cooperative relationships are the foundation of a model of online learning based on communities. The development of a community depends on the interaction between community members. This study is based on the belief that the dynamics of exchange of thought, from a Piagetian perspective, are one possibility for understanding the process of interaction within a virtual community. The study therefore investigates the dynamics of conversations in discussion forums in order to lead to an understanding of the processes involved in the formation of virtual learning communities. The research path involved content analysis of messages, interaction mapping and an analysis of the relationship between them. The results indicate that there is a relationship between the texts of discussion forum messages and continuation of interpersonal exchanges.     

Estimation of material functions using system identification techniques

Material properties of an elastic material are characterized by the elastic modulus, which is real-valued and constant. For viscoelastic materials, such as plastics and polymers, the relationship between stress and strain is instead dynamic, and characterized by the complex-valued and frequency-dependent complex modulus. It is in this paper described how system identification techniques can be used to determine the complex modulus using strain data from wave propagation experiments on a test specimen. Modeling, derivation of estimators, and analysis of their numerical and statistical properties are included. Identifiability and experimental design are examined in some detail. Several practical examples are presented using real-world data, and a number of extensions are outlined.     

Autonomous landing at unprepared sites by a full-scale helicopter

Helicopters are valuable since they can land at unprepared sites; however, current unmanned helicopters are unable to select or validate landing zones (LZs) and approach paths. For operation in unknown terrain it is necessary to assess the safety of a LZ. In this paper, we describe a lidar-based perception system that enables a full-scale autonomous helicopter to identify and land in previously unmapped terrain with no human input.We describe the problem, real-time algorithms, perception hardware, and results. Our approach has extended the state of the art in terrain assessment by incorporating not only plane fitting, but by also considering factors such as terrain/skid interaction, rotor and tail clearance, wind direction, clear approach/abort paths, and ground paths.In results from urban and natural environments we were able to successfully classify LZs from point cloud maps. We also present results from 8 successful landing experiments with varying ground clutter and approach directions. The helicopter selected its own landing site, approaches, and then proceeds to land. To our knowledge, these experiments were the first demonstration of a full-scale autonomous helicopter that selected its own landing zones and landed.     

A GRL-compliant iStar extension for collaborative cyber-physical systems

Requirements Engineering - Collaborative cyber-physical systems are capable of forming networks at runtime to achieve goals that are unachievable for individual systems. They do so by connecting to...