Stabilization of strict‐feedback nonlinear systems with input delay using closed‐loop predictors

In this paper, we consider the control problem of strict‐feedback nonlinear systems with time‐varying input and output delays. The approach is based on the usual observer/predictor/feedback approach, but the novelty is the use of the closed‐loop dynamics in the predictor. This approach allows to develop two designs, an instantaneous predictor and a delay differential equation‐based predictor, that both attain the same performance in terms of system trajectories and input signal as in the case with no delays. The design based on delay differential equations allows to build a cascade of predictors to deal with arbitrarily large delay bounds. The resulting controller is much simpler to implement than classical infinite‐dimensional predictors, and it is robust with respect to actuation and measurement disturbances. We illustrate the approach with an application to the control of a chaotic system with input delay. Copyright © 2016 John Wiley & Sons, Ltd.     

Cooperative caging and transport using autonomous aquatic surface vehicles

We present a study on the cooperative control of two autonomous surface vehicles performing a caging and transport mission on the water surface. The two vehicles, connected to each other by means of a floating flexible rope, are required to capture a floating target from a given location, and transport it to a designated position. We focus on the coordination and control strategy to meet these requirements, and on its implementation on two under-actuated vehicles. We describe a multi-layered control architecture which achieves the goal, followed by simulation studies and field experiments with the two vehicles caging and transporting a floating target on the surface of a lake.     

Empirical Evaluation of Software Maintenance Technologies

Technology evaluation is part of the decision-making process of any software organization. Unlike conventional wisdom, empirical evaluation strives to avoid biased conclusions by relying on observation and looking for pitfalls in the evaluation process. In this paper, we provide a summary of the maintenance studies presented in the session ‘Study and assessment of (new) technologies’ of the International Workshop on Empirical Studies of Software Maintenance (WESS '96), and also report on the working group discussion which focused on common problems and open issues in the field of technology evaluation. These empirical studies are then classified according to a multi-dimensional framework to synthesize the state of the research in technology evaluation and ultimately discover interesting patterns. This revised version was published online in July 2006 with corrections to the Cover Date.     

The multi-modal interface of Robot-Era multi-robot services tailored for the elderly

Socially assistive robotic platforms are now a realistic option for the long-term care of ageing populations. Elderly users may benefit from many services provided by robots operating in different environments, such as providing assistance inside apartments, serving in shared facilities of buildings or guiding people outdoors. In this paper, we present the experience gained within the EU FP7 ROBOT-ERA project towards the objective of implementing easy-to-use and acceptable service robotic system for the elderly. In particular, we detail the user-centred design and the experimental evaluation in realistic environments of a web-based multi-modal user interface tailored for elderly users of near future multi-robot services. Experimental results demonstrate positive evaluation of usability and willingness to use by elderly users, especially those less experienced with technological devices who could benefit more from the adoption of robotic services. Further analyses showed how multi-modal modes of interaction support more flexible and natural elderly–robot interaction, make clear the benefits for the users and, therefore, increase its acceptability. Finally, we provide insights and lessons learned from the extensive experimentation, which, to the best of our knowledge, is one of the largest experimentation of a multi-robot multi-service system so far.     

A survey of parallel execution strategies for transitive closure and logic programs

An important feature of database technology of the nineties is the use of parallelism for speeding up the execution of complex queries. This technology is being tested in several experimental database architectures and a few commercial systems for conventional select-project-join queries. In particular, hash-based fragmentation is used to distribute data to disks under the control of different processors in order to perform selections and joins in parallel. With the development of new query languages, and in particular with the definition of transitive closure queries and of more general logic programming queries, the new dimension of recursion has been added to query processing. Recursive queries are complex; at the same time, their regular structure is particularly suited for parallel execution, and parallelism may give a high efficiency gain. We survey the approaches to parallel execution of recursive queries that have been presented in the recent literature. We observe that research on parallel execution of recursive queries is separated into two distinct subareas, one focused on the transitive closure of Relational Algebra expressions, the other one focused on optimization of more general Datalog queries. Though the subareas seem radically different because of the approach and formalism used, they have many common features. This is not surprising, because most typical Datalog queries can be solved by means of the transitive closure of simple algebraic expressions. We first analyze the relationship between the transitive closure of expressions in Relational Algebra and Datalog programs. We then review sequential methods for evaluating transitive closure, distinguishing iterative and direct methods. We address the parallelization of these methods, by discussing various forms of parallelization. Data fragmentation plays an important role in obtaining parallel execution; we describe hash-based and semantic fragmentation. Finally, we consider Datalog queries, and present general methods for parallel rule execution; we recognize the similarities between these methods and the methods reviewed previously, when the former are applied to linear Datalog queries. We also provide a quantitative analysis that shows the impact of the initial data distribution on the performance of methods. Recommended by: Patrick Valduriez     

Multistrategy Learning and Theory Revision

This article presents the system WHY, which learns and updates a diagnostic knowledge base using domain knowledge and a set of examples. The a priori knowledge consists of a causal model of the domain that states the relationships among basic phenomena, and a body of phenomenological theory that describes the links between abstract concepts and their possible manifestations in the world. The phenomenological knowledge is used deductively, the causal model is used abductively, and the examples are used inductively. The problems of imperfection and intractability of the theory are handled by allowing the system to make assumptions during its reasoning. In this way, robust knowledge can be learned with limited complexity and a small number of examples. The system works in a first-order logic environment and has been applied in a real domain.     

Optimal ensemble construction via meta-evolutionary ensembles

In this paper, we propose a meta-evolutionary approach to improve on the performance of individual classifiers. In the proposed system, individual classifiers evolve, competing to correctly classify test points, and are given extra rewards for getting difficult points right. Ensembles consisting of multiple classifiers also compete for member classifiers, and are rewarded based on their predictive performance. In this way we aim to build small-sized optimal ensembles rather than form large-sized ensembles of individually-optimized classifiers. Experimental results on 15 data sets suggest that our algorithms can generate ensembles that are more effective than single classifiers and traditional ensemble methods.     

Thermal conductivity estimation of the organic and inorganic refrigerants in the saturated liquid state

The use of a general correlation, proposed for organic liquid thermal conductivity λ prediction and checked in the case of organic refrigerant fluids, is extended to inorganic refrigerant fluids whose λ decreases when the reduced temperature, T_r, increases. Suggestions are given for the refrigerants fluids whose λ increases with the reduced temperature.     

Using frameworks to develop a distributed conferencing system: an experience report

Application frameworks are a powerful means to reduce software development costs while improving quality. However, at the same time they are difficult to select and understand, as well as hard to learn, use, and debug effectively and efficiently. In this paper we report the story of eConference, a distributed conferencing system that was developed as part of a broader research effort. Here we discuss the lessons learned from the evolution of our conferencing tool over four generations, which have been necessary to find good frameworks and build a flexible distributed tool. Copyright © 2009 John Wiley & Sons, Ltd.