Modeling and inverse controller design for an unmanned aerial vehicle based on the self-organizing map

The next generation of aircraft will have dynamics that vary considerably over the operating regime. A single controller will have difficulty to meet the design specifications. In this paper, a self-organizing map (SOM)-based local linear modeling scheme of an unmanned aerial vehicle (UAV) is developed to design a set of inverse controllers. The SOM selects the operating regime depending only on the embedded output space information and avoids normalization of the input data. Each local linear model is associated with a linear controller, which is easy to design. Switching of the controllers is done synchronously with the active local linear model that tracks the different operating conditions. The proposed multiple modeling and control strategy has been successfully tested in a simulator that models the LoFLYTE UAV.     

Fairness constrained diffusion adaptive power control for dense small cell network

Small cell is an emerging and promising technology for improving hotspots coverage and capacity, which tends to be densely deployed in populated areas. However, in a dense small cell network, the performances of users differ vastly due to the random deployments and the interferences. To guarantee fair performance among users in different cells, we propose a new distributed strategy for fairness constrained power control, referred to as the diffusion adaptive power control (DAPC). DAPC achieves overall network fairness in a distributed manner, in which each base station optimizes a local fairness with little information exchanged with neighboring cells. We study several adaptive algorithms to implement the proposed DAPC strategy. To improve the efficiency of the standard least mean square algorithm (LMS), we derive an adaptive step-size logarithm LMS algorithm, and discuss its convergence properties. Simulation results confirm the efficiency of the proposed methods.     

Some Equivalences between Kernel Methods and Information Theoretic Methods

In this paper, we discuss some equivalences between two recently introduced statistical learning schemes, namely Mercer kernel methods and information theoretic methods. We show that Parzen window-based estimators for some information theoretic cost functions are also cost functions in a corresponding Mercer kernel space. The Mercer kernel is directly related to the Parzen window. Furthermore, we analyze a classification rule based on an information theoretic criterion, and show that this corresponds to a linear classifier in the kernel space. By introducing a weighted Parzen window density estimator, we also formulate the support vector machine in this information theoretic perspective.

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Time Series Segmentation Using a Novel Adaptive Eigendecomposition Algorithm

In this paper we present a new technique for time series segmentation built around a fast principal component analysis (PCA) algorithm that is on-line and stable. The traditional Generalized Likelihood Ratio Test (GLRT) has been used to solve the segmentation problem, but this has enormous limitations in terms of complexity and speed. Newer methods use gated experts and mixture models to detect transitions in time series. These techniques perform better than GLRT, but most of them require extensive training of relatively large neural networks. The segmentation method discussed in this paper is based on a novel idea that involves solving the generalized eigendecomposition of two consecutive windowed time series and can be formulated as a two-step PCA. Thus, the performance of our segmentation technique mainly depends on the efficiency of the PCA algorithm. Most of the existing techniques for PCA are based on gradient search procedures that are slow and they also suffer from convergence problems. The PCA algorithm presented in this paper is both online, and is proven to converge faster than the current methods.     

The relationship among patient contemplation, early alliance, and continuation in psychotherapy.

The present study examined the relationship among contemplation stage of readiness to change, formation of an early therapeutic alliance, and psychological distress following the first session of psychotherapy. Significant correlations between the contemplation scores and the therapeutic alliance were found for patients in the contemplation stage. Although contemplation scores were not a factor in return for a second session of psychotherapy, the bond subscale of the alliance inventory did significantly contribute to whether patients returned for therapy. Patient psychological distress was not a significant factor in predicting the early alliance. Results indicate a need for further focus on contemplation with its inherent ambivalence, its relationship to alliance, and continuation in early psychotherapy. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Sparse Least Logarithmic Absolute Difference Algorithm with Correntropy-Induced Metric Penalty

Sparse adaptive filtering algorithms are utilized to exploit system sparsity as well as to mitigate interferences in many applications such as channel estimation and system identification. In order to improve the robustness of the sparse adaptive filtering, a novel adaptive filter is developed in this work by incorporating a correntropy-induced metric (CIM) constraint into the least logarithmic absolute difference (LLAD) algorithm. The CIM as an \(l_{0}\)-norm approximation exerts a zero attraction, and hence, the LLAD algorithm performs well with robustness against impulsive noises. Numerical simulation results show that the proposed algorithm may achieve much better performance than other robust and sparse adaptive filtering algorithms such as the least mean p-power algorithm with \(l_{1}\)-norm or reweighted \(l_{1}\)-norm constraints.     

The dissipative structure of variational multiscale methods for incompressible flows

In this paper, we present a precise definition of the numerical dissipation for the orthogonal projection version of the variational multiscale method for incompressible flows. We show that, only if the space of subscales is taken orthogonal to the finite element space, this definition is physically reasonable as the coarse and fine scales are properly separated. Then we compare the diffusion introduced by the numerical discretization of the problem with the diffusion introduced by a large eddy simulation model. Results for the flow around a surface-mounted obstacle problem show that numerical dissipation is of the same order as the subgrid dissipation introduced by the Smagorinsky model. Finally, when transient subscales are considered, the model is able to predict backscatter, something that is only possible when dynamic LES closures are used. Numerical evidence supporting this point is also presented.     

Beyond second-order statistics for learning: A pairwise interaction model for entropy estimation

Second order statistics have formed the basisof learning and adaptation due to its appealand analytical simplicity. On the other hand,in many realistic engineering problemsrequiring adaptive solutions, it is notsufficient to consider only the second orderstatistics of the underlying distributions. Entropy, being the average information contentof a distribution, is a better-suited criterionfor adaptation purposes, since it allows thedesigner to manipulate the information contentof the signals rather than merely their power. This paper introduces a nonparametric estimatorof Renyi's entropy, which can be utilized inany adaptation scenario where entropy plays arole. This nonparametric estimator leads to aninteresting analogy between learning andinteracting particles in a potential field. Itturns out that learning by second orderstatistics is a special case of thisinteraction model for learning. We investigatethe mathematical properties of thisnonparametric entropy estimator, provide batchand stochastic gradient expressions foroff-line and on-line adaptation, and illustratethe performance of the corresponding algorithmsin examples of supervised and unsupervisedtraining, including time-series prediction andICA.     

A Monaural Cue Sound Localizer

We describe the first single microphone sound localization system and its inspiration from theories of human monaural sound localization. Reflections and diffractions caused by the external ear (pinna) allow humans to estimate sound source elevations using only one ear. Our single microphone localization model relies on a specially shaped reflecting structure that serves the role of the pinna. Specially designed analog VLSI circuitry uses echo-time processing to localize the sound. A CMOS integrated circuit has been designed, fabricated, and successfully demonstrated on actual sounds.