Stability analysis and output‐feedback stabilization of discrete‐time systems with a time‐varying state delay and nonlinear perturbation

This paper aims to derive stability conditions and an output‐feedback stabilization method for discrete‐time systems with a time‐varying state delay and nonlinear perturbation. With a new way of handling the Lyapunov stability criterion, linear matrix inequality conditions are obtained for estimating bounds on delay to ensure the asymptotic stability. Based on the conditions, a synthesis procedure is developed for finding stabilizing output‐feedback gains, which are formulated as direct design variables. Three numerical examples are employed to demonstrate the effectiveness and advantages of the proposed method. Copyright © 2010 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

Extracting a largest redundancy-free XML storage structure from an acyclic hypergraph in polynomial time

Given a hypergraph and a set of embedded functional dependencies, we investigate the problem of determining the conditions under which we can efficiently generate redundancy-free XML storage structures with as few scheme trees as possible. Redundancy-free XML structures guarantee both economy in storage space and the absence of update anomalies, and having the least number of scheme trees requires the fewest number of joins to navigate among the data elements. We know that the general problem is intractable. The problem may still be intractable even when the hypergraph is acyclic and each hyperedge is in Boyce–Codd normal form (BCNF). As we show here, however, given an acyclic hypergraph with each hyperedge in BCNF, a polynomial-time algorithm exists that generates a largest possible redundancy-free XML storage structure. Successively generating largest possible scheme trees from among hyperedges not already included in generated scheme trees constitutes a reasonable heuristic for finding the fewest possible scheme trees. For many practical cases, this heuristic finds the set of redundancy-free XML storage structures with the fewest number of scheme trees. In addition to a correctness proof and a complexity analysis showing that the algorithm is polynomial, we also give experimental results over randomly generated but appropriately constrained hypergraphs showing empirically that the algorithm is indeed polynomial.     

Retrieval of total suspended matter concentration from Gaofen-1 Wide Field Imager (WFI) multispectral imagery with the assistance of Terra MODIS in turbid water – case in Deep Bay

This study proposed a method for developing high spatial resolution Gaofen-1 satellite (GF-1) Wide Field Imager (WFI)-based total suspended matter concentration (C_TSM) retrieval model with the assistance of Moderate Resolution Imaging Spectroradiometer (MODIS) data, using the Deep Bay in China as a case. Based on long-term calibrated C_TSM measurements of optical backscatter (OBS) 3A turbidity and temperature monitoring system of two stationary stations from January 2007 through November 2008, 33 match-ups were selected to build an exponential retrieval model for MODIS atmospherically corrected remote-sensing reflectance (R_rs) ratio (R_rs,645/R_rs,555). Validation of the MODIS model showed well agreement with the seven in situ C_TSM measurements with a root mean squared error (RMSE) of 5.06 mg l^?1 and a coefficient of determination R² of 0.80. Aided with six MODIS retrieved C_TSM products, different band combinations (single band (R_rc,660), band subtraction (R_rc,660–R_rc,560), band ratio (R_rc,660/R_rc,560), and total suspended matter index at 660 nm band (TSMI₆₆₀) were evaluated for simultaneous GF-1 WFI Rayleigh-corrected reflectance (R_rc). The results showed that the exponential model based on the Rayleigh-corrected reflectance ratio (R_rc,660/R_rc,560) could achieve acceptable accuracy, with RMSE of 14.80 mg l^?1 and R² of 0.62. The proposed method would be helpful for dynamic monitoring in the Deep Bay, and more important could also provide an alternative approach for studies when in situ measurements are unreachable.     

Using Visualization to Explore Original and Anonymized LBSN Data

We present GSUVis, a visualization tool designed to provide better understanding of location‐based social network (LBSN) data. LBSN data is one of the most important sources of information for transportation, marketing, health, and public safety. LBSN data consumers are interested in accessing and analysing data that is as complete and as accurate as possible. However, LBSN data contains sensitive information about individuals. Consequently, data anonymization is of critical importance if this data is to be made available to consumers. However, anonymization commonly reduces the utility of information available. Working with privacy experts, we designed GSUVis a visual analytic tool to help experts better understand the effects of anonymization techniques on LBSN data utility. One of GSUVis's primary goals is to make it possible for people to use LBSN data, without requiring them to gain deep knowledge about data anonymization. To inform the design of GSUVis, we interviewed privacy experts, and collected their tasks and system requirements. Based on this understanding, we designed and implemented GSUVis. It applies two anonymization algorithms for social and location trajectory data to a real‐world LBSN dataset and visualizes the data both before and after anonymization. Through feedback from domain experts, we reflect on the effectiveness of GSUVis and the impact of anonymization using visualization.     

Design and implementation of a same-user identification system in invoked reality space

The objective of this study is to solve the problem of user data not being precisely received from sensors because of sensing region limitations in invoked reality (IR) space, distortion of colors or patterns by lighting, and blocking or overlapping of a user by other users. The sensing scope range is thus expanded using multiple sensors in the IR space. Moreover, user feature data are accurately identified by user sensing. Specifically, multiple sensors are employed when not all of user data are sensed because they overlap with data of other users. In the proposed approach, all clients share the user feature data from multiple sensors. Accordingly, each client recognizes that the user is the same individual on the basis of the shared data. Furthermore, the identification accuracy is improved by identifying the user features based on colors and patterns that are less affected by lighting. Therefore, accurate identification of the user feature data is enabled, even under lighting changes. The proposed system was implemented based on system performance analysis standards. The practicality and system performance in identifying the same person using the proposed method were verified through an experiment.     

Monte Carlo simulations of the HP model (the "Ising model" of protein folding)

Using Wang–Landau sampling with suitable Monte Carlo trial moves (pull moves and bond-rebridging moves combined) we have determined the density of states and thermodynamic properties for a short sequence of the HP protein model. For free chains these proteins are known to first undergo a collapse “transition” to a globule state followed by a second “transition” into a native state. When placed in the proximity of an attractive surface, there is a competition between surface adsorption and folding that leads to an intriguing sequence of “transitions”. These transitions depend upon the relative interaction strengths and are largely inaccessible to “standard” Monte Carlo methods.     

Low order integral-action controller synthesis

A simple controller synthesis method is developed for certain classes of linear, time-invariant, multi-input multi-output plants. The number of poles in each entry of these controllers depends on the number of right-half plane plant zeros, and is independent of the number of poles of the plant to be stabilized. Furthermore, these controllers have integral-action so that they achieve asymptotic tracking of step input references with zero steady-state error. The designed controller’s poles and zeros are all in the stable region with the exception of one pole at the origin for the integral-action design requirement. The freedom available in the design parameters may be used for additional performance objectives, although the only goal here is stabilization and tracking of constant references.     

Adaptive fuzzy-neural-network control for maglev transportation system

A magnetic-levitation (maglev) transportation system including levitation and propulsion control is a subject of considerable scientific interest because of highly nonlinear and unstable behaviors. In this paper, the dynamic model of a maglev transportation system including levitated electromagnets and a propulsive linear induction motor (LIM) based on the concepts of mechanical geometry and motion dynamics is developed first. Then, a model-based sliding-mode control (SMC) strategy is introduced. In order to alleviate chattering phenomena caused by the inappropriate selection of uncertainty bound, a simple bound estimation algorithm is embedded in the SMC strategy to form an adaptive sliding-mode control (ASMC) scheme. However, this estimation algorithm is always a positive value so that tracking errors introduced by any uncertainty will cause the estimated bound increase even to infinity with time. Therefore, it further designs an adaptive fuzzy-neural-network control (AFNNC) scheme by imitating the SMC strategy for the maglev transportation system. In the model-free AFNNC, online learning algorithms are designed to cope with the problem of chattering phenomena caused by the sign action in SMC design, and to ensure the stability of the controlled system without the requirement of auxiliary compensated controllers despite the existence of uncertainties. The outputs of the AFNNC scheme can be directly supplied to the electromagnets and LIM without complicated control transformations for relaxing strict constrains in conventional model-based control methodologies. The effectiveness of the proposed control schemes for the maglev transportation system is verified by numerical simulations, and the superiority of the AFNNC scheme is indicated in comparison with the SMC and ASMC strategies.     

Vehicle Teleoperation Interfaces

Despite advances in autonomy, there will always be a need for human involvement in vehicle teleoperation. In particular, tasks such as exploration, reconnaissance and surveillance will continue to require human supervision, if not guidance and direct control. Thus, it is critical that the operator interface be as efficient and as capable as possible. In this paper, we provide an overview of vehicle teleoperation and present a summary of interfaces currently in use.