Multivehicle coverage control for a nonstationary spatiotemporal field

This paper presents a multivehicle sampling algorithm to generate trajectories for nonuniform coverage of a nonstationary spatiotemporal field characterized by spatial and temporal decorrelation scales that vary in space and time, respectively. The sampling algorithm described in this paper uses a nonlinear coordinate transformation that renders the field locally stationary so that existing multivehicle control algorithms can be used to provide uniform coverage. When transformed back to the original coordinates, the sampling trajectories are concentrated in regions of short spatial and temporal decorrelation scales. For fields with coupled spatial statistics, i.e., the spatial decorrelation scales are functions of both spatial dimensions, the coordinate transformation is implemented numerically, whereas for decoupled spatial statistics, the transformation is expressed analytically. We show that the analytical transformation results in vehicle motion that preserves the vehicle sampling speed (which is a measure of vehicle speed scaled by the ratio of the spatial and temporal decorrelation scales), in the original domain; the sampling speed determines the minimum number of vehicles needed to cover a spatiotemporal domain. Theoretical results are illustrated by numerical simulations.     

Adaptive receding horizon control for constrained MIMO systems

An adaptive control algorithm for open-loop stable, constrained, linear, multiple input multiple output systems is presented. The proposed approach can deal with both input and output constraints, as well as measurement noise and output disturbances. The adaptive controller consists of an iterative set membership identification algorithm, that provides a set of candidate plant models at each time step, and a model predictive controller, that enforces input and output constraints for all the plants inside the model set. The algorithm relies only on the solution of standard convex optimization problems that are guaranteed to be recursively feasible. The experimental results obtained by applying the proposed controller to a quad-tank testbed are presented.     

Adaptive output-feedback stabilization of non-local hyperbolic PDEs

We address the problem of adaptive output-feedback stabilization of general first-order hyperbolic partial integro-differential equations (PIDE). Such systems are also referred to as PDEs with non-local (in space) terms. We apply control at one boundary, take measurements on the other boundary, and allow the system’s functional coefficients to be unknown. To deal with the absence of both full-state measurement and parameter knowledge, we introduce a pre-transformation (which happens to be based on backstepping) of the system into an observer canonical form. In that form, the problem of adaptive observer design becomes tractable. Both the parameter estimator and the control law employ only the input and output signals (and their histories over one unit of time). Prior to presenting the adaptive design, we present the non-adaptive/baseline controller, which is novel in its own right and facilitates the understanding of the more complex, adaptive system. The parameter estimator is of the gradient type, based on a parametric model in the form of an integral equation relating delayed values of the input and output. For the closed-loop system we establish boundedness of all signals, pointwise in space and time, and convergence of the PDE state to zero pointwise in space. We illustrate our result with a simulation.     

Adaptive model predictive inventory controller for multiproduct warehouse system

An inventory control system has been developed for a distribution system consisting of a single multiproduct warehouse serving a set of customers and purchasing products from multiple vendors. Purchase orders requesting multiple products are delivered to the warehouse in a process referred to as joint replenishment. The receipt of customer orders by the warehouse proceeds in order intervals and in order quantities that are subject to random fluctuations. The objective of warehouse operation is to minimize the total cost while maintaining inventory levels within the warehouse capacity by adjusting the purchase order intervals and quantities. An adaptive model predictive control algorithm is developed using a periodic square wave model to represent the material flows. The adaptive concept incorporates a stabilized minimum variance control-type input calculation coupled with input/output stream parameter predictions. The boundedness of the control output under the suggested algorithm is mathematically proven under the assumption that disturbances in the orders are bounded. The effectiveness of the scheme was demonstrated using simulations.     

An adaptive single-point algorithm for global numerical optimization

This paper describes a novel algorithm for numerical optimization, called Simple Adaptive Climbing (SAC). SAC is a simple efficient single-point approach that does not require a careful fine-tunning of its two parameters. SAC algorithm shares many similarities with local optimization heuristics, such as random walk, gradient descent, and hill-climbing. SAC has a restarting mechanism, and a powerful adaptive mutation process that resembles the one used in Differential Evolution. The algorithms SAC is capable of performing global unconstrained optimization efficiently in high dimensional test functions. This paper shows results on 15 well-known unconstrained problems. Test results confirm that SAC is competitive against state-of-the-art approaches such as micro-Particle Swarm Optimization, CMA-ES or Simple Adaptive Differential Evolution.     

A new constraint handling method based on the modified Alopex-based evolutionary algorithm

In this paper, a new constraint handling method based on a modified AEA (Alopex-based evolutionary algorithm) is proposed. Combined with a new proposed ranking and selecting strategy, the algorithm gradually converges to a feasible region from a relatively feasible region. By introduction of an adaptive relaxation parameter μ, the algorithm fully takes into account different functions corresponding to different sizes of feasible region. In addition, an adaptive penalty function method is employed, which adaptively adjust the penalty coefficient so as to guarantee a moderate penalty. By solving 11 benchmark test functions and two engineering problems, experiment results indicate that the proposed method is reliable and efficient for solving constrained optimization problems. Also, it has great potential in handling many engineering problems with constraints, even with equations.     

Competitive online adaptive scheduling for sets of parallel jobs with fairness and efficiency

We study online adaptive scheduling for multiple sets of parallel jobs, where each set may contain one or more jobs with time-varying parallelism. This two-level scheduling scenario arises naturally when multiple parallel applications are submitted by different users or user groups in large parallel systems, where both user-level fairness and system-wide efficiency are of important concerns. To achieve fairness, we use the well-known equi-partitioning algorithm to distribute the available processors among the active job sets at any time. For efficiency, we apply a feedback-driven adaptive scheduler that periodically adjusts the processor allocations within each set by consciously exploiting the jobs’ execution history. We show that our algorithm achieves asymptotically competitive performance with respect to the set response time, which incorporates two widely used performance metrics, namely, total response time and makespan, as special cases. Both theoretical analysis and simulation results demonstrate that our algorithm improves upon an existing scheduler that provides only fairness but lacks efficiency. Furthermore, we provide a generalized framework for analyzing a family of scheduling algorithms based on feedback-driven policies with provable efficiency. Finally, we consider an extended multi-level hierarchical scheduling model and present a fair and efficient solution that effectively reduces the problem to the two-level model.     

Multivariable adaptive control: A survey

Adaptive control is a control methodology capable of dealing with uncertain systems to ensure desired control performance. This paper provides an overview of some fundamental theoretical aspects and technical issues of multivariable adaptive control, and a thorough presentation of various adaptive control schemes for multi-input–multi-output systems, literature reviews on adaptive control foundations and multivariable adaptive control methods, and related technical problems. It covers some basic concepts and issues such as certainty equivalence, stability, tracking, robustness, and parameter convergence. It discusses some of the most important topics of adaptive control: plant uncertainty parametrization, stable controller adaptation, and design conditions for different adaptive control schemes. The paper also presents a detailed study of well-developed multivariable model reference adaptive control theory and design techniques. It provides an introduction to multivariable adaptive pole placement and adaptive nonlinear control, and it concludes by identifying some open research problems.     

Teeth segmentation of dental periapical radiographs based on local singularity analysis

Teeth segmentation for periapical raidographs is one of the most critical tasks for effective periapical lesion or periodontitis detection, as both types of anomalies usually occur around tooth boundaries and dental radiographs are often subject to noise, low contrast, and uneven illumination. In this paper, we propose an effective scheme to segment each tooth in periapical radiographs. The method consists of four stages: image enhancement using adaptive power law transformation, local singularity analysis using Hölder exponent, tooth recognition using Otsu's thresholding and connected component analysis, and tooth delineation using snake boundary tracking and morphological operations. Experimental results of 28 periapical radiographs containing 106 teeth in total and 75 useful for dental examination demonstrate that 105 teeth are successfully isolated and segmented, and the overall mean segmentation accuracy of all 75 useful teeth in terms of (TP, FP) is (0.8959, 0.0093) with standard deviation (0.0737, 0.0096), respectively.     

使用新混合模糊聚类算法的模糊系统建模方法

为了进一步提高模糊系统建立模型的精度,提出一种新的模糊系统算法ANFIS-HC-QPSO：采用一种混合型模糊聚类算法来对模糊系统的输入空间进行划分,每一个聚类通过高斯函数的拟合产生一个隶属度函数,即完成ANFIS系统的前件参数--隶属度函数参数的初始识别,通过具有量子行为的粒子群算法QPSO与最小二乘法优化前件参数,直至达到停机条件,最终得到ANFIS的前件及后件参数,从而得到满意的模糊系统模型。实验表明,AN-FIS-HC-QPSO算法与传统算法相比,能在只需较少模糊规则的前提下就使模糊系统达到更高的精度。