On The Approximation Capability of Neural Networks ‐ Dynamic System Modeling and Control

This paper discusses issues related to the approximation capability of neural networks in modeling and control. We show that neural networks are universal models and universal controllers for a class of nonlinear dynamic systems. That is, for a given dynamic system, there exists a neural network which can model the system to any degree of accuracy over time. Moreover, if the system to be controlled is stabilized by a continuous controller, then there exists a neural network which can approximate the controller such that the system controlled by the neural network is also stabilized with a given bound of output error.     

Performance Analysis of Periodic Control for l1 and l∞ Disturbance Rejection

This paper presents a performance analysis of discrete time periodically time varying controllers for the rejection of l_p specific and uniform disturbances. Earlier results on l₂ performance are extended to l₁ and l_∞ performance to present a unified treatment of l_p performance for all p ε [1, ∞]. For a given linear time varying periodic controller, a linear time invariant controller is constructed and necessary and sufficient conditions are presented under which the linear time invariant controller gives strictly better l_p disturbance rejection performance than the time varying periodic controller.     

Electronic Meeting Support for Councils

City councils hold meetings several times a week. There is a need for computer support at certain meetings. This paper examines the potential for group support systems for use in city council meetings and shows in what ways they can be helpful in pre-meeting and post-meeting activities. The study is based on 17 computer-supported city council meetings, carried out in Stuttgart, Kornwestheim and other cities as part of the Cuparla Project between 1996 and 1998. Three of these meetings are described in the paper as brief case studies. Following this, all 17 meeting sequences are evaluated and analysed. Guidelines have been developed from the results of the study for the introduction of group support systems in city council meetings.     

Design and experimental evaluation of a robust force controller for an electro-hydraulic actuator via quantitative feedback theory

This paper presents the design and experimental evaluation of an explicit force controller for a hydraulic actuator in the presence of significant system uncertainties and nonlinearities. The nonlinear version of quantitative feedback theory (QFT) is employed to design a robust time-invariant controller. Two approaches are developed to identify linear time-invariant equivalent model that can precisely represent the nonlinear plant, operating over a wide range. The first approach is based on experimental input–output measurements, obtained directly from the actual system. The second approach is model-based, and utilizes the general nonlinear mathematical model of a hydraulic actuator interacting with an uncertain environment. Given the equivalent models, a controller is then designed to satisfy a priori specified tracking and stability specifications. The controller enjoys the simplicity of fixed-gain controllers while exhibiting robustness. Experimental tests are performed on a hydraulic actuator equipped with a low-cost proportional valve. The results show that the compensated system is not sensitive to the variation of parameters such as environmental stiffness or supply pressure and can equally work well for various set-point forces.     

Failure detection and consensus in the crash-recovery model

Summary. We study the problems of failure detection and consensus in asynchronous systems in which processes may crash and recover, and links may lose messages. We first propose new failure detectors that are particularly suitable to the crash-recovery model. We next determine under what conditions stable storage is necessary to solve consensus in this model. Using the new failure detectors, we give two consensus algorithms that match these conditions: one requires stable storage and the other does not. Both algorithms tolerate link failures and are particularly efficient in the runs that are most likely in practice – those with no failures or failure detector mistakes. In such runs, consensus is achieved within time and with 4 n messages, where is the maximum message delay and n is the number of processes in the system. Received: May 1998 / Accepted: November 1999     

OBSERVER: An Approach for Query Processing in Global Information Systems Based on Interoperation Across Pre-Existing Ontologies

There has been an explosion in the types, availability and volume of data accessible in an information system, thanks to the World Wide Web (the Web) and related inter-networking technologies. In this environment, there is a critical need to replace or complement earlier database integration approaches and current browsing and keyword-based techniques with concept-based approaches. Ontologies are increasingly becoming accepted as an important part of any concept or semantics based solution, and there is increasing realization that any viable solution will need to support multiple ontologies that may be independently developed and managed. In particular, we consider the use of concepts from pre-existing real world domain ontologies for describing the content of the underlying data repositories. The most challenging issue in this approach is that of vocabulary sharing, which involves dealing with the use of different terms or concepts to describe similar information. In this paper, we describe the architecture, design and implementation of the OBSERVER system. Brokering across the domain ontologies is enabled by representing and utilizing interontology relationships such as (but not limited to) synonyms, hyponyms and hypernyms across terms in different ontologies. User queries are rewritten by using these relationships to obtain translations across ontologies. Well established metrics like precision and recall based on the extensions underlying the concepts are used to estimate the loss of information, if any.     

A Case Study on Applying a Tool for Automated System Analysis Based on Modular Specifications Written in TRIO

An effective means for analyzing and reasoning on software systems is to use formal specifications to simulate their execution. The simulation traces can be used for specification testing and reused for functional testing of the system later in the development process. It is widely acknowledged that, to deal with the complexity of industrial-size systems, specifications must be structured into modules providing abstraction mechanisms and clear interfaces. In our past work, we defined and implemented a method for simulating specifications written in the TRIO temporal logic language, and applied it to functional testing of time-critical industrial systems. In the present paper, we report on a case study with a tool that analyzes TRIO specifications by taking advantage of their modular structure, so as to overcome the well-known state-explosion problem and make the proposed method really scalable. We discuss the fundamental operations and the algorithms on which the tool is based. Then, we illustrate its use in a realistic case study, inspired from an industrial application. Finally, we comment on the overall results in terms of usability of the tool and effectiveness of the approach, and we outline future improvements.     

Lifelong Adaptation in Heterogeneous Multi-Robot Teams: Response to Continual Variation in Individual Robot Performance

Generating teams of robots that are able to perform their tasks over long periods of time requires the robots to be responsive to continual changes in robot team member capabilities and to changes in the state of the environment and mission. In this article, we describe the L-ALLIANCE architecture, which enables teams of heterogeneous robots to dynamically adapt their actions over time. This architecture, which is an extension of our earlier work on ALLIANCE, is a distributed, behavior-based architecture aimed for use in applications consisting of a collection of independent tasks. The key issue addressed in L-ALLIANCE is the determination of which tasks robots should select to perform during their mission, even when multiple robots with heterogeneous, continually changing capabilities are present on the team. In this approach, robots monitor the performance of their teammates performing common tasks, and evaluate their performance based upon the time of task completion. Robots then use this information throughout the lifetime of their mission to automatically update their control parameters. After describing the L-ALLIANCE architecture, we discuss the results of implementing this approach on a physical team of heterogeneous robots performing proof-of-concept box pushing experiments. The results illustrate the ability of L-ALLIANCE to enable lifelong adaptation of heterogeneous robot teams to continuing changes in the robot team member capabilities and in the environment.     

Conformance Tests for Real-Time Systems with Timed Automata Specifications

A method is introduced for testing the conformance of implemented real-time systems to timed automata specifications. Uppaal timed automata are transformed into testable timed transition systems (TTTSs) using a test view. Fault hypotheses and a test generation algorithm for TTTSs are defined. Results of applying the method are presented. Received October 1999 / Accepted in revised form November 2000