Adaptive prescribed time control for quadrotor formation with stochastic links failure

The formation control for multiple quadrotors subject to maintaining the formation configuration and collision avoidance in the situation of stochastic links failure is investigated in this paper. First, the distributed formation controller is designed, the position controller is developed to manage the desired formation of position, and the attitude controller is developed to control the translation and rotation movements of the quadrotor. Then, in order to avoid the collisions between multiple quadrotors and the obstacles, a potential energy function method is introduced into the quadrotor formation control combined with the nest adaptive control. Inspired by the design of event trigger controller, a communication compensation controller is designed to ensure the stability of quadrotor formation under the condition of random communication interruption and recovery. Moreover, a prescribed time function is designed, which means the convergence time of the formation system can be set in advance. The prescribed time stability of the formation control system is proved by Lyapunov theory. Finally, the simulation results verify the effectiveness and superiority of this method.     

Optimal imperfect preventive maintenance policy for equipment leased during successive periods

In this paper, we consider randomly failing equipment leased several times during their life cycle with a given warranty period. A mathematical model is developed to determine the optimal efficiency levels of preventive maintenance (PM) to be performed on the equipment between successive lease periods, maximising the expected total profit of the lessor over the equipment life cycle. The model considers the expected leasing revenue as well as the equipment acquisition cost and the average PM and repair costs. PM actions allow reducing the age of the equipment to a certain extent with a corresponding cost depending on the PM level adopted. The efficiency of the PM is determinant of the expected revenue during the next lease period. Given a set of K possible PM levels and the number of lease periods n over the equipment life cycle, K^{n?1 PM} strategies are possible. A genetic algorithm is proposed in order to obtain nearly optimal policies in situations where the number of possibilities K^n?1 is very high. Obtained numerical results are discussed. Small- and big-size instances of the problem are considered in the case of a service company in the oil and gas industry specialised in leasing specific equipment such as separators, to oil companies for production activities with a limited duration of several months like well testing or short production tests.     

Analogue VLSI primitives for perceptual tasks in machine vision

A variety of computational tasks in early vision can be formulated through lattice networks. The cooperative action of these networks depends upon the topology of interconnections, both feedforward and recurrent ones. The Gabor-like impulse response of a 2nd-order lattice network (i.e. with nearest and next-to-nearest interconnections) is analysed in detail, pointing out how a near-optimal filtering behaviour in space and frequency domains can be achieved through excitatory/inhibitory interactions without impairing the stability of the system. These architectures can be mapped, very efficiently at transistor level, on VLSI structures operating as analogue perceptual engines. The hardware implementation of early vision tasks can, indeed, be tackled by combining these perceptual agents through suitable weighted sums. Various implementation strategies have been pursued with reference to: (i) the algorithm-circuit mapping (current-mode and transconductor approaches); (ii) the degree of programmability (fixed, selectable and tunable); and (iii) the implementation technology (2 and 0.8 gate lengths). Applications of the perceptual engine to machine vision algorithms are discussed.     

一种快速自适应谱估计算法

通过对梯度格型快速自适应算法的研究,结合最大熵谱外推目前存在的缺点,将梯度格型算法应用于最大熵谱外推中,并将其与伯格算法进行了比较。     

A mildly exponential approximation algorithm for the permanent

A new approximation algorithm for the permanent of ann ×n 0,1-matrix is presented. The algorithm is shown to have worst-case time complexity exp(O(n ^1/2 log² n)). Asymptotically, this represents a considerable improvement over the best existing algorithm, which has worst-case time complexity exp((n)).Supported by SERC Grant GR/F 90363; work done in part while visiting DIMACS (Center for Discrete Mathematics and Computer Science).Supported by an NSF PYI grant, with matching equipment grant from the AT&T Foundation; work done in part while visiting DIMACS.     

Approximate dynamic programming solutions with a single network adaptive critic for a class of nonlinear systems

Approximate dynamic programming (ADP) formulation implemented with an adaptive critic (AC)-based neural network (NN) structure has evolved as a powerful technique for solving the Hamilton-Jacobi-Bellman (HJB) equations. As interest in ADP and the AC solutions are escalating with time, there is a dire need to consider possible enabling factors for their implementations. A typical AC structure consists of two interacting NNs, which is computationally expensive. In this paper, a new architecture, called the ‘cost-function-based single network adaptive critic (J-SNAC)’ is presented, which eliminates one of the networks in a typical AC structure. This approach is applicable to a wide class of nonlinear systems in engineering. In order to demonstrate the benefits and the control synthesis with the J-SNAC, two problems have been solved with the AC and the J-SNAC approaches. Results are presented, which show savings of about 50% of the computational costs by J-SNAC while having the same accuracy levels of the dual network structure in solving for optimal control. Furthermore, convergence of the J-SNAC iterations, which reduces to a least-squares problem, is discussed; for linear systems, the iterative process is shown to reduce to solving the familiar algebraic Ricatti equation.     

On finding fundamental cut sets

In this paper a linear time algorithm is proposed for preprocessing the edges of a graph. After preprocessing (in linear time), the fundamental cut set of any tree edge can be determined in time proportional to the size of that cut set.     

Learning parities in the mistake-bound model

We study the problem of learning parity functions that depend on at most k variables (k-parities) attribute-efficiently in the mistake-bound model. We design a simple, deterministic, polynomial-time algorithm for learning k-parities with mistake bound . This is the first polynomial-time algorithm to learn ω(1)-parities in the mistake-bound model with mistake bound o(n).Using the standard conversion techniques from the mistake-bound model to the PAC model, our algorithm can also be used for learning k-parities in the PAC model. In particular, this implies a slight improvement over the results of Klivans and Servedio (2004) [1] for learning k-parities in the PAC model.We also show that the time algorithm from Klivans and Servedio (2004) [1] that PAC-learns k-parities with sample complexity can be extended to the mistake-bound model.     

Guiding students to the right questions: adaptive navigation support in an E‐Learning system for Java programming

Rapid growth of the volume of interactive questions available to the students of modern E‐Learning courses placed the problem of personalized guidance on the agenda of E‐Learning researchers. Without proper guidance, students frequently select too simple or too complicated problems and ended either bored or discouraged. This paper explores a specific personalized guidance technology known as adaptive navigation support. We developed JavaGuide, a system, which guides students to appropriate questions in a Java programming course, and investigated the effect of personalized guidance a three‐semester long classroom study. The results of this study confirm the educational and motivational effects of adaptive navigation support.     

ADAPTIVE RANKS CLONE AND k‐NEAREST NEIGHBOR LIST–BASED IMMUNE MULTI‐OBJECTIVE OPTIMIZATION

Artificial immune systems (AIS) are computational systems inspired by the principles and processes of the vertebrate immune system. The AIS‐based algorithms typically exploit the immune system's characteristics of learning and adaptability to solve some complicated problems. Although, several AIS‐based algorithms have proposed to solve multi‐objective optimization problems (MOPs), little focus have been placed on the issues that adaptively use the online discovered solutions. Here, we proposed an adaptive selection scheme and an adaptive ranks clone scheme by the online discovered solutions in different ranks. Accordingly, the dynamic information of the online antibody population is efficiently exploited, which is beneficial to the search process. Furthermore, it has been widely approved that one‐off deletion could not obtain excellent diversity in the final population; therefore, a k‐nearest neighbor list (where k is the number of objectives) is established and maintained to eliminate the solutions in the archive population. The k‐nearest neighbors of each antibody are founded and stored in a list memory. Once an antibody with minimal product of k‐nearest neighbors is deleted, the neighborhood relations of the remaining antibodies in the list memory are updated. Finally, the proposed algorithm is tested on 10 well‐known and frequently used multi‐objective problems and two many‐objective problems with 4, 6, and 8 objectives. Compared with five other state‐of‐the‐art multi‐objective algorithms, namely NSGA‐II, SPEA2, IBEA, HYPE, and NNIA, our method achieves comparable results in terms of convergence, diversity metrics, and computational time.