The Bifurcation Interpreter: A Step Towards the Automatic Analysis of Dynamical Systems

The Bifurcation Interpreter is a computer program that autonomously explores the steady-state orbits of one-parameter families of periodically- driven oscillators. To report its findings, the Interpreter generates schematic diagrams and English text descriptions similar to those appearing in the science and engineering research literature. Given a system of equations as input, the Interpreter uses symbolic algebra to automatically generate numerical procedures that simulate the system. The Interpreter incorporates knowledge about dynamical systems theory, which it uses to guide the simulations, to interpret the results, and to minimize the effects of numerical error.

Automatic Analysis and Synthesis of Controllers for Dynamical Systems Based On P

I present a novel design methodology for the synthesis of automatic controllers, together with a computational environment---the Control Engineer's Workbench---integrating a suite of programs that automatically analyze and design controllers for high-performance, global control of nonlinear systems. This work demonstrates that difficult control synthesis tasks can be automated, using programs that actively exploit and efficiently represent knowledge of nonlinear dynamics and phase space and effectively use the representation to guide and perform the control design. The Control Engineer's Workbench combines powerful numerical and symbolic computations with artificial intelligence reasoning techniques. As a demonstration, the Workbench automatically designed a high-quality maglev controller that outperforms a previous linear design by a factor of 20.

A Dynamical Systems Model for Language Change

Formalizing linguists' intuitions of language change as a dynamical system, we quantify the time course of language change including sudden vs. gradual changes in languages. We apply the computer model to the historical loss of Verb Second from Old French to modern French, showing that otherwise adequate grammatical theories can fail our new evolutionary criterion.

Parameter Estimation in Chaotic Systems

This report examines how to estimate the parameters of a chaotic system given noisy observations of the state behavior of the system. Investigating parameter estimation for chaotic systems is interesting because of possible applications for high-precision measurement and for use in other signal processing, communication, and control applications involving chaotic systems. In this report, we examine theoretical issues regarding parameter estimation in chaotic systems and develop an efficient algorithm to perform parameter estimation. We discover two properties that are helpful for performing parameter estimation on non-structurally stable systems. First, it turns out that most data in a time series of state observations contribute very little information about the underlying parameters of a system, while a few sections of data may be extraordinarily sensitive to parameter changes. Second, for one-parameter families of systems, we demonstrate that there is often a preferred direction in parameter space governing how easily trajectories of one system can "shadow'" trajectories of nearby systems. This asymmetry of shadowing behavior in parameter space is proved for certain families of maps of the interval. Numerical evidence indicates that similar results may be true for a wide variety of other systems. Using the two properties cited above, we devise an algorithm for performing parameter estimation. Standard parameter estimation techniques such as the extended Kalman filter perform poorly on chaotic systems because of divergence problems. The proposed algorithm achieves accuracies several orders of magnitude better than the Kalman filter and has good convergence properties for large data sets.

Safe Distributed Coordination of Heterogeneous Robots through Dynamic Simple Temporal Networks

Research on autonomous intelligent systems has focused on how robots can robustly carry out missions in uncertain and harsh environments with very little or no human intervention. Robotic execution languages such as RAPs, ESL, and TDL improve robustness by managing functionally redundant procedures for achieving goals. The model-based programming approach extends this by guaranteeing correctness of execution through pre-planning of non-deterministic timed threads of activities. Executing model-based programs effectively on distributed autonomous platforms requires distributing this pre-planning process. This thesis presents a distributed planner for modelbased programs whose planning and execution is distributed among agents with widely varying levels of processor power and memory resources. We make two key contributions. First, we reformulate a model-based program, which describes cooperative activities, into a hierarchical dynamic simple temporal network. This enables efficient distributed coordination of robots and supports deployment on heterogeneous robots. Second, we introduce a distributed temporal planner, called DTP, which solves hierarchical dynamic simple temporal networks with the assistance of the distributed Bellman-Ford shortest path algorithm. The implementation of DTP has been demonstrated successfully on a wide range of randomly generated examples and on a pursuer-evader challenge problem in simulation.

The Logical Problem of Language Change

This paper considers the problem of language change. Linguists must explain not only how languages are learned but also how and why they have evolved along certain trajectories and not others. While the language learning problem has focused on the behavior of individuals and how they acquire a particular grammar from a class of grammars ${cal G}$, here we consider a population of such learners and investigate the emergent, global population characteristics of linguistic communities over several generations. We argue that language change follows logically from specific assumptions about grammatical theories and learning paradigms. In particular, we are able to transform parameterized theories and memoryless acquisition algorithms into grammatical dynamical systems, whose evolution depicts a population's evolving linguistic composition. We investigate the linguistic and computational consequences of this model, showing that the formalization allows one to ask questions about diachronic that one otherwise could not ask, such as the effect of varying initial conditions on the resulting diachronic trajectories. From a more programmatic perspective, we give an example of how the dynamical system model for language change can serve as a way to distinguish among alternative grammatical theories, introducing a formal diachronic adequacy criterion for linguistic theories.