Scalable robustness for consensus protocols with heterogeneous dynamics

It is shown in the paper how robustness can be guaranteed for consensus protocols with heterogeneous dynamics in a scalable and decentralized way i.e. by each agent satisfying a test that does not require knowledge of the entire network. Random graph examples illustrate that the proposed certificates are not conservative for classes of large scale networks, despite the heterogeneity of the dynamics, which is a distinctive feature of this work. The conditions hold for symmetric protocols and more conservative stability conditions are given for general nonsymmetric interconnections. Nonlinear extensions in an IQC framework are finally discussed. Copyright © 2005 IFAC.

Engineering as a tool for improving human habitat

The conventional approaches to poverty alleviation in the slums entail a cocktail of interventions in health, education, governance and physical improvements, often stretching the scarce resources far and thin. Driven by the 'poverty' mindset, physical measures such as minimal paving, public water posts and community latrines actually brand the slums apart instead of assimilating them into the urban infrastructure fabric. The concept of Slum Networking proposes comprehensive water and environmental sanitation infrastructure as the central and catalytic leverage for holistic development. At costs less than the conventional 'slum' solutions, it tries to penetrate a high quality urban infrastructure net deeply into the slums to assimilate them into the city rather than lock them in as disadvantaged islands. Further, it transcends resource barriers and 'aid' through innovative partnerships and the latent resource mobilisation potential of the so-called 'poor'. This paper examines Slum Networking as implemented in Sanjaynagar in Ahmedabad, India and compares it with a similar settlement with no interventions in Ahmedabad. It assesses the knock-on impact of physical infrastructure on health, education and poverty. Finally, it evaluates the multiplier effect of physical infrastructure and the partnerships on the subsequent investments by the community in its own shelter and habitat. Copyright © 2009 Inderscience Enterprises Ltd.

Impact of heterogeneous link qualities and network connectivity on binary consensus

In this paper we consider a network that is trying to reach consensus over the occurrence of an event while communicating over Additive White Gaussian Noise (AWGN) channels. We characterize the impact of different link qualities and network connectivity on consensus performance by analyzing both the asymptotic and transient behaviors. More specifically, we derive a tight approximation for the second largest eigenvalue of the probability transition matrix. We furthermore characterize the dynamics of each individual node. © 2009 AACC.

Large scale heterogeneous networks, the Davis-Wielandt shell, and graph separation

We consider a large scale network of interconnected heterogeneous dynamical components. Scalable stability conditions are derived that involve the input/output properties of individual subsystems and the interconnection matrix. The analysis is based on the Davis-Wielandt shell, a higher dimensional version of the numerical range with important convexity properties. This can be used to allow heterogeneity in the agent dynamics while relaxing normality and symmetry assumptions on the interconnection matrix. The results include small gain and passivity approaches as special cases, with the three dimensional shell shown to be inherently connected with corresponding graph separation arguments. © 2012 Society for Industrial and Applied Mathematics.

Heterogeneous reconfigurable system for adaptive particle filters in real-time applications

This paper presents a heterogeneous reconfigurable system for real-time applications applying particle filters. The system consists of an FPGA and a multi-threaded CPU. We propose a method to adapt the number of particles dynamically and utilise the run-time reconfigurability of the FPGA for reduced power and energy consumption. An application is developed which involves simultaneous mobile robot localisation and people tracking. It shows that the proposed adaptive particle filter can reduce up to 99% of computation time. Using run-time reconfiguration, we achieve 34% reduction in idle power and save 26-34% of system energy. Our proposed system is up to 7.39 times faster and 3.65 times more energy efficient than the Intel Xeon X5650 CPU with 12 threads, and 1.3 times faster and 2.13 times more energy efficient than an NVIDIA Tesla C2070 GPU. © 2013 Springer-Verlag.