Self Assessment-Based Decision Making for Multiagent Cooperative Search

This paper addresses a search problem with multiple limited capability search agents in a partially connected dynamical networked environment under different information structures. A self assessment-based decision-making scheme for multiple agents is proposed that uses a modified negotiation scheme with low communication overheads. The scheme has attractive features of fast decision-making and scalability to large number of agents without increasing the complexity of the algorithm. Two models of the self assessment schemes are developed to study the effect of increase in information exchange during decision-making. Some analytical results on the maximum number of self assessment cycles, effect of increasing communication range, completeness of the algorithm, lower bound and upper bound on the search time are also obtained. The performance of the various self assessment schemes in terms of total uncertainty reduction in the search region, using different information structures is studied. It is shown that the communication requirement for self assessment scheme is almost half of the negotiation schemes and its performance is close to the optimal solution. Comparisons with different sequential search schemes are also carried out. Note to Practitioners-In the futuristic military and civilian applications such as search and rescue, surveillance, patrol, oil spill, etc., a swarm of UAVs can be deployed to carry out the mission for information collection. These UAVs have limited sensor and communication ranges. In order to enhance the performance of the mission and to complete the mission quickly, cooperation between UAVs is important. Designing cooperative search strategies for multiple UAVs with these constraints is a difficult task. Apart from this, another requirement in the hostile territory is to minimize communication while making decisions. This adds further complexity to the decision-making algorithms. In this paper, a self-assessment-based decision-making scheme, for multiple UAVs performing a search mission, is proposed. The agents make their decisions based on the information acquired through their sensors and by cooperation with neighbors. The complexity of the decision-making scheme is very low. It can arrive at decisions fast with low communication overheads, while accommodating various information structures used for increasing the fidelity of the uncertainty maps. Theoretical results proving completeness of the algorithm and the lower and upper bounds on the search time are also provided.

Geometric representations of graphs in low dimension

We give an efficient randomized algorithm to construct a box representation of any graph G on n vertices in $1.5 (\Delta + 2) \ln n$ dimensions, where $\Delta$ is the maximum degree of G. We also show that $\boxi(G) \le (\Delta + 2) \ln n$ for any graph G. Our bound is tight up to a factor of $\ln n$. We also show that our randomized algorithm can be derandomized to get a polynomial time deterministic algorithm. Though our general upper bound is in terms of maximum degree $\Delta$, we show that for almost all graphs on n vertices, its boxicity is upper bound by $c\cdot(d_{av} + 1) \ln n$ where d_{av} is the average degree and c is a small constant. Also, we show that for any graph G, $\boxi(G) \le \sqrt{8 n d_{av} \ln n}$, which is tight up to a factor of $b \sqrt{\ln n}$ for a constant b.

Coding for High-Density Recording on a 1-D Granular Magnetic Medium

In terabit-density magnetic recording, several bits of data can be replaced by the values of their neighbors in the storage medium. As a result, errors in the medium are dependent on each other and also on the data written. We consider a simple 1-D combinatorial model of this medium. In our model, we assume a setting where binary data is sequentially written on the medium and a bit can erroneously change to the immediately preceding value. We derive several properties of codes that correct this type of errors, focusing on bounds on their cardinality. We also define a probabilistic finite-state channel model of the storage medium, and derive lower and upper estimates of its capacity. A lower bound is derived by evaluating the symmetric capacity of the channel, i.e., the maximum transmission rate under the assumption of the uniform input distribution of the channel. An upper bound is found by showing that the original channel is a stochastic degradation of another, related channel model whose capacity we can compute explicitly.

Degrees of freedom of relay aided MIMO X network with orthogonal components

We consider the one-way relay aided MIMO X fading Channel where there are two transmitters and two receivers along with a relay with M antennas at every node. Every transmitter wants to transmit messages to every other receiver. The relay broadcasts to the receivers along a noisy link which is independent of the transmitters channel. In literature, this is referred to as a relay with orthogonal components. We derive an upper bound on the degrees of freedom of such a network. Next we show that the upper bound is tight by proposing an achievability scheme based on signal space alignment for the same for M = 2 antennas at every node.

Power and Discrete Rate Adaptation for Energy Harvesting Wireless Nodes

Energy Harvesting (EH) nodes, which harvest energy from the environment in order to communicate over a wireless link, promise perpetual operation of a wireless network with battery-powered nodes. In this paper, we address the throughput optimization problem for a rate-adaptive EH node that chooses its rate from a set of discrete rates and adjusts its power depending on its channel gain and battery state. First, we show that the optimal throughput of an EH node is upper bounded by the throughput achievable by a node that is subject only to an average power constraint. We then propose a simple transmission scheme for an EH node that achieves an average throughput close to the upper bound. The scheme's parameters can be made to account for energy overheads such as battery non-idealities and the energy required for sensing and processing. The effect of these overheads on the average throughput is also analytically characterized.

Maximum Rate of Unitary-Weight, Single-Symbol Decodable STBCs

It is well known that the space-time block codes (STBCs) from complex orthogonal designs (CODs) are single-symbol decodable/symbol-by-symbol decodable (SSD). The weight matrices of the square CODs are all unitary and obtainable from the unitary matrix representations of Clifford Algebras when the number of transmit antennas n is a power of 2. The rate of the square CODs for n = 2(a) has been shown to be a+1/2(a) complex symbols per channel use. However, SSD codes having unitary-weight matrices need not be CODs, an example being the minimum-decoding-complexity STBCs from quasi-orthogonal designs. In this paper, an achievable upper bound on the rate of any unitary-weight SSD code is derived to be a/2(a)-1 complex symbols per channel use for 2(a) antennas, and this upper bound is larger than that of the CODs. By way of code construction, the interrelationship between the weight matrices of unitary-weight SSD codes is studied. Also, the coding gain of all unitary-weight SSD codes is proved to be the same for QAM constellations and conditions that are necessary for unitary-weight SSD codes to achieve full transmit diversity and optimum coding gain are presented.

Minimal Triangulations of Manifolds

Finding vertex-minimal triangulations of closed manifolds is a very difficult problem. Except for spheres and two series of manifolds, vertex-minimal triangulations are known for only few manifolds of dimension more than 2 (see the table given at the end of Section 5). In this article, we present a brief survey on the works done in last 30 years on the following:(i) Finding the minimal number of vertices required to triangulate a given pl manifold. (ii) Given positive integers n and d, construction of n-vertex triangulations of different d-dimensional pl manifolds. (iii) Classifications of all the triangulations of a given pl manifold with same number of vertices.In Section 1, we have given all the definitions which are required for the remaining part of this article. A reader can start from Section 2 and come back to Section 1 as and when required. In Section 2, we have presented a very brief history of triangulations of manifolds. In Section 3,we have presented examples of several vertex-minimal triangulations. In Section 4, we have presented some interesting results on triangulations of manifolds. In particular, we have stated the Lower Bound Theorem and the Upper Bound Theorem. In Section 5, we have stated several results on minimal triangulations without proofs. Proofs are available in the references mentioned there. We have also presented some open problems/conjectures in Sections 3 and 5.

A Refined Methodology for Durability-Based Service Life Estimation of Reinforced Concrete Structural Elements Considering Fuzzy and Random Uncertainties

A reliable method for service life estimation of the structural element is a prerequisite for service life design. A new methodology for durability-based service life estimation of reinforced concrete flexural elements with respect to chloride-induced corrosion of reinforcement is proposed. The methodology takes into consideration the fuzzy and random uncertainties associated with the variables involved in service life estimation by using a hybrid method combining the vertex method of fuzzy set theory with Monte Carlo simulation technique. It is also shown how to determine the bounds for characteristic value of failure probability from the resulting fuzzy set for failure probability with minimal computational effort. Using the methodology, the bounds for the characteristic value of failure probability for a reinforced concrete T-beam bridge girder has been determined. The service life of the structural element is determined by comparing the upper bound of characteristic value of failure probability with the target failure probability. The methodology will be useful for durability-based service life design and also for making decisions regarding in-service inspections.

Determining optimum subband edges for signal compression

The coding gain in subband coding, a popular technique for achieving signal compression, depends on how the input signal spectrum is decomposed into subbands. The optimality of such decomposition is conventionally addressed by designing appropriate filter banks. The issue of optimal decomposition of the input spectrum is addressed by choosing the set of band that, for a given number of bands, will achieve maximum coding gain. A set of necessary conditions for such optimality is derived, and an algorithm to determine the optimal band edges is then proposed. These band edges along with ideal filters, achieve the upper bound of coding gain for a given number of bands. It is shown that with ideal filters, as well as with realizable filters for some given effective length, such a decomposition system performs better than the conventional nonuniform binary tree-structured decomposition in some cases for AR sources as well as images

Boxicity and Poset Dimension

Let G be a simple, undirected, finite graph with vertex set V (G) and edge set E(G). A k-dimensional box is a Cartesian product of closed intervals [a(1), b(1)] x [a(2), b(2)] x ... x [a(k), b(k)]. The boxicity of G, box(G), is the minimum integer k such that G can be represented as the intersection graph of k-dimensional boxes; i.e., each vertex is mapped to a k-dimensional box and two vertices are adjacent in G if and only if their corresponding boxes intersect. Let P = (S, P) be a poset, where S is the ground set and P is a reflexive, antisymmetric and transitive binary relation on S. The dimension of P, dim(P), is the minimum integer t such that P can be expressed as the intersection of t total orders. Let G(P) be the underlying comparability graph of P; i.e., S is the vertex set and two vertices are adjacent if and only if they are comparable in P. It is a well-known fact that posets with the same underlying comparability graph have the same dimension. The first result of this paper links the dimension of a poset to the boxicity of its underlying comparability graph. In particular, we show that for any poset P, box(G(P))/(chi(G(P)) - 1) <= dim(P) <= 2box(G(P)), where chi(G(P)) is the chromatic number of G(P) and chi(G(P)) not equal 1. It immediately follows that if P is a height-2 poset, then box(G(P)) <= dim(P) <= 2box(G(P)) since the underlying comparability graph of a height-2 poset is a bipartite graph. The second result of the paper relates the boxicity of a graph G with a natural partial order associated with the extended double cover of G, denoted as G(c): Note that G(c) is a bipartite graph with partite sets A and B which are copies of V (G) such that, corresponding to every u is an element of V (G), there are two vertices u(A) is an element of A and u(B) is an element of B and {u(A), v(B)} is an edge in G(c) if and only if either u = v or u is adjacent to v in G. Let P(c) be the natural height-2 poset associated with G(c) by making A the set of minimal elements and B the set of maximal elements. We show that box(G)/2 <= dim(P(c)) <= 2box(G) + 4. These results have some immediate and significant consequences. The upper bound dim(P) <= 2box(G(P)) allows us to derive hitherto unknown upper bounds for poset dimension such as dim(P) = 2 tree width (G(P)) + 4, since boxicity of any graph is known to be at most its tree width + 2. In the other direction, using the already known bounds for partial order dimension we get the following: (1) The boxicity of any graph with maximum degree Delta is O(Delta log(2) Delta), which is an improvement over the best-known upper bound of Delta(2) + 2. (2) There exist graphs with boxicity Omega(Delta log Delta). This disproves a conjecture that the boxicity of a graph is O(Delta). (3) There exists no polynomial-time algorithm to approximate the boxicity of a bipartite graph on n vertices with a factor of O(n(0.5-is an element of)) for any is an element of > 0 unless NP = ZPP.

Comparison of Optimum Reactive Power Schedule with Different Objectives Using LP Technique

Three algorithms for reactive power optimization are proposed in this paper with three different objective functions. The objectives in the proposed algorithm are to minimize the sum of the squares of the voltage deviations of the load buses, minimization of sum of squares of voltage stability L-indices of load buses (:3L2) algorithm, and also the objective of system real power loss (Ploss) minimization. The approach adopted is an iterative scheme with successive power flow analysis using decoupled technique and solution of the linear programming problem using upper bound optimization technique. Results obtained with all these objectives are compared. The analysis of these objective functions are presented to illustrate their advantages. It is observed comparing different objective functions it is possible to identify critical On Load Tap Changers (OLTCs) that should be made manual to avoid possible voltage instability due to their operation based on voltage improvement criteria under heavy load conditions. These algorithms have been tested under simulated conditions on few test systems. The results obtained on practical systems of 24-node equivalent EHV Indian power network, and for a 205 bus EHV system are presented for illustration purposes.

Robust Approach for Identification of Bad Data in State Estimation Using SLP Technique

This paper proposes a new approach for solving the state estimation problem. The approach is aimed at producing a robust estimator that rejects bad data, even if they are associated with leverage-point measurements. This is achieved by solving a sequence of Linear Programming (LP) problems. Optimization is carried via a new algorithm which is a combination of “upper bound optimization technique" and “an improved algorithm for discrete linear approximation". In this formulation of the LP problem, in addition to the constraints corresponding to the measurement set, constraints corresponding to bounds of state variables are also involved, which enables the LP problem more efficient in rejecting bad data, even if they are associated with leverage-point measurements. Results of the proposed estimator on IEEE 39-bus system and a 24-bus EHV equivalent system of the southern Indian grid are presented for illustrative purpose.

Vertical Uplift Resistance of a Group of Two Coaxial Anchors in Clay

The vertical uplift resistance for a group of two horizontal coaxial rigid strip anchors embedded in clay under undrained condition has been determined by using the upper bound theorem of limit analysis in combination with finite elements. An increase of undrained shear strength of soil mass with depth has been incorporated. The uplift factor F-c gamma has been computed. As compared to a single isolated anchor, a group of two anchors provides greater magnitude of the uplift resistance. For a given embedment ratio, the group of two anchors generates almost the maximum uplift resistance when the upper anchor is located midway between ground surface and the lower anchor. For a given embedment ratio, F-c gamma increases linearly with an increase in the normalized unit weight of soil mass up to a certain value before attaining a certain maximum magnitude; the maximum value of F-c gamma increases with an increase in embedment ratio. DOI: 10.1061/(ASCE)GT.19435606.0000599. (C) 2012 American Society of Civil Engineers.

Rainbow connection number and connected dominating sets

The rainbow connection number of a connected graph is the minimum number of colors needed to color its edges, so that every pair of its vertices is connected by at least one path in which no two edges are colored the same. In this article we show that for every connected graph on n vertices with minimum degree delta, the rainbow connection number is upper bounded by 3n/(delta + 1) + 3. This solves an open problem from Schiermeyer (Combinatorial Algorithms, Springer, Berlin/Hiedelberg, 2009, pp. 432437), improving the previously best known bound of 20n/delta (J Graph Theory 63 (2010), 185191). This bound is tight up to additive factors by a construction mentioned in Caro et al. (Electr J Combin 15(R57) (2008), 1). As an intermediate step we obtain an upper bound of 3n/(delta + 1) - 2 on the size of a connected two-step dominating set in a connected graph of order n and minimum degree d. This bound is tight up to an additive constant of 2. This result may be of independent interest. We also show that for every connected graph G with minimum degree at least 2, the rainbow connection number, rc(G), is upper bounded by Gc(G) + 2, where Gc(G) is the connected domination number of G. Bounds of the form diameter(G)?rc(G)?diameter(G) + c, 1?c?4, for many special graph classes follow as easy corollaries from this result. This includes interval graphs, asteroidal triple-free graphs, circular arc graphs, threshold graphs, and chain graphs all with minimum degree delta at least 2 and connected. We also show that every bridge-less chordal graph G has rc(G)?3.radius(G). In most of these cases, we also demonstrate the tightness of the bounds.

Seismic stability of a long unsupported circular tunnel

The stability of a long unsupported circular tunnel (opening) in a cohesive frictional soil has been assessed with the inclusion of pseudo-static horizontal earthquake body forces. The analysis has been performed under plane strain conditions by using upper bound finite element limit analysis in combination with a linear optimization procedure. The results have been presented in the form of a non-dimensional stability number (gamma H-max/c); where H = tunnel cover, c refers to soil cohesion and gamma(max) is the maximum unit weight of soil mass which the tunnel can support without collapse. The results have been obtained for various values of H/D (D = diameter of the tunnel), internal friction angle (phi) of soil, and the horizontal earthquake acceleration coefficient (alpha(h)). The computations reveal that the values of the stability numbers (i) decrease quite significantly with an increase in alpha(h), and (ii) become continuously higher for greater values of H/D and phi. As expected, the failure zones around the periphery of the tunnel becomes always asymmetrical with an inclusion of horizontal seismic body forces. (c) 2012 Elsevier Ltd. All rights reserved.