Adaptive fast finite time control of a class of uncertain nonlinear systems

This paper concerns the adaptive fast finite time control of a class of nonlinear uncertain systems of which the upper bounds of the system uncertainties are unknown. By using the fast non-smooth control Lyapunov function and the method of so-called adding a power integrator merging with adaptive technique, a recursive design procedure is provided, which guarantees the fast finite time stability of the closed-loop system. It is proved that the control input is bounded, and a simulation example is given to illustrate the effectiveness of the theoretical results.

Movements of a nomadic waterfowl, Grey Teal Anas gracilis, across inland Australia – results from satellite telemetry spanning fifteen months

We used lightweight satellite transmitters to follow the movements of 17 Grey Teal Anas gracilis between September 2003 and November 2004 in two contrasting landscapes, the agricultural districts of southern Australia and the desert landscapes of the interior. Tagged birds moved large distances (up to 343 km) between occupied sites in a short period (hours), remained in the vicinity of those sites for extended periods (months), ventured up to 453 km from their point of release and travelled more than 2000 km in one year. We describe patterns of movement in a nomadic waterfowl for 15 months from September 2003, a period of severe drought. Based on the current analysis there appears to be no remarkable difference in the observed patterns of movement of those released in the agricultural landscapes and those released in the desert. As in waterfowl elsewhere, movements appear to occur in response to changes in local food abundance that threaten survival or the imperative to move in order to breed successfully. In Grey Teal, the proximate cues for movement transcend the local landscape and some birds are responding to temporary cues hundreds of kilometres distant. This is in contrast to the universal seasonal cues associated with migration systems elsewhere.

Stability theory and numerical analysis of non-autonomous dynamical systems

The development and use of cocycles for analysis of non-autonomous behaviour is a technique that has been known for several years. Initially developed as an extension to semi-group theory for studying rion-autonornous behaviour, it was extensively used in analysing random dynamical systems [2, 9, 10, 12]. Many of the results regarding asymptotic behaviour developed for random dynamical systems, including the concept of cocycle attractors were successfully transferred and reinterpreted for deterministic non-autonomous systems primarily by P. Kloeden and B. Schmalfuss [20, 21, 28, 29]. The theory concerning cocycle attractors was later developed in various contexts specific to particular classes of dynamical systems [6, 7, 13], although a comprehensive understanding of cocycle attractors (redefined as pullback attractors within this thesis) and their role in the stability of non-autonomous dynamical systems was still at this stage incomplete. It was this purpose that motivated Chapters 1-3 to define and formalise the concept of stability within non-autonomous dynamical systems. The approach taken incorporates the elements of classical asymptotic theory, and refines the notion of pullback attraction with further development towards a study of pull-back stability arid pullback asymptotic stability. In a comprehensive manner, it clearly establishes both pullback and forward (classical) stability theory as fundamentally unique and essential components of non-autonomous stability. Many of the introductory theorems and examples highlight the key properties arid differences between pullback and forward stability. The theory also cohesively retains all the properties of classical asymptotic stability theory in an autonomous environment. These chapters are intended as a fundamental framework from which further research in the various fields of non-autonomous dynamical systems may be extended. A preliminary version of a Lyapunov-like theory that characterises pullback attraction is created as a tool for examining non-autonomous behaviour in Chapter 5. The nature of its usefulness however is at this stage restricted to the converse theorem of asymptotic stability. Chapter 7 introduces the theory of Loci Dynamics. A transformation is made to an alternative dynamical system where forward asymptotic (classical asymptotic) behaviour characterises pullback attraction to a particular point in the original dynamical system. This has the advantage in that certain conventional techniques for a forward analysis may be applied. The remainder of the thesis, Chapters 4, 6 and Section 7.3, investigates the effects of perturbations and discretisations on non-autonomous dynamical systems known to possess structures that exhibit some form of stability or attraction. Chapter 4 investigates autonomous systems with semi-group attractors, that have been non-autonomously perturbed, whilst Chapter 6 observes the effects of discretisation on non-autonomous dynamical systems that exhibit properties of forward asymptotic stability. Chapter 7 explores the same problem of discretisation, but for pullback asymptotically stable systems. The theory of Loci Dynamics is used to analyse the nature of the discretisation, but establishment of results directly analogous to those discovered in Chapter 6 is shown to be unachievable. Instead a case by case analysis is provided for specific classes of dynamical systems, for which the results generate a numerical approximation of the pullback attraction in the original continuous dynamical system. The nature of the results regarding discretisation provide a non-autonomous extension to the work initiated by A. Stuart and J. Humphries [34, 35] for the numerical approximation of semi-group attractors within autonomous systems. . Of particular importance is the effect on the system's asymptotic behaviour over non-finite intervals of discretisation.

Interpreting and modeling baggage handling systems as a system of systems

The topic of systems of systems has been one of the most challenging areas in science and engineering due to its multidisciplinary scope and inherent complexity. Despite all attempts carried out so far in both academia and industry, real world applications are far remote. The purpose of this paper is to modify and adopt a recently developed modeling paradigm for system of systems and then employ it to model a generic baggage handling system of an airport complex. In a top-down design approach, we start modeling process by definition of some modeling goals that guide us in selection of some high level attributes. Then functional attributes are defined which act as ties between high level attributes (the first level of abstraction) and low level metrics/measurements. Since the most challenging issues in developing models for system of systems are identification and representation of dependencies amongst constituent entities, a machine learning technique is adopted for addressing these issues.

Ion clustering in molecular dynamics simulations of sodium iodide solutions

Model systems of sodium iodide dissolved in dimethyl ether or 1,2-dimethoxyethane (glyme) were studied in order to investigate the structural and dynamic properties of ionic solutions in small and polymeric ethers. Full molecular dynamics simulations were performed at a range of different salt concentrations. An algorithm was designed which assigns ions to clusters and then calculates all the terms which contribute to ionic conductivity. In dilute solutions, free ions are the most common ionic species, followed by ion pairs. As the concentration increases, pairs become the most common species, with significant concentrations of clusters with 3 through 6 ions. Changing the solvent from dimethyl ether to glyme significantly decreases the ion clustering due to the chelate effect in which the two oxygens on a solvent stabilize an associated cation. The conductivity in stable systems is shown to be primarily the result of the movement of free ions and the relative movement of ions within neutral pairs. The Nernst-Einstein relation, commonly used in the discussion of polymer electrolytes, is shown to be inadequate to quantitatively describe conductivity in the model systems.

Optimization-based formation of autonomous mobile robots

The formation of autonomous mobile robots to an arbitrary geometric pattern in a distributed fashion is a fundamental problem in formation control. This paper presents a new asynchronous, memoryless (oblivious) algorithm to the formation problem via distributed optimization techniques. The optimization minimizes an appropriately defined difference function between the current robot distribution and the target geometric pattern. The optimization processes are performed independently by individual robots in their local coordinate systems. A movement strategy derived from the results of the distributed optimizations guarantees that every movement makes the current robot configuration approaches the target geometric pattern until the final pattern is reached.

Adaptive fast finite-time multiple-surface sliding control for a class of uncertain non-linear systems

This paper concerns the adaptive fast finite-time multiple-surface sliding control (AFFTMSSC) problem for a class of high-order uncertain non-linear systems of which the upper bounds of the system uncertainties are unknown. By using the fast control Lyapunov function and the method of so-called adding a power integrator merging with adaptive technique, a recursive design procedure is provided, which guarantees the fast finite-time stability of the closed-loop system. Further, it is proved that the control input is bounded.

Measurement error causes scale-dependent threshold erosion of biological signals in animal movement data

Recent advances in telemetry technology have created a wealth of tracking data available for many animal species moving over spatial scales from tens of meters to tens of thousands of kilometers. Increasingly, such data sets are being used for quantitative movement analyses aimed at extracting fundamental biological signals such as optimal searching behavior and scale-dependent foraging decisions. We show here that the location error inherent in various tracking technologies reduces the ability to detect patterns of behavior within movements. Our analyses endeavored to set out a series of initial ground rules for ecologists to help ensure that sampling noise is not misinterpreted as a real biological signal. We simulated animal movement tracks using specialized random walks known as Lévy flights at three spatial scales of investigation: 100-km, 10-km, and 1-km maximum daily step lengths. The locations generated in the simulations were then blurred using known error distributions associated with commonly applied tracking methods: the Global Positioning System (GPS), Argos polar-orbiting satellites, and light-level geolocation. Deviations from the idealized Lévy flight pattern were assessed for each track after incrementing levels of location error were applied at each spatial scale, with additional assessments of the effect of error on scale-dependent movement patterns measured using fractal mean dimension and first-passage time (FPT) analyses. The accuracy of parameter estimation (Lévy μ, fractal mean D, and variance in FPT) declined precipitously at threshold errors relative to each spatial scale. At 100-km maximum daily step lengths, error standard deviations of ≥10 km seriously eroded the biological patterns evident in the simulated tracks, with analogous thresholds at the 10-km and 1-km scales (error SD ≥ 1.3 km and 0.07 km, respectively). Temporal subsampling of the simulated tracks maintained some elements of the biological signals depending on error level and spatial scale. Failure to account for large errors relative to the scale of movement can produce substantial biases in the interpretation of movement patterns. This study provides researchers with a framework for understanding the limitations of their data and identifies how temporal subsampling can help to reduce the influence of spatial error on their conclusions.

Taxonomy of contention management in interconnected distributed systems

Interconnected distributed computing systems, such as computing Grids and federated Clouds, have been of special importance in both industry and academia. Resources provided in these environments are usually shared between users from different groups and/or organizations. Therefore these environments are prone to contention between user requests for accessing resources. Particularly, resource contention takes place when a user requests cannot be admitted or cannot sufficiently access resources because they are occupied by other requests. In this paper, we deal with different types of resource contentions occurring in interconnected distributed systems as well as approaches for resolving them. Approaches developed to resolve resource contentions share similarities in many aspects while being different in other aspects. We investigate the features of these approaches, identify and categorize the similarities and differences of them. Additionally, we review various resource management systems of interconnected distributed systems and group them based on the identified specifications.

Post-exercise depression in corticomotor excitability after dynamic movement: a general property of fatiguing and non-fatiguing exercise

Transcranial magnetic stimulation has been used to study changes in central excitability associated with motor tasks. Recently, we reported that a finger flexion–extension task performed at a maximal voluntary rate (MVR) could not be sustained and that this was not due to muscle fatigue, but was more likely a breakdown in central motor control. To determine the central changes that accompany this type of movement task, we tracked motor-evoked potential (MEP) amplitude from the first dorsal interosseous (FDI) and abductor pollicis brevis (APB) muscles of the dominant hand in normal subjects for 20 min after a 10 sec index finger flexion–extension task performed at MVR and at a moderate sustainable rate (MSR) and half the MSR (MSR/2). The FDI MEP amplitude was reduced for up to 6–8 min after each of the tasks but there was a greater and longer-lasting reduction after the MSR and MSR/2 tasks compared to the MVR task. There was a similar reduction in the amplitude of the FDI MEP after a 10 sec cyclic index finger abduction–adduction task when the FDI was acting as the prime mover. The amplitude of the MEP recorded from the inactive APB was also reduced after the flexion–extension tasks, but to a lesser degree and for a shorter duration. Measurements of short-interval cortical inhibition revealed an increase in inhibition after all of the finger flexion–extension tasks, with the MSR task being associated with the greatest degree of inhibition. These findings indicate that a demanding MVR finger movement task is followed by a period of reduced corticomotor excitability and increased intracortical inhibition. However, these changes also occur with and are greater with slower rates of movement and are not specific for motor demand, but may be indicative of adaptive changes in the central motor pathway after a period of repetitive movement.

Movement ecology of nomadic arid zone waterfowl

This thesis provides insights into the spatial and temporal patterns of movement in nomadic waterfowl, the response of birds to rapid environmental change, behavioural flexibility of avian movements and the ability of birds to locate seemingly unpredictable water bodies in vast arid landscapes.

Construct validity of the pictorial scale of perceived movement skill competence

Objectives: The Pictorial Scale of Perceived Movement Skill Competence (PMSC) assesses young children's perceptions of movement skill competence: 12 perceived Fundamental Movement skills (FMS; based on the Test of Gross Motor Development 2nd edition TGMD-2) and six Active Play activities (e.g. cycling). The main study purpose was to assess whether children's movement perception scores fit within the imposed constructs of Active Play and FMS by testing the latent structure and construct validity of the PMSC.

Design: Construct validation study.

Methods: Participants were part of the Melbourne Infant Feeding, Activity and Nutrition Trial (InFANT). The latent structure of the PMSC responses was tested through confirmatory factor analysis (CFA) and Bayesian Structural Equation Modeling (BSEM). Internal consistency was conducted using polychoric correlation-based alphas.

Results: The 303 children (boys 53.1%, n = 161) were aged 4-5 years (M = 4.7, SD = 0.46). The final model had an 18 item 3-factor solution with good fit indices (using CFA and BSEM). Factors were: Active Play (Bike, Board Paddle, Climb, Skate/Blade, Scooter, and Swim), Object Control - Hand Skills (Bounce, Catch, Hit, Throw), and FMS skills with a leg action (Gallop, Hop, Jump, Leap, Run, Step Slide, Kick, Roll). Alpha reliability values were: Active Play (0.78), Object Control-Hand Skills (0.76) and FMS-Dynamic Leg (0.84).

Conclusion: Young children can distinguish between movement perceptions. The factors reflect the hypothesized structure in terms of FMS being distinguished from Active Play. Further research should investigate how and if these constructs change in children over time.

Multi-agent approach for enhancing security of protection schemes in cyber-physical energy systems

This paper presents a distributed multi-agent scheme to detect and identify cyber threats on the protection systems of power grids. The integration of information and communication technologies (ICTs) into existing power grids builds critical cyberphysical energy systems CPESs) in which digital relays are networked cyber-physical components subject to various cyber threats. Cyber attacks on protection systems may mimic real faults, cause component failure, and disable the communication links. Agents utilize both cyber and physical properties to reinforce the detection technique and further distinguish cyber attacks from physical faults. This paper also introduces the problem of secure communicationprotocols and highlights the comparative studies for enhancing thesecurity of the protection systems. The proposed scheme is validatedusing a benchmark power system under various fault and cyber attack scenarios.