Fast finite-time consensus of a class of high-order uncertain nonlinear systems

This paper poses and solves a new problem of consensus control where the task is to make the fixed-topology multi-agent network, with each agent described by an uncertain nonlinear system in chained form, to reach consensus in a fast finite time. Our development starts with a set of new sliding mode surfaces. It is proven that, on these sliding mode surfaces, consensus can be achieved if the communication graph has the proposed directed spanning tree. Next, we introduce the multi-surface sliding mode control to drive the sliding variables to the sliding mode surfaces in a fast finite time. The control Lyapunov function for fast finite time stability, motivated by the fast terminal sliding mode control, is used to prove the reachability of the sliding mode surface. A recursive design procedure is provided, which guarantees the boundedness of the control input.

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.

Sharable file searching in unstructured peer-to-peer systems

The existing sharable file searching methods have at least one of the following disadvantages: (1) they are applicable only to certain topology patterns, (2) suffer single point failure, or (3) incur prohibitive maintenance cost. These drawbacks prevent their effective application in unstructured Peer-to-peer (P2P) systems (where the system topologies are changed time to time due to peers' frequently entering and leaving the systems), despite the considerable success of sharing file search in conventional peer-to-peer systems. Motivated by this, we develop several fully dynamic algorithms for searching sharing files in unstructured peer to peer systems. Our solutions can handle any topology pattern with small search time and computational overhead. We also present an in-depth analysis that provides valuable insight into the characteristics of alternative effective search strategies and leads to precision guarantees. Extensive experiments validate our theoretical findings and demonstrate the efficiency of our techniques in practice.

Formation control of weak autonomous robots

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 fully distributed, memoryless (oblivious) algorithm to the formation control problem via distributed optimization techniques. The optimization minimizes an appropriately defined difference function between the current robot distribution and target geometric pattern. The optimization processes are performed independently by individual robots in their local coordinate system. 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.

Performance evaluation of open source seismic data processing packages

In many businesses, including hydrocarbon industries, reducing cost is of high priority. Although hydrocarbon industries appear able to afford the expensive computing infrastructure and software packages used to process seismic data in the search for hydrocarbon traps, it is always imperative to find ways to minimize cost. Seismic processing costs can be significantly reduced by using inexpensive, open source seismic data processing packages. However, hydrocarbon industries question the processing performance capability of open source packages, claiming that their seismic functions are less integrated and provide almost no technical guarantees for one to use. The objective of this paper is to demonstrate, through a comparative analysis, that open source seismic data processing packages are capable of executing the required seismic functions on an actual industrial workload. To achieve this objective we investigate whether or not open source seismic data processing packages can be executed using the same set of seismic data through data format conversions, and whether or not they can achieve reasonable performance and speedup when executing parallel seismic functions on a HPC cluster. Among the few open source packages available on the Internet, the subjects of our study are two popular packages: Seismic UNIX (SU) and Madagascar.

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.

Dynamic currency hedging for international stock portfolios

The paper studies dynamic currency risk hedging of international stock portfolios using a currency overlay. A dynamic conditional correlation (DCC) multivariate GARCH model is employed to estimate time-varying covariance among stock market returns and currency returns. The conditional covariance is then used in the estimation of risk-minimizing conditional hedge ratios. The study considers seven developed economies over the period January 2002 to April 2010 and estimates daily conditional hedge ratios for portfolios of various stock market combinations. Conditional hedging is shown to dominate traditional static hedging and unconditional hedging in terms of risk reduction both in-sample and out-of-sample, especially during the recent global financial crisis. Conditional hedging also proves to consistently reduce portfolio risk for various levels of foreign investments.

Mentoring and the transfer of organizational memory within the context of an aging workforce : cultural implications for competitive advantage

Organizational memory, the knowledge gained from organizational experience, has significant potential for competitive advantage. Many authors in the knowledge management and human resource management literatures consider mentoring to be a particularly effective method of transferring organizational memory. In addition, older workers are often considered ideal mentors in organizations because of their experience and alleged willingness to pass on their knowledge to less experienced employees. There is an associated assumption that these workers also anticipate and experience positive outcomes when mentoring others. This chapter considers whether these assumptions hold up in the workplaces of the 21st century, particularly within Western countries. Individualistic cultural norms and some discriminatory practices towards older workers, along with a changing career contract that no longer guarantees employment in one organization for life, may discourage knowledge sharing in organizations. This chapter discusses the constraints and motivations that may operate when older experienced workers consider mentoring others. It considers relevant global and organizational cultural characteristics that may influence mentoring to transfer knowledge, and accordingly suggests strategies for those eager to capitalise on the knowledge experienced employees possess.

The principle of legality as clear statement rule: significance and problems

In Australia, the common law principle of legality has hardened into a strong clear statement rule that is applied when legislation engages common law rights and freedoms. It has transformed a loose collection of rebuttable interpretive presumptions into a quasi-constitutional common law bill of rights. However, these developments are not without controversy or issue. The analysis undertaken in this article suggests that the principle of legality as clear statement rule -- as mandated by the High Court in Coco v The Queen -- can only work legitimately if Parliament has clear and prior notice of the rights and freedoms that it operates to protect. But it is problematic if what a common law right, such as freedom of speech, requires or guarantees in any given legislative context is unclear and contested, and so must be judicially divined at the point of application. In these cases, the principle operates to enforce a (post-legislative) judicial approximation of what best protects and promotes an abstract legal value or principle. It amounts to the illegitimate judicial remaking of prior legislative decisions on rights. This undercuts the normative justifications for the principle of legality as it obscures from Parliament the common law (rights) backdrop against which its legislation is enacted and interpreted.

Chameleon hashing for secure and privacy-preserving vehicular communications

Many services and applications in vehicular ad-hoc networks (VANETs) require preserving and secure data communications. To improve driving safety and comfort, the traffic-related status information will be broadcasted regularly and shared among drivers. Without the security and privacy guarantees, attackers could track their interested vehicles by collecting and analyzing their traffic messages. Hence, anonymous message authentication is an essential requirement of VANETs. On the other hand, when a vehicle is involved in a dispute event of warning message, the certificate authority should be able to recover the real identity of this vehicle. To deal with this issue, we propose a new privacy-preserving authentication protocol with authority traceability using elliptic curve based chameleon hashing. Compared with existing schemes, our approach possesses the following features: 1) mutual and anonymous authentication for both vehicle-to-vehicle and vehicle-to-roadside communications, 2) vehicle unlinkability, 3) authority tracking capability, and 4) high computational efficiency. We also demonstrate the merits of our proposed scheme through security analysis and extensive performance evaluation.

Scalable hierarchical rings based routing to a mobile robot in wireless sensor networks

Location service provides location information of robots to sensors, to enable event reporting. Existing protocols apply partial flooding to trace robots, leading to poor scalability. We propose a novel scalable location service, which applies hierarchical rings to update robot location and guide routing toward it. Each mobile robot creates a set of hierarchical update rings of doubling radii. Whenever the robot leaves its k-th ring, it updates its new location to sensors along its newly defined k-th ring, and re-defines all smaller rings for future decisions. When a sensor needs to route to the mobile robot, it starts searching from its smallest ring and sends location query to the sensors along the ring. If the query fails, the search then extends to the next larger ring, until it intersects an existing update ring, from which the search can be directed towards reported center. The location of destination is updated whenever another more recent ring is intersected. Our scheme guarantees message delivery if robot remains connected to sensors during its move. The theoretical analysis and simulation results demonstrate better scalability than previous protocols for the similar goal. © 2014 IEEE.

Lemons on the web: a signalling approach to the problem of trust in Internet commerce

Asymmetric information is at the heart of situations involving trust. In the case of B2CInternet commerce, the information asymmetry typically relates to the difficulty that consumershave of distinguishing between ‘‘trustworthy’’ and ‘‘untrustworthy’’ Web merchants. Theimpasse can be resolved by the use of signals by trustworthy Web merchants to differentiatethemselves from untrustworthy ones. Using an experimental design where subjects are exposedto a series of purchase choices, we investigate three possible signals, an unconditional moneybackguarantee, branding, and privacy statement, and test their efficacy. Our empirical resultsconfirm the predictions suggested by signalling theory.