Robust finite-time consensus tracking algorithm for multirobot systems

This paper studies the finite-time consensus tracking control for multirobot systems. We prove that finite-time consensus tracking of multiagent systems can be achieved on the terminal sliding-mode surface. Also, we show that the proposed error function can be modified to achieve relative state deviation between agents. These results are then applied to the finite-time consensus tracking control of multirobot systems with input disturbances. Simulation results are presented to validate the analysis.

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.

Prototyping real-time systems using Petri net and object-oriented models

The objective of the research for this thesis is to develop techniques in order to build an executable model of a real-time system. This model is to be used early in the development of the system not only to detect errors in the specification of the system but also to validate expectations of the developer as to the operation of the system. A graphical specification of a real-time system called the transformation schema was chosen to be used to build the model. Two executable models of a real-time system are described.

Real-time early infectious outbreak detection systems using emerging technologies

The use of emerging technologies ( such as RFID - Radio Frequency Identification and remote sensing) can be employed to reduce health care costs and also to facilitate the automatic streamlining of infectious disease outbreak detection and monitoring processes in local health departments. It can assist medical practitioners with fast and accurate diagnosis and treatments. In this paper we outline the design and application of a real-time RFID and sensor-base Early Infectious (e.g., cholera) Outbreak Detection and Monitoring (IODM) system for health care.

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.

Comments on "finite-time stability theorem of stochastic nonlinear systems" [Automatica 46 (2010) 2105-2108]

In this comment, we will point out some errors existing in Chen and Jiao (2010) from definitions to the proof of the main result, where the authors discussed the finite-time stability of stochastic nonlinear systems and proved a Lyapunov theorem on the finitetime stability.

A finite-time stability theorem of stochastic nonlinear systems and stabilization designs

This paper focuses on the finite-time stability and stabilization designs of stochastic nonlinear systems. We first present and discuss a definition on the finite-time stability in probability of stochastic nonlinear systems, then we introduce a stochastic Lyapunov theorem on the finite-time stability, which has been established by Yin et al. We also employ this theorem to design a continuous state feedback controller that makes a class of stochastic nonlinear systems to be stable in finite time. An example and a simulation are given to illustrate the theoretical analysis.

A novel mutual authentication scheme with minimum disclosure for rfid systems

In this paper we present a novel approach to authentication and privacy in RFID systems based on the minimum disclosure property and in conformance to EPC Class-1 Gen-2 specifications. We take into account the computational constraints of EPC Class-1 Gen-2 passive RFID tags and only the cyclic redundancy check (CRC) and pseudo random number generator (PRNG) functions that passive RFID tags are capable of are employed. Detailed security analysis of our scheme shows that it can offer robust security properties in terms of tag anonymity and tag untraceability while at the same time being robust to replay, tag impersonation and desynchronisation attacks. Simulations results are also presented to study the scalability of the proposed scheme and its impact on authentication delay.

Online context recognition in multisensor systems using Dynamic Time Warping

In this paper, we present our system for online context recognition of multimodal sequences acquired from multiple sensors. The system uses Dynamic Time Warping (DTW) to recognize multimodal sequences of different lengths, embedded in continuous data streams. We evaluate the performance of our system on two real world datasets: 1) accelerometer data acquired from performing two hand gestures and 2) NOKIA's benchmark dataset for context recognition. The results from both datasets demonstrate that the system can perform online context recognition efficiently and achieve high recognition accuracy.

Temporal data fusion in multisensor systems using dynamic time warping

Data acquired from multiple sensors can be fused at a variety of levels: the raw data level, the feature level, or the decision level. An additional dimension to the fusion process is temporal fusion, which is fusion of data or information acquired from multiple sensors of different types over a period of time. We propose a technique that can perform such temporal fusion. The core of the system is the fusion processor that uses Dynamic Time Warping (DTW) to perform temporal fusion. We evaluate the performance of the fusion system on two real world datasets: 1) accelerometer data acquired from performing two hand gestures and 2) NOKIA’s benchmark dataset for context recognition. The results of the first experiment show that the system can perform temporal fusion on both raw data and features derived from the raw data. The system can also recognize the same class of multisensor temporal sequences even though they have different lengths e.g. the same human gestures can be performed at different speeds. In addition, the fusion processor can infer decisions from the temporal sequences fast and accurately. The results of the second experiment show that the system can perform fusion on temporal sequences that have large dimensions and are a mix of discrete and continuous variables. The proposed fusion system achieved good classification rates efficiently in both experiments

Randomised controlled trials and 'unexpected' adverse events associated with newly released drugs : improvements in pharmacovigilance systems are necessary for real-time identification of patient safety risks

Adverse drug events are one of the major causes of morbidity in developed countries, yet the drugs involved in these events have been trialled and approved on the basis of randomised controlled trials (RCTs), regarded as the study design that will produce the best evidence.

Though the focus on adverse drug events has been primarily on processes and outcomes associated with the use of these approved drugs, attention needs to be directed to the way in which the RCT study design is structured. The implementation of controls to achieve internal validity in RCTs may be the very controls that reduce external validity, and contribute to the levels of adverse drug events associated with the release of a new drug to the wider patient population.

An examination of these controls, and the effects they can have on patient safety, underscore the importance of knowing about how the clinical trials of a drug are undertaken, rather than relying only on the recorded outcomes.

As the majority of new drugs are likely to be prescribed to older patients who have one or more comorbidities in addition to that targeted by a new drug, and as the RCTs of those drugs typically under-represent the elderly and exclude patients with multiple comorbidities, timely assessment of drug safety signals is essential.

It is unlikely that regulatory jurisdictions will undertake a reassessment of safety issues for drugs that are already approved. Instead, reliance has been placed on adverse drug event reporting systems. Such systems have a very low reporting rate, and most adverse drug events remain unreported, to the eventual cost to patients and healthcare systems.

This makes it essential for near real-time systems that can pick up safety signals as they occur, so that modifications to the product information (or removal of the drug) can be implemented.