An algebraic formulation of exact force-, moment-isotropy in spatial parallel manipulators

In this paper, we present an algebraic method to study and design spatial parallel manipulators that demonstrate isotropy in the force and moment distributions.We use the force and moment transformation matrices separately,and derive conditions for their isotropy individually as well as in combination. The isotropy conditions are derived in closed-form in terms of the invariants of the quadratic forms associated with these matrices. The formulation has been applied to a class of Stewart platform manipulators. We obtain multi-parameter families of isotropic manipulator analytically. In addition to computing the isotropic configurations of an existing manipulator,we demonstrate a procedure for designing the manipulator for isotropy at a given configuration.

Stochastic Algorithms for Discrete Parameter Simulation Optimization

We present two efficient discrete parameter simulation optimization (DPSO) algorithms for the long-run average cost objective. One of these algorithms uses the smoothed functional approximation (SFA) procedure, while the other is based on simultaneous perturbation stochastic approximation (SPSA). The use of SFA for DPSO had not been proposed previously in the literature. Further, both algorithms adopt an interesting technique of random projections that we present here for the first time. We give a proof of convergence of our algorithms. Next, we present detailed numerical experiments on a problem of admission control with dependent service times. We consider two different settings involving parameter sets that have moderate and large sizes, respectively. On the first setting, we also show performance comparisons with the well-studied optimal computing budget allocation (OCBA) algorithm and also the equal allocation algorithm. Note to Practitioners-Even though SPSA and SFA have been devised in the literature for continuous optimization problems, our results indicate that they can be powerful techniques even when they are adapted to discrete optimization settings. OCBA is widely recognized as one of the most powerful methods for discrete optimization when the parameter sets are of small or moderate size. On a setting involving a parameter set of size 100, we observe that when the computing budget is small, both SPSA and OCBA show similar performance and are better in comparison to SFA, however, as the computing budget is increased, SPSA and SFA show better performance than OCBA. Both our algorithms also show good performance when the parameter set has a size of 10(8). SFA is seen to show the best overall performance. Unlike most other DPSO algorithms in the literature, an advantage with our algorithms is that they are easily implementable regardless of the size of the parameter sets and show good performance in both scenarios.

Optimal Parameterized Policies for Resource Allocation in Communication Networks

The problem of finding optimal parameterized feedback policies for dynamic bandwidth allocation in communication networks is studied. We consider a queueing model with two queues to which traffic from different competing flows arrive. The queue length at the buffers is observed every T instants of time, on the basis of which a decision on the amount of bandwidth to be allocated to each buffer for the next T instants is made. We consider two different classes of multilevel closed-loop feedback policies for the system and use a two-timescale simultaneous perturbation stochastic approximation (SPSA) algorithm to find optimal policies within each prescribed class. We study the performance of the proposed algorithm on a numerical setting and show performance comparisons of the two optimal multilevel closedloop policies with optimal open loop policies. We observe that closed loop policies of Class B that tune parameters for both the queues and do not have the constraint that the entire bandwidth be used at each instant exhibit the best results overall as they offer greater flexibility in parameter tuning. Index Terms — Resource allocation, dynamic bandwidth allocation in communication networks, two-timescale SPSA algorithm, optimal parameterized policies. I.

Reinforcement learning with average cost for adaptive control of traffic lights at intersections

We propose for the first time two reinforcement learning algorithms with function approximation for average cost adaptive control of traffic lights. One of these algorithms is a version of Q-learning with function approximation while the other is a policy gradient actor-critic algorithm that incorporates multi-timescale stochastic approximation. We show performance comparisons on various network settings of these algorithms with a range of fixed timing algorithms, as well as a Q-learning algorithm with full state representation that we also implement. We observe that whereas (as expected) on a two-junction corridor, the full state representation algorithm shows the best results, this algorithm is not implementable on larger road networks. The algorithm PG-AC-TLC that we propose is seen to show the best overall performance.

Algebraic Approaches to Space-Time Code Construction for Multiple-Antenna Communication

A major challenge in wireless communications is overcoming the deleterious effects of fading, a phenomenon largely responsible for the seemingly inevitable dropped call. Multiple-antennas communication systems, commonly referred to as MIMO systems, employ multiple antennas at both transmitter and receiver, thereby creating a multitude of signalling pathways between transmitter and receiver. These multiple pathways give the signal a diversity advantage with which to combat fading. Apart from helping overcome the effects of fading, MIMO systems can also be shown to provide a manyfold increase in the amount of information that can be transmitted from transmitter to receiver. Not surprisingly,MIMO has played, and continues to play, a key role in the advancement of wireless communication.Space-time codes are a reference to a signalling format in which information about the message is dispersed across both the spatial (or antenna) and time dimension. Algebraic techniques drawing from algebraic structures such as rings, fields and algebras, have been extensively employed in the construction of optimal space-time codes that enable the potential of MIMO communication to be realized, some of which have found their way into the IEEE wireless communication standards. In this tutorial article, reflecting the authors’interests in this area, we survey some of these techniques.

Polynomial Approximation, Local Polynomial convexity, and Degenerate CR Singularities- II

We provide some conditions for the graph of a Holder-continuous function on (D) over bar, where (D) over bar is a closed disk in C, to be polynomially convex. Almost all sufficient conditions known to date - provided the function (say F) is smooth - arise from versions of the Weierstrass Approximation Theorem on (D) over bar. These conditions often fail to yield any conclusion if rank(R)DF is not maximal on a sufficiently large subset of (D) over bar. We bypass this difficulty by introducing a technique that relies on the interplay of certain plurisubharmonic functions. This technique also allows us to make some observations on the polynomial hull of a graph in C(2) at an isolated complex tangency.

An Online Actor-Critic Algorithm with Function Approximation for Constrained Markov Decision Processes

We develop an online actor-critic reinforcement learning algorithm with function approximation for a problem of control under inequality constraints. We consider the long-run average cost Markov decision process (MDP) framework in which both the objective and the constraint functions are suitable policy-dependent long-run averages of certain sample path functions. The Lagrange multiplier method is used to handle the inequality constraints. We prove the asymptotic almost sure convergence of our algorithm to a locally optimal solution. We also provide the results of numerical experiments on a problem of routing in a multi-stage queueing network with constraints on long-run average queue lengths. We observe that our algorithm exhibits good performance on this setting and converges to a feasible point.

Stabilization of stochastic approximation by step size adaptation

A scheme for stabilizing stochastic approximation iterates by adaptively scaling the step sizes is proposed and analyzed. This scheme leads to the same limiting differential equation as the original scheme and therefore has the same limiting behavior, while avoiding the difficulties associated with projection schemes. The proof technique requires only that the limiting o.d.e. descend a certain Lyapunov function outside an arbitrarily large bounded set. (C) 2012 Elsevier B.V. All rights reserved.

An Adaptive Conditional Zero-Forcing Decoder With Full-Diversity, Least Complexity and Essentially-ML Performance for STBCs

A low complexity, essentially-ML decoding technique for the Golden code and the three antenna Perfect code was introduced by Sirianunpiboon, Howard and Calderbank. Though no theoretical analysis of the decoder was given, the simulations showed that this decoding technique has almost maximum-likelihood (ML) performance. Inspired by this technique, in this paper we introduce two new low complexity decoders for Space-Time Block Codes (STBCs)-the Adaptive Conditional Zero-Forcing (ACZF) decoder and the ACZF decoder with successive interference cancellation (ACZF-SIC), which include as a special case the decoding technique of Sirianunpiboon et al. We show that both ACZF and ACZF-SIC decoders are capable of achieving full-diversity, and we give a set of sufficient conditions for an STBC to give full-diversity with these decoders. We then show that the Golden code, the three and four antenna Perfect codes, the three antenna Threaded Algebraic Space-Time code and the four antenna rate 2 code of Srinath and Rajan are all full-diversity ACZF/ACZF-SIC decodable with complexity strictly less than that of their ML decoders. Simulations show that the proposed decoding method performs identical to ML decoding for all these five codes. These STBCs along with the proposed decoding algorithm have the least decoding complexity and best error performance among all known codes for transmit antennas. We further provide a lower bound on the complexity of full-diversity ACZF/ACZF-SIC decoding. All the five codes listed above achieve this lower bound and hence are optimal in terms of minimizing the ACZF/ACZF-SIC decoding complexity. Both ACZF and ACZF-SIC decoders are amenable to sphere decoding implementation.

A constant factor approximation algorithm for boxicity of circular arc graphs

Boxicity of a graph G(V, E) is the minimum integer k such that G can be represented as the intersection graph of k-dimensional axis parallel boxes in Rk. Equivalently, it is the minimum number of interval graphs on the vertex set V such that the intersection of their edge sets is E. It is known that boxicity cannot be approximated even for graph classes like bipartite, co-bipartite and split graphs below O(n0.5-ε)-factor, for any ε > 0 in polynomial time unless NP = ZPP. Till date, there is no well known graph class of unbounded boxicity for which even an nε-factor approximation algorithm for computing boxicity is known, for any ε < 1. In this paper, we study the boxicity problem on Circular Arc graphs - intersection graphs of arcs of a circle. We give a (2+ 1/k)-factor polynomial time approximation algorithm for computing the boxicity of any circular arc graph along with a corresponding box representation, where k ≥ 1 is its boxicity. For Normal Circular Arc(NCA) graphs, with an NCA model given, this can be improved to an additive 2-factor approximation algorithm. The time complexity of the algorithms to approximately compute the boxicity is O(mn+n2) in both these cases and in O(mn+kn2) which is at most O(n3) time we also get their corresponding box representations, where n is the number of vertices of the graph and m is its number of edges. The additive 2-factor algorithm directly works for any Proper Circular Arc graph, since computing an NCA model for it can be done in polynomial time.

Fast acoustic likelihood computation using low-rank matrix approximation

Acoustic modeling using mixtures of multivariate Gaussians is the prevalent approach for many speech processing problems. Computing likelihoods against a large set of Gaussians is required as a part of many speech processing systems and it is the computationally dominant phase for LVCSR systems. We express the likelihood computation as a multiplication of matrices representing augmented feature vectors and Gaussian parameters. The computational gain of this approach over traditional methods is by exploiting the structure of these matrices and efficient implementation of their multiplication.In particular, we explore direct low-rank approximation of the Gaussian parameter matrix and indirect derivation of low-rank factors of the Gaussian parameter matrix by optimum approximation of the likelihood matrix. We show that both the methods lead to similar speedups but the latter leads to far lesser impact on the recognition accuracy. Experiments on a 1138 word vocabulary RM1 task using Sphinx 3.7 system show that, for a typical case the matrix multiplication approach leads to overall speedup of 46%. Both the low-rank approximation methods increase the speedup to around 60%, with the former method increasing the word error rate (WER) from 3.2% to 6.6%, while the latter increases the WER from 3.2% to 3.5%.

Quadrature approximation properties of the spiral-phase quadrature transform

The notion of the 1-D analytic signal is well understood and has found many applications. At the heart of the analytic signal concept is the Hilbert transform. The problem in extending the concept of analytic signal to higher dimensions is that there is no unique multidimensional definition of the Hilbert transform. Also, the notion of analyticity is not so well under stood in higher dimensions. Of the several 2-D extensions of the Hilbert transform, the spiral-phase quadrature transform or the Riesz transform seems to be the natural extension and has attracted a lot of attention mainly due to its isotropic properties. From the Riesz transform, Larkin et al. constructed a vortex operator, which approximates the quadratures based on asymptotic stationary-phase analysis. In this paper, we show an alternative proof for the quadrature approximation property by invoking the quasi-eigenfunction property of linear, shift-invariant systems. We show that the vortex operator comes up as a natural consequence of applying this property. We also characterize the quadrature approximation error in terms of its energy as well as the peak spatial-domain error. Such results are available for 1-D signals, but their counter part for 2-D signals have not been provided. We also provide simulation results to supplement the analytical calculations.

A fully discrete C-0 interior penalty Galerkin approximation of the extended Fisher-Kolmogorov equation

A fully discrete C-0 interior penalty finite element method is proposed and analyzed for the Extended Fisher-Kolmogorov (EFK) equation u(t) + gamma Delta(2)u - Delta u + u(3) - u = 0 with appropriate initial and boundary conditions, where gamma is a positive constant. We derive a regularity estimate for the solution u of the EFK equation that is explicit in gamma and as a consequence we derive a priori error estimates that are robust in gamma. (C) 2013 Elsevier B.V. All rights reserved.

A novel Q-learning algorithm with function approximation for constrained Markov decision processes

We present a novel multi-timescale Q-learning algorithm for average cost control in a Markov decision process subject to multiple inequality constraints. We formulate a relaxed version of this problem through the Lagrange multiplier method. Our algorithm is different from Q-learning in that it updates two parameters - a Q-value parameter and a policy parameter. The Q-value parameter is updated on a slower time scale as compared to the policy parameter. Whereas Q-learning with function approximation can diverge in some cases, our algorithm is seen to be convergent as a result of the aforementioned timescale separation. We show the results of experiments on a problem of constrained routing in a multistage queueing network. Our algorithm is seen to exhibit good performance and the various inequality constraints are seen to be satisfied upon convergence of the algorithm.