Robust network reconstruction in polynomial time

This paper presents an efficient algorithm for robust network reconstruction of Linear Time-Invariant (LTI) systems in the presence of noise, estimation errors and unmodelled nonlinearities. The method here builds on previous work [1] on robust reconstruction to provide a practical implementation with polynomial computational complexity. Following the same experimental protocol, the algorithm obtains a set of structurally-related candidate solutions spanning every level of sparsity. We prove the existence of a magnitude bound on the noise, which if satisfied, guarantees that one of these structures is the correct solution. A problem-specific model-selection procedure then selects a single solution from this set and provides a measure of confidence in that solution. Extensive simulations quantify the expected performance for different levels of noise and show that significantly more noise can be tolerated in comparison to the original method. © 2012 IEEE.

基于LMI全方位移动机器人H_∞鲁棒控制

针对机器人控制领域中一类多输入多输出(MIMO)高阶线性时不变系统,根据模型自身的结构特点,给出了基于线性矩阵不等式(LMI)的通过局部反馈H∞控制实现整个系统对不确定扰动具有鲁棒性的充分条件及相关推论,并在此基础上提出了一种解决该类型系统H∞控制问题的新算法。通过对一完整约束移动机器人系统的局部输出反馈H∞控制仿真,说明了此算法具有良好的控制效果和实用性。

A Competence-Based Course Authoring Concept for Learning Platforms with Legacy Assignment Tools

This paper is concerned with several of the most important aspects of Competence-Based Learning (CBL): course authoring, assignments, and categorization of learning content. The latter is part of the so-called Bologna Process (BP) and can effectively be supported by integrating knowledge resources like, e.g., standardized skill and competence taxonomies into the target implementation approach, aiming at making effective use of an open integration architecture while fostering the interoperability of hybrid knowledge-based e-learning solutions. Modern scenarios ask for interoperable software solutions to seamlessly integrate existing e-learning infrastructures and legacy tools with innovative technologies while being cognitively efficient to handle. In this way, prospective users are enabled to use them without learning overheads. At the same time, methods of Learning Design (LD) in combination with CBL are getting more and more important for production and maintenance of easy to facilitate solutions. We present our approach of developing a competence-based course-authoring and assignment support software. It is bridging the gaps between contemporary Learning Management Systems (LMS) and established legacy learning infrastructures by embedding existing resources via Learning Tools Interoperability (LTI). Furthermore, the underlying conceptual architecture for this integration approach will be explained. In addition, a competence management structure based on knowledge technologies supporting standardized skill and competence taxonomies will be introduced. The overall goal is to develop a software solution which will not only flawlessly merge into a legacy platform and several other learning environments, but also remain intuitively usable. As a proof of concept, the so-called platform independent conceptual architecture model will be validated by a concrete use case scenario.

Receptores de aniões baseados em azacalix[4]arenos e isoftalamidas

Nesta tese, desenvolvida no âmbito do Programa Doutoral em Química da Universidade de Aveiro, foram desenvolvidos novos receptores sintéticos construídos a partir da plataforma macrocíclica tetraazacalix[2]areno[2]triazina ou do fragmento de isoftalamida. Ambas as unidades estruturais foram decora-das com grupos de reconhecimento molecular baseados em grupos amida e/ou ureia com o objectivo de actuarem como receptores selectivos de aniões com importância biológica ou farmacológica, incluindo acetato, oxalato, malo-nato, succinato, glutarato, diglicolato, L- e D-NHBoc-alanina, (S)- e (R)-fenilpro-panoato, (S,S)- e (R,R)-tartarato, fumarato, maleato, Cl-, HCO3-, H2PO4-, HSO4- e SO42-. No Capítulo 1 é efectuada uma revisão bibliográfica dos desenvolvimentos recentes na síntese, caracterização estrutural e aplicações de receptores fun-cionais relacionados com os desenvolvidos no âmbito desta tese, com especial incidência para aqueles que foram estudados como receptores de aniões. Neste domínio, enquanto que receptores derivados da isoftalamida têm sido bastante estudados ao longo das últimas décadas, o desenvolvimento de receptores de aniões inspirados em heteracalix[2]areno[2]triazinas ainda se encontra a dar os primeiros passos. No Capítulo 2 é apresentada a síntese de quatro novos macrociclos derivados de tetraazacalix[2]areno[2]triazina incorporando um ou dois braços de L-alanina (A1, A2) ou de L-leucina (L1, L2) nos anéis benzénicos, e derivados com grupos amida como unidades de reconhecimento. Adicionalmente, são também apresentados dois novos azacalix[2]areno[2]triazinas contendo um (U1) ou dois (U2) braços com grupos ureia substituídos com um grupo (S)-metilbenzílico. Foram ainda preparados os macrociclos A2Me4 e U2Me4 por metilação dos átomos de azoto em ponte de A2 e U2, os quais foram posterior-mente utilizados em estudos de associação. Os compostos sintetizados foram caracterizados através de técnicas espectroscópicas, complementadas por difracção de raios X de cristal único no caso de U2Me4. O Capítulo 3 contempla os estudos de reconhecimento molecular entre os macrociclos A2Me4 e U2Me4 e os aniões derivados de ácidos mono- e dicarbo-xílicos alifáticos, ácidos carboxílicos isoméricos (enantiómeros e isómeros geométricos), aminoácidos e polioxaniões acima referidos, excepto HCO3-. Os estudos de associação foram realizados através de técnicas de titulação por RMN 1H com determinação das respectivas constantes de afinidade. Todas as associações estudadas apresentaram uma estequiometria receptor-substrato 1:1 com excepção das associações formadas entre A2Me4 e U2Me4 com H2PO4- (1:2). Os complexos A2Me4∙SO42- e U2Me4∙(H2PO4-)2 são os mais estáveis com constantes de associação de 7,4 × 104 M-1 e superior a 105 M-2, respectivamente. O reconhecimento dos dicarboxilatos ocorreu através dos dois braços do macrociclo, com os aniões com grupos carboxilato separados por cadeias alifáticas mais compridas (glutarato e diglicolato) apresentando um melhor ajuste aos braços de A2Me4 e U2Me4. Não foi observado reconheci-mento enantiosselectivo de aniões. Em contraste, as constantes de afinidade para as associações com os aniões dos isómeros cis (maleato) e trans (fumarato) do ácido but-2-enodióico, de 89 e 4920 M-1 para A2Me4 e 481 e 4007 M-1 para U2Me4, respectivamente, sugerem selectividade de ambos os receptores para o fumarato. No Capítulo 4 é descrita a síntese de nove receptores acíclicos incorporando a unidade de isoftalamida (Iso-1 a Iso-9) e braços laterais com grupos de reconhecimento de aniões. Enquanto que o receptor Iso-1 possui como unida-des de reconhecimento apenas grupos amida, os receptores Iso-2, Iso-3, Iso-5, Iso-6, Iso-7 e Iso-9 possuem grupos amida e ureia, e os derivados Iso-4 e Iso-8 grupos amida e sulfonilureia. Em cada um destes compostos, os grupos de reconhecimento estão separados por uma cadeia etilénica cuja flexibilidade confere um melhor ajuste com os aniões. Os derivados de isoftalamida preparados foram caracterizados através de técnicas espectroscópicas. No Capítulo 5 são apresentados os estudos de associação realizados por técnicas de titulação por RMN 1H entre Iso-1, Iso-2, Iso-4, Iso-6 e Iso-8 com os aniões H2PO4-, HCO3-, Cl- e oxalato. Os receptores Iso-1, Iso-2 e Iso-6 apresentaram maior afinidade para o dianião, com valores de Kass de 6100, 7800 e 9800 M-1 respectivamente, e menor para Cl- (17 < Kass < 19 M-1). Foram sempre formadas associações mais estáveis com H2PO4- (294 < Kass < 427 M-1) comparativamente a HCO3-, sendo que a associação mais forte com este últi-mo foi determinada com Iso-2 (Kass = 95 M-1). As moléculas de Iso-4 e Iso-8 sofreram desprotonação dos grupos sulfonilureia na presença de todos os aniões excepto de Cl-. No Capítulo 6 apresentam-se as conclusões gerais e no Capítulo 7 descrevem-se os procedimentos experimentais e também os dados espectroscópicos dos produtos obtidos.

Odin: a service for gamification of learning activities

Existing gamification services have features that preclude their use by e-learning tools. Odin is a gamification service that mimics the API of state-of-the-art services without these limitations. This paper describes Odin, its role in an e-learning system architecture requiring gamification, and details its implementation. The validation of Odin involved the creation of a small e-learning game, integrated in a Learning Management System (LMS) using the Learning Tools Interoperability (LTI) specification.

Integrating rich learning applications in LMS

Currently, a learning management system (LMS) plays a central role in any e-learning environment. These environments include systems to handle the pedagogic aspects of the teaching–learning process (e.g. specialized tutors, simulation games) and the academic aspects (e.g. academic management systems). Thus, the potential for interoperability is an important, although over looked, aspect of an LMS. In this paper, we make a comparative study of the interoperability level of the most relevant LMS. We start by defining an application and a specification model. For the application model, we create a basic application that acts as a tool provider for LMS integration. The specification model acts as the API that the LMS should implement to communicate with the tool provider. Based on researches, we select the Learning Tools Interoperability (LTI) from IMS. Finally, we compare the LMS interoperability level defined as the effort made to integrate the application on the study LMS.

IL-23 receptor and IL-12 receptor expression is restricted to distinct cell types in the IL-23R-GFP reporter mouse

Les maladies inflammatoires de l'intestin (MII) sont caractérisées par des réponses immunitaires incontrôlées dans l'intestin. Des études génétiques ont associé un polymorphisme dans le gène de l'IL23R à la résistance aux MII. IL23R code pour la protéine de l’IL-23r, une sous-unité du récepteur à l’IL-23 (IL-23R). Ce récepteur appartient à la famille de l’IL-12R, contenant plusieurs récepteurs hétérodimériques. D’ailleurs, IL-12R et IL-23R partagent la sous-unité IL12Rb1. Néanmoins, ces deux récepteurs favorisent des réponses immunitaires distinctes (Th1 vs Th17). Ce mémoire caractérise les dynamiques d’expression cellulaires de l’IL-23R et l’IL-12R, afin d’élucider leurs rôles dans l’inflammation. Nous avons établi qu’IL-23R et IL-12R ne sont jamais co-exprimés, malgré qu’ils partagent la sous-unité IL-12Rβ1. Parmi les cellules de rates de souris, la protéine IL-23r est trouvée dans certaines cellules T TCRγδ ou T CD4+, quelques cellules B et des cellules Lti-like. La protéine IL-12Rβ2 est exprimée par quelques cellules B. L’analyse de l’expression de l’IL-23R et l’IL-12R dans différents organes révéla que la plus grande proportion de cellules exprimant l’IL-23R se retrouve dans la lamina propria de l'intestin grêle, alors que les cellules exprimant l’IL-12Rβ2 ont été retrouvées en proportion équivalente dans tous les organes lymphoïdes. Ces observations appuient les études génétiques suggérant un rôle prédominant de l’IL23R dans les intestins. Finalement, des cultures in vitro suggèrent que l’IL-23R ou l’IL-12R avaient des réactions croisées à l’IL-12 ou l’IL-23. L’étude de l’IL-23R dans les MII devrait donc être complémentée par l’étude de l’IL-12R, car les deux récepteurs pourraient avoir des rôles complémentaires.

Quadratic Predictor based Differential Encoding and Decoding of Speech Signals

Modeling nonlinear systems using Volterra series is a century old method but practical realizations were hampered by inadequate hardware to handle the increased computational complexity stemming from its use. But interest is renewed recently, in designing and implementing filters which can model much of the polynomial nonlinearities inherent in practical systems. The key advantage in resorting to Volterra power series for this purpose is that nonlinear filters so designed can be made to work in parallel with the existing LTI systems, yielding improved performance. This paper describes the inclusion of a quadratic predictor (with nonlinearity order 2) with a linear predictor in an analog source coding system. Analog coding schemes generally ignore the source generation mechanisms but focuses on high fidelity reconstruction at the receiver. The widely used method of differential pnlse code modulation (DPCM) for speech transmission uses a linear predictor to estimate the next possible value of the input speech signal. But this linear system do not account for the inherent nonlinearities in speech signals arising out of multiple reflections in the vocal tract. So a quadratic predictor is designed and implemented in parallel with the linear predictor to yield improved mean square error performance. The augmented speech coder is tested on speech signals transmitted over an additive white gaussian noise (AWGN) channel.

Thermal Noise Behavior of the Bridge Circuit

This paper considers a connection between the deterministic and noisy behavior of nonlinear networks. Specifically, a particular bridge circuit is examined which has two possibly nonlinear energy storage elements. By proper choice of the constitutive relations for the network elements, the deterministic terminal behavior reduces to that of a single linear resistor. This reduction of the deterministic terminal behavior, in which a natural frequency of a linear circuit does not appear in the driving-point impedance, has been shown in classical circuit theory books (e.g. [1, 2]). The paper shows that, in addition to the reduction of the deterministic behavior, the thermal noise at the terminals of the network, arising from the usual Nyquist-Johnson noise model associated with each resistor in the network, is also exactly that of a single linear resistor. While this result for the linear time-invariant (LTI) case is a direct consequence of a well-known result for RLC circuits, the nonlinear result is novel. We show that the terminal noise current is precisely that predicted by the Nyquist-Johnson model for R if the driving voltage is zero or constant, but not if the driving voltage is time-dependent or the inductor and capacitor are time-varying

Modelling, control and supervision for a class of hybrid systems

The aim of this thesis is to narrow the gap between two different control techniques: the continuous control and the discrete event control techniques DES. This gap can be reduced by the study of Hybrid systems, and by interpreting as Hybrid systems the majority of large-scale systems. In particular, when looking deeply into a process, it is often possible to identify interaction between discrete and continuous signals. Hybrid systems are systems that have both continuous, and discrete signals. Continuous signals are generally supposed continuous and differentiable in time, since discrete signals are neither continuous nor differentiable in time due to their abrupt changes in time. Continuous signals often represent the measure of natural physical magnitudes such as temperature, pressure etc. The discrete signals are normally artificial signals, operated by human artefacts as current, voltage, light etc. Typical processes modelled as Hybrid systems are production systems, chemical process, or continuos production when time and continuous measures interacts with the transport, and stock inventory system. Complex systems as manufacturing lines are hybrid in a global sense. They can be decomposed into several subsystems, and their links. Another motivation for the study of Hybrid systems is the tools developed by other research domains. These tools benefit from the use of temporal logic for the analysis of several properties of Hybrid systems model, and use it to design systems and controllers, which satisfies physical or imposed restrictions. This thesis is focused in particular types of systems with discrete and continuous signals in interaction. That can be modelled hard non-linealities, such as hysteresis, jumps in the state, limit cycles, etc. and their possible non-deterministic future behaviour expressed by an interpretable model description. The Hybrid systems treated in this work are systems with several discrete states, always less than thirty states (it can arrive to NP hard problem), and continuous dynamics evolving with expression: with Ki ¡ Rn constant vectors or matrices for X components vector. In several states the continuous evolution can be several of them Ki = 0. In this formulation, the mathematics can express Time invariant linear system. By the use of this expression for a local part, the combination of several local linear models is possible to represent non-linear systems. And with the interaction with discrete events of the system the model can compose non-linear Hybrid systems. Especially multistage processes with high continuous dynamics are well represented by the proposed methodology. Sate vectors with more than two components, as third order models or higher is well approximated by the proposed approximation. Flexible belt transmission, chemical reactions with initial start-up and mobile robots with important friction are several physical systems, which profits from the benefits of proposed methodology (accuracy). The motivation of this thesis is to obtain a solution that can control and drive the Hybrid systems from the origin or starting point to the goal. How to obtain this solution, and which is the best solution in terms of one cost function subject to the physical restrictions and control actions is analysed. Hybrid systems that have several possible states, different ways to drive the system to the goal and different continuous control signals are problems that motivate this research. The requirements of the system on which we work is: a model that can represent the behaviour of the non-linear systems, and that possibilities the prediction of possible future behaviour for the model, in order to apply an supervisor which decides the optimal and secure action to drive the system toward the goal. Specific problems can be determined by the use of this kind of hybrid models are: - The unity of order. - Control the system along a reachable path. - Control the system in a safe path. - Optimise the cost function. - Modularity of control The proposed model solves the specified problems in the switching models problem, the initial condition calculus and the unity of the order models. Continuous and discrete phenomena are represented in Linear hybrid models, defined with defined eighth-tuple parameters to model different types of hybrid phenomena. Applying a transformation over the state vector : for LTI system we obtain from a two-dimensional SS a single parameter, alpha, which still maintains the dynamical information. Combining this parameter with the system output, a complete description of the system is obtained in a form of a graph in polar representation. Using Tagaki-Sugeno type III is a fuzzy model which include linear time invariant LTI models for each local model, the fuzzyfication of different LTI local model gives as a result a non-linear time invariant model. In our case the output and the alpha measure govern the membership function. Hybrid systems control is a huge task, the processes need to be guided from the Starting point to the desired End point, passing a through of different specific states and points in the trajectory. The system can be structured in different levels of abstraction and the control in three layers for the Hybrid systems from planning the process to produce the actions, these are the planning, the process and control layer. In this case the algorithms will be applied to robotics ¡V a domain where improvements are well accepted ¡V it is expected to find a simple repetitive processes for which the extra effort in complexity can be compensated by some cost reductions. It may be also interesting to implement some control optimisation to processes such as fuel injection, DC-DC converters etc. In order to apply the RW theory of discrete event systems on a Hybrid system, we must abstract the continuous signals and to project the events generated for these signals, to obtain new sets of observable and controllable events. Ramadge & Wonham¡¦s theory along with the TCT software give a Controllable Sublanguage of the legal language generated for a Discrete Event System (DES). Continuous abstraction transforms predicates over continuous variables into controllable or uncontrollable events, and modifies the set of uncontrollable, controllable observable and unobservable events. Continuous signals produce into the system virtual events, when this crosses the bound limits. If this event is deterministic, they can be projected. It is necessary to determine the controllability of this event, in order to assign this to the corresponding set, , controllable, uncontrollable, observable and unobservable set of events. Find optimal trajectories in order to minimise some cost function is the goal of the modelling procedure. Mathematical model for the system allows the user to apply mathematical techniques over this expression. These possibilities are, to minimise a specific cost function, to obtain optimal controllers and to approximate a specific trajectory. The combination of the Dynamic Programming with Bellman Principle of optimality, give us the procedure to solve the minimum time trajectory for Hybrid systems. The problem is greater when there exists interaction between adjacent states. In Hybrid systems the problem is to determine the partial set points to be applied at the local models. Optimal controller can be implemented in each local model in order to assure the minimisation of the local costs. The solution of this problem needs to give us the trajectory to follow the system. Trajectory marked by a set of set points to force the system to passing over them. Several ways are possible to drive the system from the Starting point Xi to the End point Xf. Different ways are interesting in: dynamic sense, minimum states, approximation at set points, etc. These ways need to be safe and viable and RchW. And only one of them must to be applied, normally the best, which minimises the proposed cost function. A Reachable Way, this means the controllable way and safe, will be evaluated in order to obtain which one minimises the cost function. Contribution of this work is a complete framework to work with the majority Hybrid systems, the procedures to model, control and supervise are defined and explained and its use is demonstrated. Also explained is the procedure to model the systems to be analysed for automatic verification. Great improvements were obtained by using this methodology in comparison to using other piecewise linear approximations. It is demonstrated in particular cases this methodology can provide best approximation. The most important contribution of this work, is the Alpha approximation for non-linear systems with high dynamics While this kind of process is not typical, but in this case the Alpha approximation is the best linear approximation to use, and give a compact representation.

Blind equalization of nonminimum phase channels: higher order cumulant based algorithm

Higher order cumulant analysis is applied to the blind equalization of linear time-invariant (LTI) nonminimum-phase channels. The channel model is moving-average based. To identify the moving average parameters of channels, a higher-order cumulant fitting approach is adopted in which a novel relay algorithm is proposed to obtain the global solution. In addition, the technique incorporates model order determination. The transmitted data are considered as independently identically distributed random variables over some discrete finite set (e.g., set {±1, ±3}). A transformation scheme is suggested so that third-order cumulant analysis can be applied to this type of data. Simulation examples verify the feasibility and potential of the algorithm. Performance is compared with that of the noncumulant-based Sato scheme in terms of the steady state MSE and convergence rate.

Blind equalisation of multilevel PAM data for nonminimum phase channels via second- and fourth-order cumulants

This paper introduces a new blind equalisation algorithm for the pulse amplitude modulation (PAM) data transmitted through nonminimum phase (NMP) channels. The algorithm itself is based on a noncausal AR model of communication channels and the second- and fourth-order cumulants of the received data series, where only the diagonal slices of cumulants are used. The AR parameters are adjusted at each sample by using a successive over-relaxation (SOR) scheme, a variety of the ordinary LMS scheme, but with a faster convergence rate and a greater robustness to the selection of the ‘step-size’ in iterations. Computer simulations are implemented for both linear time-invariant (LTI) and linear time-variant (LTV) NMP channels, and the results show that the algorithm proposed in this paper has a fast convergence rate and a potential capability to track the LTV NMP channels.

Temporal coupling between stimulus-evoked neural activity and hemodynamic responses from individual cortical columns

Using previously published data from the whisker barrel cortex of anesthetized rodents (Berwick et al 2008 J. Neurophysiol. 99 787–98) we investigated whether highly spatially localized stimulus-evoked cortical hemodynamics responses displayed a linear time-invariant (LTI) relationship with neural activity. Presentation of stimuli to individual whiskers of 2 s and 16 s durations produced hemodynamics and neural activity spatially localized to individual cortical columns. Two-dimensional optical imaging spectroscopy (2D-OIS) measured hemoglobin responses, while multi-laminar electrophysiology recorded neural activity. Hemoglobin responses to 2 s stimuli were deconvolved with underlying evoked neural activity to estimate impulse response functions which were then convolved with neural activity evoked by 16 s stimuli to generate predictions of hemodynamic responses. An LTI system more adequately described the temporal neuro-hemodynamics coupling relationship for these spatially localized sensory stimuli than in previous studies that activated the entire whisker cortex. An inability to predict the magnitude of an initial 'peak' in the total and oxy- hemoglobin responses was alleviated when excluding responses influenced by overlying arterial components. However, this did not improve estimation of the hemodynamic responses return to baseline post-stimulus cessation.

A fault detection technique for dynamical systems

This paper shows how a functional observer can be utilized to detect faults in LTI MIMO systems. The fault detection technique is designed so that the functional observer based fault indicator asymptotically converges to a fault indicator that can be derived based on the nominal system. The asymptotic value of the proposed fault indicator is not dependent on the functional observer parameters; moreover, by choosing appropriate functional observer parameters the convergence rate of the fault indicator can be altered. Observability of the system is not a requirement for the design of the fault detection scheme.