Contribuições à análise de robustez de sistemas de controle usando redes neurais

This work develops a robustness analysis with respect to the modeling errors, being applied to the strategies of indirect control using Artificial Neural Networks - ANN s, belong to the multilayer feedforward perceptron class with on-line training based on gradient method (backpropagation). The presented schemes are called Indirect Hybrid Control and Indirect Neural Control. They are presented two Robustness Theorems, being one for each proposed indirect control scheme, which allow the computation of the maximum steady-state control error that will occur due to the modeling error what is caused by the neural identifier, either for the closed loop configuration having a conventional controller - Indirect Hybrid Control, or for the closed loop configuration having a neural controller - Indirect Neural Control. Considering that the robustness analysis is restrict only to the steady-state plant behavior, this work also includes a stability analysis transcription that is suitable for multilayer perceptron class of ANN s trained with backpropagation algorithm, to assure the convergence and stability of the used neural systems. By other side, the boundness of the initial transient behavior is assured by the assumption that the plant is BIBO (Bounded Input, Bounded Output) stable. The Robustness Theorems were tested on the proposed indirect control strategies, while applied to regulation control of simulated examples using nonlinear plants, and its results are presented

Modelagem e controle de um microveículo aéreo: uma aplicação de estabilidade robusta com a técnica backstepping em uma estrutura hexarrotor

In this Thesis, the development of the dynamic model of multirotor unmanned aerial vehicle with vertical takeoff and landing characteristics, considering input nonlinearities and a full state robust backstepping controller are presented. The dynamic model is expressed using the Newton-Euler laws, aiming to obtain a better mathematical representation of the mechanical system for system analysis and control design, not only when it is hovering, but also when it is taking-off, or landing, or flying to perform a task. The input nonlinearities are the deadzone and saturation, where the gravitational effect and the inherent physical constrains of the rotors are related and addressed. The experimental multirotor aerial vehicle is equipped with an inertial measurement unit and a sonar sensor, which appropriately provides measurements of attitude and altitude. A real-time attitude estimation scheme based on the extended Kalman filter using quaternions was developed. Then, for robustness analysis, sensors were modeled as the ideal value with addition of an unknown bias and unknown white noise. The bounded robust attitude/altitude controller were derived based on globally uniformly practically asymptotically stable for real systems, that remains globally uniformly asymptotically stable if and only if their solutions are globally uniformly bounded, dealing with convergence and stability into a ball of the state space with non-null radius, under some assumptions. The Lyapunov analysis technique was used to prove the stability of the closed-loop system, compute bounds on control gains and guaranteeing desired bounds on attitude dynamics tracking errors in the presence of measurement disturbances. The controller laws were tested in numerical simulations and in an experimental hexarotor, developed at the UFRN Robotics Laboratory

Determinants of unfair inequality in Brazil, 1995 and 2009

This article analyses the trend of unfair inequality in Brazil (1995-2009) using a nonparametric approach to estimate the income function. The entropy metrics introduced by Li, Maasoumi and Racine (2009) are used to quantify income differences separately for each effort variable. A Gini coefficient of unfair inequality is calculated, based on the fitted values of the non-parametric estimation; and the robustness of the estimations, including circumstantial variables, is analysed. The trend of the entropies demonstrated a reduction in the income differential caused by education. The variables “hours worked” and “labour-market status” contribute significantly to explaining wage differences imputed to individual effort; but the migratory variable had little explanatory power. Lastly, the robustness analysis demonstrated the plausibility of the results obtained at each stage of the empirical work.

Proposta para a estimativa da acurácia de redes geodésicas horizontais integrando análise de robustez e de covariância

The goal of this paper is to present a methodology for quality control of horizontal geodetic networks through robustness and covariance analysis. In the proposed methodology, the positional accuracy of each point is estimated by a possible bias in their position (based on robustness analysis), in addition to its own positional precision (uncertainty) (through covariance analysis), being a measure independently from the choice of the datum. Besides presenting the theoretical development of the method, its application is demonstrated in a numerical example. The results indicate that, in general, the greater the distance of an unknown point to the control(s) point(s) of the network, the greater is the propagation of random errors on this unknown point, and the smaller the number of redundant observations around a unknown point, the greater the influence of possible (undetected) non-random errors on this point.

Análise de robustez de estações da rede GNSS-SP

Currently, the need of reliable coordinates has been one of the main objectives of the scientific and practice community. Thus, the robustness analysis of a geodetic network, aims, at analyzing if the network is robust or not, based on the maximum undetectable errors. The network will be robust if the influence of these errors is small, otherwise it is weak, or not robust. This analysis is performed with the merger of two techniques, one which deals with the statistical analysis of reliability and the other one with the geometric strength analysis. The reliability analysis will provide the maximum error that cannot be detected by tests, after the adjustment. After finding these errors, the geometric strength analysis will determine the potential strain that the network will have, based on these errors. It is emphasized that the robustness analysis doesn't depend of the datum, reflecting only the geometry of the network and the accuracy of the observations (VANÌCEK et al., 2001). Therefore, this work aims at contributing to the scientific research on geodetic networks, checking the same, based on their geometry and observations.

Métrica para definição de pontos estáveis utilizando-se da Análise de Robustez no posicionamento por ponto preciso

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Charge Density Analysis of Ferulic Acid: Robustness of a Trifurcated C-H center dot center dot center dot O Hydrogen Bond

The toplogical features of a sporadic trifurcated C-H center dot center dot center dot O interaction region, where an oxygen atom acts as an acceptor of three weak hydrogen bonds, has been investigated by experimental and theoretical charge density analysis of ferulic acid. The interaction energy of the asymmetric molecular dimer formed by the trifurcated C-H center dot center dot center dot O motif, based on the multipolar model, is shown to be greater than the corresponding asymmetric O-H center dot center dot center dot O dimer in this crystal structure. Further, the hydrogen bond energies associated with these interaction motifs have been estimated from the local kinetic and potential energy densities at the bond critical points. The trends suggest that the interaction energy of the trifurcated C-H center dot center dot center dot O region is comparable to that of a single O-H center dot center dot center dot O hydrogen bond.

Disturbance, response, and persistence in self-organized forested communities: Analysis of robustness and resilience in five communities in Southern Indiana

We develop an analytic framework for the analysis of robustness in social-ecological systems (SESs) over time. We argue that social robustness is affected by the disturbances that communities face and the way they respond to them. Using Ostrom's ontological framework for SESs, we classify the major factors influencing the disturbances and responses faced by five Indiana intentional communities over a 15-year time frame. Our empirical results indicate that operational and collective-choice rules, leadership and entrepreneurship, monitoring and sanctioning, economic values, number of users, and norms/social capital are key variables that need to be at the core of future theoretical work on robustness of self-organized systems. © 2010 by the author(s).

Semiparametric Theory for Causal Mediation Analysis: efficiency bounds, multiple robustness, and sensitivity analysis

Whilst estimation of the marginal (total) causal effect of a point exposure on an outcome is arguably the most common objective of experimental and observational studies in the health and social sciences, in recent years, investigators have also become increasingly interested in mediation analysis. Specifically, upon establishing a non-null total effect of the exposure, investigators routinely wish to make inferences about the direct (indirect) pathway of the effect of the exposure not through (through) a mediator variable that occurs subsequently to the exposure and prior to the outcome. Although powerful semiparametric methodologies have been developed to analyze observational studies, that produce double robust and highly efficient estimates of the marginal total causal effect, similar methods for mediation analysis are currently lacking. Thus, this paper develops a general semiparametric framework for obtaining inferences about so-called marginal natural direct and indirect causal effects, while appropriately accounting for a large number of pre-exposure confounding factors for the exposure and the mediator variables. Our analytic framework is particularly appealing, because it gives new insights on issues of efficiency and robustness in the context of mediation analysis. In particular, we propose new multiply robust locally efficient estimators of the marginal natural indirect and direct causal effects, and develop a novel double robust sensitivity analysis framework for the assumption of ignorability of the mediator variable.

A robustness verification system for mobile phone authentication based on gestures using Linear Discriminant Analysis

This article evaluates an authentication technique for mobiles based on gestures. Users create a remindful identifying gesture to be considered as their in-air signature. This work analyzes a database of 120 gestures of different vulnerability, obtaining an Equal Error Rate (EER) of 9.19% when robustness of gestures is not verified. Most of the errors in this EER come from very simple and easily forgeable gestures that should be discarded at enrollment phase. Therefore, an in-air signature robustness verification system using Linear Discriminant Analysis is proposed to infer automatically whether the gesture is secure or not. Different configurations have been tested obtaining a lowest EER of 4.01% when 45.02% of gestures were discarded, and an optimal compromise of EER of 4.82% when 19.19% of gestures were automatically rejected.

Evaluating the robustness of EmotiBlog for sentiment analysis and opinion mining

Preliminary research demonstrated the EmotiBlog annotated corpus relevance as a Machine Learning resource to detect subjective data. In this paper we compare EmotiBlog with the JRC Quotes corpus in order to check the robustness of its annotation. We concentrate on its coarse-grained labels and carry out a deep Machine Learning experimentation also with the inclusion of lexical resources. The results obtained show a similarity with the ones obtained with the JRC Quotes corpus demonstrating the EmotiBlog validity as a resource for the SA task.

Evaluating EmotiBlog robustness for sentiment analysis tasks

EmotiBlog is a corpus labelled with the homonymous annotation schema designed for detecting subjectivity in the new textual genres. Preliminary research demonstrated its relevance as a Machine Learning resource to detect opinionated data. In this paper we compare EmotiBlog with the JRC corpus in order to check the EmotiBlog robustness of annotation. For this research we concentrate on its coarse-grained labels. We carry out a deep ML experimentation also with the inclusion of lexical resources. The results obtained show a similarity with the ones obtained with the JRC demonstrating the EmotiBlog validity as a resource for the SA task.

Issues of robustness and high dimensionality in cluster analysis

Finite mixture models are being increasingly used to model the distributions of a wide variety of random phenomena. While normal mixture models are often used to cluster data sets of continuous multivariate data, a more robust clustering can be obtained by considering the t mixture model-based approach. Mixtures of factor analyzers enable model-based density estimation to be undertaken for high-dimensional data where the number of observations n is very large relative to their dimension p. As the approach using the multivariate normal family of distributions is sensitive to outliers, it is more robust to adopt the multivariate t family for the component error and factor distributions. The computational aspects associated with robustness and high dimensionality in these approaches to cluster analysis are discussed and illustrated.

Robustness of germination analysis methods for Copaifera langsdorffii Desf. (Fabaceae) seeds.

2016