Design of reduced-order state/unknown input observers: a descriptor system approach

This paper addresses the problem of estimating simultaneously a linear function of both the state and unknown input of linear system with unknown inputs. By adopting the descriptor system approach, the problem can be conveniently solved. Observers proposed in this paper are of low-order and do not include the derivatives of the outputs. New conditions for the existence of reduced-order observers are derived. A design procedure for the determination of the observer parameters can also be easily derived based on the derived existence conditions

Design of reduced-order observers for neutral time-delay systems

This paper presents a method for the design of reduced-order observers for a class of linear time-delay systems of the neutral-type. Conditions for the existence of reduced-order observers that are capable of asymptotically estimating any given function of the state vector are derived. A step-by-step design procedure is given for the determination of the observer parameters. A numerical example is given to illustrate the design procedure.

A transformation model for heterogeneous servers

One of the characteristics of the current Web services is that many clients request the same or similar service from a group of replicated servers, e.g. music or movie downloading in peer-to-peer networks. Most of the time, servers are heterogeneous ones in terms of service rate. Much of research has been done in the homogeneous environment. However, there is has been little done on the heterogeneous scenario. It is important and urgent that we have models for heterogeneous server groups for the current Internet applications design and analysis. In this paper, we deploy an approximation method to transform heterogeneous systems into a group of homogeneous system. As a result, the previous results of homogeneous studies can be applied in heterogeneous cases. In order to test the approximation ratio of the proposed model to real applications, we conducted simulations to obtain the degree of similarity. We use two common strategies: random selection algorithm and Firs-Come-First-Serve (FCFS) algorithm to test the approximation ratio of the proposed model. The simulations indicate that the approximation model works well.

Reducing cache lookup and publish overhead through locality awareness in P2P web caching

Peer-to-Peer (P2P) Web caching has been a hot research topic in recent years as it can create scalable and robust designs for decentralized Internet-scale applications. However, many P2P Web caching systems suffer expensive overheads such as lookup and publish messages, and lack of locality awareness. In this paper we present the development of a locality aware P2P cache system to overcome these limitations by using routing table locality, aggregation and soft state. The experiments show that our P2P cache system improves the performance of index operations through the reduction of the amount of information processed by nodes, the reduction of the number of index messages sent by nodes, and the improvement of the locality of cache pointers.

Design of a low cost underwater robotic research platform

To perform under water robotic research requires specialized equipment. A few pieces of electronics atop a set of wheels is not going to cut it. An underwater research platform must be waterproof, reliable, robust, recoverable and easy to maintain. It must also be able to move in 3 dimensions. Finally it must be able to navigate and avoid obstacles. To purchase such a platform can be very expensive. However, for shallow water, a suitable platform can be built from mostly off the shelf items at little cost. This paper describes the design of one such underwater robot including various sensors and communications systems that allow for swarm robotics.

Simulation of underwater robots using MS Robot Studio©

One stage in designing the control for underwater robot swarms is to confirm the control algorithms via simulation. To perform the simulation Microsoftpsilas Robotic Studiocopy was chosen. The problem with this simulator and others like it is that it is set up for land-based robots only. This paper explores one possible way to get around this limitation. This solution cannot only work for underwater vehicles but aerial vehicles as well.

Design and analysis of hull configurations for a low-cost, autonomous underwater robot as an enabling technology for system of system applications

The objective of this research is to model and analyze candidate hull configurations for a low-cost, modular, autonomous underwater robot. As the computational power and speed of microprocessors continue to progress, we are seeing a growth in the research, development, and the utilization of underwater robots. The number of applications is broadening in the R&D and science communities, especially in the area of multiple, collaborative robots. These underwater collaborative robots represent an instantiation of a System of Systems (SoS). While each new researcher explores a unique application, control method, etc. a new underwater robot vehicle is designed, developed, and deployed. This sometimes leads to one-off designs that are costly. One limit to the wide-scale utilization of underwater robotics is the cost of development. Another limit is the ability to modify the configuration for new applications and evolving requirements. Consequently, we are exploring autonomous underwater vehicle (AUV) hull designs towards the goal of modularity, vehicle dexterity, and minimizing the cost. In our analysis, we have employed 3D solid modeling tools and finite element methods. In this paper we present our initial results and discuss ongoing work.

Low cost underwater robot sensor suite

One of the most expensive parts of underwater robotics is the sensors. This paper looks at modifying off the shelf components to create a sensor suite on a small budget. A big saving is made with sonar using a cheap commercial product to create a four sonar array. A depth sensor and acceleration navigation system are also developed.

Distributed protocol for communications among underwater vehicles

Underwater surveying by swarms of autonomous underwater vehicles presents problems in communication among the robots. These problems involve the bandwidth, power consumption, timing, processing power, and other issues. This paper presents a novel approach to communicate and coordinate effectively among underwater vehicles to accomplish this task successfully. The proposed approach solves issues by reducing the number of hops to conserve power, while reducing computation time and bandwidth, effectively utilizing resources to reduce the load on each node. Finally, the simulation results are presented, in order to prove that the proposed approach improves efficiency and effectiveness in communicating among underwater vehicles.

Optimal multisensor data fusion for linear systems with missing measurements

Multisensor data fusion has attracted a lot of research in recent years. It has been widely used in many applications especially military applications for target tracking and identification. In this paper, we will handle the multisensor data fusion problem for systems suffering from the possibility of missing measurements. We present the optimal recursive fusion filter for measurements obtained from two sensors subject to random intermittent measurements. The noise covariance in the observation process is allowed to be singular which requires the use of generalized inverse. Illustration example shows the effectiveness of the proposed filter in the measurements loss case compared to the available optimal linear fusion methods.

A practical framework for data collection in wireless sensor networks

Optimizing energy consumption for extending the lifetime in wireless sensor networks is of dominant importance. Groups of autonomous robots and unmanned aerial vehicles (UAVs) acting as mobile data collectors are utilized to minimize the energy expenditure of the sensor nodes by approaching the sensors and collecting their buffers via single hop communication, rather than using multihop routing to forward the buffers to the base station. This paper models the sensor network and the mobile collectors as a system-of-systems, and defines all levels and types of interactions. A practical framework that facilitates deploying heterogeneous mobiles without prior knowledge about the sensor network is presented. Realizing the framework is done through simulation experiments and tested against several performance metrics.

Robust power controllers in cellular radio systems

The paper presents a framework to design robust transmit power controllers in cellular radio systems. The robust controllers designed are able to guarantee the quality of service (QoS) by keeping the carrier-to-inference-plus-noise ratio (CIRN) above a desired level in face of network link gain variations. The controller design problem is solved by solving a noncooperative dynamic game between the controller and unknown link gain variations.

Exploiting affinity propagation for energy-efficient information discovery in sensor networks

Wireless sensor networks (WSN) are attractive for information gathering in large-scale data rich environments. Emerging WSN applications require dissemination of information to interested clients within the network requiring support for differing traffic patterns. Further, in-network query processing capabilities are required for autonomic information discovery. In this paper, we formulate the information discovery problem as a load-balancing problem, with the combined aim being to maximize network lifetime and minimize query processing delay. We propose novel methods for data dissemination, information discovery and data aggregation that are designed to provide significant QoS benefits. We make use of affinity propagation to group "similar" sensors and have developed efficient mechanisms that can resolve both ALL-type and ANY-type queries in-network with improved energy-efficiency and query resolution time. Simulation results prove the proposed method(s) of information discovery offer significant QoS benefits for ALL-type and ANY-type queries in comparison to previous approaches.

Subcellular localisation of proteins in fluorescent microscope images using a random forest

This paper presents a system that employs random forests to formulate a method for subcellular localisation of proteins. A random forest is an ensemble learner that grows classification trees. Each tree produces a classification decision, and an integrated output is calculated. The system classifies the protein-localisation patterns within fluorescent microscope images. 2D images of HeLa cells that include all major classes of subcellular structures, and the associated feature set are used. The performance of the developed system is compared against that of the support vector machine and decision tree approaches. Three experiments are performed to study the influence of the training and test set size on the performance of the examined methods. The calculated classification errors and execution times are presented and discussed. The lowest classification error (2.9%) has been produced by the developed system.

Towards insightful algorithm selection for optimisation using meta-learning concepts

In this paper we propose a meta-learning inspired framework for analysing the performance of meta-heuristics for optimization problems, and developing insights into the relationships between search space characteristics of the problem instances and algorithm performance. Preliminary results based on several meta-heuristics for well-known instances of the Quadratic Assignment Problem are presented to illustrate the approach using both supervised and unsupervised learning methods.