Verification of periodically controlled hybrid systems: Application to an autonomous vehicle

This article introduces Periodically Controlled Hybrid Automata (PCHA) for modular specification of embedded control systems. In a PCHA, control actions that change the control input to the plant occur roughly periodically, while other actions that update the state of the controller may occur in the interim. Such actions could model, for example, sensor updates and information received from higher-level planning modules that change the set point of the controller. Based on periodicity and subtangential conditions, a new sufficient condition for verifying invariant properties of PCHAs is presented. For PCHAs with polynomial continuous vector fields, it is possible to check these conditions automatically using, for example, quantifier elimination or sum of squares decomposition. We examine the feasibility of this automatic approach on a small example. The proposed technique is also used to manually verify safety and progress properties of a fairly complex planner-controller subsystem of an autonomous ground vehicle. Geometric properties of planner-generated paths are derived which guarantee that such paths can be safely followed by the controller. © 2012 ACM.

A theory of hypoellipticity and unique ergodicity for semilinear stochastic PDEs

We present a theory of hypoellipticity and unique ergodicity for semilinear parabolic stochastic PDEs with "polynomial" nonlinearities and additive noise, considered as abstract evolution equations in some Hilbert space. It is shown that if Hörmander's bracket condition holds at every point of this Hilbert space, then a lower bound on the Malliavin covariance operatorμt can be obtained. Informally, this bound can be read as "Fix any finite-dimensional projection on a subspace of sufficiently regular functions. Then the eigenfunctions of μt with small eigenvalues have only a very small component in the image of Π." We also show how to use a priori bounds on the solutions to the equation to obtain good control on the dependency of the bounds on the Malliavin matrix on the initial condition. These bounds are sufficient in many cases to obtain the asymptotic strong Feller property introduced in [HM06]. One of the main novel technical tools is an almost sure bound from below on the size of "Wiener polynomials," where the coefficients are possibly non-adapted stochastic processes satisfying a Lips chitz condition. By exploiting the polynomial structure of the equations, this result can be used to replace Norris' lemma, which is unavailable in the present context. We conclude by showing that the two-dimensional stochastic Navier-Stokes equations and a large class of reaction-diffusion equations fit the framework of our theory.

Furnishing a Globalized World: Local Distinctiveness in the International Furniture Industry

Advances in technology, communication, and transportation over the past thirty years have led to tighter linkages and enhanced collaboration across traditional borders between nations, institutions, and cultures. This thesis uses the furniture industry as a lens to examine the impacts of globalization on individual countries and companies as they interact on an international scale. Using global value chain analysis and international trade data, I break down the furniture production process and explore how countries have specialized in particular stages of production to differentiate themselves from competitors and maximize the benefits of global involvement. Through interviews with company representatives and evaluation of branding strategies such as advertisements, webpages, and partnerships, I investigate across four country cases how furniture companies construct strong brands in an effort to stand out as unique to consumers with access to products made around the globe. Branding often serves to highlight distinctiveness and associate companies with national identities, thus revealing that in today’s globalized and interconnected society, local differences and diversity are more significant than ever.

Turning the categories inside-out: Complex identifications and multiple interactions in religious ethnography

This paper challenges the fixed boundaries that ethnographers have often constructed between religious insiders and outsiders. Drawing on Neitz's observations, it argues that the main task of reflexive fieldwork is locating the self in relation to ambiguous and shifting boundaries. We offer a comparative analysis of the experiences of two differently socially located researchers to illustrate how religious identity emerges as a continuum, on which one's place is negotiated with one's research participants. We also examine the importance of intersecting multiple identities. Finally, the paper questions whether social identity categories are the primary way that we relate with our respondents. It explores the spiritual and emotional dimensions of research relationships and argues that these may transform, reinforce and generally interact with social identities. Comparing our experiences, we outline the consequences of these reflections for data gathering and analysis.

Graphs of relations and Hilbert series

We are discussing certain combinatorial and counting problems related to quadratic algebras. First we give examples which confirm the Anick conjecture on the minimal Hilbert series for algebras given by $n$ generators and $\frac {n(n-1)}{2}$ relations for $n \leq 7$. Then we investigate combinatorial structure of colored graph associated to relations of RIT algebra. Precise descriptions of graphs (maps) corresponding to algebras with maximal Hilbert series are given in certain cases. As a consequence it turns out, for example, that RIT algebra may have a maximal Hilbert series only if components of the graph associated to each color are pairwise 2-isomorphic.

Structural information content of networks: Graph entropy based on local vertex functionals

In this paper we define the structural information content of graphs as their corresponding graph entropy. This definition is based on local vertex functionals obtained by calculating-spheres via the algorithm of Dijkstra. We prove that the graph entropy and, hence, the local vertex functionals can be computed with polynomial time complexity enabling the application of our measure for large graphs. In this paper we present numerical results for the graph entropy of chemical graphs and discuss resulting properties. (C) 2007 Elsevier Ltd. All rights reserved.

A two-competitive approximate schedulability analysis of CAN

Consider the problem of deciding whether a set of n sporadic message streams meet deadlines on a Controller Area Network (CAN) bus for a specified priority assignment. It is assumed that message streams have implicit deadlines and no release jitter. An algorithm to solve this problem is well known but unfortunately it time complexity is non-polynomial. We present an algorithm with polynomial time-complexity for computing an upper bound on the response times. Clearly, if the upper bound on the response time does not exceed the deadline then all deadlines are met. The pessimism of our approach is proven: if the upper bound of the response time exceeds the deadline then the response time exceeds the deadline as well for a CAN network with half the speed.

Alternatives de partenariats pour la gestion de l’eau potable dans les quartiers pauvres des zones urbaines : cas de Kinshasa

Face à l’incapacité de l’État à offrir des services de base aux ménages pauvres des zones urbaines périphériques et marginales, ce sont les opérateurs informels (individuels et collectifs) qui s’activent à répondre aujourd’hui aux besoins croissants des ménages. Mais leurs actions sont ponctuelles, éparpillées sur le territoire, non intégrées dans un plan de développement local, et beaucoup de ménages n’ont toujours pas accès à l’eau potable. Cette recherche, de type exploratoire, porte donc sur l’examen d’un type de partenariat entre les acteurs publics et les opérateurs informels collectifs, susceptible de créer la synergie entre les partenaires locaux et de pérenniser la fourniture de l’eau potable. Elle vise à analyser et à comprendre les mécanismes de collaboration entre l’État et les opérateurs informels collectifs en vue d’améliorer la qualité de la vie dans les quartiers urbains pauvres grâce à la résolution des problèmes d’accès à l’eau potable. À partir de l’étude de cas d’une zone pauvre de la ville de Kinshasa (République Démocratique du Congo), nous avons donc cherché à dégager ce qui peut éclairer le fonctionnement du partenariat État-opérateurs informels collectifs. Comme cadre d’analyse, nous avons recouru à l’analyse stratégique et, pour l’examen des expériences de partenariat, nous avons utilisé le modèle de Coston (1998) et recouru aux approches de régulation État-tiers secteur (approche socio-étatique et approche socio-communautaire). La méthode qualitative a été privilégiée. Les données analysées proviennent d’entrevues semi-dirigées, de la recherche documentaire et de l’observation. À partir du modèle de Coston (1998), les résultats obtenus montrent que les relations qui correspondent le mieux au partenariat entre les acteurs publics et les opérateurs informels collectifs sont de type « contractuel » et correspondent à l’orientation socio-étatique. Mais le système formel actuel de gestion de l’eau potable et les relations de pouvoir sont plus proches du type « rivalité ». Notre étude montre également que les partenariats, entre les acteurs publics et les opérateurs informels collectifs, sont très difficiles à instituer, car il n’existe pas encore d’environnement socio-politique solidaire. Le contexte institutionnel n’est pas propice à l’émergence d’un partenariat dynamique. Les déficiences structurelles, humaines et institutionnelles constatées sont la résultante directe de la pauvreté dont sont victimes les individus et les institutions. Les réseaux sociaux (à base de parenté, ethnique ou religieux) affectent les relations entre les individus, membres d’une association locale et les représentants des institutions locales ou nationales. Une complémentarité, négociée entre l’État et les opérateurs informels collectifs, ne pourra se réaliser que par la mise en place de nouvelles politiques favorisant la démocratie, la décentralisation et la promotion du mouvement associatif avec une société civile forte, dynamique, soucieuse du bien commun, privilégiant les qualités managériales plutôt que l’assistance perpétuelle.

Des nouvelles de l'ennemi : la réception des romans de Mordecai Richler au Québec francophone.

Les polémiques ont joué un rôle important dans la réception des romans de Mordecai Richler au Québec francophone. Contrairement à l’idée reçue voulant que cet antagonisme ait empêché la lecture de l’oeuvre richlérienne, c’est plutôt à partir de la publication des essais sur le nationalisme québécois que la critique commencera à s’intéresser à l’écrivain. En effet, que ce soit avant ou après les polémiques, c’est au nom d’un rapport de correspondance au collectif que sera jugée l’oeuvre de Richler. L’abandon d’une conception restreinte de l’identité québécoise ouvre la porte à la relecture contemporaine des romans de Richler, même si cette relecture ne fait pas pour autant l’économie d’un rapport au collectif et cherche plutôt à opposer une identité québécoise exclusivement francophone à une identité prête à inclure un auteur longtemps identifié comme un ennemi public. Les mécanismes de ce rapatriement peuvent être mis en parallèle avec les conflits identitaires qui marquent le personnage richlérien. Dans Son Of A Smaller Hero (1955), Noah Adler tente de se définir en tant qu’être humain et de trouver une morale qui lui est propre en fuyant ses origines. Toutefois, cette fuite ne peut se solder que par un échec et le héros apprend que son idéal d’émancipation passe par une réinterprétation de son héritage plutôt que par l’abandon de celui-ci. Barney’s Version (1997) est en partie le récit de formation d’un écrivain tardif. Si Barney Panofsky s’en prend aux impostures collectives dans le roman, son incapacité à être totalement honnête par rapport à lui-même et à plonger dans une création et une défense sincères de ce en quoi il croit le poussera à s’aliéner ceux à qui il tient véritablement. Cette situation laisse le narrateur avec une oeuvre inachevée qui ne pourra s’accomplir que par l’intervention de ses héritiers. Dans les deux romans, la définition du personnage passe par une réappropriation herméneutique de son héritage qui rappelle, dans son rapport à la trace, au collectif et à l’illégitimité, les relectures francophones de l’oeuvre richlérienne.

Scoliosis curve type classification from 3D trunk image

Adolescent idiopathic scoliosis (AIS) is a deformity of the spine manifested by asymmetry and deformities of the external surface of the trunk. Classification of scoliosis deformities according to curve type is used to plan management of scoliosis patients. Currently, scoliosis curve type is determined based on X-ray exam. However, cumulative exposure to X-rays radiation significantly increases the risk for certain cancer. In this paper, we propose a robust system that can classify the scoliosis curve type from non invasive acquisition of 3D trunk surface of the patients. The 3D image of the trunk is divided into patches and local geometric descriptors characterizing the surface of the back are computed from each patch and forming the features. We perform the reduction of the dimensionality by using Principal Component Analysis and 53 components were retained. In this work a multi-class classifier is built with Least-squares support vector machine (LS-SVM) which is a kernel classifier. For this study, a new kernel was designed in order to achieve a robust classifier in comparison with polynomial and Gaussian kernel. The proposed system was validated using data of 103 patients with different scoliosis curve types diagnosed and classified by an orthopedic surgeon from the X-ray images. The average rate of successful classification was 93.3% with a better rate of prediction for the major thoracic and lumbar/thoracolumbar types.

Fourier-Matrizen und Ringe mit Basis

Bei der Bestimmung der irreduziblen Charaktere einer Gruppe vom Lie-Typ entwickelte Lusztig eine Theorie, in der eine sogenannte Fourier-Transformation auftaucht. Dies ist eine Matrix, die nur von der Weylgruppe der Gruppe vom Lie-Typ abhängt. Anhand der Eigenschaften, die eine solche Fourier- Matrix erfüllen muß, haben Geck und Malle ein Axiomensystem aufgestellt. Dieses ermöglichte es Broue, Malle und Michel füur die Spetses, über die noch vieles unbekannt ist, Fourier-Matrizen zu bestimmen. Das Ziel dieser Arbeit ist eine Untersuchung und neue Interpretation dieser Fourier-Matrizen, die hoffentlich weitere Informationen zu den Spetses liefert. Die Werkzeuge, die dabei entstehen, sind sehr vielseitig verwendbar, denn diese Matrizen entsprechen gewissen Z-Algebren, die im Wesentlichen die Eigenschaften von Tafelalgebren besitzen. Diese spielen in der Darstellungstheorie eine wichtige Rolle, weil z.B. Darstellungsringe Tafelalgebren sind. In der Theorie der Kac-Moody-Algebren gibt es die sogenannte Kac-Peterson-Matrix, die auch die Eigenschaften unserer Fourier-Matrizen besitzt. Ein wichtiges Resultat dieser Arbeit ist, daß die Fourier-Matrizen, die G. Malle zu den imprimitiven komplexen Spiegelungsgruppen definiert, die Eigenschaft besitzen, daß die Strukturkonstanten der zugehörigen Algebren ganze Zahlen sind. Dazu müssen äußere Produkte von Gruppenringen von zyklischen Gruppen untersucht werden. Außerdem gibt es einen Zusammenhang zu den Kac-Peterson-Matrizen: Wir beweisen, daß wir durch Bildung äußerer Produkte von den Matrizen vom Typ A(1)1 zu denen vom Typ C(1) l gelangen. Lusztig erkannte, daß manche seiner Fourier-Matrizen zum Darstellungsring des Quantendoppels einer endlichen Gruppe gehören. Deswegen ist es naheliegend zu versuchen, die noch ungeklärten Matrizen als solche zu identifizieren. Coste, Gannon und Ruelle untersuchen diesen Darstellungsring. Sie stellen eine Reihe von wichtigen Fragen. Eine dieser Fragen beantworten wir, nämlich inwieweit rekonstruiert werden kann, zu welcher endlichen Gruppe gegebene Matrizen gehören. Den Darstellungsring des getwisteten Quantendoppels berechnen wir für viele Beispiele am Computer. Dazu müssen unter anderem Elemente aus der dritten Kohomologie-Gruppe H3(G,C×) explizit berechnet werden, was bisher anscheinend in noch keinem Computeralgebra-System implementiert wurde. Leider ergibt sich hierbei kein Zusammenhang zu den von Spetses herrührenden Matrizen. Die Werkzeuge, die in der Arbeit entwickelt werden, ermöglichen eine strukturelle Zerlegung der Z-Ringe mit Basis in bekannte Anteile. So können wir für die meisten Matrizen der Spetses Konstruktionen angeben: Die zugehörigen Z-Algebren sind Faktorringe von Tensorprodukten von affinen Ringe Charakterringen und von Darstellungsringen von Quantendoppeln.

Functions satisfying holonomic q-differential equations

In a similar manner as in some previous papers, where explicit algorithms for finding the differential equations satisfied by holonomic functions were given, in this paper we deal with the space of the q-holonomic functions which are the solutions of linear q-differential equations with polynomial coefficients. The sum, product and the composition with power functions of q-holonomic functions are also q-holonomic and the resulting q-differential equations can be computed algorithmically.

Gender and Space in Tehran

Abstract: This dissertation generally concentrates on the relationships between “gender” and “space” in the present time of urban life in capital city of Tehran. “Gender” as a changing social construct, differentiated within societies and through time, studied this time by investigation on “gender attitude” or “gender identity” means attitudes towards “gender” issues regarding Tehran residences. “Space” as a concept integrated from physical and social constituents investigated through focus on “spatial attitude” means attitudes towards using “living spaces” including private space of “house”, semi private semi public space of neighborhood and finally public spaces of the city. “Activities and practices” in space concentrated instead of “physical” space; this perspective to “space” discussed as the most justified implication of “space” in this debate regarding current situations in city of Tehran. Under a systematic approach, the interactions and interconnections between “gender” and “space” as two constituent variables of social organization investigated by focus on the different associations presented between different “gender identities” and their different “spatial identities”; in fact, “spatial identity” manifests “gender identity” and in opposite direction, “spatial identity” influences to construction of “gender identity”. The hypotheses of case study in Tehran defined as followed: • “Gender identity” is reflected on “spatial identity”. Various “gender identities” in Tehran present different perspectives of “space” or they identify “space” by different values. • As “gender identity” internalizes patriarchal oppression, it internalizes associated “spatial” oppression too. • Within the same social class, different “gender identities” related to men and women, present interconnected qualities, compared with “gender identities” related to men or women of different social classes. This situation could be found in the “spatial” perspectives of different groups of men and women too. • Following the upper hypotheses, “spatial” oppression differs among social classes of Tehran living in different parts of this city. This research undertook a qualitative study in Tehran by interviewing with different parents of both young daughter and son regarding their attitudes towards gender issues from one side and activities and behaviors of their children in different spaces from the other side. Results of case study indicated the parallel changes of parents’ attitudes towards “gender” and “spatial” issues; it means strong connection between “gender” and “space”. It revealed association of “equal” spatial attitudes with “open, neutral” gender attitudes, and also the association of “biased, unequal” spatial identities with “conservative patriarchal” gender identities. It was cleared too that this variable concept – gender space - changes by “sex”; mothers comparing fathers presented more equitable notions towards “gender spatial” issues. It changes too by “social class” and “educational level”, that means “gender spatial” identity getting more open equitable among more educated people of middle and upper classes. “Breadwinning status in the family” also presents its effect on the changes of “gender spatial” identity so participant breadwinners in the family expressed relatively more equitable notions comparing householders and housekeepers. And finally, “gender spatial” identity changes through “place” in the city and regarding South – North line of the city. The illustration of changes of “gender spatial” identity from “open” to “conservative” among society indicated not only vertical variation across social classes, furthermore the horizontal changing among each social class. These results also confirmed hypotheses while made precision on the third one regarding variable of sex. More investigations pointed to some inclusive spatial attitudes throughout society penetrated to different groups of “gender identities”, to “opens” as to “conservatives”, also to groups between them, by two opposite features; first kind, conservative biased spatial practices in favor of patriarchal gender relations and the second, progressive neutral actions in favor of equal gender relations. While the major reason for the inclusive conservative practices was referred to the social insecurity for women, the second neutral ones associated to more formal & safer spaces of the city. In conclusion, while both trends are associated deeply with the important issues of “sex” & “body” in patriarchal thoughts, still strong, they are the consequences of the transitional period of social change in macro level, and the challenges involved regarding interactions between social orders, between old system of patriarchy, the traditional biased “gender spatial” relations and the new one of equal relations. The case study drew an inhomogeneous illustration regarding gender spatial aspects of life in Tehran, the opposite groups of “open” and “conservative”, and the large group of “semi open semi conservative” between them. In macro perspective it presents contradicted social groups according their general life styles; they are the manifestations of challenging trends towards tradition and modernity in Iranian society. This illustration while presents unstable social situations, necessitates probing solutions for social integration; exploring the directions could make heterogeneous social groups close in the way they think and the form they live in spaces. Democratic approaches like participatory development planning might be helpful for the city in its way to more solidarity and sustainability regarding its social spatial – gender as well – development, in macro levels of social spatial planning and in micro levels of physical planning, in private space of house and in public spaces of the city.

La cooperación cultural como herramienta para la reafirmación identitaria en el Grupo Visegrád y sus efectos en el posicionamiento del mismo dentro de la Unión Europea 2004-2012

El Grupo Visegrád es un escenario de cooperación multilateral, conformado por Polonia, República Checa, Eslovaquia y Hungría, el cual tiene como objetivo principal contribuir al cumplimiento de los intereses de dichos países, por medio de la financiación de proyectos culturales. El interés de esta monografía consiste en determinar la incidencia de la cooperación cultural en la reafirmación identitaria de cada uno de los miembros del Grupo y, por ende, en la manera como éstos se proyectan dentro de la Unión Europea. Así pues, se identifican los principales hechos históricos que han moldeado los intereses de los países del V4 y que condujeron a la creación de una estructura institucional sólida, que ha servido como plataforma para el accionar de dichos países dentro del bloque europeo. Se utiliza la perspectiva constructivista de Alexander Wendt, la cual permite entender la naturaleza de la cooperación y, su relación con las identidades y los intereses de los Estados.

Ecuaciones diferenciales estocásticas con condición final y soluciones de viscosidad de EDPS semilineales de segundo orden

El objetivo de este documento es recopilar algunos resultados clasicos sobre existencia y unicidad ´ de soluciones de ecuaciones diferenciales estocasticas (EDEs) con condici ´ on final (en ingl ´ es´ Backward stochastic differential equations) con particular enfasis en el caso de coeficientes mon ´ otonos, y su cone- ´ xion con soluciones de viscosidad de sistemas de ecuaciones diferenciales parciales (EDPs) parab ´ olicas ´ y el´ıpticas semilineales de segundo orden.