Reachable sets bounding for switched systems with time-varying delay and bounded disturbances

In this paper, we address the problem of finding outer bound of forward reachable sets and inter-bound of backward reachable sets of switched systems with an interval time-varying delay and bounded disturbances. By constructing a flexible Lyapunov–Krasovskii functional combining with some recent refined integral-based inequalities, some sufficient conditions are derived for the existence of (1) the smallest possible outer bound of forwards reachable sets; and (2) the largest possible inter-bound of backward reachable sets. These conditions are delay dependent and in the form of linear matrix inequalities, which therefore can be efficiently solved by using existing convex algorithms. A constructive geometric design of switching laws is also presented. Two numerical examples with simulation results are provided to demonstrate the effectiveness of our results.

On backwards and forwards reachable sets bounding for perturbed time-delay systems

Linear systems with interval time-varying delay and unknown-but-bounded disturbances are considered in this paper. We study the problem of finding outer bound of forwards reachable sets and inter bound of backwards reachable sets of the system. Firstly, two definitions on forwards and backwards reachable sets, where initial state vectors are not necessary to be equal to zero, are introduced. Then, by using the Lyapunov-Krasovskii method, two sufficient conditions for the existence of: (i) the smallest possible outer bound of forwards reachable sets; and (ii) the largest possible inter bound of backwards reachable sets, are derived. These conditions are presented in terms of linear matrix inequalities with two parameters need to tuned, which therefore can be efficiently solved by combining existing convex optimization algorithms with a two-dimensional search method to obtain optimal bounds. Lastly, the obtained results are illustrated by four numerical examples.

Reachable sets bounding for generalized neural networks with interval time-varying delay and bounded disturbances

This paper deals with the problem of finding outer bound of forwards reachable sets and interbound of backwards reachable sets of generalized neural network systems with interval nondifferentiable time-varying delay and bounded disturbances. Based on constructing a suitable Lyapunov–Krasovskii functional and utilizing some improved Jensen integral-based inequalities, two sufficient conditions are derived for the existence of: (1) the smallest possible outer bound of forwards reachable sets and (2) the largest possible interbound of backwards reachable sets. These conditions are delay dependent and in the form of matrix inequalities, which therefore can be efficiently solved by using existing convex algorithms. Three numerical examples with simulation results are provided to demonstrate the effectiveness of our results.

Reachable set bounding for nonlinear perturbed time-delay systems: the smallest bound

In this letter, we propose a new approach to obtain the smallest box which bounds all reachable sets of a class of nonlinear time-delay systems with bounded disturbances. A numerical example is studied to illustrate the obtained result.

Linear functional state bounding for perturbed time-delay systems and its application

This paper considers time-delay systems with bounded disturbances. We study a new problem of finding an upper bound of an absolute value function of any given linear functional of the state vector starting from the origin of the system. Based on the Lyapunov-Krasovskii method combining with the recent Wirtinger-based integral inequality that has just been proposed by Seuret & Gouaisbaut (2013. Wirtinger-based integral inequality: application to time-delay systems. Automatica, 49, 2860-2866), sufficient conditions for the existence of an upper bound of the function are derived. The obtained results are shown to be more effective than those adapted from the existing works on reachable set bounding. Furthermore, the obtained results are applied to refine existing ellipsoidal bounds of the reachable sets. The effectiveness of the obtained results is illustrated by two numerical examples.

Motion Planning and Controls with Safety and Temporal Constraints

Motion planning, or trajectory planning, commonly refers to a process of converting high-level task specifications into low-level control commands that can be executed on the system of interest. For different applications, the system will be different. It can be an autonomous vehicle, an Unmanned Aerial Vehicle(UAV), a humanoid robot, or an industrial robotic arm. As human machine interaction is essential in many of these systems, safety is fundamental and crucial. Many of the applications also involve performing a task in an optimal manner within a given time constraint. Therefore, in this thesis, we focus on two aspects of the motion planning problem. One is the verification and synthesis of the safe controls for autonomous ground and air vehicles in collision avoidance scenarios. The other part focuses on the high-level planning for the autonomous vehicles with the timed temporal constraints. In the first aspect of our work, we first propose a verification method to prove the safety and robustness of a path planner and the path following controls based on reachable sets. We demonstrate the method on quadrotor and automobile applications. Secondly, we propose a reachable set based collision avoidance algorithm for UAVs. Instead of the traditional approaches of collision avoidance between trajectories, we propose a collision avoidance scheme based on reachable sets and tubes. We then formulate the problem as a convex optimization problem seeking control set design for the aircraft to avoid collision. We apply our approach to collision avoidance scenarios of quadrotors and fixed-wing aircraft. In the second aspect of our work, we address the high level planning problems with timed temporal logic constraints. Firstly, we present an optimization based method for path planning of a mobile robot subject to timed temporal constraints, in a dynamic environment. Temporal logic (TL) can address very complex task specifications such as safety, coverage, motion sequencing etc. We use metric temporal logic (MTL) to encode the task specifications with timing constraints. We then translate the MTL formulae into mixed integer linear constraints and solve the associated optimization problem using a mixed integer linear program solver. We have applied our approach on several case studies in complex dynamical environments subjected to timed temporal specifications. Secondly, we also present a timed automaton based method for planning under the given timed temporal logic specifications. We use metric interval temporal logic (MITL), a member of the MTL family, to represent the task specification, and provide a constructive way to generate a timed automaton and methods to look for accepting runs on the automaton to find an optimal motion (or path) sequence for the robot to complete the task.

Deducing the reachable space from fingertip positions

The reachable space of the hand has received significant interests in the past from relevant medical researchers and health professionals. The reachable space was often computed from the joint angles acquired from a motion capture system such as gloves or markers attached to each bone of the finger. However, the contact between the hand and device can cause difficulties particularly for hand with injuries, burns or experiencing certain dermatological conditions. This paper introduces an approach to find the reachable space of the hand in a non-contact measurement form utilizing the Leap Motion Controller. The approach is based on the analysis of each position in the motion path of the fingertip acquired by the Leap Motion Controller. For each position of the fingertip, the inverse kinematic problem was solved under the physiological multiple constraints of the human hand to find a set of all possible configurations of three finger joints. Subsequently, all the sets are unified to form a set of all possible configurations specific for that motion. Finally, a reachable space is computed from the configuration corresponding to the complete extension and the complete flexion of the finger joint angles in this set.

Tourism Destination Preferences: A Longitudinal Analysis of Consumer Decision Sets

There have only been a small number of applications of consumer decision set theory to holiday destination choice, and these studies have tended to rely on a single cross sectional snapshot of research participants’ stated preferences. Very little has been reported on the relationship between stated destination preferences and actual travel, or changes in decision set composition over time. The paper presents a rare longitudinal examination of destination decision sets, in the context of short break holidays by car in Queensland, Australia. Two questionnaires were administered, three months apart. The first identified destination preferences while the second examined actual travel and revisited destination preferences. In relation to the conference theme, there was very little change in consumer preferences towards the competitive set of destinations over the three month period. A key implication for the destination of interest, which, in an attempt to change market perceptions, launched a new brand campaign during the period of the project, is that a long term investment in a consistent brand message will be required to change market perceptions. The results go some way to support the proposition that the positioning of a destination into a consumer’s decision set represents a source of competitive advantage.

A forward and backward secure key management in wireless sensor networks for PCS/SCADA

Process Control Systems (PCSs) or Supervisory Control and Data Acquisition (SCADA) systems have recently been added to the already wide collection of wireless sensor networks applications. The PCS/SCADA environment is somewhat more amenable to the use of heavy cryptographic mechanisms such as public key cryptography than other sensor application environments. The sensor nodes in the environment, however, are still open to devastating attacks such as node capture, which makes designing a secure key management challenging. In this paper, a key management scheme is proposed to defeat node capture attack by offering both forward and backward secrecies. Our scheme overcomes the pitfalls which Nilsson et al.'s scheme suffers from, and is not more expensive than their scheme.

Exploiting multiple feature sets in data-driven impostor dataset selection for speaker verification

This study assesses the recently proposed data-driven background dataset refinement technique for speaker verification using alternate SVM feature sets to the GMM supervector features for which it was originally designed. The performance improvements brought about in each trialled SVM configuration demonstrate the versatility of background dataset refinement. This work also extends on the originally proposed technique to exploit support vector coefficients as an impostor suitability metric in the data-driven selection process. Using support vector coefficients improved the performance of the refined datasets in the evaluation of unseen data. Further, attempts are made to exploit the differences in impostor example suitability measures from varying features spaces to provide added robustness.