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Since the invention of paper money, counterfeiters have churned out fake bills. Some of their handiwork, created with high-tech inks, papers, and printing presses, is so good that it's very difficult to distinguish from the real thing. National banks combat the counterfeiters with difficult-to-copy watermarks, holograms, and other sophisticated measures. But to give money the ultimate protection, some quantum physicists are turning to the weird quirks that govern nature's fundamental particles. [ABSTRACT FROM PUBLISHER]

As each imbalanced classification problem comes with its own set of challenges, the measure used to evaluate classifiers must be individually selected. To help researchers make this decision in an informed manner, experimental and theoretical investigations compare general properties of measures. However, existing studies do not analyze changes in measure behavior imposed by different imbalance ratios. Moreover, several characteristics of imbalanced data streams, such as the effect of dynamically changing class proportions, have not been thoroughly investigated from the perspective of different metrics. In this paper, we study measure dynamics by analyzing changes of measure values, distributions, and gradients with diverging class proportions. For this purpose, we visualize measure probability mass functions and gradients. In addition, we put forward a histogram-based normalization method that provides a unified, probabilistic interpretation of any measure over data sets with different class distributions. The results of analyzing eight popular classification measures show that the effect class proportions have on each measure is different and should be taken into account when evaluating classifiers. Apart from highlighting imbalance-related properties of each measure, our study shows a direct connection between class ratio changes and certain types of concept drift, which could be influential in designing new types of classifiers and drift detectors for imbalanced data streams. [ABSTRACT FROM AUTHOR]

This paper studies the problem of bearing-only formation control of multiagent systems, where the control of each agent merely relies on the relative bearings to its neighbors. Although this problem has received increasing research attention recently, it is still unsolved to a large extent due to its highly nonlinear dynamics. In particular, the existing control approaches are only able to solve the simplest scenario where the target formation is stationary and each agent is modeled as a single integrator. The main contribution of this paper is to propose new bearing-only formation control laws to 1) track moving target formations and 2) handle a variety of agent models including single-integrator, double-integrator, and unicycle models. These control laws are an important step towards the application of bearing-only formation control in practical tasks. Both numerical simulation and real experimental results are presented to verify the effectiveness of the theoretical results. [ABSTRACT FROM AUTHOR]

System-on-chip (SoC) miniaturization of radiometric sensors could dramatically improve quantitatively the study of Earth’s atmosphere in the microwave- and millimeter-wave frequency regions, enabling cost and weight reductions both for ground- and space-based observation instruments. This paper reports the analysis, design, implementation, and experimental characterization of the first K-band SoC Dicke radiometric receiver implemented in a commercial silicon–germanium technology under Space evaluations. The radiometric receiver exhibits a responsivity of about 760 kV/W and a noise equivalent power of about 232 fW/ $\surd $ Hz at the center frequency of 25.75 GHz. For a bandwidth of 2.5 GHz, the system achieves a resolution of 9 K for a relatively short integration time (1 s), 2.8 K for a medium integration time (10 s), and 0.9 K for a relatively long integration time (100 s). [ABSTRACT FROM AUTHOR]

This paper develops a measure-theoretic approach for generating the collective behavior of flocking of planar autonomous vehicles under all-to-all communication scheme. To obtain flocking protocol, we formulate the notion of state of styled-velocity flocking for the target state of a design problem instead of considering solution-ansatzes. This notion captures a broader class of flocking behaviors of non-parallel motions, as well as embodies the two important performances of cohesion maintenance and collision avoidance. To pose a control design problem, a measure-valued transition equation is obtained to induce an auxiliary one-body continuum-model from the exact multi-body particle-model of the collective system. The design problem is then formulated on the auxiliary continuum-model, and a systematic design procedure is presented. The state of styled-velocity flocking of the particle-model under the obtained flocking protocol is then verified with an important result on the continuous dependence on initial data of solutions of the measured-valued transition equation. Application to elliptical flocking of mobile robots is presented to illustrate the novelty of the presented theory. [ABSTRACT FROM PUBLISHER]

Recovery of the initial state of a high-dimensional system can require a large number of measurements. In this paper, we explain how this burden can be significantly reduced when randomized measurement operators are employed. Our work builds upon recent results from Compressive Sensing (CS). In particular, we make the connection to CS analysis for random block diagonal matrices. By deriving Concentration of Measure (CoM) inequalities, we show that the observability matrix satisfies the Restricted Isometry Property (RIP) (a sufficient condition for stable recovery of sparse vectors) under certain conditions on the state transition matrix. For example, we show that if the state transition matrix is unitary, and if independent, randomly-populated measurement matrices are employed, then it is possible to uniquely recover a sparse high-dimensional initial state when the total number of measurements scales linearly in the sparsity level (the number of non-zero entries) of the initial state and logarithmically in the state dimension. We further extend our RIP analysis for scaled unitary and symmetric state transition matrices. We support our analysis with a case study of a diffusion process. [ABSTRACT FROM AUTHOR]

This paper is concerned with distributed computation of several commonly used centrality measures in complex networks. In particular, we propose deterministic algorithms, which converge in finite time, for the distributed computation of the degree, closeness and betweenness centrality measures in directed graphs. Regarding eigenvector centrality, we consider the PageRank problem as its typical variant, and design distributed randomized algorithms to compute PageRank for both fixed and time-varying graphs. A key feature of the proposed algorithms is that they do not require to know the network size, which can be simultaneously estimated at every node, and that they are clock-free. To address the PageRank problem of time-varying graphs, we introduce the concept of persistent graph, which eliminates the effect of spamming nodes. Moreover, we prove that these algorithms converge almost surely and in the sense of $L^p$. Finally, the effectiveness of the proposed algorithms is illustrated via extensive simulations using a classical benchmark. [ABSTRACT FROM PUBLISHER]

This paper addresses the problem of grouping the data points sampled from a union of multiple subspaces in the presence of outliers. Information theoretic objective functions are proposed to combine structured low-rank representations (LRRs) to capture the global structure of data and information theoretic measures to handle outliers. In theoretical part, we point out that group sparsity-induced measures ( \ell 2,1 -norm, \ell \alpha -norm, and correntropy) can be justified from the viewpoint of half-quadratic (HQ) optimization, which facilitates both convergence study and algorithmic development. In particular, a general formulation is accordingly proposed to unify HQ-based group sparsity methods into a common framework. In algorithmic part, we develop information theoretic subspace clustering methods via correntropy. With the help of Parzen window estimation, correntropy is used to handle either outliers under any distributions or sample-specific errors in data. Pairwise link constraints are further treated as a prior structure of LRRs. Based on the HQ framework, iterative algorithms are developed to solve the nonconvex information theoretic loss functions. Experimental results on three benchmark databases show that our methods can further improve the robustness of LRR subspace clustering and outperform other state-of-the-art subspace clustering methods. [ABSTRACT FROM PUBLISHER]

Distance metric is the basis of many learning algorithms, and its effectiveness usually has a significant influence on the learning results. In general, measuring distance for numerical data is a tractable task, but it could be a nontrivial problem for categorical data sets. This paper, therefore, presents a new distance metric for categorical data based on the characteristics of categorical values. In particular, the distance between two values from one attribute measured by this metric is determined by both the frequency probabilities of these two values and the values of other attributes that have high interdependence with the calculated one. Dynamic attribute weight is further designed to adjust the contribution of each attribute-distance to the distance between the whole data objects. Promising experimental results on different real data sets have shown the effectiveness of the proposed distance metric. [ABSTRACT FROM AUTHOR]

This paper deals with the problem of estimating the state of a nonlinear time-invariant system in the presence of sporadically available measurements and external perturbations. An observer with a continuous intersample injection term is proposed. Such an intersample injection is provided by a linear dynamical system, whose state is reset to the measured output estimation error whenever a new measurement is available. The resulting system is augmented with a timer triggering the arrival of a new measurement and analyzed in a hybrid system framework. The design of the observer is performed to achieve exponential convergence with a given decay rate of the estimation error. Robustness with respect to external perturbations and $\mathcal {L}_2$ -external stability from plant perturbations to a given performance output are considered. Computationally efficient algorithms based on the solution to linear matrix inequalities are proposed to design the observer. Finally, the effectiveness of the proposed methodology is shown in an example. [ABSTRACT FROM AUTHOR]

In this paper, we consider the control problem for uncertain systems with imperfect information, in which an output of interest must be kept outside an undesired region (the bad set) in the output space. The state, input, output, and disturbance spaces are equipped with partial orders. The system dynamics are either input/output order preserving with output in \BBR^2 or given by the parallel composition of input/output order preserving dynamics each with scalar output. We provide necessary and sufficient conditions under which an initial set of possible system states is safe, that is, the corresponding outputs are steerable away from the bad set with open loop controls. A closed loop control strategy is explicitly constructed, which guarantees that the current set of possible system states, as obtained from an estimator, generates outputs that never enter the bad set. The complexity of algorithms that check safety of an initial set of states and implement the control map is quadratic with the dimension of the state space. The algorithms are illustrated on two application examples: a ship maneuver to avoid an obstacle and safe navigation of an helicopter among buildings. [ABSTRACT FROM PUBLISHER]

This paper derives a novel approach to prove contraction of nonlinear dynamical systems, based on the use of non-Euclidean norms and their associated matrix measures. A graphical procedure is developed to derive conditions for a system to be contracting. Such conditions can also be used to design control strategies to make a system contracting, or to design consensus and synchronization strategies for networks of nonlinear oscillators. After presenting the main steps of the approach and its proof, both for continuous-time and discrete-time systems, we illustrate the theoretical derivations on a set of representative examples. [ABSTRACT FROM PUBLISHER]

This article deals with the problem of controlling the average state of a large-scale linear network to a constant reference value. We design an output-feedback controller such that no information about state vector or system matrices is needed. For this controller to have arbitrary positive gains, it is sufficient that only a sign condition on system matrices should be satisfied. To assure that the states of the network are close to the average state, the problem of deviation minimization is solved in addition, using a novel extremum seeking algorithm. [ABSTRACT FROM AUTHOR]

The optimal linear estimation problem is studied for multirate sampling systems with multiple random measurement time delays (TDs). The considered multirate sampling scheme is that the sensor uniformly samples at a slow rate and the state uniformly updates at a fast rate. Known stochastic variable sequences obeying Bernoulli distributions are adopted to depict random measurement TDs, including missing measurements as a special case. First, using a state iterating method, the original system with multirate sampling and delayed measurements is transformed into a state-space model with single-rate sampling and delay-free measurements at measurement sampling (MS) instants. Then, by utilizing projection theory, a nonaugmented recursive optimal linear state filter is presented based on the established model in the linear minimum variance sense, where the estimators for the process noise are involved. Furthermore, the state estimator at state update instants is achieved through filtering or prediction based on the filter at MS instants. Finally, the centralized fusion estimator and the distributed covariance intersection fusion estimator are proposed for the multisensor case. Simulation research on a vehicle suspension system verifies the effectiveness of the algorithms. [ABSTRACT FROM AUTHOR]

This article devises a photograph-based monitoring model to estimate the real-time PM2.5 concentrations, overcoming currently popular electrochemical sensor-based PM2.5 monitoring methods’ shortcomings such as low-density spatial distribution and time delay. Combining the proposed monitoring model, the photographs taken by various camera devices (e.g., surveillance camera, automobile data recorder, and mobile phone) can widely monitor PM2.5 concentration in megacities. This is beneficial to offering helpful decision-making information for atmospheric forecast and control, thus reducing the epidemic of COVID-19. To specify, the proposed model fuses Information Abundance measurement and Wide and Deep learning, dubbed as IAWD, for PM2.5 monitoring. First, our model extracts two categories of features in a newly proposed DS transform space to measure the information abundance (IA) of a given photograph since the growth of PM2.5 concentration decreases its IA. Second, to simultaneously possess the advantages of memorization and generalization, a new wide and deep neural network is devised to learn a nonlinear mapping between the above-mentioned extracted features and the groundtruth PM2.5 concentration. Experiments on two recently established datasets totally including more than 100 000 photographs demonstrate the effectiveness of our extracted features and the superiority of our proposed IAWD model as compared to state-of-the-art relevant computing techniques. [ABSTRACT FROM AUTHOR]

This article addresses the detection of stealthy attacks on sensor measurements. Inspired in authentication schemes with weak cryptographic guarantees, we propose a watermarking approach to validate the data and its source. In particular, we propose a multiplicative scheme, where the sensor outputs are watermarked by a bank of filters, then transmitted through the possibly unsecured communication network. The original measurement data are finally reconstructed by a watermark remover. To allow the detection of replay attacks, the watermarking filters are devised as hybrid switching systems, whose parameters are assumed to be unknown to the adversary. Design rules are provided, guaranteeing that the nominal closed-loop performance is not deteriorated by the watermarking scheme and ensuring robust stability with mismatched filter parameters. Moreover, we design a switching protocol with no communication overhead to allow the watermarking filters to synchronously update their parameters. The detectability properties of cyber-attacks are analyzed, and the results are illustrated through numerical examples for replay and data injection attacks. [ABSTRACT FROM AUTHOR]

This article deals with dynamical networks in which the relations between node signals are described by proper transfer functions and external signals can influence each of the node signals. We are interested in graph-theoretic conditions for identifiability of such dynamical networks, where we assume that only a subset of nodes is measured but the underlying graph structure of the network is known. This problem has recently been investigated from a generic viewpoint. Roughly speaking, generic identifiability means that the transfer functions in the network can be identified for “almost all” network matrices associated with the graph. In this article, we investigate the stronger notion of identifiability for all network matrices. To this end, we introduce a new graph-theoretic concept called the graph simplification process. Based on this process, we provide necessary and sufficient topological conditions for identifiability. Notably, we also show that these conditions can be verified by polynomial time algorithms. Finally, we explain how our results generalize existing sufficient conditions for identifiability. [ABSTRACT FROM AUTHOR]

We consider output feedback control of linear discrete-time systems subject to bounded additive disturbances and measurement noise. The goal is to stabilize the system while ensuring the satisfaction of hard constraints on the state and input. For this purpose, we present a novel output-feedback model predictive control (MPC) scheme based on set-valued estimation. The main feature of the scheme is that the number of past measurements used in order to obtain the set-valued estimate depends on the particular time step in the prediction horizon for which the estimate is required. In particular, we employ fewer measurements for prediction steps that are farther in the future, which is a key point in establishing recursive feasibility. The resulting optimal control problem is of bounded complexity, which is a priori known, and is a linearly constrained convex optimization problem under additional assumptions. We demonstrate in a numerical example that the proposed MPC scheme allows an enlargement of the feasible set beyond what is possible with earlier schemes using only linear estimators. [ABSTRACT FROM AUTHOR]

We provide a comprehensive solution to the estimation problem of the state for a linear time-invariant system in a distributed fashion over networks that allow only intermittent information transmission. By attaching to each node an observer that employs information received from its neighbors triggered by asynchronous communication events, we propose a distributed state observer that guarantees global exponential stability of the zero estimation error set. The design of parameters is formulated as linear matrix inequalities. A thorough robustness analysis of the proposed observer to unmodeled dynamics, unknown communication times, as well as measurement and communication noise characterized in terms of input-to-state stability is presented. These properties of the proposed observer are shown analytically and validated numerically. [ABSTRACT FROM PUBLISHER]

For nonlinear non-Gaussian stochastic dynamic systems with inequality state constraints, this technical note presents an efficient particle filtering algorithm, constrained auxiliary particle filtering algorithm. To deal with the state constraints, the proposed algorithm probabilistically selects particles such that those particles far away from the feasible area are less likely to propagate into the next time step. To improve on the sampling efficiency in the presence of inequality constraints, it uses a highly effective method to perform a series of constrained optimization so that the importance distributions are constructed efficiently based on the state constraints. The caused approximation errors are corrected using the importance sampling method. This ensures that the obtained particles constitute a representative sample of the true posterior distribution. A simulation study on vehicle tracking is used to illustrate the proposed approach. [ABSTRACT FROM AUTHOR]

We propose a Monte Carlo filter for recursive estimation of diffusive processes that modulate the instantaneous rates of Poisson measurements. A key aspect is the additive update, through a gain-like correction term, empirically approximated from the innovation integral in the time-discretized Kushner-Stratonovich equation. The additive filter-update scheme eliminates the problem of particle collapse encountered in many conventional particle filters. Through a few numerical demonstrations, the versatility of the proposed filter is brought forth. [ABSTRACT FROM AUTHOR]

Nonlinear filters produce a nonparametric estimate of the probability density of state at each point in time. Currently-known nonlinear filters include Particle Filters and the Kushner equation (and its un-normalized version: the Zakai equation). However, these filters have limited measurement models: Particle Filters require measurement at discrete times, and the Kushner and Zakai equations only apply when the measurement can be represented as a function of the state. We present a new nonlinear filter for continuous-time measurements with a much more general stochastic measurement model. It integrates to Bayes' rule over short time intervals and provides Bayes-optimal estimates from quantized, intermittent, or ambiguous sensor measurements. The filter has a close link to Information Theory, and we show that the rate of change of entropy of the density estimate is equal to the mutual information between the measurement and the state and thus the maximum achievable. This is a fundamentally new class of filter that is widely applicable to nonlinear estimation for continuous-time control. [ABSTRACT FROM PUBLISHER]

Today, the leading contenders are all quite exotic: There are superconducting circuits printed from materials such as aluminum and cooled to one-hundredth of a degree above absolute zero, floating ions that are made to hover above chips and are interrogated with lasers, and atoms such as nitrogen trapped in diamond matrices. [ABSTRACT FROM AUTHOR]

We present two results on attitude estimation using vector and rate gyro measurements. The first result concerns an observer previously presented by Hamel, Mahony, and Pflimlin, with proven stability results when i) the reference vectors are stationary; or ii) the gyro measurements are unbiased. We prove semiglobal stability without either of these assumptions when a parameter projection is added, and convergence from all initial attitudes when using a resetting strategy. The second result is an algorithm for estimation of bias in the body-fixed vector measurements, which is analyzed in combination with the attitude and gyro bias observer. [ABSTRACT FROM PUBLISHER]

We propose the adaptive control and reconfiguration schemes for mobile wireless sensor networks (MWSN) to achieve timely and accurate mobile multi-target tracking (MMTT) with cost-effective energy consumption. In particular, our proposed schemes can detect the mobile multi-targets' random appearance and disappearance in the clutter environments with high accuracy and low energy cost. We develop the optimal mutual-information based techniques to adaptively control the reconfiguration of the proposed MWSN by designing the Distributed/Decentralized Probability Hypothesis Density (DPHD) filtering algorithms. By dynamically adjusting the sensors' states, including their positions and activations, our schemes can efficiently improve the observabilities of the tracked multi-targets. We further analyze the asymptotic performance of our proposed schemes by deriving the upper-bounds of the detection-error probabilities. Also presented are the performance analyses which validate and evaluate our proposed adaptive control and reconfiguration schemes for MWSN in terms of the multi-target states estimation accuracy, the energy-consumption efficiency, and the robustness to the interference/noise. [ABSTRACT FROM AUTHOR]