Linear offset-free Model Predictive Control

This work addresses the problem of offset-free Model Predictive Control (MPC) when tracking an asymptotically constant reference. In the first part, compact and intuitive conditions for offset-free MPC control are introduced by using the arguments of the internal model principle. In the second part, we study the case where the number of measured variables is larger than the number of tracked variables. The plant model is augmented only by as many states as there are tracked variables, and an algorithm which guarantees offset-free tracking is presented. In the last part, offset-free tracking properties for special implementations of MPC schemes are briefly discussed.     

Event-driven optimization-based control of hybrid systems with integral continuous-time dynamics

In this paper we introduce a class of continuous-time hybrid dynamical systems called integral continuous-time hybrid automata (icHA) for which we propose an event-driven optimization-based control strategy. Events include both external actions applied to the system and changes of continuous dynamics (mode switches). The icHA formalism subsumes a number of hybrid dynamical systems with practical interest, e.g., linear hybrid automata. Different cost functions, including minimum-time and minimum-effort criteria, and constraints are examined in the event-driven optimal control formulation. This is translated into a finite-dimensional mixed-integer optimization problem, in which the event instants and the corresponding values of the control input are the optimization variables. As a consequence, the proposed approach has the advantage of automatically adjusting the attention of the controller to the frequency of event occurrence in the hybrid process. A receding horizon control scheme exploiting the event-based optimal control formulation is proposed as a feedback control strategy and proved to ensure either finite-time or asymptotic convergence of the closed-loop.     

Temporal logic motion planning for dynamic robots

In this paper, we address the temporal logic motion planning problem for mobile robots that are modeled by second order dynamics. Temporal logic specifications can capture the usual control specifications such as reachability and invariance as well as more complex specifications like sequencing and obstacle avoidance. Our approach consists of three basic steps. First, we design a control law that enables the dynamic model to track a simpler kinematic model with a globally bounded error. Second, we built a robust temporal logic specification that takes into account the tracking errors of the first step. Finally, we solve the new robust temporal logic path planning problem for the kinematic model using automata theory and simple local vector fields. The resulting continuous time trajectory is provably guaranteed to satisfy the initial user specification.     

Stochastic algorithms for robustness of control performances

In recent years, there has been a growing interest in developing statistical learning methods to provide approximate solutions to “difficult” control problems. In particular, randomized algorithms have become a very popular tool used for stability and performance analysis as well as for design of control systems. However, as randomized algorithms provide an efficient solution procedure to the “intractable” problems, stochastic methods bring closer to understanding the properties of the real systems. The topic of this paper is the use of stochastic methods in order to solve the problem of control robustness: the case of parametric stochastic uncertainty is considered. Necessary concepts regarding stochastic control theory and stochastic differential equations are introduced. Then a convergence analysis is provided by means of the Chernoff bounds, which guarantees robustness in mean and in probability. As an illustration, the robustness of control performances of example control systems is computed.     

Enzymatic competition: Modeling and verification with timed hybrid petri nets

The formalism of hybrid functional petri nets (HFPN) has proved its convenience for simulating biological systems. The drawback of the noticeable expressiveness of HFPN is the difficulty to perform formal verifications of dynamical properties. In this article, we propose a model-checking procedure for timed hybrid petri nets (THPN), a sub-class of HFPN. This procedure is based on the translation of the THPN model and of the studied property into real-time automata. It is applied to model enzymatic competitions existing in amphibian metamorphosis.     

Off-line recognition of realistic Chinese handwriting using segmentation-free strategy

Great challenges are faced in the off-line recognition of realistic Chinese handwriting. This paper presents a segmentation-free strategy based on Hidden Markov Model (HMM) to handle this problem, where character segmentation stage is avoided prior to recognition. Handwritten textlines are first converted to observation sequence by sliding windows. Then embedded Baum-Welch algorithm is adopted to train character HMMs. Finally, best character string maximizing the a posteriori is located through Viterbi algorithm. Experiments are conducted on the HIT-MW database written by more than 780 writers. The results show the feasibility of such systems and reveal apparent complementary capacities between the segmentation-free systems and the segmentation-based ones.     

Animating Pictures of Fluid using Video Examples

We propose a system that allows the user to design a continuous flow animation starting from a still fluid image. The basic idea is to apply the fluid motion extracted from a video example to the target image. The system first decomposes the video example into three components, an average image, a flow field and residuals. The user then specifies equivalent information over the target image. The user manually paints the rough flow field, and the system automatically refines it using the estimated gradients of the target image. The user semi-automatically transfers the residuals onto the target image. The system then approximates the average image and synthesizes an animation on the target image by adding the transferred residuals and warping them according to the user-specified flow field. Finally, the system adjusts the appearance of the resulting animation by applying histogram matching. We designed animations of various pictures, such as rivers, waterfalls, fires, and smoke.     

Modeling wine preferences by data mining from physicochemical properties

We propose a data mining approach to predict human wine taste preferences that is based on easily available analytical tests at the certification step. A large dataset (when compared to other studies in this domain) is considered, with white and red vinho verde samples (from Portugal). Three regression techniques were applied, under a computationally efficient procedure that performs simultaneous variable and model selection. The support vector machine achieved promising results, outperforming the multiple regression and neural network methods. Such model is useful to support the oenologist wine tasting evaluations and improve wine production. Furthermore, similar techniques can help in target marketing by modeling consumer tastes from niche markets.     

Individual characteristics and the intention to continue project escalation

The factors leading to the continuing problems with information system (IS) project failure are of importance to both the research and practitioner communities. The psychological factors that lead project managers to escalate troubled projects are investigated. Theoretical grounding is presented for a research model consisting of Need for Achievement as an antecedent trait for implementation mindset, internal locus of control, preference for consistency, and time urgency, which in turn predict the Intention to Continue a troubled IS project. Using responses from 232 IS project stakeholders, the model is tested using structural equation modeling. The results support Need for Achievement as an antecedent to the other independent variables. Implementation mindset and internal locus of control were found to be significant predictors of the project managers’ intention to continue the IS projects. Based on the findings, suggestions for project re-evaluation milestones (PRMs) are presented.