There is, I think, something ethereal about i —the square root of minus one. I remember first hearing about it at school. It seemed an odd beast at that time—an intruder hovering on the edge of reality.

Usually familiarity dulls this sense of the bizarre, but in the case of i it was the reverse: over the years the sense of its surreal nature intensified. It seemed that it was impossible to write mathematics that described the real world in …

I and i

/pdf/convex-analysisnoer-san-nojin-zhan-nituite-5dl2rbmoyr.pdf

Convex Analysisの二,三の進展について

Cyber-Physical Systems (CPS) are integrations of computation and physical processes. Embedded computers and networks monitor and control the physical processes, usually with feedback loops where physical processes affect computations and vice versa. The economic and societal potential of such systems is vastly greater than what has been realized, and major investments are being made worldwide to develop the technology. There are considerable challenges, particularly because the physical components of such systems introduce safety and reliability requirements qualitatively different from those in general- purpose computing. Moreover, physical components are qualitatively different from object-oriented software components. Standard abstractions based on method calls and threads do not work. This paper examines the challenges in designing such systems, and in particular raises the question of whether today's computing and networking technologies provide an adequate foundation for CPS. It concludes that it will not be sufficient to improve design processes, raise the level of abstraction, or verify (formally or otherwise) designs that are built on today's abstractions. To realize the full potential of CPS, we will have to rebuild computing and networking abstractions. These abstractions will have to embrace physical dynamics and computation in a unified way.

/pdf/cyber-physical-systems-design-challenges-57gxu3wcxl.pdf

Cyber Physical Systems: Design Challenges

This paper presents control and coordination algorithms for groups of vehicles. The focus is on autonomous vehicle networks performing distributed sensing tasks where each vehicle plays the role of a mobile tunable sensor. The paper proposes gradient descent algorithms for a class of utility functions which encode optimal coverage and sensing policies. The resulting closed-loop behavior is adaptive, distributed, asynchronous, and verifiably correct.

Coverage control for mobile sensing networks

This is a review of Collected Works of John Tate. Parts I, II, edited by Barry Mazur and Jean-Pierre Serre. American Mathematical Society, Providence, Rhode Island, 2016. For several decades it has been clear to the friends and colleagues of John Tate that a “Collected Works” was merited. The award of the Abel Prize to Tate in 2010 added impetus, and finally, in Tate’s ninety-second year we have these two magnificent volumes, edited by Barry Mazur and Jean-Pierre Serre. Beyond Tate’s published articles, they include five unpublished articles and a selection of his letters, most accompanied by Tate’s comments, and a collection of photographs of Tate. For an overview of Tate’s work, the editors refer the reader to [4]. Before discussing the volumes, I describe some of Tate’s work. 1. Hecke L-series and Tate’s thesis Like many budding number theorists, Tate’s favorite theorem when young was Gauss’s law of quadratic reciprocity. When he arrived at Princeton as a graduate student in 1946, he was fortunate to find there the person, Emil Artin, who had discovered the most general reciprocity law, so solving Hilbert’s ninth problem. By 1920, the German school of algebraic number theorists (Hilbert, Weber, . . .) together with its brilliant student Takagi had succeeded in classifying the abelian extensions of a number field K: to each group I of ideal classes in K, there is attached an extension L of K (the class field of I); the group I determines the arithmetic of the extension L/K, and the Galois group of L/K is isomorphic to I. Artin’s contribution was to prove (in 1927) that there is a natural isomorphism from I to the Galois group of L/K. When the base field contains an appropriate root of 1, Artin’s isomorphism gives a reciprocity law, and all possible reciprocity laws arise this way. In the 1930s, Chevalley reworked abelian class field theory. In particular, he replaced “ideals” with his “idèles” which greatly clarified the relation between the local and global aspects of the theory. For his thesis, Artin suggested that Tate do the same for Hecke L-series. When Hecke proved that the abelian L-functions of number fields (generalizations of Dirichlet’s L-functions) have an analytic continuation throughout the plane with a functional equation of the expected type, he saw that his methods applied even to a new kind of L-function, now named after him. Once Tate had developed his harmonic analysis of local fields and of the idèle group, he was able prove analytic continuation and functional equations for all the relevant L-series without Hecke’s complicated theta-formulas. Received by the editors September 5, 2016. 2010 Mathematics Subject Classification. Primary 01A75, 11-06, 14-06. c ©2017 American Mathematical Society

The collected works

In this technical note, we present a new class of event triggering mechanisms for event-triggered control systems. This class is characterized by the introduction of an internal dynamic variable, which motivates the proposed name of dynamic event triggering mechanism. The stability of the resulting closed-loop system is proved and the influence of design parameters on the decay rate of the Lyapunov function is discussed. For linear systems, we establish a lower bound on the inter-execution time as a function of the parameters. The influence of these parameters on a quadratic integral performance index is also studied. Some simulation results are provided for illustration of the theoretical claims.

Dynamic Triggering Mechanisms for Event-Triggered Control

We present a scalable reachability algorithm for hybrid systems with piecewise affine, non-deterministic dynamics. It combines polyhedra and support function representations of continuous sets to compute an over-approximation of the reachable states. The algorithm improves over previous work by using variable time steps to guarantee a given local error bound. In addition, we propose an improved approximation model, which drastically improves the accuracy of the algorithm. The algorithm is implemented as part of SpaceEx, a new verification platform for hybrid systems, available at spaceex.imag.fr. Experimental results of full fixed-point computations with hybrid systems with more than 100 variables illustrate the scalability of the approach.

/pdf/spaceex-scalable-verification-of-hybrid-systems-5ergeoijpi.pdf

SpaceEx: scalable verification of hybrid systems

In this paper, we present a new class of event triggering mechanisms for event-triggered control systems. This class is characterized by the introduction of an internal dynamic variable, which motivates the proposed name of dynamic event triggering mechanism. The stability of the resulting closed loop system is proved and the influence of design parameters on the decay rate of the Lyapunov function is discussed. For linear systems, we establish a lower bound on the inter-execution time as a function of the parameters. The influence of these parameters on a quadratic integral performance index is also studied. Some simulation results are provided for illustration of the theoretical claims.

We present a method for the computation of reachable sets of uncertain linear systems. The main innovation of the method consists in the use of zonotopes for reachable set representation. Zonotopes are special polytopes with several interesting properties : they can be encoded efficiently, they are closed under linear transformations and Minkowski sum. The resulting method has been used to treat several examples and has shown great performances for high dimensional systems. An extension of the method for the verification of piecewise linear hybrid systems is proposed.

https://www-ljk.imag.fr/membres/Antoine.Girard/Publications/hscc2005.pdf

Reachability of uncertain linear systems using zonotopes

Established system relationships for discrete systems, such as language inclusion, simulation, and bisimulation, require system observations to be identical. When interacting with the physical world, modeled by continuous or hybrid systems, exact relationships are restrictive and not robust. In this paper, we develop the first framework of system approximation that applies to both discrete and continuous systems by developing notions of approximate language inclusion, approximate simulation, and approximate bisimulation relations. We define a hierarchy of approximation pseudo-metrics between two systems that quantify the quality of the approximation, and capture the established exact relationships as zero sections. Our approximation framework is compositional for a synchronous composition operator. Algorithms are developed for computing the proposed pseudo-metrics, both exactly and approximately. The exact algorithms require the generalization of the fixed point algorithms for computing simulation and bisimulation relations, or dually, the solution of a static game whose cost is the so-called branching distance between the systems. Approximations for the pseudo-metrics can be obtained by considering Lyapunov-like functions called simulation and bisimulation functions. We illustrate our approximation framework in reducing the complexity of safety verification problems for both deterministic and nondeterministic continuous systems

/pdf/approximation-metrics-for-discrete-and-continuous-systems-361v5oqg11.pdf

Antoine Girard

Papers

Dynamic Triggering Mechanisms for Event-Triggered Control

SpaceEx: scalable verification of hybrid systems

Dynamic Triggering Mechanisms for Event-Triggered Control

Reachability of uncertain linear systems using zonotopes

Approximation Metrics for Discrete and Continuous Systems