This paper provides a theoretical framework for analysis of consensus algorithms for multi-agent networked systems with an emphasis on the role of directed information flow, robustness to changes in network topology due to link/node failures, time-delays, and performance guarantees. An overview of basic concepts of information consensus in networks and methods of convergence and performance analysis for the algorithms are provided. Our analysis framework is based on tools from matrix theory, algebraic graph theory, and control theory. We discuss the connections between consensus problems in networked dynamic systems and diverse applications including synchronization of coupled oscillators, flocking, formation control, fast consensus in small-world networks, Markov processes and gossip-based algorithms, load balancing in networks, rendezvous in space, distributed sensor fusion in sensor networks, and belief propagation. We establish direct connections between spectral and structural properties of complex networks and the speed of information diffusion of consensus algorithms. A brief introduction is provided on networked systems with nonlocal information flow that are considerably faster than distributed systems with lattice-type nearest neighbor interactions. Simulation results are presented that demonstrate the role of small-world effects on the speed of consensus algorithms and cooperative control of multivehicle formations

/pdf/consensus-and-cooperation-in-networked-multi-agent-systems-5ame7z72ny.pdf

Consensus and Cooperation in Networked Multi-Agent Systems

In this article we discuss our experience designing and implementing a statistical computing language. In developing this new language, we sought to combine what we felt were useful features from two existing computer languages. We feel that the new language provides advantages in the areas of portability, computational efficiency, memory management, and scoping.

R: A Language for Data Analysis and Graphics

On August 17, 2017 at 12∶41:04 UTC the Advanced LIGO and Advanced Virgo gravitational-wave detectors made their first observation of a binary neutron star inspiral. The signal, GW170817, was detected with a combined signal-to-noise ratio of 32.4 and a false-alarm-rate estimate of less than one per 8.0×10^{4}  years. We infer the component masses of the binary to be between 0.86 and 2.26  M_{⊙}, in agreement with masses of known neutron stars. Restricting the component spins to the range inferred in binary neutron stars, we find the component masses to be in the range 1.17-1.60  M_{⊙}, with the total mass of the system 2.74_{-0.01}^{+0.04}M_{⊙}. The source was localized within a sky region of 28  deg^{2} (90% probability) and had a luminosity distance of 40_{-14}^{+8}  Mpc, the closest and most precisely localized gravitational-wave signal yet. The association with the γ-ray burst GRB 170817A, detected by Fermi-GBM 1.7 s after the coalescence, corroborates the hypothesis of a neutron star merger and provides the first direct evidence of a link between these mergers and short γ-ray bursts. Subsequent identification of transient counterparts across the electromagnetic spectrum in the same location further supports the interpretation of this event as a neutron star merger. This unprecedented joint gravitational and electromagnetic observation provides insight into astrophysics, dense matter, gravitation, and cosmology.

/pdf/gw170817-observation-of-gravitational-waves-from-a-binary-q2x9byg981.pdf

GW170817: observation of gravitational waves from a binary neutron star inspiral

‘The Production of Space’, in: Frans Jacobi, Imagine, Space Poetry, Copenhagen, 1996, unpaginated.

The Production of Space

: A partial theory is presented of thinking, combining a number of classical and modern concepts from psychology, linguistics, and AI. In a new situation one selects from memory a structure called a frame: a remembered framework to be adapted to fit reality by changing details as necessary, and a data-structure for representing a stereotyped situation. Attached to each frame are several kinds of information -- how to use the frame, what one can expect to happen next, and what to do if these expectations are not confirmed. The report discusses collections of related frames that are linked together into frame-systems.

/pdf/a-framework-for-representing-knowledge-4ptb6mi5zb.pdf

A framework for representing knowledge

From the Publisher:
With an analytical and rigorous approach to problem solving and programming techniques,this book is oriented toward engineering. Structure and Interpretation of Computer Programs emphasizes the central role played by different approaches to dealing with time in computational models. Its unique approach makes it appropriate for an introduction to computer science courses,as well as programming languages and program design.

/pdf/structure-and-interpretation-of-computer-programs-b96m2501w1.pdf

Structure and Interpretation of Computer Programs

ion to Continuous Space and Time The amorphous model postulates computing particles distributed throughout a space. If the particles are dense, one can imagine the particles as actually filling the space, and create programming abstractions that view the space itself as the object being programmed, rather than the collection of particles. Beal and Bachrach [10, 4] pursued this approach by creating a language, Proto, where programmers specify the behavior of an amorphous computer as though it were a continuous material filling the space it occupies. Proto programs manipulate fields of values spanning the entire space. Programming primitives are designed to make it simple to compile global operations to operations at each point of the continuum. These operations are approximated by having each device represent a nearby chunk of space. Programs are specified in space and time units that are independent of the distribution of particles and of the particulars of communication and execution on those particles (Figure 5). Programs are composed functionally, and many of the details of communication and composition are made implicit by Proto’s runtime system, allowing complex programs to be expressed simply. Proto has been applied to applications in sensor networks like target tracking and threat avoidance, to swarm robotics and to modular robotics, e.g., generating a planar wave for coordinated actuation. Newton’s language Regiment [45, 44] also takes a continuous view of space and time. Regiment is organized in terms of stream operations, where each stream represents a time-varying quantity over a part of space, for example, the average value of the temperature over a disc of a given radius centered at a designated point. Regiment, also a functional language, is designed to gather streams of data from regions of the amorphous computer and accumulate them at a single point. This assumption allows Regiment to provide region-wide summary functions that are difficult to implement in Proto.

Amorphous computing

Merging compact binaries are currently regarded as the most promising source of gravitational waves for the planned Earth-based LIGO/VIRGO laser-interferometer detector system, and will be an important source also for similar, lower-frequency detectors that might be flown in space (e.g., the proposed LISA mission). During the orbital inspiral, if one or both bodies are rapidly rotating, the general relativistic spin-orbit and spin-spin coupling (i.e., the "dragging of inertial frames" by the bodies' spins) cause the binary's orbital plane to precess. In this paper we analyze the resulting modulation of the inspiral gravitational waveform, using post2-Newtonian equations to describe the precession of the orbital plane, but only the leading-order (Newtonian, quadrupole-moment approximation) equations to describe the orbit, the radiation reaction, the inspiral, and the wave generation. We derive all the formulas one needs to readily compute the spin-modulated gravitational waveform (within the post-Newtonian approximation and the approximation that the precession frequency is much smaller than the orbital frequency). We also develop intuition into what the modulated signals "look like," by a variety of means. We provide approximate, analytical solutions for the precessional motion and the modulated waveforms for two important special cases: the case where the bodies have nearly equal masses and the case where one of the bodies has negligible spin. For these cases, for almost all choices of binary parameters, the motion is a simple precession of the orbital angular momentum around the nearly fixed direction of the total angular momentum, with a few tens of precession periods as the waves sweep through the LIGO/VIRGO observational band. However, when the spin and orbital angular momenta are approximately anti-aligned, there is a transitional-precession epoch during which their near cancellation causes the binary to "lose its gyroscopic bearings" and tumble in space, with a corresponding peculiar sweep of the waveform modulation. We also explore numerically the precessional behaviors that occur for general masses and spins; these typically appear quite similar to our special-case, simple-precession, and transitional-precession solutions. An Appendix develops several diagrammatic aids for understanding intuitively the relation between the precessing orbit and the modulated waveform.

/pdf/spin-induced-orbital-precession-and-its-modulation-of-the-4lczkd8day.pdf

Spin-induced orbital precession and its modulation of the gravitational waveforms from merging binaries.

A Computer Model of Skill Acquisition

With access control and encryption no longer capable of protecting privacy, laws and systems are needed that hold people accountable for the misuse of personal information, whether public or secret.

Gerald Jay Sussman

Papers

Structure and Interpretation of Computer Programs

Amorphous computing

Spin-induced orbital precession and its modulation of the gravitational waveforms from merging binaries.

A Computer Model of Skill Acquisition

Information accountability