Showing papers on "Autonomous system (mathematics) published in 2013"
TL;DR: It is shown that for certain parameters, besides the point attractor and chaotic attractor, this system also has a coexisting stable limit cycle, demonstrating that this new system is truly complicated and interesting.
Abstract: For a dynamical system described by a set of autonomous ordinary differential equations, an attractor can be a point, a periodic cycle, or even a strange attractor. Recently, a new chaotic system with only one stable equilibrium was described, which locally converges to the stable equilibrium but is globally chaotic. This paper further shows that for certain parameters, besides the point attractor and chaotic attractor, this system also has a coexisting stable limit cycle, demonstrating that this new system is truly complicated and interesting.
150 citations
19 Jun 2013
TL;DR: This paper proposes solution for space exploration and surveillance based on several biologically inspired methods and algorithms based onSeveral biologically inspired Methods and algorithms for coordination in multi-robot systems.
Abstract: Coordination in multi-robot systems is one of the open issues of swarm robotics. Space exploration and mapping are crucial abilities of mobile robots, in order to achieve intelligent autonomous system. This paper proposes solution for space exploration and surveillance based on several biologically inspired methods and algorithms.
30 citations
Patent•
15 Apr 2013
TL;DR: An autonomous cleaning robot consists of a housing, the autonomous system to drive the robot, and a high power ultraviolet bulb as discussed by the authors, which is used to disinfect the cleaning surface from various types of allergens including bacteria, mold, and dust mites.
Abstract: An autonomous cleaning robot consists of a housing, the autonomous system to drive the robot, and a high power ultraviolet bulb. The ultraviolet bulb is used to disinfect the cleaning surface from various types of allergens including bacteria, mold, and dust mites. The robot itself consists of a hard plastic shell that houses the robots main components and a screen indicating battery life, and cleaning time as well as two buttons to turn the system on and off. The autonomous system uses a series of ultrasonic sensors to calculate the position of the robot relative to obstacles which allow for safe autonomous movement
29 citations
TL;DR: In this paper, the two-scroll butterfly-shaped attractor in chaotic dynamical systems has been shown to be formed by one-scroll attractors for certain values of parameters.
Abstract: Chaotic dynamical systems are used to model various natural phenomena. Bhalekar-Gejji chaotic dynamical system is a system of three ordinary differential equations containing only two nonlinear terms. Th is system shows two-scroll butterfly-shaped attractor for certain values of parameters . In this article we show that the two-scroll attractor in this system is formed fro m t wo one-scroll attractors. We have used a control parameter in the third equation of the system to study the forming procedure of the attractor.
23 citations
01 Jan 2013
TL;DR: An online topic-modeling based technique to describe what is being observed using a low dimensional semantic descriptor is presented and its use in a series of experiments to collect image data in an underwater marine environment is shown.
Abstract: Exploration of underwater environments, such as coral reefs and ship wrecks, is a difficult and potentially dangerous tasks for humans, which naturally makes the use of an autonomous robotic system very appealing. This paper presents such an autonomous system, and shows its use in a series of experiments to collect image data in an underwater marine environment.We presents novel contributions on three fronts. First, we present an online topic-modeling based technique to describe what is being observed using a low dimensional semantic descriptor.
22 citations
Patent•
30 Sep 2013
TL;DR: In this article, the authors present a method and system updating the automated responses of an autonomous system using sensor data from heterogeneous sources. But this method requires the use of a non-transitory memory.
Abstract: The invention is a method and system updating the automated responses of an autonomous system using sensor data from heterogeneous sources. An array of cases representing known situations are stored as data structures in a non-transitory memory. Each case in the array of cases is associated with an action to create a database of identifiable situation-action pairs. The system determines an acceptable range of correctness of partial matches of sensed data for new cases to the data properties of known cases and creates and overwrites now situation-action pairs in a process of autonomous learning of new responses.
21 citations
TL;DR: Some basic dynamical properties, such as equilibria, stability, the complete mathematical characterizations for Hopf bifurcation are rigorously derived and studied and the existence of singularly degenerate heteroclinic cycles for a suitable choice of parameters is investigated.
20 citations
10 Apr 2013
TL;DR: This paper presents an innovative approach to networked lighting control systems that allows overcoming challenges in both distributed and centralized systems while optimizing energy consumption.
Abstract: Networked lighting systems enable advanced light delivery in a variety of settings, including office, outdoor and home. These systems improve user perception and also allow for important energy reduction by having presence-depending task lighting and incorporating daylight dynamics. However, the high scalability of these new systems leads to two main challenges: (i) the effortless installation of the system itself, and (ii) the control strategy of the networked lighting system. In this context, this paper presents an innovative approach to networked lighting control systems that allows overcoming these challenges in both distributed and centralized systems while optimizing energy consumption. Distributed approaches deserve our special attention due to their inherent simplicity for system deployment. Our analysis shows the feasibility of our underlying model for automatic learning of system parameters and autonomous system control.
18 citations
01 Oct 2013
TL;DR: A generic security monitoring framework for autonomous detection of cyber-attacks on airborne networks based on unsupervised machine learning algorithm and proposes some hints to improve detection accuracy of the monitoring framework by collecting information from the airborne architecture.
Abstract: Cyber-security on airborne systems is becoming an industrial major concern that arises many challenges. In this paper, we introduce a generic security monitoring framework for autonomous detection of cyber-attacks on airborne networks based on unsupervised machine learning algorithm. The main challenge of anomaly detection with unsupervised techniques is to have an accurate detection since they tend to produce false alarms. After evaluating the suitability of the One Class SVM, we propose some hints to improve detection accuracy of the monitoring framework by collecting information from the airborne architecture.
18 citations
TL;DR: In this paper, the problems of development, construction and testing of a special autonomous system for long-term monitoring of environmental signals which are crucial for appropriate functionality of heat collection technology at thermal active mining dumps are dealt with.
Abstract: The paper deals with the problems of development, construction and testing of a special autonomous system for long-term monitoring of environmental signals which are crucial for appropriate functionality of heat collection technology at thermal active mining dumps. Pilot project for heat collection are implemented at old mining dumps in Moravian-Silesian region, particularly at the Hedvika and the EMA mining dumps, as well as at the OZO municipal waste dump. The paper gives a description of autonomous system including definition of its particular modules. It also presents pieces of information gathered during construction, calibration and launching the system under real conditions. Last but not least, it tackles the technology of heat collection that uses the entire system and thus provides very unique data sets for consequent data processing. DOI: http://dx.doi.org/10.5755/j01.eee.19.10.5898
15 citations
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TL;DR: In this paper, the authors investigated the Lorenz system from meteorology and showed that there is an attractor for this system that is neither an equilibrium point nor a limit cycle.
Abstract: This chapter investigates the famous Lorenz system from meteorology. This was one of the first examples of a differential equation that was shown to exhibit chaotic behavior. Linearization provides a mechanism to understand the behavior near the equilibria of this system. Global techniques then show that there is an attractor for this system that is neither an equilibrium point nor a limit cycle. A specific model for this attractor is then constructed. This reduces the three-dimensional system of differential equations to a two-dimensional iterated function, which, in turn, is reduced to a one-dimensional mapping.
TL;DR: In this paper, a class of partial differential equations (a conservation law and two balance laws), with three independent variables and involving six arbitrary continuously differentiable functions, is considered in the framework of equivalence transformations.
Abstract: A class of partial differential equations (a conservation law and two balance laws), with three independent variables and involving six arbitrary continuously differentiable functions, is considered in the framework of equivalence transformations. These are point transformations of differential equations involving arbitrary elements and live in an augmented space of independent, dependent, and additional variables representing values taken by the arbitrary elements. Projecting the admitted symmetries into the space of independent and dependent variables, we determine some finite transformations mapping the system of balance laws to an equivalent one with the same differential structure but involving different arbitrary elements; in particular, we are interested in finding an equivalent autonomous system of conservation laws. It is shown how the results apply to some physical problems.
TL;DR: In this article, a coarse evolution model for ODEs is proposed for the deterministic, slow/coarse behavior of the ODE system, and a computational approximation is developed and tested on the Lorenz system and the Hald Hamiltonian system.
10 Jun 2013
TL;DR: This paper presents a modular autonomous multi-agent robotic system which enables the elimination of redundant resources, thereby reducing the overall cost of at-sea sampling and improving sample quality.
Abstract: In-situ surveying and sampling of ocean environments provides critical data for laboratory work and oceanographic research. However, sampling a time-varying ocean field is often time and resource limited-meaning that samples often miss the features of interest. This paper presents a modular autonomous multi-agent robotic system which has been developed to accommodate a variety of research activities. This paper demonstrates the complementary capabilities of the agents by simultaneously surveying a time-varying coastal environment and using that information to obtain a sparse but representative set of water samples. This autonomous system enables the elimination of redundant resources, thereby reducing the overall cost of at-sea sampling and improving sample quality.
TL;DR: In this article, a reconstruction of the initial system of ordinary differential equations from a single observed variable is proposed, which is applied to a certain class of systems which includes, in particular, the Rossler system and other chaotic systems.
TL;DR: A reward-based learning framework is proposed that achieves an efficient strategy for distributing the constrained system resources among modules to keep relevant environmental information up to date for higher level task learning and executing mechanisms in the system.
Abstract: Real world environments are so dynamic and unpredictable that a goal-oriented autonomous system performing a set of tasks repeatedly never experiences the same situation even though the task routines are the same. Hence, manually designed solutions to execute such tasks are likely to fail due to such variations. Developmental approaches seek to solve this problem by implementing local learning mechanisms to the systems that can unfold capabilities to achieve a set of tasks through interactions with the environment. However, gathering all the information available in the environment for local learning mechanisms to process is hardly possible due to limited resources of the system. Thus, an information acquisition mechanism is necessary to find task-relevant information sources and applying a strategy to update the knowledge of the system about these sources efficiently in time. A modular systems approach may provide a useful structured and formalized basis for that. In such systems different modules may request access to the constrained system resources to acquire information they are tuned for. We propose a reward-based learning framework that achieves an efficient strategy for distributing the constrained system resources among modules to keep relevant environmental information up to date for higher level task learning and executing mechanisms in the system. We apply the proposed framework to a visual attention problem in a system using the iCub humanoid in simulation.
TL;DR: A model robot self-sufficiency system that empathizes with human emotions is proposed, a model in which the urge system is applied to an autonomous system of emotions.
Abstract: The ability of human symbiosis robots to communicate is indispensable for their coexistence with humans, so studies on the interaction between humans and robots are important. In this paper, we propose a model robot self-sufficiency system that empathizes with human emotions, a model in which we apply the urge system to an autonomous system of emotions. We carry out simulation experiments on this model and verify the psychological interaction between the software robot and its users.
TL;DR: In this paper, the stability theorem of fractional nonlinear systems is proved by a new approach, and the results show that the theorem is applicable not only to the fractional NLS, but also to the FLSN.
Abstract: The stability theorem of fractional systems is the basis of controlling fractional nonlinear systems. The theorem of fractional nonlinear systems is proved by a new approach in this paper. The results show that the theorem is applicable not only to the fractional nonlinear autonomous system, but also to the fractional nonlinear nonautonomous system. Several examples are analyzed by the theorem, and simulations are carried out, whose results show the effectiveness of the theorem.
TL;DR: This chapter discusses alternative approaches which utilize onboard sensors so that the robot can estimate the location of sensed objects and use these observations to improve its own navigation as well as its perception of the environment.
Abstract: Accurate navigation is a fundamental requirement for robotic systems—marine and terrestrial. For an intelligent autonomous system to interact effectively and safely with its environment, it needs to accurately perceive its surroundings. While traditional dead-reckoning filtering can achieve extremely low drift rates, the localization accuracy decays monotonically with distance traveled. Other approaches (such as external beacons) can help; nonetheless, the typical prerogative is to remain at a safe distance and to avoid engaging with the environment. In this chapter we discuss alternative approaches which utilize onboard sensors so that the robot can estimate the location of sensed objects and use these observations to improve its own navigation as well as its perception of the environment. This approach allows for meaningful interaction and autonomy. Three motivating autonomous underwater vehicle (AUV) applications are outlined herein. The first fuses external range sensing with relative sonar measurements. The second application localizes relative to a prior map so as to revisit a specific feature, while the third builds an accurate model of an underwater structure which is consistent and complete. In particular we demonstrate that each approach can be abstracted to a core problem of incremental estimation within a sparse graph of the AUV’s trajectory and the locations of features of interest which can be updated and optimized in real time on board the AUV.
TL;DR: In this article, the stability transformation method (STM) is applied to stabilize both multiple equilibrium points and unstable periodic orbits (UPOs) embedded in the chaotic attractor of a new 3D autonomous system.
Abstract: This paper sheds new insights into the stability transformation method (STM) for chaos control of dynamical system. The STM is applied to stabilize both multiple equilibrium points and unstable periodic orbits (UPOs) embedded in the chaotic attractor of a new 3D autonomous system. Firstly, the different equilibrium points of chaotic system are stabilized with STM by choosing specific initial points and involutory matrices. Then, the stability matrix is derived based on a priori information of equilibrium points, which indicates that the non-involutory matrix can also be used to control the unstable equilibrium points of chaotic systems. Finally, it is found that the STM can be regarded as a special form of speed feedback control method (SFCM), which facilitates the practical implementation of STM scheme. The chaotic system can be controlled by adopting the corresponding feedback control strategy once the stability matrices are determined. In this way, the blindness of choice for control strategy in the SFCM is avoided, and the difficulty for determining the state variables to be controlled is overcome.
Posted Content•
TL;DR: In this article, an autonomous system of three first order differential equations is proposed, which has two nonlinear terms and generates a new and distinctive strange attractor, which performs a new feature of the Sensitive Dependency on Initial Conditions (SDIC) popularized as the Butterfly Effect discovered by Lorenz (1963).
Abstract: We propose firstly an autonomous system of three first order differential equations which has two nonlinear terms and generating a new and distinctive strange attractor. Furthermore, this new 3D chaotic system performs a new feature of the Sensitive Dependency on Initial Conditions (SDIC) popularized as the Butterfly Effect discovered by Lorenz (1963). We noticed that the variation of the Initial Conditions for our system leads not only to different attractors but also to a singular phenomenon of overlapped attractors.
TL;DR: The stability criteria of complex-valued nonlinear autonomous system are established and the comparison principle in the context of complex fields is given, providing a new method to analyzecomplex-valued differential system, and greatly reduce the complexity of analysis and computation.
Abstract: This paper studies the stability of complex-valued nonlinear differential system. The stability criteria of complex-valued nonlinear autonomous system are established. For the general complex-valued nonlinear non-autonomous system, the comparison principle in the context of complex fields is given. Those derived stability criteria not only provide a new method to analyze complex-valued differential system, but also greatly reduce the complexity of analysis and computation.
TL;DR: This paper investigates how a self-regulatory system response may arise spontaneously from local interactions between autonomic system elements tasked with adaptively consuming/providing computational resources or services when the demand for such resources is continually changing.
Abstract: The autonomic computing paradigm addresses the operational challenges presented by increasingly complex software systems by proposing that they be composed of many autonomous components, each responsible for the runtime reconfiguration of its own dedicated hardware and software components. Consequently, regulation of the whole software system becomes an emergent property of local adaptation and learning carried out by these autonomous system elements. Designing appropriate local adaptation policies for the components of such systems remains a major challenge. This is particularly true where the system's scale and dynamism compromise the efficiency of a central executive and/or prevent components from pooling information to achieve a shared, accurate evidence base for their negotiations and decisions. In this paper, we investigate how a self-regulatory system response may arise spontaneously from local interactions between autonomic system elements tasked with adaptively consuming/providing computational resources or services when the demand for such resources is continually changing. We demonstrate that system performance is not maximized when all system components are able to freely share information with one another. Rather, maximum efficiency is achieved when individual components have only limited knowledge of their peers. Under these conditions, the system self-organizes into appropriate community structures. By maintaining information flow at the level of communities, the system is able to remain stable enough to efficiently satisfy service demand in resource-limited environments, and thus minimize any unnecessary reconfiguration whilst remaining sufficiently adaptive to be able to reconfigure when service demand changes.
TL;DR: In this paper, the authors show that the non-existence of homoclinic and heterocalic orbits in an nth-order autonomous system is invalid and provide two counterexamples of the wrong criterion.
Abstract: A paper, “Non-existence of Shilnikov chaos in continuous-time systems” was published in the journal Applied Mathematics and Mechanics (English Edition). The authors gave sufficient conditions for the non-existence of homoclinic and heteroclinic orbits in an nth-order autonomous system. Unfortunately, we show in this comment that the proof presented is erroneous and the result is invalid. We also provide two counterexamples of the wrong criterion stated by the authors.
TL;DR: In this article, an initial value problem for non-autonomous functional dierential equations is considered, where the delay term is defined via the solution of another system of dierentials.
Abstract: We consider an initial value problem for nonautonomous functional dierential equations where the delay term is defined via the solution of another system of dierential equations. We obtain the general existence and uniqueness re- sult for the initial value problem by showing a Lipschitz property of the dynamically defined delayed feedback function and give conditions for the nonnegativity of solu- tions. We determine the steady-state solution of the autonomous system and obtain the linearized equation about the equilibria. Our work was motivated by biological applications where the model setup leads to a system of dierential equations with such dynamically defined delay terms. We present a simple model from population dynamics with fixed period of temporary separation and an epidemic model with long distance travel and entry screening.
TL;DR: An analytical proof of the mechanism for the birth of two different types of these attractors in an autonomous system in ℝ3: an equilibrium point, a limit cycle and a chaotic attractor.
Abstract: In this paper, we study the coexistence of three types of attractors in an autonomous system in ℝ3: an equilibrium point, a limit cycle and a chaotic attractor. We give an analytical proof of the mechanism for the birth of two different types of these attractors.
Journal Article•
TL;DR: A model based approach to autonomous dexterous manipulation, developed as part of the DARPA Autonomous Robotic Manipulation Software (ARM-S) program, which takes advantage of sensory feedback immediately with little open-loop execution, attempting true autonomous reasoning and multi-step sequencing that adapts in the face of changing and uncertain environments.
Abstract: United States. Defense Advanced Research Projects Agency. Autonomous Robotic Manipulation Program
01 Jan 2013
TL;DR: The designed system algorithms and methods gives usability to detect traffic signs elements inside image obtained from camera to prevent possible errors made by human inattention with assistant for the car driving.
Abstract: This paper focuses on the developed autonomous recognition system for traffic signs elements detection and recognizing in application with various possibilities for parameters and limits setting. The designed system algorithms and methods gives usability to detect traffic signs elements inside image obtained from camera. The recognition process is composed of combination of bitmaps image algorithms and geometrical elements methods for better success of recognition and more efficient with smaller time consuming processes. The complex autonomous system structure is designed for real-time application, because of reasons for scanning and processing camera in the control and safety car applications. The developed system prevents possible errors made by human inattention with assistant for the car driving. The algorithm parts and methods of recognition system are simulated in mathematical simulation programming environment – MATLAB.
TL;DR: A unique computer vision based approach for textureless colored object training and detection to robustly locate unseen objects out to 15 meters on moderately flat terrain and a unique scooping mechanism which allowed retrieval of up to basketball sized objects with a reciprocating four-bar linkage mechanism are presented.
Abstract: Autonomous robotic “fetch” operation, where a robot is shown a novel object and then asked to locate it in the field, re-
trieve it and bring it back to the human operator, is a challenging problem that is of interest to the military. The CANINE
competition presented a forum for several research teams to tackle this challenge using state of the art in robotics technol-
ogy. The SRI-UPenn team fielded a modified Segway RMP 200 robot with multiple cameras and lidars. We implemented
a unique computer vision based approach for textureless colored object training and detection to robustly locate previ-
ously unseen objects out to 15 meters on moderately flat terrain. We integrated SRI’s state of the art Visual Odometry for
GPS-denied localization on our robot platform. We also designed a unique scooping mechanism which allowed retrieval
of up to basketball sized objects with a reciprocating four-bar linkage mechanism. Further, all software, including a novel
target localization and exploration algorithm was developed using ROS (Robot Operating System) which is open source
and well adopted by the robotics community. We present a description of the system, our key technical contributions and
experimental results.