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18
On The Accurate Identification Of Active Constraints
, 1996
"... : We consider nonlinear programs with inequality constraints, and we focus on the problem of identifying those constraints which will be active at an isolated local solution. The correct identification of active constraints is important from both a theoretical and a practical point of view. Such an ..."
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Cited by 39 (7 self)
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: We consider nonlinear programs with inequality constraints, and we focus on the problem of identifying those constraints which will be active at an isolated local solution. The correct identification of active constraints is important from both a theoretical and a practical point of view. Such an identification removes the combinatorial aspect of the problem and locally reduces the inequality constrained minimization problem to an equality constrained one which can be more easily dealt with. We present a new technique which identifies active constraints in a neighborhood of a solution and which requires neither complementary slackness nor uniqueness of the multipliers. As an example of application of the new technique we present a local active set Newtontype algorithm for the solution of general inequality constrained problems for which Qquadratic convergence of the primal variables can be proved under very weak conditions. We also present extensions to variational inequalities. Ke...
Asymptotic Performance of Vector Quantizers with a Perceptual Distortion Measure
 in Proc. IEEE Int. Symp. on Information Theory, p. 55
, 1997
"... Gersho's bounds on the asymptotic performance of vector quantizers are valid for vector distortions which are powers of the Euclidean norm. Yamada, Tazaki and Gray generalized the results to distortion measures that are increasing functions of the norm of their argument. In both cases, the distortio ..."
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Cited by 28 (3 self)
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Gersho's bounds on the asymptotic performance of vector quantizers are valid for vector distortions which are powers of the Euclidean norm. Yamada, Tazaki and Gray generalized the results to distortion measures that are increasing functions of the norm of their argument. In both cases, the distortion is uniquely determined by the vector quantization error, i.e., the Euclidean difference between the original vector and the codeword into which it is quantized. We generalize these asymptotic bounds to inputweighted quadratic distortion measures, a class of distortion measure often used for perceptually meaningful distortion. The generalization involves a more rigorous derivation of a fixed rate result of Gardner and Rao and a new result for variable rate codes. We also consider the problem of source mismatch, where the quantizer is designed using a probability density different from the true source density. The resulting asymptotic performance in terms of distortion increase in dB is shown...
Settable Systems: An Extension of Pearl’s Causal Model with Optimization, Equilibium, and Learning
, 2008
"... Judea Pearl’s Causal Model is a rich framework that provides deep insight into the nature of causal relations. As yet, however, the Pearl Causal Model (PCM) has not had much impact on economics or econometrics. This may be due in part to the fact that the PCM is not as well suited to analyzing econo ..."
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Cited by 11 (6 self)
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Judea Pearl’s Causal Model is a rich framework that provides deep insight into the nature of causal relations. As yet, however, the Pearl Causal Model (PCM) has not had much impact on economics or econometrics. This may be due in part to the fact that the PCM is not as well suited to analyzing economic structures as might be desired. We o¤er the settable systems framework as an extension of the PCM that embodies features of central interest to economists and econometricians: optimization, equilibrium, and learning. Because these are common features of physical, natural, or social systems, our framework may prove generally useful. In particular, settable systems o¤er a number of advantages relative to the PCM for machine learning. Important distinguishing features of the settable systems framework are its countable dimensionality, its treatment of attributes, the absence of a …xedpoint requirement, and the use of partitioning and partitionspeci…c response functions to accommodate the behavior of optimizing and interacting agents. A series of closely related machine learning examples and examples from game theory and machine learning with feedback demonstrates limitations of the PCM and motivates the distinguishing features of settable systems.
1 Exploiting Reactive Mobility for Collaborative Target Detection in Wireless Sensor Networks
"... Abstract—Recent years have witnessed the deployments of wireless sensor networks in a class of missioncritical applications such as object detection and tracking. These applications often impose stringent Quality of Service (QoS) requirements including high detection probability, low false alarm ra ..."
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Cited by 6 (5 self)
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Abstract—Recent years have witnessed the deployments of wireless sensor networks in a class of missioncritical applications such as object detection and tracking. These applications often impose stringent Quality of Service (QoS) requirements including high detection probability, low false alarm rate and bounded detection delay. Although a dense allstatic network may initially meet these QoS requirements, it does not adapt to unpredictable dynamics in network conditions (e.g., coverage holes caused by death of nodes) or physical environments (e.g., changed spatial distribution of events). This paper exploits reactive mobility to improve the target detection performance of wireless sensor networks. In our approach, mobile sensors collaborate with static sensors and move reactively to achieve the required detection performance. Specifically, mobile sensors initially remain stationary and are directed to move toward a possible target only when a detection consensus is reached by a group of sensors. The accuracy of final detection result is then improved as the measurements of mobile sensors have higher SignaltoNoise Ratios after the movement. We develop a sensor movement scheduling algorithm that achieves nearoptimal system detection performance under a given detection delay bound. The effectiveness of our approach is validated by extensive simulations using the real data traces collected by 23 sensor nodes. Index Terms—Data fusion, Algorithm/protocol design and analysis, Wireless sensor networks. 1
MLattice: A System For Signal Synthesis And Processing Based On ReactionDiffusion
 PROCESSING BASED ON REACTIONDIFFUSION. SCD THESIS, MIT
, 1994
"... This research begins with reactiondiffusion, first proposed by Alan Turing in 1952 to account for morphogenesis  the formation of hydranth tentacles, leopard spots, zebra stripes, etc. Reactiondiffusion systems have been researched primarily by biologists working on theories of natural pattern f ..."
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Cited by 5 (3 self)
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This research begins with reactiondiffusion, first proposed by Alan Turing in 1952 to account for morphogenesis  the formation of hydranth tentacles, leopard spots, zebra stripes, etc. Reactiondiffusion systems have been researched primarily by biologists working on theories of natural pattern formation and by chemists modeling dynamics of oscillating reactions. The past few years have seen a new interest in reactiondiffusion spring up within the computer graphics and image processing communities. However, reactiondiffusion systems are generally unbounded, making them impractical for many applications. In this thesis we introduce a bounded and more flexible nonlinear system, the "Mlattice", which preserves the natural patternformation properties of reactiondiffusion. On the theoretical front, we establish relationships between reactiondiffusion systems and paradigms in linear systems theory and certain types of artificial "neurallyinspired" systems. The Mlattice is closel...
SDRE Flight Control For XCell and RMax Autonomous Helicopters
"... Abstract — This paper presents a statedependent Riccati equation (SDRE) flight control approach and its application to autonomous helicopters. For our experiments, we used two different vehicles: an XCell90 small hobby helicopter and a larger vehicle based on the Yamaha RMax. The control design ..."
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Cited by 3 (0 self)
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Abstract — This paper presents a statedependent Riccati equation (SDRE) flight control approach and its application to autonomous helicopters. For our experiments, we used two different vehicles: an XCell90 small hobby helicopter and a larger vehicle based on the Yamaha RMax. The control design uses a 6DOF nonlinear dynamic model that is manipulated into a pseudolinear form where system matrices are given explicitly as a function of the current state. A standard Riccati equation is then solved numerically at each step of a 50 Hz control loop to design the nonlinear state feedback control law online. In addition, a static nonlinear compensator is designed to address issues with the mismatch between the original nonlinear dynamics and its pseudolinear transformation. I. NOMENCLATURE u, v, w vehicle velocities along X, Y and Z fuselage axes p, q, r vehicle angular (roll, pitch, yaw) velocities φ, θ, ψ Euler angles: roll, pitch and yaw x, y, z vehicle position in inertial frame ulon, ulat longitudinal and lateral cyclic control inputs ucol, utcol main and tail rotors collective control inputs uw, vw, ww wind velocities along X, Y, and Z fuselage axes m helicopter mass Ixx, Iyy, Izz main moments of inertia T rotor thrust λ0 inflow ratio µ advance ratio µz Vtip normal airflow component speed of the rotor blade tip a rotor blade lift curve slope CT rotor thrust coefficient
New Visualization of Surfaces in Parallel Coordinates  Eliminating Ambiguity and Some "OverPlotting"
, 2004
"... A point P R is represented in Parallel Coordinates by a polygonal line P (see [Ins99] for a recent survey). Earlier [Ins85], a surface # was represented as the envelope of the polygonal lines representing it's points. This is ambiguous in the sense that different surfaces can provide the sa ..."
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Cited by 1 (1 self)
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A point P R is represented in Parallel Coordinates by a polygonal line P (see [Ins99] for a recent survey). Earlier [Ins85], a surface # was represented as the envelope of the polygonal lines representing it's points. This is ambiguous in the sense that different surfaces can provide the same envelopes. Here the ambiguity is eliminated by considering the surface # as the envelope of it's tangent planes and in turn, representing each of these planes by n1 points [Ins99]. This, with some future extension, can yield a new and unambiguous representation, #, of the surface consisting of n1 planar regions whose properties correspond lead to the recognition of the surfaces' properties i.e. developable, ruled etc. [Hun92]) and classification criteria.
THE HEAT EQUATION AND STEIN’S IDENTITY: CONNECTIONS,APPLICATIONS
, 2002
"... This article presents two expectation identities and a series of applications. One of the identities uses the heat equation, and we show that in some families of distributions the identity characterizes the normal distribution. We also show that it is essentially equivalent to Stein’s identity. The ..."
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This article presents two expectation identities and a series of applications. One of the identities uses the heat equation, and we show that in some families of distributions the identity characterizes the normal distribution. We also show that it is essentially equivalent to Stein’s identity. The applications we have presented are of a broad range. They include exact formulas and bounds for moments, an improvement and a reversal of Jensen’s inequality, linking unbiased estimation to elliptic partial differential equations, applications to decision theory and Bayesian statistics, and an application to counting matchings in graph theory. Some examples are also given. 1.
Space Time Ray Tracing using Ray Classification
, 1996
"... Throughout the history of computer graphics, a very active area of research has been the attempt to create convincing, lifelike images. Ray tracing is a technique for generating photorealistic images, and can easily support a wide range of natural phenomenon. However, producing a ray traced image i ..."
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Throughout the history of computer graphics, a very active area of research has been the attempt to create convincing, lifelike images. Ray tracing is a technique for generating photorealistic images, and can easily support a wide range of natural phenomenon. However, producing a ray traced image is very expensive; and producing a ray traced animation is often prohibitively expensive. This thesis looks at two techniques for efficiently producing ray traced animations; Glassner's space time hierarchical bounding volume technique, and my space time extension of Arvo and Kirk's ray classification. The results show that my method is more efficient; however Glassner's technique has much better memory performance. Based on some of the ideas of my method, some ways of improving Glassner's technique are suggested.
Nonlinear Control Systems: (Output feedback) design methods
"... In this paper we discuss different control design methods for nonlinear control systems. We focus our attention on passivitybased control and the feedback linearization approach for solving setpoint and tracking control problems. We also consider the case of model and parameter uncertainties. ..."
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In this paper we discuss different control design methods for nonlinear control systems. We focus our attention on passivitybased control and the feedback linearization approach for solving setpoint and tracking control problems. We also consider the case of model and parameter uncertainties. We concentrate on EulerLagrange systems which is a fairly wide and illustrative class of nonlinear systems and which includes a large number of physical systems, in particular we approach the output feedback control problem of EL systems. Some comments on other feedback linearizable systems are given. Keywords. Nonlinear control, feedback linearization, EulerLagrange systems, passivity, observers, robust control. 2 A basic problem in control theory may be described as follows: given a plant, design a control mechanism in such a way that the plant together with the controller meets certain design specifications. The above regulation problem arises in numerous situations, for instanc...