Krogsgaardwiggins1628

In this article, a robust k-winner-take-all (k-WTA) neural network employing the saturation-allowed activation functions is designed and investigated to perform a k-WTA operation, and is shown to possess enhanced robustness to disturbance compared to existing k-WTA neural networks. Global convergence and robustness of the proposed k-WTA neural network are demonstrated through analysis and simulations. An application studied in detail is competitive multiagent coordination and dynamic task allocation, in which k active agents [among m (m > k)] are allocated to execute a tracking task with the static m-k ones. This is implemented by adopting a distributed k-WTA network with limited communication, aided with a consensus filter. Simulation results demonstrating the system's efficacy and feasibility are presented.This work proposes a novel event-triggered exponential supertwisting algorithm (ESTA) for path tracking of a mobile robot. The proposed work is divided into three parts. In the first part, a fractional-order sliding surface-based exponential supertwisting event-triggered controller has been proposed. Fractional-order sliding surface improves the transient response, and the exponential supertwisting reaching law reduces the reaching phase time and eliminates the chattering. The event-triggering condition is derived using the Lipschitz method for minimum actuator utilization, and the interexecution time between two events is derived. In the second part, a fault estimator is designed to estimate the actuator fault using the Lyapunov stability theory. Furthermore, it is shown that in the presence of matched and unmatched uncertainty, event-trigger-based controller performance degrades. Hence, in the third part, an integral sliding-mode controller (ISMC) has been clubbed with the event-trigger ESTA for filtering of the uncertainties. It is also shown that when fault estimator-based ESTA is clubbed with ISMC, then the robustness of the controller increases, and the tracking performance improves. This novel technique is robust toward uncertainty and fault, offers finite-time convergence, reduces chattering, and offers minimum resource utilization. Simulations and experimental studies are carried out to validate the advantages of the proposed controller over the existing methods.We present Arianna⁺, a framework to design networks of ontologies for representing knowledge enabling smart homes to perform human activity recognition online. In the network, nodes are ontologies allowing for various data contextualisation, while edges are general-purpose computational procedures elaborating data. Selleckchem AP-III-a4 Arianna⁺ provides a flexible interface between the inputs and outputs of procedures and statements, which are atomic representations of ontological knowledge. Arianna⁺ schedules procedures on the basis of events by employing logic-based reasoning, that is, by checking the classification of certain statements in the ontologies. Each procedure involves input and output statements that are differently contextualized in the ontologies based on specific prior knowledge. Arianna⁺ allows to design networks that encode data within multiple contexts and, as a reference scenario, we present a modular network based on a spatial context shared among all activities and a temporal context specialized for each activity to be recognized. In the article, we argue that a network of small ontologies is more intelligible and has a reduced computational load than a single ontology encoding the same knowledge. Arianna⁺ integrates in the same architecture heterogeneous data processing techniques, which may be better suited to different contexts. Thus, we do not propose a new algorithmic approach to activity recognition, instead, we focus on the architectural aspects for accommodating logic-based and data-driven activity models in a context-oriented way. Also, we discuss how to leverage data contextualization and reasoning for activity recognition, and to support an iterative development process driven by domain experts.In this article, the tracking problem of networked discrete-time second-order nonlinear multiagent systems (MASs) is studied. First, for the MASs without communication delay, a novel method, called distributed model-free sliding-mode control algorithm is proposed, which can make the system converge quickly without the accurate model. Furthermore, for the MASs with delay, in order to eliminate the influence of time delay on the system, a distributed model-free sliding-mode predictive control strategy based on time-delay compensation technology is proposed, which can actively compensate for time delay while ensuring system stability and consensus tracking performance requirements. Both the simulation and experiment results reveal the superiority of the proposed methods.Matrix completion, in essence, involves recovering a low-rank matrix from a subset of its entries. Most existing methods for matrix completion neglect two significant issues. First, in several practical applications, such as collaborative filtering, some samples may be corrupted completely. However, most of the robust algorithms consider only the condition that a few components of each column have been arbitrarily contaminated. Second, many real data are not static in nature. Nevertheless, the conventional batch-based matrix completion methods cannot efficiently deal with the out-of-sample, that is, the vector completion problem. In this article, we first provide a novel robust matrix completion model and then develop an efficient optimization method that only requires conducting one time singular value decomposition for a thin matrix per iteration. Furthermore, by exploiting the essence of online matrix completion algorithms, we develop a vector completion model which can help users predict the missing values of out of sample. Numerical comparisons with traditional batch-based and online matrix completion algorithms demonstrate the benefits of the proposed method on streaming data corrupted by column outliers. Moreover, we show that our model can be used to detect outliers from incomplete information. This advantage is validated via numerous experimental results on synthetic and real-world data.