Parametric analysis is a powerful tool for designing modern embedded systems, because it permits to explore the space of design parameters, and to check the robustness of the system with respect to variations of some uncontrollable variable. In this paper, we address the problem of parametric schedulability analysis of distributed real-time systems scheduled by fixed priority. In particular, we propose two different approaches to parametric analysis: the first one is a novel technique based on classical schedulability analysis, whereas the second approach is based on model checking of Parametric Timed Automata (PTA). The proposed analytic method extends existing sensitivity analysis for single processors to the case of a distributed system, supporting preemptive and non-preemptive scheduling, jitters and unconstrained deadlines. Parametric Timed Automata are used to model all possible behaviours of a distributed system, and therefore it is a necessary and sufficient analysis. Both techniques have been implemented in two software tools, and they have been compared with classical holistic analysis on two meaningful test cases. The results show that the analytic method provides results similar to classical holistic analysis in a very efficient way, whereas the PTA approach is slower but covers the entire space of solutions.
Also based on PTA is the approach proposed by @cite_18 . Their work is based on the Inverse Method @cite_6 and it is very general because it permits to perform analysis on any system parameter. However, this generality can be paid in terms of complexity.
@cite_18 @cite_6
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We present the first monotone randomized polynomial-time approximation scheme (PTAS) for minimizing the makespan of parallel related machines ( @math ), the paradigmatic problem in single-parameter algorithmic mechanism design. This result immediately gives a polynomial-time, truthful (in expectation) mechanism whose approximation guarantee attains the best-possible one for all polynomial-time algorithms (assuming @math ). Our algorithmic techniques are flexible and also yield a monotone deterministic quasi-PTAS for @math and a monotone randomized PTAS for max-min scheduling on related machines. An EPTAS (efficient PTAS) is an approximation scheme where e does not appear in the exponent of n, i.e., the running time is f(e)nc. We use parameterized complexity to investigate the possibility of improving the known approximation schemes for certain geometric problems to EPTAS. Answering an open question of Alber and Fiala [2], we show that Maximum Independent Set is W[1]-complete for the intersection graphs of unit disks and axis-parallel unit squares in the plane. A standard consequence of this result is that the @math time PTAS of [11] for Maximum Independent Set on unit disk graphs cannot be improved to an EPTAS. Similar results are obtained for the problem of covering points with squares. Received 28 May 2002; revised 18 September 2002; accepted 24 September 2002; published 14 February 2003. [1] When an inverse problem is solved to estimate an unknown function such as the hydraulic conductivity in an aquifer or the contamination history at a site, one constraint is that the unknown function is known to be everywhere nonnegative. In this work, we develop a statistically rigorous method for enforcing function nonnegativity in Bayesian inverse problems. The proposed method behaves similarly to a Gaussian process with a linear variogram (i.e., unrestricted Brownian motion) for parameter values significantly greater than zero. The method uses the method of images to define a prior probability density function based on reflected Brownian motion that implicitly enforces nonnegativity. This work focuses on problems where the unknown is a function of a single variable (e.g., time). A Markov chain Monte Carlo (MCMC) method, specifically, a highly efficient Gibbs sampler, is implemented to generate conditional realizations of the unknown function. The new method is applied to the estimation of the trichloroethylene (TCE) and perchloroethylene (PCE) contamination history in an aquifer at Dover Air Force Base, Delaware, based on concentration profiles obtained from an underlying aquitard. INDEX TERMS: 1831 Hydrology: Groundwater quality; 1869 Hydrology: Stochastic processes; 3260 Mathematical Geophysics: Inverse theory; KEYWORDS: stochastic inverse modeling, contaminant source identification, inference under constraints, Markov chain Monte Carlo (MCMC), Gibbs sampling, Bayesian inference The increasing availability of large-scale location traces creates unprecedent opportunities to change the paradigm for knowledge discovery in transportation systems. A particularly promising area is to extract energy-efficient transportation patterns (green knowledge), which can be used as guidance for reducing inefficiencies in energy consumption of transportation sectors. However, extracting green knowledge from location traces is not a trivial task. Conventional data analysis tools are usually not customized for handling the massive quantity, complex, dynamic, and distributed nature of location traces. To that end, in this paper, we provide a focused study of extracting energy-efficient transportation patterns from location traces. Specifically, we have the initial focus on a sequence of mobile recommendations. As a case study, we develop a mobile recommender system which has the ability in recommending a sequence of pick-up points for taxi drivers or a sequence of potential parking positions. The goal of this mobile recommendation system is to maximize the probability of business success. Along this line, we provide a Potential Travel Distance (PTD) function for evaluating each candidate sequence. This PTD function possesses a monotone property which can be used to effectively prune the search space. Based on this PTD function, we develop two algorithms, LCP and SkyRoute, for finding the recommended routes. Finally, experimental results show that the proposed system can provide effective mobile sequential recommendation and the knowledge extracted from location traces can be used for coaching drivers and leading to the efficient use of energy. In this paper, we propose a new decomposition approach named the proximal primal dual algorithm (Prox-PDA) for smooth nonconvex linearly constrained optimization problems. The proposed approach is primal-dual based, where the primal step minimizes certain approximation of the augmented Lagrangian of the problem, and the dual step performs an approximate dual ascent. The approximation used in the primal step is able to decompose the variable blocks, making it possible to obtain simple subproblems by leveraging the problem structures. Theoretically, we show that whenever the penalty parameter in the augmented Lagrangian is larger than a given threshold, the Prox-PDA converges to the set of stationary solutions, globally and in a sublinear manner (i.e., certain measure of stationarity decreases in the rate of @math , where @math is the iteration counter). Interestingly, when applying a variant of the Prox-PDA to the problem of distributed nonconvex optimization (over a connected undirected graph), the resulting algorithm coincides with the popular EXTRA algorithm [ 2014], which is only known to work in convex cases. Our analysis implies that EXTRA and its variants converge globally sublinearly to stationary solutions of certain nonconvex distributed optimization problem. There are many possible extensions of the Prox-PDA, and we present one particular extension to certain nonconvex distributed matrix factorization problem. We present a probabilistic architecture for solving generically the problem of extracting the task constraints through a Programming by Demonstration (PbD) framework and for generalizing the acquired knowledge to various situations. In previous work, we proposed an approach based on Gaussian Mixture Regression (GMR) to find a controller for the robot reproducing the statistical characteristics of a movement in joint space and in task space through Lagrange optimization. In this paper, we develop an alternative procedure to handle simultaneously constraints in joint space and in task space by combining directly the probabilistic representation of the task constraints with a solution to Jacobian-based inverse kinematics. The method is validated in manipulation tasks with two 5 DOFs Katana robotic arms displacing a set of objects. We propose a method for automatically generating abstract transformers for static analysis by abstract interpretation. The method focuses on linear constraints on programs operating on rational, real or floating-point variables and containing linear assignments and tests. In addition to loop-free code, the same method also applies for obtaining least fixed points as functions of the precondition, which permits the analysis of loops and recursive functions. Our algorithms are based on new quantifier elimination and symbolic manipulation techniques. Given the specification of an abstract domain, and a program block, our method automatically outputs an implementation of the corresponding abstract transformer. It is thus a form of program transformation. The motivation of our work is data-flow synchronous programming languages, used for building control-command embedded systems, but it also applies to imperative and functional programming. This paper examines techniques for finding falsifying trajectories of hybrid systems using an approach that we call trajectory splicing. Many formal verification techniques for hybrid systems, including flowpipe construction, can identify plausible abstract counterexamples for property violations. However, there is often a gap between the reported abstract counterexamples and the concrete system trajectories. Our approach starts with a candidate sequence of disconnected trajectory segments, each segment lying inside a discrete mode. However, such disconnected segments do not form concrete violations due to the gaps that exist between the ending state of one segment and the starting state of the subsequent segment. Therefore, trajectory splicing uses local optimization to minimize the gap between these segments, effectively splicing them together to form a concrete trajectory. We demonstrate the use of our approach for falsifying safety properties of hybrid systems using standard optimization techniques. As such, our approach is not restricted to linear systems. We compare our approach with other falsification approaches including uniform random sampling and a robustness guided falsification approach used in the tool S-Taliro. Our preliminary evaluation clearly shows the potential of our approach to search for candidate trajectory segments and use them to find concrete property violations. We present an approach to learn inverse kinematics of redundant systems without prior- or expert-knowledge. The method allows for an iterative bootstrapping and refinement of the inverse kinematics estimate. The essential novelty lies in a path-based sampling approach: we generate training data along paths, which result from execution of the currently learned estimate along a desired path towards a goal. The information structure thereby induced enables an efficient detection and resolution of inconsistent samples solely from directly observable data. We derive and illustrate the exploration and learning process with a low-dimensional kinematic example that provides direct insight into the bootstrapping process. We further show that the method scales for high dimensional problems, such as the Honda humanoid robot or hyperredundant planar arms with up to 50 degrees of freedom. We show that various inverse problems in signal recovery can be formulated as the generic problem of minimizing the sum of two convex functions with certain regularity properties. This formulation makes it possible to derive existence, uniqueness, characterization, and stability results in a unified and standardized fashion for a large class of apparently disparate problems. Recent results on monotone operator splitting methods are applied to establish the convergence of a forward-backward algorithm to solve the generic problem. In turn, we recover, extend, and provide a simplified analysis for a variety of existing iterative methods. Applications to geometry texture image decomposition schemes are also discussed. A novelty of our framework is to use extensively the notion of a proximity operator, which was introduced by Moreau in the 1960s. In this paper we present a novel performance analysis technique for large scale systems modelled in the stochastic process algebra PEPA. In contrast to the well-known approach of analysing via continuous time Markov chains, our underlying mathematical representation is a set of coupled ordinary differential equations (ODEs). This analysis process supports all of the comhinators of the PEPA algebra and is well suited to systems with large numbers of replicated components. The paper presents an elegant procedure for the generation of the ODEs and compares the results of this analysis with more conventional methods. A new method for computing numerical solutions to the inverse kinematics problem of robotic manipulators is developed. The method is based on a combination of two nonlinear programming techniques and the forward recursion formulas, with the joint limitations of the robot being handled implicitly as simple boundary constraints. This method is numerically stable since it converges to the correct answer with virtually any initial approximation, and it is not sensitive to the singular configuration of the manipulator. In addition, this method is computationally efficient and can be applied to serial manipulators having any number of degrees of freedom. > Inverse problems are inherently non-unique, and regularization is needed to obtain stable and reasonable solutions. The regularization adds information to the problem and determines which solution, out of the infinitely many, is obtained. In this paper, we review and discuss the case when a priori information exists in the form of either known structure or in the form of another inverse problem for a different property. The challenge is to include such information in the inversion process. To use existing known structure, we review the concept of model fusion, where we build a regularization functional that fuses the inverted model to a known one. The fusion is achieved by four different techniques. Joint inversion of two data sets is achieved by using iterative data fusion. The paper discusses four different methods for joint inversion. We discuss the use of correspondence maps or the petrophysics of the rocks, as well as structure. In particular, we suggest to further stabilize the well-known gradient cross product and suggest a new technique, Joint Total Variation, to solve the problem. The Joint Total Variation is a convex functional for joint inversion and, as such, has favorable optimization properties. We experiment with the techniques on the DC resistivity problem and the borehole tomography and show how model fusion and joint inversion can significantly improve over existing techniques. Abstract We address a variant of the classical knapsack problem in which an upper bound is imposed on the number of items that can be selected. This problem arises in the solution of real-life cutting stock problems by column generation, and may be used to separate cover inequalities with small support within cutting-plane approaches to integer linear programs. We focus our attention on approximation algorithms for the problem, describing a linear-storage Polynomial Time Approximation Scheme (PTAS) and a dynamic-programming based Fully Polynomial Time Approximation Scheme (FPTAS). The main ideas contained in our PTAS are used to derive PTAS's for the knapsack problem and its multi-dimensional generalization which improve on the previously proposed PTAS's. We finally illustrate better PTAS's and FPTAS's for the subset sum case of the problem in which profits and weights coincide. Two compressive sensing inspired approaches for the solution of non-linear inverse scattering problems are introduced and discussed. Differently from the sparsity promoting approaches proposed in most of the papers published in the literature, the two methods here tackle the problem in its full non-linearity, by adopting a contrast source inversion scheme. In the first approach, the @math -norm of the unknown is added as a weighted penalty term to the contrast source cost functional. The second, and (to the best of our knowledge) completely original, approach enforces sparsity by constraining the solution of the non-linear problem into a convex set defined by the @math -norm of the unknown. A numerical assessment against a widely used benchmark example (the “Austria” profile) is given to assess the capabilities of the proposed approaches. Notably, the two approaches can be applied to any kind of basis functions and they can successfully tackle both reduced number of data (with respect to Nyquist sampling) and or overcomplete dictionaries. In this paper, an estimation of distribution algorithm (EDA)-based memetic algorithm (MA) is proposed for solving the distributed assembly permutation flow-shop scheduling problem (DAPFSP) with the objective to minimize the maximum completion time. A novel bi-vector-based method is proposed to represent a solution for the DAPFSP. In the searching phase of the EDA-based MA (EDAMA), the EDA-based exploration and the local-search-based exploitation are incorporated within the MA framework. For the EDA-based exploration phase, a probability model is built to describe the probability distribution of superior solutions. Besides, a novel selective-enhancing sampling mechanism is proposed for generating new solutions by sampling the probability model. For the local-search-based exploitation phase, the critical path of the DAPFSP is analyzed to avoid invalid searching operators. Based on the analysis, a critical-path-based local search strategy is proposed to further improve the potential solutions obtained in the EDA-based searching phase. Moreover, the effect of parameter setting is investigated based on the Taguchi method of design-of-experiment. Suitable parameter values are suggested for instances with different scales. Finally, numerical simulations based on 1710 benchmark instances are carried out. The experimental results and comparisons with existing algorithms show the effectiveness of the EDAMA in solving the DAPFSP. In addition, the best-known solutions of 181 instances are updated by the EDAMA. This paper presents a novel improved RANSAC algorithm based on probability and DS evidence theory to deal with the robust pose estimation in robot 3D map building. In this proposed RANSAC algorithm, a parameter model is estimated by using a random sampling test set. Based on this estimated model, all points are tested to evaluate the fitness of current parameter model and their probabilities are updated by using a total probability formula during the iterations. The maximum size of inlier set containing the test point is taken into account to get a more reliable evaluation for test points by using DS evidence theory. Furthermore, the theories of forgetting are utilized to filter out the unstable inliers and improve the stability of the proposed algorithm. In order to boost a high performance, an inverse mapping sampling strategy is adopted based on the updated probabilities of points. Both the simulations and real experimental results demonstrate the feasibility and effectiveness of the proposed algorithm. The goal of this work is to develop compile-time algorithms for automatically verifying properties of imperative programs that manipulate dynamically allocated storage. The paper presents an analysis method that uses a characterization of a procedure's behavior in which parts of the heap not relevant to the procedure are ignored. The paper has two main parts: The first part introduces a non-standard concrete semantics, LSL, in which called procedures are only passed parts of the heap. In this semantics, objects are treated specially when they separate the "local heap" that can be mutated by a procedure from the rest of the heap, which---from the viewpoint of that procedure---is non-accessible and immutable. The second part concerns abstract interpretation of LSL and develops a new static-analysis algorithm using canonical abstraction. Direct methods for trajectory optimization are widely used for planning locally optimal trajectories of robotic systems. Many critical tasks, such as locomotion and manipulation, often involve impacting the ground or objects in the environment. Most state-of-the-art techniques treat the discontinuous dynamics that result from impacts as discrete modes and restrict the search for a complete path to a specified sequence through these modes. Here we present a novel method for trajectory planning of rigid-body systems that contact their environment through inelastic impacts and Coulomb friction. This method eliminates the requirement for a priori mode ordering. Motivated by the formulation of multi-contact dynamics as a Linear Complementarity Problem for forward simulation, the proposed algorithm poses the optimization problem as a Mathematical Program with Complementarity Constraints. We leverage Sequential Quadratic Programming to naturally resolve contact constraint forces while simultaneously optimizing a trajectory that satisfies the complementarity constraints. The method scales well to high-dimensional systems with large numbers of possible modes. We demonstrate the approach on four increasingly complex systems: rotating a pinned object with a finger, simple grasping and manipulation, planar walking with the Spring Flamingo robot, and high-speed bipedal running on the FastRunner platform. We study the basic problem of robust subspace recovery. That is, we assume a data set that some of its points are sampled around a fixed subspace and the rest of them are spread in the whole ambient space, and we aim to recover the fixed underlying subspace. We first estimate "robust inverse sample covariance" by solving a convex minimization procedure; we then recover the subspace by the bottom eigenvectors of this matrix (their number correspond to the number of eigenvalues close to 0). We guarantee exact subspace recovery under some conditions on the underlying data. Furthermore, we propose a fast iterative algorithm, which linearly converges to the matrix minimizing the convex problem. We also quantify the effect of noise and regularization and discuss many other practical and theoretical issues for improving the subspace recovery in various settings. When replacing the sum of terms in the convex energy function (that we minimize) with the sum of squares of terms, we obtain that the new minimizer is a scaled version of the inverse sample covariance (when exists). We thus interpret our minimizer and its subspace (spanned by its bottom eigenvectors) as robust versions of the empirical inverse covariance and the PCA subspace respectively. We compare our method with many other algorithms for robust PCA on synthetic and real data sets and demonstrate state-of-the-art speed and accuracy.