Nonlinear Rescaling of Control Laws with Application to Stabilization in the Presence of Magnitude Saturation

Motivated by some recent results on the stabilization of homogeneous systems, we present a gain-scheduling approach for the stabilization of non-linear systems. Given a one-parameter family of stabilizing feedbacks and associated Lyapunov functions, we show how the parameter can be rescaled as a function of the state to give a new stabilizing controller. In the case of homogeneous systems, we obtain generalizations of some existing results. We show that this approach can also be applied to nonhomogeneous systems. In particular, the main application considered in this paper is to the problem of stabilization with magnitude limitations. For this problem, we develop a design method for single-input controllable systems with eigenvalues in the left closed plane

Nonlinear Feedback Control of Axisymmetric Aerial Vehicles

We investigate the use of simple aerodynamic models for the feedback control of aerial vehicles with large flight envelopes. Thrust-propelled vehicles with a body shape symmetric with respect to the thrust axis are considered. Upon a condition on the aerodynamic characteristics of the vehicle, we show that the equilibrium orientation can be explicitly determined as a function of the desired flight velocity. This allows for the adaptation of previously proposed control design approaches based on the thrust direction control paradigm. Simulation results conducted by using measured aerodynamic characteristics of quasi-axisymmetric bodies illustrate the soundness of the proposed approach

Modeling for Control of Symmetric Aerial Vehicles Subjected to Aerodynamic Forces

This paper participates in the development of a unified approach to the control of aerial vehicles with extended flight envelopes. More precisely, modeling for control purposes of a class of thrust-propelled aerial vehicles subjected to lift and drag aerodynamic forces is addressed assuming a rotational symmetry of the vehicle's shape about the thrust force axis. A condition upon aerodynamic characteristics that allows one to recast the control problem into the simpler case of a spherical vehicle is pointed out. Beside showing how to adapt nonlinear controllers developed for this latter case, the paper extends a previous work by the authors in two directions. First, the 3D case is addressed whereas only motions in a single vertical plane was considered. Secondly, the family of models of aerodynamic forces for which the aforementioned transformation holds is enlarged.Comment: 7 pages, 4 figure

Improving Negative Sampling for Word Representation using Self-embedded Features

Although the word-popularity based negative sampler has shown superb performance in the skip-gram model, the theoretical motivation behind oversampling popular (non-observed) words as negative samples is still not well understood. In this paper, we start from an investigation of the gradient vanishing issue in the skipgram model without a proper negative sampler. By performing an insightful analysis from the stochastic gradient descent (SGD) learning perspective, we demonstrate that, both theoretically and intuitively, negative samples with larger inner product scores are more informative than those with lower scores for the SGD learner in terms of both convergence rate and accuracy. Understanding this, we propose an alternative sampling algorithm that dynamically selects informative negative samples during each SGD update. More importantly, the proposed sampler accounts for multi-dimensional self-embedded features during the sampling process, which essentially makes it more effective than the original popularity-based (one-dimensional) sampler. Empirical experiments further verify our observations, and show that our fine-grained samplers gain significant improvement over the existing ones without increasing computational complexity.Comment: Accepted in WSDM 201

OpenMosix, OpenSSI and Kerrighed: A Comparative Study

This paper presents a comparative study of Kerrighed, openMosix and OpenSSI, three Single System Image (SSI) operating systems for clusters. This experimental study gives an overview of SSI features offered by these SSI and evaluates performance of such features

Mechanical determinants of 100-m sprint running performance

International audienceSprint mechanics and field 100-m performances were tested in 13 subjects including 9 non-specialists, 3 French national-level sprinters and a world-class sprinter, to further study the mechanical factors associated with sprint performance. 6-s sprints performed on an instrumented treadmill allowed continuous recording of step kinematics, ground reaction forces (GRF), and belt velocity and computation of mechanical power output and linear force–velocity relationships. An index of the force application technique was computed as the slope of the linear relationship between the decrease in the ratio of horizontal-to-resultant GRF and the increase in velocity. Mechanical power output was positively correlated to mean 100-m speed (P0.683; P0.21). Last, anthropometric data of body mass index and lowerlimb- to-height ratio showed no significant correlation with 100-m performance. We concluded that the main mechanical determinants of 100-m performance were (1) a ‘‘velocity-oriented’’ force–velocity profile, likely explained by (2) a higher ability to apply the resultant GRF vector with a forward orientation over the acceleration, and (3) a higher step frequency resulting from a shorter contact time

Magnetic field and wind of Kappa Ceti: towards the planetary habitability of the young Sun when life arose on Earth

We report magnetic field measurements for Kappa1~Cet, a proxy of the young Sun when life arose on Earth. We carry out an analysis of the magnetic properties determined from spectropolarimetric observations and reconstruct its large-scale surface magnetic field to derive the magnetic environment, stellar winds and particle flux permeating the interplanetary medium around Kappa1~Cet. Our results show a closer magnetosphere and mass-loss rate of Mdot = 9.7 x 10^{-13} Msol/yr, i.e., a factor 50 times larger than the current solar wind mass-loss rate, resulting in a larger interaction via space weather disturbances between the stellar wind and a hypothetical young-Earth analogue, potentially affecting the planet's habitability. Interaction of the wind from the young Sun with the planetary ancient magnetic field may have affected the young Earth and its life conditionsComment: 6 pages, 5 figures, Published at the Astrophysical Journal Letters (ApJL): Manuscript #LET3358