In this book I argue that a reason for the limited success of various studies under the general heading of cybernetics is failure to appreciate the importance of con- nuity, in a simple metrical sense of the term. It is with particular, but certainly not exclusive, reference to the Arti cial Intelligence (AI) effort that the shortcomings of established approaches are most easily seen. One reason for the relative failure of attempts to analyse and model intelligence is the customary assumption that the processing of continuous variables and the manipulation of discrete concepts should be considered separately, frequently with the assumption that continuous processing plays no part in thought. There is much evidence to the contrary incl- ing the observation that the remarkable ability of people and animals to learn from experience nds similar expression in tasks of both discrete and continuous nature and in tasks that require intimate mixing of the two. Such tasks include everyday voluntary movement while preserving balance and posture, with competitive games and athletics offering extreme examples. Continuous measures enter into many tasks that are usually presented as discrete. In tasks of pattern recognition, for example, there is often a continuous measure of the similarity of an imposed pattern to each of a set of paradigms, of which the most similar is selected. The importance of continuity is also indicated by the fact that adjectives and adverbs in everyday verbal communication have comparative and superlative forms.

The volume contains papers based on lectures delivered during the school "Per spectives in Control Theory" held in Sielpia, Poland on September 19-24, 1988. The aim of the school was to give the state-of-the-art presentation of recent achievements as weH as perspectives in such fields of control theory as optimal control and optimization, linear systems, and nonlinear systems. Accordingly, the volume includes survey papers together with presentations of some recent results. The special emphasis is put on: - nonlinear systems (algebraic and geometric methods), - optimal control and optimization (general problems, distributed parameter systems), - linear systems (linear-quadratic problem, robust stabilization). An important feature of the school (and consequently of the volume) was its really "international" character since it brought together leading control theoriests from West and East. All together the school was attended by 108 participants from 18 countries. During the school 21 one-hour invited lectures were delivered. Moreover, five half-an-hour talks were given and 30 contributions were presented in frames of poster sessions. The school was organized and supported by: Institute of Mathematics of the Polish Academy of Sciences, Committee of Automatic Control and Robotics of the Polish Academy of Sciences, - Institute of Automatic Control, Warsaw University of Technology (as Co ordinator of the Basic Research Program R.P.I.02 "Theory of Control of Continuous Dynamic Systems and Discrete Processes" )."

The mathematical theory of "open" dynamical systems is a creation of the twentieth century. Its humble beginnings focused on ideas of Laplace transforms applied to linear problems of automatic control and to the analysis and synthesis of electrical circuits. However during the second half of the century, it flowered into a field based on an array of sophisticated mathematical concepts and techniques from algebra, nonlinear analysis and differential geometry. The central notion is that of a dynamical system that exchanges matter, energy, or information with its surroundings, i.e. an "open" dynamical system. The mathema tization of this notion evolved considerably over the years. The early development centered around the input/output point of view and led to important results, particularly in controller design. Thinking about open systems as a "black box" that accepts stimuli and produces responses has had a wide influence also in areas outside engineering, for example in biology, psychology, and economics. In the early 1960's, especially through the work of Kalman, input/state/output models came in vogue. This model class accommodates very nicely the internal initial conditions that are essentially always present in a dynamical system. The introduction of input/state/output models led to a tempestuous development that made systems and control into a mature discipline with a wide range of concepts, results, algorithms, and applications.

Force and motion control systems of varying degrees of sophistication have shaped the lives of all individuals living in industrialized countries all over the world, and together with communication technology are largely responsible for the high standard ofliving prevalent in many communities. The brains of the vast majority of current control systems are electronic, in the shape of computers, microprocessors or programmable logic controllers (PLC), the nerves are provided by sensors, mainly electromech anical transducers, and the muscle comprises the drive system, in most cases either electric, pneumatic or hydraulic. The factors governing the choice of the most suitable drive are the nature of the application, the performance specification, size, weight, environ mental and safety constraints, with higher power levels favouring hydraulic drives. Past experience, especially in the machine tool sector, has clearly shown that, in the face of competition from electric drives, it is difficult to make a convincing case for hydraulic drives at the bottom end of the power range, specifically at fractional horsepower level. A further, and frequently overriding factor in the choice of drive is the familiarity of the system designer with a particular discipline, which can inhibit the selection of the optimum and most cost-effective solution for a given application. One of the objectives of this book is to help the electrical engineer overcome his natural reluctance to apply any other than electric drives."

A knowledge of linear systems provides a firm foundation for the study of optimal control theory and many areas of system theory and signal processing. State-space techniques developed since the early sixties have been proved to be very effective. The main objective of this book is to present a brief and somewhat complete investigation on the theory of linear systems, with emphasis on these techniques, in both continuous-time and discrete-time settings, and to demonstrate an application to the study of elementary (linear and nonlinear) optimal control theory. An essential feature of the state-space approach is that both time-varying and time-invariant systems are treated systematically. When time-varying systems are considered, another important subject that depends very much on the state-space formulation is perhaps real-time filtering, prediction, and smoothing via the Kalman filter. This subject is treated in our monograph entitled "Kalman Filtering with Real-Time Applications" published in this Springer Series in Information Sciences (Volume 17). For time-invariant systems, the recent frequency domain approaches using the techniques of Adamjan, Arov, and Krein (also known as AAK), balanced realization, and oo H theory via Nevanlinna-Pick interpolation seem very promising, and this will be studied in our forthcoming monograph entitled "Mathematical Ap proach to Signal Processing and System Theory." The present elementary treatise on linear system theory should provide enough engineering and mathe of these two subjects."

This volume consists of a selection of papers presented at the International Conference on Applied General Systems Research: Recent Developments and Trends which was held on the campus of the State University of New York at Binghamton in August 15-19, 1977, under the sponsorship of the Special Panel on Systems Science of the NATO Scientific Affairs Division. General systems research is a fairly new field which has been developing in the course of the last two or three decades. In my op~n10n, it can be best described as a movement which involves the study of all structural and context independent aspects of problem solving. As such, it is cross-disciplinary in nature and, in this sense, it might seem similar to mathematics. There is a consid erable difference, however, between the two. While pure mathe matics is basically oriented to the development of various axiomatic theories, regardless of whether or not they have any real world meaning, applied mathematics explores the applicability of some of these theories as potentially useful methodological tools in various problem areas. General systems research, in contrast with applied mathematics, is problem oriented rather than tool oriented. As such, it tries to develop genuine methods for solving systems problems, i. e. , structural type and context in dependent problems. The term "genuine method" is used here to refer to a method which adjusts to the problem rather than re quiring that the problem be adjusted to make the method applicable.

Analysis and Control of Boolean Networks presents a systematic new approach to the investigation of Boolean control networks. The fundamental tool in this approach is a novel matrix product called the semi-tensor product (STP). Using the STP, a logical function can be expressed as a conventional discrete-time linear system. In the light of this linear expression, certain major issues concerning Boolean network topology - fixed points, cycles, transient times and basins of attractors - can be easily revealed by a set of formulae. This framework renders the state-space approach to dynamic control systems applicable to Boolean control networks. The bilinear-systemic representation of a Boolean control network makes it possible to investigate basic control problems including controllability, observability, stabilization, disturbance decoupling etc.

DepCoS RELCOMEX is an annual series of conferences organized by Wroc aw University of Technology to promote a comprehensive approach to evaluation of system performability which is now commonly called "dependability." In contrast to classic analyses which were concentrated on reliability of technical resources and structures built from them, dependability is based on multi-disciplinary approach to theory, technology and maintenance of a system considered to be a multifaceted amalgamation of technical, information, organization, software and human (users, administrators, supervisors, etc.) resources. Diversity of processes being realized (data processing, system management, system monitoring, etc.), their concurrency and their reliance on in-system intelligence often severely impedes construction of strict mathematical models and calls for application of intelligent and soft computing methods.

This book presents the proceedings of the Ninth International Conference on Dependability and Complex Systems DepCoS-RELCOMEX, which took place in Brunow Palace, Poland, from 30th June to 4th July, 2014. The articles selected for this volume illustrate the variety of topics that must be included in system dependability analysis: tools, methodologies and standards for modelling, design and simulation of the systems, security and confidentiality in information processing, specific issues of heterogeneous, today often wireless, computer networks or management of transportation networks."

The problem of viability of hybrid systems is considered in this work. A model for a hybrid system is developed including a means of including three forms of uncertainty: transition dynamics, structural uncertainty, and parametric uncertainty. A computational basis for viability of hybrid systems is developed and applied to three control law classes. An approach is developed for robust viability based on two extensions of the controllability operator. The three-tank example is examined for both the viability problem and robust viability problem.

The theory is applied through simulation to an active magnetic bearing system and to a batch polymerization process showing that viability can be satisfied in practice. The problem of viable attainability is examined based on the controllability operator approach introduced by Nerode and colleagues. Lastly, properties of the controllability operator are presented.

This book should be considered as an introduction to a special dass of hierarchical systems of optimal control, where subsystems are described by partial differential equations of various types. Optimization is carried out by means of a two-level scheme, where the center optimizes coordination for the upper level and subsystems find the optimal solutions for independent local problems. The main algorithm is a method of iterative aggregation. The coordinator solves the problern with macrovariables, whose number is less than the number of initial variables. This problern is often very simple. On the lower level, we have the usual optimal control problems of math ematical physics, which are far simpler than the initial statements. Thus, the decomposition (or reduction to problems ofless dimensions) is obtained. The algorithm constructs a sequence of so-called disaggregated solutions that are feasible for the main problern and converge to its optimal solutionunder certain assumptions ( e.g., under strict convexity of the input functions). Thus, we bridge the gap between two disciplines: optimization theory of large-scale systems and mathematical physics. The first motivation was a special model of branch planning, where the final product obeys a preset assortment relation. The ratio coefficient is maximized. Constraints are given in the form of linear inequalities with block diagonal structure of the part of a matrix that corresponds to subsystems. The central coordinator assem bles the final production from the components produced by the subsystems."

This book describes a new class of computing devices which are becoming omnipresent in every day life. They make information access and processing easily available for everyone from anywhere at any time. Mobility, wireless connectivity, di- versity, and ease-of-use are the magic keywords of Pervasive and Ubiquitous Computing. The book covers these front-end devices as well as their operating systems and the back-end infrastructure which integrate these pervasive components into a seamless IT world. A strong emphasis is placed on the underlying technologies and standards applied when building up pervasive solutions. These fundamental topics include commonly used terms such as XML, WAP, UMTS, GPRS, Bluetooth, Jini, transcoding, and cryptography, to mention just a few. Voice, Web Application Servers, Portals, Web Services, and Synchronized and Device Management are new in the second edition.
Besides a comprehensive state-of-the-art description of the Pervasive Computing technology itself, this book gives an overview of today's real-life applications and accompanying service offerings. M-Commerce, e-Business, networked home, travel, and finance are exciting examples of applied Ubiquitous Computing.

This special volume is dedicated to Boris M. Mordukhovich, on the occasion of his 60th birthday, and aims to celebrate his fundamental contributionsto variational analysis, generalizeddifferentiationand their applications.A main exampleof these contributions is Boris' recent opus magnus "Variational Analysis and Generalized Differentiation"(vols. I and II) [2,3]. A detailed explanationand careful description of Boris' research and achievements can be found in [1]. Boris' active work and jovial attitude have constantly inspired researchers of several generations, with whom he has generously shared his knowledgeand ent- siasm, along with his well-known warmth and human touch. Variationalanalysis is a rapidlygrowing?eld within pure and applied mathem- ics, with numerous applications to optimization, control theory, economics, en- neering, and other disciplines. Each of the 12 chapters of this volume is a carefully reviewed paper in the ?eld of variational analysis and related topics. Many chapters of this volume were presented at the International Symposium on Variational Analysis and Optimization (ISVAO), held in the Department of Applied Mathematics, National Sun Yat-sen University, Kaohsiung, Taiwan, from November 28 to November 30, 2008. The symposium was organized in honour of Boris' 60thbirthday.It broughttogetherBorisandotherresearchersto discusssta- of-the-art results in variational analysis and its applications, with emphasis on op- mization and control. We thank the organizers and participants of the symposium, who made the symposium a highly bene?cial and enjoyable event. We are also grateful to all the authors of this special volume, who have taken the opportunityto celebrate Boris' birthdayand his decadesof contributionsto the area.

This book is an introduction to the mathematical theory of design for articulated mechanical systems known as linkages. The focus is on sizing mechanical constraints that guide the movement of a work piece, or end-effector, of the system. The function of the device is prescribed as a set of positions to be reachable by the end-effector; and the mechanical constraints are formed by joints that limit relative movement. The goal is to find all the devices that can achieve a specific task. Formulated in this way the design problem is purely geometric in character. Robot manipulators, walking machines, and mechanical hands are examples of articulated mechanical systems that rely on simple mechanical constraints to provide a complex workspace for the end- effector. The principles presented in this book form the foundation for a design theory for these devices. The emphasis, however, is on articulated systems with fewer degrees of freedom than that of the typical robotic system, and therefore, less complexity. This book will be useful to mathematics, engineering and computer science departments teaching courses on mathematical modeling of robotics and other articulated mechanical systems. This new edition includes research results of the past decade on the synthesis of multi loop planar and spherical linkages, and the use of homotopy methods and Clifford algebras in the synthesis of spatial serial chains. One new chapter on the synthesis of spatial serial chains introduces numerical homotopy and the linear product decomposition of polynomial systems. The second new chapter introduces the Clifford algebra formulation of the kinematics equations of serial chain robots. Examples are use throughout to demonstrate the theory.

In earlier forewords to the books in this series on Discrete Event Dynamic Systems (DEDS), we have dwelt on the pervasive nature of DEDS in our human-made world. From manufacturing plants to computer/communication networks, from traffic systems to command-and-control, modern civilization cannot function without the smooth operation of such systems. Yet mathemat ical tools for the analysis and synthesis of DEDS are nascent when compared to the well developed machinery of the continuous variable dynamic systems char acterized by differential equations. The performance evaluation tool of choice for DEDS is discrete event simulation both on account of its generality and its explicit incorporation of randomness. As it is well known to students of simulation, the heart of the random event simulation is the uniform random number generator. Not so well known to the practitioners are the philosophical and mathematical bases of generating "random" number sequence from deterministic algorithms. This editor can still recall his own painful introduction to the issues during the early 80's when he attempted to do the first perturbation analysis (PA) experiments on a per sonal computer which, unbeknownst to him, had a random number generator with a period of only 32,768 numbers. It is no exaggeration to say that the development of PA was derailed for some time due to this ignorance of the fundamentals of random number generation.

This book is concerned with Artificial Intelligence (AI) concepts and techniques as applied to industrial decision making, control and automation problems. The field of AI has been expanded enormously during the last years due to that solid theoretical and application results have accumulated. During the first stage of AI development most workers in the field were content with illustrations showing ideas at work on simple problems. Later, as the field matured, emphasis was turned to demonstrations that showed the capability of AI techniques to handle problems of practical value. Now, we arrived at the stage where researchers and practitioners are actually building AI systems that face real-world and industrial problems. This volume provides a set of twenty four well-selected contributions that deal with the application of AI to such real-life and industrial problems. These contributions are grouped and presented in five parts as follows: Part 1: General Issues Part 2: Intelligent Systems Part 3: Neural Networks in Modelling, Control and Scheduling Part 4: System Diagnostics Part 5: Industrial Robotic, Manufacturing and Organizational Systems Part 1 involves four chapters providing background material and dealing with general issues such as the conceptual integration of qualitative and quantitative models, the treatment of timing problems at system integration, and the investigation of correct reasoning in interactive man-robot systems.

This monograph provides an introduction to the concept of invariance entropy, the central motivation of which lies in the need to deal with communication constraints in networked control systems. For the simplest possible network topology, consisting of one controller and one dynamical system connected by a digital channel, invariance entropy provides a measure for the smallest data rate above which it is possible to render a given subset of the state space invariant by means of a symbolic coder-controller pair. This concept is essentially equivalent to the notion of topological feedback entropy introduced by Nair, Evans, Mareels and Moran (Topological feedback entropy and nonlinear stabilization. IEEE Trans. Automat. Control 49 (2004), 1585-1597). The book presents the foundations of a theory which aims at finding expressions for invariance entropy in terms of dynamical quantities such as Lyapunov exponents. While both discrete-time and continuous-time systems are treated, the emphasis lies on systems given by differential equations.

This 2001 book presents a general theory as well as a constructive methodology to solve 'observation problems', that is, reconstructing the full information about a dynamical process on the basis of partial observed data. A general methodology to control processes on the basis of the observations is also developed. Illustrative but also practical applications in the chemical and petroleum industries are shown. This book is intended for use by scientists in the areas of automatic control, mathematics, chemical engineering and physics.

This fascinating book examines some of the characteristics of technological/engineering models that are likely to be unfamiliar to those who are interested primarily in the history and philosophy of science and mathematics, and which differentiate technological models from scientific and mathematical ones. Themes that are highlighted include:
the role of language: the models developed for engineering design have resulted in new ways of talking about technological systems
communities of practice: related to the previous point, particular engineering communities have particular ways of sharing and developing knowledge
graphical (re)presentation: engineers have developed many ways of reducing quite complex mathematical models to more simple representations
reification: highly abstract mathematical models are turned into 'objects' that can be manipulated almost like components of a physical system
machines: not only the currently ubiquitous digital computer, but also older analogue devices - slide rules, physical models, wind tunnels and other small-scale simulators, as well as mechanical, electrical and electronic analogue computers
mathematics and modelling as a bridging tool between disciplines
This book studies primarily modelling in technological practice. It is worth noting that models of the type considered in the book are not always highly valued in formal engineering education at university level, which often takes an "applied science" approach close to that of the natural sciences (something that can result in disaffection on the part of students). Yet in an informal context, such as laboratories, industrial placements, and so on, a very different situation obtains. A number of chapters considers such epistemological aspects, as well as the status of different types of models within the engineering education community.
The book will be of interest to practising engineers and technologists; sociologists of science and technology; and historians and philosophers of science and mathematics. It will also be written in a way that will be accessible to non-specialists."

As robots improve in efficiency and intelligence, there is a growing need to develop more efficient, accurate and powerful sensors in accordance with the tasks to be robotized. This has led to a great increase in the study and development of different kinds of sensor devices and perception systems over the last ten years. Applications that differ from the industrial ones are often more demanding in sensorics since the environment is not usually so well structured. Spatial and agricultural applications are examples of situations where the environment is unknown or variable. Therefore, the work to be done by a robot cannot be strictly programmed and there must be an interactive communication with the environment. It cannot be denied that evolution and development in robotics are closely related to the advances made in sensorics. The first vision and force sensors utilizing discrete components resulted in a very low resolution and poor accuracy. However, progress in VLSI, imaging devices and other technologies have led to the development of more efficient sensor and perception systems which are able to supply the necessary data to robots.

This volume offers comprehensive coverage of intelligent systems, including fundamental aspects, software-, sensors-, and hardware-related issues. Moreover, the contributors to this volume provide, beyond a systematic overview of intelligent interfaces and systems, deep, practical knowledge in building and using intelligent systems in various applications. Special emphasis is placed on specific aspects and requirements in applications.

The subject of the book is the "know-how" of applied mathematical modelling: how to construct specific models and adjust them to a new engineering environment or more precise realistic assumptions; how to analyze models for the purpose of investigating real life phenomena; and how the models can extend our knowledge about a specific engineering process. Two major sources of the book are the stock of classic models and the authors' wide experience in the field. The book provides a theoretical background to guide the development of practical models and their investigation. It considers general modelling techniques, explains basic underlying physical laws and shows how to transform them into a set of mathematical equations. The emphasis is placed on common features of the modelling process in various applications as well as on complications and generalizations of models. The book covers a variety of applications: mechanical, acoustical, physical and electrical, water transportation and contamination processes; bioengineering and population control; production systems and technical equipment renovation. Mathematical tools include partial and ordinary differential equations, difference and integral equations, the calculus of variations, optimal control, bifurcation methods, and related subjects.

In 1945, Dr. Ernst Weber founded, and was the first Director of, the Microwave Research Institute (MRI) at Polytechnic University (at that time named the Polytechnic Institute of Brooklyn). MRI gained worldwide recognition in the 50s and 60s for its research in electromagnetic theory, antennas and radiation, network theory and microwave networks, microwave components, and devices. It was also known through its series of 24 topical symposia and the widely distributed hardbound MRI Symposium Proceedings. Rededicated as the Weber Research Institute (WRI) in 1986, the institute currently conducts research in such areas as electromagnetic propagation and antennas, ultrabroadband electromagnetics, pulse power, acoustics, gaseous electronics, plasma physics, solid-state materials, quantum electronics, electromagnetic launchers, and networks. Following MRI tradition, WRI has launched its own series of in-depth topical conferences with published proceedings. Previous conferences in this series were: Directions in Electromagnetic Wave Modeling; October 1990 Ultra-Wideband Short-Pulse Electromagnetics; October, 1992 Ultra-Wideband Short-Pulse Electromagnetics, II; October, 1994 The proceedings of these conferences were also published by Plenum Press. This volume constitutes the proceedings of the fourth WRI International Conference dealing with Guided-Wave Optoelectronics: Device Characterization, Analysis and Design. The conference was held October 26-28, 1994, at the Polytechnic University in Brooklyn, New York, in cooperation with the IEEE Lasers and Electro Optics Society, and with the Optical Society of America. Theodor Tamir Giora Griffel Henry L. Bertoni v CONTENTS INTRODUCTORY Scanning the symposium. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 . . . . . . . . . . . T. Tamir and G. Griffel Photonics in telecommunications. . . . . . . . . . . . . . . . . . . . . . . 3 . . . . . . . . . H."

This book is a result of the Seventh International Conference on Information Sys tems Development-Methods and Tools, Theory and Practice held in Bled, Slovenia, Sep tember 21-23, 1998. The purpose of the conference was to address issues facing academia and industry when specifying, developing, managing, and improving information comput erized systems. During the past few years, many new concepts and approaches emerged in the Information Systems Development (ISD) field. The various theories, methods, and tools available to system developers also bring problems such as choosing the most effec tive approach for a specific task. This conference provides a meeting place for IS re searchers and practitioners from Eastern and Western Europe as well as from other parts of the world. An objective of the conference is not only to share scientific knowledge and in terests but to establish strong professional ties among the participants. The Seventh International Conference on Information Systems Develop ment-ISD'98 continues the concepts of the first Polish-Scandinavian Seminar on Current Trends in Information Systems Development Methodologies held in Gdansk, Poland in 1988. Through the years, the Seminar developed into the International Conference on In formation Systems Development. ISD'99 will be held in Boise, Idaho. The selection of papers was carried out by the International Program Committee. All papers were reviewed in advance by three people. Papers were judged according to their originality, relevance, and presentation quality. All papers were judged only on their own merits, independent of other submissions.

This book is an edited selection of the papers presented at the International Workshop on VLSI for Artifidal Intelligence and Neural Networks which was held at the University of Oxford in September 1990. Our thanks go to all the contributors and especially to the programme committee for all their hard work. Thanks are also due to the ACM-SIGARCH, the IEEE Computer Society, and the lEE for publicizing the event and to the University of Oxford and SUNY-Binghamton for their active support. We are particularly grateful to Anna Morris, Maureen Doherty and Laura Duffy for coping with the administrative problems. Jose Delgado-Frias Will Moore April 1991 vii PROLOGUE Artificial intelligence and neural network algorithms/computing have increased in complexity as well as in the number of applications. This in tum has posed a tremendous need for a larger computational power than can be provided by conventional scalar processors which are oriented towards numeric and data manipulations. Due to the artificial intelligence requirements (symbolic manipulation, knowledge representation, non-deterministic computations and dynamic resource allocation) and neural network computing approach (non-programming and learning), a different set of constraints and demands are imposed on the computer architectures for these applications.