A locally-built, LLM-digested index of recent arXiv papers in quant finance, geometry/topology, and statistical ML — keyword search served straight from SQLite on this machine.
Paper designs energy-based controllers and observers for complex systems.
The paper analyzes the stability of an observer error in a vibrating string system.
LGAC enhances heat transfer in turbulent boundary layers using slot jets.
Paper optimizes traffic signal control for better traffic flow.
In this paper we present a geometric control law for position and line-of-sight stabilization of the nonholonomic spherical robot actuated by three independent actuators. A simple configuration error function with an appropriately defined transport map is proposed to extract feedforward and proportional-derivative cont…
The paper proposes an on-line monitoring framework for continuous real-time safety/security in learning-based control systems (specifically application to a unmanned ground vehicle). We monitor validity of mappings from sensor inputs to actuator commands, controller-focused anomaly detection (CFAM), and from actuator c…
Today's Cyber-Physical Systems (CPSs) are large, complex, and affixed with networked sensors and actuators that are targets for cyber-attacks. Conventional detection techniques are unable to deal with the increasingly dynamic and complex nature of the CPSs. On the other hand, the networked sensors and actuators generat…
This work proposes a new method for simultaneous probabilistic identification and control of an observable, fully-actuated mechanical system. Identification is achieved by conditioning stochastic process priors on observations of configurations and noisy estimates of configuration derivatives. In contrast to previous w…
PenduMAV is a 6-input omnidirectional MAV without internal forces.
The control and sensing of large-scale systems results in combinatorial problems not only for sensor and actuator placement but also for scheduling or observability/controllability. Such combinatorial constraints in system design and implementation can be captured using a structure known as matroids. In particular, the…
New kinematic model for a spin-rolling sphere using Darboux frame.
Distribution grids currently lack comprehensive real-time metering. Nevertheless, grid operators require precise knowledge of loads and renewable generation to accomplish any feeder optimization task. At the same time, new grid technologies, such as solar photovoltaics and energy storage units are interfaced via invert…
New origami structures adapt to over 100 shapes with minimal actuation.
We study metrics with positive scalar curvatures in domains with corners and suggest possible extensions of the concept of positive scalar curvature to singular spaces.
The paper explores when linear system identification is hard or easy, especially for under-actuated systems.
Intelligent Transportation Systems (ITSs) are envisioned to play a critical role in improving traffic flow and reducing congestion, which is a pervasive issue impacting urban areas around the globe. Rapidly advancing vehicular communication and edge cloud computation technologies provide key enablers for smart traffic …
New method for PKM inverse dynamics second derivatives efficiently.
We study control systems invariant under a Lie group with application to the problem of nonlinear trajectory planning. A theory of symmetry reduction of exterior differential systems is employed to demonstrate how symmetry reduction and reconstruction is effective in the explicit, exact construction of planned system t…
We use Machine Learning (ML) and system identification validation approaches to estimate neural network models of large-scale Deformable Mirrors (DMs) used in Adaptive Optics (AO) systems. To obtain the training, validation, and test data sets, we simulate a realistic large-scale Finite Element (FE) model of a faceplat…
Robotics: Rolling robots on a moving platform can be controlled.
Applications in machine learning, optimization, and control require the sequential selection of a few system elements, such as sensors, data, or actuators, to optimize the system performance across multiple time steps. However, in failure-prone and adversarial environments, sensors get attacked, data get deleted, and a…
Bistable structures associated with non-linear deformation behavior, exemplified by the Venus flytrap and slap bracelet, can switch between different functional shapes upon actuation. Despite numerous efforts in modeling such large deformation behavior of shells, the roles of mechanical and nonlinear geometric effects …
Unified policy controls diverse agents through modular neural networks.
Automation engineering is the task of integrating, via software, various sensors, actuators, and controls for automating a real-world process. Today, automation engineering is supported by a suite of software tools including integrated development environments (IDE), hardware configurators, compilers, and runtimes. The…
Developed Taylor series for muscle-finger system analysis.
Paper robustifies reinforcement learning agents against action space perturbations.
The prevalence of networked sensors and actuators in many real-world systems such as smart buildings, factories, power plants, and data centers generate substantial amounts of multivariate time series data for these systems. The rich sensor data can be continuously monitored for intrusion events through anomaly detecti…
Develops control and observer methods for complex systems.
The Hopf Lemma for second order elliptic operators is proved to hold in domains with , and even less regular, boundaries. It need not hold for boundaries. Corresponding results are proved for second order parabolic operators.
The present paper proposes a unified geometric framework for coordinated motion on Lie groups. It first gives a general problem formulation and analyzes ensuing conditions for coordinated motion. Then, it introduces a precise method to design control laws in fully actuated and underactuated settings with simple integra…
The implementation of smart building technology in the form of smart infrastructure applications has great potential to improve sustainability and energy efficiency by leveraging humans-in-the-loop strategy. However, human preference in regard to living conditions is usually unknown and heterogeneous in its manifestati…
Simulation-to-real transfer is an important strategy for making reinforcement learning practical with real robots. Successful sim-to-real transfer systems have difficulty producing policies which generalize across tasks, despite training for thousands of hours equivalent real robot time. To address this shortcoming, we…
Study pitfalls of deep learning ensembles in uncertainty estimation.
Model predicts EMF of Ni-Mn-Ga MSMA, improved with GRNN.
Contrastive learning outperforms autoencoders and GANs in feature recovery and downstream tasks.
This paper defines and quantifies transferability in domain generalization.
This work reveals a new scaling law for optimal design of multirotor aerial vehicles.
Most animals possess the ability to actuate a vast diversity of movements, ostensibly constrained only by morphology and physics. In practice, however, a frequent assumption in behavioral science is that most of an animal's activities can be described in terms of a small set of stereotyped motifs. Here we introduce a m…
User interaction with voice-powered agents generates large amounts of unlabeled utterances. In this paper, we explore techniques to efficiently transfer the knowledge from these unlabeled utterances to improve model performance on Spoken Language Understanding (SLU) tasks. We use Embeddings from Language Model (ELMo) t…
Paper shows regularization improves robustness in domain generalization.
Maximum mean discrepancy (MMD) has been widely adopted in domain adaptation to measure the discrepancy between the source and target domain distributions. Many existing domain adaptation approaches are based on the joint MMD, which is computed as the (weighted) sum of the marginal distribution discrepancy and the condi…
AFTER technique improves NLP models by preventing overfitting to task-specific domains.
SSMBA generates synthetic data to improve robustness in natural language tasks.
Cyber-physical systems, such as mobile robots, must respond adaptively to dynamic operating conditions. Effective operation of these systems requires that sensing and actuation tasks are performed in a timely manner. Additionally, execution of mission specific tasks such as imaging a room must be balanced against the n…
Catastrophic forgetting continues to severely restrict the learnability of controllers suitable for multiple task environments. Efforts to combat catastrophic forgetting reported in the literature to date have focused on how control systems can be updated more rapidly, hastening their adjustment from good initial setti…
ContraBAR uses contrastive learning to learn Bayes-optimal policies in RL.
New framework shows ERM is optimal for both interpolation and extrapolation in domain generalization.
Traditional model-based RL relies on hand-specified or learned models of transition dynamics of the environment. These methods are sample efficient and facilitate learning in the real world but fail to generalize to subtle variations in the underlying dynamics, e.g., due to differences in mass, friction, or actuators a…