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The presence of faulty or underactuated manipulators can disrupt the end-effector formation keeping of a team of manipulators. Based on two-link planar manipulators, we investigate this end-effector formation keeping problem for mixed fully- and under-actuated manipulators with flexible joints. In this case, the underactuated manipulators can comprise of active-passive (AP) manipulators, passive-active (PA) manipulators, or a combination thereof. We propose distributed control laws for the different types of manipulators to achieve and maintain the desired formation shape of the end-effectors. It is achieved by assigning virtual springs to the end-effectors for the fully-actuated ones and to the virtual end-effectors for the under-actuated ones. We study further the set of all desired and reachable shapes for the networked manipulators' end-effectors. Finally, we validate our analysis via numerical simulations.

In recent years, Scientific Machine Learning (SciML) methods for solving partial differential equations (PDEs) have gained increasing popularity. Within such a paradigm, Physics-Informed Neural Networks (PINNs) are novel deep learning frameworks for solving initial-boundary value problems involving nonlinear PDEs. Recently, PINNs have shown promising results in several application fields. Motivated by applications to gas filtration problems, here we present and evaluate a PINN-based approach to predict solutions to strongly degenerate parabolic problems with asymptotic structure of Laplacian type. To the best of our knowledge, this is one of the first papers demonstrating the efficacy of the PINN framework for solving such kind of problems. In particular, we estimate an appropriate approximation error for some test problems whose analytical solutions are fortunately known. The numerical experiments discussed include two and three-dimensional spatial domains, emphasizing the effectiveness of this approach in predicting accurate solutions.

Under a generalised estimating equation analysis approach, approximate design theory is used to determine Bayesian D-optimal designs. For two examples, considering simple exchangeable and exponential decay correlation structures, we compare the efficiency of identified optimal designs to balanced stepped-wedge designs and corresponding stepped-wedge designs determined by optimising using a normal approximation approach. The dependence of the Bayesian D-optimal designs on the assumed correlation structure is explored; for the considered settings, smaller decay in the correlation between outcomes across time periods, along with larger values of the intra-cluster correlation, leads to designs closer to a balanced design being optimal. Unlike for normal data, it is shown that the optimal design need not be centro-symmetric in the binary outcome case. The efficiency of the Bayesian D-optimal design relative to a balanced design can be large, but situations are demonstrated in which the advantages are small. Similarly, the optimal design from a normal approximation approach is often not much less efficient than the Bayesian D-optimal design. Bayesian D-optimal designs can be readily identified for stepped-wedge cluster randomised trials with binary outcome data. In certain circumstances, principally ones with strong time period effects, they will indicate that a design unlikely to have been identified by previous methods may be substantially more efficient. However, they require a larger number of assumptions than existing optimal designs, and in many situations existing theory under a normal approximation will provide an easier means of identifying an efficient design for binary outcome data.

The broad class of multivariate unified skew-normal (SUN) distributions has been recently shown to possess fundamental conjugacy properties. When used as priors for the vector of parameters in general probit, tobit, and multinomial probit models, these distributions yield posteriors that still belong to the SUN family. Although such a core result has led to important advancements in Bayesian inference and computation, its applicability beyond likelihoods associated with fully-observed, discretized, or censored realizations from multivariate Gaussian models remains yet unexplored. This article covers such an important gap by proving that the wider family of multivariate unified skew-elliptical (SUE) distributions, which extends SUNs to more general perturbations of elliptical densities, guarantees conjugacy for broader classes of models, beyond those relying on fully-observed, discretized or censored Gaussians. Such a result leverages the closure under linear combinations, conditioning and marginalization of SUE to prove that such a family is conjugate to the likelihood induced by general multivariate regression models for fully-observed, censored or dichotomized realizations from skew-elliptical distributions. This advancement substantially enlarges the set of models that enable conjugate Bayesian inference to general formulations arising from elliptical and skew-elliptical families, including the multivariate Student's t and skew-t, among others.

Quantization for a Borel probability measure refers to the idea of estimating a given probability by a discrete probability with support containing a finite number of elements. In this paper, we have considered a Borel probability measure $P$ on $\mathbb R^2$, which has support a nonuniform stretched Sierpi\'{n}ski triangle generated by a set of three contractive similarity mappings on $\mathbb R^2$. For this probability measure, we investigate the optimal sets of $n$-means and the $n$th quantization errors for all positive integers $n$.

Composite quantile regression has been used to obtain robust estimators of regression coefficients in linear models with good statistical efficiency. By revealing an intrinsic link between the composite quantile regression loss function and the Wasserstein distance from the residuals to the set of quantiles, we establish a generalization of the composite quantile regression to the multiple-output settings. Theoretical convergence rates of the proposed estimator are derived both under the setting where the additive error possesses only a finite $\ell$-th moment (for $\ell > 2$) and where it exhibits a sub-Weibull tail. In doing so, we develop novel techniques for analyzing the M-estimation problem that involves Wasserstein-distance in the loss. Numerical studies confirm the practical effectiveness of our proposed procedure.

A cyclic proof system is a proof system whose proof figure is a tree with cycles. The cut-elimination in a proof system is fundamental. It is conjectured that the cut-elimination in the cyclic proof system for first-order logic with inductive definitions does not hold. This paper shows that the conjecture is correct by giving a sequent not provable without the cut rule but provable in the cyclic proof system.

This work focuses on the numerical approximations of neutral stochastic delay differential equations with their drift and diffusion coefficients growing super-linearly with respect to both delay variables and state variables. Under generalized monotonicity conditions, we prove that the backward Euler method not only converges strongly in the mean square sense with order $1/2$, but also inherit the mean square exponential stability of the original equations. As a byproduct, we obtain the same results on convergence rate and exponential stability of the backward Euler method for stochastic delay differential equations with generalized monotonicity conditions. These theoretical results are finally supported by several numerical experiments.

We consider a model selection problem for structural equation modeling (SEM) with latent variables for diffusion processes based on high-frequency data. First, we propose the quasi-Akaike information criterion of the SEM and study the asymptotic properties. Next, we consider the situation where the set of competing models includes some misspecified parametric models. It is shown that the probability of choosing the misspecified models converges to zero. Furthermore, examples and simulation results are given.

Mesh-based Graph Neural Networks (GNNs) have recently shown capabilities to simulate complex multiphysics problems with accelerated performance times. However, mesh-based GNNs require a large number of message-passing (MP) steps and suffer from over-smoothing for problems involving very fine mesh. In this work, we develop a multiscale mesh-based GNN framework mimicking a conventional iterative multigrid solver, coupled with adaptive mesh refinement (AMR), to mitigate challenges with conventional mesh-based GNNs. We use the framework to accelerate phase field (PF) fracture problems involving coupled partial differential equations with a near-singular operator due to near-zero modulus inside the crack. We define the initial graph representation using all mesh resolution levels. We perform a series of downsampling steps using Transformer MP GNNs to reach the coarsest graph followed by upsampling steps to reach the original graph. We use skip connectors from the generated embedding during coarsening to prevent over-smoothing. We use Transfer Learning (TL) to significantly reduce the size of training datasets needed to simulate different crack configurations and loading conditions. The trained framework showed accelerated simulation times, while maintaining high accuracy for all cases compared to physics-based PF fracture model. Finally, this work provides a new approach to accelerate a variety of mesh-based engineering multiphysics problems