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This paper investigates the development and optimization of control algorithms for mobile robotics, with a keen focus on their implementation in Field-Programmable Gate Arrays (FPGAs). It delves into both classical control approaches such as PID and modern techniques including deep learning, addressing their application in sectors ranging from industrial automation to medical care. The study highlights the practical challenges and advancements in embedding these algorithms into FPGAs, which offer significant benefits for mobile robotics due to their high-speed processing and parallel computation capabilities. Through an analysis of various control strategies, the paper showcases the improvements in robot performance, particularly in navigation and obstacle avoidance. It emphasizes the critical role of FPGAs in enhancing the efficiency and adaptability of control algorithms in dynamic environments. Additionally, the research discusses the difficulties in benchmarking and evaluating the performance of these algorithms in real-world applications, suggesting a need for standardized evaluation criteria. The contribution of this work lies in its comprehensive examination of control algorithms' potential in FPGA-based mobile robotics, offering insights into future research directions for improving robotic autonomy and operational efficiency.

In this paper, we present a~generalisation of proof simulation procedures for Frege systems by Bonet and Buss to some logics for which the deduction theorem does not hold. In particular, we study the case of finite-valued \L{}ukasiewicz logics. To this end, we provide proof systems that augment Avron's Frege system for \L{}ukasiewicz three-valued logic with nested and general versions of the disjunction elimination rule, respectively. For these systems we provide upper bounds on speed-ups w.r.t.\ both the number of steps in proofs and the length of proofs. We also consider Tamminga's natural deduction and Avron's hypersequent calculus for 3-valued \L{}ukasiewicz logic and generalise our results considering the disjunction elimination rule to all finite-valued \L{}ukasiewicz logics.

With an aim to analyse the performance of Markov chain Monte Carlo (MCMC) methods, in our recent work we derive a large deviation principle (LDP) for the empirical measures of Metropolis-Hastings (MH) chains on a continuous state space. One of the (sufficient) assumptions for the LDP involves the existence of a particular type of Lyapunov function, and it was left as an open question whether or not such a function exists for specific choices of MH samplers. In this paper we analyse the properties of such Lyapunov functions and investigate their existence for some of the most popular choices of MCMC samplers built on MH dynamics: Independent Metropolis Hastings, Random Walk Metropolis, and the Metropolis-adjusted Langevin algorithm. We establish under what conditions such a Lyapunov function exists, and from this obtain LDPs for some instances of the MCMC algorithms under consideration. To the best of our knowledge, these are the first large deviation results for empirical measures associated with Metropolis-Hastings chains for specific choices of proposal and target distributions.

In this paper we present a first non-iterative imaging method for nonlinear materials, based on Monotonicity Principle. Specifically, we deal with the inverse obstacle problem, where the aim is to retrieve a nonlinear anomaly embedded in linear known background. The Monotonicity Principle (MP) is a general property for various class of PDEs, that has recently generalized to nonlinear elliptic PDEs. Basically, it states a monotone relation between the point-wise value of the unknown material property and the boundary measurements. It is at the foundation of a class of non-iterative imaging methods, characterized by a very low execution time that makes them ideal candidates for real-time applications. In this work, we develop an inversion method that overcomes some of the peculiar difficulties in practical application of MP to imaging of nonlinear materials, preserving the feasibility for real-time applications. For the sake of clarity, we focus on a specific application, i.e. the Magnetostatic Permeability Tomography where the goal is retrieving the unknown (nonlinear) permeability by boundary measurements in DC operations. This choice is motivated by applications in the inspection of boxes and containers for security. Reconstructions from simulated data prove the effectiveness of the presented method.

In this paper, we develop a novel fast iterative moment method for the steady-state simulation of near-continuum flows, which are modeled by the high-order moment system derived from the Boltzmann-BGK equation. The fast convergence of the present method is mainly achieved by alternately solving the moment system and the hydrodynamic equations with compatible constitutive relations and boundary conditions. To be specific, the compatible hydrodynamic equations are solved in each iteration to get improved predictions of macroscopic quantities, which are subsequently utilized to expedite the evolution of the moment system. Additionally, a semi-implicit scheme treating the collision term implicitly is introduced for the moment system. With cell-by-cell sweeping strategy, the resulting alternating iteration can be further accelerated for steady-state computation. It is also worth mentioning that such an alternating iteration works well with the nonlinear multigrid method. Numerical experiments for planar Couette flow, shock structure, and lid-driven cavity flow are carried out to investigate the performance of the proposed fast iterative moment method, and all results show wonderful efficiency and robustness.

This paper introduces a Bayesian framework designed to measure the degree of association between categorical random variables. The method is grounded in the formal definition of variable independence and is implemented using Markov Chain Monte Carlo (MCMC) techniques. Unlike commonly employed techniques in Association Rule Learning, this approach enables a clear and precise estimation of confidence intervals and the statistical significance of the measured degree of association. We applied the method to non-exclusive emotions identified by annotators in 4,613 tweets written in Portuguese. This analysis revealed pairs of emotions that exhibit associations and mutually opposed pairs. Moreover, the method identifies hierarchical relations between categories, a feature observed in our data, and is utilized to cluster emotions into basic-level groups.

We present HiRA-Pro, a novel procedure to align, at high spatio-temporal resolutions, multimodal signals from real-world processes and systems that exhibit diverse transient, nonlinear stochastic dynamics, such as manufacturing machines. It is based on discerning and synchronizing the process signatures of salient kinematic and dynamic events in these disparate signals. HiRA-Pro addresses the challenge of aligning data with sub-millisecond phenomena, where traditional timestamp, external trigger, or clock-based alignment methods fall short. The effectiveness of HiRA-Pro is demonstrated in a smart manufacturing context, where it aligns data from 13+ channels acquired during 3D-printing and milling operations on an Optomec-LENS MTS 500 hybrid machine. The aligned data is then voxelized to generate 0.25 second aligned data chunks that correspond to physical voxels on the produced part. The superiority of HiRA-Pro is further showcased through case studies in additive manufacturing, demonstrating improved machine learning-based predictive performance due to precise multimodal data alignment. Specifically, testing classification accuracies improved by almost 35% with the application of HiRA-Pro, even with limited data, allowing for precise localization of artifacts. The paper also provides a comprehensive discussion on the proposed method, its applications, and comparative qualitative analysis with a few other alignment methods. HiRA-Pro achieves temporal-spatial resolutions of 10-1000 us and 100 um in order to generate datasets that register with physical voxels on the 3D-printed and milled part. These resolutions are at least an order of magnitude finer than the existing alignment methods that employ individual timestamps, statistical correlations, or common clocks, which achieve precision of hundreds of milliseconds.

In this paper, we discuss the development and deployment of a robust autonomous system capable of performing various tasks in the maritime domain under unknown dynamic conditions. We investigate a data-driven approach based on modular design for ease of transfer of autonomy across different maritime surface vessel platforms. The data-driven approach alleviates issues related to a priori identification of system models that may become deficient under evolving system behaviors or shifting, unanticipated, environmental influences. Our proposed learning-based platform comprises a deep Koopman system model and a change point detector that provides guidance on domain shifts prompting relearning under severe exogenous and endogenous perturbations. Motion control of the autonomous system is achieved via an optimal controller design. The Koopman linearized model naturally lends itself to a linear-quadratic regulator (LQR) control design. We propose the C3D control architecture Cascade Control with Change Point Detection and Deep Koopman Learning. The framework is verified in station keeping task on an ASV in both simulation and real experiments. The approach achieved at least 13.9 percent improvement in mean distance error in all test cases compared to the methods that do not consider system changes.

In this manuscript, we combine non-intrusive reduced order models (ROMs) with space-dependent aggregation techniques to build a mixed-ROM. The prediction of the mixed formulation is given by a convex linear combination of the predictions of some previously-trained ROMs, where we assign to each model a space-dependent weight. The ROMs taken into account to build the mixed model exploit different reduction techniques, such as Proper Orthogonal Decomposition (POD) and AutoEncoders (AE), and/or different approximation techniques, namely a Radial Basis Function Interpolation (RBF), a Gaussian Process Regression (GPR) or a feed-forward Artificial Neural Network (ANN). The contribution of each model is retained with higher weights in the regions where the model performs best, and, vice versa, with smaller weights where the model has a lower accuracy with respect to the other models. Finally, a regression technique, namely a Random Forest, is exploited to evaluate the weights for unseen conditions. The performance of the aggregated model is evaluated on two different test cases: the 2D flow past a NACA 4412 airfoil, with an angle of attack of 5 degrees, having as parameter the Reynolds number varying between 1e5 and 1e6 and a transonic flow over a NACA 0012 airfoil, considering as parameter the angle of attack. In both cases, the mixed-ROM has provided improved accuracy with respect to each individual ROM technique.

In this paper we develop a novel neural network model for predicting implied volatility surface. Prior financial domain knowledge is taken into account. A new activation function that incorporates volatility smile is proposed, which is used for the hidden nodes that process the underlying asset price. In addition, financial conditions, such as the absence of arbitrage, the boundaries and the asymptotic slope, are embedded into the loss function. This is one of the very first studies which discuss a methodological framework that incorporates prior financial domain knowledge into neural network architecture design and model training. The proposed model outperforms the benchmarked models with the option data on the S&P 500 index over 20 years. More importantly, the domain knowledge is satisfied empirically, showing the model is consistent with the existing financial theories and conditions related to implied volatility surface.