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This research addresses the challenge of executing multi-UAV survey missions over diverse terrains characterized by varying elevations. The approach integrates advanced two-dimensional ergodic search technique with model predictive control of UAV altitude and velocity. Optimization of altitude and velocity is performed along anticipated UAV ground routes, considering multiple objectives and constraints. This yields a flight regimen tailored to the terrain, as well as the motion and sensing characteristics of the UAVs. The proposed UAV motion control strategy is assessed through simulations of realistic search missions and actual terrain models. Results demonstrate the successful integration of model predictive altitude and velocity control with a two-dimensional potential field-guided ergodic search. Adjusting UAV altitudes to near-ideal levels facilitates the utilization of sensing ranges, thereby enhancing the effectiveness of the search. Furthermore, the control algorithm is capable of real-time computation, encouraging its practical application in real-world scenarios.

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The typical phases of Bayesian network (BN) structured development include specification of purpose and scope, structure development, parameterisation and validation. Structure development is typically focused on qualitative issues and parameterisation quantitative issues, however there are qualitative and quantitative issues that arise in both phases. A common step that occurs after the initial structure has been developed is to perform a rough parameterisation that only captures and illustrates the intended qualitative behaviour of the model. This is done prior to a more rigorous parameterisation, ensuring that the structure is fit for purpose, as well as supporting later development and validation. In our collective experience and in discussions with other modellers, this step is an important part of the development process, but is under-reported in the literature. Since the practice focuses on qualitative issues, despite being quantitative in nature, we call this step qualitative parameterisation and provide an outline of its role in the BN development process.

We present a fully-integrated lattice Boltzmann (LB) method for fluid--structure interaction (FSI) simulations that efficiently models deformable solids in complex suspensions and active systems. Our Eulerian method (LBRMT) couples finite-strain solids to the LB fluid on the same fixed computational grid with the reference map technique (RMT). An integral part of the LBRMT is a new LB boundary condition for moving deformable interfaces across different densities. With this fully Eulerian solid--fluid coupling, the LBRMT is well-suited for parallelization and simulating multi-body contact without remeshing or extra meshes. We validate its accuracy via a benchmark of a deformable solid in a lid-driven cavity, then showcase its versatility through examples of soft solids rotating and settling. With simulations of complex suspensions mixing, we highlight potentials of the LBRMT for studying collective behavior in soft matter and biofluid dynamics.

In this work, we address parametric non-stationary fluid dynamics problems within a model order reduction setting based on domain decomposition. Starting from the optimisation-based domain decomposition approach, we derive an optimal control problem, for which we present a convergence analysis in the case of non-stationary incompressible Navier-Stokes equations. We discretize the problem with the finite element method and we compare different model order reduction techniques: POD-Galerkin and a non-intrusive neural network procedure. We show that the classical POD-Galerkin is more robust and accurate also in transient areas, while the neural network can obtain simulations very quickly though being less precise in the presence of discontinuities in time or parameter domain. We test the proposed methodologies on two fluid dynamics benchmarks with physical parameters and time dependency: the non-stationary backward-facing step and lid-driven cavity flow.

Zero-shot cross-lingual generation implies finetuning of the multilingual pretrained language model on a generation task in one language and then using it to make predictions for this task in other languages. Previous works notice a frequent problem of generation in a wrong language and propose approaches to address it, usually using mT5 as a backbone model. In this work we compare various approaches proposed from the literature in unified settings, also including alternative backbone models, namely mBART and NLLB-200. We first underline the importance of tuning learning rate used for finetuning, which helps to substantially alleviate the problem of generation in the wrong language. Then, we show that with careful learning rate tuning, the simple full finetuning of the model acts as a very strong baseline and alternative approaches bring only marginal improvements. Finally, we find that mBART performs similarly to mT5 of the same size, and NLLB-200 can be competitive in some cases. Our final models reach the performance of the approach based on data translation which is usually considered as an upper baseline for zero-shot cross-lingual generation.

Local variable selection aims to discover localized effects by assessing the impact of covariates on outcomes within specific regions defined by other covariates. We outline some challenges of local variable selection in the presence of non-linear relationships and model misspecification. Specifically, we highlight a potential drawback of common semi-parametric methods: even slight model misspecification can result in a high rate of false positives. To address these shortcomings, we propose a methodology based on orthogonal cut splines that achieves consistent local variable selection in high-dimensional scenarios. Our approach offers simplicity, handles both continuous and discrete covariates, and provides theory for high-dimensional covariates and model misspecification. We discuss settings with either independent or dependent data. Our proposal allows including adjustment covariates that do not undergo selection, enhancing flexibility in modeling complex scenarios. We illustrate its application in simulation studies with both independent and functional data, as well as with two real datasets. One dataset evaluates salary gaps associated with discrimination factors at different ages, while the other examines the effects of covariates on brain activation over time. The approach is implemented in the R package mombf.

High-index saddle dynamics (HiSD) serves as a competitive instrument in searching the any-index saddle points and constructing the solution landscape of complex systems. The Lagrangian multiplier terms in HiSD ensure the Stiefel manifold constraint, which, however, are dropped in the commonly-used discrete HiSD scheme and are replaced by an additional Gram-Schmidt orthonormalization. Though this scheme has been successfully applied in various fields, it is still unclear why the above modification does not affect its effectiveness. We recover the same form as HiSD from this scheme, which not only leads to error estimates naturally, but indicates that the mechanism of Stiefel manifold preservation by Lagrangian multiplier terms in HiSD is nearly a Gram-Schmidt process (such that the above modification is appropriate). The developed methods are further extended to analyze the more complicated constrained HiSD on high-dimensional sphere, which reveals more mechanisms of the constrained HiSD in preserving several manifold properties.

We provide full theoretical guarantees for the convergence behaviour of diffusion-based generative models under the assumption of strongly log-concave data distributions while our approximating class of functions used for score estimation is made of Lipschitz continuous functions. We demonstrate via a motivating example, sampling from a Gaussian distribution with unknown mean, the powerfulness of our approach. In this case, explicit estimates are provided for the associated optimization problem, i.e. score approximation, while these are combined with the corresponding sampling estimates. As a result, we obtain the best known upper bound estimates in terms of key quantities of interest, such as the dimension and rates of convergence, for the Wasserstein-2 distance between the data distribution (Gaussian with unknown mean) and our sampling algorithm. Beyond the motivating example and in order to allow for the use of a diverse range of stochastic optimizers, we present our results using an $L^2$-accurate score estimation assumption, which crucially is formed under an expectation with respect to the stochastic optimizer and our novel auxiliary process that uses only known information. This approach yields the best known convergence rate for our sampling algorithm.

Effect modification occurs when the impact of the treatment on an outcome varies based on the levels of other covariates known as effect modifiers. Modeling of these effect differences is important for etiological goals and for purposes of optimizing treatment. Structural nested mean models (SNMMs) are useful causal models for estimating the potentially heterogeneous effect of a time-varying exposure on the mean of an outcome in the presence of time-varying confounding. A data-driven approach for selecting the effect modifiers of an exposure may be necessary if these effect modifiers are a priori unknown and need to be identified. Although variable selection techniques are available in the context of estimating conditional average treatment effects using marginal structural models, or in the context of estimating optimal dynamic treatment regimens, all of these methods consider an outcome measured at a single point in time. In the context of an SNMM for repeated outcomes, we propose a doubly robust penalized G-estimator for the causal effect of a time-varying exposure with a simultaneous selection of effect modifiers and use this estimator to analyze the effect modification in a study of hemodiafiltration. We prove the oracle property of our estimator, and conduct a simulation study for evaluation of its performance in finite samples and for verification of its double-robustness property. Our work is motivated by and applied to the study of hemodiafiltration for treating patients with end-stage renal disease at the Centre Hospitalier de l'Universit\'e de Montr\'eal. We apply the proposed method to investigate the effect heterogeneity of dialysis facility on the repeated session-specific hemodiafiltration outcomes.

We consider the numerical behavior of the fixed-stress splitting method for coupled poromechanics as undrained regimes are approached. We explain that pressure stability is related to the splitting error of the scheme, not the fact that the discrete saddle point matrix never appears in the fixed-stress approach. This observation reconciles previous results regarding the pressure stability of the splitting method. Using examples of compositional poromechanics with application to geological CO$_2$ sequestration, we see that solutions obtained using the fixed-stress scheme with a low order finite element-finite volume discretization which is not inherently inf-sup stable can exhibit the same pressure oscillations obtained with the corresponding fully implicit scheme. Moreover, pressure jump stabilization can effectively remove these spurious oscillations in the fixed-stress setting, while also improving the efficiency of the scheme in terms of the number of iterations required at every time step to reach convergence.

In large-scale systems there are fundamental challenges when centralised techniques are used for task allocation. The number of interactions is limited by resource constraints such as on computation, storage, and network communication. We can increase scalability by implementing the system as a distributed task-allocation system, sharing tasks across many agents. However, this also increases the resource cost of communications and synchronisation, and is difficult to scale. In this paper we present four algorithms to solve these problems. The combination of these algorithms enable each agent to improve their task allocation strategy through reinforcement learning, while changing how much they explore the system in response to how optimal they believe their current strategy is, given their past experience. We focus on distributed agent systems where the agents' behaviours are constrained by resource usage limits, limiting agents to local rather than system-wide knowledge. We evaluate these algorithms in a simulated environment where agents are given a task composed of multiple subtasks that must be allocated to other agents with differing capabilities, to then carry out those tasks. We also simulate real-life system effects such as networking instability. Our solution is shown to solve the task allocation problem to 6.7% of the theoretical optimal within the system configurations considered. It provides 5x better performance recovery over no-knowledge retention approaches when system connectivity is impacted, and is tested against systems up to 100 agents with less than a 9% impact on the algorithms' performance.

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