亚洲男人的天堂2018av,欧美草比,久久久久久免费视频精选,国色天香在线看免费,久久久久亚洲av成人片仓井空

Resource allocation under uncertainty is a classical problem in city-scale cyber-physical systems. Consider emergency response as an example; urban planners and first responders optimize the location of ambulances to minimize expected response times to incidents such as road accidents. Typically, such problems deal with sequential decision-making under uncertainty and can be modeled as Markov (or semi-Markov) decision processes. The goal of the decision-maker is to learn a mapping from states to actions that can maximize expected rewards. While online, offline, and decentralized approaches have been proposed to tackle such problems, scalability remains a challenge for real-world use-cases. We present a general approach to hierarchical planning that leverages structure in city-level CPS problems for resource allocation. We use emergency response as a case study and show how a large resource allocation problem can be split into smaller problems. We then use Monte-Carlo planning for solving the smaller problems and managing the interaction between them. Finally, we use data from Nashville, Tennessee, a major metropolitan area in the United States, to validate our approach. Our experiments show that the proposed approach outperforms state-of-the-art approaches used in the field of emergency response.

Learning dynamical systems properties from data provides important insights that help us understand such systems and mitigate undesired outcomes. In this work, we propose a framework for learning spatio-temporal (ST) properties as formal logic specifications from data. We introduce SVM-STL, an extension of Signal Signal Temporal Logic (STL), capable of specifying spatial and temporal properties of a wide range of dynamical systems that exhibit time-varying spatial patterns. Our framework utilizes machine learning techniques to learn SVM-STL specifications from system executions given by sequences of spatial patterns. We present methods to deal with both labeled and unlabeled data. In addition, given system requirements in the form of SVM-STL specifications, we provide an approach for parameter synthesis to find parameters that maximize the satisfaction of such specifications. Our learning framework and parameter synthesis approach are showcased in an example of a reaction-diffusion system.

The development of data acquisition systems is facilitating the collection of data that are apt to be modelled as functional data. In some applications, the interest lies in the identification of significant differences in group functional means defined by varying experimental conditions, which is known as functional analysis of variance (FANOVA). With real data, it is common that the sample under study is contaminated by some outliers, which can strongly bias the analysis. In this paper, we propose a new robust nonparametric functional ANOVA method (RoFANOVA) that reduces the weights of outlying functional data on the results of the analysis. It is implemented through a permutation test based on a test statistic obtained via a functional extension of the classical robust $ M $-estimator. By means of an extensive Monte Carlo simulation study, the proposed test is compared with some alternatives already presented in the literature, in both one-way and two-way designs. The performance of the RoFANOVA is demonstrated in the framework of a motivating real-case study in the field of additive manufacturing that deals with the analysis of spatter ejections. The RoFANOVA method is implemented in the R package rofanova, available online at //github.com/unina-sfere/rofanova.

When a dual-arm robot clamps a rigid object in an environment for human beings, the environment or the collaborating human will impose incidental disturbance on the operated object or the robot arm, leading to clamping failure, damaging the robot even hurting the human. This research proposes a prioritized hierarchical compliance control to simultaneously deal with the two types of disturbances in the dual-arm robot clamping. First, we use hierarchical quadratic programming (HQP) to solve the robot inverse kinematics under the joint constraints and prioritize the compliance for the disturbance on the object over that on the robot arm. Second, we estimate the disturbance forces throughout the momentum observer with the F/T sensors and adopt admittance control to realize the compliances. Finally, we perform the verify experiments on a 14-DOF position-controlled dual-arm robot WalkerX, clamping a rigid object stably while realizing the compliance against the disturbances.

In this paper, we consider two coupled problems for distributed multi-robot systems (MRSs) coordinating with limited field of view (FOV) sensors: adaptive tuning of interaction gains and rejection of sensor attacks. First, a typical shortcoming of distributed control frameworks (e.g., potential fields) is that the overall system behavior is highly sensitive to the gain assigned to relative interactions. Second, MRSs with limited FOV sensors can be more susceptible to sensor attacks aimed at their FOVs, and therefore must be resilient to such attacks. Based on these shortcomings, we propose a comprehensive solution that combines efforts in adaptive gain tuning and attack resilience to the problem of topology control for MRSs with limited FOVs. Specifically, we first derive an adaptive gain tuning scheme based on satisfying nominal pairwise interactions, which yields a dynamic balancing of interaction strengths in a robot's neighborhood. We then model additive sensor and actuator attacks (or faults) and derive H infinity control protocols by employing a static output-feedback technique, guaranteeing bounded L2 gains of the error induced by the attack (fault) signals. Finally, simulation results using ROS Gazebo are provided to support our theoretical findings.

Bio-inspired walking hexapod robots are a relatively young branch in robotics in both state of the art and applications. Despite their high degree of flexibility and adaptability derived by their redundant design, the research field that compliments their abilities is still very lacking. In this paper will be proposed state-of-the-art hexapod robot specific control architecture that allows for full control over robot speed, body orientation and walk gait type to employ. Furthermore terrain interaction will be deeply investigated, leading to the development of a terrain-adapting control algorithm that will allow the robot to react swiftly to terrain shape and asperities such as non-linearities and non-continuity within the workspace. It will be presented a dynamic model derived from the interpretation of the hexapod movement to be comparable to these of the base-platform PKM machines, and said model will be validated through Matlab SimMechanicsTM physics simulation. A feed-back control system able to recognize leg-terrain touch and react accordingly to assure movement stability will then be developed. Finally results coming from an experimental campaign based of the PhantomX AX Metal Hexapod Mark II robotic platform by Trossen RoboticsTM is reported.

We study the temperature control problem for Langevin diffusions in the context of non-convex optimization. The classical optimal control of such a problem is of the bang-bang type, which is overly sensitive to errors. A remedy is to allow the diffusions to explore other temperature values and hence smooth out the bang-bang control. We accomplish this by a stochastic relaxed control formulation incorporating randomization of the temperature control and regularizing its entropy. We derive a state-dependent, truncated exponential distribution, which can be used to sample temperatures in a Langevin algorithm, in terms of the solution to an HJB partial differential equation. We carry out a numerical experiment on a one-dimensional baseline example, in which the HJB equation can be easily solved, to compare the performance of the algorithm with three other available algorithms in search of a global optimum.

We propose a new splitting method for strong numerical solution of the Cox-Ingersoll-Ross model. For this method, applied over both deterministic and adaptive random meshes, we prove a uniform moment bound and strong error results of order $1/4$ in $L_1$ and $L_2$ for the parameter regime $\kappa\theta>\sigma^2$. Our scheme does not fall into the class analyzed in Hefter & Herzwurm (2018) where convergence of maximum order $1/4$ of a novel class of Milstein-based methods over the full range of parameter values is shown. Hence we present a separate convergence analysis before we extend the new method to cover all parameter values by introducing a 'soft zero' region (where the deterministic flow determines the approximation) giving a hybrid type method to deal with the reflecting boundary. From numerical simulations we observe a rate of order $1$ when $\kappa\theta>\sigma^2$ rather than $1/4$. Asymptotically, for large noise, we observe that the rates of convergence decrease similarly to those of other schemes but that the proposed method displays smaller error constants. Our results also serve as supporting numerical evidence that the conjecture of Hefter & Jentzen (2019) holds true for methods with non-uniform Wiener increments.

This manuscript surveys reinforcement learning from the perspective of optimization and control with a focus on continuous control applications. It surveys the general formulation, terminology, and typical experimental implementations of reinforcement learning and reviews competing solution paradigms. In order to compare the relative merits of various techniques, this survey presents a case study of the Linear Quadratic Regulator (LQR) with unknown dynamics, perhaps the simplest and best studied problem in optimal control. The manuscript describes how merging techniques from learning theory and control can provide non-asymptotic characterizations of LQR performance and shows that these characterizations tend to match experimental behavior. In turn, when revisiting more complex applications, many of the observed phenomena in LQR persist. In particular, theory and experiment demonstrate the role and importance of models and the cost of generality in reinforcement learning algorithms. This survey concludes with a discussion of some of the challenges in designing learning systems that safely and reliably interact with complex and uncertain environments and how tools from reinforcement learning and controls might be combined to approach these challenges.

Although reinforcement learning methods can achieve impressive results in simulation, the real world presents two major challenges: generating samples is exceedingly expensive, and unexpected perturbations can cause proficient but narrowly-learned policies to fail at test time. In this work, we propose to learn how to quickly and effectively adapt online to new situations as well as to perturbations. To enable sample-efficient meta-learning, we consider learning online adaptation in the context of model-based reinforcement learning. Our approach trains a global model such that, when combined with recent data, the model can be be rapidly adapted to the local context. Our experiments demonstrate that our approach can enable simulated agents to adapt their behavior online to novel terrains, to a crippled leg, and in highly-dynamic environments.