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Time-optimal control of a multi-rotor remains an open problem due to the under-actuation and nonlinearity of its dynamics, which make it difficult to solve this problem directly. In this paper, the time-optimal control problem of the multi-rotor is studied. Firstly, a thrust limit optimal decomposition method is proposed, which can reasonably decompose the limited thrust into three directions according to the current state and the target state. As a result, the thrust limit constraint is decomposed as a linear constraint. With the linear constraint and decoupled dynamics, a time-optimal guidance trajectory can be obtained. Then, a cost function is defined based on the time-optimal guidance trajectory, which has a quadratic form and can be used to evaluate the time-optimal performance of the system outputs. Finally, based on the cost function, the time-optimal control problem is reformulated as an MPC (Model Predictive Control) problem. The experimental results demonstrate the feasibility and validity of the proposed methods.

A novel and comprehensive methodology designed to tackle the challenges posed by extreme values in the context of random censorship is introduced. The main focus is on the analysis of integrals based on the product-limit estimator of normalized upper order statistics, called extreme Kaplan--Meier integrals. These integrals allow for the transparent derivation of various important asymptotic distributional properties, offering an alternative approach to conventional plug-in estimation methods. Notably, this methodology demonstrates robustness and wide applicability within the scope of max-domains of attraction. A noteworthy by-product is the extension of generalized Hill-type estimators of extremes to encompass all max-domains of attraction, which is of independent interest.

Contrastive dimension reduction methods have been developed for case-control study data to identify variation that is enriched in the foreground (case) data X relative to the background (control) data Y. Here, we develop contrastive regression for the setting when there is a response variable r associated with each foreground observation. This situation occurs frequently when, for example, the unaffected controls do not have a disease grade or intervention dosage but the affected cases have a disease grade or intervention dosage, as in autism severity, solid tumors stages, polyp sizes, or warfarin dosages. Our contrastive regression model captures shared low-dimensional variation between the predictors in the cases and control groups, and then explains the case-specific response variables through the variance that remains in the predictors after shared variation is removed. We show that, in one single-nucleus RNA sequencing dataset on autism severity in postmortem brain samples from donors with and without autism and in another single-cell RNA sequencing dataset on cellular differentiation in chronic rhinosinusitis with and without nasal polyps, our contrastive linear regression performs feature ranking and identifies biologically-informative predictors associated with response that cannot be identified using other approaches

Factor models are widely used in the analysis of high-dimensional data in several fields of research. Estimating a factor model, in particular its covariance matrix, from partially observed data vectors is very challenging. In this work, we show that when the data are structurally incomplete, the factor model likelihood function can be decomposed into the product of the likelihood functions of multiple partial factor models relative to different subsets of data. If these multiple partial factor models are linked together by common parameters, then we can obtain complete maximum likelihood estimates of the factor model parameters and thereby the full covariance matrix. We call this framework Linked Factor Analysis (LINFA). LINFA can be used for covariance matrix completion, dimension reduction, data completion, and graphical dependence structure recovery. We propose an efficient Expectation-Maximization algorithm for maximum likelihood estimation, accelerated by a novel group vertex tessellation (GVT) algorithm which identifies a minimal partition of the vertex set to implement an efficient optimization in the maximization steps. We illustrate our approach in an extensive simulation study and in the analysis of calcium imaging data collected from mouse visual cortex.

Far-field speech recognition is a challenging task that conventionally uses signal processing beamforming to attack noise and interference problem. But the performance has been found usually limited due to heavy reliance on environmental assumption. In this paper, we propose a unified multichannel far-field speech recognition system that combines the neural beamforming and transformer-based Listen, Spell, Attend (LAS) speech recognition system, which extends the end-to-end speech recognition system further to include speech enhancement. Such framework is then jointly trained to optimize the final objective of interest. Specifically, factored complex linear projection (fCLP) has been adopted to form the neural beamforming. Several pooling strategies to combine look directions are then compared in order to find the optimal approach. Moreover, information of the source direction is also integrated in the beamforming to explore the usefulness of source direction as a prior, which is usually available especially in multi-modality scenario. Experiments on different microphone array geometry are conducted to evaluate the robustness against spacing variance of microphone array. Large in-house databases are used to evaluate the effectiveness of the proposed framework and the proposed method achieve 19.26\% improvement when compared with a strong baseline.

Sequential optimization methods are often confronted with the curse of dimensionality in high-dimensional spaces. Current approaches under the Gaussian process framework are still burdened by the computational complexity of tracking Gaussian process posteriors and need to partition the optimization problem into small regions to ensure exploration or assume an underlying low-dimensional structure. With the idea of transiting the candidate points towards more promising positions, we propose a new method based on Markov Chain Monte Carlo to efficiently sample from an approximated posterior. We provide theoretical guarantees of its convergence in the Gaussian process Thompson sampling setting. We also show experimentally that both the Metropolis-Hastings and the Langevin Dynamics version of our algorithm outperform state-of-the-art methods in high-dimensional sequential optimization and reinforcement learning benchmarks.

The Levin method is a well-known technique for evaluating oscillatory integrals, which operates by solving a certain ordinary differential equation in order to construct an antiderivative of the integrand. It was long believed that this approach suffers from "low-frequency breakdown," meaning that the accuracy of the calculated value of the integral deteriorates when the integrand is only slowly oscillating. Recently presented experimental evidence, however, suggests that if a Chebyshev spectral method is used to discretize the differential equation and the resulting linear system is solved via a truncated singular value decomposition, then no low-frequency breakdown occurs. Here, we provide a proof that this is the case, and our proof applies not only when the integrand is slowly oscillating, but even in the case of stationary points. Our result puts adaptive schemes based on the Levin method on a firm theoretical foundation and accounts for their behavior in the presence of stationary points. We go on to point out that by combining an adaptive Levin scheme with phase function methods for ordinary differential equations, a large class of oscillatory integrals involving special functions, including products of such functions and the compositions of such functions with slowly-varying functions, can be easily evaluated without the need for symbolic computations. Finally, we present the results of numerical experiments which illustrate the consequences of our analysis and demonstrate the properties of the adaptive Levin method.

This paper describes a class of shape optimization problems for optical metamaterials comprised of periodic microscale inclusions composed of a dielectric, low-dimensional material suspended in a non-magnetic bulk dielectric. The shape optimization approach is based on a homogenization theory for time-harmonic Maxwell's equations that describes effective material parameters for the propagation of electromagnetic waves through the metamaterial. The control parameter of the optimization is a deformation field representing the deviation of the microscale geometry from a reference configuration of the cell problem. This allows for describing the homogenized effective permittivity tensor as a function of the deformation field. We show that the underlying deformed cell problem is well-posed and regular. This, in turn, proves that the shape optimization problem is well-posed. In addition, a numerical scheme is formulated that utilizes an adjoint formulation with either gradient descent or BFGS as optimization algorithms. The developed algorithm is tested numerically on a number of prototypical shape optimization problems with a prescribed effective permittivity tensor as the target.

When using resultants for elimination, one standard issue is that the resultant vanishes if the variety contains components of dimension larger than the expected dimension. J. Canny proposed an elegant construction, generalized characteristic polynomial, to address this issue by symbolically perturbing the system before the resultant computation. Such perturbed resultant would typically involve artefact components only loosely related to the geometry of the variety of interest. For removing these components, J.M. Rojas proposed to take the greatest common divisor of the results of two different perturbations. In this paper, we investigate this construction, and show that the extra components persistent under taking different perturbations must come either from singularities or from positive-dimensional fibers.

Deep neural networks (DNNs) have been found to be vulnerable to adversarial examples resulting from adding small-magnitude perturbations to inputs. Such adversarial examples can mislead DNNs to produce adversary-selected results. Different attack strategies have been proposed to generate adversarial examples, but how to produce them with high perceptual quality and more efficiently requires more research efforts. In this paper, we propose AdvGAN to generate adversarial examples with generative adversarial networks (GANs), which can learn and approximate the distribution of original instances. For AdvGAN, once the generator is trained, it can generate adversarial perturbations efficiently for any instance, so as to potentially accelerate adversarial training as defenses. We apply AdvGAN in both semi-whitebox and black-box attack settings. In semi-whitebox attacks, there is no need to access the original target model after the generator is trained, in contrast to traditional white-box attacks. In black-box attacks, we dynamically train a distilled model for the black-box model and optimize the generator accordingly. Adversarial examples generated by AdvGAN on different target models have high attack success rate under state-of-the-art defenses compared to other attacks. Our attack has placed the first with 92.76% accuracy on a public MNIST black-box attack challenge.