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We present a data-driven control architecture for modifying the kinematics of robots and artificial avatars to encode specific information such as the presence or not of an emotion in the movements of an avatar or robot driven by a human operator. We validate our approach on an experimental dataset obtained during the reach-to-grasp phase of a pick-and-place task.

This paper considers the finite element approximation to parabolic optimal control problems with measure data in a nonconvex polygonal domain. Such problems usually possess low regularity in the state variable due to the presence of measure data and the nonconvex nature of the domain. The low regularity of the solution allows the finite element approximations to converge at lower orders. We prove the existence, uniqueness and regularity results for the solution to the control problem satisfying the first order optimality condition. For our error analysis we have used piecewise linear elements for the approximation of the state and co-state variables, whereas piecewise constant functions are employed to approximate the control variable. The temporal discretization is based on the implicit Euler scheme. We derive both a priori and a posteriori error bounds for the state, control and co-state variables. Numerical experiments are performed to validate the theoretical rates of convergence.

The consistency of the maximum likelihood estimator for mixtures of elliptically-symmetric distributions for estimating its population version is shown, where the underlying distribution $P$ is nonparametric and does not necessarily belong to the class of mixtures on which the estimator is based. In a situation where $P$ is a mixture of well enough separated but nonparametric distributions it is shown that the components of the population version of the estimator correspond to the well separated components of $P$. This provides some theoretical justification for the use of such estimators for cluster analysis in case that $P$ has well separated subpopulations even if these subpopulations differ from what the mixture model assumes.

This article is concerned with the multilevel Monte Carlo (MLMC) methods for approximating expectations of some functions of the solution to the Heston 3/2-model from mathematical finance, which takes values in $(0, \infty)$ and possesses superlinearly growing drift and diffusion coefficients. To discretize the SDE model, a new Milstein-type scheme is proposed to produce independent sample paths. The proposed scheme can be explicitly solved and is positivity-preserving unconditionally, i.e., for any time step-size $h>0$. This positivity-preserving property for large discretization time steps is particularly desirable in the MLMC setting. Furthermore, a mean-square convergence rate of order one is proved in the non-globally Lipschitz regime, which is not trivial, as the diffusion coefficient grows super-linearly. The obtained order-one convergence in turn promises the desired relevant variance of the multilevel estimator and justifies the optimal complexity $\mathcal{O}(\epsilon^{-2})$ for the MLMC approach, where $\epsilon > 0$ is the required target accuracy. Numerical experiments are finally reported to confirm the theoretical findings.

This work considers the nodal finite element approximation of peridynamics, in which the nodal displacements satisfy the peridynamics equation at each mesh node. For the nonlinear bond-based peridynamics model, it is shown that, under the suitable assumptions on an exact solution, the discretized solution associated with the central-in-time and nodal finite element discretization converges to the exact solution in $L^2$ norm at the rate $C_1 \Delta t + C_2 h^2/\epsilon^2$. Here, $\Delta t$, $h$, and $\epsilon$ are time step size, mesh size, and the size of the horizon or nonlocal length scale, respectively. Constants $C_1$ and $C_2$ are independent of $h$ and $\Delta t$ and depend on the norms of the exact solution. Several numerical examples involving pre-crack, void, and notch are considered, and the efficacy of the proposed nodal finite element discretization is analyzed.

We define an asymptotically normal wavelet-based strongly consistent estimator for the Hurst parameter of any Hermite processes. This estimator is obtained by considering a modified wavelet variation in which coefficients are wisely chosen to be, up to negligeable remainders, independent. We use Stein-Malliavin calculus to prove that this wavelet variation satisfies a multidimensional Central Limit Theorem, with an explicit bound for the Wasserstein distance.

We consider the numerical computation of resonances for metallic grating structures with dispersive media and small slit holes. The underlying eigenvalue problem is nonlinear and the mathematical model is multiscale due to the existence of several length scales in problem geometry and material contrast. We discretize the partial differential equation model over the truncated domain using the finite element method and develop a multi-step contour integral eigensolver to compute the resonances. The eigensolver first locates eigenvalues using a spectral indicator and then computes eigenvalues by a subspace projection scheme. The proposed numerical method is robust and scalable, and does not require initial guess as the iteration methods. Numerical examples are presented to demonstrate its effectiveness.

In this study, the impact of turbulent diffusion on mixing of biochemical reaction models is explored by implementing and validating different models. An original codebase called CHAD (Coupled Hydrodynamics and Anaerobic Digestion) is extended to incorporate turbulent diffusion and validate it against results from OpenFOAM with 2D Rayleigh-Taylor Instability and lid-driven cavity simulations. The models are then tested for the applications with Anaerobic Digestion - a widely used wastewater treatment method. The findings demonstrate that the implemented models accurately capture turbulent diffusion when provided with an accurate flow field. Specifically, a minor effect of chemical turbulent diffusion on biochemical reactions within the anaerobic digestion tank is observed, while thermal turbulent diffusion significantly influences mixing. By successfully implementing turbulent diffusion models in CHAD, its capabilities for more accurate anaerobic digestion simulations are enhanced, aiding in optimizing the design and operation of anaerobic digestion reactors in real-world wastewater treatment applications.

One of the main challenges for interpreting black-box models is the ability to uniquely decompose square-integrable functions of non-independent random inputs into a sum of functions of every possible subset of variables. However, dealing with dependencies among inputs can be complicated. We propose a novel framework to study this problem, linking three domains of mathematics: probability theory, functional analysis, and combinatorics. We show that, under two reasonable assumptions on the inputs (non-perfect functional dependence and non-degenerate stochastic dependence), it is always possible to decompose such a function uniquely. This generalizes the well-known Hoeffding decomposition. The elements of this decomposition can be expressed using oblique projections and allow for novel interpretability indices for evaluation and variance decomposition purposes. The properties of these novel indices are studied and discussed. This generalization offers a path towards a more precise uncertainty quantification, which can benefit sensitivity analysis and interpretability studies whenever the inputs are dependent. This decomposition is illustrated analytically, and the challenges for adopting these results in practice are discussed.