4,202 research outputs found
Exploiting Structural Properties in the Analysis of High-dimensional Dynamical Systems
The physical and cyber domains with which we interact are filled with high-dimensional dynamical systems. In machine learning, for instance, the evolution of overparametrized neural networks can be seen as a dynamical system. In networked systems, numerous agents or nodes dynamically interact with each other. A deep understanding of these systems can enable us to predict their behavior, identify potential pitfalls, and devise effective solutions for optimal outcomes. In this dissertation, we will discuss two classes of high-dimensional dynamical systems with specific structural properties that aid in understanding their dynamic behavior.
In the first scenario, we consider the training dynamics of multi-layer neural networks. The high dimensionality comes from overparametrization: a typical network has a large depth and hidden layer width. We are interested in the following question regarding convergence: Do network weights converge to an equilibrium point corresponding to a global minimum of our training loss, and how fast is the convergence rate? The key to those questions is the symmetry of the weights, a critical property induced by the multi-layer architecture. Such symmetry leads to a set of time-invariant quantities, called weight imbalance, that restrict the training trajectory to a low-dimensional manifold defined by the weight initialization. A tailored convergence analysis is developed over this low-dimensional manifold, showing improved rate bounds for several multi-layer network models studied in the literature, leading to novel characterizations of the effect of weight imbalance on the convergence rate.
In the second scenario, we consider large-scale networked systems with multiple weakly-connected groups. Such a multi-cluster structure leads to a time-scale separation between the fast intra-group interaction due to high intra-group connectivity, and the slow inter-group oscillation, due to the weak inter-group connection. We develop a novel frequency-domain network coherence analysis that captures both the coherent behavior within each group, and the dynamical interaction between groups, leading to a structure-preserving model-reduction methodology for large-scale dynamic networks with multiple clusters under general node dynamics assumptions
Alʔilbīrī’s Book of the rational conclusions. Introduction, Critical Edition of the Arabic Text and Materials for the History of the Ḫawāṣṣic Genre in Early Andalus
[eng] The Book of the rational conclusions, written perhaps somewhen in the 10th c. by a physician from Ilbīrah (Andalus), is a multi-section medical pandect. The author brings together, from a diversity of sources, materials dealing with matters related to drug-handling, natural philosophy, therapeutics, medical applications of the specific properties of things, a regimen, and a dispensatory. This dissertation includes three different parts. First the transmission of the text, its contents, and its possible context are discussed. Then a critical edition of the Arabic text is offered. Last, but certainly not least, the subject of the specific properties is approached from several points of view. The analysis of Section III of the original book leads to an exploration of the early Andalusī assimilation of this epistemic tradition and to the establishment of a well-defined textual family in which our text must be inscribed. On the other hand, the concept itself of ‘specific property’ is often misconstrued and it is usually made synonymous to magic and superstition. Upon closer inspection, however, the alleged irrationality of the knowledge of these properties appears to be largely the result of anachronistic interpretation. As a complement of this particular research and as an illustration of the genre, a sample from an ongoing integral commentary on this section of the book is presented.[cat] El Llibre de les conclusions racionals d’un desconegut metge d’Ilbīrah (l’Àndalus) va ser compilat probablement durant la segona meitat del s. X. Es tracta d’un rudimentari però notablement complet kunnaix (un gènere epistèmic que és definit sovint com a ‘enciclopèdia mèdica’) en què l’autor aplega materials manllevats (sovint de manera literal i no-explícita) de diversos gèneres. El llibre obre amb una secció sobre apoteconomia (una mena de manual d’apotecaris) però se centra després en les diferents branques de la medicina. A continuació d’uns prolegòmens filosòfics l’autor copia, amb mínima adaptació lingüística, un tractat sencer de terapèutica, després un altre sobre les aplicacions mèdiques de les propietats específiques de les coses, una sèrie de fragments relacionats amb la dietètica (un règim en termes tradicionals) i, finalment, una col·lecció de receptes mèdiques. Cadascuna d’aquestes seccions mostren evidents lligams d’intertextualitat que apunten cap a una intensa activitat sintetitzadora de diverses tradicions aliades a la medicina a l’Àndalus califal. El text és, de fet, un magnífic objecte sobre el qual aplicar la metodologia de la crítica textual i de fonts. L’edició crítica del text incorpora la dimensió cronològica dins l’aparat, que esdevé així un element contextualitzador. Quant l’estudi de les fonts, si tot al llarg de la primera part d’aquesta tesi és només secundari, aquesta disciplina pren un protagonisme gairebé absolut en la tercera part, especialment en el capítol dedicat a l’anàlisi individual de cada passatge recollit en la secció sobre les propietats específiques de les coses
A deep learning-enhanced digital twin framework for improving safety and reliability in human-robot collaborative manufacturing
In Industry 5.0, Digital Twins bring in flexibility and efficiency for smart manufacturing. Recently, the success of artificial intelligence techniques such as deep learning has led to their adoption in manufacturing and especially in human–robot collaboration. Collaborative manufacturing tasks involving human operators and robots pose significant safety and reliability concerns. In response to these concerns, a deep learning-enhanced Digital Twin framework is introduced through which human operators and robots can be detected and their actions can be classified during the manufacturing process, enabling autonomous decision making by the robot control system. Developed using Unreal Engine 4, our Digital Twin framework complies with the Robotics Operating System specification, and supports synchronous control and communication between the Digital Twin and the physical system. In our framework, a fully-supervised detector based on a faster region-based convolutional neural network is firstly trained on synthetic data generated by the Digital Twin, and then tested on the physical system to demonstrate the effectiveness of the proposed Digital Twin-based framework. To ensure safety and reliability, a semi-supervised detector is further designed to bridge the gap between the twin system and the physical system, and improved performance is achieved by the semi-supervised detector compared to the fully-supervised detector that is simply trained on either synthetic data or real data. The evaluation of the framework in multiple scenarios in which human operators collaborate with a Universal Robot 10 shows that it can accurately detect the human and robot, and classify their actions under a variety of conditions. The data from this evaluation have been made publicly available, and can be widely used for research and operational purposes. Additionally, a semi-automated annotation tool from the Digital Twin framework is published to benefit the collaborative robotics community
Dataflow Programming and Acceleration of Computationally-Intensive Algorithms
The volume of unstructured textual information continues to grow due to recent technological advancements. This resulted in an exponential growth of information generated in various formats, including blogs, posts, social networking, and enterprise documents. Numerous Enterprise Architecture (EA) documents are also created daily, such as reports, contracts, agreements, frameworks, architecture requirements, designs, and operational guides. The processing and computation of this massive amount of unstructured information necessitate substantial computing capabilities and the implementation of new techniques. It is critical to manage this unstructured information through a centralized knowledge management platform. Knowledge management is the process of managing information within an organization. This involves creating, collecting, organizing, and storing information in a way that makes it easily accessible and usable. The research involved the development textual knowledge management system, and two use cases were considered for extracting textual knowledge from documents. The first case study focused on the safety-critical documents of a railway enterprise. Safety is of paramount importance in the railway industry. There are several EA documents including manuals, operational procedures, and technical guidelines that contain critical information. Digitalization of these documents is essential for analysing vast amounts of textual knowledge that exist in these documents to improve the safety and security of railway operations. A case study was conducted between the University of Huddersfield and the Railway Safety Standard Board (RSSB) to analyse EA safety documents using Natural language processing (NLP). A graphical user interface was developed that includes various document processing features such as semantic search, document mapping, text summarization, and visualization of key trends. For the second case study, open-source data was utilized, and textual knowledge was extracted. Several features were also developed, including kernel distribution, analysis offkey trends, and sentiment analysis of words (such as unique, positive, and negative) within the documents. Additionally, a heterogeneous framework was designed using CPU/GPU and FPGAs to analyse the computational performance of document mapping
UMSL Bulletin 2023-2024
The 2023-2024 Bulletin and Course Catalog for the University of Missouri St. Louis.https://irl.umsl.edu/bulletin/1088/thumbnail.jp
Unravelling the complex reproductive tactics of male humpback whales : an integrative analysis of paternity, age, testosterone, and genetic diversity
How the underlying forces of sexual selection impact reproductive tactics including elaborate acoustic displays in cetaceans remains poorly understood. Here, I combined 26 years (1995-2020) of photo-identification, behavioural, (epi)genetic, and endocrine data from an endangered population of humpback whales (New Caledonia), to explore male reproductive success, age, physiology, and population dynamics over almost a third of the lifespan of a humpback whale. First, I conducted a paternity analysis on 177 known mother-offspring pairs and confirmed previous findings of low variation in reproductive success in male humpback whales. Second, epigenetic age estimates of 485 males revealed a left-skewed population age structure in the first half of the study period that became more balanced in the second half. Further, older males (> 23 years) more often engaged in certain reproductive tactics (singing and escorting) and were more successful in siring offspring once the population age structure stabilised, suggesting reproductive tactics and reproductive success in male humpback whales may be age-dependent. Third, using enzyme immunoassays on 457 blubber samples, I observed a seasonal decline in male testosterone in the population over the breeding season. Testosterone levels appeared highest during puberty, then decreased and levelled off at the onset of maturity, yet were highly variable at any point during the breeding season and across males of all ages. Lastly, I investigated the influence of genetic diversity at the major histocompatibility complex (MHC) class I and class IIa (DQB and DRB-a) on patterns of male reproductive success in humpback whales. Mating pairs shared fewer alleles than expected under random mating at MHC class I and IIa, thus, providing evidence of an MHC-mediated female mate choice in humpback whales. This thesis provides novel, critical insights into the evolutionary consequences of commercial whaling on the demography, patterns of reproduction and sexual selection of exploited populations of baleen whales."This work was supported by a University of St Andrews School of Biology Ph.D. Scholarship and the Louis M. Herman Research Scholarship 2022 to Franca Eichenberger. Sample collection and analyses from 2018-2020 were supported by grants to Ellen C. Garland (Royal Society University Research Fellowship (UF160081 & URF\R\221020), Royal Society Research Fellows Enhancement Award (RGF\EA\180213), Royal Society Research Grants for Research Fellows 2018 (RGF\R1\181014), National Geographic Grant (#NGS-50654R-18), Carnegie Trust Research Incentive Grant (RIG007772), British Ecological Society Small Research Grant (SR18/1288) and School of Biology Research Committee funding)."--Fundin
A Deep Learning-enhanced Digital Twin Framework for Improving Safety and Reliability in Human-Robot Collaborative Manufacturing
In Industry 5.0, Digital Twins bring in flexibility and efficiency for smart manufacturing. Recently, the success of artificial intelligence techniques such as deep learning has led to their adoption in manufacturing and especially in human–robot collaboration. Collaborative manufacturing tasks involving human operators and robots pose significant safety and reliability concerns. In response to these concerns, a deep learning-enhanced Digital Twin framework is introduced through which human operators and robots can be detected and their actions can be classified during the manufacturing process, enabling autonomous decision making by the robot control system. Developed using Unreal Engine 4, our Digital Twin framework complies with the Robotics Operating System specification, and supports synchronous control and communication between the Digital Twin and the physical system. In our framework, a fully-supervised detector based on a faster region-based convolutional neural network is firstly trained on synthetic data generated by the Digital Twin, and then tested on the physical system to demonstrate the effectiveness of the proposed Digital Twin-based framework. To ensure safety and reliability, a semi-supervised detector is further designed to bridge the gap between the twin system and the physical system, and improved performance is achieved by the semi-supervised detector compared to the fully-supervised detector that is simply trained on either synthetic data or real data. The evaluation of the framework in multiple scenarios in which human operators collaborate with a Universal Robot 10 shows that it can accurately detect the human and robot, and classify their actions under a variety of conditions. The data from this evaluation have been made publicly available, and can be widely used for research and operational purposes. Additionally, a semi-automated annotation tool from the Digital Twin framework is published to benefit the collaborative robotics community
LIPIcs, Volume 251, ITCS 2023, Complete Volume
LIPIcs, Volume 251, ITCS 2023, Complete Volum
Federated Learning via Indirect Server-Client Communications
Federated Learning (FL) is a communication-efficient and privacy-preserving
distributed machine learning framework that has gained a significant amount of
research attention recently. Despite the different forms of FL algorithms
(e.g., synchronous FL, asynchronous FL) and the underlying optimization
methods, nearly all existing works implicitly assumed the existence of a
communication infrastructure that facilitates the direct communication between
the server and the clients for the model data exchange. This assumption,
however, does not hold in many real-world applications that can benefit from
distributed learning but lack a proper communication infrastructure (e.g.,
smart sensing in remote areas). In this paper, we propose a novel FL framework,
named FedEx (short for FL via Model Express Delivery), that utilizes mobile
transporters (e.g., Unmanned Aerial Vehicles) to establish indirect
communication channels between the server and the clients. Two algorithms,
called FedEx-Sync and FedEx-Async, are developed depending on whether the
transporters adopt a synchronized or an asynchronized schedule. Even though the
indirect communications introduce heterogeneous delays to clients for both the
global model dissemination and the local model collection, we prove the
convergence of both versions of FedEx. The convergence analysis subsequently
sheds lights on how to assign clients to different transporters and design the
routes among the clients. The performance of FedEx is evaluated through
experiments in a simulated network on two public datasets.Comment: 6 page
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