16,260 research outputs found

    Scaling up integrated photonic reservoirs towards low-power high-bandwidth computing

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    Towards Autonomous Selective Harvesting: A Review of Robot Perception, Robot Design, Motion Planning and Control

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    This paper provides an overview of the current state-of-the-art in selective harvesting robots (SHRs) and their potential for addressing the challenges of global food production. SHRs have the potential to increase productivity, reduce labour costs, and minimise food waste by selectively harvesting only ripe fruits and vegetables. The paper discusses the main components of SHRs, including perception, grasping, cutting, motion planning, and control. It also highlights the challenges in developing SHR technologies, particularly in the areas of robot design, motion planning and control. The paper also discusses the potential benefits of integrating AI and soft robots and data-driven methods to enhance the performance and robustness of SHR systems. Finally, the paper identifies several open research questions in the field and highlights the need for further research and development efforts to advance SHR technologies to meet the challenges of global food production. Overall, this paper provides a starting point for researchers and practitioners interested in developing SHRs and highlights the need for more research in this field.Comment: Preprint: to be appeared in Journal of Field Robotic

    Fast Charging of Lithium-Ion Batteries Using Deep Bayesian Optimization with Recurrent Neural Network

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    Fast charging has attracted increasing attention from the battery community for electrical vehicles (EVs) to alleviate range anxiety and reduce charging time for EVs. However, inappropriate charging strategies would cause severe degradation of batteries or even hazardous accidents. To optimize fast-charging strategies under various constraints, particularly safety limits, we propose a novel deep Bayesian optimization (BO) approach that utilizes Bayesian recurrent neural network (BRNN) as the surrogate model, given its capability in handling sequential data. In addition, a combined acquisition function of expected improvement (EI) and upper confidence bound (UCB) is developed to better balance the exploitation and exploration. The effectiveness of the proposed approach is demonstrated on the PETLION, a porous electrode theory-based battery simulator. Our method is also compared with the state-of-the-art BO methods that use Gaussian process (GP) and non-recurrent network as surrogate models. The results verify the superior performance of the proposed fast charging approaches, which mainly results from that: (i) the BRNN-based surrogate model provides a more precise prediction of battery lifetime than that based on GP or non-recurrent network; and (ii) the combined acquisition function outperforms traditional EI or UCB criteria in exploring the optimal charging protocol that maintains the longest battery lifetime

    Adaptive measurement filter: efficient strategy for optimal estimation of quantum Markov chains

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    Continuous-time measurements are instrumental for a multitude of tasks in quantum engineering and quantum control, including the estimation of dynamical parameters of open quantum systems monitored through the environment. However, such measurements do not extract the maximum amount of information available in the output state, so finding alternative optimal measurement strategies is a major open problem. In this paper we solve this problem in the setting of discrete-time input-output quantum Markov chains. We present an efficient algorithm for optimal estimation of one-dimensional dynamical parameters which consists of an iterative procedure for updating a `measurement filter' operator and determining successive measurement bases for the output units. A key ingredient of the scheme is the use of a coherent quantum absorber as a way to post-process the output after the interaction with the system. This is designed adaptively such that the joint system and absorber stationary state is pure at a reference parameter value. The scheme offers an exciting prospect for optimal continuous-time adaptive measurements, but more work is needed to find realistic practical implementations.Comment: 25 pages 7 figure

    Full trajectory optimizing operator inference for reduced-order modeling using differentiable programming

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    Accurate and inexpensive Reduced Order Models (ROMs) for forecasting turbulent flows can facilitate rapid design iterations and thus prove critical for predictive control in engineering problems. Galerkin projection based Reduced Order Models (GP-ROMs), derived by projecting the Navier-Stokes equations on a truncated Proper Orthogonal Decomposition (POD) basis, are popular because of their low computational costs and theoretical foundations. However, the accuracy of traditional GP-ROMs degrades over long time prediction horizons. To address this issue, we extend the recently proposed Neural Galerkin Projection (NeuralGP) data driven framework to compressibility-dominated transonic flow, considering a prototypical problem of a buffeting NACA0012 airfoil governed by the full Navier-Stokes equations. The algorithm maintains the form of the ROM-ODE obtained from the Galerkin projection; however coefficients are learned directly from the data using gradient descent facilitated by differentiable programming. This blends the strengths of the physics driven GP-ROM and purely data driven neural network-based techniques, resulting in a computationally cheaper model that is easier to interpret. We show that the NeuralGP method minimizes a more rigorous full trajectory error norm compared to a linearized error definition optimized by the calibration procedure. We also find that while both procedures stabilize the ROM by displacing the eigenvalues of the linear dynamics matrix of the ROM-ODE to the complex left half-plane, the NeuralGP algorithm adds more dissipation to the trailing POD modes resulting in its better long-term performance. The results presented highlight the superior accuracy of the NeuralGP technique compared to the traditional calibrated GP-ROM method

    Vegetation responses to variations in climate: A combined ordinary differential equation and sequential Monte Carlo estimation approach

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    Vegetation responses to variation in climate are a current research priority in the context of accelerated shifts generated by climate change. However, the interactions between environmental and biological factors still represent one of the largest uncertainties in projections of future scenarios, since the relationship between drivers and ecosystem responses has a complex and nonlinear nature. We aimed to develop a model to study the vegetation’s primary productivity dynamic response to temporal variations in climatic conditions as measured by rainfall, temperature and radiation. Thus, we propose a new way to estimate the vegetation response to climate via a non-autonomous version of a classical growth curve, with a time-varying growth rate and carrying capacity parameters according to climate variables. With a Sequential Monte Carlo Estimation to account for complexities in the climate-vegetation relationship to minimize the number of parameters. The model was applied to six key sites identified in a previous study, consisting of different arid and semiarid rangelands from North Patagonia, Argentina. For each site, we selected the time series of MODIS NDVI, and climate data from ERA5 Copernicus hourly reanalysis from 2000 to 2021. After calculating the time series of the a posteriori distribution of parameters, we analyzed the explained capacity of the model in terms of the linear coefficient of determination and the parameters distribution variation. Results showed that most rangelands recorded changes in their sensitivity over time to climatic factors, but vegetation responses were heterogeneous and influenced by different drivers. Differences in this climate-vegetation relationship were recorded among different cases: (1) a marginal and decreasing sensitivity to temperature and radiation, respectively, but a high sensitivity to water availability; (2) high and increasing sensitivity to temperature and water availability, respectively; and (3) a case with an abrupt shift in vegetation dynamics driven by a progressively decreasing sensitivity to water availability, without any changes in the sensitivity either to temperature or radiation. Finally, we also found that the time scale, in which the ecosystem integrated the rainfall phenomenon in terms of the width of the window function used to convolve the rainfall series into a water availability variable, was also variable in time. This approach allows us to estimate the connection degree between ecosystem productivity and climatic variables. The capacity of the model to identify changes over time in the vegetation-climate relationship might inform decision-makers about ecological transitions and the differential impact of climatic drivers on ecosystems.Estación Experimental Agropecuaria BarilocheFil: Bruzzone, Octavio Augusto. Instituto Nacional de Tecnología Agropecuaria (INTA). Estación Experimental Agropecuaria Bariloche; ArgentinaFil: Bruzzone, Octavio Augusto. Consejo Nacional de Investigaciones Cientificas y Tecnicas. Instituto de Investigaciones Forestales y Agropecuarias Bariloche; ArgentinaFil: Perri, Daiana Vanesa. Instituto Nacional de Tecnologia Agropecuaria (INTA). Estación Experimental Agropecuaria Bariloche. Área de Recursos Naturales; ArgentinaFil: Perri, Daiana Vanesa. Consejo Nacional de Investigaciones Cientificas y Tecnicas. Instituto de Investigaciones Forestales y Agropecuarias Bariloche; ArgentinaFil: Easdale, Marcos Horacio. Instituto Nacional de Tecnologia Agropecuaria (INTA). Estación Experimental Agropecuaria Bariloche. Área de Recursos Naturales; ArgentinaFil: Easdale, Marcos Horacio. Consejo Nacional de Investigaciones Cientificas y Tecnicas. Instituto de Investigaciones Forestales y Agropecuarias Bariloche; Argentin

    Cumulant expansion framework for internal gradient distributions tensors

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    Magnetic resonance imaging is a powerful, non invasive tool for medical diagnosis. The low sensitivity for detecting the nuclear spin signals, typically limits the image resolution to several tens of micrometers in preclinical systems and millimeters in clinical scanners. Other sources of information, derived from diffusion processes of intrinsic molecules as water in the tissues, allow getting morphological information at micrometric and submicrometric scales as potential biomarkers of several pathologies. Here we consider extracting this morphological information by probing the distribution of internal magnetic field gradients induced by the heterogeneous magnetic susceptibility of the medium. We use a cumulant expansion to derive the dephasing on the spin signal induced by the molecules that explore these internal gradients while diffuse. Based on the cumulant expansion, we define internal gradient distributions tensors (IGDT) and propose modulating gradient spin echo sequences to probe them. These IGDT contain microstructural morphological information that characterize porous media and biological tissues. We evaluate the IGDT effects on the magnetization decay with typical conditions of brain tissue and show their effects can be experimentally observed. Our results thus provide a framework for exploiting IGDT as quantitative diagnostic tools

    Dynamic Subspace Estimation with Grassmannian Geodesics

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    Dynamic subspace estimation, or subspace tracking, is a fundamental problem in statistical signal processing and machine learning. This paper considers a geodesic model for time-varying subspaces. The natural objective function for this model is non-convex. We propose a novel algorithm for minimizing this objective and estimating the parameters of the model from data with Grassmannian-constrained optimization. We show that with this algorithm, the objective is monotonically non-increasing. We demonstrate the performance of this model and our algorithm on synthetic data, video data, and dynamic fMRI data

    A variational Bayesian inference technique for model updating of structural systems with unknown noise statistics

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    Dynamic models of structural and mechanical systems can be updated to match the measured data through a Bayesian inference process. However, the performance of classical (non-adaptive) Bayesian model updating approaches decreases significantly when the pre-assumed statistical characteristics of the model prediction error are violated. To overcome this issue, this paper presents an adaptive recursive variational Bayesian approach to estimate the statistical characteristics of the prediction error jointly with the unknown model parameters. This approach improves the accuracy and robustness of model updating by including the estimation of model prediction error. The performance of this approach is demonstrated using numerically simulated data obtained from a structural frame with material non-linearity under earthquake excitation. Results show that in the presence of non-stationary noise/error, the non-adaptive approach fails to estimate unknown model parameters, whereas the proposed approach can accurately estimate them
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