Bio-inspired cooperative exploration of noisy scalar fields

A fundamental problem in mobile robotics is the exploration of unknown fields that might be inaccessible or hostile to humans. Exploration missions of great importance include geological survey, disaster prediction and recovery, and search and rescue. For missions in relatively large regions, mobile sensor networks (MSN) are ideal candidates. The basic idea of MSN is that mobile robots form a sensor network that collects information, meanwhile, the behaviors of the mobile robots adapt to changes in the environment. To design feasible motion patterns and control of MSN, we draw inspiration from biology, where animal groups demonstrate amazingly complex but adaptive collective behaviors to changing environments. The main contributions of this thesis include platform independent mathematical models for the coupled motion-sensing dynamics of MSN and biologically-inspired provably convergent cooperative control and filtering algorithms for MSN exploring unknown scalar fields in both 2D and 3D spaces. We introduce a novel model of behaviors of mobile agents that leads to fundamental theoretical results for evaluating the feasibility and difficulty of exploring a field using MSN. Under this framework, we propose and implement source seeking algorithms using MSN inspired by behaviors of fish schools. To balance the cost and performance in exploration tasks, a switching strategy, which allows the mobile sensing agents to switch between individual and cooperative exploration, is developed. Compared to fixed strategies, the switching strategy brings in more flexibility in engineering design. To reveal the geometry of 3D spaces, we propose a control and sensing co-design for MSN to detect and track a line of curvature on a desired level surface.Ph.D

On the Identifiability of Nonlinear ICA: Sparsity and Beyond

Nonlinear independent component analysis (ICA) aims to recover the underlying independent latent sources from their observable nonlinear mixtures. How to make the nonlinear ICA model identifiable up to certain trivial indeterminacies is a long-standing problem in unsupervised learning. Recent breakthroughs reformulate the standard independence assumption of sources as conditional independence given some auxiliary variables (e.g., class labels and/or domain/time indexes) as weak supervision or inductive bias. However, nonlinear ICA with unconditional priors cannot benefit from such developments. We explore an alternative path and consider only assumptions on the mixing process, such as Structural Sparsity. We show that under specific instantiations of such constraints, the independent latent sources can be identified from their nonlinear mixtures up to a permutation and a component-wise transformation, thus achieving nontrivial identifiability of nonlinear ICA without auxiliary variables. We provide estimation methods and validate the theoretical results experimentally. The results on image data suggest that our conditions may hold in a number of practical data generating processes.Comment: NeurIPS 202

Exploring Low-Dimensional Structures in Images Using Deep Fourier Machines

The ground-breaking results achieved by Deep Generative Models, when given merely a dataset representing the desired distribution of generated images have caught the interest of scholars. In this work, we introduce a novel structure designed for image generation utilizing the idea behind Fourier Series and Deep Learning function composition. By composing low-dimensional structures, we will first compress a high-dimensional image, and then we will use this latent space to generate fake images. Our compression algorithm gives comparable results to the JPEG algorithm and even, in some cases, outperforms it. Also, our image generation model can generate decent fake images on MNIST and CIFAR-10 datasets and can surpass the first generation of Variational Autoencoders

Reality in Perspectives

This dissertation is about human knowledge of reality. In particular, it argues that scientific knowledge is bounded by historically available instruments and theories; nevertheless, the use of several independent instruments and theories can provide access to the persistent potentialities of reality. The replicability of scientific observations and experiments allows us to obtain explorable evidence of robust entities and properties. The dissertation includes seven chapters. It also studies three cases – namely, Higgs bosons and hypothetical Ϝ-particles (section 2.4), the Ptolemaic and Kepler model of the planets (section 6.7), and the special theory of relativity (chapter 7). Chapter 1 is the introduction of the dissertation. Chapter 2 clarifies the notion of the real on the basis of two concepts: persistence and resistance. These concepts enable me to explain my ontological belief in the real potentialities of human-independent things and the implications of this view for the perceptual and epistemological levels of discussion. On the basis of the concept of “overlapping perspectives”, chapter 3 argues that entity realism and perspectivism are complementary. That is, an entity that manifests itself through several experimental/observational methods is something real, but our knowledge of its nature is perspectival. Critically studying the recent views of entity realism, chapter 4 extends the discussion of entity realism and provides a criterion for the reality of property tokens. Chapter 5, in contrast, develops the perspectival aspects of my view on the basis of the phenomenological-hermeneutical approaches to the philosophy of science. This chapter also elaborates my view of empirical evidence, as briefly expressed in sections 2.5 and 4.5. Chapter 6 concerns diachronic theoretical perspectives. It first explains my view of progress, according to which current perspectives are broader than past ones. Second, it argues that the successful explanations and predictions of abandoned theories can be accounted for from our currently acceptable perspectives. The case study of Ptolemaic astronomy supports the argument of this chapter. Chapter 7 serves as the conclusion of the dissertation by applying the central themes of the previous chapters to the case study of special relativity theory. I interpret frame-dependent properties, such as length and time duration, and the constancy of the speed of light according to realist perspectivism

Musical Haptics

Haptic Musical Instruments; Haptic Psychophysics; Interface Design and Evaluation; User Experience; Musical Performanc

Game-Theoretic Safety Assurance for Human-Centered Robotic Systems

In order for autonomous systems like robots, drones, and self-driving cars to be reliably introduced into our society, they must have the ability to actively account for safety during their operation. While safety analysis has traditionally been conducted offline for controlled environments like cages on factory floors, the much higher complexity of open, human-populated spaces like our homes, cities, and roads makes it unviable to rely on common design-time assumptions, since these may be violated once the system is deployed. Instead, the next generation of robotic technologies will need to reason about safety online, constructing high-confidence assurances informed by ongoing observations of the environment and other agents, in spite of models of them being necessarily fallible.This dissertation aims to lay down the necessary foundations to enable autonomous systems to ensure their own safety in complex, changing, and uncertain environments, by explicitly reasoning about the gap between their models and the real world. It first introduces a suite of novel robust optimal control formulations and algorithmic tools that permit tractable safety analysis in time-varying, multi-agent systems, as well as safe real-time robotic navigation in partially unknown environments; these approaches are demonstrated on large-scale unmanned air traffic simulation and physical quadrotor platforms. After this, it draws on Bayesian machine learning methods to translate model-based guarantees into high-confidence assurances, monitoring the reliability of predictive models in light of changing evidence about the physical system and surrounding agents. This principle is first applied to a general safety framework allowing the use of learning-based control (e.g. reinforcement learning) for safety-critical robotic systems such as drones, and then combined with insights from cognitive science and dynamic game theory to enable safe human-centered navigation and interaction; these techniques are showcased on physical quadrotors—flying in unmodeled wind and among human pedestrians—and simulated highway driving. The dissertation ends with a discussion of challenges and opportunities ahead, including the bridging of safety analysis and reinforcement learning and the need to ``close the loop'' around learning and adaptation in order to deploy increasingly advanced autonomous systems with confidence

Musical Haptics

Haptic Musical Instruments; Haptic Psychophysics; Interface Design and Evaluation; User Experience; Musical Performanc

Musical Haptics

This Open Access book offers an original interdisciplinary overview of the role of haptic feedback in musical interaction. Divided into two parts, part I examines the tactile aspects of music performance and perception, discussing how they affect user experience and performance in terms of usability, functionality and perceived quality of musical instruments. Part II presents engineering, computational, and design approaches and guidelines that have been applied to render and exploit haptic feedback in digital musical interfaces. Musical Haptics introduces an emerging field that brings together engineering, human-computer interaction, applied psychology, musical aesthetics, and music performance. The latter, defined as the complex system of sensory-motor interactions between musicians and their instruments, presents a well-defined framework in which to study basic psychophysical, perceptual, and biomechanical aspects of touch, all of which will inform the design of haptic musical interfaces. Tactile and proprioceptive cues enable embodied interaction and inform sophisticated control strategies that allow skilled musicians to achieve high performance and expressivity. The use of haptic feedback in digital musical interfaces is expected to enhance user experience and performance, improve accessibility for disabled persons, and provide an effective means for musical tuition and guidance

Proceedings of the 7th Sound and Music Computing Conference

Proceedings of the SMC2010 - 7th Sound and Music Computing Conference, July 21st - July 24th 2010