Detection of synchronization from univariate data using wavelet transform

A method is proposed for detecting from univariate data the presence of synchronization of a self-sustained oscillator by external driving with varying frequency. The method is based on the analysis of difference between the oscillator instantaneous phases calculated using continuous wavelet transform at time moments shifted by a certain constant value relative to each other. We apply our method to a driven asymmetric van der Pol oscillator, experimental data from a driven electronic oscillator with delayed feedback and human heartbeat time series. In the latest case, the analysis of the heart rate variability data reveals synchronous regimes between the respiration and slow oscillations in blood pressure.Comment: 10 pages, 9 figure

On the viscous Cahn-Hilliard equation with singular potential and inertial term

We consider a relaxation of the viscous Cahn-Hilliard equation induced by the second-order inertial term~$u_{tt}$. The equation also contains a semilinear term $f(u)$ of "singular" type. Namely, the function $f$ is defined only on a bounded interval of ${\mathbb R}$ corresponding to the physically admissible values of the unknown $u$, and diverges as $u$ approaches the extrema of that interval. In view of its interaction with the inertial term $u_{tt}$, the term $f(u)$ is difficult to be treated mathematically. Based on an approach originally devised for the strongly damped wave equation, we propose a suitable concept of weak solution based on duality methods and prove an existence result.Comment: 11 page

Attention and Anticipation in Fast Visual-Inertial Navigation

We study a Visual-Inertial Navigation (VIN) problem in which a robot needs to estimate its state using an on-board camera and an inertial sensor, without any prior knowledge of the external environment. We consider the case in which the robot can allocate limited resources to VIN, due to tight computational constraints. Therefore, we answer the following question: under limited resources, what are the most relevant visual cues to maximize the performance of visual-inertial navigation? Our approach has four key ingredients. First, it is task-driven, in that the selection of the visual cues is guided by a metric quantifying the VIN performance. Second, it exploits the notion of anticipation, since it uses a simplified model for forward-simulation of robot dynamics, predicting the utility of a set of visual cues over a future time horizon. Third, it is efficient and easy to implement, since it leads to a greedy algorithm for the selection of the most relevant visual cues. Fourth, it provides formal performance guarantees: we leverage submodularity to prove that the greedy selection cannot be far from the optimal (combinatorial) selection. Simulations and real experiments on agile drones show that our approach ensures state-of-the-art VIN performance while maintaining a lean processing time. In the easy scenarios, our approach outperforms appearance-based feature selection in terms of localization errors. In the most challenging scenarios, it enables accurate visual-inertial navigation while appearance-based feature selection fails to track robot's motion during aggressive maneuvers.Comment: 20 pages, 7 figures, 2 table

A Continuous-Time Perspective on Optimal Methods for Monotone Equation Problems

We study \textit{rescaled gradient dynamical systems} in a Hilbert space $\mathcal{H}$, where implicit discretization in a finite-dimensional Euclidean space leads to high-order methods for solving monotone equations (MEs). Our framework can be interpreted as a natural generalization of celebrated dual extrapolation method~\citep{Nesterov-2007-Dual} from first order to high order via appeal to the regularization toolbox of optimization theory~\citep{Nesterov-2021-Implementable, Nesterov-2021-Inexact}. More specifically, we establish the existence and uniqueness of a global solution and analyze the convergence properties of solution trajectories. We also present discrete-time counterparts of our high-order continuous-time methods, and we show that the $p^{th}$-order method achieves an ergodic rate of $O(k^{-(p+1)/2})$ in terms of a restricted merit function and a pointwise rate of $O(k^{-p/2})$ in terms of a residue function. Under regularity conditions, the restarted version of $p^{th}$-order methods achieves local convergence with the order $p \geq 2$. Notably, our methods are \textit{optimal} since they have matched the lower bound established for solving the monotone equation problems under a standard linear span assumption~\citep{Lin-2022-Perseus}.Comment: 35 Pages; Add the reference with lower bound constructio