18,797 research outputs found

    ENABLING EFFICIENT FLEET COMPOSITION SELECTION THROUGH THE DEVELOPMENT OF A RANK HEURISTIC FOR A BRANCH AND BOUND METHOD

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    In the foreseeable future, autonomous mobile robots (AMRs) will become a key enabler for increasing productivity and flexibility in material handling in warehousing facilities, distribution centers and manufacturing systems. The objective of this research is to develop and validate parametric models of AMRs, develop ranking heuristic using a physics-based algorithm within the framework of the Branch and Bound method, integrate the ranking algorithm into a Fleet Composition Optimization (FCO) tool, and finally conduct simulations under various scenarios to verify the suitability and robustness of the developed tool in a factory equipped with AMRs. Kinematic-based equations are used for computing both energy and time consumption. Multivariate linear regression, a data-driven method, is used for designing the ranking heuristic. The results indicate that the unique physical structures and parameters of each robot are the main factors contributing to differences in energy and time consumption. improvement on reducing computation time was achieved by comparing heuristic-based search and non-heuristic-based search. This research is expected to significantly improve the current nested fleet composition optimization tool by reducing computation time without sacrificing optimality. From a practical perspective, greater efficiency in reducing energy and time costs can be achieved.Ford Motor CompanyNo embargoAcademic Major: Aerospace Engineerin

    Reinforcement Learning-based User-centric Handover Decision-making in 5G Vehicular Networks

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    The advancement of 5G technologies and Vehicular Networks open a new paradigm for Intelligent Transportation Systems (ITS) in safety and infotainment services in urban and highway scenarios. Connected vehicles are vital for enabling massive data sharing and supporting such services. Consequently, a stable connection is compulsory to transmit data across the network successfully. The new 5G technology introduces more bandwidth, stability, and reliability, but it faces a low communication range, suffering from more frequent handovers and connection drops. The shift from the base station-centric view to the user-centric view helps to cope with the smaller communication range and ultra-density of 5G networks. In this thesis, we propose a series of strategies to improve connection stability through efficient handover decision-making. First, a modified probabilistic approach, M-FiVH, aimed at reducing 5G handovers and enhancing network stability. Later, an adaptive learning approach employed Connectivity-oriented SARSA Reinforcement Learning (CO-SRL) for user-centric Virtual Cell (VC) management to enable efficient handover (HO) decisions. Following that, a user-centric Factor-distinct SARSA Reinforcement Learning (FD-SRL) approach combines time series data-oriented LSTM and adaptive SRL for VC and HO management by considering both historical and real-time data. The random direction of vehicular movement, high mobility, network load, uncertain road traffic situation, and signal strength from cellular transmission towers vary from time to time and cannot always be predicted. Our proposed approaches maintain stable connections by reducing the number of HOs by selecting the appropriate size of VCs and HO management. A series of improvements demonstrated through realistic simulations showed that M-FiVH, CO-SRL, and FD-SRL were successful in reducing the number of HOs and the average cumulative HO time. We provide an analysis and comparison of several approaches and demonstrate our proposed approaches perform better in terms of network connectivity

    Global Convergence of SGD On Two Layer Neural Nets

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    In this note we demonstrate provable convergence of SGD to the global minima of appropriately regularized ℓ2−\ell_2-empirical risk of depth 22 nets -- for arbitrary data and with any number of gates, if they are using adequately smooth and bounded activations like sigmoid and tanh. We build on the results in [1] and leverage a constant amount of Frobenius norm regularization on the weights, along with sampling of the initial weights from an appropriate distribution. We also give a continuous time SGD convergence result that also applies to smooth unbounded activations like SoftPlus. Our key idea is to show the existence loss functions on constant sized neural nets which are "Villani Functions". [1] Bin Shi, Weijie J. Su, and Michael I. Jordan. On learning rates and schr\"odinger operators, 2020. arXiv:2004.06977Comment: 23 pages, 6 figures. Extended abstract accepted at DeepMath 2022. v2 update: New experiments added in Section 3.2 to study the effect of the regularization value. Statement of Theorem 3.4 about SoftPlus nets has been improve

    Transport Densities and Congested Optimal Transport in the Heisenberg Group

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    We adapt the problem of continuous congested optimal transport to the Heisenberg group with a sub-riemannian metric: we restrict the set of admissible paths to the absolutely continuous curves which are also horizontal. We get the existence of equilibrium configurations, known as Wardrop Equilibria, through the minimization of a convex functional over a suitable set of measures. To prove existence of such minima, that turn out to be equilibria, we prove the existence of summable transport densities. Moreover, such equilibria induces transport plans that solve a Monge-Kantorovic problem associated with a cost function, depending on the congestion itself, which we rigorously define

    Safe Zeroth-Order Optimization Using Quadratic Local Approximations

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    This paper addresses black-box smooth optimization problems, where the objective and constraint functions are not explicitly known but can be queried. The main goal of this work is to generate a sequence of feasible points converging towards a KKT primal-dual pair. Assuming to have prior knowledge on the smoothness of the unknown objective and constraints, we propose a novel zeroth-order method that iteratively computes quadratic approximations of the constraint functions, constructs local feasible sets and optimizes over them. Under some mild assumptions, we prove that this method returns an η\eta-KKT pair (a property reflecting how close a primal-dual pair is to the exact KKT condition) within O(1/η2)O({1}/{\eta^{2}}) iterations. Moreover, we numerically show that our method can achieve faster convergence compared with some state-of-the-art zeroth-order approaches. The effectiveness of the proposed approach is also illustrated by applying it to nonconvex optimization problems in optimal control and power system operation.Comment: arXiv admin note: text overlap with arXiv:2211.0264

    Metagenomic assessment of nitrate-contaminated mine wastewaters and optimization of complete denitrification by indigenous enriched bacteria

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    Nitrate contamination in water remains to be on the rise globally due to continuous anthropogenic activities, such as mining and farming, which utilize high amounts of ammonium nitrate explosives and chemical-NPK-fertilizers, respectively. This study presents insights into the development of a bioremediation strategy to remove nitrates (NO3−) using consortia enriched from wastewater collected from a diamond mine in Lesotho and a platinum mine in South Africa. A biogeochemical analysis was conducted on the water samples which aided in comparing and elucidating their unique physicochemical parameters. The chemical analysis uncovered that both wastewater samples contained over 120 mg/L of NO3− and over 250 mg/L of sulfates (SO42-), which were both beyond the acceptable limit of the environmental surface water standards of South Africa. The samples were atypical of mine wastewaters as they had low concentrations of dissolved heavy metals and a pH of over 5. A metagenomic analysis applied to study microbial diversities revealed that both samples were dominated by the phyla Proteobacteria and Bacteroidetes, which accounted for over 40% and 15%, respectively. Three consortia were enriched to target denitrifying bacteria using selective media and then subjected to complete denitrification experiments. Denitrification dynamics and denitrifying capacities of the consortia were determined by monitoring dissolved and gaseous nitrogen species over time. Denitrification optimization was carried out by changing environmental conditions, including supplementing the cultures with metal enzyme co-factors (iron and copper) that were observed to promote different stages of denitrification. Copper supplemented at 50 mg/L was observed to be promoting complete denitrification of over 500 mg/L of NO3−, evidenced by the emission of nitrogen gas (N2) that was more than nitrous oxide gas (N2O) emitted as the terminal by-product. Modification and manipulation of growth conditions based on the microbial diversity enriched proved that it is possible to optimize a bioremediation system that can reduce high concentrations of NO3−, while emitting an environmentally-friendly N2 instead of N2O, that is, a greenhouse gas. Data collected and discussed in this research study can be used to model an upscale NO3− bioremediation system aimed to remove nitrogenous and other contaminants without secondary contamination

    A study of uncertainty quantification in overparametrized high-dimensional models

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    Uncertainty quantification is a central challenge in reliable and trustworthy machine learning. Naive measures such as last-layer scores are well-known to yield overconfident estimates in the context of overparametrized neural networks. Several methods, ranging from temperature scaling to different Bayesian treatments of neural networks, have been proposed to mitigate overconfidence, most often supported by the numerical observation that they yield better calibrated uncertainty measures. In this work, we provide a sharp comparison between popular uncertainty measures for binary classification in a mathematically tractable model for overparametrized neural networks: the random features model. We discuss a trade-off between classification accuracy and calibration, unveiling a double descent like behavior in the calibration curve of optimally regularized estimators as a function of overparametrization. This is in contrast with the empirical Bayes method, which we show to be well calibrated in our setting despite the higher generalization error and overparametrization

    A Study of Neural Collapse Phenomenon: Grassmannian Frame, Symmetry, Generalization

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    In this paper, we extends original Neural Collapse Phenomenon by proving Generalized Neural Collapse hypothesis. We obtain Grassmannian Frame structure from the optimization and generalization of classification. This structure maximally separates features of every two classes on a sphere and does not require a larger feature dimension than the number of classes. Out of curiosity about the symmetry of Grassmannian Frame, we conduct experiments to explore if models with different Grassmannian Frames have different performance. As a result, we discover the Symmetric Generalization phenomenon. We provide a theorem to explain Symmetric Generalization of permutation. However, the question of why different directions of features can lead to such different generalization is still open for future investigation.Comment: 25 pages, 2 figure

    A Decision Support System for Economic Viability and Environmental Impact Assessment of Vertical Farms

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    Vertical farming (VF) is the practice of growing crops or animals using the vertical dimension via multi-tier racks or vertically inclined surfaces. In this thesis, I focus on the emerging industry of plant-specific VF. Vertical plant farming (VPF) is a promising and relatively novel practice that can be conducted in buildings with environmental control and artificial lighting. However, the nascent sector has experienced challenges in economic viability, standardisation, and environmental sustainability. Practitioners and academics call for a comprehensive financial analysis of VPF, but efforts are stifled by a lack of valid and available data. A review of economic estimation and horticultural software identifies a need for a decision support system (DSS) that facilitates risk-empowered business planning for vertical farmers. This thesis proposes an open-source DSS framework to evaluate business sustainability through financial risk and environmental impact assessments. Data from the literature, alongside lessons learned from industry practitioners, would be centralised in the proposed DSS using imprecise data techniques. These techniques have been applied in engineering but are seldom used in financial forecasting. This could benefit complex sectors which only have scarce data to predict business viability. To begin the execution of the DSS framework, VPF practitioners were interviewed using a mixed-methods approach. Learnings from over 19 shuttered and operational VPF projects provide insights into the barriers inhibiting scalability and identifying risks to form a risk taxonomy. Labour was the most commonly reported top challenge. Therefore, research was conducted to explore lean principles to improve productivity. A probabilistic model representing a spectrum of variables and their associated uncertainty was built according to the DSS framework to evaluate the financial risk for VF projects. This enabled flexible computation without precise production or financial data to improve economic estimation accuracy. The model assessed two VPF cases (one in the UK and another in Japan), demonstrating the first risk and uncertainty quantification of VPF business models in the literature. The results highlighted measures to improve economic viability and the viability of the UK and Japan case. The environmental impact assessment model was developed, allowing VPF operators to evaluate their carbon footprint compared to traditional agriculture using life-cycle assessment. I explore strategies for net-zero carbon production through sensitivity analysis. Renewable energies, especially solar, geothermal, and tidal power, show promise for reducing the carbon emissions of indoor VPF. Results show that renewably-powered VPF can reduce carbon emissions compared to field-based agriculture when considering the land-use change. The drivers for DSS adoption have been researched, showing a pathway of compliance and design thinking to overcome the ‘problem of implementation’ and enable commercialisation. Further work is suggested to standardise VF equipment, collect benchmarking data, and characterise risks. This work will reduce risk and uncertainty and accelerate the sector’s emergence
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