Multivariable norm optimal iterative learning control with auxiliary optimization

The paper describes a substantial extension of Norm Optimal Iterative Learning Control (NOILC) that permits tracking of a class of finite dimensional reference signals whilst simultaneously converging to the solution of a constrained quadratic optimization problem. The theory is presented in a general functional analytical framework using operators between chosen real Hilbert spaces. This is applied to solve problems in continuous time where tracking is only required at selected intermediate points of the time interval but, simultaneously, the solution is required to minimize a specified quadratic objective function of the input signals and chosen auxiliary (state) variables. Applications to the discrete time case, including the case of multi-rate sampling, are also summarized. The algorithms are motivated by practical need and provide a methodology for reducing undesirable effects such as payload spillage, vibration tendencies and actuator wear whilst maintaining the desired tracking accuracy necessary for task completion. Solutions in terms of NOILC methodologies involving both feedforward and feedback components offer the possibilities of greater robustness than purely feedforward actions. Robustness of the feedforward implementation is discussed and the work is illustrated by experimental results from a robotic manipulator

Nonassociative Gravity in String Theory?

In an on-shell conformal field theory approach, we find indications of a three-bracket structure for target space coordinates in general closed string backgrounds. This generalizes the appearance of noncommutative gauge theories for open strings in two-form backgrounds to a putative noncommutative/nonassociative gravity theory for closed strings probing curved backgrounds with non-vanishing three-form flux. Several aspects and consequences of the three-bracket structure are discussed and a new type of generalized uncertainty principle is proposed.Comment: v2: references added, discussion in section 5 extended; v3: published version, minor technical mistake corrected (discussion & conclusions unchanged

A Tutorial on Bayesian Optimization of Expensive Cost Functions, with Application to Active User Modeling and Hierarchical Reinforcement Learning

We present a tutorial on Bayesian optimization, a method of finding the maximum of expensive cost functions. Bayesian optimization employs the Bayesian technique of setting a prior over the objective function and combining it with evidence to get a posterior function. This permits a utility-based selection of the next observation to make on the objective function, which must take into account both exploration (sampling from areas of high uncertainty) and exploitation (sampling areas likely to offer improvement over the current best observation). We also present two detailed extensions of Bayesian optimization, with experiments---active user modelling with preferences, and hierarchical reinforcement learning---and a discussion of the pros and cons of Bayesian optimization based on our experiences

Shuffled Complex-Self Adaptive Hybrid EvoLution (SC-SAHEL) optimization framework

Simplicity and flexibility of meta-heuristic optimization algorithms have attracted lots of attention in the field of optimization. Different optimization methods, however, hold algorithm-specific strengths and limitations, and selecting the best-performing algorithm for a specific problem is a tedious task. We introduce a new hybrid optimization framework, entitled Shuffled Complex-Self Adaptive Hybrid EvoLution (SC-SAHEL), which combines the strengths of different evolutionary algorithms (EAs) in a parallel computing scheme. SC-SAHEL explores performance of different EAs, such as the capability to escape local attractions, speed, convergence, etc., during population evolution as each individual EA suits differently to various response surfaces. The SC-SAHEL algorithm is benchmarked over 29 conceptual test functions, and a real-world hydropower reservoir model case study. Results show that the hybrid SC-SAHEL algorithm is rigorous and effective in finding global optimum for a majority of test cases, and that it is computationally efficient in comparison to algorithms with individual EA

An Empirical Study of the Influence of User Tailoring on Evaluative Argument Effectiveness

The ability to generate effective evaluative arguments is critical for systems intended to advise and persuade their users. We have developed a system that generates evaluative arguments that are tailored to the user, properly arranged and concise. We have also devised an evaluation framework in which the effectiveness of evaluative arguments can be measured with real users. This paper presents the results of a formal experiment we performed in our framework to verify the influence of user tailoring on argument effectiveness.

On the unitarity problem in space/time noncommutative theories

It is shown that the violation of unitarity observed in space/time noncommutative field theories is due to an improper definition of quantum field theory on noncommutative spacetime.Comment: 7 pages; typos corrected, sign convention changed on p.

T-duality and closed string non-commutative (doubled) geometry

We provide some evidence that closed string coordinates will become non-commutative turning on H-field flux background in closed string compactifications. This is in analogy to open string non-commutativity on the world volume of D-branes with B- and F-field background. The class of 3-dimensional backgrounds we are studying are twisted tori (fibrations of a 2-torus over a circle) and the their T-dual H-field, 3-form flux backgrounds (T-folds). The spatial non-commutativity arises due to the non-trivial monodromies of the toroidal Kahler resp. complex structure moduli fields, when going around the closed string along the circle direction. In addition we study closed string non-commutativity in the context of doubled geometry, where we argue that in general a non-commutative closed string background is T-dual to a commutative closed string background and vice versa. Finally, in analogy to open string boundary conditions, we also argue that closed string momentum and winding modes define in some sense D-branes in closed string doubled geometry.Comment: 31 pages, references added, extended version contains new sections 3.3., 3.4 and