Gait learning for soft microrobots controlled by light fields

Soft microrobots based on photoresponsive materials and controlled by light fields can generate a variety of different gaits. This inherent flexibility can be exploited to maximize their locomotion performance in a given environment and used to adapt them to changing conditions. Albeit, because of the lack of accurate locomotion models, and given the intrinsic variability among microrobots, analytical control design is not possible. Common data-driven approaches, on the other hand, require running prohibitive numbers of experiments and lead to very sample-specific results. Here we propose a probabilistic learning approach for light-controlled soft microrobots based on Bayesian Optimization (BO) and Gaussian Processes (GPs). The proposed approach results in a learning scheme that is data-efficient, enabling gait optimization with a limited experimental budget, and robust against differences among microrobot samples. These features are obtained by designing the learning scheme through the comparison of different GP priors and BO settings on a semi-synthetic data set. The developed learning scheme is validated in microrobot experiments, resulting in a 115% improvement in a microrobot's locomotion performance with an experimental budget of only 20 tests. These encouraging results lead the way toward self-adaptive microrobotic systems based on light-controlled soft microrobots and probabilistic learning control.Comment: 8 pages, 7 figures, to appear in the proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems 201

Analytic Performance Modeling and Analysis of Detailed Neuron Simulations

Big science initiatives are trying to reconstruct and model the brain by attempting to simulate brain tissue at larger scales and with increasingly more biological detail than previously thought possible. The exponential growth of parallel computer performance has been supporting these developments, and at the same time maintainers of neuroscientific simulation code have strived to optimally and efficiently exploit new hardware features. Current state of the art software for the simulation of biological networks has so far been developed using performance engineering practices, but a thorough analysis and modeling of the computational and performance characteristics, especially in the case of morphologically detailed neuron simulations, is lacking. Other computational sciences have successfully used analytic performance engineering and modeling methods to gain insight on the computational properties of simulation kernels, aid developers in performance optimizations and eventually drive co-design efforts, but to our knowledge a model-based performance analysis of neuron simulations has not yet been conducted. We present a detailed study of the shared-memory performance of morphologically detailed neuron simulations based on the Execution-Cache-Memory (ECM) performance model. We demonstrate that this model can deliver accurate predictions of the runtime of almost all the kernels that constitute the neuron models under investigation. The gained insight is used to identify the main governing mechanisms underlying performance bottlenecks in the simulation. The implications of this analysis on the optimization of neural simulation software and eventually co-design of future hardware architectures are discussed. In this sense, our work represents a valuable conceptual and quantitative contribution to understanding the performance properties of biological networks simulations.Comment: 18 pages, 6 figures, 15 table

Safe Local Exploration for Replanning in Cluttered Unknown Environments for Micro-Aerial Vehicles

In order to enable Micro-Aerial Vehicles (MAVs) to assist in complex, unknown, unstructured environments, they must be able to navigate with guaranteed safety, even when faced with a cluttered environment they have no prior knowledge of. While trajectory optimization-based local planners have been shown to perform well in these cases, prior work either does not address how to deal with local minima in the optimization problem, or solves it by using an optimistic global planner. We present a conservative trajectory optimization-based local planner, coupled with a local exploration strategy that selects intermediate goals. We perform extensive simulations to show that this system performs better than the standard approach of using an optimistic global planner, and also outperforms doing a single exploration step when the local planner is stuck. The method is validated through experiments in a variety of highly cluttered environments including a dense forest. These experiments show the complete system running in real time fully onboard an MAV, mapping and replanning at 4 Hz.Comment: Accepted to ICRA 2018 and RA-L 201

Collider Detection of Dark Matter Electromagnetic Anapole Moments

Dark matter that interacts with the Standard Model by exchanging photons through higher multipole interactions occurs in a wide range of both strongly as well as weakly coupled hidden sector models. We study the collider detection prospects of these candidates, with a focus on Majorana dark matter that couples through the anapole moment. The study is conducted at the effective field theory level with the mono-$Z$ signature incorporating varying levels of systematic uncertainties at the high-luminosity LHC. The projected collider reach on the anapole moment is then compared to the reach coming from direct detection experiments like LZ. Finally, the analysis is applied to a weakly coupled completion with leptophilic dark matter.Comment: 24 pages, 9 figure

A Comparative Analysis of STM Approaches to Reduction Operations in Irregular Applications

As a recently consolidated paradigm for optimistic concurrency in modern multicore architectures, Transactional Memory (TM) can help to the exploitation of parallelism in irregular applications when data dependence information is not available up to run- time. This paper presents and discusses how to leverage TM to exploit parallelism in an important class of irregular applications, the class that exhibits irregular reduction patterns. In order to test and compare our techniques with other solutions, they were implemented in a software TM system called ReduxSTM, that acts as a proof of concept. Basically, ReduxSTM combines two major ideas: a sequential-equivalent ordering of transaction commits that assures the correct result, and an extension of the underlying TM privatization mechanism to reduce unnecessary overhead due to reduction memory updates as well as unnecesary aborts and rollbacks. A comparative study of STM solutions, including ReduxSTM, and other more classical approaches to the parallelization of reduction operations is presented in terms of time, memory and overhead.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

Automatic Loop Kernel Analysis and Performance Modeling With Kerncraft

Analytic performance models are essential for understanding the performance characteristics of loop kernels, which consume a major part of CPU cycles in computational science. Starting from a validated performance model one can infer the relevant hardware bottlenecks and promising optimization opportunities. Unfortunately, analytic performance modeling is often tedious even for experienced developers since it requires in-depth knowledge about the hardware and how it interacts with the software. We present the "Kerncraft" tool, which eases the construction of analytic performance models for streaming kernels and stencil loop nests. Starting from the loop source code, the problem size, and a description of the underlying hardware, Kerncraft can ideally predict the single-core performance and scaling behavior of loops on multicore processors using the Roofline or the Execution-Cache-Memory (ECM) model. We describe the operating principles of Kerncraft with its capabilities and limitations, and we show how it may be used to quickly gain insights by accelerated analytic modeling.Comment: 11 pages, 4 figures, 8 listing

Global Continuous Optimization with Error Bound and Fast Convergence

This paper considers global optimization with a black-box unknown objective function that can be non-convex and non-differentiable. Such a difficult optimization problem arises in many real-world applications, such as parameter tuning in machine learning, engineering design problem, and planning with a complex physics simulator. This paper proposes a new global optimization algorithm, called Locally Oriented Global Optimization (LOGO), to aim for both fast convergence in practice and finite-time error bound in theory. The advantage and usage of the new algorithm are illustrated via theoretical analysis and an experiment conducted with 11 benchmark test functions. Further, we modify the LOGO algorithm to specifically solve a planning problem via policy search with continuous state/action space and long time horizon while maintaining its finite-time error bound. We apply the proposed planning method to accident management of a nuclear power plant. The result of the application study demonstrates the practical utility of our method