Search beyond traditional probabilistic information retrieval

"This thesis focuses on search beyond probabilistic information retrieval. Three ap- proached are proposed beyond the traditional probabilistic modelling. First, term associ- ation is deeply examined. Term association considers the term dependency using a factor analysis based model, instead of treating each term independently. Latent factors, con- sidered the same as the hidden variables of ""eliteness"" introduced by Robertson et al. to gain understanding of the relation among term occurrences and relevance, are measured by the dependencies and occurrences of term sequences and subsequences. Second, an entity-based ranking approach is proposed in an entity system named ""EntityCube"" which has been released by Microsoft for public use. A summarization page is given to summarize the entity information over multiple documents such that the truly relevant entities can be highly possibly searched from multiple documents through integrating the local relevance contributed by proximity and the global enhancer by topic model. Third, multi-source fusion sets up a meta-search engine to combine the ""knowledge"" from different sources. Meta-features, distilled as high-level categories, are deployed to diversify the baselines. Three modified fusion methods are employed, which are re- ciprocal, CombMNZ and CombSUM with three expanded versions. Through extensive experiments on the standard large-scale TREC Genomics data sets, the TREC HARD data sets and the Microsoft EntityCube Web collections, the proposed extended models beyond probabilistic information retrieval show their effectiveness and superiority.

Online Reinforcement Learning-Based Neural Network Controller Design for Affine Nonlinear Discrete-Time Systems

In this paper, a novel reinforcement learning neural network (NN)-based controller, referred to adaptive critic controller, is proposed for general multi-input and multi- output affine unknown nonlinear discrete-time systems in the presence of bounded disturbances. Adaptive critic designs consist of two entities, an action network that produces optimal solution and a critic that evaluates the performance of the action network. The critic is termed adaptive as it adapts itself to output the optimal cost-to-go function and the action network is adapted simultaneously based on the information from the critic. In our online learning method, one NN is designated as the critic NN, which approximates the Bellman equation. An action NN is employed to derive the control signal to track a desired system trajectory while minimizing the cost function. Online updating weight tuning schemes for these two NNs are also derived and uniformly ultimate boundedness (UUB) of the tracking error and weight estimates is shown. The effectiveness of the controller is evaluated on a two-link robotic arm system

Near Optimal Neural Network-Based Output Feedback Control of Affine Nonlinear Discrete-Time Systems

In this paper, a novel online reinforcement learning neural network (NN)-based optimal output feedback controller, referred to as adaptive critic controller, is proposed for affine nonlinear discrete-time systems, to deliver a desired tracking performance. The adaptive critic design consist of three entities, an observer to estimate the system states, an action network that produces optimal control input and a critic that evaluates the performance of the action network. The critic is termed adaptive as it adapts itself to output the optimal cost-to-go function which is based on the standard Bellman equation. By using the Lyapunov approach, the uniformly ultimate boundedness (UUB) of the estimation and tracking errors and weight estimates is demonstrated. The effectiveness of the controller is evaluated for the task of nanomanipulation in a simulation environment

A Suite of Robust Controllers for the Manipulation of Microscale Objects

A suite of novel robust controllers is introduced for the pickup operation of microscale objects in a microelectromechanical system (MEMS). In MEMS, adhesive, surface tension, friction, and van der Waals forces are dominant. Moreover, these forces are typically unknown. The proposed robust controller overcomes the unknown contact dynamics and ensures its performance in the presence of actuator constraints by assuming that the upper bounds on these forces are known. On the other hand, for the robust adaptive critic-based neural network (NN) controller, the unknown dynamic forces are estimated online. It consists of an action NN for compensating the unknown system dynamics and a critic NN for approximating a certain strategic utility function and tuning the action NN weights. by using the Lyapunov approach, the uniform ultimate boundedness of the closed-loop manipulation error is shown for all the controllers for the pickup task. To imitate a practical system, a few system states are considered to be unavailable due to the presence of measurement noise. An output feedback version of the adaptive NN controller is proposed by exploiting the separation principle through a high-gain observer design. The problem of measurement noise is also overcome by constructing a reference system. Simulation results are presented and compared to substantiate the theoretical conclusions

Online Reinforcement Learning Neural Network Controller Design for Nanomanipulation

In this paper, a novel reinforcement learning neural network (NN)-based controller, referred to adaptive critic controller, is proposed for affine nonlinear discrete-time systems with applications to nanomanipulation. In the online NN reinforcement learning method, one NN is designated as the critic NN, which approximates the long-term cost function by assuming that the states of the nonlinear systems is available for measurement. An action NN is employed to derive an optimal control signal to track a desired system trajectory while minimizing the cost function. Online updating weight tuning schemes for these two NNs are also derived. By using the Lyapunov approach, the uniformly ultimate boundedness (UUB) of the tracking error and weight estimates is shown. Nanomanipulation implies manipulating objects with nanometer size. It takes several hours to perform a simple task in the nanoscale world. To accomplish the task automatically the proposed online learning control design is evaluated for the task of nanomanipulation and verified in the simulation environmen

Adaptive Critic Neural Network Force Controller for Atomic Force Microscope-Based Nanomanipulation

Automating the task of nanomanipulation is extremely important since it is tedious for humans. This paper proposes an atomic force microscope (AFM) based force controller to push nano particles on the substrates. A block phase correlation-based algorithm is embedded into the controller for the compensation of the thermal drift which is considered as the main external uncertainty during nanomanipulation. Then, the interactive forces and dynamics between the tip and the particle, particle and the substrate are modeled and analyzed. Further, an adaptive critic NN controller based on adaptive dynamic programming algorithm is designed and the task of pushing nano particles is demonstrated. This adaptive critic NN position/force controller utilizes a single NN in order to approximate the cost functional and subsequently the optimal control input is calculated. Finally, the convergence of the states, NN weight estimates and force errors are shown

Online Reinforcement Learning Control of Unknown Nonaffine Nonlinear Discrete Time Systems

In this paper, a novel neural network (NN) based online reinforcement learning controller is designed for nonaffine nonlinear discrete-time systems with bounded disturbances. The nonaffine systems are represented by nonlinear auto regressive moving average with exogenous input (NARMAX) model with unknown nonlinear functions. An equivalent affine-like representation for the tracking error dynamics is developed first from the original nonaffine system. Subsequently, a reinforcement learning-based neural network (NN) controller is proposed for the affine-like nonlinear error dynamic system. The control scheme consists of two NNs. One NN is designated as the critic, which approximates a predefined long-term cost function, whereas an action NN is employed to derive a control signal for the system to track a desired trajectory while minimizing the cost function simultaneously. Offline NN training is not required and online NN weight tuning rules are derived. By using the standard Lyapunov approach, the uniformly ultimate boundedness (UUB) of the tracking error and weight estimates is demonstrated

A Robust Controller for the Manipulation of Micro Scale Objects

A suite of novel robust controllers is presented for the manipulation and handling of micro-scale objects in a micro-electromechanical system (MEMS) where adhesive, surface tension, friction and van der Waals forces are dominant. Moreover, these forces are typically unknown. The robust controller overcomes the unknown system dynamics and ensures the performance in the presence of actuator constraints by assuming that the upper bounds on these forces are known. On the other hand, for the robust adaptive controller, the unknown forces are estimated online. Using the Lyapunov approach, the uniformly ultimate boundedness (UUB) of the closed-loop manipulation error is shown for pick and place tasks. Simulation results are presented to substantiate the theoretical conclusions

A Filter Algorithm with Inexact Line Search

A filter algorithm with inexact line search is proposed for solving nonlinear programming problems. The filter is constructed by employing the norm of the gradient of the Lagrangian function to the infeasibility measure. Transition to superlinear local convergence is showed for the proposed filter algorithm without second-order correction. Under mild conditions, the global convergence can also be derived. Numerical experiments show the efficiency of the algorithm

DBT-DMAE: An Effective Multivariate Time Series Pre-Train Model under Missing Data

Multivariate time series(MTS) is a universal data type related to many practical applications. However, MTS suffers from missing data problems, which leads to degradation or even collapse of the downstream tasks, such as prediction and classification. The concurrent missing data handling procedures could inevitably arouse the biased estimation and redundancy-training problem when encountering multiple downstream tasks. This paper presents a universally applicable MTS pre-train model, DBT-DMAE, to conquer the abovementioned obstacle. First, a missing representation module is designed by introducing dynamic positional embedding and random masking processing to characterize the missing symptom. Second, we proposed an auto-encoder structure to obtain the generalized MTS encoded representation utilizing an ameliorated TCN structure called dynamic-bidirectional-TCN as the basic unit, which integrates the dynamic kernel and time-fliping trick to draw temporal features effectively. Finally, the overall feed-in and loss strategy is established to ensure the adequate training of the whole model. Comparative experiment results manifest that the DBT-DMAE outperforms the other state-of-the-art methods in six real-world datasets and two different downstream tasks. Moreover, ablation and interpretability experiments are delivered to verify the validity of DBT-DMAE's substructures