From Uncertainty Data to Robust Policies for Temporal Logic Planning

We consider the problem of synthesizing robust disturbance feedback policies for systems performing complex tasks. We formulate the tasks as linear temporal logic specifications and encode them into an optimization framework via mixed-integer constraints. Both the system dynamics and the specifications are known but affected by uncertainty. The distribution of the uncertainty is unknown, however realizations can be obtained. We introduce a data-driven approach where the constraints are fulfilled for a set of realizations and provide probabilistic generalization guarantees as a function of the number of considered realizations. We use separate chance constraints for the satisfaction of the specification and operational constraints. This allows us to quantify their violation probabilities independently. We compute disturbance feedback policies as solutions of mixed-integer linear or quadratic optimization problems. By using feedback we can exploit information of past realizations and provide feasibility for a wider range of situations compared to static input sequences. We demonstrate the proposed method on two robust motion-planning case studies for autonomous driving

A Convolutional-Attentional Neural Framework for Structure-Aware Performance-Score Synchronization

Performance-score synchronization is an integral task in signal processing, which entails generating an accurate mapping between an audio recording of a performance and the corresponding musical score. Traditional synchronization methods compute alignment using knowledge-driven and stochastic approaches, and are typically unable to generalize well to different domains and modalities. We present a novel data-driven method for structure-aware performance-score synchronization. We propose a convolutional-attentional architecture trained with a custom loss based on time-series divergence. We conduct experiments for the audio-to-MIDI and audio-to-image alignment tasks pertained to different score modalities. We validate the effectiveness of our method via ablation studies and comparisons with state-of-the-art alignment approaches. We demonstrate that our approach outperforms previous synchronization methods for a variety of test settings across score modalities and acoustic conditions. Our method is also robust to structural differences between the performance and score sequences, which is a common limitation of standard alignment approaches.Comment: Published in IEEE Signal Processing Letters, Volume 29, December 202

Proposed PCB congener groupings for epidemiological studies.

Polychlorinated biphenyls (PCBs) have been the target of many epidemiological studies because of their toxic potential and widespread prevalence in the environment. Advances in analytic techniques have made it possible to distinguish routinely among the 209 different congeners, which vary widely in their biological properties. We propose here a classification system for the most commonly detected congeners. Group 1 (potentially estrogenic, weak phenobarbital inducers); Group 2 (potentially antiestrogenic and immunotoxic, dioxinlike); and Group 3 (phenobarbital, CYP1A and CYP2B inducers, biologically persistent). Group 2 is further subdivided according to non- and mono-ortho substituted vs. di-ortho substituted, in analogy with toxicity of dioxin congeners

Magnetoelectric effects in an organo-metallic quantum magnet

We observe a bilinear magnetic field-induced electric polarization of 50 $\mu C/m^2$ in single crystals of NiCl$_2$-4SC(NH$_2$)$_2$ (DTN). DTN forms a tetragonal structure that breaks inversion symmetry, with the highly polar thiourea molecules all tilted in the same direction along the c-axis. Application of a magnetic field between 2 and 12 T induces canted antiferromagnetism of the Ni spins and the resulting magnetization closely tracks the electric polarization. We speculate that the Ni magnetic forces acting on the soft organic lattice can create significant distortions and modify the angles of the thiourea molecules, thereby creating a magnetoelectric effect. This is an example of how magnetoelectric effects can be constructed in organo-metallic single crystals by combining magnetic ions with electrically polar organic elements.Comment: 3 pages, 3 figure

Measuring Extinction Curves of Lensing Galaxies

We critique the method of constructing extinction curves of lensing galaxies using multiply imaged QSOs. If one of the two QSO images is lightly reddened or if the dust along both sightlines has the same properties then the method works well and produces an extinction curve for the lensing galaxy. These cases are likely rare and hard to confirm. However, if the dust along each sightline has different properties then the resulting curve is no longer a measurement of extinction. Instead, it is a measurement of the difference between two extinction curves. This "lens difference curve'' does contain information about the dust properties, but extracting a meaningful extinction curve is not possible without additional, currently unknown information. As a quantitative example, we show that the combination of two Cardelli, Clayton, & Mathis (CCM) type extinction curves having different values of R(V) will produce a CCM extinction curve with a value of R(V) which is dependent on the individual R(V) values and the ratio of V band extinctions. The resulting lens difference curve is not an average of the dust along the two sightlines. We find that lens difference curves with any value of R(V), even negative values, can be produced by a combination of two reddened sightlines with different CCM extinction curves with R(V) values consistent with Milky Way dust (2.1 < R(V) < 5.6). This may explain extreme values of R(V) inferred by this method in previous studies. But lens difference curves with more normal values of R(V) are just as likely to be composed of two dust extinction curves with R(V) values different than that of the lens difference curve. While it is not possible to determine the individual extinction curves making up a lens difference curve, there is information about a galaxy's dust contained in the lens difference curves.Comment: 15 pages, 4 figues, ApJ in pres

A Cluster Method for the Ashkin--Teller Model

A cluster Monte Carlo algorithm for the Ashkin-Teller (AT) model is constructed according to the guidelines of a general scheme for such algorithms. Its dynamical behaviour is tested for the square lattice AT model. We perform simulations on the line of critical points along which the exponents vary continuously, and find that critical slowing down is significantly reduced. We find continuous variation of the dynamical exponent $z$ along the line, following the variation of the ratio $\alpha/\nu$, in a manner which satisfies the Li-Sokal bound $z_{cluster}\geq\alpha/\nu$, that was so far proved only for Potts models.Comment: 18 pages, Revtex, figures include

In-Network Outlier Detection in Wireless Sensor Networks

To address the problem of unsupervised outlier detection in wireless sensor networks, we develop an approach that (1) is flexible with respect to the outlier definition, (2) computes the result in-network to reduce both bandwidth and energy usage,(3) only uses single hop communication thus permitting very simple node failure detection and message reliability assurance mechanisms (e.g., carrier-sense), and (4) seamlessly accommodates dynamic updates to data. We examine performance using simulation with real sensor data streams. Our results demonstrate that our approach is accurate and imposes a reasonable communication load and level of power consumption.Comment: Extended version of a paper appearing in the Int'l Conference on Distributed Computing Systems 200