This paper extends first-order motion planners to robots governed by second-order dynamics. Two control schemes are proposed based on the knowledge of a scalar function whose negative gradient aligns with a given first-order motion planner. When such a function is known, the first-order motion planner is combined with a damping velocity vector with a dynamic gain to extend the safety and convergence guarantees of the first-order motion planner to second-order systems. If no such function is available, we propose an alternative control scheme ensuring that the error between the robot's velocity and the first-order motion planner converges to zero. The theoretical developments are supported by simulation results demonstrating the effectiveness of the proposed approaches.

--Federated Learning has gained a significant amount of attraction in recent years. Federated learning enables clients to learn about their private data and then share their learnings with the central server to create a generalized global model and further share the generalized model with all clients. This aggregation of knowledge is based on the aggregation of model weights which has many associated issues. The model weights are more susceptible to model inversion attacks and would use a significant amount of bandwidth to share. In this work, we propose a loss-based federated learning framework using deep mutual learning between all clients using knowledge distillation.

Ensemble technique and under-sampling technique are both effective tools used for imbalanced dataset classification problems. In this paper, a novel ensemble method combining the advantages of both ensemble learning for biasing classifiers and a new under-sampling method is proposed. The under-sampling method is named Binary PSO instance selection; it gathers with ensemble classifiers to find the most suitable length and combination of the majority class samples to build a new dataset with minority class samples. The proposed method adopts multi-objective strategy, and contribution of this method is a notable improvement of the performances of imbalanced classification, and in the meantime guaranteeing a best integrity possible for the original dataset. We experimented the proposed method and compared its performance of processing imbalanced datasets with several other conventional basic ensemble methods. Experiment is also conducted on these imbalanced datasets using an improved version where ensemble classifiers are wrapped in the Binary PSO instance selection. According to experimental results, our proposed methods outperform single ensemble methods, state-of-the-art under-sampling methods, and also combinations of these methods with the traditional PSO instance selection algorithm.

We present a hybrid feedback control framework for autonomous robot navigation in n-dimensional Euclidean spaces cluttered with spherical obstacles. The proposed approach ensures safe navigation and global asymptotic stability (GAS) of the target location by dynamically switching between two operational modes: motion-to-destination and locally optimal obstacle-avoidance. It produces continuous velocity inputs, ensures collision-free trajectories and generates locally optimal obstacle avoidance maneuvers. Unlike existing methods, the proposed framework is compatible with range sensors, enabling navigation in both a priori known and unknown environments. Extensive simulations in 2D and 3D settings, complemented by experimental validation on a TurtleBot 4 platform, confirm the efficacy and robustness of the approach. Our results demonstrate shorter paths and smoother trajectories compared to state-of-the-art methods, while maintaining computational efficiency and real-world feasibility.

In fishery science, harvest management of size-structured stochastic populations is a long-standing and difficult problem. Rectilinear precautionary policies based on biomass and harvesting reference points have now become a standard approach to this problem. While these standard feedback policies are adapted from analytical or dynamic programming solutions assuming relatively simple ecological dynamics, they are often applied to more complicated ecological settings in the real world. In this paper we explore the problem of designing harvest control rules for partially observed, age-structured, spasmodic fish populations using tools from reinforcement learning (RL) and Bayesian optimization. Our focus is on the case of Walleye fisheries in Alberta, Canada, whose highly variable recruitment dynamics have perplexed managers and ecologists. We optimized and evaluated policies using several complementary performance metrics. The main questions we addressed were: 1. How do standard policies based on reference points perform relative to numerically optimized policies? 2. Can an observation of mean fish weight, in addition to stock biomass, aid policy decisions?

This paper investigates the estimation problem of the pose (orientation and position) and linear velocity of a rigid body, as well as the landmark positions, using an inertial measurement unit (IMU) and a monocular camera. First, we propose a globally exponentially stable (GES) linear time-varying (LTV) observer for the estimation of body-frame landmark positions and velocity, using IMU and monocular bearing measurements. Thereafter, using the gyro measurements, some landmarks known in the inertial frame and the estimates from the LTV observer, we propose a nonlinear pose observer on $\SO(3)\times \mathbb{R}^3$. The overall estimation system is shown to be almost globally asymptotically stable (AGAS) using the notion of almost global input-to-state stability (ISS). Interestingly, we show that with the knowledge (in the inertial frame) of a small number of landmarks, we can recover (under some conditions) the unknown positions (in the inertial frame) of a large number of landmarks. Numerical simulation results are presented to illustrate the performance of the proposed estimation scheme.

The proliferation of complex deep learning (DL) models has revolutionized various applications, including computer vision-based solutions, prompting their integration into real-time systems. However, the resource-intensive nature of these models poses challenges for deployment on low-computational power and low-memory devices, like embedded and edge devices. This work empirically investigates the optimization of such complex DL models to analyze their functionality on an embedded device, particularly on the NVIDIA Jetson Nano. It evaluates the effectiveness of the optimized models in terms of their inference speed for image classification and video action detection. The experimental results reveal that, on average, optimized models exhibit a 16.11% speed improvement over their non-optimized counterparts. This not only emphasizes the critical need to consider hardware constraints and environmental sustainability in model development and deployment but also underscores the pivotal role of model optimization in enabling the widespread deployment of AI-assisted technologies on resource-constrained computational systems. It also serves as proof that prioritizing hardware-specific model optimization leads to efficient and scalable solutions that substantially decrease energy consumption and carbon footprint.

Recent research in deep learning (DL) has investigated the use of the Fast Fourier Transform (FFT) to accelerate the computations involved in Convolutional Neural Networks (CNNs) by replacing spatial convolution with element-wise multiplications on the spectral domain. These approaches mainly rely on the FFT to reduce the number of operations, which can be further decreased by adopting the Real-Valued FFT. In this paper, we propose using the phasor form, a polar representation of complex numbers, as a more efficient alternative to the traditional approach. The experimental results, evaluated on the CIFAR-10, demonstrate that our method achieves superior speed improvements of up to a factor of 1.376 (average of 1.316) during training and up to 1.390 (average of 1.321) during inference when compared to the traditional rectangular form employed in modern CNN architectures. Similarly, when evaluated on the CIFAR-100, our method achieves superior speed improvements of up to a factor of 1.375 (average of 1.299) during training and up to 1.387 (average of 1.300) during inference. Most importantly, given the modular aspect of our approach, the proposed method can be applied to any existing convolution-based DL model without design changes.

Latent diffusion has shown promising results in image generation and permits efficient sampling. However, this framework might suffer from the problem of posterior collapse when applied to time series. In this paper, we conduct an impact analysis of this problem. With a theoretical insight, we first explain that posterior collapse reduces latent diffusion to a VAE, making it less expressive. Then, we introduce the notion of dependency measures, showing that the latent variable sampled from the diffusion model loses control of the generation process in this situation and that latent diffusion exhibits dependency illusion in the case of shuffled time series. We also analyze the causes of posterior collapse and introduce a new framework based on this analysis, which addresses the problem and supports a more expressive prior distribution. Our experiments on various real-world time-series datasets demonstrate that our new model maintains a stable posterior and outperforms the baselines in time series generation.

In the relentless efforts in enhancing medical diagnostics, the integration of state-of-the-art machine learning methodologies has emerged as a promising research area. In molecular biology, there has been an explosion of data generated from multi-omics sequencing. The advent sequencing equipment can provide large number of complicated measurements per one experiment. Therefore, traditional statistical methods face challenging tasks when dealing with such high dimensional data. However, most of the information contained in these datasets is redundant or unrelated and can be effectively reduced to significantly fewer variables without losing much information. Dimensionality reduction techniques are mathematical procedures that allow for this reduction; they have largely been developed through statistics and machine learning disciplines. The other challenge in medical datasets is having an imbalanced number of samples in the classes, which leads to biased results in machine learning models. This study, focused on tackling these challenges in a neural network that incorporates autoencoder to extract latent space of the features, and Generative Adversarial Networks (GAN) to generate synthetic samples. Latent space is the reduced dimensional space that captures the meaningful features of the original data. Our model starts with feature selection to select the discriminative features before feeding them to the neural network. Then, the model predicts the outcome of cancer for different datasets. The proposed model outperformed other existing models by scoring accuracy of 95.09% for bladder cancer dataset and 88.82% for the breast cancer dataset.