Air pollution represents a pivotal environmental challenge globally, playing a major role in climate change via greenhouse gas emissions and negatively affecting the health of billions. However predicting the spatial and temporal patterns of pollutants remains challenging. The scarcity of ground-based monitoring facilities and the dependency of air pollution modeling on comprehensive datasets, often inaccessible for numerous areas, complicate this issue. In this work, we introduce GeoFormer, a compact model that combines a vision transformer module with a highly efficient time-series transformer module to predict surface-level nitrogen dioxide (NO2) concentrations from Sentinel-5P satellite imagery. We train the proposed model to predict surface-level NO2 measurements using a dataset we constructed with Sentinel-5P images of ground-level monitoring stations, and their corresponding NO2 concentration readings. The proposed model attains high accuracy (MAE 5.65), demonstrating the efficacy of combining vision and time-series transformer architectures to harness satellite-derived data for enhanced GHG emission insights, proving instrumental in advancing climate change monitoring and emission regulation efforts globally.

This paper considers a class of noncooperative games in which the feasible decision sets of all players are coupled together by a coupled inequality constraint. Adopting the variational inequality formulation of the game, we first introduce a new local edge-based equilibrium condition and develop a distributed primal-dual proximal algorithm with full information. Considering challenges when communication delays occur, we devise an asynchronous distributed algorithm to seek a generalized Nash equilibrium. This asynchronous scheme arbitrarily activates one player to start new computations independently at different iteration instants, which means that the picked player can use the involved out-dated information from itself and its neighbors to perform new updates. A distinctive attribute is that the proposed algorithms enable the derivation of new distributed forward-backward-like extensions. In theoretical aspect, we provide explicit conditions on algorithm parameters, for instance, the step-sizes to establish a sublinear convergence rate for the proposed synchronous algorithm. Moreover, the asynchronous algorithm guarantees almost sure convergence in expectation under the same step-size conditions and some standard assumptions. An interesting observation is that our analysis approach improves the convergence rate of prior synchronous distributed forward-backward-based algorithms. Finally, the viability and performance of the proposed algorithms are demonstrated by numerical studies on the networked Cournot competition.

The robotic field has been witnessing a progressive departure from classic robotic systems composed of serial/stiff links interconnected by simple rigid joints. Novel robotic concepts, e.g., soft robots, often maintain a series-like structure, but their mechanical modules exhibit complex and unconventional articulation patterns. Research in efficient recursive formulations of the dynamic models for subclasses of these systems has been extremely active in the past decade. Yet, as of today, no single recursive inverse dynamics algorithm can describe the behavior of all these systems. This paper addresses this challenge by proposing a new iterative formulation based on Kane equations. Its computational complexity is optimal, i.e., linear with the number of modules. While the proposed formulation is not claimed to be necessarily more efficient than state-of-the-art techniques for specific subclasses of robots, we illustrate its usefulness in the modeling of different complex systems. We propose two new models of soft robots: (i) a class of pneumatically actuated soft arms that deform along their cross-sectional area, and (ii) a piecewise strain model with Gaussian functions.

Despite advances in cellular network technology, base station (BS) load balancing remains a persistent problem. Although centralized resource allocation methods can address the load balancing problem, it still remains an NP-hard problem. In this research, we study how federated deep Q learning can be used to inform each user equipment (UE) of the each BS's load conditions. Federated deep Q learning's load balancing enables intelligent UEs to independently select the best BS while also limiting the amount of private information exposed to the network. In this study, we propose and analyze a federated deep Q learning load balancing system, which is implemented using the Open-RAN xAPP framework and the near-Real Time Radio Interface Controller (near-RT RIC). Our simulation results indicate that compared to the maximum Signal-To-Noise-Ratio (MAX-SINR) method currently used by UEs, our proposed deep Q learning model can consistently provide better High average UE quality of service

In recent years, there has been an explosion of proposed change detection deep learning architectures in the remote sensing literature. These approaches claim to offer state-of-the-art performance on different standard benchmark datasets. However, has the field truly made significant progress? In this paper we perform experiments which conclude a simple U-Net segmentation baseline without training tricks or complicated architectural changes is still a top performer for the task of change detection. The task of change detection from remotely sensed imagery is a canonical and important problem that allows us to analyze how our planet changes over time.

Anticipation for 6G's arrival comes with growing concerns about increased energy consumption in computing and networking. The expected surge in connected devices and resource-demanding applications presents unprecedented challenges for energy resources. While sustainable resource allocation strategies have been discussed in the past, these efforts have primarily focused on single-domain orchestration or ignored the unique requirements posed by 6G. To address this gap, we investigate the joint problem of service instance placement and assignment, path selection, and request prioritization, dubbed PIRA. The objective function is to maximize the system's overall profit as a function of the number of concurrently supported requests while simultaneously minimizing energy consumption over an extended period of time. In addition, end-to-end latency requirements and resource capacity constraints are considered for computing and networking resources, where queuing theory is utilized to estimate the Age of Information (AoI) for requests. After formulating the problem in a non-linear fashion, we prove its NP-hardness and propose a method, denoted ORIENT. This method is based on the Double Dueling Deep Q-Learning (D3QL) mechanism and leverages Graph Neural Networks (GNNs) for state encoding. Extensive numerical simulations demonstrate that ORIENT yields near-optimal solutions for varying system sizes and request counts.

This work addresses the performance comparison between four clustering techniques with the objective of achieving strong hybrid models in supervised learning tasks. A real dataset from a bio-climatic house named Sotavento placed on experimental wind farm and located in Xermade (Lugo) in Galicia (Spain) has been collected. Authors have chosen the thermal solar generation system in order to study how works applying several cluster methods followed by a regression technique to predict the output temperature of the system. With the objective of defining the quality of each clustering method two possible solutions have been implemented. The first one is based on three unsupervised learning metrics (Silhouette, Calinski-Harabasz and Davies-Bouldin) while the second one, employs the most common error measurements for a regression algorithm such as Multi Layer Perceptron.

The irreducible complexity of natural phenomena has led Graph Neural Networks to be employed as a standard model to perform representation learning tasks on graph-structured data. While their capacity to capture local and global patterns is remarkable, the implications associated with long-range and higher-order dependencies pose considerable challenges to such models. This work starts with a theoretical framework to reveal the impact of network's width, depth, and graph topology on the over-squashing phenomena in message-passing neural networks. Then, the work drifts towards, higher-order interactions and multi-relational inductive biases via Topological Neural Networks. Such models propagate messages through higher-dimensional structures, providing shortcuts or additional routes for information flow. With this construction, the underlying computational graph is no longer coupled with the input graph structure, thus mitigating the aforementioned bottlenecks while accounting also for higher-order interactions. Inspired by Graph Attention Networks, two topological attention networks are proposed: Simplicial and Cell Attention Networks. The rationale behind these architecture is to leverage the extended notion of neighbourhoods provided by the arrangement of groups of nodes within a simplicial or cell complex to design anisotropic aggregations able to measure the importance of the information coming from different regions of the domain. By doing so, they capture dependencies that conventional Graph Neural Networks might miss. Finally, a multi-way communication scheme is introduced with Enhanced Cellular Isomorphism Networks, which augment topological message passing schemes to enable a direct interactions among groups of nodes arranged in ring-like structures.

Pseudo-Random Number Generators (PRNGs) have become ubiquitous in machine learning technologies because they are interesting for numerous methods. The field of machine learning holds the potential for substantial advancements across various domains, as exemplified by recent breakthroughs in Large Language Models (LLMs). However, despite the growing interest, persistent concerns include issues related to reproducibility and energy consumption. Reproducibility is crucial for robust scientific inquiry and explainability, while energy efficiency underscores the imperative to conserve finite global resources. This study delves into the investigation of whether the leading Pseudo-Random Number Generators (PRNGs) employed in machine learning languages, libraries, and frameworks uphold statistical quality and numerical reproducibility when compared to the original C implementation of the respective PRNG algorithms. Additionally, we aim to evaluate the time efficiency and energy consumption of various implementations. Our experiments encompass Python, NumPy, TensorFlow, and PyTorch, utilizing the Mersenne Twister, PCG, and Philox algorithms. Remarkably, we verified that the temporal performance of machine learning technologies closely aligns with that of C-based implementations, with instances of achieving even superior performances. On the other hand, it is noteworthy that ML technologies consumed only 10% more energy than their C-implementation counterparts. However, while statistical quality was found to be comparable, achieving numerical reproducibility across different platforms for identical seeds and algorithms was not achieved.

The photovoltaic (PV) industry is seeing a significant shift toward large-scale solar plants, where traditional inspection methods have proven to be time-consuming and costly. Currently, the predominant approach to PV inspection using unmanned aerial vehicles (UAVs) is based on photogrammetry. However, the photogrammetry approach presents limitations, such as an increased amount of useless data during flights, potential issues related to image resolution, and the detection process during high-altitude flights. In this work, we develop a visual servoing control system applied to a UAV with dynamic compensation using a nonlinear model predictive control (NMPC) capable of accurately tracking the middle of the underlying PV array at different frontal velocities and height constraints, ensuring the acquisition of detailed images during low-altitude flights. The visual servoing controller is based on the extraction of features using RGB-D images and the Kalman filter to estimate the edges of the PV arrays. Furthermore, this work demonstrates the proposal in both simulated and real-world environments using the commercial aerial vehicle (DJI Matrice 100), with the purpose of showcasing the results of the architecture. Our approach is available for the scientific community in: https://github.com/EPVelasco/VisualServoing_NMPC