Evaluating retrieval-augmented generation (RAG) systems remains challenging, particularly for open-ended questions that lack definitive answers and require coverage of multiple sub-topics. In this paper, we introduce a novel evaluation framework based on sub-question coverage, which measures how well a RAG system addresses different facets of a question. We propose decomposing questions into sub-questions and classifying them into three types -- core, background, and follow-up -- to reflect their roles and importance. Using this categorization, we introduce a fine-grained evaluation protocol that provides insights into the retrieval and generation characteristics of RAG systems, including three commercial generative answer engines: You.com, Perplexity AI, and Bing Chat. Interestingly, we find that while all answer engines cover core sub-questions more often than background or follow-up ones, they still miss around 50% of core sub-questions, revealing clear opportunities for improvement. Further, sub-question coverage metrics prove effective for ranking responses, achieving 82% accuracy compared to human preference annotations. Lastly, we also demonstrate that leveraging core sub-questions enhances both retrieval and answer generation in a RAG system, resulting in a 74% win rate over the baseline that lacks sub-questions.

Advancements in electronic technology and control algorithms have enabled precise flight control techniques, transforming bionic aircraft from principle imitation to comprehensive resemblance. This paper introduces the Minimal Biorobotic Stealth Distance (MBSD), a novel quantitative metric to evaluate the bionic resemblance of biorobotic aircraft. Current technological limitations prevent dragonfly-inspired aircrafts from achieving optimal performance at biological scales. To address these challenges, we use the DDD-1 dragonfly-inspired aircraft, a hover-capable directdrive aircraft, to explore the impact of the MBSD on aircraft design. Key contributions of this research include: (1) the establishment of the MBSD as a quantifiable and operable evaluation metric that influences aircraft design, integrating seamlessly with the overall design process and providing a new dimension for optimizing bionic aircraft, balancing mechanical attributes and bionic characteristics; (2) the creation and analysis of a typical aircraft in four directions: essential characteristics of the MBSD, its coupling relationship with existing performance metrics (Longest Hover Duration and Maximum Instantaneous Forward Flight Speed), multi-objective optimization, and application in a typical mission scenario; (3) the construction and validation of a full-system model for the direct-drive dragonfly-inspired aircraft, demonstrating the design model's effectiveness against existing aircraft data. Detailed calculations of the MBSD consider appearance similarity, dynamic similarity, and environmental similarity. Experimental results indicate that the MBSD value correlates with bionic resemblance and is influenced by design parameters like wingspan, flapping frequency, and amplitude.

Mobile manipulators are finding use in numerous practical applications. The current issues with mobile manipulation are the large state space owing to the mobile base and the challenge of modeling high degree of freedom systems. It is critical to devise fast and accurate algorithms that generate smooth motion plans for such mobile manipulators. Existing techniques attempt to solve this problem but focus on separating the motion of the base and manipulator. We propose an approach using Lie theory to find the inverse kinematic constraints by converting the kinematic model, created using screw coordinates, between its Lie group and vector representation. An optimization function is devised to solve for the desired joint states of the entire mobile manipulator. This allows the motion of the mobile base and manipulator to be planned and applied in unison resulting in a smooth and accurate motion plan. The performance of the proposed state planner is validated on simulated mobile manipulators in an analytical experiment. Our solver is available with further derivations and results at https://github.com/peleito/slithers.

The integration of Generative Artificial Intelligence (AI) into autonomous machines represents a major paradigm shift in how these systems operate and unlocks new solutions to problems once deemed intractable. Although generative AI agents provide unparalleled capabilities, they also have unique safety concerns. These challenges require robust safeguards, especially for autonomous machines that operate in high-stakes environments. This work investigates the evolving safety requirements when generative models are integrated as agents into physical autonomous machines, comparing these to safety considerations in less critical AI applications. We explore the challenges and opportunities to ensure the safe deployment of generative AI-driven autonomous machines. Furthermore, we provide a forward-looking perspective on the future of AI-driven autonomous systems and emphasize the importance of evaluating and communicating safety risks. As an important step towards addressing these concerns, we recommend the development and implementation of comprehensive safety scorecards for the use of generative AI technologies in autonomous machines.

Generating synthetic residential load data that can accurately represent actual electricity consumption patterns is crucial for effective power system planning and operation. The necessity for synthetic data is underscored by the inherent challenges associated with using real-world load data, such as privacy considerations and logistical complexities in large-scale data collection. In this work, we tackle the above-mentioned challenges by developing the Ensemble Recurrent Generative Adversarial Network (ERGAN) framework to generate high-fidelity synthetic residential load data. ERGAN leverages an ensemble of recurrent Generative Adversarial Networks, augmented by a loss function that concurrently takes into account adversarial loss and differences between statistical properties. Our developed ERGAN can capture diverse load patterns across various households, thereby enhancing the realism and diversity of the synthetic data generated. Comprehensive evaluations demonstrate that our method consistently outperforms established benchmarks in the synthetic generation of residential load data across various performance metrics including diversity, similarity, and statistical measures. The findings confirm the potential of ERGAN as an effective tool for energy applications requiring synthetic yet realistic load data. We also make the generated synthetic residential load patterns publicly available.

Real-life batteries tend to experience a range of operating conditions, and undergo degradation due to a combination of both calendar and cycling aging. Onboard health estimation models typically use cycling aging data only, and account for at most one operating condition e.g., temperature, which can limit the accuracy of the models for state-of-health (SOH) estimation. In this paper, we utilize electrochemical impedance spectroscopy (EIS) data from 5 calendar-aged and 17 cycling-aged cells to perform SOH estimation under various operating conditions. The EIS curves are deconvoluted using the distribution of relaxation times (DRT) technique to map them onto a function $\textbf{g}$ which consists of distinct timescales representing different resistances inside the cell. These DRT curves, $\textbf{g}$, are then used as inputs to a long short-term memory (LSTM)-based neural network model for SOH estimation. We validate the model performance by testing it on ten different test sets, and achieve an average RMSPE of 1.69% across these sets.

Against the backdrop of increasingly severe global environmental changes, accurately predicting and meeting renewable energy demands has become a key challenge for sustainable business development. Traditional energy demand forecasting methods often struggle with complex data processing and low prediction accuracy. To address these issues, this paper introduces a novel approach that combines deep learning techniques with environmental decision support systems. The model integrates advanced deep learning techniques, including LSTM and Transformer, and PSO algorithm for parameter optimization, significantly enhancing predictive performance and practical applicability. Results show that our model achieves substantial improvements across various metrics, including a 30% reduction in MAE, a 20% decrease in MAPE, a 25% drop in RMSE, and a 35% decline in MSE. These results validate the model's effectiveness and reliability in renewable energy demand forecasting. This research provides valuable insights for applying deep learning in environmental decision support systems.

Symbolic neural networks, such as Kolmogorov-Arnold Networks (KAN), offer a promising approach for integrating prior knowledge with data-driven methods, making them valuable for addressing inverse problems in scientific and engineering domains. This study explores the application of KAN in building physics, focusing on predictive modeling, knowledge discovery, and continuous learning. Through four case studies, we demonstrate KAN's ability to rediscover fundamental equations, approximate complex formulas, and capture time-dependent dynamics in heat transfer. While there are challenges in extrapolation and interpretability, we highlight KAN's potential to combine advanced modeling methods for knowledge augmentation, which benefits energy efficiency, system optimization, and sustainability assessments beyond the personal knowledge constraints of the modelers. Additionally, we propose a model selection decision tree to guide practitioners in appropriate applications for building physics.

The integration of machine learning into smart grid systems represents a transformative step in enhancing the efficiency, reliability, and sustainability of modern energy networks. By adding advanced data analytics, these systems can better manage the complexities of renewable energy integration, demand response, and predictive maintenance. Machine learning algorithms analyze vast amounts of data from smart meters, sensors, and other grid components to optimize energy distribution, forecast demand, and detect irregularities that could indicate potential failures. This enables more precise load balancing, reduces operational costs, and enhances the resilience of the grid against disturbances. Furthermore, the use of predictive models helps in anticipating equipment failures, thereby improving the reliability of the energy supply. As smart grids continue to evolve, the role of machine learning in managing decentralized energy sources and enabling real-time decision-making will become increasingly critical. However, the deployment of these technologies also raises challenges related to data privacy, security, and the need for robust infrastructure. Addressing these issues in this research authors will focus on realizing the full potential of smart grids, ensuring they meet the growing energy demands while maintaining a focus on sustainability and efficiency using Machine Learning techniques. Furthermore, this research will help determine the smart grid's essentiality with the aid of Machine Learning. Multiple ML algorithms have been integrated along with their pros and cons. The future scope of these algorithms are also integrated.

Contextually Guided Convolutional Neural Networks (CG-CNNs) employ self-supervision and contextual information to develop transferable features across diverse domains, including visual, tactile, temporal, and textual data. This work showcases the adaptability of CG-CNNs through applications to various datasets such as Caltech and Brodatz textures, the VibTac-12 tactile dataset, hyperspectral images, and challenges like the XOR problem and text analysis. In text analysis, CG-CNN employs an innovative embedding strategy that utilizes the context of neighboring words for classification, while in visual and signal data, it enhances feature extraction by exploiting spatial information. CG-CNN mimics the context-guided unsupervised learning mechanisms of biological neural networks and it can be trained to learn its features on limited-size datasets. Our experimental results on natural images reveal that CG-CNN outperforms comparable first-layer features of well-known deep networks such as AlexNet, ResNet, and GoogLeNet in terms of transferability and classification accuracy. In text analysis, CG-CNN learns word embeddings that outperform traditional models like Word2Vec in tasks such as the 20 Newsgroups text classification. Furthermore, ongoing development involves training CG-CNN on outputs from another CG-CNN to explore multi-layered architectures, aiming to construct more complex and descriptive features. This scalability and adaptability to various data types underscore the potential of CG-CNN to handle a wide range of applications, making it a promising architecture for tackling diverse data representation challenges.