Federated learning in satellite constellations, where the satellites collaboratively train a machine learning model, is a promising technology towards enabling globally connected intelligence and the integration of space networks into terrestrial mobile networks. The energy required for this computationally intensive task is provided either by solar panels or by an internal battery if the satellite is in Earth's shadow. Careful management of this battery and system's available energy resources is not only necessary for reliable satellite operation, but also to avoid premature battery aging. We propose a novel energy-aware computation time scheduler for satellite FL, which aims to minimize battery usage without any impact on the convergence speed. Numerical results indicate an increase of more than 3x in battery lifetime can be achieved over energy-agnostic task scheduling.

In the control task of mobile manipulators(MM), achieving efficient and agile obstacle avoidance in dynamic environments is challenging. In this letter, we present a safe expeditious whole-body(SEWB) control for MMs that ensures both external and internal collision-free. SEWB is constructed by a two-layer optimization structure. Firstly, control barrier functions(CBFs) are employed for a MM to establish initial safety constraints. Moreover, to resolve the pseudo-equilibrium problem of CBFs and improve avoidance agility, we propose a novel sub-optimization called adaptive cyclic inequality(ACI). ACI considers obstacle positions, velocities, and predefined directions to generate directional constraints. Then, we combine CBF and ACI to decompose safety constraints alongside an equality constraint for expectation control. Considering all these constraints, we formulate a quadratic programming(QP) as our primary optimization. In the QP cost function, we account for the motion accuracy differences between the base and manipulator, as well as obstacle influences, to achieve optimized motion. We validate the effectiveness of our SEWB control in avoiding collision and reaching target points through simulations and real-world experiments, particularly in challenging scenarios that involve fast-moving obstacles. SEWB has been proven to achieve whole-body collision-free and improve avoidance agility, similar to a "martial arts dodge".

Current humanoid push-recovery strategies often use whole-body motion, yet posture regulation is often overlooked. For instance, during manipulation tasks, the upper body may need to stay upright and have minimal recovery displacement. This paper introduces a novel approach to enhancing humanoid push-recovery performance under unknown disturbances and regulating body posture by tailoring the recovery stepping strategy. We propose a hierarchical-MPC-based scheme that analyzes and detects instability in the prediction window and quickly recovers through adapting gait frequency. Our approach integrates a high-level nonlinear MPC, a posture-aware gait frequency adaptation planner, and a low-level convex locomotion MPC. The planners predict the center of mass (CoM) state trajectories that can be assessed for precursors of potential instability and posture deviation. In simulation, we demonstrate improved maximum recoverable impulse by 131% on average compared with baseline approaches. In hardware experiments, a 125 ms advancement in recovery stepping timing/reflex has been observed with the proposed approach, We also demonstrate improved push-recovery performance and minimized attitude change under 0.2 rad.

Materials design is a critical driver of innovation, yet overlooking the technological, economic, and environmental risks inherent in materials and their supply chains can lead to unsustainable and risk-prone solutions. To address this, we present a novel risk-aware design approach that integrates Supply-Chain Aware Design Strategies into the materials development process. This approach leverages existing language models and text analysis to develop a specialized model for predicting materials feedstock supply risk indices. To efficiently navigate the multi-objective, multi-constraint design space, we employ Batch Bayesian Optimization (BBO), enabling the identification of Pareto-optimal high entropy alloys (HEAs) that balance performance objectives with minimized supply risk. A case study using the MoNbTiVW system demonstrates the efficacy of our approach in four scenarios, highlighting the significant impact of incorporating supply risk into the design process. By optimizing for both performance and supply risk, we ensure that the developed alloys are not only high-performing but also sustainable and economically viable. This integrated approach represents a critical step towards a future where materials discovery and design seamlessly consider sustainability, supply chain dynamics, and comprehensive life cycle analysis.

Neural networks (NN) are extensively studied in cutting-edge soft sensor models due to their feature extraction and function approximation capabilities. Current research into network-based methods primarily focuses on models' offline accuracy. Notably, in industrial soft sensor context, online optimizing stability and interpretability are prioritized, followed by accuracy. This requires a clearer understanding of network's training process. To bridge this gap, we propose a novel NN named the Approximated Orthogonal Projection Unit (AOPU) which has solid mathematical basis and presents superior training stability. AOPU truncates the gradient backpropagation at dual parameters, optimizes the trackable parameters updates, and enhances the robustness of training. We further prove that AOPU attains minimum variance estimation (MVE) in NN, wherein the truncated gradient approximates the natural gradient (NG). Empirical results on two chemical process datasets clearly show that AOPU outperforms other models in achieving stable convergence, marking a significant advancement in soft sensor field.

We look at the long-standing problem of segmenting unlabeled speech into word-like segments and clustering these into a lexicon. Several previous methods use a scoring model coupled with dynamic programming to find an optimal segmentation. Here we propose a much simpler strategy: we predict word boundaries using the dissimilarity between adjacent self-supervised features, then we cluster the predicted segments to construct a lexicon. For a fair comparison, we update the older ES-KMeans dynamic programming method with better features and boundary constraints. On the five-language ZeroSpeech benchmarks, our simple approach gives similar state-of-the-art results compared to the new ES-KMeans+ method, while being almost five times faster.

Differentiable architecture search (DARTS) has emerged as a promising technique for effective neural architecture search, and it mainly contains two steps to find the high-performance architecture: First, the DARTS supernet that consists of mixed operations will be optimized via gradient descent. Second, the final architecture will be built by the selected operations that contribute the most to the supernet. Although DARTS improves the efficiency of NAS, it suffers from the well-known degeneration issue which can lead to deteriorating architectures. Existing works mainly attribute the degeneration issue to the failure of its supernet optimization, while little attention has been paid to the selection method. In this paper, we cease to apply the widely-used magnitude-based selection method and propose a novel criterion based on operation strength that estimates the importance of an operation by its effect on the final loss. We show that the degeneration issue can be effectively addressed by using the proposed criterion without any modification of supernet optimization, indicating that the magnitude-based selection method can be a critical reason for the instability of DARTS. The experiments on NAS-Bench-201 and DARTS search spaces show the effectiveness of our method.

Abstract-- This paper presents experiments for embedded cooperative distributed model predictive control applied to a team of hovercraft floating on an air hockey table. The hovercraft collectively solve a centralized optimal control problem in each sampling step via a stabilizing decentralized real-time iteration scheme using the alternating direction method of multipliers. The efficient implementation does not require a central coordinator, executes onboard the hovercraft, and facilitates sampling intervals in the millisecond range. Model Predictive Control (MPC) is promising for robotics, because it explicitly accounts for actuator and safety constraints, interlaces motion planning with feedback control, and is applicable to output regulation, trajectory tracking, and path following [1]. Distributed optimization and Distributed MPC (DMPC) target cyber-physical systems such as energy networks [6] on the robots is required.

Model Predictive Control (MPC) is effective at generating safe control strategies in constrained scenarios, at the cost of computational complexity. This is especially the case in robots that require high sampling rates and have limited computing resources. Differentiable Predictive Control (DPC) trains offline a neural network approximation of the parametric MPC problem leading to computationally efficient online control laws at the cost of losing safety guarantees. DPC requires a differentiable model, and performs poorly when poorly conditioned. In this paper we propose a system decomposition technique based on relative degree to overcome this. We also develop a novel safe set generation technique based on the DPC training dataset and a novel event-triggered predictive safety filter which promotes convergence towards the safe set. Our empirical results on a quadcopter demonstrate that the DPC control laws have comparable performance to the state-of-the-art MPC whilst having up to three orders of magnitude reduction in computation time and satisfy safety requirements in a scenario that DPC was not trained on.

Federated learning (FL) is a distributed machine learning approach that allows multiple clients to collaboratively train a model without sharing their raw data. To prevent sensitive information from being inferred through the model updates shared in FL, differentially private federated learning (DPFL) has been proposed. DPFL ensures formal and rigorous privacy protection in FL by clipping and adding random noise to the shared model updates. However, the existing DPFL methods often result in severe model utility degradation, especially in settings with data heterogeneity. To enhance model utility, we propose a novel DPFL method named DP$^2$-FedSAM: Differentially Private and Personalized Federated Learning with Sharpness-Aware Minimization. DP$^2$-FedSAM leverages personalized partial model-sharing and sharpness-aware minimization optimizer to mitigate the adverse impact of noise addition and clipping, thereby significantly improving model utility without sacrificing privacy. From a theoretical perspective, we provide a rigorous theoretical analysis of the privacy and convergence guarantees of our proposed method. To evaluate the effectiveness of DP$^2$-FedSAM, we conduct extensive evaluations based on common benchmark datasets. Our results verify that our method improves the privacy-utility trade-off compared to the existing DPFL methods, particularly in heterogeneous data settings.