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When counterpoint meets chinese folk melodies 20

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When counterpoint meets chinese folk melodies

Proceedings of the 34th International Conference on Neural Information Processing systems

作者： Nan Jiang Sheng Jin Zhiyao Duan Changshui Zhang Institute for Artificial Intelligence Tsinghua University (THUAI) and State Key Lab of Intelligent Technologies and Systems and Beijing National Research Center for Information Science and Technology (BNRist) and Department of Automation Tsinghua University Beijing China Department of Electrical and Computer Engineering University of Rochester

ISBN: (纸本)9781713829546

Counterpoint is an important concept in Western music theory. In the past century, there have been significant interests in incorporating counterpoint into Chinese folk music composition. In this paper, we propose a reinforcement learning-based system, named FolkDuet, towards the online countermelody generation for Chinese folk melodies. With no existing data of Chinese folk duets, FolkDuet employs two reward models based on out-of-domain data i.e., Bach chorales, and monophonic Chinese folk melodies. An interaction reward model is trained on the duets formed from outer parts of Bach chorales to model counterpoint interaction, while a style reward model is trained on monophonic melodies of Chinese folk songs to model melodic patterns. With both rewards, the generator of FolkDuet is trained to generate countermelodies while maintaining the Chinese folk style. The entire generation process is performed in an online fashion, allowing real-time interactive human-machine duet improvisation. Experiments show that the proposed algorithm achieves better subjective and objective results than the baselines.

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Secure Distributed Filtering for Unstable Dynamics Under Compromised Observations

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Secure Distributed Filtering for Unstable Dynamics Under Com...

IEEE Annual Conference on Decision and control

作者： Xingkang He Xiaoqiang Ren Henrik Sandberg Karl H. Johansson Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Sweden Department of Automation Shanghai University Shanghai China

ISBN: (数字)9781728113982

ISBN: (纸本)9781728113999

In this paper, we consider a secure distributed filtering problem for linear time-invariant systems with bounded noises and unstable dynamics under compromised observations. A malicious attacker is able to compromise a subset of the agents and manipulate the observations arbitrarily. We first propose a recursive distributed filter consisting of two parts at each time. The first part employs a saturation-like scheme, which gives a small gain if the innovation is too large. The second part is a consensus operation of state estimates among neighboring agents. A sufficient condition is then established for the boundedness of estimation error, which is with respect to network topology, system structure, and the maximal compromised agent subset. We further provide an equivalent statement, which connects to 2s-sparse observability in the centralized framework in certain scenarios, such that the sufficient condition is feasible. Numerical simulations are finally provided to illustrate the developed results.

关键词： Observability Estimation error Technological innovation control systems State estimation Robustness

Family of asymptotic solutions to the two-dimensional kinetic equation with a nonlocal cubic nonlinearity

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arXiv 2022年

作者： Shapovalov, Alexander V. Kulagin, Anton E. Siniukov, Sergei A. Department of Theoretical Physics Tomsk State University Novosobornaya Sq. 1 Tomsk634050 Russia Laboratory for Theoretical Cosmology International Centre of Gravity and Cosmos Tomsk State University of Control Systems and Radioelectronics 40 Lenina av. Tomsk634050 Russia Division for Electronic Engineering Tomsk Polytechnic University 30 Lenina av. Tomsk634050 Russia Laboratory of Quantum Electronics V.E. Zuev Institute of Atmospheric Optics SB RAS 1 Academician Zuev Sq. Tomsk634055 Russia

We apply the original semiclassical approach to the kinetic ionization equation with the nonlocal cubic nonlinearity in order to construct the family of its asymptotic solutions. The approach proposed relies on an auxiliary dynamical system of moments of the desired solution to the kinetic equation and the associated linear partial differential equation. The family of asymptotic solutions to the kinetic equation is constructed using the symmetry operators acting on functions concentrated in a neighborhood of a point determined by the dynamical system. Based on these solutions, we introduce the nonlinear superposition principle for the nonlinear kinetic equation. Our formalism based on the Maslov germ method is applied to the Cauchy problem for the specific two-dimensional kinetic equation. The evolution of the ion distribution in the kinetically enhanced metal vapor active medium is obtained as the nonlinear superposition using the numerical-analytical *** Codes 45K05, 81Q20, 82B40, 82D10 Copyright © 2022, The Authors. All rights reserved.

关键词： Dynamical systems

The InSight-HP3 mole on Mars: Lessons learned from attempts to penetrate to depth in the Martian soil

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arXiv 2021年

作者： Spohn, Tilman Hudson, Troy L. Witte, Lars Wippermann, Torben Wisniewski, Lukasz Kedziora, Bartosz Vrettos, Christos Lorenz, Ralph D. Golombek, Matthew Lichtenheldt, Roy Grott, Matthias Knollenberg, Jörg Krause, Christian Fantinati, Cinzia Nagihara, Seiichi Grygorczuk, Jurek International Space Science Institute Bern Switzerland DLR Institute of Planetary Research Berlin Germany Jet Propulsion Laboratory California Institute of Technology Pasadena United States DLR Institute of Space Systems Bremen Germany Astronika Warsaw Poland Department of Civil Engineering University of Kaiserslautern Kaiserslautern Germany Johns Hopkins Applied Physics Laboratory LaurelMD20723 United States DLR Institute of System Dynamics and Control Oberpfaffenhofen Germany DLR Microgravity User Support Center Cologne Germany Department of Geosciences Texas Tech University Lubbock United States

The NASA InSight lander mission to Mars payload includes the Heat Flow and Physical Properties Package HP3 to measure the surface heat flow. The package was designed use a small penetrator - nicknamed the mole - to implement a vertical string of temperature sensors in the soil to a depth of 5 m. The mole itself is equipped with sensors to measure a thermal conductivity- depth profile as it proceeds to depth. The heat flow would be calculated from the product of the temperature gradient and the thermal conductivity. To avoid the perturbation caused by annual surface temperature variations, the measurements would be taken at a depth between 3 m and 5 m. The mole had been designed to penetrate cohesionless soil similar in rheology to Quartz sand which was expected to provide a good analogue material for Martian sand. The sand would provide friction to the buried mole hull to balance the remaining recoil of the mole hammer mechanism that drives the mole forward. Unfortunately, the mole did not penetrate more than roughly a mole length of 40 cm. The failure to penetrate deeper was largely due to a cohesive duricrust of a few tens of centimeter thickness that failed to provide the required friction. Although a suppressor mass and spring as part of the mole hammer mechanism absorbed much of the recoil, the available mass did not allow designing a system that would have eliminated the recoil. The mole penetrated to 40 cm depth benefiting from friction provided by springs in the support structure from which it was deployed. It was found in addition that the Martian soil provided unexpected levels of penetration resistance that would have motivated to designing a more powerful mole. The low weight of the moIe support structure was not enough to guide the mole penetrating vertically. It is concluded that more mass would have allowed to design a more robust system with little or no recoil, more energy of the mole hammer mechanism and a more massive support structure. In additio

关键词： Friction

Enabling community-based metrology for wood-degrading fungi

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Fungal Biology and Biotechnology 2020年第1期7卷 2页

作者： Perez, Rolando Luccioni, Marina Kamakaka, Rohinton Clamons, Samuel Gaut, Nathaniel Stirling, Finn Adamala, Katarzyna P. Silver, Pamela A. Endy, Drew Department of Bioengineering Schools of Engineering and Medicine Stanford University Room 252 Shriram Center 443 Via Ortega Stanford 94305 CA United States Department of MCD Biology University of California Santa Cruz 1156 High Street Santa Cruz 95064 CA United States Department of Chemistry and Molecular Biophysics California Institute of Technology 1200 E. California Blvd MC 138-78 Pasadena 91125 CA United States Department of Control and Dynamical Systems California Institute of Technology 1200 E. California Blvd MC 138-78 Pasadena 91125 CA United States Department of Genetics Cell Biology and Development College of Biological Sciences University of Minnesota 420 Washington Ave. SE 5-178 MCB Minneapolis 55455 MN United States Department of Systems Biology Harvard Medical School 200 Longwood Avenue Warren Alpert Building Boston 02115 MA United States Wyss Institute for Biologically Inspired Engineering Harvard University 200 Longwood Avenue Warren Alpert Building Boston 02115 MA United States

Background: Lignocellulosic biomass could support a greatly-expanded bioeconomy. Current strategies for using biomass typically rely on single-cell organisms and extensive ancillary equipment to produce precursors for downstream manufacturing processes. Alternative forms of bioproduction based on solid-state fermentation and wood-degrading fungi could enable more direct means of manufacture. However, basic methods for cultivating wood-degrading fungi are often ad hoc and not readily reproducible. Here, we developed standard reference strains, substrates, measurements, and methods sufficient to begin to enable reliable reuse of mycological materials and products in simple laboratory settings. Results: We show that a widely-available and globally-regularized consumer product (Pringles™) can support the growth of wood-degrading fungi, and that growth on Pringles™-broth can be correlated with growth on media made from a fully-traceable and compositionally characterized substrate (National institute of Standards and Technology Reference Material 8492 Eastern Cottonwood Whole Biomass Feedstock). We also establish a Relative Extension Unit (REU) framework that is designed to reduce variation in quantification of radial growth measurements. So enabled, we demonstrate that five laboratories were able to compare measurements of wood-fungus performance via a simple radial extension growth rate assay, and that our REU-based approach reduced variation in reported measurements by up to ~ 75%. Conclusions: Reliable reuse of materials, measures, and methods is necessary to enable distributed bioproduction processes that can be adopted at all scales, from local to industrial. Our community-based measurement methods incentivize practitioners to coordinate the reuse of standard materials, methods, strains, and to share information supporting work with wood-degrading fungi. © 2020 The Author(s).

关键词： Applied mycology Biometrology Citizenship Literacy Mushrooms Synthetic biology

Enhancing efficiency of multi-agent flying systems using optimization

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AIP Conference Proceedings 2024年第1期3129卷

作者： Benyamin Ebrahimi Ali Asghar Bataleblu Jafar Roshanian Vladimir Serbezov Institute of Intelligent Control Systems K. N. Toosi University of Technology 470 Mirdamad Ave. West 19697 Tehran Iran Faculty of Engineering Free University of Bolzano-Bozen piazza Domenicani 3 39100 Bolzano Italy Department of Aeronautics Technical University of Sofia 8 Kliment Ohridski Blvd. 1000 Sofia Bulgaria

With the expansion of the research on smart cities, unmanned aerial vehicles have gained popularity in recent years, especially in search and surveillance operations. Flying robots are efficient in covering vast areas quickly, making them ideal for tasks such as search and rescue operations, and surveillance missions. To increase the productivity of these operations multi-agent systems of drones working in cooperation should be used. However, the effectiveness of cooperative search and coverage in environments with scattered uncertainties can be limited due to operational constraints. One of the primary challenges in cooperative systems is reducing operating costs while improving or maintaining efficiency. Operational limitations such as time, number of agents, and dimensions of the surveillance region significantly impact the efficiency of a multi-agent system in cooperative search and coverage missions. By considering these operational limitations and optimizing performance accordingly, cooperative search and coverage missions can be executed efficiently with reduced operating costs. To address this challenge, in this paper, an optimization-based approach has been developed for distributed cooperative search and coverage in uncertain environments with unknown stationary targets utilizing a team of agents. This approach formulates the cooperative search and coverage mission as a multi-object optimization problem. The objective function includes minimizing the number of agents used while maximizing the coverage rate. The optimization procedure is used to compute optimal operational parameters for the mission, including the number of agents, their starting positions, and so on. The effectiveness of the proposed strategy is validated and demonstrated via cooperative search and coverage problems simulation. The mission performance constrains were fully satisfied by reaching uncertainty reduction of 0.52 (should be less than 0.6) and founded targets ratio of 0.75 (shoul

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An Anti-Windup Scheme for the Super-Twisting Algorithm

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An Anti-Windup Scheme for the Super-Twisting Algorithm

IEEE Annual Conference on Decision and control

作者： M. A. Golkani S. Koch R. Seeber M. Reichhartinger M. Horn Institute of Automation and Control Faculty of Electrical and Information Engineering Graz University of Technology Graz Austria Christian Doppler Laboratory for Model Based Control of Complex Test Bed Systems Institute of Automation and Control Graz University of Technology Graz Austria

ISBN: (数字)9781728113982

ISBN: (纸本)9781728113999

In this paper, a system, which is subject to perturbations and unknowns, with a saturating actuator is considered. In order to design a robust feedback control law based on the sliding mode approach, the standard super-twisting algorithm is modified adopting an anti-windup technique. Similar to the conventional super-twisting controller, the control signal introduced into the system is continuous everywhere. The performance of the conventional one is, however, significantly improved in the case that the initial condition of the system is far away from the origin. Global finite-time stability properties of the closedloop are investigated, which gives a parameter setting for the controller. Having employed numerical simulations, feasibility and effectiveness of the scheme are indicated.

关键词： Switches Actuators Sliding mode control Stability analysis Windup Perturbation methods

Human intention recognition for human aware planning in integrated warehouse systems

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arXiv 2020年

作者： Petković, Tomislav Hvězda, Jakub Rybecký, Tomáš Marković, Ivan Kulich, Miroslav Přeučil, Libor Petrović, Ivan University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Laboratory for Autonomous Systems and Mobile Robotics Unska 3 ZagrebHR-10000 Croatia Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague160 00 Czech Republic

With the substantial growth of logistics businesses the need for larger and more automated warehouses increases, thus giving rise to fully robotized shop-floors with mobile robots in charge of transporting and distributing goods. However, even in fully automatized warehouse systems the need for human intervention frequently arises, whether because of maintenance or because of fulfilling specific orders, thus bringing mobile robots and humans ever closer in an integrated warehouse environment. In order to ensure smooth and efficient operation of such a warehouse, paths of both robots and humans need to be carefully planned;however, due to the possibility of humans deviating from the assigned path, this becomes an even more challenging task. Given that, the supervising system should be able to recognize human intentions and its alternative paths in real-time. In this paper, we propose a framework for human deviation detection and intention recognition which outputs the most probable paths of the humans workers and the planner that acts accordingly by replanning for robots to move out of the human's path. Experimental results demonstrate that the proposed framework increases total number of deliveries, especially human deliveries, and reduces human-robot encounters. Copyright © 2020, The Authors. All rights reserved.

关键词： Mobile robots

Evolution of cooperation with joint liability

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arXiv 2021年

作者： Wang, Guocheng Su, Qi Wang, Long Center for Systems and Control College of Engineering Peking University Beijing100871 China Center for Mathematical Biology University of Pennsylvania PhiladelphiaPA19104 United States Department of Mathematics University of Pennsylvania PhiladelphiaPA19104 United States Department of Biology University of Pennsylvania PhiladelphiaPA19104 United States Center for Multi-Agent Research Institute for Artificial Intelligence Peking University Beijing100871 China

"Personal responsibility", one of the basic principles of modern law, requires one to be responsible for what he did. However, personal responsibility is far from the only norm ruling human interactions, especially in social and economic activities. In many collective communities such as among enterprise colleagues and family members, one's personal interests are often bound to others' - once one member breaks the rule, a group of people have to bear the punishment or sanction. Such a mechanism is termed "joint liability". Although many real-world cases have demonstrated that joint liability helps to maintain collective collaboration, a deep and systematic theoretical analysis on how and when joint liability promotes cooperation is lacking. Here we use evolutionary game theory to model an interacting system with joint liability, where one's losing credit could deteriorate the reputation of the whole group. We provide the analytical condition to predict when cooperation evolves in the presence of joint liability, which is verified by simulations. We also analytically prove that joint liability can greatly promote cooperation. Our work stresses that joint liability is of great significance in promoting the current economic propensity. Copyright © 2021, The Authors. All rights reserved.

关键词： Game theory