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Oz is a multiparadigm language that supports logic programming as one of its major paradigms. A multiparadigm language is designed to support different programming paradigms (logic, functional, constraint, object-oriented, sequential, concurrent, etc.) with equal ease. This paper has two goals: to give a tutorial of logic programming in Oz; and to show how logic programming fits naturally into the wider context of multiparadigm programming. Our experience shows that there are two classes of problems, which we call algorithmic and search problems, for which logic programming can help formulate practical solutions. Algorithmic problems have known efficient algorithms. Search problems do not have known efficient algorithms but can be solved with search. The Oz support for logic programming targets these two problem classes specifically, using the concepts needed for each. This is in contrast to the Prolog approach, which targets both classes with one set of concepts, which results in less than optimal support for each class. We give examples that can be run interactively on the Mozart system, which implements Oz. To explain the essential difference between algorithmic and search programs, we define the Oz execution model. This model subsumes both concurrent logic programming (committed-choice-style) and search-based logic programming (Prolog-style). Furthermore, as consequences of its multiparadigm nature, the model supports new abilities such as first-class top levels, deep guards, active objects, and sophisticated control of the search process. Instead of Horn clause syntax, Oz has a simple, fully compositional, higher-order syntax that accommodates the abilities of the language. We give a brief history of Oz that traces the development of its main ideas and we summarize the lessons learned from this work. Finally, we give many entry points into the Oz literature. [ABSTRACT FROM AUTHOR]

In this paper, we propose new Metropolis–Hastings and simulated annealing algorithms on a finite state space via modifying the energy landscape. The core idea of landscape modification rests on introducing a parameter c , such that the landscape is modified once the algorithm is above this threshold parameter to encourage exploration, while the original landscape is utilized when the algorithm is below the threshold for exploitation purposes. We illustrate the power and benefits of landscape modification by investigating its effect on the classical Curie–Weiss model with Glauber dynamics and external magnetic field in the subcritical regime. This leads to a landscape-modified mean-field equation, and with appropriate choice of c the free energy landscape can be transformed from a double-well into a single-well landscape, while the location of the global minimum is preserved on the modified landscape. Consequently, running algorithms on the modified landscape can improve the convergence to the ground state in the Curie–Weiss model. In the setting of simulated annealing, we demonstrate that landscape modification can yield improved or even subexponential mean tunnelling time between global minima in the low-temperature regime by appropriate choice of c , and we give a convergence guarantee using an improved logarithmic cooling schedule with reduced critical height. We also discuss connections between landscape modification and other acceleration techniques, such as Catoni's energy transformation algorithm, preconditioning, importance sampling, and quantum annealing. The technique developed in this paper is not limited to simulated annealing, but is broadly applicable to any difference-based discrete optimization algorithm by a change of landscape. [ABSTRACT FROM AUTHOR]

In this paper, we analyze two types of refutations for Unit Two Variable Per Inequality (UTVPI) constraints. A UTVPI constraint is a linear inequality of the form: $a_{i}\cdot x_{i}+a_{j} \cdot x_{j} \le b_{k}$ , where $a_{i},a_{j}\in \{0,1,-1\}$ and $b_{k} \in \mathbb{Z}$. A conjunction of such constraints is called a UTVPI constraint system (UCS) and can be represented in matrix form as: ${\bf A \cdot x \le b}$. UTVPI constraints are used in many domains including operations research and program verification. We focus on two variants of read-once refutation (ROR). An ROR is a refutation in which each constraint is used at most once. A literal-once refutation (LOR), a more restrictive form of ROR, is a refutation in which each literal ( $x_i$ or $-x_i$) is used at most once. First, we examine the constraint-required read-once refutation (CROR) problem and the constraint-required literal-once refutation (CLOR) problem. In both of these problems, we are given a set of constraints that must be used in the refutation. RORs and LORs are incomplete since not every system of linear constraints is guaranteed to have such a refutation. This is still true even when we restrict ourselves to UCSs. In this paper, we provide NC reductions between the CROR and CLOR problems in UCSs and the minimum weight perfect matching problem. The reductions used in this paper assume a CREW PRAM model of parallel computation. As a result, the reductions establish that, from the perspective of parallel algorithms, the CROR and CLOR problems in UCSs are equivalent to matching. In particular, if an NC algorithm exists for either of these problems, then there is an NC algorithm for matching. [ABSTRACT FROM AUTHOR]

To solve the problem of spacecraft attitude manoeuvre planning under dynamic multiple mandatory pointing constraints and prohibited pointing constraints, a systematic attitude manoeuvre planning approach is proposed that is based on improved policy gradient reinforcement learning. This paper presents a succinct model of dynamic multiple constraints that is similar to a real situation faced by an in-orbit spacecraft. By introducing return baseline and adaptive policy exploration methods, the proposed method overcomes issues such as large variances and slow convergence rates. Concurrently, the required computation time of the proposed method is markedly reduced. Using the proposed method, the near optimal path of the attitude manoeuvre can be determined, making the method suitable for the control of micro spacecraft. Simulation results demonstrate that the planning results fully satisfy all constraints, including six prohibited pointing constraints and two mandatory pointing constraints. The spacecraft also maintains high orientation accuracy to the Earth and Sun during all attitude manoeuvres. [ABSTRACT FROM AUTHOR]

This paper presents a new algorithm to navigate robots in dynamically cluttered environments. The proposed algorithm uses basic concepts of space attraction (hence the term Agoraphilic) to navigate robots through dynamic obstacles. The new algorithm in this paper is an advanced development of the original Agoraphilic navigation algorithm that was only able to navigate robots in static environments. The Agoraphilic algorithm does not look for obstacles (problems) to avoid but rather for a free space (solutions) to follow. Therefore, it is also described as an optimistic navigation algorithm. This algorithm uses only one attractive force created by the available free space. The free-space concept allows the Agoraphilic algorithm to overcome inherited challenges of general navigation algorithms. However, the original Agoraphilic algorithm has the limitation in navigating robots only in static, not in dynamic environments. The presented algorithm was developed to address this limitation of the original Agoraphilic algorithm. The new algorithm uses a developed object tracking module to identify the time-varying free spaces by tracking moving obstacles. The capacity of the algorithm was further strengthened by the new prediction module. Future space prediction allowed the algorithm to make decisions considering future growing/diminishing free spaces. This paper also includes a bench-marking study of the new algorithm compared with a recently published APF-based algorithm under a similar operating environment. Furthermore, the algorithm was validated based on experimental tests and simulation tests. [ABSTRACT FROM AUTHOR]

Design has always been seen as an inherently human activity and hard to automate. It requires a lot of traits that are seldom attributable to machines or algorithms. Consequently, the act of designing is also hard to assess. In particular in an educational context, the assessment of progress of design tasks performed by individuals or teams is difficult, and often only the outcome of the task is assessed or graded. There is a need to better understand, and potentially quantify, design progress. Natural Language Processing (NLP) is one way of doing so. With the advancement in NLP research, some of its models are adopted into the field of design to quantify a design class performance. To quantify and visualize design progress, the NLP models are often deployed to analyze written documentation collected from the class participants at fixed time intervals through the span of a course. This paper will explore several ways of using NLP in assessing design progress, analyze its advantages and shortcomings, and present a case study to demonstrate its application. The paper concludes with some guidelines and recommendations for future development. [ABSTRACT FROM AUTHOR]

The field of humanoid robotics is constantly evolving, with new advances creating exciting opportunities for research and development. Especially in the entertainment area, robotics applications show significant growth potential. To guide and track the progress of robotics research, good benchmark problems are crucial, but especially investigating human–robot interaction capabilities is difficult. This paper examines robot magic shows as a benchmark and research direction for entertainer robots and discusses flexible and versatile system architectures for robot magicians in the humanoid robot application challenge competition since 2017. The goal is a detailed analysis of magic tricks and magician robots presented in front of audiences. This paper reviews the hardware components and examines the robot platforms of participating teams in the robot magic show, the types of magic performances, the magic tricks and tools, the algorithms for the magic tricks, and the framework for humanoid robots. By providing a comprehensive analysis of these elements, we can gain insight into the capabilities of advanced humanoid robots for high-performance magic tricks. In conclusion, this paper highlights the exciting potential of humanoid robotics and entertainment fusion. In addition, we analyze the use of humanoid robots in magic shows, presenting the industrial potential of entertainer robots. [ABSTRACT FROM AUTHOR]

In this paper, we analyze Boolean formulas in conjunctive normal form (CNF) from the perspective of read-once resolution (ROR) refutation schemes. A read-once (resolution) refutation is one in which each clause is used at most once. Derived clauses can be used as many times as they are deduced. However, clauses in the original formula can only be used as part of one derivation. It is well known that ROR is not complete; that is, there exist unsatisfiable formulas for which no ROR exists. Likewise, the problem of checking if a 3CNF formula has a read-once refutation is NP-complete. This paper is concerned with a variant of satisfiability called not-all-equal satisfiability (NAE-satisfiability). A CNF formula is NAE-satisfiable if it has a satisfying assignment in which at least one literal in each clause is set to false. It is well known that the problem of checking NAE-satisfiability is NP-complete. Clearly, the class of CNF formulas which are NAE-satisfiable is a proper subset of satisfiable CNF formulas. It follows that traditional resolution cannot always find a proof of NAE-unsatisfiability. Thus, traditional resolution is not a sound procedure for checking NAE-satisfiability. In this paper, we introduce a variant of resolution called NAE-resolution which is a sound and complete procedure for checking NAE-satisfiability in CNF formulas. The focus of this paper is on a variant of NAE-resolution called read-once NAE-resolution in which each clause (input or derived) can be part of at most one NAE-resolution step. Our principal result is that read-once NAE-resolution is a sound and complete procedure for 2CNF formulas. Furthermore, we provide an algorithm to determine the smallest such NAE-resolution in polynomial time. This is in stark contrast to the corresponding problem concerning 2CNF formulas and ROR refutations. We also show that the problem of checking whether a 3CNF formula has a read-once NAE-resolution is NP-complete. [ABSTRACT FROM AUTHOR]

Objective: To present our data evaluating the feasibility of simultaneous cochlear implantation with resection of acoustic neuroma. Methods: This paper describes a case series of eight adult patients with a radiologically suspected acoustic neuroma, treated at a tertiary referral centre in Newcastle, Australia, between 2012 and 2015. Patients underwent cochlear implantation concurrently with removal of an acoustic neuroma. The approach was translabyrinthine, with facial nerve monitoring and electrically evoked auditory brainstem response testing. Standard post-implant rehabilitation was employed, with three and six months' follow-up data collected. The main outcome measures were: hearing, subjective benefit of implant, operative complications and tumour recurrence. Results: Eight patients underwent simultaneous cochlear implantation with resection of acoustic neuroma over a 3-year period, and had 25–63 months' follow up. There were no major complications. All patients except one gained usable hearing and were daily implant users. Conclusion: Simultaneous cochlear implantation with resection of acoustic neuroma has been shown to be a safe treatment option, which will be applicable in a wide range of clinical scenarios as the indications for cochlear implantation continue to expand. [ABSTRACT FROM AUTHOR]

This paper considers the task allocation problem under the requirement that the assignments of some critical tasks must be maximized when the network capacity cannot accommodate all tasks due to the limited capacity for each unmanned aerial vehicle (UAV). To solve this problem, this paper proposes an extended performance impact algorithm with critical tasks (EPIAC) based on the traditional performance impact algorithm. A novel task list resizing phase is developed in EPIAC to deal with the constraint on the limited capacity of each UAV and maximize the assignments of critical tasks. Numerical simulations demonstrate the outstanding performance of EPIAC compared with other algorithms. [ABSTRACT FROM AUTHOR]

During the operation of automatic navigation rice transplanter, the accuracy of path tracking is influenced by whether the transplanter can enter the stable state of linear path tracking quickly, thus affecting the operation quality and efficiency. To reduce the time to enter the path tracking stable state and improve the tracking accuracy and stability for the rice transplanter, path tracking control method based on variable universe fuzzy control (VUFC) and improved beetle antenna search (BAS) is proposed in this paper. VUFC is applied to achieve adaptive adjustment of the fuzzy universe by dynamically adjusting the quantization and scaling factors according to the variations of errors by the contraction–expansion factor. To solve the problem of setting the contraction–expansion factor in VUFC and real-time performance, an offline parameter optimization method is presented to calculate the optimal contraction–expansion factor by an iterative optimization algorithm in a path tracking simulation model, where the iterative optimization algorithm is the BAS algorithm improved by the isolated niching technique and adaptive step size strategy in this paper. To verify the effectiveness of the proposed path tracking control method, simulation and field linear path tracking experiments were carried out. Experimental results indicate that the proposed method reduces the time of entering the stable state of linear path tracking and improves the accuracy and stability of path tracking compared with the pure pursuit control method. [ABSTRACT FROM AUTHOR]

To eliminate the effect of ocean currents for optimal path planning for unmanned underwater vehicles (UUVs) in the underwater environment, an intelligent algorithm is designed and proposed in this paper. The algorithm consists of two parts: an artificial potential field-based algorithm that derives the shortest path and avoids collision accidents; and an adjusting function that eliminates the effect of ocean currents. The planning results of the intelligent algorithm are presented in detail, and compared with the conventional algorithm that does not consider the effect of currents. The effectiveness of the optimised path planning method given in this paper is proved. [ABSTRACT FROM AUTHOR]

In this paper we revisit some classical queueing systems such as the M $^b$ /E $_k$ /1/ m and E $_k$ /M $^b$ /1/ m queues, for which fast numerical and recursive methods exist to study their main performance measures. We present simple explicit results for the loss probability and queue length distribution of these queueing systems as well as for some related queues such as the M $^b$ /D/1/ m queue, the D/M $^b$ /1/ m queue, and fluid versions thereof. In order to establish these results we first present a simple analytical solution for the invariant measure of the M/E $_k$ /1 queue that appears to be new. [ABSTRACT FROM AUTHOR]

Motivated by applications to wireless networks, cloud computing, data centers, etc., stochastic processing networks have been studied in the literature under various asymptotic regimes. In the heavy traffic regime, the steady-state mean queue length is proved to be $\Theta({1}/{\epsilon})$ , where $\epsilon$ is the heavy traffic parameter (which goes to zero in the limit). The focus of this paper is on obtaining queue length bounds on pre-limit systems, thus establishing the rate of convergence to heavy traffic. For the generalized switch, operating under the MaxWeight algorithm, we show that the mean queue length is within $\textrm{O}({\log}({1}/{\epsilon}))$ of its heavy traffic limit. This result holds regardless of the complete resource pooling (CRP) condition being satisfied. Furthermore, when the CRP condition is satisfied, we show that the mean queue length under the MaxWeight algorithm is within $\textrm{O}({\log}({1}/{\epsilon}))$ of the optimal scheduling policy. Finally, we obtain similar results for the rate of convergence to heavy traffic of the total queue length in load balancing systems operating under the 'join the shortest queue' routeing algorithm. [ABSTRACT FROM AUTHOR]

Collision avoidance (COLAV) is a prerequisite for the navigation safety of unmanned surface vehicles (USVs). Since USVs have to avoid obstacles clearly and timely, i.e. the COLAV should be agile, the COLAV algorithm should have low computation complexity and make efficient COLAV decisions. However, balancing between the computation complexity and the COLAV decision optimality is still intractable at present. This paper innovatively proposes a COLAV algorithm for USVs by combining the velocity obstacle method with the predictive model method, named the collision shielded model predictive control (CS-MPC) algorithm, such that the agility of USVs COLAV is improved. The runtime of the proposed COLAV algorithm is shortened by shielding the dangerous parts of the search space of the COLAV decisions, and the COLAV decision is efficient with the aid of the accurately predicted motion trajectory by the motion mathematical model of USVs. As such, the USV can safely navigate in complex water areas where multiple vessels and obstacles exist. A series of simulations on a yacht in different kinds of encounter situations were carried out to verify the effectiveness and the agility of the proposed CS-MPC COLAV algorithm. [ABSTRACT FROM AUTHOR]

Text usually suffers from typos which can negatively affect various Information Retrieval and Natural Language Processing tasks. Although there is a wide variety of choices for tackling this issue in the English language, this is not the case for other languages. For the Greek language, most of the existing phonetic algorithms provide rather insufficient support. For this reason, in this paper, we introduce an algorithm for phonetic matching designed for the Greek language: we start from the original Soundex and we redesign and extend it for accommodating the Greek language's phonetic rules, ending up to a family of algorithms, that we call ${\tt Soundex}_{GR}$. Then, we report various experimental results showcasing how the algorithm behaves in different scenarios, and we provide comparative results for various parameters of the algorithm for revealing the trade-off between precision and recall in datasets with different kinds of errors. We also provide comparative results with matching using stemming, full phonemic transcription, and edit distance, that demonstrate that ${\tt Soundex}_{GR}$ performs better (indicatively, it achieves F-Score over 95% in collections of similar-sounded words). The simplicity, efficiency, and effectiveness of the proposed algorithm make it applicable and adaptable to a wide range of tasks. [ABSTRACT FROM AUTHOR]

In order to improve the speed of motion planning, this paper proposes an improved RRTConnect algorithm (SDPS-RRTConnect) based on sparse dead point saved strategy. Combining sparse expansion strategy and dead point saved strategy, the algorithm can reduce the number of collision detection, fast convergence, avoid falling into local minimum, and ensure the completeness of search space. The algorithm is simulated in different environments. The results show that in complex environments, the sparse dead point saved strategy plays a good effect. In simple environments, the greedy connection strategy works well. Compared with the standard RRT algorithm, the standard RRTConnect algorithm, and the SDPS-RRT algorithm, the SDPS-RRTConnect algorithm has the shortest planning time, and it is suitable for both simple and complex environments. The 500 experiments show that the algorithm has strong robustness. The actual robot experiments show that the path planned by SDPS-RRTConnect algorithm is effective. [ABSTRACT FROM AUTHOR]

SUMMARY: This paper presents a non-model-based collision detection algorithm for robots without external sensors and with closed control architecture. A reference signal of repetitive motion is recorded from the robot operation. To detect collisions, the reference is compared with measurements from the robot. One of the key contributions is a novel approach to optimal matching of compared signals, which is ensured by the newly developed modified Dynamic Time Warping (mDTW) method presented in this paper. One of the main improvements of the mDTW is that it enables comparing a signal with the most similar section of the other signal. Partial matching also enables online application of time warping principles and reduces the time and computation resources needed to perform matching. In addition to mDTW, two complementary decision rules are developed to identify collisions. The first rule, based on the absolute difference between compared matched samples, uses statistically determined thresholds to perform rapid detection of unambiguous collisions. The second rule is based on Eigen values of the covariance matrix of matched samples, and it employs its higher sensitivity to detect collisions with lower intensity. Results from experimental validation of the proposed collision algorithm on two industrial robots are shown. [ABSTRACT FROM AUTHOR]

We clarify two pointsmade in our commentary (Pezzo&Beckstead, 2020, this issue) on a recent paper by Longoni, Bonezzi, and Morewedge (2019). In both Experiments 1 and 4 from their paper, it is not possible to determine whether accuracy can compensate for algorithm aversion. Experiments 3A-C, however, do show a strong effect of accuracy such that AI that is superior to a human provider is embraced by patients. Many papers, including Longoni et al. tend to minimize the role of this compensatory process, apparently because it seems obvious to the authors (Longoni, Bonezzi, Morewedge, 2020, this issue). Such minimization, however, can lead to (mis)citations in which research that clearly demonstrates a compensatory role of AI accuracy is cited as non-compensatory. [ABSTRACT FROM AUTHOR]

Conceptual design is a key stage of product design and has received increasing attention in recent years. However, this stage is characterized by limited information, large uncertainty, and multidisciplinary aspects. Thus, increased workload and time cost are associated with conceptual design information acquisition; sometimes, it is difficult to develop novel solutions and the feasibility of the solutions obtained according to these limited and uncertain information is difficult to guarantee. Genetics-based design (GBD) is an effective approach to develop novel solutions and improve the reuse of knowledge, which is consistent with the goal of the conceptual design process. Product-gene acquisition is the premise and basis of GBD. At present, there are few reported studies in this area; most of the existing works are constrained by the structural aspects of the acquisition process, and there are limited studies on specific implementation techniques. To explore the specific implementation technologies of product-gene acquisition, an intelligent acquisition method based on K -means clustering and mutual information-based feature selection algorithm is proposed in this paper. The product genes defined in this paper are key product information that determines the nature of the product and influences the conceptual design process. Thus, solutions obtained according to them are more feasible than that based on limited and uncertain information. An illustrative example is presented. The results show that the proposed method can achieve intelligent acquisition of product genes to a certain extent. Further, the proposed method will allow designers to quickly search for the corresponding product genes when performing similar functional design tasks. [ABSTRACT FROM AUTHOR]

Summary: Humanoid robots (HR) equipped with a sophisticated facial character analysis (FCA) algorithm can able to initiate crucial improvements in human–robot interactions. This paper, for the first time in the literature, proposes a three-stage FCA algorithm for the HR. At the initial stage of this algorithm, the HR detects the face with the Viola–Jones algorithm, and then important facial distance measurements are obtained with the geometric-based facial distance measurement technique. Finally, the measured facial distances are evaluated with the physiognomy science to reveal the characteristic properties of a person. Even though the proposed algorithm can be implemented to all HR, in this paper, it has been specifically applied to NAO HR. The reliability of the developed FCA algorithm is verified by analyzing each terminal decision about the character and its connection with the measured facial distances in the anatomy science. [ABSTRACT FROM AUTHOR]

The inexpressive Description Logic (DL) ${\cal F}{{\cal L}_0}$ , which has conjunction and value restriction as its only concept constructors, had fallen into disrepute when it turned out that reasoning in ${\cal F}{{\cal L}_0}$ w.r.t. general TBoxes is ExpTime-complete, that is, as hard as in the considerably more expressive logic ${\cal A}{\cal L}{\cal C}$. In this paper, we rehabilitate ${\cal F}{{\cal L}_0}$ by presenting a dedicated subsumption algorithm for ${\cal F}{{\cal L}_0}$ , which is much simpler than the tableau-based algorithms employed by highly optimized DL reasoners. Our experiments show that the performance of our novel algorithm, as prototypically implemented in our ${\cal F}{{\cal L}_0}$ wer reasoner, compares very well with that of the highly optimized reasoners. ${\cal F}{{\cal L}_0}$ wer can also deal with ontologies written in the extension ${\cal F}{{\cal L}_ \bot }$ of ${\cal F}{{\cal L}_0}$ with the top and the bottom concept by employing a polynomial-time reduction, shown in this paper, which eliminates top and bottom. We also investigate the complexity of reasoning in DLs related to the Horn-fragments of ${\cal F}{{\cal L}_0}$ and ${\cal F}{{\cal L}_ \bot }$. [ABSTRACT FROM AUTHOR]

The use of topology optimization in the design of fluid dynamics systems is still in its infancy. With the decreasing cost of additive manufacture, the application of topology optimization in the design of structural components has begun to increase. This paper provides a method for using topology optimization to reduce the power dissipation of fluid dynamics systems, with the novelty of it being the first application of stochastic mechanisms in the design of 3D fluid–solid geometrical interfaces. The optimization algorithm uses the continuous adjoint method for sensitivity analysis and is optimized against an objective function for fluid power dissipation. The paper details the methodology behind a vanilla gradient descent approach before introducing stochastic behavior through a minibatch-based system. Both algorithms are then applied to a novel case study for an internal combustion engine's piston cooling gallery before the performance of each algorithm's resulting geometry is analyzed and compared. The vanilla gradient descent algorithm achieves an 8.9% improvement in pressure loss through the case study, and this is surpassed by the stochastic descent algorithm which achieved a 9.9% improvement, however this improvement came with a large time cost. Both approaches produced similarly unintuitive geometry solutions to successfully improve the performance of the cooling gallery. [ABSTRACT FROM AUTHOR]

The application of machine-learning technologies to medical practice promises to enhance the capabilities of healthcare professionals in the assessment, diagnosis, and treatment, of medical conditions. However, there is growing concern that algorithmic bias may perpetuate or exacerbate existing health inequalities. Hence, it matters that we make precise the different respects in which algorithmic bias can arise in medicine, and also make clear the normative relevance of these different kinds of algorithmic bias for broader questions about justice and fairness in healthcare. In this paper, we provide the building blocks for an account of algorithmic bias and its normative relevance in medicine. [ABSTRACT FROM AUTHOR]

Real-time localization is an important mission for self-driving cars and it is difficult to achieve precise pose information in dynamic environments. In this paper, a novel localization method is proposed to estimate the pose of self-driving cars using a 3D-LiDAR sensor. First, the multi-frame curb features and laser intensity features are extracted. Meanwhile, based on the high-precision curb map generated offline, obstacles on road are detected using region segmentation methods and their features are removed. Furthermore, a map-matching method is proposed to match the features to the map, a robust iterative closest point algorithm is utilized to deal with curb features along with a probability search method dealing with intensity features. Finally, two separate Kalman filters are used to fuse the low-cost global positioning systems and map-matching results. Both offline and online experiments are carried out in dynamic environments and the results demonstrate the accuracy and robustness of the proposed method. [ABSTRACT FROM AUTHOR]

In this paper we estimate the expected error of a stochastic approximation algorithm where the maximum of a function is found using finite differences of a stochastic representation of that function. An error estimate of the order $n^{-1/5}$ for the n th iteration is achieved using suitable parameters. The novelty with respect to previous studies is that we allow the stochastic representation to be discontinuous and to consist of possibly dependent random variables (satisfying a mixing condition). [ABSTRACT FROM AUTHOR]

The notion of the capacity of a polynomial was introduced by Gurvits around 2005, originally to give drastically simplified proofs of the van der Waerden lower bound for permanents of doubly stochastic matrices and Schrijver's inequality for perfect matchings of regular bipartite graphs. Since this seminal work, the notion of capacity has been utilised to bound various combinatorial quantities and to give polynomial-time algorithms to approximate such quantities (e.g. the number of bases of a matroid). These types of results are often proven by giving bounds on how much a particular differential operator can change the capacity of a given polynomial. In this paper, we unify the theory surrounding such capacity-preserving operators by giving tight capacity preservation bounds for all nondegenerate real stability preservers. We then use this theory to give a new proof of a recent result of Csikvári, which settled Friedland's lower matching conjecture. [ABSTRACT FROM AUTHOR]

This paper presents a formulation of snapshot positioning as a mixed-integer least-squares problem. In snapshot positioning, one estimates a position from code-phase (and possibly Doppler-shift) observations of global navigation satellite system (GNSS) signals without knowing the time of departure (timestamp) of the codes. Solving the problem allows a receiver to determine a fix from short radio-frequency snapshots missing the timestamp information embedded in the GNSS data stream. This is used to reduce the time to first fix in some receivers, and it is used in certain wildlife trackers. This paper presents two new formulations of the problem and an algorithm that solves the resulting mixed-integer least-squares problems. We also show that the new formulations can produce fixes even with huge initial errors, much larger than permitted in Van Diggelen's widely-cited coarse-time navigation method. [ABSTRACT FROM AUTHOR]

This paper proposes a method to compare the performances of different methods for robust design optimization of computationally demanding models. Its intended usage is to help the engineer to choose the optimization approach when faced with a robust optimization problem. This paper demonstrates the usage of the method to find the most appropriate robust design optimization method to solve an engineering problem. Five robust design optimization methods, including a novel method, are compared in the demonstration of the comparison method. Four of the five compared methods involve surrogate models to reduce the computational cost of performing robust design optimization. The five methods are used to optimize several mathematical functions that should be similar to the engineering problem. The methods are then used to optimize the engineering problem to confirm that the most suitable optimization method was identified. The performance metrics used are the mean value and standard deviation of the robust optimum as well as an index that combines the required number of simulations of the original model with the accuracy of the obtained solution. These measures represent the accuracy, robustness, and efficiency of the compared methods. The results of the comparison show that sequential robust optimization is the method with the best balance between accuracy and number of function evaluations. This is confirmed by the optimizations of the engineering problem. The comparison also shows that the novel method is better than its predecessor is. [ABSTRACT FROM PUBLISHER]

In this paper, we give an explicit computable algorithm for the Zelevinsky–Aubert duals of irreducible representations of $p$ -adic symplectic and odd special orthogonal groups. To do this, we establish explicit formulas for certain derivatives and socles. We also give a combinatorial criterion for the irreducibility of certain parabolically induced representations. [ABSTRACT FROM AUTHOR]

This paper presents the technical specifications of a lightweight humanoid robot platform named Robinion Sr. including its mechanical and electrical design. We describe a versatile and robust mechatronic system, efficient walking gait, and software architecture of the humanoid robot. The humanoid robot platform is targeted for use in a range of applications, including research and development, competitions, and the service industry. A reduced platform cost was an essential consideration in our design. We introduce a specialized and inexpensive mechanical design, which includes a parallel-kinematics leg design, external gears, and low-cost controllers and sensors. The humanoid robot is equipped with an efficient electronic structure and a tablet computer for task scheduling, control, and perception, as well as an embedded controller for solving forward & inverse kinematics and low-level actuator control. The perception system recognizes objects at real-time inference with Deep Learning-based detection algorithms without a dedicated GPU. We present and evaluate the capabilities of our newly developed advanced humanoid robot and believe it is a suitable platform for the academic and industrial robotics community. [ABSTRACT FROM AUTHOR]

The repetitive motion planning movements of the redundant manipulator will cause oscillations and unintended swings of joints, which increase the risk of collisions between the manipulator and its surroundings. Motivated by this phenomenon, this paper presents an inverse kinematics algorithm for the spherical-revolute-spherical manipulator to solve the paradox raised by joint-drift and control the pose with no swing of the elbow. This algorithm takes the joint Cartesian positions set as the intermediary and divides the inverse solution process into two mapping processes within joint limits. Simulations are executed to evaluate this algorithm, and the results show this algorithm is applicable to repetitive motion planning and is capable of producing superior configurations based on its real-time ability and stable solve rate. Experiments using the 7-degree-of-freedom spherical-revolute-spherical manipulator demonstrate the effectiveness of this algorithm to remedy the joint-drift and elbow swing compared to Kinematics and Dynamics Library and TRAC-IK. [ABSTRACT FROM AUTHOR]

We present the Kripke-style modal type theory, Mint, which combines dependent types and the necessity modality. It extends the Kripke-style modal lambda-calculus by Pfenning and Davies to the full Martin-Löf type theory. As such it encompasses dependently typed variants of system K , T , K 4, and S 4. Further, Mint seamlessly supports a full universe hierarchy, usual inductive types, and large eliminations. In this paper, we give a modular sound and complete normalization-by-evaluation (NbE) proof for Mint based on an untyped domain model, which applies to all four aforementioned modal systems without modification. This NbE proof yields a normalization algorithm for Mint, which can be directly implemented. To further strengthen our results, our models and the NbE proof are fully mechanized in Agda and we extract a Haskell implementation of our NbE algorithm from it. [ABSTRACT FROM AUTHOR]

In this paper, adaptive noise estimation is used along with a previously proposed Huber-based robust algorithm for cooperative localisation of Autonomous Underwater Vehicles (AUVs). The Huber-based robust cooperative localisation algorithm named Huber-based Iterative Divided Difference Filtering (HIDDF), proposed in our previous work, effectively achieved a robust result against abnormal measurement noise, enhanced the stability of the filtering algorithm and improved the performance of cooperative localisation state estimation. However, its performance could be significantly further improved if it could estimate the system's noise statistical properties online in real time and then adaptively adjust the filtering gain matrix accordingly. In this paper, a novel adaptive noise estimation algorithm is proposed based on a covariance matching method. The proposed algorithm is suitable for adaptively estimating Gaussian and non-Gaussian measurement as well as process noise. The efficacy of the proposed algorithm has been verified through simulation results. In order to further verify the effectiveness of the proposed algorithm in practical systems, lake tests were conducted. Then, based on offline test data, the performance of the cooperative positioning algorithm under dual-pilot and single-pilot schemes was simulated. The advantages and feasibility of the algorithm are analysed and compared through performance comparison. Cooperative localisation accuracy of the previously proposed Huber-based robust algorithm has been enhanced significantly when used with the proposed adaptive noise estimation algorithm. [ABSTRACT FROM AUTHOR]

The accuracy and fault tolerance of filters are directly affected by the filter architecture and algorithm, thus influencing navigation performance. The chi square detection used in the conventional reset federated filter is not sensitive to soft faults, and it is easy to cause the health subsystem to be polluted through information sharing. It is a challenge to design an adaptive reset federated filter to improve the performance of the navigation system. Therefore, taking the Strapdown Inertial Navigation System/Global Positioning System/Celestial Navigation System/Synthetic Aperture Radar (SINS/GPS/CNS/SAR) integrated navigation system as an example, an adaptive federated filter architecture for vector-formed information sharing without a fault isolation module is designed in this paper. The proposed method uses the two-state chi square detection algorithm to calculate the parameters corresponding to each state, making the state with higher accuracy obtain a greater information distribution coefficient. In addition, according to the value of vector-formed information sharing, an adaptive coefficient of measurement noise is designed. This improves the adaptability of the navigation system to soft faults. Simulation results show that the accuracy of the proposed algorithm has the same performance compared with the conventional method under normal circumstances. When the sensor has a soft fault, the adaptive federated filter algorithm proposed in this paper can adaptively adjust the distribution coefficients, eliminate the influence of the fault information and improve the precision of the navigation system. The approach described in this paper can be used in multi-sensor integrated navigation. It will have better performance in engineering applications. [ABSTRACT FROM AUTHOR]

This paper comprehensively investigates the fault exclusion problem in multi-constellation Global Navigation Satellite Systems (GNSS). In future GNSS, the heightened likelihood of fault detection events will cause more interruptions in the continuity of the navigation operation. The main contribution of this paper is to establish the theoretical basis to quantify the contributions of fault events on continuity risk, therefore allowing us to assess the desired exclusion function performance based on specific continuity requirements. Accordingly, a new real-time exclusion algorithm is developed, for which the upper bounds on integrity risks are rigorously derived. Using the new method, performance is comprehensively investigated for two important civil aircraft navigation operations using various numbers of constellations. We show that high service availability can be achieved for both operations. [ABSTRACT FROM AUTHOR]

This paper proposes a dynamic aided inertial navigation method to improve the attitude accuracy for ocean vehicles. The proposed method includes a dynamic identification algorithm and the utilisation of dynamic constraints to derive additional observations. The derived additional observations are used to update the filters and limit the attitude error based on the dynamic knowledge. In this paper, two dynamic conditions, constant speed cruise and quasi-static, are identified and corresponding additional velocity and position observations are derived. Simulation and experimental results show that the proposed method can improve and guarantee the accuracy of the attitude. The method can be used as a backup method to bridge external information outages or unavailability. Both the features of independence of external support and integrity of the Inertial Navigation System (INS) are enhanced. [ABSTRACT FROM AUTHOR]

This paper proposes a new strategy for the identification of the marginal effects of an endogenous multivalued variable (which can be continuous, or a vector) in a model with an Instrumental Variable (IV) of lower dimension, which may even be a single binary variable, and multiple controls. Despite the failure of the classical order condition, we show that identification may be achieved by exploiting heterogeneity of the "first stage" in the controls through a new rank condition that we term covariance completeness. The identification strategy justifies the use of interactions between instruments and controls as additional exogenous variables and can be straightforwardly implemented by parametric, semiparametric, and nonparametric two-stage least squares estimators, following the same generic algorithm. Monte Carlo simulations show that the estimators have excellent performance in moderate sample sizes. Finally, we apply our methods to the problem of estimating the effect of air quality on house prices, based on Chay and Greenstone (2005, Journal of Political Economy 113, 376–424). All methods are implemented in a companion Stata software package. [ABSTRACT FROM AUTHOR]

Improving the accuracy and robustness of deep neural nets (DNNs) and adapting them to small training data are primary tasks in deep learning (DL) research. In this paper, we replace the output activation function of DNNs, typically the data-agnostic softmax function, with a graph Laplacian-based high-dimensional interpolating function which, in the continuum limit, converges to the solution of a Laplace–Beltrami equation on a high-dimensional manifold. Furthermore, we propose end-to-end training and testing algorithms for this new architecture. The proposed DNN with graph interpolating activation integrates the advantages of both deep learning and manifold learning. Compared to the conventional DNNs with the softmax function as output activation, the new framework demonstrates the following major advantages: First, it is better applicable to data-efficient learning in which we train high capacity DNNs without using a large number of training data. Second, it remarkably improves both natural accuracy on the clean images and robust accuracy on the adversarial images crafted by both white-box and black-box adversarial attacks. Third, it is a natural choice for semi-supervised learning. This paper is a significant extension of our earlier work published in NeurIPS, 2018. For reproducibility, the code is available at https://github.com/BaoWangMath/DNN-DataDependentActivation. [ABSTRACT FROM AUTHOR]

Given a graph G, the minimum Connected- k -Subgraph Cover problem (MinC k SC) is to find a minimum vertex subset C of G such that every connected subgraph of G on k vertices has at least one vertex in C. If furthermore the subgraph of G induced by C is connected, then the problem is denoted as MinC k SC $_{con}$. In this paper, we first present a PTAS for MinC k SC on an H -minor-free graph, where H is a graph with a constant number of vertices. Then, we design an $O((\omega+1)(2(k-1)(\omega+2))^{3\omega+3})|V|$ -time FPT algorithm for MinC k SC $_{con}$ on a graph with treewidth $\omega$ , based on which we further design an $O(2^{O(\sqrt{t}\log t)}|V|^{O(1)})$ time subexponential FPT algorithm for MinC k SC $_{con}$ on an H -minor-free graph, where t is an upper bound of solution size. [ABSTRACT FROM AUTHOR]

On-orbit servicing and active debris removal missions will rely on the use of unmanned satellite equipped with a manipulator. Capture of the target object will be the most challenging phase of these missions. During the capture manoeuvre, the manipulator must avoid collisions with elements of the target object (e.g., solar panels). The dynamic equations of the satellite-manipulator system must be used during the trajectory planning because the motion of the manipulator influences the position and orientation of the satellite. In this paper, we propose application of the bidirectional rapidly exploring random trees (BiRRT) algorithm for planning a collision-free trajectory of a manipulator mounted on a free-floating satellite. A new approach based on pseudo-velocities method (PVM) is used for construction of nodes of the trajectory tree. Initial nodes of the second tree are selected from the set of potential final configurations of the system. The proposed method is validated in numerical simulations performed for a planar case (3-DoF manipulator). The obtained results are compared with the results obtained with two other trajectory planning methods based on the RRT algorithm. It is shown that in a simple test scenario, the proposed BiRRT PVM algorithm results in a lower manipulator tip position error. In a more difficult test scenario, only the proposed method was able to find a solution. Practical applicability of the BiRRT PVM method is demonstrated in experiments performed on a planar air-bearing microgravity simulator where the trajectory is realised by a manipulator mounted on a mock-up of the free-floating servicing satellite. [ABSTRACT FROM AUTHOR]

Predictive policing, the practice of using of algorithmic systems to forecast crime, is heralded by police departments as the new frontier of crime analysis. At the same time, it is opposed by civil rights groups, academics, and media outlets for being 'biased' and therefore discriminatory against communities of color. This paper argues that the prevailing focus on racial bias has overshadowed two normative factors that are essential to a full assessment of the moral permissibility of predictive policing: fairness in the social distribution of the benefits and burdens of policing as well as the distinctive role of consent in determining fair distribution. When these normative factors are given their due attention, several requirements emerge for the fair implementation of predictive policing. Among these requirements are that police departments inform and solicit buy-in from affected communities about strategic decision-making and that departments favor non-enforcement-oriented interventions. [ABSTRACT FROM AUTHOR]

This work extends a rule-based specification of nominal C-unification formalised in Coq to include 'protected variables' that cannot be instantiated during the unification process. By introducing protected variables, we are able to reuse the C-unification simplification rules to solve nominal C-matching (as well as equality check) problems. From the algorithmic point of view, this extension is sufficient to obtain a generalised C-unification procedure; however, it cannot be formally checked by simple reuse of the original formalisation. This paper describes the additional effort necessary in order to adapt the specification of the inference rules and reuse previous formalisations. We also generalise a functional recursive nominal C-unification algorithm specified in PVS with protected variables, effectively adapting this algorithm to the tasks of nominal C-matching and nominal equality check. The PVS formalisation is applied to test the correctness of a Python manual implementation of the algorithm. [ABSTRACT FROM AUTHOR]

SUMMARY: In order to improve the training efficiency and establish a multi-person cooperative training simulation system, including "virtual human," in the process of virtual reality-based astronaut training, it is necessary to plan the velocity at which astronauts carry the target object. A velocity planning algorithm, combining a traditional six-stage acceleration/deceleration algorithm, based on a time-discrete model with high-order dynamic constraints, considering the elastic damping torque of the space suit, is proposed. The described algorithm is verified on MATLAB to prove its feasibility. Compared to other algorithms, the planning time of the proposed algorithm is significantly reduced. [ABSTRACT FROM AUTHOR]

A well-known observation of Lovász is that if a hypergraph is not 2-colourable, then at least one pair of its edges intersect at a single vertex. In this short paper we consider the quantitative version of Lovász's criterion. That is, we ask how many pairs of edges intersecting at a single vertex should belong to a non-2-colourable n-uniform hypergraph. Our main result is an exact answer to this question, which further characterizes all the extremal hypergraphs. The proof combines Bollobás's two families theorem with Pluhar's randomized colouring algorithm. [ABSTRACT FROM AUTHOR]

The user's gaze can provide important information for human–machine interaction, but the analysis of manual gaze data is extremely time-consuming, inhibiting wide adoption in usability studies. Existing methods for automated areas of interest (AOI) analysis cannot be applied to tangible products with a screen-based user interface (UI), which have become ubiquitous in everyday life. The objective of this paper is to present and evaluate a method to automatically map the user's gaze to dynamic AOIs on tangible screen-based UIs based on computer vision and deep learning. This paper presents an algorithm for automated Dynamic AOI Mapping (aDAM), which allows the automated mapping of gaze data recorded with mobile eye tracking to the predefined AOIs on tangible screen-based UIs. The evaluation of the algorithm is performed using two medical devices, which represent two extreme examples of tangible screen-based UIs. The different elements of aDAM are examined for accuracy and robustness, as well as the time saved compared to manual mapping. The break-even point for an analyst's effort for aDAM compared to manual analysis is found to be 8.9 min gaze data time. The accuracy and robustness of both the automated gaze mapping and the screen matching indicate that aDAM can be applied to a wide range of products. aDAM allows, for the first time, automated AOI analysis of tangible screen-based UIs with AOIs that dynamically change over time. The algorithm requires some additional initial input for the setup and training, but analyzed gaze data duration and effort is only determined by computation time and does not require any additional manual work thereafter. The efficiency of the approach has the potential for a broader adoption of mobile eye tracking in usability testing for the development of new products and may contribute to a more data-driven usability engineering process in the future. [ABSTRACT FROM AUTHOR]

Obstacle avoidance navigation for an unmanned surface vessel is a research focus for ship autonomy in which the real-time requirement in practical application is very serious, and always necessitates a complicated structure model to guarantee real-time performance. This paper proposes the grid cell activation model to reduce the complexity of modelling and to simplify an obstacle avoidance algorithm. Combined with the goal-oriented probability model to design a dynamic positive-loss-rate expectation evaluation function, it produces the proper strategy for obstacle avoidance. Case studies on multi-obstacle layouts and special circumstances are conducted and presented. The results indicate that the grid cell obstacle avoidance algorithm can effectively implement obstacle avoidance planning and ensure real-time requirements. A comparison with the potential field algorithm is performed, which shows good results and verifies the feasibility of the algorithm. [ABSTRACT FROM AUTHOR]

The bacterial foraging optimisation (BFO) algorithm is a commonly adopted bio-inspired optimisation algorithm. However, BFO is not a proper choice in coping with continuous global path planning in the context of unmanned surface vehicles (USVs). In this paper, a grid partition-based BFO algorithm, named AS-BFO, is proposed to address this issue in which the enhancement is contributed by the involvement of the A* algorithm. The chemotaxis operation is redesigned in AS-BFO. Through repeated simulations, the relative optimal parameter combination of the proposed algorithm is obtained and the most influential parameters are identified by sensitivity analysis. The performance of AS-BFO is evaluated via five size grid maps and the results show that AS-BFO has advantages in USV global path planning. [ABSTRACT FROM AUTHOR]

In this paper, in connection with the program of extending the Curry–Howard isomorphism to classical logic, we study the $\lambda \mu$ -calculus of Parigot emphasizing the difference between the original version of Parigot and the version of de Groote in terms of normalization properties. In order to talk about a satisfactory representation of the integers, besides the usual $\beta$ -, $\mu$ -, and $\mu '$ -reductions, we consider the $\lambda \mu$ -calculus augmented with the reduction rules $\rho$ , $\theta$ and $\varepsilon$. We show that we need all of these rules for this purpose. Then we prove that, with the syntax of Parigot, the calculus enjoys the strong normalization property even when we add the rules $\rho$ , $\theta$ , and $\epsilon$ , while the $\lambda \mu$ -calculus presented with the more flexible de Groote-style syntax, in contrast, has only the weak normalization property. In particular, we present a normalization algorithm for the $\beta \mu \mu '\rho \theta \varepsilon$ -reduction in the de Groote-style calculus. [ABSTRACT FROM AUTHOR]

Simulated tempering is a popular method of allowing Markov chain Monte Carlo algorithms to move between modes of a multimodal target density $\pi$. Tawn, Moores and Roberts (2021) introduces the Annealed Leap-Point Sampler (ALPS) to allow for rapid movement between modes. In this paper we prove that, under appropriate assumptions, a suitably scaled version of the ALPS algorithm converges weakly to skew Brownian motion. Our results show that, under appropriate assumptions, the ALPS algorithm mixes in time $O(d [\log d]^2)$ or O(d), depending on which version is used. [ABSTRACT FROM AUTHOR]