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Optical diffraction tomography (ODT) has emerged as an important label-free tool in biomedicine to measure the three-dimensional (3D) structure of a biological sample. In this paper, we describe ODT using second-harmonic generation (SHG) which is a coherent nonlinear optical process with a strict symmetry selectivity and has several advantages over traditional fluorescence methods. We report the tomographic retrieval of the 3D second-order nonlinear optical susceptibility using two-dimensional holographic measurements of the SHG fields at different illumination angles and polarization states. The method is a generalization of the conventional linear ODT to the nonlinear scenario. We demonstrate the method with a numerically simulated nanoparticle distribution and an experiment with muscle tissue fibers. Our results show that SHG ODT does not only provide an effective contrast mechanism for label-free imaging but also due to the symmetry requirement enables the visualization of properties that are not otherwise accessible.

The agents within a multi-agent system (MAS) operating in marine environments often need to utilize task payloads and avoid collisions in coordination, necessitating adherence to a set of relative-pose constraints, which may include field-of-view, line-of-sight, collision-avoidance, and range constraints. A nominal controller designed for reference tracking may not guarantee the marine MAS stays safe w.r.t. these constraints. To modify the nominal input as one that enforces safety, we introduce a framework to systematically encode the relative-pose constraints as nonsmooth control barrier functions (NCBFs) and combine them as a single NCBF using Boolean composition, which enables a simplified verification process compared to using the NCBFs individually. While other relative-pose constraint functions have explicit derivatives, the challenging line-of-sight constraint is encoded with the minimum distance function between the line-of-sight set and other agents, whose derivative is not explicit. Hence, existing safe control design methods that consider composite NCBFs cannot be applied. To address this challenge, we propose a novel quadratic program formulation based on the dual of the minimum distance problem and develop a new theory to ensure the resulting control input guarantees constraint satisfaction. Lastly, we validate the effectiveness of our proposed framework on a simulated large-scale marine MAS and a real-world marine MAS comprising one Unmanned Surface Vehicle and two Unmanned Underwater Vehicles., Comment: 11 pages, 8 figures

Light-based additive manufacturing (AM) has revolutionized the fabrication of complex three-dimensional (3D) objects offering a cost-effective and high-speed alternative to traditional machining. One-photon polymerization is a key process in this advancement, standing out for rapid printing time, albeit with limited resolution. Two-photon polymerization (2PP) empowers AM with unprecedented resolution but is accompanied by a tradeoff of prolonged printing times. We propose combining the single-photon absorption (1PA) and 2PP to benefit from the dual capabilities, allowing for faster printing while maintaining high resolution and improved depth sectioning, respectively. In this study, we employ a blue light source to pre-excite a photocurable resin by 1PA followed by a precisely focused femtosecond (fs) beam to provide the missing energy necessary to reach the polymerization threshold to solidify the resin through two-photon absorption. First, we investigate the impact of pre-sensitization by blue light illumination on 2PP and demonstrate one order of magnitude faster printing time for a voxel size of 150 nm as compared to the same voxel size printed by 2PP only. Then, we build a custom 2PP printer utilizing blue light sensitization in a light-sheet mode and demonstrate successful 3D prints., Comment: 18 pages, 11 figures

We present task-oriented Koopman-based control that utilizes end-to-end reinforcement learning and contrastive encoder to simultaneously learn the Koopman latent embedding, operator, and associated linear controller within an iterative loop. By prioritizing the task cost as the main objective for controller learning, we reduce the reliance of controller design on a well-identified model, which, for the first time to the best of our knowledge, extends Koopman control from low to high-dimensional, complex nonlinear systems, including pixel-based tasks and a real robot with lidar observations. Code and videos are available \href{https://sites.google.com/view/kpmlilatsupp/}{here}., Comment: Accepted by the 7th Annual Conference on Robot Learning (CoRL), 2023 (oral spotlight)

Moving horizon estimation (MHE) offers benefits relative to other estimation approaches by its ability to explicitly handle constraints, but suffers increased computation cost. To help enable MHE on platforms with limited computation power, we propose to solve the optimization problem underlying MHE sub-optimally for a fixed number of optimization iterations per time step. The stability of the closed-loop system is analyzed using the small-gain theorem by considering the closed-loop controlled system, the optimization algorithm dynamics, and the estimation error dynamics as three interconnected subsystems. By assuming incremental input/output-to-state stability ({\delta}- IOSS) of the system and imposing standard ISS conditions on the controller, we derive conditions on the iteration number such that the interconnected system is input-to-state stable (ISS) w.r.t. the external disturbances. A simulation using an MHE- MPC estimator-controller pair is used to validate the results., Comment: 6 page journal paper with 2 figures

We consider the problem of adaptive stabilization for discrete-time, multi-dimensional linear systems with bounded control input constraints and unbounded stochastic disturbances, where the parameters of the true system are unknown. To address this challenge, we propose a certainty-equivalent control scheme which combines online parameter estimation with saturated linear control. We establish the existence of a high probability stability bound on the closed-loop system, under additional assumptions on the system and noise processes. Finally, numerical examples are presented to illustrate our results., Comment: 21 pages, 1 figure, submitted to 62nd IEEE Conference on Decision and Control

In recent years, learning-based feature detection and matching have outperformed manually-designed methods in in-air cases. However, it is challenging to learn the features in the underwater scenario due to the absence of annotated underwater datasets. This paper proposes a cross-modal knowledge distillation framework for training an underwater feature detection and matching network (UFEN). In particular, we use in-air RGBD data to generate synthetic underwater images based on a physical underwater imaging formation model and employ these as the medium to distil knowledge from a teacher model SuperPoint pretrained on in-air images. We embed UFEN into the ORB-SLAM3 framework to replace the ORB feature by introducing an additional binarization layer. To test the effectiveness of our method, we built a new underwater dataset with groundtruth measurements named EASI (https://github.com/Jinghe-mel/UFEN-SLAM), recorded in an indoor water tank for different turbidity levels. The experimental results on the existing dataset and our new dataset demonstrate the effectiveness of our method., Comment: Accepted by IEEE International Conference on Robotics and Automation (ICRA 2023),6 pages

We study a fixed step-size noisy distributed gradient descent algorithm for solving optimization problems in which the objective is a finite sum of smooth but possibly non-convex functions. Random perturbations are introduced to the gradient descent directions at each step to actively evade saddle points. Under certain regularity conditions, and with a suitable step-size, it is established that each agent converges to a neighborhood of a local minimizer and the size of the neighborhood depends on the step-size and the confidence parameter. A numerical example is presented to illustrate the effectiveness of the random perturbations in terms of escaping saddle points in fewer iterations than without the perturbations.

We propose a certainty-equivalence scheme for adaptive control of scalar linear systems subject to additive, i.i.d. Gaussian disturbances and bounded control input constraints, without requiring prior knowledge of the bounds of the system parameters, nor the control direction. Assuming that the system is at-worst marginally stable, mean square boundedness of the closed-loop system states is proven. Lastly, numerical examples are presented to illustrate our results., Comment: 16 pages, 2 figures, accepted at IEEE Control Systems Letters

The application of distributed model predictive controllers (DMPC) for multi-agent systems (MASs) necessitates communication between agents, yet the consequence of communication data rates is typically overlooked. This work focuses on developing stability-guaranteed control methods for MASs with limited data rates. Initially, a distributed optimization algorithm with dynamic quantization is considered for solving the DMPC problem. Due to the limited data rate, the optimization process suffers from inexact iterations caused by quantization noise and premature termination, leading to sub-optimal solutions. In response, we propose a novel real-time DMPC framework with a quantization refinement scheme that updates the quantization parameters on-line so that both the quantization noise and the optimization sub-optimality decrease asymptotically. To facilitate the stability analysis, we treat the sub-optimally controlled MAS, the quantization refinement scheme, and the optimization process as three interconnected subsystems. The cyclic-small-gain theorem is used to derive sufficient conditions on the quantization parameters for guaranteeing the stability of the system under a limited data rate. Finally, the proposed algorithm and theoretical findings are demonstrated in a multi-AUV formation control example.

Constraint handling during tracking operations is at the core of many real-world control implementations and is well understood when dynamic models of the underlying system exist, yet becomes more challenging when data-driven models are used to describe the nonlinear system at hand. We seek to combine the nonlinear modeling capabilities of a wide class of neural networks with the constraint-handling guarantees of model predictive control (MPC) in a rigorous and online computationally tractable framework. The class of networks considered can be captured using Koopman operators, and are integrated into a Koopman-based tracking MPC (KTMPC) for nonlinear systems to track piecewise constant references. The effect of model mismatch between original nonlinear dynamics and its trained Koopman linear model is handled by using a constraint tightening approach in the proposed tracking MPC strategy. By choosing two Lyapunov functions, we prove that solution is recursively feasible and input-to-state stable to a neighborhood of both online and offline optimal reachable steady outputs in the presence of bounded modeling errors under mild assumptions. Finally, we demonstrate the results on a numerical example, before applying the proposed approach to the problem of reference tracking by an autonomous ground vehicle.

We propose a safety-guaranteed planning and control framework for unmanned surface vessels (USVs), using Gaussian processes (GPs) to learn uncertainties. The uncertainties encountered by USVs, including external disturbances and model mismatches, are potentially state-dependent, time-varying, and hard to capture with constant models. GP is a powerful learning-based tool that can be integrated with a model-based planning and control framework, which employs a Hamilton-Jacobi differential game formulation. Such a combination yields less conservative trajectories and safety-guaranteeing control strategies. We demonstrate the proposed framework in simulations and experiments on a CLEARPATH Heron USV.

Real-time, guaranteed safe trajectory planning is vital for navigation in unknown environments. However, real-time navigation algorithms typically sacrifice robustness for computation speed. Alternatively, provably safe trajectory planning tends to be too computationally intensive for real-time replanning. We propose FaSTrack, Fast and Safe Tracking, a framework that achieves both real-time replanning and guaranteed safety. In this framework, real-time computation is achieved by allowing any trajectory planner to use a simplified \textit{planning model} of the system. The plan is tracked by the system, represented by a more realistic, higher-dimensional \textit{tracking model}. We precompute the tracking error bound (TEB) due to mismatch between the two models and due to external disturbances. We also obtain the corresponding tracking controller used to stay within the TEB. The precomputation does not require prior knowledge of the environment. We demonstrate FaSTrack using Hamilton-Jacobi reachability for precomputation and three different real-time trajectory planners with three different tracking-planning model pairs., Comment: Published in the IEEE Transactions on Automatic Control

This paper addresses the trajectory planning for multiple autonomous underwater vehicles (AUVs) in strong waves that can disturb the AUVs' trajectory tracking ability and cause obstacle and inter-vehicle collisions. A novel approach based on Hamilton-Jacobi differential game formulation and model predictive control is proposed to generate safety-guaranteed trajectories for AUV systems considering wave disturbance that is either time-varying state-independent or time-varying state-dependent. This approach plans safety-guaranteed trajectories for multiple AUVs and considers the shapes of AUVs, where nonlinear smooth collision avoidance constraints are obtained via strong duality.

Controlling a fleet of autonomous underwater vehicles can be challenging due to low bandwidth communication between agents. This paper proposes to address this challenge by optimizing the quantization design of the communications between agents for use in distributed algorithms. The proposed approach considers two stages for the problem of multi-AUV control: an off-line stage where the quantization design is optimized; and an on-line stage based on a distributed model predictive control formulation and a distributed optimization algorithm with quantization. The standard properties of recursive feasibility and stability of the closed loop systems are analyzed, and simulations used to demonstrate the overall behaviour of the proposed approach., Comment: 7 pages, 4 figures, submitted to ACC2021

In this paper, a novel optimal control-based baseline function is presented for the policy gradient method in deep reinforcement learning (RL). The baseline is obtained by computing the value function of an optimal control problem, which is formed to be closely associated with the RL task. In contrast to the traditional baseline aimed at variance reduction of policy gradient estimates, our work utilizes the optimal control value function to introduce a novel aspect to the role of baseline -- providing guided exploration during policy learning. This aspect is less discussed in prior works. We validate our baseline on robot learning tasks, showing its effectiveness in guided exploration, particularly in sparse reward environments.

Real-time data-driven optimization and control problems over networks may require sensitive information of participating users to calculate solutions and decision variables, such as in traffic or energy systems. Adversaries with access to coordination signals may potentially decode information on individual users and put user privacy at risk. We develop local differential privacy, which is a strong notion that guarantees user privacy regardless of any auxiliary information an adversary may have, for a larger family of convex distributed optimization problems. The mechanism allows agent to customize their own privacy level based on local needs and parameter sensitivities. We propose a general sampling based approach for determining sensitivity and derive analytical bounds for specific quadratic problems. We analyze inherent trade-offs between privacy and suboptimality and propose allocation schemes to divide the maximum allowable noise, a privacy budget, among all participating agents. Our algorithm is implemented to enable privacy in distributed optimal power flow for electric grids., Comment: A shorter version of this paper will appear in the proceedings of ISGT-Europe 2020 in The Hague

Building on the previous work of Lee et al. and Ferdinand et al. on coded computation, we propose a sequential approximation framework for solving optimization problems in a distributed manner. In a distributed computation system, latency caused by individual processors ("stragglers") usually causes a significant delay in the overall process. The proposed method is powered by a sequential computation scheme, which is designed specifically for systems with stragglers. This scheme has the desirable property that the user is guaranteed to receive useful (approximate) computation results whenever a processor finishes its subtask, even in the presence of uncertain latency. In this paper, we give a coding theorem for sequentially computing matrix-vector multiplications, and the optimality of this coding scheme is also established. As an application of the results, we demonstrate solving optimization problems using a sequential approximation approach, which accelerates the algorithm in a distributed system with stragglers., Comment: presented in 55th Annual Allerton Conference on Communication, Control, and Computing, Oct. 2017

This paper focuses on the design of an asynchronous dual solver suitable for embedded model predictive control (MPC) applications. The proposed solver relies on a state-of-the-art variance reduction (VR) scheme, previously used in the context of stochastic proximal gradient methods, and on the alternating minimization algorithm (AMA). The resultant algorithm, a stochastic AMA with VR, shows geometric convergence (in the expectation) to a suboptimal solution of the MPC problem and, compared to other state-of-the-art dual asynchronous algorithms, allows to tune the probability of the asynchronous updates to improve the quality of the estimates. We apply the proposed algorithm to a specific class of splitting methods, i.e., the decomposition along the length of the prediction horizon, and provide preliminary numerical results on a practical application, the longitudinal control of an Airbus passenger aircraft., Comment: This technical report is an extended version of the paper "Asynchronous Splitting Design for Model Predictive Control" submitted to the 2016 Conference on Decision and Control

In this paper, we propose the inexact alternating minimization algorithm (inexact AMA), which allows inexact iterations in the algorithm, and its accelerated variant, called the inexact fast alternating minimization algorithm (inexact FAMA). We show that inexact AMA and inexact FAMA are equivalent to the inexact proximal-gradient method and its accelerated variant applied to the dual problem. Based on this equivalence, we derive complexity upper-bounds on the number of iterations for the inexact algorithms. We apply inexact AMA and inexact FAMA to distributed optimization problems, with an emphasis on distributed MPC applications, and show the convergence properties for this special case. By employing the complexity upper-bounds on the number of iterations, we provide sufficient conditions on the inexact iterations for the convergence of the algorithms. We further study the special case of quadratic local objectives in the distributed optimization problems, which is a standard form in distributed MPC. For this special case, we allow local computational errors at each iteration. By exploiting a warm-starting strategy and the sufficient conditions on the errors for convergence, we propose an approach to certify the number of iterations for solving local problems, which guarantees that the local computational errors satisfy the sufficient conditions and the inexact distributed optimization algorithm converges to the optimal solution.

We consider the problem of solving a distributed optimization problem using a distributed computing platform, where the communication in the network is limited: each node can only communicate with its neighbours and the channel has a limited data-rate. A common technique to address the latter limitation is to apply quantization to the exchanged information. We propose two distributed optimization algorithms with an iteratively refining quantization design based on the inexact proximal gradient method and its accelerated variant. We show that if the parameters of the quantizers, i.e. the number of bits and the initial quantization intervals, satisfy certain conditions, then the quantization error is bounded by a linearly decreasing function and the convergence of the distributed algorithms is guaranteed. Furthermore, we prove that after imposing the quantization scheme, the distributed algorithms still exhibit a linear convergence rate, and show complexity upper-bounds on the number of iterations to achieve a given accuracy. Finally, we demonstrate the performance of the proposed algorithms and the theoretical findings for solving a distributed optimal control problem.

Using optical speckle scanning microscopy [1], we demonstrate that clear images of multiple cells can be obtained through biological scattering tissue, with subcellular resolution and good image quality, as long as the size of the imaging target is smaller than the scanning range of the illuminating speckle pattern., Comment: Copyright statement removed

We investigate analytically, numerically, and experimentally the modulational instability in a layered, cubically-nonlinear (Kerr) optical medium that consists of alternating layers of glass and air. We model this setting using a nonlinear Schr\"odinger (NLS) equation with a piecewise constant nonlinearity coefficient and conduct a theoretical analysis of its linear stability, obtaining a Kronig-Penney equation whose forbidden bands correspond to the modulationally unstable regimes. We find very good {\it quantitative} agreement between the theoretical analysis of the Kronig-Penney equation, numerical simulations of the NLS equation, and the experimental results for the modulational instability. Because of the periodicity in the evolution variable arising from the layered medium, we find multiple instability regions rather than just the one that would occur in uniform media., Comment: 13 pages, 12 figures (several with multiple parts); some important changes from the page proof stage implemented in this preprint version

We present the first experimental investigation of modulational instability in a layered Kerr medium. The particularly interesting and appealing feature of our configuration, consisting of alternating glass-air layers, is the piecewise-constant nature of the material properties, which allows a theoretical linear stability analysis leading to a Kronig-Penney equation whose forbidden bands correspond to the modulationally unstable regimes. We find very good {\it quantitative} agreement between theoretical, numerical, and experimental diagnostics of the modulational instability. Because of the periodicity in the evolution variable arising from the layered medium, there are multiple instability regions rather than just one as in the uniform medium., Comment: 4 pages, 4 figures, contains experimental + computational + theoretical results, to appear in Physical Review Letters