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Control auto-tuning for industrial and robotic systems, when framed as an optimization problem, provides an excellent means to tune these systems. However, most optimization methods are computationally costly, and this is problematic for high-dimension control parameter spaces. In this paper, we present a multi-stage control tuning framework that decomposes control tuning into subtasks, each with a reduced-dimension search space. We show formally that this framework reduces the sample complexity of the control-tuning task. We empirically validate this result by applying a Bayesian optimization approach to tuning multiple PID controllers in an unmanned underwater vehicle benchmark system. We demonstrate an 86\% decrease in computational time and 36\% decrease in sample complexity.

This article proposes a novel approach to traffic signal control that combines phase re-service with reinforcement learning (RL). The RL agent directly determines the duration of the next phase in a pre-defined sequence. Before the RL agent's decision is executed, we use the shock wave theory to estimate queue expansion at the designated movement allowed for re-service and decide if phase re-service is necessary. If necessary, a temporary phase re-service is inserted before the next regular phase. We formulate the RL problem as a semi-Markov decision process (SMDP) and solve it with proximal policy optimization (PPO). We conducted a series of experiments that showed significant improvements thanks to the introduction of phase re-service. Vehicle delays are reduced by up to 29.95% of the average and up to 59.21% of the standard deviation. The number of stops is reduced by 26.05% on average with 45.77% less standard deviation., Comment: Accepted to IEEE ITSC 2024

This article presents the first field deployment of a multi-agent reinforcement-learning (MARL) based variable speed limit (VSL) control system on the I-24 freeway near Nashville, Tennessee. We describe how we train MARL agents in a traffic simulator and directly deploy the simulation-based policy on a 17-mile stretch of Interstate 24 with 67 VSL controllers. We use invalid action masking and several safety guards to ensure the posted speed limits satisfy the real-world constraints from the traffic management center and the Tennessee Department of Transportation. Since the time of launch of the system through April, 2024, the system has made approximately 10,000,000 decisions on 8,000,000 trips. The analysis of the controller shows that the MARL policy takes control for up to 98% of the time without intervention from safety guards. The time-space diagrams of traffic speed and control commands illustrate how the algorithm behaves during rush hour. Finally, we quantify the domain mismatch between the simulation and real-world data and demonstrate the robustness of the MARL policy to this mismatch.

X-ray image-based disease diagnosis lies in ensuring the precision of identifying afflictions within the sample, a task fraught with challenges stemming from the occurrence of false positives and false negatives. False positives introduce the risk of erroneously identifying non-existent conditions, leading to misdiagnosis and a decline in patient care quality. Conversely, false negatives pose the threat of overlooking genuine abnormalities, potentially causing delays in treatment and interventions, thereby resulting in adverse patient outcomes. The urgency to overcome these challenges compels ongoing efforts to elevate the precision and reliability of X-ray image analysis algorithms within the computational framework. This study introduces modified pre-trained ResNet models tailored for multi-class disease diagnosis of X-ray images, incorporating advanced optimization strategies to reduce the execution runtime of training and inference tasks. The primary objective is to achieve tangible performance improvements through accelerated implementations of PyTorch, CUDA, Mixed- Precision Training, and Learning Rate Scheduler. While outcomes demonstrate substantial improvements in execution runtimes between normal training and CUDA-accelerated training, negligible differences emerge between various training optimization modalities. This research marks a significant advancement in optimizing computational approaches to reduce training execution time for larger models. Additionally, we explore the potential of effective parallel data processing using MPI4Py for the distribution of gradient descent optimization across multiple nodes and leverage multiprocessing to expedite data preprocessing for larger datasets., Comment: High Performance Computing course final term paper

Early and accurate detection of anomalous events on the freeway, such as accidents, can improve emergency response and clearance. However, existing delays and errors in event identification and reporting make it a difficult problem to solve. Current large-scale freeway traffic datasets are not designed for anomaly detection and ignore these challenges. In this paper, we introduce the first large-scale lane-level freeway traffic dataset for anomaly detection. Our dataset consists of a month of weekday radar detection sensor data collected in 4 lanes along an 18-mile stretch of Interstate 24 heading toward Nashville, TN, comprising over 3.7 million sensor measurements. We also collect official crash reports from the Nashville Traffic Management Center and manually label all other potential anomalies in the dataset. To show the potential for our dataset to be used in future machine learning and traffic research, we benchmark numerous deep learning anomaly detection models on our dataset. We find that unsupervised graph neural network autoencoders are a promising solution for this problem and that ignoring spatial relationships leads to decreased performance. We demonstrate that our methods can reduce reporting delays by over 10 minutes on average while detecting 75% of crashes. Our dataset and all preprocessing code needed to get started are publicly released at https://vu.edu/ft-aed/ to facilitate future research.

As natural access points to the subsurface, lava tubes and other caves have become premier targets of planetary missions for astrobiological analyses. Few existing robotic paradigms, however, are able to explore such challenging environments. ReachBot is a robot that enables navigation in planetary caves by using extendable and retractable limbs to locomote. This paper outlines the potential science return and mission operations for a notional mission that deploys ReachBot to a martian lava tube. In this work, the motivating science goals and science traceability matrix are provided to guide payload selection. A Concept of Operations (ConOps) is also developed for ReachBot, providing a framework for deployment and activities on Mars, analyzing mission risks, and developing mitigation strategies, Comment: In International Conference on Space Robotics 2024

In the present work, for $\mathbb{X}$ a Banach space, the notion of piecewise continuous $\mathbb{Z}$-almost automorphic functions with values in finite dimensional spaces is extended to piecewise continuous $\mathbb{Z}$-almost automorphic functions with values in $\mathbb{X}$. Several properties of this class of functions are provided, in particular it is shown that if $\mathbb{X}$ is a Banach algebra, then this class of functions constitute also a Banach algebra; furthermore, using the theory of $\mathbb{Z}$-almost automorphic functions, a new characterization of compact almost automorphic functions is given. As consequences, with the help of $\mathbb{Z}$-almost automorphic functions, it is presented a simple proof of the characterization of almost automorphic sequences by compact almost automorphic functions; the method permits us to give explicit examples of compact almost automorphic functions which are not almost periodic. Also, using the theory developed here, it is shown that almost automorphic solutions of differential equations with piecewise constant argument are in fact compact almost automorphic. Finally, it is proved that the classical solution of the $1D$ heat equation with continuous $\mathbb{Z}$-almost automorphic source is also continuous $\mathbb{Z}$-almost automorphic; furthermore, we comment applications to the existence and uniqueness of the asymptotically continuous $\mathbb{Z}$-almost automorphic mild solution to abstract integro-differential equations with nonlocal initial conditions.

We propose a novel control approach that combines offline supervised learning to address the challenges posed by non-linear phase reconstruction using unmodulated pyramid wavefront sensors (P-WFS) and online reinforcement learning for predictive control. The control approach uses a high-order P-WFS to drive a tip-tilt stage and a high-dimensional mirror concurrently. Simulation results demonstrate that our method outperforms traditional control techniques, showing significant improvements in performance under challenging conditions such as faint stars and poor seeing, and exhibits robustness against variations in atmospheric conditions.

In this article, we show that the $N$-center problem with rational weak and moderate forces is not rationally integrable for all but a finite number of values $\alpha\in(0,2)\cap \mathbb{Q}$, where $\alpha$ is the order of the singularities. We identify the remaining cases and provide the necessary conditions for their integrability., Comment: 4 pages

Concerns about representation in computing within the U.S. have driven numerous activities to broaden participation. Assessment of the impact of these efforts and, indeed, a clear assessment of the actual "problem" being addressed are limited by the nature of the most common data analysis which looks at the representation of each population as a percentage of the number of students graduating with a degree in computing. This use of a single metric cannot adequately assess the impact of broadening participation efforts. First, this approach fails to account for changing demographics of the undergraduate population in terms of overall numbers and relative proportion of the Federally designated gender, race, and ethnicity groupings. A second issue is that the majority of literature on broadening participation in computing (BPC) reports data on gender or on race/ethnicity, omitting data on students' intersectional identities. This leads to an incorrect understanding of both the data and the challenges we face as a field. In this paper we present several different approaches to tracking the impact of BPC efforts. We make three recommendations: 1) cohort-based analysis should be used to accurately show student engagement in computing; 2) the field as a whole needs to adopt the norm of always reporting intersectional data; 3) university demographic context matters when looking at how well a CS department is doing to broaden participation in computing, including longitudinal analysis of university demographic shifts that impact the local demographics of computing., Comment: Accepted for publication in Communications of the ACM, late summer or Fall 2024

Let $(M^{2},g_{0})$ be a compact manifold with boundary, and let $g$ and $g_{0}$ be conformally related by $g=e^{2f}g_{0}$. We show that the inequality $$\nu_{1}(g)\geq\Big(\max_{x\in\partial M}e^{-f(x)}\Big)\nu_{1}(g_{0})$$ stated in Proposition 2 in [1], is only possible when the equality is achieved. In order to achieve such equality, it is required that the function $f$ be constant on $\partial M$, as it is mentioned in Remark 3 also in [1]. Hence, the scope of this inequality is less broad than the one suggested by the Proposition.

Variable Speed Limit (VSL) control acts as a promising highway traffic management strategy with worldwide deployment, which can enhance traffic safety by dynamically adjusting speed limits according to real-time traffic conditions. Most of the deployed VSL control algorithms so far are rule-based, lacking generalizability under varying and complex traffic scenarios. In this work, we propose MARVEL (Multi-Agent Reinforcement-learning for large-scale Variable spEed Limits), a novel framework for large-scale VSL control on highway corridors with real-world deployment settings. MARVEL utilizes only sensing information observable in the real world as state input and learns through a reward structure that incorporates adaptability to traffic conditions, safety, and mobility, thereby enabling multi-agent coordination. With parameter sharing among all VSL agents, the proposed framework scales to cover corridors with many agents. The policies are trained in a microscopic traffic simulation environment, focusing on a short freeway stretch with 8 VSL agents spanning 7 miles. For testing, these policies are applied to a more extensive network with 34 VSL agents spanning 17 miles of I-24 near Nashville, TN, USA. MARVEL-based method improves traffic safety by 63.4% compared to the no control scenario and enhances traffic mobility by 58.6% compared to a state-of-the-practice algorithm that has been deployed on I-24. Besides, we conduct an explainability analysis to examine the decision-making process of the agents and explore the learned policy under different traffic conditions. Finally, we test the response of the policy learned from the simulation-based experiments with real-world data collected from I-24 and illustrate its deployment capability.

Translation of natural language into syntactically correct commands for data visualization is an important application of natural language models and could be leveraged to many different tasks. A closely related effort is the task of translating natural languages into SQL queries, which in turn could be translated into visualization with additional information from the natural language query supplied\cite{Zhong:2017qr}. Contributing to the progress in this area of research, we built natural language translation models to construct simplified versions of data and visualization queries in a language called Vega Zero. In this paper, we explore the design and performance of these sequence to sequence transformer based machine learning model architectures using large language models such as BERT as encoders to predict visualization commands from natural language queries, as well as apply available T5 sequence to sequence models to the problem for comparison., Comment: 6 pages, 7 figures

In this work, we present an approach to supervisory reinforcement learning control for unmanned aerial vehicles (UAVs). UAVs are dynamic systems where control decisions in response to disturbances in the environment have to be made in the order of milliseconds. We formulate a supervisory control architecture that interleaves with extant embedded control and demonstrates robustness to environmental disturbances in the form of adverse wind conditions. We run case studies with a Tarot T-18 Octorotor to demonstrate the effectiveness of our approach and compare it against a classic cascade control architecture used in most vehicles. While the results show the performance difference is marginal for nominal operations, substantial performance improvement is obtained with the supervisory RL approach under unseen wind conditions., Comment: In review (2023-05-16)

In this paper, we leverage ideas from model-based control to address the sample efficiency problem of reinforcement learning (RL) algorithms. Accelerating learning is an active field of RL highly relevant in the context of time-varying systems. Traditional transfer learning methods propose to use prior knowledge of the system behavior to devise a gradual or immediate data-driven transformation of the control policy obtained through RL. Such transformation is usually computed by estimating the performance of previous control policies based on measurements recently collected from the system. However, such retrospective measures have debatable utility with no guarantees of positive transfer in most cases. Instead, we propose a model-based transformation, such that when actions from a control policy are applied to the target system, a positive transfer is achieved. The transformation can be used as an initialization for the reinforcement learning process to converge to a new optimum. We validate the performance of our approach through four benchmark examples. We demonstrate that our approach is more sample-efficient than fine-tuning with reinforcement learning alone and achieves comparable performance to linear-quadratic-regulators and model-predictive control when an accurate linear model is known in the three cases. If an accurate model is not known, we empirically show that the proposed approach still guarantees positive transfer with jump-start improvement., Comment: Published to IEEE CoDiT 2023

Autonomous navigation is challenging for mobile robots, especially in an unknown environment. Commonly, the robot requires multiple sensors to map the environment, locate itself, and make a plan to reach the target. However, reinforcement learning methods offer an alternative to map-free navigation tasks by learning the optimal actions to take. In this article, deep reinforcement learning agents are implemented using variants of the deep Q networks method, the D3QN and rainbow algorithms, for both the obstacle avoidance and the goal-oriented navigation task. The agents are trained and evaluated in a simulated environment. Furthermore, an analysis of the changes in the behaviour and performance of the agents caused by modifications in the reward function is conducted.

Hybrid semiconductor/superconductor nanowires constitute a pervasive platform for studying gate-tunable superconductivity and the emergence of topological behavior. Their low-dimensionality and crystal structure flexibility facilitate novel heterostructure growth and efficient material optimization; crucial prerequisites for accurately constructing complex multi-component quantum materials. Here, we present an extensive optimization of Sn growth on InSb, InAsSb and InAs nanowires. We demonstrate how the growth conditions and the crystal structure/symmetry of the semiconductor drive the formation of either semi-metallic $\mathrm{\alpha-Sn}$ or superconducting $\mathrm{\beta-Sn}$. For InAs nanowires, we obtain phase-pure, superconducting $\mathrm{\beta-Sn}$ shells. However, for InSb and InAsSb nanowires, an initial epitaxial $\mathrm{\alpha-Sn}$ phase evolves into a polycrystalline shell of coexisting $\mathrm{\alpha}$ and $\mathrm{\beta}$ phases, where the $\beta/\alpha$ volume ratio increases with Sn shell thickness. Whether these nanowires exhibit superconductivity or not critically relies on the $\mathrm{\beta-Sn}$ content. Therefore, this work provides key insights into Sn phase control on a variety of semiconductors, with consequences for the yield of superconducting hybrids suitable for generating topological systems., Comment: 12 pages, 5 figures

OpenMP is the de-facto standard for shared memory systems in High-Performance Computing (HPC). It includes a task-based model that offers a high-level of abstraction to effectively exploit highly dynamic structured and unstructured parallelism in an easy and flexible way. Unfortunately, the run-time overheads introduced to manage tasks are (very) high in most common OpenMP frameworks (e.g., GCC, LLVM), which defeats the potential benefits of the tasking model, and makes it suitable for coarse-grained tasks only. This paper presents taskgraph, a framework that uses a task dependency graph (TDG) to represent a region of code implemented with OpenMP tasks in order to reduce the run-time overheads associated with the management of tasks, i.e., contention and parallel orchestration, including task creation and synchronization. The TDG avoids the overheads related to the resolution of task dependencies and greatly reduces those deriving from the accesses to shared resources. Moreover, the taskgraph framework introduces in OpenMP the record-and-replay execution model that accelerates the taskgraph region from its second execution. Overall, the multiple optimizations presented in this paper allow exploiting fine-grained OpenMP tasks to cope with the trend in current applications pointing to leverage massive on-node parallelism, fine-grained and dynamic scheduling paradigms. The framework is implemented on LLVM 15.0. Results show that the taskgraph implementation outperforms the vanilla OpenMP system in terms of performance and scalability, for all structured and unstructured parallelism, and considering coarse and fine grained tasks. Furthermore, the proposed framework considerably reduces the performance gap between the task and the thread models of OpenMP.