Search results for "Systems engineering"
showing 10 items of 1230 documents
Compliance error compensation technique for parallel robots composed of non-perfect serial chains
2012
The paper presents the compliance errors compensation technique for over-constrained parallel manipulators under external and internal loadings. This technique is based on the non-linear stiffness modeling which is able to take into account the influence of non-perfect geometry of serial chains caused by manufacturing errors. Within the developed technique, the deviation compensation reduces to an adjustment of a target trajectory that is modified in the off-line mode. The advantages and practical significance of the proposed technique are illustrated by an example that deals with groove milling by the Orthoglide manipulator that considers different locations of the workpiece. It is also de…
Deep Q-Learning With Q-Matrix Transfer Learning for Novel Fire Evacuation Environment
2021
We focus on the important problem of emergency evacuation, which clearly could benefit from reinforcement learning that has been largely unaddressed. Emergency evacuation is a complex task which is difficult to solve with reinforcement learning, since an emergency situation is highly dynamic, with a lot of changing variables and complex constraints that makes it difficult to train on. In this paper, we propose the first fire evacuation environment to train reinforcement learning agents for evacuation planning. The environment is modelled as a graph capturing the building structure. It consists of realistic features like fire spread, uncertainty and bottlenecks. We have implemented the envir…
Ockham's Razor in Memetic Computing: Three Stage Optimal Memetic Exploration
2012
Memetic computing is a subject in computer science which considers complex structures as the combination of simple agents, memes, whose evolutionary interactions lead to intelligent structures capable of problem-solving. This paper focuses on memetic computing optimization algorithms and proposes a counter-tendency approach for algorithmic design. Research in the field tends to go in the direction of improving existing algorithms by combining different methods or through the formulation of more complicated structures. Contrary to this trend, we instead focus on simplicity, proposing a structurally simple algorithm with emphasis on processing only one solution at a time. The proposed algorit…
Improving the Diversity of Bootstrapped DQN by Replacing Priors With Noise
2022
Authors accepted manuscript Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. Q-learning is one of the most well-known Reinforcement Learning algorithms. There have been tremendous efforts to develop this algorithm using neural networks. Bootstrapped Deep Q-Learning Network is amongst them. It utilizes multiple neural network heads to introduce diversity into Q-learning. Dive…
Improving table compression with combinatorial optimization
2002
We study the problem of compressing massive tables within the partition-training paradigm introduced by Buchsbaum et al. [SODA'00], in which a table is partitioned by an off-line training procedure into disjoint intervals of columns, each of which is compressed separately by a standard, on-line compressor like gzip. We provide a new theory that unifies previous experimental observations on partitioning and heuristic observations on column permutation, all of which are used to improve compression rates. Based on the theory, we devise the first on-line training algorithms for table compression, which can be applied to individual files, not just continuously operating sources; and also a new, …
Separations in Query Complexity Based on Pointer Functions
2015
In 1986, Saks and Wigderson conjectured that the largest separation between deterministic and zero-error randomized query complexity for a total boolean function is given by the function $f$ on $n=2^k$ bits defined by a complete binary tree of NAND gates of depth $k$, which achieves $R_0(f) = O(D(f)^{0.7537\ldots})$. We show this is false by giving an example of a total boolean function $f$ on $n$ bits whose deterministic query complexity is $\Omega(n/\log(n))$ while its zero-error randomized query complexity is $\tilde O(\sqrt{n})$. We further show that the quantum query complexity of the same function is $\tilde O(n^{1/4})$, giving the first example of a total function with a super-quadra…
Structural bias in population-based algorithms
2014
Abstract Challenging optimisation problems are abundant in all areas of science and industry. Since the 1950s, scientists have responded to this by developing ever-diversifying families of ‘black box’ optimisation algorithms. The latter are designed to be able to address any optimisation problem, requiring only that the quality of any candidate solution can be calculated via a ‘fitness function’ specific to the problem. For such algorithms to be successful, at least three properties are required: (i) an effective informed sampling strategy, that guides the generation of new candidates on the basis of the fitnesses and locations of previously visited candidates; (ii) mechanisms to ensure eff…
A Quantum Lovasz Local Lemma
2012
The Lovasz Local Lemma (LLL) is a powerful tool in probability theory to show the existence of combinatorial objects meeting a prescribed collection of "weakly dependent" criteria. We show that the LLL extends to a much more general geometric setting, where events are replaced with subspaces and probability is replaced with relative dimension, which allows to lower bound the dimension of the intersection of vector spaces under certain independence conditions. Our result immediately applies to the k-QSAT problem: For instance we show that any collection of rank 1 projectors with the property that each qubit appears in at most $2^k/(e \cdot k)$ of them, has a joint satisfiable state. We then …
Quasi conjunction, quasi disjunction, t-norms and t-conorms: Probabilistic aspects
2013
We make a probabilistic analysis related to some inference rules which play an important role in nonmonotonic reasoning. In a coherence-based setting, we study the extensions of a probability assessment defined on $n$ conditional events to their quasi conjunction, and by exploiting duality, to their quasi disjunction. The lower and upper bounds coincide with some well known t-norms and t-conorms: minimum, product, Lukasiewicz, and Hamacher t-norms and their dual t-conorms. On this basis we obtain Quasi And and Quasi Or rules. These are rules for which any finite family of conditional events p-entails the associated quasi conjunction and quasi disjunction. We examine some cases of logical de…
Small-time bilinear control of Schrödinger equations with application to rotating linear molecules
2023
In [14] Duca and Nersesyan proved a small-time controllability property of nonlinear Schrödinger equations on a d-dimensional torus $\mathbb{T}^d$. In this paper we study a similar property, in the linear setting, starting from a closed Riemannian manifold. We then focus on the 2-dimensional sphere $S^2$, which models the bilinear control of a rotating linear top: as a corollary, we obtain the approximate controllability in arbitrarily small times among particular eigenfunctions of the Laplacian of $S^2$.