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This paper focuses on the trajectory tracking control problem for an articulated unmanned ground vehicle. We propose and compare two approaches in terms of performance and computational complexity. The first uses a nonlinear mathematical model derived from first principles and combines a nonlinear model predictive controller (NMPC) with a nonlinear moving horizon estimator (NMHE) to produce a control strategy. The second is based on an input-state linearization (ISL) of the original model followed by linear model predictive control (LMPC). A fast real-time iteration scheme is proposed, implemented for the NMHE-NMPC framework and benchmarked against the ISL-LMPC framework, which is a traditional and cheap method. The experimental results for a time-based trajectory show that the NMHE-NMPC framework with the proposed real-time iteration scheme gives better trajectory tracking performance than the ISL-LMPC framework and the required computation time is feasible for real-time applications. Moreover, the ISL-LMPC produces results of a quality comparable to the NMHE-NMPC framework at a significantly reduced computational cost.

Deep Reinforcement Learning uses a deep neural network to encode a policy, which achieves very good performance in a wide range of applications but is widely regarded as a black box model. A more interpretable alternative to deep networks is given by neuro-fuzzy controllers. Unfortunately, neuro-fuzzy controllers often need a large number of rules to solve relatively simple tasks, making them difficult to interpret. In this work, we present an algorithm to distill the policy from a deep Q-network into a compact neuro-fuzzy controller. This allows us to train compact neuro-fuzzy controllers through distillation to solve tasks that they are unable to solve directly, combining the flexibility of deep reinforcement learning and the interpretability of compact rule bases. We demonstrate the algorithm on three well-known environments from OpenAI Gym, where we nearly match the performance of a DQN agent using only 2 to 6 fuzzy rules.

Unsupervised representation learning methods are widely used for gaining insight into high-dimensional, unstructured, or structured data. In some cases, users may have prior topological knowledge about the data, such as a known cluster structure or the fact that the data is known to lie along a tree- or graph-structured topology. However, generic methods to ensure such structure is salient in the low-dimensional representations are lacking. This negatively impacts the interpretability of low-dimensional embeddings, and plausibly downstream learning tasks. To address this issue, we introduce topological regularization: a generic approach based on algebraic topology to incorporate topological prior knowledge into low-dimensional embeddings. We introduce a class of topological loss functions, and show that jointly optimizing an embedding loss with such a topological loss function as a regularizer yields embeddings that reflect not only local proximities but also the desired topological structure. We include a self-contained overview of the required foundational concepts in algebraic topology, and provide intuitive guidance on how to design topological loss functions for a variety of s

Recent advances in dimensionality reduction have achieved more accurate lower-dimensional embeddings of high-dimensional data. In addition to visualisation purposes, these embeddings can be used for downstream processing, including batch effect normalisation, clustering, community detection or trajectory inference. We use the notion of structure preservation at both local and global levels to create a deep learning model, based on a variational autoencoder (VAE) and the stochastic quartet loss from the SQuadMDS algorithm. Our encoder model, called GroupEnc, uses a 'group loss' function to create embeddings with less global structure distortion than VAEs do, while keeping the model parametric and the architecture flexible. We validate our approach using publicly available biological single-cell transcriptomic datasets, employing RNX curves for evaluation.

We propose a novel type of Artificial Immune System (AIS): Symbiotic Artificial Immune Systems (SAIS), drawing inspiration from symbiotic relationships in biology. SAIS parallels the three key stages (i.e., mutualism, commensalism and parasitism) of population updating from the Symbiotic Organisms Search (SOS) algorithm. This parallel approach effectively addresses the challenges of large population size and enhances population diversity in AIS, which traditional AIS and SOS struggle to resolve efficiently. We conducted a series of experiments, which demonstrated that our SAIS achieved comparable performance to the state-of-the-art approach SOS and outperformed other popular AIS approaches and evolutionary algorithms across 26 benchmark problems. Furthermore, we investigated the problem of parameter selection and found that SAIS performs better in handling larger population sizes while requiring fewer generations. Finally, we believe SAIS, as a novel bio-inspired and immune-inspired algorithm, paves the way for innovation in bio-inspired computing with the symbiotic paradigm.

Generative models are increasingly used to improve the quality of medical imaging, such as reconstruction of magnetic resonance images and computed tomography. However, it is well-known that such models are susceptible to hallucinations: they may insert features into the reconstructed image which are not actually present in the original image. In a medical setting, such hallucinations may endanger patient health as they can lead to incorrect diagnoses. In this work, we aim to quantify the extent to which state-of-the-art generative models suffer from hallucinations in the context of magnetic resonance image reconstruction. Specifically, we craft adversarial perturbations resembling random noise for the unprocessed input images which induce hallucinations when reconstructed using a generative model. We perform this evaluation on the brain and knee images from the fastMRI data set using UNet and end-to-end VarNet architectures to reconstruct the images. Our results show that these models are highly susceptible to small perturbations and can be easily coaxed into producing hallucinations. This fragility may partially explain why hallucinations occur in the first place and suggests tha

This paper introduces feature subset weighting using monotone measures for distance-based supervised learning. The Choquet integral is used to define a distance metric that incorporates these weights. This integration enables the proposed distances to effectively capture non-linear relationships and account for interactions both between conditional and decision attributes and among conditional attributes themselves, resulting in a more flexible distance measure. In particular, we show how this approach ensures that the distances remain unaffected by the addition of duplicate and strongly correlated features. Another key point of this approach is that it makes feature subset weighting computationally feasible, since only $m$ feature subset weights should be calculated each time instead of calculating all feature subset weights ($2^m$), where $m$ is the number of attributes. Next, we also examine how the use of the Choquet integral for measuring similarity leads to a non-equivalent definition of distance. The relationship between distance and similarity is further explored through dual measures. Additionally, symmetric Choquet distances and similarities are proposed, preserving the c

Large language models (LLMs) are highly adept at question answering and reasoning tasks, but when reasoning in a situational context, human expectations vary depending on the relevant cultural common ground. As languages are associated with diverse cultures, LLMs should also be culturally-diverse reasoners. In this paper, we study the ability of a wide range of state-of-the-art multilingual LLMs (mLLMs) to reason with proverbs and sayings in a conversational context. Our experiments reveal that: (1) mLLMs "know" limited proverbs and memorizing proverbs does not mean understanding them within a conversational context; (2) mLLMs struggle to reason with figurative proverbs and sayings, and when asked to select the wrong answer (instead of asking it to select the correct answer); and (3) there is a "culture gap" in mLLMs when reasoning about proverbs and sayings translated from other languages. We construct and release our evaluation dataset MAPS (MulticultrAl Proverbs and Sayings) for proverb understanding with conversational context for six different languages.

One of the most critical tasks in tractor operation is the accurate steering during field operations, e.g., accurate trajectory following during mechanical weeding or spraying, to avoid damaging the crop or planting when there is no crop yet. To automate the trajectory following problem of an autonomous tractor-trailer system and also increase its steering accuracy, a nonlinear model predictive control approach has been proposed in this paper. For the state and parameter estimation, moving horizon estimation has been chosen since it considers the state and the parameter estimation within the same problem and also constraints both on inputs and states can be incorporated. The experimental results show the accuracy and the efficiency of the proposed control scheme in which the mean values of the Euclidean error for the tractor and the trailer, respectively, are 6.44 and 3.61 cm for a straight line trajectory and 49.78 and 41.52 cm for a curved line trajectory.

More efficient agricultural machinery is needed as agricultural areas become more limited and energy and labor costs increase. To increase their efficiency, trajectory tracking problem of an autonomous tractor, as an agricultural production machine, has been investigated in this study. As a widely used model-based approach, model predictive control is preferred in this paper to control the yaw dynamics of the tractor which can deal with the constraints on the states and the actuators in a system. The yaw dynamics is identified by using nonlinear least squares frequency domain system identification. The speed is controlled by a proportional-integral-derivative controller and a kinematic trajectory controller is used to calculate the desired speed and the desired yaw rate signals for the subsystems in order to minimize the tracking errors in both the longitudinal and transversal directions. The experimental results show the accuracy and the efficiency of the proposed control scheme in which the euclidean error is below $40$ cm for time-based straight line trajectories and $60$ cm for time-based curved line trajectories, respectively.

Humor, a culturally nuanced aspect of human language, poses challenges for computational understanding and generation, especially in Chinese humor, which remains relatively unexplored in the NLP community. This paper investigates the capability of state-of-the-art language models to comprehend and generate Chinese humor, specifically focusing on training them to create allegorical sayings. We employ two prominent training methods: fine-tuning a medium-sized language model and prompting a large one. Our novel fine-tuning approach incorporates fused Pinyin embeddings to consider homophones and employs contrastive learning with synthetic hard negatives to distinguish humor elements. Human-annotated results show that these models can generate humorous allegorical sayings, with prompting proving to be a practical and effective method. However, there is still room for improvement in generating allegorical sayings that match human creativity.

Stepping from sentence-level to document-level, the research on relation extraction (RE) confronts increasing text length and more complicated entity interactions. Consequently, it is more challenging to encode the key information sources--relevant contexts and entity types. However, existing methods only implicitly learn to model these critical information sources while being trained for RE. As a result, they suffer the problems of ineffective supervision and uninterpretable model predictions. In contrast, we propose to explicitly teach the model to capture relevant contexts and entity types by supervising and augmenting intermediate steps (SAIS) for RE. Based on a broad spectrum of carefully designed tasks, our proposed SAIS method not only extracts relations of better quality due to more effective supervision, but also retrieves the corresponding supporting evidence more accurately so as to enhance interpretability. By assessing model uncertainty, SAIS further boosts the performance via evidence-based data augmentation and ensemble inference while reducing the computational cost. Eventually, SAIS delivers state-of-the-art RE results on three benchmarks (DocRED, CDR, and GDA) and

Thanks to rapidly evolving sequencing techniques, the amount of genomic data at our disposal is growing increasingly large. Determining the gene structure is a fundamental requirement to effectively interpret gene function and regulation. An important part in that determination process is the identification of translation initiation sites. In this paper, we propose a novel approach for automatic prediction of translation initiation sites, leveraging convolutional neural networks that allow for automatic feature extraction. Our experimental results demonstrate that we are able to improve the state-of-the-art approaches with a decrease of 75.2% in false positive rate and with a decrease of 24.5% in error rate on chosen datasets. Furthermore, an in-depth analysis of the decision-making process used by our predictive model shows that our neural network implicitly learns biologically relevant features from scratch, without any prior knowledge about the problem at hand, such as the Kozak consensus sequence, the influence of stop and start codons in the sequence and the presence of donor splice site patterns. In summary, our findings yield a better understanding of the internal reasoning

In the last years, automated segmentation has become a necessary tool for volume electron microscopy (EM) imaging. So far, the best performing techniques have been largely based on fully supervised encoder-decoder CNNs, requiring a substantial amount of annotated images. Domain Adaptation (DA) aims to alleviate the annotation burden by 'adapting' the networks trained on existing groundtruth data (source domain) to work on a different (target) domain with as little additional annotation as possible. Most DA research is focused on the classification task, whereas volume EM segmentation remains rather unexplored. In this work, we extend recently proposed classification DA techniques to an encoder-decoder layout and propose a novel method that adds a reconstruction decoder to the classical encoder-decoder segmentation in order to align source and target encoder features. The method has been validated on the task of segmenting mitochondria in EM volumes. We have performed DA from brain EM images to HeLa cells and from isotropic FIB/SEM volumes to anisotropic TEM volumes. In all cases, the proposed method has outperformed the extended classification DA techniques and the finetuning basel

Provision of some autonomous functions to an agricultural vehicle would lighten the job of the operator but in doing so, the accuracy should not be lost to still obtain an optimal yield. Autonomous navigation of an agricultural vehicle involves the control of different dynamic subsystems, such as the yaw angle dynamics and the longitudinal speed dynamics. In this study, a proportional-integral-derivative controller is used to control the longitudinal velocity of the tractor. For the control of the yaw angle dynamics, a proportional-derivative controller works in parallel with a type-2 fuzzy neural network. In such an arrangement, the former ensures the stability of the related subsystem, while the latter learns the system dynamics and becomes the leading controller. In this way, instead of modeling the interactions between the subsystems prior to the design of model-based control, we develop a control algorithm which learns the interactions online from the measured feedback error. In addition to the control of the stated subsystems, a kinematic controller is needed to correct the errors in both the x- and the y- axis for the trajectory tracking problem of the tractor. To demonstrat

We study the effect of strain on magnetic tunnel junctions (MTJ) induced by a diamond like carbon (DLC) film. The junction resistance as well as the tunnel magnetoresistance (TMR) reduces with the DLC film. Non-equilibrium Green's function quantum transport calculations show that the application of biaxial strain increases the conductance for both the parallel and anti-parallel configurations. However, the conductance for the minority channel and for the anti-parallel configuration is significantly more sensitive to strain, which drastically increases transmission through a MgO tunnel barrier, therefore, the TMR ratio decreases with biaxial strain.