Point Cloud Densification Algorithm for Multiple Cameras and Lidars Data Fusion.

Fusing data from many sources helps to achieve improved analysis and results. In this work, we present a new algorithm to fuse data from multiple cameras with data from multiple lidars. This algorithm was developed to increase the sensitivity and specificity of autonomous vehicle perception systems, where the most accurate sensors measuring the vehicle's surroundings are cameras and lidar devices. Perception systems based on data from one type of sensor do not use complete information and have lower quality. The camera provides two-dimensional images; lidar produces three-dimensional point clouds. We developed a method for matching pixels on a pair of stereoscopic images using dynamic programming inspired by an algorithm to match sequences of amino acids used in bioinformatics. We improve the quality of the basic algorithm using additional data from edge detectors. Furthermore, we also improve the algorithm performance by reducing the size of matched pixels determined by available car speeds. We perform point cloud densification in the final step of our method, fusing lidar output data with stereo vision output. We implemented our algorithm in C++ with Python API, and we provided the open-source library named Stereo PCD. This library very efficiently fuses data from multiple cameras and multiple lidars. In the article, we present the results of our approach to benchmark databases in terms of quality and performance. We compare our algorithm with other popular methods.

Adaptive critic design for safety-optimal FTC of unknown nonlinear systems with asymmetric constrained-input.

Safe fault tolerant control is one of the key technologies to improve the reliability of dynamic complex nonlinear systems with limited inputs, which is hard to solve and definitely a great challenge to tackle. Thus the paper presents a novel safety-optimal FTC (Fault Tolerant Control) approach for a category of completely unknown nonlinear systems incorporating actuator fault and asymmetric constrained-input, which can guarantee the system's operation within a safe range while showcasing optimal performance. Firstly, a CBF (Control Barrier Function) is incorporated into the cost function to penalize unsafe behaviors, and then we translate the intractable safety-optimal FTC problem into a differential ZSG (Zero-Sum Game) problem by defining the control input and the actuator fault as two opposing sides. Secondly, a neural-network-based identifier is employed to reconstruct system dynamics using system data, and the resolution of handling asymmetric constrained-input with the introduced non-quadratic cost function is achieved through the design of an adaptive critic scheme, aiming to reduce computational expenses accordingly. Finally, through the theoretical stability analysis, it is demonstrated that all signals in the closed-loop system are consistently UUB (Uniformly Ultimately Bounded). Furthermore, the proposed method's effectiveness is also verified in the simulation experiments conducted on a model of a single-link robotic arm system with actuator failure. The result shows that the algorithm can fulfill the safety-optimal demand of fault tolerant control in fault system with asymmetric constrained-input.

Adaptive dynamic programming for containment control with robustness analysis to iterative error: A global Nash equilibrium solution.

Global Nash equilibrium is an optimal solution for each player in a graphical game. This paper proposes an iterative adaptive dynamic programming-based algorithm to solve the global Nash equilibrium solution for optimal containment control problem with robustness analysis to the iterative error. The containment control problem is transferred into the graphical game formulation. Sufficient conditions are given to decouple the Hamilton-Jacobi equations, which guarantee the solvability of the global Nash equilibrium solution. The iterative algorithm is designed to obtain the solution without any knowledge of system dynamics. Conditions of iterative error for global stability are given with rigorous proof. Compared with existing works, the design procedures of control gain and coupling strength are separated, which avoids trivial cases in the design procedure. The robustness analysis exactly quantifies the effect of the iterative error caused by various sources in engineering practice. The theoretical results are validated by two numerical examples with marginally stable and unstable dynamics of the leader.

ADP-based fault-tolerant consensus control for multiagent systems with irregular state constraints.

This paper investigates the consensus control issue for nonlinear multiagent systems (MASs) subject to irregular state constraints and actuator faults using an adaptive dynamic programming (ADP) algorithm. Unlike the regular state constraints considered in previous studies, this paper addresses irregular state constraints that may exhibit asymmetry, time variation, and can emerge or disappear during operation. By developing a system transformation method based on one-to-one state mapping, equivalent unconstrained MASs can be obtained. Subsequently, a finite-time distributed observer is designed to estimate the state information of the leader, and the consensus control problem is transformed into the tracking control problem for each agent to ensure that actuator faults of any agent cannot affect its neighboring agents. Then, a critic-only ADP-based fault tolerant control strategy, which consists of the optimal control policy for nominal system and online fault compensation for time-varying addictive faults, is proposed to achieve optimal tracking control. To enhance the learning efficiency of critic neural networks (NNs), an improved weight learning law utilizing stored historical data is employed, ensuring the convergence of critic NN weights towards ideal values under a finite excitation condition. Finally, a practical example of multiple manipulator systems is presented to demonstrate the effectiveness of the developed control method.

ADP-based online compensation hierarchical sliding-mode control for partially unknown switched nonlinear systems with actuator failures.

This article investigates an adaptive dynamic programming-based online compensation hierarchical sliding-mode control problem for a class of partially unknown switched nonlinear systems with actuator failures and uncertain perturbations under an identifier-critic neural networks architecture. Firstly, by introducing a cost function related to hierarchical sliding-mode surfaces for the nominal system, the original control problem is equivalently converted into an optimal control problem. To obtain this optimal control policy, the Hamilton-Jacobi-Bellman equation is solved through an adaptive dynamic programming method. Compared with conventional adaptive dynamic programming methods, the identifier-critic network architecture not only overcomes the limitation on the unknown internal dynamic but also eliminates the approximation error arising from the actor network. The weights in the critic network are tuned via the gradient descent approach and the experience replay technology, such that the persistence of excitation condition can be relaxed. Then, a compensation term containing hierarchical sliding-mode surfaces is used to offset uncertain actuator failures without the fault detection and isolation unit. Based on the Lyapunov stability theory, all states of the closed-loop nonlinear system are stable in the sense of uniformly ultimately boundedness. Finally, numerical and practical examples are given to demonstrate the effectiveness of our presented online compensation control strategy.

Design and implementation of a universal converter for microgrid applications using approximate dynamic programming and artificial neural networks.

This paper introduces a novel design for a universal DC-DC and DC-AC converter tailored for DC/AC microgrid applications using Approximate Dynamic Programming and Artificial Neural Networks (ADP-ANN). The proposed converter is engineered to operate efficiently with both low-power battery and single-phase AC supply, utilizing identical side terminals and switches for both chopper and inverter configurations. This innovation reduces component redundancy and enhances operational versatility. The converter's design emphasizes minimal switch usage while ensuring efficient conversion to meet diverse load requirements from battery or AC sources. A conceptual example illustrates the design's principles, and comprehensive analyses compare the converter's performance across various operational modes. A test bench model, rated at 3000W, demonstrates the converter's efficacy in all five operational modes with AC/DC inputs. Experimental results confirm the system's robustness and adaptability, leveraging ADP-ANN for optimal performance. The paper concludes by outlining potential applications, including microgrids, electric vehicles, and renewable energy systems, highlighting the converter's key advantages such as reduced complexity, increased efficiency, and broad applicability.

Adaptive Finite-Time-Based Neural Optimal Control of Time-Delayed Wheeled Mobile Robotics Systems.

For nonlinear systems with uncertain state time delays, an adaptive neural optimal tracking control method based on finite time is designed. With the help of the appropriate LKFs, the time-delay problem is handled. A novel nonquadratic Hamilton-Jacobi-Bellman (HJB) function is defined, where finite time is selected as the upper limit of integration. This function contains information on the state time delay, while also maintaining the basic information. To meet specific requirements, the integral reinforcement learning method is employed to solve the ideal HJB function. Then, a tracking controller is designed to ensure finite-time convergence and optimization of the controlled system. This involves the evaluation and execution of gradient descent updates of neural network weights based on a reinforcement learning architecture. The semi-global practical finite-time stability of the controlled system and the finite-time convergence of the tracking error are guaranteed.

BSAlign: A Library for Nucleotide Sequence Alignment.

Increasing the accuracy of the nucleotide sequence alignment is an essential issue in genomics research. Although classic dynamic programming (DP) algorithms (e.g., Smith-Waterman and Needleman-Wunsch) guarantee to produce the optimal result, their time complexity hinders the application of large-scale sequence alignment. Many optimization efforts that aim to accelerate the alignment process generally come from three perspectives: redesigning data structures [e.g., diagonal or striped Single Instruction Multiple Data (SIMD) implementations], increasing the number of parallelisms in SIMD operations (e.g., difference recurrence relation), or reducing search space (e.g., banded DP). However, no methods combine all these three aspects to build an ultra-fast algorithm. In this study, we developed a Banded Striped Aligner (BSAlign) library that delivers accurate alignment results at an ultra-fast speed by knitting a series of novel methods together to take advantage of all of the aforementioned three perspectives with highlights such as active F-loop in striped vectorization and striped move in banded DP. We applied our new acceleration design on both regular and edit distance pairwise alignment. BSAlign achieved 2-fold speed-up than other SIMD-based implementations for regular pairwise alignment, and 1.5-fold to 4-fold speed-up in edit distance-based implementations for long reads. BSAlign is implemented in C programing language and is available at https://github.com/ruanjue/bsalign.

Optimal synchronization with L2-gain performance: An adaptive dynamic programming approach.

This paper studies an optimal synchronous control protocol design for nonlinear multi-agent systems under partially known dynamics and uncertain external disturbance. Under some mild assumptions, Hamilton-Jacobi-Isaacs equation is derived by the performance index function and system dynamics, which serves as an equivalent formulation. Distributed policy iteration adaptive dynamic programming is developed to obtain the numerical solution to the Hamilton-Jacobi-Isaacs equation. Three theoretical results are given about the proposed algorithm. First, the iterative variables is proved to converge to the solution to Hamilton-Jacobi-Isaacs equation. Second, the L2-gain performance of the closed loop system is achieved. As a special case, the origin of the nominal system is asymptotically stable. Third, the obtained control protocol constitutes an Nash equilibrium solution. Neural network-based implementation is designed following the main results. Finally, two numerical examples are provided to verify the effectiveness of the proposed method.

Analysis of the privacy-performance tradeoff of reference testing in Forensic Investigative Genetic Genealogy.

During an investigation using Forensic Investigative Genetic Genealogy, which is a novel approach for solving violent crimes and identifying human remains, reference testing-when law enforcement requests a DNA sample from a person in a partially constructed family tree-is sometimes used when an investigation has stalled. Because the people considered for a reference test have not opted in to allow law enforcement to use their DNA profile in this way, reference testing is viewed by many as an invasion of privacy and by some as unethical. We generalize an existing mathematical optimization model of the genealogy process by incorporating the option of reference testing. Using simulated versions of 17 DNA Doe Project cases, we find that reference testing can solve cases more quickly (although many reference tests are required to substantially hasten the investigative process), but only rarely (<1%) solves cases that cannot otherwise be solved. Through a mixture of mathematical and computational analysis, we find that the most desirable people to test are at the bottom of a path descending from an ancestral couple that is most likely to be related to the target. We also characterize the rare cases where reference testing is necessary for solving the case: when there is only one descending path from an ancestral couple, which precludes the possibility of identifying an intersection (e.g., marriage) between two descendants of two different ancestral couples.

SuperTAD-Fast: Accelerating Topologically Associating Domains Detection Through Discretization.

High-throughput chromosome conformation capture (Hi-C) technology captures spatial interactions of DNA sequences into matrices, and software tools are developed to identify topologically associating domains (TADs) from the Hi-C matrices. With structural information theory, SuperTAD adopted a dynamic programming approach to find the TAD hierarchy with minimal structural entropy. However, the algorithm suffers from high time complexity. To accelerate this algorithm, we design and implement an approximation algorithm with a theoretical performance guarantee. We implemented a package, SuperTAD-Fast. Using Hi-C matrices and simulated data, we demonstrated that SuperTAD-Fast achieved great runtime improvement compared with SuperTAD. SuperTAD-Fast shows high consistency and significant enrichment of structural proteins from Hi-C data of human cell lines in comparison with the existing six hierarchical TADs detecting methods.

Pairwise Distances and the Problem of Multiple Optima.

Discrete optimization problems arise in many biological contexts and, in many cases, we seek to make inferences from the optimal solutions. However, the number of optimal solutions is frequently very large and making inferences from any single solution may result in conclusions that are not supported by other optimal solutions. We describe a general approach for efficiently (polynomial time) and exactly (without sampling) computing statistics on the space of optimal solutions. These statistics provide insights into the space of optimal solutions that can be used to support the use of a single optimum (e.g., when the optimal solutions are similar) or justify the need for selecting multiple optima (e.g., when the solution space is large and diverse) from which to make inferences. We demonstrate this approach on two well-known problems and identify the properties of these problems that make them amenable to this method.

Maximum-scoring path sets on pangenome graphs of constant treewidth.

We generalize a problem of finding maximum-scoring segment sets, previously studied by Csurös (IEEE/ACM Transactions on Computational Biology and Bioinformatics, 2004, 1, 139-150), from sequences to graphs. Namely, given a vertex-weighted graph G and a non-negative startup penalty c, we can find a set of vertex-disjoint paths in G with maximum total score when each path's score is its vertices' total weight minus c. We call this new problem maximum-scoring path sets (MSPS). We present an algorithm that has a linear-time complexity for graphs with a constant treewidth. Generalization from sequences to graphs allows the algorithm to be used on pangenome graphs representing several related genomes and can be seen as a common abstraction for several biological problems on pangenomes, including searching for CpG islands, ChIP-seq data analysis, analysis of region enrichment for functional elements, or simple chaining problems.

Assessing carbon tax using a CGE model with firm heterogeneity: An application to Vietnam.

Vietnam's government is considering introducing a carbon market as part of its decarbonization strategy. The carbon tax is an option for the government to regulate greenhouse gas emissions. We evaluate the potential macroeconomic and climate impacts of carbon tax policy in Vietnam using a unique data set and simulation analysis with a multi-sector dynamic computable general equilibrium model. The model allows for firm heterogeneity: domestic firms and foreign-invested enterprises. The results show that with plausible tax rates, emissions can be reduced to levels 1.3-2.8 percent below the target value of emissions in 2030. The cost is a loss in GDP by 1.2-2.7 percent in 2030. The results also show that foreign-invested enterprises tend to increase emissions in the medium run even with a carbon tax while a carbon tax is more effective when applied to domestic firms. In addition, a substantial reduction in emissions from the energy sector and improvement in energy efficiency are keys to success in carbon abatement.

Adaptive sampling artificial-actual control for non-zero-sum games of constrained systems.

Considering physical constraints encountered by actuators, this paper addresses the non-zero-sum game of continuous nonlinear systems with symmetric and asymmetric input constraints through aperiodic sampling artificial-actual control. Initially, the artificial system built by the improved Elman dynamic neural networks (EDNNs) has artificial-actual interaction with the physical system, which provides a new perspective for predicting the system state. By constantly learning and adjusting parameters, EDNNs can gradually approximate the dynamic behavior of the real system to achieve more effective control. Aiming at accommodating diverse input constraints, the non-quadratic value function constructed from a smoothly bounded function is devised. Then, the polynomial parameterized adaptive dynamic programming (ADP) is employed to approximate the solution of the coupled Hamilton-Jacobi equation (HJE), deriving optimal control laws for two players. To improve the efficiency of data communication, three adaptive sampling mechanisms including event-triggered mechanism (ETM) with relative threshold, dynamic ETM (DETM) and self-triggered mechanism (STM) are introduced in turn during the iterative learning process of control sequences. DETM further extends sampling intervals by incorporating internal dynamic variables, while STM determines the next trigger time through soft calculation without hardware monitoring. All three trigger modes can ensure the system stability while avoiding the Zeno phenomenon, and relevant proofs are given. Finally, the simulation validates the effectiveness of the designed algorithm and highlights the unique characteristics of each trigger mode.

ESKEMAP: exact sketch-based read mapping.

BACKGROUND: Given a sequencing read, the broad goal of read mapping is to find the location(s) in the reference genome that have a "similar sequence". Traditionally, "similar sequence" was defined as having a high alignment score and read mappers were viewed as heuristic solutions to this well-defined problem. For sketch-based mappers, however, there has not been a problem formulation to capture what problem an exact sketch-based mapping algorithm should solve. Moreover, there is no sketch-based method that can find all possible mapping positions for a read above a certain score threshold. RESULTS: In this paper, we formulate the problem of read mapping at the level of sequence sketches. We give an exact dynamic programming algorithm that finds all hits above a given similarity threshold. It runs in O ( | t | + | p | + ℓ 2 ) time and O ( ℓ log ℓ ) space, where |t| is the number of k -mers inside the sketch of the reference, |p| is the number of k -mers inside the read's sketch and ℓ is the number of times that k -mers from the pattern sketch occur in the sketch of the text. We evaluate our algorithm's performance in mapping long reads to the T2T assembly of human chromosome Y, where ampliconic regions make it desirable to find all good mapping positions. For an equivalent level of precision as minimap2, the recall of our algorithm is 0.88, compared to only 0.76 of minimap2.

Classified Dynamic Programming in RNA Structure Analysis.

Analysis of the folding space of RNA generally suffers from its exponential size. With classified Dynamic Programming algorithms, it is possible to alleviate this burden and to analyse the folding space of RNA in great depth. Key to classified DP is that the search space is partitioned into classes based on an on-the-fly computed feature. A class-wise evaluation is then used to compute class-wide properties, such as the lowest free energy structure for each class, or aggregate properties, such as the class' probability. In this paper we describe the well-known shape and hishape abstraction of RNA structures, their power to help better understand RNA function and related methods that are based on these abstractions.

Advanced optimal tracking integrating a neural critic technique for asymmetric constrained zero-sum games.

This paper investigates the optimal tracking issue for continuous-time (CT) nonlinear asymmetric constrained zero-sum games (ZSGs) by exploiting the neural critic technique. Initially, an improved algorithm is constructed to tackle the tracking control problem of nonlinear CT multiplayer ZSGs. Also, we give a novel nonquadratic function to settle the asymmetric constraints. One thing worth noting is that the method used in this paper to solve asymmetric constraints eliminates the strict restriction on the control matrix compared to the previous ones. Further, the optimal controls, the worst disturbances, and the tracking Hamilton-Jacobi-Isaacs equation are derived. Next, a single critic neural network is built to estimate the optimal cost function, thus obtaining the approximations of the optimal controls and the worst disturbances. The critic network weight is updated by the normalized steepest descent algorithm. Additionally, based on the Lyapunov method, the stability of the tracking error and the weight estimation error of the critic network is analyzed. In the end, two examples are offered to validate the theoretical results.

Approximate optimal and safe coordination of nonlinear second-order multirobot systems with model uncertainties.

This paper investigates the approximate optimal coordination for nonlinear uncertain second-order multi-robot systems with guaranteed safety (collision avoidance) Through constructing novel local error signals, the collision-free control objective is formulated into an coordination optimization problem for nominal multi-robot systems. Based on approximate dynamic programming technique, the optimal value functions and control policies are learned by simplified critic-only neural networks (NNs). Then, the approximated optimal controllers are redesigned using adaptive law to handle the effects of robots' uncertain dynamics. It is shown that the NN weights estimation errors are uniformly ultimately bounded under proper conditions, and safe coordination of multiple robots can be achieved regardless of model uncertainties. Numerical simulations finally illustrate the effectiveness of the proposed controller.

Reinforcement Learning Algorithms and Applications in Healthcare and Robotics: A Comprehensive and Systematic Review.

Reinforcement learning (RL) has emerged as a dynamic and transformative paradigm in artificial intelligence, offering the promise of intelligent decision-making in complex and dynamic environments. This unique feature enables RL to address sequential decision-making problems with simultaneous sampling, evaluation, and feedback. As a result, RL techniques have become suitable candidates for developing powerful solutions in various domains. In this study, we present a comprehensive and systematic review of RL algorithms and applications. This review commences with an exploration of the foundations of RL and proceeds to examine each algorithm in detail, concluding with a comparative analysis of RL algorithms based on several criteria. This review then extends to two key applications of RL: robotics and healthcare. In robotics manipulation, RL enhances precision and adaptability in tasks such as object grasping and autonomous learning. In healthcare, this review turns its focus to the realm of cell growth problems, clarifying how RL has provided a data-driven approach for optimizing the growth of cell cultures and the development of therapeutic solutions. This review offers a comprehensive overview, shedding light on the evolving landscape of RL and its potential in two diverse yet interconnected fields.