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In this article, we investigate the convergence behavior of two classes of gathering protocols with fixed circulant topologies using tools from dynamical systems. Given a fixed number of mobile entities moving in the Euclidean plane, we…
Distributed Machine Learning (DML) systems are utilized to enhance the speed of model training in data centers (DCs) and edge nodes. The Parameter Server (PS) communication architecture is commonly employed, but it faces severe long-tail…
By numerical integration, we study the relaxation dynamics of degenerate harmonic oscillator modes dispersively coupled to particle positions. Depending on whether the effective inertial potential induced by the oscillators keep the…
Optimizing problems in a distributed manner is critical for systems involving multiple agents with private data. Despite substantial interest, a unified method for analyzing the convergence rates of distributed optimization algorithms is…
Advanced feedforward control methods enable mechatronic systems to perform varying motion tasks with extreme accuracy and throughput. The aim of this paper is to develop a data-driven feedforward controller that addresses input…
The mean-squared displacement (MSD) of a hard sphere and of a dumbbell molecule consisting of two fused hard spheres immersed in a dense hard-sphere system is calculated within the mode-coupling theory for ideal liquid-glass transitions. It…
In this paper, we introduce an accelerated distributed stochastic gradient method with momentum for solving the distributed optimization problem, where a group of $n$ agents collaboratively minimize the average of the local objective…
We study the dynamics of a supersonic molecular beam in a low-finesse optical cavity and demonstrate that most molecules in the beam can be decelerated to zero central velocity by the intracavity optical field in a process analogous to…
Molecular communication (MC) allows nanomachines to communicate and cooperate with each other in a fluid environment. The diffusion-based MC is popular but is easily constrained by the transmit distance due to the severe attenuation of…
The performance of optimization-based robot motion planning algorithms is highly dependent on the initial solutions, commonly obtained by running a sampling-based planner to obtain a collision-free path. However, these methods can be slow…
The effect of finite control beam on the transverse spatial profile of the slow light propagation in an electromagnetically induced transparency medium is studied. We arrive at a general criterion in terms of eigenequation, and demonstrate…
This paper presents a combined sliding-mode control and subspace stabilization methodology for orbital stabilization of periodic trajectories in underactuated mechanical systems with one degree of underactuation. The approach starts with…
In this paper we discuss design considerations and beam dynamics challenges associated with laser-driven plasma-based accelerators as applied to multi-TeV-scale linear colliders. Plasma accelerators provide ultra-high gradients and…
This paper presents a mathematical approach for improving the performance of a control system by modifying the time delay at certain operating conditions. This approach converts a continuous time loop into a discrete time loop. The formula…
Model predictive control (MPC) has established itself as the primary methodology for constrained control, enabling general-purpose robot autonomy in diverse real-world scenarios. However, for most problems of interest, MPC relies on the…
We study the cascading of fast MHD modes in magnetically dominated plasma by performing one-dimensional (1D) dynamical simulations. We find that the cascading becomes more efficient as an angle between wave vector and underlying magnetic…
The Stark deceleration of OH radicals in both low-field-seeking and high-field-seeking levels of the rovibronic ${}^2\Pi_{3/2},v=0,J=3/2$ ground state is demonstrated using a single experimental setup. Applying alternating-gradient…
Delays endanger safety of autonomous systems operating in a rapidly changing environment, such as nondeterministic surrounding traffic participants in autonomous driving and high-speed racing. Unfortunately, delays are typically not…
Can we accelerate convergence of gradient descent without changing the algorithm -- just by carefully choosing stepsizes? Surprisingly, we show that the answer is yes. Our proposed Silver Stepsize Schedule optimizes strongly convex…
This study explores the dynamics of asymmetrical bounding gaits in quadrupedal robots, focusing on the integration of torso pitching and hip motion to enhance speed and stability. Traditional control strategies often enforce a fixed…