Norm Solution Research Articles

Design, Kinematics, and Deployment of a Continuum Underwater Vehicle-Manipulator System

Abstract Underwater vehicle-manipulator systems (UVMSs) are underwater robots equipped with one or more manipulators to perform intervention missions. This article provides the mechanical, electrical, and software design of a novel UVMS equipped with a continuum manipulator, referred to as a continuum-UVMS. A kinematic model for the continuum-UVMS is derived in order to build an algorithm to resolve the robot’s redundancy and generate joint space commands. Different methods to optimize the trajectory for specific tasks are proposed using both the weighted least norm solution and the gradient projection method. Kinematic simulation results are analyzed to assess the performance of the proposed algorithm. Finally, the continuum-UVMS is deployed in an experimental demonstration in which both teleoperation and autonomous control are tested for a given reference trajectory.

Saddle-to-saddle dynamics in diagonal linear networks*

Abstract In this paper we fully describe the trajectory of gradient flow over two-layer diagonal linear networks for the regression setting in the limit of vanishing initialisation. We show that the limiting flow successively jumps from a saddle of the training loss to another until reaching the minimum ℓ 1 -norm solution. We explicitly characterise the visited saddles as well as the jump times through a recursive algorithm reminiscent of the LARS algorithm used for computing the Lasso path. Starting from the zero vector, coordinates are successively activated until the minimum ℓ 1 -norm solution is recovered, revealing an incremental learning. Our proof leverages a convenient arc-length time-reparametrisation which enables to keep track of the transitions between the jumps. Our analysis requires negligible assumptions on the data, applies to both under and overparametrised settings and covers complex cases where there is no monotonicity of the number of active coordinates. We provide numerical experiments to support our findings.

Unconditionally superconvergence error analysis of an energy-stable finite element method for Schrödinger equation with cubic nonlinearity

In this paper, the unconditionally superconvergence analysis is studied for the cubic Schrödinger equation with an energy-stable finite element method. A different approach is proposed to obtain the unconditionally superclose error estimate in H1-norm firstly without using the time splitting technique required in the previous literature. The key to the analysis is to use a priori boundedness of the numerical solution in energy norm and control the nonlinear terms rigorously by two cases, i.e., τ≤h2 and τ≥h2, where τ denotes the temporal size and h is the spatial size. Subsequently, the global superconvergence error estimate in H1-norm is derived by an effective interpolation post-processing approach. Finally, some numerical experiments are carried out to confirm the theoretical findings.

Tikhonov regularized second-order plus first-order primal-dual dynamical systems with asymptotically vanishing damping for linear equality constrained convex optimization problems

In this paper, in the setting of Hilbert spaces, we consider a Tikhonov regularized second-order plus first-order primal-dual dynamical system with asymptotically vanishing damping for a linear equality constrained convex optimization problem. It is shown that convergence properties of the proposed inertial dynamical system depend upon the choice of the Tikhonov regularization parameter. When the Tikhonov regularization parameter decays rapidly to zero, we derive the fast convergence rates of the primal-dual gap, the objective residual, the feasibility violation and the gradient norm of the objective function along the generated trajectory. When the Tikhonov regularization parameter decreases slowly to zero, we prove the strong convergence of the primal trajectory of the Tikhonov regularized dynamical system to the minimal norm solution of the linear equality constrained convex optimization problem. Numerical experiments are performed to illustrate the efficiency of our approach.

Trajectory tracking control of a mobile robot using fuzzy logic controller with optimal parameters

Abstract This work investigates the use of a fuzzy logic controller (FLC) for two-wheeled differential drive mobile robot trajectory tracking control. Due to the inherent complexity associated with tuning the membership functions of an FLC, this work employs a particle swarm optimization algorithm to optimize the parameters of these functions. In order to automate and reduce the number of rule bases, the genetic algorithm is also employed for this study. The effectiveness of the proposed approach is validated through MATLAB simulations involving diverse path tracking scenarios. The performance of the FLC is compared against established controllers, including minimum norm solution, closed-loop inverse kinematics, and Jacobian transpose-based controllers. The results demonstrate that the FLC offers accurate trajectory tracking with reduced root mean square error and controller effort. An experimental, hardware-based investigation is also performed for further verification of the proposed system. In addition, the simulation is conducted for various paths in the presence of noise in order to assess the proposed controller’s robustness. The proposed method is resilient against noise and disturbances, according to the simulation outcomes.

The BiCG Algorithm for Solving the Minimal Frobenius Norm Solution of Generalized Sylvester Tensor Equation over the Quaternions

In this paper, we develop an effective iterative algorithm to solve a generalized Sylvester tensor equation over quaternions which includes several well-studied matrix/tensor equations as special cases. We discuss the convergence of this algorithm within a finite number of iterations, assuming negligible round-off errors for any initial tensor. Moreover, we demonstrate the unique minimal Frobenius norm solution achievable by selecting specific types of initial tensors. Additionally, numerical examples are presented to illustrate the practicality and validity of our proposed algorithm. These examples include demonstrating the algorithm’s effectiveness in addressing three-dimensional microscopic heat transport and color video restoration problems.

(w,v)-core–EP inverse and (w,v)-pseudo-core inverse

The core and core–EP inverses are two recent generalized inverses that were first introduced and studied for complex matrices, and later for elements of rings with involution. Afterward, weighted versions (the w-core–EP inverse and the weighted w-core inverse with weight v) were introduced. Our purpose is to study all these generalized inverses in the context of monoids with involution, in a unified way. With this in mind, we introduce new, broader kinds of generalized inverses. In particular, we present the ( w , v ) -core–EP inverse and the ( w , v ) -pseudo-core inverse for elements of a monoid with involution. Necessary and sufficient conditions for the existence of these inverses are proved, and some representations of these new inverses are developed. Using these results, we obtain new properties of the weighted w-core inverse with weight v. We finally consider these inverses in the matrix setting. We notably prove that these inverses provide minimum norm or least square solutions to some matrix equations.

The (B, C)-Core inverse of rectangular matrices

Let A be an m × n complex matrix and let B, C be n × m complex matrices. The main purpose of this article is to derive several new properties of the (B, C)-core inverse. Also, we introduce and investigate the dual (B, C)-core inverse in the context of rectangular matrices. The connection between (dual) (B, C)-core inverses and other generalized inverses is given. Finally, the minimum norm solution and least square solution to the equation are expressed by using the (B, C)-core inverse.

Decay of higher order derivatives for Lp solutions to the compressible fluid model of Korteweg type

As a follow-up study of [31], we present a derivation of upper bounds for the decay of arbitrary higher order derivatives of solutions to the compressible Navier-Stokes-Korteweg system in the Lp critical Besov space. The approach, based on Gevrey regularizing estimates, is to establish uniform bounds on the growth of the radius of analyticity of the solution in negative Besov norms, which may be applicable to a wide range of dissipative systems.

Superconvergence analysis of the conforming discontinuous Galerkin method on a Bakhvalov-type mesh for singularly perturbed reaction–diffusion equation

The conforming discontinuous Galerkin (CDG) method maximizes the utilization of all degrees of freedom of the discontinuous Pk polynomial to achieve a convergence rate two orders higher than its counterpart conforming finite element method employing continuous Pk element. Despite this superiority, there is little theory of the CDG methods for singular perturbation problems. In this paper, superconvergence of the CDG method is studied on a Bakhvalov-type mesh for a singularly perturbed reaction–diffusion problem. For this goal, a pre-existing least squares method has been utilized to ensure better approximation properties of the projection. On the basis of that, we derive superconvergence results for the CDG finite element solution in the energy norm and L2-norm and obtain uniform convergence of the CDG method for the first time.

Revisit Liu & Katz (2006) And Zigunov & Charonko (2024): On The Equivalency Of Omni-Directional Integration And Pressure Poisson Equation

In this paper we demonstrate the equivalency of Omni-Directional Integration (ODI) and the Pressure Poisson Equation (PPE) for pressure field reconstruction from corrupted image velocimetry data. Over the years, it has been long debated which of the two families of methods is better for pressure reconstruction, direct pressure gradient integration (particularly ODI) versus PPE. Some have claimed that ODI is fundamentally different, and far more accurate than PPE; while other studies observed similar reconstruction accuracy between ODI and PPE (McClure & Yarusevych, 2017). This debate has been filled with confusion and conflicting results until a recent breakthrough by Zigunov & Charonko (2023, 2024) while trying to improve the computational efficiency of ODI. In a series of works, Zigunov & Charonko (2023, 2024) reformulated the iterative integration process of ODI into a system of linear equations resembling the discretized PPE, alluding to a deep connection between ODI and PPE. With careful numerical treatment, we show that ODI can be viewed as pursuing the minimal norm solution to a Poisson equation with pure Neumann boundary conditions. We provide a detailed and physical explanation for why some have reported poor robustness of the PPE, highlighting critical nuances in its numerical implementation, and explain why the ODI is more robust to random noise in the data. We hope to put an end to the PPE versus ODI debate and clear up the confusion surrounding how these and when these methods perform well. With these new comprehensions, we can leverage the established regularization techniques and efficient numerical algorithms of elliptic equations to improve PPE/ODI-based pressure field reconstruction.

A Nesterov Type Algorithm with Double Tikhonov Regularization: Fast Convergence of the Function Values and Strong Convergence to the Minimal Norm Solution

We investigate the strong convergence properties of a Nesterov type algorithm with two Tikhonov regularization terms in connection to the minimization problem of a smooth convex function f. We show that the generated sequences converge strongly to the minimal norm element from argminf\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$\ ext {argmin}f$$\\end{document}. We also show fast convergence for the potential energies f(xn)-minf\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$f(x_n)-\ ext {min}f$$\\end{document} and f(yn)-minf\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$f(y_n)-\ ext {min}f$$\\end{document}, where (xn),(yn)\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$(x_n),\\,(y_n)$$\\end{document} are the sequences generated by our algorithm. Further we obtain fast convergence to zero of the discrete velocity and some estimates concerning the value of the gradient of the objective function in the generated sequences. Via some numerical experiments we show that we need both Tikhonov regularization terms in our algorithm in order to obtain the strong convergence of the generated sequences to the minimum norm minimizer of our objective function.

Strong consistency of an estimator by the truncated singular value decomposition for an errors-in-variables regression model with collinearity

In this paper, we prove strong consistency of an estimator by the truncated singular value decomposition for a multivariate errors-in-variables linear regression model with collinearity. This result is an extension of Gleser's proof of the strong consistency of total least squares solutions to the case with modern rank constraints. While the usual discussion of consistency in the absence of solution uniqueness deals with the minimal norm solution, the contribution of this study is to develop a theory that shows the strong consistency of a set of solutions. The proof is based on properties of orthogonal projections, specifically properties of the Rayleigh-Ritz procedure for computing eigenvalues. This makes it suitable for targeting problems where some row vectors of the matrices do not contain noise. Therefore, this paper gives a proof for the regression model with the above condition on the row vectors, resulting in a natural generalization of the strong consistency for the standard TLS estimator.

Convex optimization via inertial algorithms with vanishing Tikhonov regularization: fast convergence to the minimum norm solution

In a Hilbertian framework, for the minimization of a general convex differentiable function f, we introduce new inertial dynamics and algorithms that generate trajectories and iterates that converge fastly towards the minimizer of f with minimum norm. Our study is based on the non-autonomous version of the Polyak heavy ball method, which, at time t, is associated with the strongly convex function obtained by adding to f a Tikhonov regularization term with vanishing coefficient ε(t)\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$\\varepsilon (t)$$\\end{document}. In this dynamic, the damping coefficient is proportional to the square root of the Tikhonov regularization parameter ε(t)\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$\\varepsilon (t)$$\\end{document}. By adjusting the speed of convergence of ε(t)\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$\\varepsilon (t)$$\\end{document} towards zero, we will obtain both rapid convergence towards the infimal value of f, and the strong convergence of the trajectories towards the element of minimum norm of the set of minimizers of f. In particular, we obtain an improved version of the dynamic of Su-Boyd-Candès for the accelerated gradient method of Nesterov. This study naturally leads to corresponding first-order algorithms obtained by temporal discretization. In the case of a proper lower semicontinuous and convex function f, we study the proximal algorithms in detail, and show that they benefit from similar properties.

The accelerated tensor Kaczmarz algorithm with adaptive parameters for solving tensor systems

Solving tensor systems is a common task in scientific computing and artificial intelligence. In this paper, we propose a tensor randomized average Kaczmarz method with adaptive parameters that exponentially converges to the unique least Frobenius norm solution of a given consistent tensor system under the t-product structure. In order to accelerate convergence, a tensor average Kaczmarz method based on stochastic heavy ball momentum technique (tAKSHBM) is proposed. The tAKSHBM method utilizes iterative information to update parameters instead of relying on prior information, addressing the problem in the adaptive learning of parameters. Additionally, the tAKSHBM method based on Fourier transform is proposed, which can be effectively implemented in a distributed environment. It is proven that the iteration sequences generated by all the proposed methods are convergent for given consistent tensor systems. Finally, we conduct experiments on both synthetic data and practical applications to support our theoretical results and demonstrate the effectiveness of the proposed algorithms.

Enhanced Moving Source Localization with Time and Frequency Difference of Arrival: Motion-Assisted Method for Sub-Dimensional Sensor Networks

Localizing a moving source by Time Difference of Arrival (TDOA) and Frequency Difference of Arrival (FDOA) commonly requires at least N+1 sensors in N-dimensional space to obtain more than N pairs of TDOAs and FDOAs, thereby establishing more than 2N equations to solve for 2N unknowns. However, if there are insufficient sensors, the localization problem will become underdetermined, leading to non-unique solutions or inaccuracies in the minimum norm solution. This paper proposes a localization method using TDOAs and FDOAs while incorporating the motion model. The motion between the source and sensors increases the equivalent length of the baseline, thereby improving observability even when using the minimum number of sensors. The problem is formulated as a Maximum Likelihood Estimation (MLE) and solved through Gauss–Newton (GN) iteration. Since GN requires an initialization close to the true value, the MLE is transformed into a semidefinite programming problem using Semidefinite Relaxation (SDR) technology, while SDR results in a suboptimal estimate, it is sufficient as an initialization to guarantee the convergence of GN iteration. The proposed method is analytically shown to reach the Cramér–Rao Lower Bound (CRLB) accuracy under mild noise conditions. Simulation results confirm that it achieves CRLB-level performance when the number of sensors is lower than N+1, thereby corroborating the theoretical analysis.

The Kuznetsov and Blackstock Equations of Nonlinear Acoustics with Nonlocal-in-Time Dissipation

In ultrasonics, nonlocal quasilinear wave equations arise when taking into account a class of heat flux laws of Gurtin–Pipkin type within the system of governing equations of sound motion. The present study extends previous work by the authors to incorporate nonlocal acoustic wave equations with quadratic gradient nonlinearities which require a new approach in the energy analysis. More precisely, we investigate the Kuznetsov and Blackstock equations with dissipation of fractional type and identify a minimal set of assumptions on the memory kernel needed for each equation. In particular, we discuss the physically relevant examples of Abel and Mittag–Leffler kernels. We perform the well-posedness analysis uniformly with respect to a small parameter on which the kernels depend and which can be interpreted as the sound diffusivity or the thermal relaxation time. We then analyze the limiting behavior of solutions with respect to this parameter, and how it is influenced by the specific class of memory kernels at hand. Through such a limiting study, we relate the considered nonlocal quasilinear equations to their limiting counterparts and establish the convergence rates of the respective solutions in the energy norm.

Accuracy of an implicit scheme for the finite element method with a penalty for a nonlocal parabolic obstacle problem

In order to solve a parabolic variational inequality with a nonlocal spatial operator and a one-sided constraint on the solution, a numerical method based on the penalty method, finite elements, and the implicit Euler scheme is proposed and studied. Optimal estimates for the accuracy of the approximate solution in the energy norm are obtained.

An efficient algorithm for the minimal least squares solution of linear systems with indefinite symmetric matrices

In this work, a new algorithm for solving symmetric indefinite systems of linear equations is presented. It factorizes the matrix into the form LDLt using Jacobi rotations in order to increase the pivot´s absolute value. Furthermore, Rook´s pivoting strategy is also adapted and implemented. In determinate compatible systems, the computational cost of the algorithm was similar to the cost of the Bunch-Kaufman method, but the error was approximately 50 % smaller for intermediate and large matrices, regardless of the condition number of the coefficient matrix. Furthermore, unlike Bunch-Kaufman, the new algorithm calculates with little additional cost the fundamental basis of the null space, and obtains the minimal least squares and minimum norm solutions. In minimal least squares with minimum norm problems, the new algorithm was compared with the LAPACK Complete Orthogonal Decomposition algorithm, among others. The obtained error with both algorithms was similar but the computational cost was at least 20 % smaller with the new algorithm, even though the Complete Orthogonal Decomposition is implemented in a blocked form.

Partial quadratic eigenvalue assignment for vibration systems using receptances and system matrices

In this paper, we consider the partial quadratic eigenvalue assignment problem (PQEAP) for vibration system by active feedback control, such that some “troublesome” eigenpairs are replaced by some suitable chosen or newly measured ones, while the remaining unknown eigenpairs are kept unchanged. With the assumptions that the mass and stiffness matrices are nonsingular, we give a new proof of the spectral decomposition of quadratic symmetric pencil. And then we provide some necessary and sufficient conditions of the feedback matrices so that the closed-loop can preserve the no spill-over property. With these conditions, we characterize a set of parametric solutions to the PQEAP using receptances, system matrices and a few open-loop eigenpairs. Finally, we propose a gradient-based optimization method for solving the minimum norm solution to the PQEAP. Numerical experiments illustrate the effectiveness and robustness of the proposed algorithm.