Searcharxiv⌕ Search

arXiv subjects

Andreas Mueller

Publications and source records attributed to Andreas Mueller.

54 records · Page 3Linked to original sources

Position: A Call to Action for a Human-Centered AutoML Paradigm

Automated machine learning (AutoML) was formed around the fundamental objectives of automatically and efficiently configuring machine learning (ML) workflows, aiding the research of new ML algorithms, and contributing to the democratization of ML by making it accessible to a broader audience. Over the past decade, commendable achievements in AutoML have primarily focused on optimizing predictive performance. This focused progress, while substantial, raises questions about how well AutoML has met its broader, original goals. In this position paper, we argue that a key to unlocking AutoML's full potential lies in addressing the currently underexplored aspect of user interaction with AutoML systems, including their diverse roles, expectations, and expertise. We envision a more human-centered approach in future AutoML research, promoting the collaborative design of ML systems that tightly integrates the complementary strengths of human expertise and AutoML methodologies.

cs.LG↗

Towards Building Autonomous Data Services on Azure

Modern cloud has turned data services into easily accessible commodities. With just a few clicks, users are now able to access a catalog of data processing systems for a wide range of tasks. However, the cloud brings in both complexity and opportunity. While cloud users can quickly start an application by using various data services, it can be difficult to configure and optimize these services to gain the most value from them. For cloud providers, managing every aspect of an ever-increasing set of data services, while meeting customer SLAs and minimizing operational cost is becoming more challenging. Cloud technology enables the collection of significant amounts of workload traces and system telemetry. With the progress in data science (DS) and machine learning (ML), it is feasible and desirable to utilize a data-driven, ML-based approach to automate various aspects of data services, resulting in the creation of autonomous data services. This paper presents our perspectives and insights on creating autonomous data services on Azure. It also covers the future endeavors we plan to undertake and unresolved issues that still need attention.

cs.DC↗

Review of the Exponential and Cayley Map on SE(3) as relevant for Lie Group Integration of the Generalized Poisson Equation and Flexible Multibody Systems

The exponential and Cayley map on SE(3) are the prevailing coordinate maps used in Lie group integration schemes for rigid body and flexible body systems. Such geometric integrators are the Munthe-Kaas and generalized-alpha schemes, which involve the differential and its directional derivative of the respective coordinate map. Relevant closed form expressions, which were reported over the last two decades, are scattered in the literature, and some are reported without proof. This paper provides a reference summarizing all relevant closed form relations along with the relevant proofs. including the right-trivialized differential of the exponential and Cayley map and their directional derivatives (resembling the Hessian). The latter gives rise to an implicit generalized-alpha scheme for rigid/flexible multibody systems in terms of the Cayley map with improved computational efficiency.

math.DG↗

Towards Continuous Time Finite Horizon LQR Control in SE(3)

The control of free-floating robots requires dealing with several challenges. The motion of such robots evolves on a continuous manifold described by the Special Euclidean Group of dimension 3, known as SE(3). Methods from finite horizon Linear Quadratic Regulators (LQR) control have gained recent traction in the robotics community. However, such approaches are inherently solving an unconstrained optimization problem and hence are unable to respect the manifold constraints imposed by the group structure of SE(3). This may lead to small errors, singularity problems and double cover issues depending on the choice of coordinates to model the floating base motion. In this paper, we propose the use of canonical exponential coordinates of SE(3) and the associated Exponential map along with its differentials to embed this structure in the theory of finite horizon LQR controllers.

cs.RO↗

Screw and Lie Group Theory in Multibody Kinematics -- Motion Representation and Recursive Kinematics of Tree-Topology Systems

After three decades of computational multibody system (MBS) dynamics, current research is centered at the development of compact and user friendly yet computationally efficient formulations for the analysis of complex MBS. The key to this is a holistic geometric approach to the kinematics modeling observing that the general motion of rigid bodies as well as the relative motion due to technical joints are screw motions. Moreover, screw theory provides the geometric setting and Lie group theory the analytic foundation for an intuitive and compact MBS modeling. The inherent frame invariance of this modeling approach gives rise to very efficient recursive $O\left( n\right) $ algorithms, for which the so-called 'spatial operator algebra' is one example, and allows for use of readily available geometric data. In this paper three variants for describing the configuration of tree-topology MBS in terms of relative coordinates, i.e. joint variables, are presented: the standard formulation using body-fixed joint frames, a formulation without joint frames, and a formulation without either joint or body-fixed reference frames. This allows for describing the MBS kinematics without introducing joint reference frames and therewith rendering the use of restrictive modeling convention, such as Denavit-Hartenberg parameters, redundant. Four different definitions of twists are recalled and the corresponding recursive expressions are derived. The corresponding Jacobians and their factorization are derived. The aim of this paper is to motivate the use of Lie group modeling and to provide a review of the different formulations for the kinematics of tree-topology MBS in terms of relative (joint) coordinates from the unifying perspective of screw and Lie group theory.

math.NA↗

Screw and Lie Group Theory in Multibody Dynamics -- Recursive Algorithms and Equations of Motion of Tree-Topology Systems

Screw and Lie group theory allows for user-friendly modeling of multibody systems (MBS) while at the same they give rise to computationally efficient recursive algorithms. The inherent frame invariance of such formulations allows for use of arbitrary reference frames within the kinematics modeling (rather than obeying modeling conventions such as the Denavit-Hartenberg convention) and to avoid introduction of joint frames. The computational efficiency is owed to a representation of twists, accelerations, and wrenches that minimizes the computational effort. This can be directly carried over to dynamics formulations. In this paper recursive $O\left( n\right) $ Newton-Euler algorithms are derived for the four most frequently used representations of twists, and their specific features are discussed. These formulations are related to the corresponding algorithms that were presented in the literature. The MBS motion equations are derived in closed form using the Lie group formulation. One are the so-called 'Euler-Jourdain' or 'projection' equations, of which Kane's equations are a special case, and the other are the Lagrange equations. The recursive kinematics formulations are readily extended to higher orders in order to compute derivatives of the motions equations. To this end, recursive formulations for the acceleration and jerk are derived. It is briefly discussed how this can be employed for derivation of the linearized motion equations and their time derivatives. The geometric modeling allows for direct application of Lie group integration methods, which is briefly discussed.

math.NA↗

Hamel's Equations and Geometric Mechanics of Constrained and Floating Multibody and Space Systems

Modern geometric approaches to analytical mechanics rest on a bundle structure of the configuration space. The connection on this bundle allows for an intrinsic splitting of the reduced Euler-Lagrange equations. Hamel's equations, on the other hand, provide a universal approach to non-holonomic mechanics in local coordinates. The link between Hamel's formulation and geometric approaches in local coordinates has not been discussed sufficiently. The reduced Euler-Lagrange equations as well as the curvature of the connection, are derived with Hamel's original formalism. Intrinsic splitting into Euler-Lagrange and Euler-Poincare equations, and inertial decoupling is achieved by means of the locked velocity. Various aspects of this method are discussed.

math.DS↗

Nth Order Analytical Time Derivatives of Inverse Dynamics in Recursive and Closed Forms

Derivatives of equations of motion describing the rigid body dynamics are becoming increasingly relevant for the robotics community and find many applications in design and control of robotic systems. Controlling robots, and multibody systems comprising elastic components in particular, not only requires smooth trajectories but also the time derivatives of the control forces/torques, hence of the equations of motion (EOM). This paper presents novel nth order time derivatives of the EOM in both closed and recursive forms. While the former provides a direct insight into the structure of these derivatives,the latter leads to their highly efficient implementation for large degree of freedom robotic system.

cs.RO↗

Neurofeedback Tunes Scale-Free Dynamics in Spontaneous Brain Activity

Brain oscillations exhibit long-range temporal correlations (LRTCs), which reflect the regularity of their fluctuations: low values representing more random (decorrelated) while high values more persistent (correlated) dynamics. LRTCs constitute supporting evidence that the brain operates near criticality, a state where neuronal activities are balanced between order and randomness. Here, healthy adults used closed-loop brain training (neurofeedback, NFB) to reduce the amplitude of alpha oscillations, producing a significant increase in spontaneous LRTCs post-training. This effect was reproduced in patients with post-traumatic stress disorder, where abnormally random dynamics were reversed by NFB, correlating with significant improvements in hyperarousal. Notably, regions manifesting abnormally low LRTCs (i.e., excessive randomness) normalized toward healthy population levels, consistent with theoretical predictions about self-organized criticality. Hence, when exposed to appropriate training, spontaneous cortical activity reveals a residual capacity for "self-tuning" its own temporal complexity, despite manifesting the abnormal dynamics seen in individuals with psychiatric disorder. Lastly, we observed an inverse-U relationship between strength of LRTC and oscillation amplitude, suggesting a breakdown of long-range dependence at high/low synchronization extremes, in line with recent computational models. Together, our findings offer a broader mechanistic framework for motivating research and clinical applications of NFB, encompassing disorders with perturbed LRTCs.

q-bio.NC↗

Network Slicing for Ultra-Reliable Low Latency Communication in Industry 4.0 Scenarios

An important novelty of 5G is its role in transforming the industrial production into Industry 4.0. Specifically, Ultra-Reliable Low Latency Communications (URLLC) will, in many cases, enable replacement of cables with wireless connections and bring freedom in designing and operating interconnected machines, robots, and devices. However, not all industrial links will be of URLLC type; e.g. some applications will require high data rates. Furthermore, these industrial networks will be highly heterogeneous, featuring various communication technologies. We consider network slicing as a mechanism to handle the diverse set of requirements to the network. We present methods for slicing deterministic and packet-switched industrial communication protocols at an abstraction level that is decoupled from the specific implementation of the underlying technologies. Finally, we show how network calculus can be used to assess the end-to-end properties of the network slices.

cs.IT↗

API design for machine learning software: experiences from the scikit-learn project

Scikit-learn is an increasingly popular machine learning li- brary. Written in Python, it is designed to be simple and efficient, accessible to non-experts, and reusable in various contexts. In this paper, we present and discuss our design choices for the application programming interface (API) of the project. In particular, we describe the simple and elegant interface shared by all learning and processing units in the library and then discuss its advantages in terms of composition and reusability. The paper also comments on implementation details specific to the Python ecosystem and analyzes obstacles faced by users and developers of the library.

cs.LG↗

Deconvolving oscillatory transients with a Kalman filter

This paper describes a method to filter oscillatory transients from measurements of a time series which were at least an order of magnitude larger than the signal to be measured. Based on a Kalman filter, it has an optimality property and a natural scaling parameter that allows to tune it to high resolution or low noise.

math.OC↗

Evolution of supermassive black holes

The cosmological evolution of supermassive black holes (SMBHs) seems to be intimately linked to their host galaxies. Active galactic nuclei (AGN) can be probed by deep X-ray surveys. We review results from large X-ray selected samples including first results from the XMM-Newton COSMOS survey. A new picture arises from the fact that high-luminosity AGN grow earlier than low-luminosity AGN. In particular, the space density of low-luminosity AGN exhibits a significant decline for redshifts above z=1. This 'anti--hierarchical' growth scenario of SMBHs can be explained by two modes of accretion with different efficiency. The population of Compton-thick sources plays a key role in our understanding of the BH growth history. Their space density and redshift distribution is relevant to estimate the SMBH mass function. A comparison with the relic SMBH mass distribution in the local Universe constrains the average radiative efficiency and Eddington ratio of the accretion. We discuss a new synthesis model of Compton-thin and Compton-thick sources that is in concordance with deep X-ray observations and in particular predicts the right level of contribution of the Compton-thick source population observed in the Chandra Deep Field South observations as well as the first INTEGRAL and Swift catalogues of AGN. Currently, one of the most important problems is the evolution of obscuration with redshift.

astro-ph↗

Non-monotonic orbital velocity profiles around rapidly rotating Kerr-(anti-)de Sitter black holes

It has been recently demonstrated that the orbital velocity profile around Kerr black holes in the equatorial plane as observed in the locally non-rotating frame exhibits a non-monotonic radial behaviour. We show here that this unexpected minimum-maximum feature of the orbital velocity remains if the Kerr vacuum is generalized to the Kerr-de Sitter or Kerr-anti-de Sitter metric. This is a new general relativity effect in Kerr spacetimes with non-vanishing cosmological constant. Assuming that the profile of the orbital velocity is known, this effect constrains the spacetime parameters.

gr-qc↗

Experimental Evidence of Black Holes

Classical black holes are solutions of the field equations of General Relativity. Many astronomical observations suggest that black holes really exist in nature. However, an unambiguous proof for their existence is still lacking. Neither event horizon nor intrinsic curvature singularity have been observed by means of astronomical techniques. This paper introduces to particular features of black holes. Then, we give a synopsis on current astronomical techniques to detect black holes. Further methods are outlined that will become important in the near future. For the first time, the zoo of black hole detection techniques is completely presented and classified into kinematical, spectro-relativistic, accretive, eruptive, obscurative, aberrative, temporal, and gravitational-wave induced verification methods. Principal and technical obstacles avoid undoubtfully proving black hole existence. We critically discuss alternatives to the black hole. However, classical rotating Kerr black holes are still the best theoretical model to explain astronomical observations.

astro-ph↗

The onset of General Relativity: Gravitationally redshifted emission lines

We study and quantify gravitational redshift by means of relativistic ray tracing simulations of emission lines. The emitter model is based on thin, Keplerian rotating rings in the equatorial plane of a rotating black hole. Emission lines are characterised by a generalized fully relativistic Doppler factor or redshift associated with the line core. Two modes of gravitational redshift, shift and distortion, become stronger with the emitting region closer to the Kerr black hole. Shifts of the line cores reveal an effect at levels of 0.0015 to 60 % at gravitational radii ranging from 100000 to 2. The corresponding Doppler factors range from 0.999985 to 0.4048. Line shape distortion by strong gravity, i.e. very skewed and asymmetric lines occur at radii smaller than roughly ten gravitational radii. Gravitational redshift decreases with distance to the black hole but remains finite due to the asymptotical flatness of black hole space-time. The onset of gravitational redshift can be tested observationally with sufficient spectral resolution. Assuming a resolving power of ~100000, yielding a resolution of ~0.1 Angstroms for optical and near-infrared broad emission lines, the gravitational redshift can be probed out to approximately 75000 gravitational radii. In general, gravitational redshift is an indicator of black hole mass and spin as well as for the inclination angle of the emitter, e.g. an accretion disk. We suggest to do multi-wavelength observations because all redshifted features should point towards the same central mass.

astro-ph↗

On the Signatures of Gravitational Redshift: The Onset of Relativistic Emission Lines

Aims. We quantify the effect of gravitational redshift on emission lines to explore the transition region from the Newtonian to the Einsteinian regime. With the emitting region closer to the Kerr black hole, lines are successively subjected to a stronger gravitationally induced shift and distortion. Simulated lines are compared to broad, optical emission lines observed in Mrk 110. Methods. We simulate relativistic emission line profiles by using Kerr ray tracing techniques. Emitting regions are assumed to be thin equatorial rings in stationary Keplerian rotation. The emission lines are characterised by a generalized Doppler factor or redshift associated with the line core. Results. With decreasing distance from the black hole, the gravitational redshift starts to smoothly deviate from the Newtonian Doppler factor: Shifts of the line cores reveal an effect at levels of 0.0015 to 60% at gravitational radii ranging from 10^{5} to 2. This corresponds to fully relativistic Doppler factors of 0.999985 to 0.4048. The intrinsic line shape distortion by strong gravity i.e. very asymmetric lines occur at radii smaller than roughly ten gravitational radii. Conclusions. Due to the asymptotical flatness of black hole space-time, GR effects are ubiquitous and their onset can be tested observationally with sufficient spectral resolution. With a resolving power of ~100000, yielding a resolution of ~0.1 Angstroems for optical and near-infrared broad emission lines like Hβ, HeII and Paα, the gravitational redshift can be probed out to approximately 75000 gravitational radii. [abridged]

astro-ph↗

Relativistic emission lines from accreting black holes - The effect of disk truncation on line profiles

Relativistic emission lines generated by thin accretion disks around rotating black holes are an important diagnostic tool for testing gravity near the horizon. The iron K-line is of special importance for the interpretation of the X-ray emission of Seyfert galaxies, quasars and galactic X-ray binary systems. A generalized kinematic model is presented which includes radial drifts and non-Keplerian rotations for the line emitters. The resulting line profiles are obtained with an object-oriented ray tracer operating in the curved Kerr background metric. The general form of the Doppler factor is presented which includes all kinds of poloidal and toroidal motions near the horizon. The parameters of the model include the spin parameter, the inclination, the truncation and outer radius of the disk, velocity profiles for rotation and radial drift, the emissivity profile and a multi-species line-system. The red wing flux is generally reduced when radial drift is included as compared to the pure Keplerian velocity field. All resulting emission line profiles can be classified as triangular, double-horned, double-peaked, bumpy and shoulder-like. Of particular interest are emission line profiles generated by truncated standard accretion disks (TSD). It is also shown that the emissivity law has a great influence on the profiles. The characteristic shoulder-like line profile observed for the Seyfert galaxy MCG-6-30-15 can be reproduced for suitable parameters

astro-ph↗