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RenKai Wang

Publications and source records attributed to RenKai Wang.

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Signed Sensitivity of Expected Hitting Time to Mutation Rate in the (1+1) EA: Per-State Sign Theorems and Verifiable Certificates for Non-Lumpable Families

For the (1+1) evolutionary algorithm with standard bit mutation, we study the sensitivity of the expected hitting time $H_p=\mathbb{E}_x T$ to the mutation rate. We first point out an easily overlooked formalization pitfall: the improvement event is not monotone in the mutation mask, so the unsigned (total-influence) form of the Margulis-Russo formula does not apply; the correct object is the signed endpoint difference. Second, we give an exact three-dimensional separation: two fitness functions share the entire one-step success-rate curve, yet their expected hitting times are two different exact rational numbers; hence one-step success-rate quantities do not determine the expected hitting time. Building on the runtime derivative $H'_p=(I-Q_p)^{-1}Q'_p H_p$, we construct computable double-residual sign certificates, prove a per-initial-state sign theorem on OneMax (for every non-optimal initial state, $\partial_c H<0$ on $0<c<1$, where $p=c/n$; at $c=1$ only the distance-one state is stationary), and extend the framework to non-lumpable positive linear families: an explicit non-lumpability witness, a block-interval double-residual certificate that covers all states without enumerating them, a uniform sign bound $\partial_c\mathbb{E}T\le -9n/16$ over the whole interval $c\in[1/4,1/2]$ for an explicit family at all even scales $n\ge 8$, and a heterogeneous instance certificate $H'_x\le -1/6$ on 57 of 63 states across $c=1$. All finite verifications use exact rational arithmetic. A bounded systematic literature search did not uncover this exact combination, although the underlying tools are well established; we therefore make no novelty claim beyond the stated combination.

cs.NE

Modeling and control of a low-cost multirotor hybrid aerial underwater vehicle

This paper presents a comprehensive modeling and control framework for a low-cost multirotor hybrid aerial-aquatic vehicle (MHAUV) capable of seamless air-water transitions. A hybrid dynamics model is proposed to account for the distinct hydrodynamic and aerodynamic forces across three operational zones: aerial, aquatic, and transitional hybrid regions. The model incorporates variable buoyancy, added mass effects, and fluid resistance, with thrust characteristics of submerged propellers analyzed through computational fluid dynamics (CFD) simulations. A hierarchical control strategy is developed, combining twisting sliding mode control (TWSMC) for robust attitude stabilization during medium transitions with cascade PID controllers for precise motion tracking in homogeneous media. Experimental validation using a modified FPV quadrotor prototype demonstrates the effectiveness of the approach, achieving steady-state height errors below 0.1 m and attitude fluctuations under 5° during repeated water-crossing maneuvers. The results highlight the system's adaptability to fluid medium variations while maintaining cost-effectiveness and operational simplicity.

eess.SY