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Thomas Chaffey

Publications and source records attributed to Thomas Chaffey.

At least 19 recordsLinked to original sources

Quantization Robustness of Monotone Operator Equilibrium Networks

Monotone operator equilibrium networks are implicit-layer models whose output is the unique equilibrium of a monotone operator, guaranteeing existence, uniqueness, and convergence. When deployed on low-precision hardware, weights are quantized, potentially destroying these guarantees. We analyze weight quantization as a spectral perturbation of the underlying monotone inclusion. Convergence of the quantized solver is guaranteed whenever the spectral-norm weight perturbation is smaller than the monotonicity margin; the displacement between quantized and full-precision equilibria is bounded in terms of the perturbation size and margin; and a condition number characterizing the ratio of the operator norm to the margin links quantization precision to forward error. MNIST experiments confirm a phase transition at the predicted threshold: three- and four-bit post-training quantization diverge, while five-bit and above converge. The backward-pass guarantee enables quantization-aware training, which recovers provable convergence at four bits.

math.OC

Amplitude Dependent Bode Diagrams via Scaled Relative Graphs

Scaled Relative Graphs (SRGs) provide an intuitive graphical frequency-domain method for the analysis of Nonlinear (NL) systems, generalizing the Nyquist diagram. In this paper, we develop a method for computing $L_2$-gain bounds for Lur'e systems over bounded frequency and amplitude ranges. We do this by restricting the input space of the SRG both in frequency and energy content, and using methods from Sobolev theory. The resulting gain bounds over restricted sets of inputs are less conservative than bounds computed over the entire $L_2$, and yield three-dimensional NL generalization of the Bode diagram, plotting $L_2$-gain as function of both input frequency and energy content. In the zero-energy limit, the Linear Time-Invariant (LTI) Bode diagram is recovered, and at the infinite-energy zero-frequency limit, we recover the $L_2$-gain. The effectiveness of our method is demonstrated on an example that resembles Phase-Locked Loop dynamics.

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Trust in LLM-controlled Robotics: a Survey of Security Threats, Defenses and Challenges

The integration of Large Language Models (LLMs) into robotics has revolutionized their ability to interpret complex human commands and execute sophisticated tasks. However, such paradigm shift introduces critical security vulnerabilities stemming from the ''embodiment gap'', a discord between the LLM's abstract reasoning and the physical, context-dependent nature of robotics. While security for text-based LLMs is an active area of research, existing solutions are often insufficient to address the unique threats for the embodied robotic agents, where malicious outputs manifest not merely as harmful text but as dangerous physical actions. In this work, we present a systematic survey, summarizing the emerging threat landscape and corresponding defense strategies for LLM-controlled robotics. Specifically, we discuss a comprehensive taxonomy of attack vectors, covering topics such as jailbreaking, backdoor attacks, and multi-modal prompt injection. In response, we analyze and categorize a range of defense mechanisms, from formal safety specifications and runtime enforcement to multi-LLM oversight and prompt hardening. Furthermore, we review key datasets and benchmarks used to evaluate the robustness of these embodied systems. By synthesizing current research, this work highlights the urgent need for context-aware security solutions and provides a foundational roadmap for the development of safe, secure, and reliable LLM-controlled robotics.

cs.RO

Circuit realization and hardware linearization of monotone operator equilibrium networks

It is shown that the port behavior of a resistor-diode network corresponds to the solution of a ReLU monotone operator equilibrium network (a neural network in the limit of infinite depth), giving a parsimonious construction of a neural network in analog hardware. We furthermore show that the gradient of such a circuit can be computed directly in hardware, using a procedure we call hardware linearization. This allows the network to be trained in hardware, which we demonstrate with a device-level circuit simulation. We extend the results to cascades of resistor-diode networks, which can be used to implement feedforward and other asymmetric networks. We finally show that different nonlinear elements give rise to different activation functions, and introduce the novel diode ReLU which is induced by a non-ideal diode model.

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Operator-Splitting Methods for Neuromorphic Circuit Simulation

A novel splitting algorithm is proposed for the numerical simulation of neuromorphic circuits. The algorithm is grounded in the operator-theoretic concept of monotonicity, which bears both physical and algorithmic significance. The splitting exploits this correspondence to translate the circuit architecture into the algorithmic architecture. The paper illustrates the many advantages of the proposed operator-theoretic framework over conventional numerical integration for the simulation of multiscale hierarchical events that characterize neuromorphic behaviors.

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On phase in scaled graphs

The scaled graph has been introduced recently as a nonlinear extension of the classical Nyquist plot for linear time-invariant systems. In this paper, we introduce a modified definition for the scaled graph, termed the signed scaled graph (SSG), in which the phase component is characterized by making use of the Hilbert transform. Whereas the original definition of the scaled graph uses unsigned phase angles, the new definition has signed phase angles which ensures the possibility to differentiate between phase-lead and phase-lag properties in a system. Making such distinction is important from both an analysis and a synthesis perspective, and helps in providing tighter stability estimates of feedback interconnections. We show how the proposed SSG leads to intuitive characterizations of positive real and negative imaginary nonlinear systems, and present various interconnection results. We showcase the effectiveness of our results through several motivating examples.

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Graphical Dominance Analysis for Linear Systems: A Frequency-Domain Approach

We propose a frequency-domain approach to dominance analysis for multi-input multi-output (MIMO) linear time-invariant systems. The dominance of a MIMO system is defined to be the number of its poles in the open right half-plane. Our approach is graphical: we define a frequency-wise notion of the recently-introduced scaled graph of a MIMO system plotted in a complex plane. The scaled graph provides a bound of the eigenloci of the system, which can be viewed as a robust MIMO extension of the classical Nyquist plot. Our main results characterize sufficient conditions for quantifying the dominance of a closed-loop system based upon separation of scaled graphs of two open-loop systems in a frequency-wise manner. The results reconcile existing small gain, small phase and passivity theorems for feedback dominance analysis.

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Convergence of energy-based learning in linear resistive networks

Energy-based learning algorithms are alternatives to backpropagation and are well-suited to distributed implementations in analog electronic devices. However, a rigorous theory of convergence is lacking. We make a first step in this direction by analysing a particular energybased learning algorithm, Contrastive Learning, applied to a network of linear adjustable resistors. It is shown that, in this setup, Contrastive Learning is equivalent to projected gradient descent on a convex function with Lipschitz continuous gradient, giving a guarantee of convergence of the algorithm for a range of stepsizes. This convergence result is then extended to a stochastic variant of Contrastive Learning.

math.OC

Amplitude response and square wave describing functions

An analog of the describing function method is developed using square waves rather than sinusoids. Static nonlinearities map square waves to square waves, and their behavior is characterized by their response to square waves of varying amplitude - their amplitude response. The output of an LTI system to a square wave input is approximated by a square wave, to give an analog of the describing function. The classical describing function method for predicting oscillations in feedback interconnections is generalized to this square wave setting, and gives accurate predictions when oscillations are approximately square.

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A homotopy theorem for incremental stability

A theorem is proved to verify incremental stability of a feedback system via a homotopy from a known incrementally stable system. A first corollary of that result is that incremental stability may be verified by separation of Scaled Relative Graphs, correcting two assumptions in [1, Theorem 2]. A second corollary provides an incremental version of the classical IQC stability theorem.

math.OC

Characterizing nonlinear systems with mixed input-output properties through dissipation inequalities

Systems that show different characteristics, such as finite-gain and passivity, depending on the nature of the inputs, are said to possess mixed input-output properties. In this paper, we provide a constructive method for characterizing mixed input-output properties of nonlinear systems using a dissipativity framework. Our results take inspiration from the generalized Kalman-Yakubovich-Popov lemma, and show that a system is mixed if it is dissipative with respect to highly specialized supply rates. The mixed input-output characterization is used for assessing stability of feedback interconnections in which the feedback components violate conditions of classical results such as the small-gain and passivity theorem. We showcase applicability of our results through various examples.

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An Operator-Theoretic Framework to Simulate Neuromorphic Circuits

Splitting algorithms are well-established in convex optimization and are designed to solve large-scale problems. Using such algorithms to simulate the behavior of nonlinear circuit networks provides scalable methods for the simulation and design of neuromorphic systems. For circuits made of linear capacitors and inductors with nonlinear resistive elements, we propose a splitting that breaks the network into its LTI lossless component and its static resistive component. This splitting has both physical and algorithmic advantages and allows for separate calculations in the time domain and in the frequency domain. To demonstrate the scalability of this approach, a network made from one hundred neurons modeled by the well-known FitzHugh-Nagumo circuit with all-to-all diffusive coupling is simulated.

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Kernel Modelling of Fading Memory Systems

The paper is a follow-up of the recently introduced kernel-based framework to identify nonlinear input-output systems regularized by desirable input-output incremental properties. Assuming that the system has fading memory, we propose to learn the functional that maps the past input to the present output rather than the operator mapping input trajectories to output trajectories. While retaining the benefits of the previously proposed framework, this modification simplifies the selection of the kernel, enforces causality, and enables temporal simulation.

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Relaxation systems and cyclic monotonicity

It is shown that an LTI system is a relaxation system if and only if its Hankel operator is cyclic monotone. Cyclic monotonicity of the Hankel operator implies the existence of a storage function whose gradient is the Hankel operator. This storage is a function of past inputs alone, is independent of the state space realization, and admits a generalization to nonlinear circuit elements.

math.OC

Circuit Analysis using Monotone+Skew Splitting

It is shown that the behavior of an $m$-port circuit of maximal monotone elements can be expressed as a zero of the sum of a maximal monotone operator containing the circuit elements, and a structured skew-symmetric linear operator representing the interconnection structure, together with a linear output transformation. The Condat-V\~u algorithm solves inclusion problems of this form, and may be used to solve for the periodic steady-state behavior, given a periodic excitation at each port, using an iteration in the space of periodic trajectories.

math.OC

Splitting algorithms and circuit analysis

The splitting algorithms of monotone operator theory find zeros of sums of relations. This corresponds to solving series or parallel one-port electrical circuits, or the negative feedback interconnection of two subsystems. One-port circuits with series and parallel interconnections, or block diagrams with multiple forward and return paths, give rise to current-voltage relations consisting of nested sums and inverses. In this extended abstract, we present new splitting algorithms specially suited to these structures, for interconnections of monotone and anti-monotone relations.

math.OC

On the incremental form of dissipativity

Following the seminal work of Zames, the input-output theory of the 70s acknowledged that incremental properties (e.g. incremental gain) are the relevant quantities to study in nonlinear feedback system analysis. Yet, non-incremental analysis has dominated the use of dissipativity theory in nonlinear control from the 80s. Results connecting dissipativity theory and incremental analysis are scattered and progress has been limited. This abstract investigates whether this theoretical gap is of fundamental nature and considers new avenues to circumvent it.

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Loop Shaping with Scaled Relative Graphs

The Scaled Relative Graph (SRG) is a generalization of the Nyquist diagram that may be plotted for nonlinear operators, and allows nonlinear robustness margins to be defined graphically. This abstract explores techniques for shaping the SRG of an operator in order to maximize these robustness margins.

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