Tootfinder

Fault-Tolerant Spacecraft Attitude Determination using State Estimation Techniques
B. Chidambaram, A. Hilbert, M. Silva
https://arxiv.org/abs/2506.21016 ht…

Fault-Tolerant Spacecraft Attitude Determination using State Estimation Techniques
The extended and unscented Kalman filter, and the particle filter provide a robust framework for fault-tolerant attitude estimation on spacecraft. This paper explores how each filter performs for a large satellite in a low earth orbit. Additionally, various techniques, built on these filters, for fault detection, isolation and recovery from erroneous sensor measurements, are analyzed. Key results from this analysis include filter performance for various fault modes.

Reflection-less filter for superconducting quantum circuits
Jessica Kedziora, Eric Q. Bui, Alec Yen, Andres E. Lombo, Kaidong Peng, Terence J. Weir, Kevin P. O'Brien
https://arxiv.org/abs/2506.20645

Reflection-less filter for superconducting quantum circuits
Protecting superconducting quantum circuits from non-ideal return loss, including out-of-band circulator behavior and enhancing the performance of broadband quantum-limited amplifiers can be accomplished using a superconducting version of a special class of microwave filters known as reflection-less filters. These filters can simultaneously permit low pass band loss to preserve quantum efficiency and broad band reflection-less characteristics in the stop and pass bands. The filter also suppress…

Measuring Modern Phishing Tactics: A Quantitative Study of Body Obfuscation Prevalence, Co-occurrence, and Filter Impact
Antony Dalmiere (LAAS), Zheng Zhou (LAAS), Guillaume Auriol (LAAS-TRUST, INSA Toulouse), Vincent Nicomette (LAAS-TSF, LAAS-TRUST), Pascal Marchand (LERASS, IUT Paul Sabatier)
https://arxiv.org/abs/2506.20228…

Measuring Modern Phishing Tactics: A Quantitative Study of Body Obfuscation Prevalence, Co-occurrence, and Filter Impact
Phishing attacks frequently use email body obfuscation to bypass detection filters, but quantitative insights into how techniques are combined and their impact on filter scores remain limited. This paper addresses this gap by empirically investigating the prevalence, co-occurrence patterns, and spam score associations of body obfuscation techniques. Analysing 386 verified phishing emails, we quantified ten techniques, identified significant pairwise co-occurrences revealing strategic layering l…

{dtrack} makes documentation of data wrangling part of the analysis and creates pretty flow charts: #rstats

Sensing-Aware Transmit Waveform/Receive Filter Design for OFDM-MBS Systems
Xinghe Li, Kainan Cheng, Huiyong Li, Huiyong Li, Ziyang Cheng
https://arxiv.org/abs/2506.20231

Sensing-Aware Transmit Waveform/Receive Filter Design for OFDM-MBS Systems
In this letter, we study the problem of cooperative sensing design for an orthogonal frequency division multiplexing (OFDM) multiple base stations (MBS) system. We consider a practical scenario where the base stations (BSs) exploit certain subcarriers to realize a sensing function. Since the high sidelobe level (SLL) of OFDM waveforms degrades radar detection for weak targets, and the cross-correlation generated by other BSs further exacerbates detection performance, we devise a joint design sc…

Some lighthearted podcast listening for today… #not #sarcasm
[PODCAST] Peter Thiel and the Antichrist by Interesting Times with Ross Douthat
https://…

Peter Thiel and the Antichrist

Gradient-Based Excitation Filter for Molecular Ground-State Simulation
Runhong He, Qiaozhen Chai, Xin Hong, Ji Guan, Guolong Cui, Shengbin Wang, Shenggang Ying
https://arxiv.org/abs/2506.20398

Gradient-Based Excitation Filter for Molecular Ground-State Simulation
Molecular system simulation is one of the most promising areas for demonstrating practical quantum advantage with near-term quantum computers. The Variational Quantum Eigensolver (VQE) is a leading algorithm for studying molecular energy levels, yet it still faces significant challenges due to excessive circuit depth. This paper introduces a method to efficiently simplify the Unitary Coupled-Cluster with Single and Double Excitations (UCCSD) ansatz in classical computer. We propose to estimate …

Filter-Centric Vector Indexing: Geometric Transformation for Efficient Filtered Vector Search
Alireza Heidari, Wei Zhang
https://arxiv.org/abs/2506.15987 h…

Filter-Centric Vector Indexing: Geometric Transformation for Efficient Filtered Vector Search
The explosive growth of vector search applications demands efficient handling of combined vector similarity and attribute filtering; a challenge where current approaches force an unsatisfying choice between performance and accuracy. We introduce Filter-Centric Vector Indexing (FCVI), a novel framework that transforms this fundamental trade-off by directly encoding filter conditions into the vector space through a mathematically principled transformation $ψ(v, f, α)$. Unlike specialized soluti…

Transformer Based Multi-Target Bernoulli Tracking for Maritime Radar
Caden Sweeney, Du Yong Kim, Branko Ristic, Brian Cheung
https://arxiv.org/abs/2506.20319

Transformer Based Multi-Target Bernoulli Tracking for Maritime Radar
Multi-target tracking in the maritime domain is a challenging problem due to the non-Gaussian and fluctuating characteristics of sea clutter. This article investigates the use of machine learning (ML) to the detection and tracking of low SIR targets in the maritime domain. The proposed method uses a transformer to extract point measurements from range-azimuth maps, before clustering and tracking using the Labelled mulit- Bernoulli (LMB) filter. A measurement driven birth density design based on…

Pond plumbing dilemna. Any plumbers out there?
The pond will have two strong pumps moving water through the bog filter and around the pool.
One pump will be dedicated to the filter (long black pipe).
The 2nd pump will split duty between the filter and providing water for 3 to 5 emitters in the bottom of the pool and around the edges.
The main piping is black 2” flexible pipe plus some PVC Sched40.
Plumbing Question: Should I reduce diameter once (as pictured badly lol) when branching from the mainline and then have valves for each and long runs of smaller 3/4 or 1/2" line to each sprayer.
Or keep it to 2" throughout and reduce at the outlets?
I would rather have the valve controls centralized than have them spread about where the sprayers are (obv not an option for the bottom ones anyway)
#Pond #DIY #Plumbing #PoolPond #PortAlberni #Home #BackyardPond

"What's Up, Doc?": Analyzing How Users Seek Health Information in Large-Scale Conversational AI Datasets
Akshay Paruchuri, Maryam Aziz, Rohit Vartak, Ayman Ali, Best Uchehara, Xin Liu, Ishan Chatterjee, Monica Agrawal
https://arxiv.org/abs/2506.21532 https://arxiv.org/pdf/2506.21532 https://arxiv.org/html/2506.21532
arXiv:2506.21532v1 Announce Type: new
Abstract: People are increasingly seeking healthcare information from large language models (LLMs) via interactive chatbots, yet the nature and inherent risks of these conversations remain largely unexplored. In this paper, we filter large-scale conversational AI datasets to achieve HealthChat-11K, a curated dataset of 11K real-world conversations composed of 25K user messages. We use HealthChat-11K and a clinician-driven taxonomy for how users interact with LLMs when seeking healthcare information in order to systematically study user interactions across 21 distinct health specialties. Our analysis reveals insights into the nature of how and why users seek health information, such as common interactions, instances of incomplete context, affective behaviors, and interactions (e.g., leading questions) that can induce sycophancy, underscoring the need for improvements in the healthcare support capabilities of LLMs deployed as conversational AI. Code and artifacts to retrieve our analyses and combine them into a curated dataset can be found here: https://github.com/yahskapar/HealthChat
toXiv_bot_toot

Lost in Translation? Converting RegExes for Log Parsing into Dynatrace Pattern Language
Julian Fragner, Christian Macho, Bernhard Dieber, Martin Pinzger
https://arxiv.org/abs/2506.19539

Lost in Translation? Converting RegExes for Log Parsing into Dynatrace Pattern Language
Log files provide valuable information for detecting and diagnosing problems in enterprise software applications and data centers. Several log analytics tools and platforms were developed to help filter and extract information from logs, typically using regular expressions (RegExes). Recent commercial log analytics platforms provide domain-specific languages specifically designed for log parsing, such as Grok or the Dynatrace Pattern Language (DPL). However, users who want to migrate to these p…

Robust Embodied Self-Identification of Morphology in Damaged Multi-Legged Robots
Sahand Farghdani, Mili Patel, Robin Chhabra
https://arxiv.org/abs/2506.19984

Robust Embodied Self-Identification of Morphology in Damaged Multi-Legged Robots
Multi-legged robots (MLRs) are vulnerable to leg damage during complex missions, which can impair their performance. This paper presents a self-modeling and damage identification algorithm that enables autonomous adaptation to partial or complete leg loss using only data from a low-cost IMU. A novel FFT-based filter is introduced to address time-inconsistent signals, improving damage detection by comparing body orientation between the robot and its model. The proposed method identifies damaged …

Starting to think about GPU acceleration of protocol decodes (rather than just basic math blocks) in ngscopeclient.
Here's the filter graph I'm thinking of using as a benchmark: dual lane QSGMII, 20M points per channel.
The filter graph takes 944 ms end to end to run on my box (2x Xeon 6144 2080 Ti).
Major time consumers:
* Eye pattern (~345 ms)
* QSGMII (~337 ms)
* CDR PLL (~310 ms)
* 8B10B (~160 ms)
* SGMII (~120 ms)
Note that the …

Spectral-filtering-induced phase transition in passively mode-locked fiber lasers
Oumaima Ougrige, Florent Bessin, Charles Ciret, Herve Leblond, Fran\c{c}ois Sanchez
https://arxiv.org/abs/2506.18468

Spectral-filtering-induced phase transition in passively mode-locked fiber lasers
We investigate the effect of a tunable spectral filter on the dynamics of a passively mode-locked fiber laser in the anomalous dispersion regime. The results show that noise-like pulse emission evolves toward bound-state regime as the filter bandwidth is reduced. Thanks to the Shannon entropy applied to dispersive Fourier transform signals, it is demonstrated that the system undergoes a phase transition.

Volgens de Omdenken-scheur- kalender beschik ik over de hoogste vorm van zelfvertrouwen, ik hen nog nooit een filter gebruikt om mijn uiterlijk bij te schaven of te veranderen.

Modular data assimilation for flow prediction
Aytekin \c{C}{\i}b{\i}k, Rui Fang, William Layton
https://arxiv.org/abs/2506.19002 https://

Modular data assimilation for flow prediction
This report develops several modular, 2-step realizations (inspired by Kalman filter algorithms) of nudging-based data assimilation \begin{equation*} \begin{array}{cc} Step{\text { }}1 & \begin{array}{c} \frac{\widetilde {v}^{n+1}-v^{n}}{k}+v^{n}\cdot \nabla \widetilde {v}% ^{n+1}-ν\triangle \widetilde {v}^{n+1}+\nabla q^{n+1}=f(x){\text { }% } \\ \nabla \cdot \widetilde {v}^{n+1}=0% \end{array} \\ Step{\text { }}2 & \frac{v^{n+1}-\widetilde {v}^{n+1}}{k}-χI_{H}(u(t^{n+1})-v^{n+1})=0.% \end{a…

Low-Complexity Receiver Design for Affine Filter Bank Modulation
Kuranage Roche Rayan Ranasinghe, Bruno S. Chang, Giuseppe Thadeu Freitas de Abreu
https://arxiv.org/abs/2506.17010

Low-Complexity Receiver Design for Affine Filter Bank Modulation
We propose a low-complexity receiver structure for the recently introduced Affine Filter Bank Modulation (AFBM) scheme, which is a novel waveform designed for integrated sensing and communications (ISAC) systems operating in doubly-dispersive (DD) channels. The proposed receiver structure is based on the Gaussian Belief Propagation (GaBP) framework, making use of only element-wise scalar operations to perform detection of the transmitted symbols. Simulation results demonstrate that AFBM in conj…

Cooperative Circumnavigation for Multi-Quadrotor Systems via Onboard Sensing
Xueming Liu, Lin Li, Xiang Zhou, Qingrui Zhang, Tianjiang Hu
https://arxiv.org/abs/2506.20954

Cooperative Circumnavigation for Multi-Quadrotor Systems via Onboard Sensing
A cooperative circumnavigation framework is proposed for multi-quadrotor systems to enclose and track a moving target without reliance on external localization systems. The distinct relationships between quadrotor-quadrotor and quadrotor-target interactions are evaluated using a heterogeneous perception strategy and corresponding state estimation algorithms. A modified Kalman filter is developed to fuse visual-inertial odometry with range measurements to enhance the accuracy of inter-quadrotor …

Digitale Souveränität: EU startet eigenen DNS-Dienst mit praktischen Funktionen
Das EU-Projekt bietet wahlweise Filter für den Jugendschutz und welche mit Werbeblockern an, aber auch ungefilterte DNS-Resolver. Der Dienst ist kostenlos.

Observer Switching Strategy for Enhanced State Estimation in CSTR Networks
Lisbel B\'arzaga-Martell, Francisco Ib\'a\~nez, Angel L. Cede\~no, Maria Coronel, Francisco Concha, Norelys Aguila-Camacho, Jos\'e Ricardo P\'erez-Correa
https://arxiv.org/abs/2506.13878

Observer Switching Strategy for Enhanced State Estimation in CSTR Networks
Accurate state estimation is essential for monitoring and controlling nonlinear chemical reactors, such as continuous stirred-tank reactors (CSTRs), where limited sensor coverage and process uncertainties hinder real-time observability. This paper introduces a novel multi-observer switching framework that combines several advanced estimators: Extended Luenberger Observer (ELO), Extended Kalman Filter (EKF), Unscented Kalman Filter (UKF), Quadrature Kalman Filter (QKF), and Particle Filter (PF),…

Three different iOS Mastodon apps: Icecubes, Trunks, and the official, reference implementation. In addition to very different experiences and quirks, each show a noticeably different Home time line view. Order, missing toots, hashtag following, filter handling, etc.
A web browser and IceCubes seem to give the best, most consistent view I'd expect, but the scrolling bug in IceCubes makes it practically unusable for many.
:-(

🇺🇦 #NowPlaying on KEXP's #WoPop
Yuki Kawamura:
🎵 Magic feat. COLOR FILTER
#YukiKawamura
https://oiranmusic.bandcamp.com/track/magic-ft-color-filter
https://open.spotify.com/track/2INhi99Jf29SX7fYCWalHq

NIR filter transformations across the HR diagram: JWST, Roman, and Euclid
M. J. Durbin, R. L. Beaton, A. J. Monson, B. Swidler
https://arxiv.org/abs/2506.13627

NIR filter transformations across the HR diagram: JWST, Roman, and Euclid
We present new color transformations between select near-infrared filters on JWST/NIRCam, Euclid/NISP, Roman/WFI, HST, and ground-based $izY+IJHK_S$, for a total of 105 unique filter combinations. Additionally, we apply these transformations to predict the color-magnitude relation of the tip of the red giant branch as seen with JWST, Euclid, and Roman based on theoretical results for HST and 2MASS filters; for JWST we find good agreement with empirical results in the literature. We also find ty…

Park Discovery II 🏞️
公园探险 II 🏞️
📷 Nikon FE
🎞️Lucky SHD 400
buy me ☕️ ?/请我喝杯☕️？
#filmphotography

Yiding Cao Geld mit PayPal.Me senden
Folgen Sie dem Link PayPal.Me/dingsterdingster und geben Sie den Betrag ein. Es ist bequem und sicher. Sie haben noch kein PayPal-Konto? Kein Problem.

Sure will be nice when the US gets a new president and half my timeline isn't just "Matches filter Trump".

Multivariate Long-term Time Series Forecasting with Fourier Neural Filter
Chenheng Xu, Dan Wu, Yixin Zhu, Ying Nian Wu
https://arxiv.org/abs/2506.09174 htt…

Multivariate Long-term Time Series Forecasting with Fourier Neural Filter
Multivariate long-term time series forecasting has been suffering from the challenge of capturing both temporal dependencies within variables and spatial correlations across variables simultaneously. Current approaches predominantly repurpose backbones from natural language processing or computer vision (e.g., Transformers), which fail to adequately address the unique properties of time series (e.g., periodicity). The research community lacks a dedicated backbone with temporal-specific inductiv…

@… i just filter their emails lol

Wishful thinking is so powerful.
The docs for #Postfix's headers_checks are explicit & clear: it operates on 1 logical header line at a time, preserving no state across lines. There’s no way to combine rules logically operating on 2 different headers. The man page & the BUILTIN_FILTER_README file are clear: it is unfit for general filtering.
At least monthly someone pops up…

Another great Bochum #sunset today, this time with "Nature's filter" at the perfect density - ideal to bring out several sunspot groups (and foreground swifts): long series at https://www.facebook.com/dan.fischer.393/posts/pfbid0LpFcD4uuabA25huSMGhd77i5ASBcVMakmD28LrRX1bBd3ka8BcfwqEDEqAQvNeG6l with a bit of green at the very end.

DCFNet: Doppler Correction Filter Network for Integrated Sensing and Communication in Multi-User MIMO-OFDM Systems
Hyeonho Noh, Hyeonsu Lyu, Moe Z. Win, Hyun Jong Yang
https://arxiv.org/abs/2506.16191

DCFNet: Doppler Correction Filter Network for Integrated Sensing and Communication in Multi-User MIMO-OFDM Systems
Integrated sensing and communication (ISAC) is a headline feature for the forthcoming IMT-2030 and 6G releases, yet a concrete solution that fits within the established orthogonal frequency division multiplexing (OFDM) family remains open. Specifically, Doppler-induced inter-carrier interference (ICI) destroys sub-carrier orthogonality of OFDM sensing signals, blurring range-velocity maps and severely degrading sensing accuracy. Building on multi-user multi-input-multi-output (MIMO) OFDM system…

This https://arxiv.org/abs/2407.10089 has been replaced.
initial toot: https://mastoxiv.page/@arXiv_sta…

The inverse Kalman filter
We introduce the inverse Kalman filter, which enables exact matrix-vector multiplication between a covariance matrix from a dynamic linear model and any real-valued vector with linear computational cost. We integrate the inverse Kalman filter with the conjugate gradient algorithm, which substantially accelerates the computation of matrix inversion for a general form of covariance matrix, where other approximation approaches may not be directly applicable. We demonstrate the scalability and effi…

Few-MHz bandwidth tunable optical filter based on a fiber-ring resonator
Gabriele Maron, Anton B\"olian, Xin-Xin Hu, Luke Masters, Arno Rauschenbeutel, J\"urgen Volz
https://arxiv.org/abs/2506.11953

Few-MHz bandwidth tunable optical filter based on a fiber-ring resonator
We present a fiber-ring resonator that realizes an ultra-narrowband, high-extinction, low-loss, tunable optical filter. It consists of a pair of commercial variable ratio directional couplers that allow precise adjustment of the filter bandwidth and its on-resonance transmission. This design also grants access to multiple modes of operation, such as a simultaneous band-stop and band-pass filter. Our characterization reveals a bandwidth of less than 2 MHz, together with an extinction exceeding 2…

Quadratic Extended and Unscented Kalman Filter Updates
Simone Servadio, Chiran Cherian
https://arxiv.org/abs/2506.06256 https://arxiv…

Quadratic Extended and Unscented Kalman Filter Updates
Common filters are usually based on the linear approximation of the optimal minimum mean square error estimator. The Extended and Unscented Kalman Filters handle nonlinearity through linearization and unscented transformation, respectively, but remain linear estimators, meaning that the state estimate is a linear function of the measurement. This paper proposes a quadratic approximation of the optimal estimator, creating the Quadratic Extended and Quadratic Unscented Kalman Filter. These retain…

Performance of multiple filter-cavity schemes for frequency-dependent squeezing in gravitational-wave detectors
Jacques Ding, Eleonora Capocasa, Isander Ahrend, Fangfei Liu, Yuhang Zhao, Matteo Barsuglia
https://arxiv.org/abs/2506.02222

Performance of multiple filter-cavity schemes for frequency-dependent squeezing in gravitational-wave detectors
Gravitational-wave detectors use state-of-the-art quantum technologies to circumvent vacuum fluctuations via squeezed states of light. Future detectors such as Einstein Telescope may require the use of two filter cavities or a 3-mirror, coupled filter cavity to achieve a complex rotation of the squeezing ellipse in order to reduce the quantum noise over the whole detector bandwidth. In this work, we compare the theoretical feasibility and performances of these two systems and their resilience w…

Properties of Building Blocks Comprising Strongly Interacting Posts and Their Consideration in Advanced Coaxial Filter Designs
Smain Amari, Mustafa Bakr, Uwe Rosenberg
https://arxiv.org/abs/2505.15729

Properties of Building Blocks Comprising Strongly Interacting Posts and Their Consideration in Advanced Coaxial Filter Designs
Building blocks containing strongly coupled posts offer new possibilities for advanced coaxial (comb-line) filter designs. Equivalent circuits based on the individual resonances of the posts cannot be used to reliably describe the behavior of these structures because of the strong coupling between the posts. Instead, sets of electromagnetic (EM) resonances that satisfy the boundary conditions are used. The resulting equivalent circuit is either a fully transversal circuit or contains locally tr…

Improved in-car sound pick-up using multichannel Wiener filter
Juhi Khalid, Martin Bouchard
https://arxiv.org/abs/2506.11157 https://…

Improved in-car sound pick-up using multichannel Wiener filter
With advancements in automotive electronics and sensors, the sound pick-up using multiple microphones has become feasible for hands-free telephony and voice command in-car applications. However, challenges remain in effectively processing multiple microphone signals due to bandwidth or processing limitations. This work explores the use of the Multichannel Wiener Filter algorithm with a two-microphone in-car system, to enhance speech quality for driver and passenger voice, i.e., to mitigate notc…

An Efficient Candidate-Free R-S Set Similarity Join Algorithm with the Filter-and-Verification Tree and MapReduce
Yuhong Feng, Fangcao Jian, Yixuan Cao, Xiaobin Jian, Jia Wang, Haiyue Feng, Chunyan Miao
https://arxiv.org/abs/2506.03893

An Efficient Candidate-Free R-S Set Similarity Join Algorithm with the Filter-and-Verification Tree and MapReduce
Given two different collections of sets, the exact set similarity R-S Join finds all set pairs with similarity no less than a given threshold, which has widespread applications. While existing algorithms accelerate large-scale R-S Joins using a two-stage filter-and-verification framework along with the parallel and distributed MapReduce framework, they suffer from excessive candidate set pairs, leading to significant I/O, data transfer, and verification overhead, and ultimately degrading the pe…

Receding Horizon Recursive Location Estimation
Xu Weng, K. V. Ling, Ling Zhao
https://arxiv.org/abs/2506.18430 https://arxiv.org/pdf/…

Receding Horizon Recursive Location Estimation
This paper presents a recursive solution to the receding or moving horizon estimation (MHE) problem for nonlinear time-variant systems. We provide the conditions under which the recursive MHE is equivalent to the extended Kalman filter (EKF), regardless of the horizon size. Theoretical and empirical evidence is also provided. Moreover, we clarify the connection between MHE and factor graph optimization (FGO). We apply the recursive MHE to GNSS localization and evaluate its performance using pub…

GOLFer: Smaller LM-Generated Documents Hallucination Filter & Combiner for Query Expansion in Information Retrieval
Lingyuan Liu, Mengxiang Zhang
https://arxiv.org/abs/2506.04762

GOLFer: Smaller LM-Generated Documents Hallucination Filter & Combiner for Query Expansion in Information Retrieval
Large language models (LLMs)-based query expansion for information retrieval augments queries with generated hypothetical documents with LLMs. However, its performance relies heavily on the scale of the language models (LMs), necessitating larger, more advanced LLMs. This approach is costly, computationally intensive, and often has limited accessibility. To address these limitations, we introduce GOLFer - Smaller LMs-Generated Documents Hallucination Filter & Combiner - a novel method leveragin…

Advanced cervical cancer classification: enhancing pap smear images with hybrid PMD Filter-CLAHE
Ach Khozaimi, Isnani Darti, Syaiful Anam, Wuryansari Muharini Kusumawinahyu
https://arxiv.org/abs/2506.15489

Advanced cervical cancer classification: enhancing pap smear images with hybrid PMD Filter-CLAHE
Cervical cancer remains a significant health problem, especially in developing countries. Early detection is critical for effective treatment. Convolutional neural networks (CNN) have shown promise in automated cervical cancer screening, but their performance depends on Pap smear image quality. This study investigates the impact of various image preprocessing techniques on CNN performance for cervical cancer classification using the SIPaKMeD dataset. Three preprocessing techniques were evaluate…

Tonight's quick ngscopeclient dev fix: GPU accelerating the demo scope.
It now runs quite a few times faster than before (and is faster to process subsequent filter blocks on, since the input data is now GPU resident).
Not super critical but a nice quality-of-life fix since I use the demo scope as a data source for development pretty often.

US-DNS-Server wie Google oder Cloudflare speichern unsere Surfhistorie. DNS4EU bringt das Telefonbuch des Internets nach Europa, schützt vor Tracking und bietet verschiedene Filter. Ein Schritt zu mehr Kontrolle über die eigene Privatsphäre. Jörg Schieb stellt die europäische Alternative vor #DNS #Datenschutz

Slept through it. Catch-up couldn't go beyond 2 AM (#WWDC25 was at 1 AM SGT) because reached the 800 limit on Mastodon 🤦‍♂️
Maybe Mastodon should limit it by time duration or something instead.

Written in 2012, very soon after Googles and Facebooks of the world started to create information bubbles for us to trap ourselves in. It will be annoying, but I think useful to see the perspective at the time.
#books #nextread

The Rigidity of Constraint: A Spencer-Hodge Theoretic Approach to the Hodge Conjecture
Dongzhe Zheng
https://arxiv.org/abs/2506.12720 https://

The Rigidity of Constraint: A Spencer-Hodge Theoretic Approach to the Hodge Conjecture
This paper proposes a new theoretical perspective for studying the Hodge conjecture through an analytical framework based on constraint geometry. Our theory begins with a key observation: in compatible pair Spencer theory, a "differential degeneration" mechanism simplifies Spencer differential operators to classical exterior differential under specific algebraic conditions, bridging constraint geometry and de Rham cohomology. This bridge alone is insufficient to filter rare Hodge classes with a…

Bridging Data-Driven and Physics-Based Models: A Consensus Multi-Model Kalman Filter for Robust Vehicle State Estimation
Farid Mafi (University of Waterloo, Waterloo, Canada), Ladan Khoshnevisan (University of Waterloo, Waterloo, Canada), Mohammad Pirani (University of Ottawa, Ottawa, Canada), Amir Khajepour (University of Waterloo, Waterloo, Canada)

Bridging Data-Driven and Physics-Based Models: A Consensus Multi-Model Kalman Filter for Robust Vehicle State Estimation
Vehicle state estimation presents a fundamental challenge for autonomous driving systems, requiring both physical interpretability and the ability to capture complex nonlinear behaviors across diverse operating conditions. Traditional methodologies often rely exclusively on either physics-based or data-driven models, each with complementary strengths and limitations that become most noticeable during critical scenarios. This paper presents a novel consensus multi-model Kalman filter framework t…

Another week in which my filter bubble is both “I don’t like tech companies cramming AI into everything” and “Apple has fallen concerningly behind in the race to cram AI into everything”.

📣 On Saturday 21 June, it's going to be a very busy night in Göttingen - the Night of Science! This channel is going to be equally busy, with a daily countdown giving you previews of activities you'll find at our location. These posts will predominantly be in German.
If this is a bit too verbose for you, you can mute or filter the hashtag #ndwgoecountdown to not see th…

For the last month or so I've been working on seeing how far I can push CircuitPython into emulating a TB-303 bass synth. With the new audiofilters library, you can "stack" filters to make two two-pole filters seem like a 4-pole filter, getting close to that squelchy sound we need. My efforts so far:
https://www.youtube…

For the last month or so I've been working on seeing how far I can push CircuitPython into emulating a TB-303 bass synth. With the new audiofilters library, you can "stack" filters to make two two-pole filters seem like a 4-pole filter, getting close to that squelchy sound we need. My efforts so far:
https://www.youtube…

Hivemind: I noticed that my academic CV is the last document I maintain in #TeXLaTeX. Is there a #Markdown (preferably #pandoc) based CV system/template/filter that you can recommend? PDF output is required, HTML …

Good stuff for Mac Users. I’ve used it forever. Really handy, and it works well.
#Software #Mac #MacOS

St. Clair Software (@stclairsoft@mstdn.social)
Attached: 1 image Default Folder X 6.1.6 is out! It includes a Focus filter to automatically switch folder sets when you activate a macOS Focus. It's also faster in file dialogs and fixes issues with keyboard shortcuts, Finder-click, keyboard focus and making new folders. https://www.stclairsoft.com/blog/2025/05/13/default-folder-x-6-1-6-automatically-swap-favorites-and-default-folders-when-you-switch-macos-focus-modes

Yay, I finally figured out how to build HTML documentation of my custom :nixos: #NixOS options. 🥳
Some thoughts:
- It still contains *all* normal NixOS options (it's a 13MB HTML file...)
- I don't see a way to filter for only my custom options - be it just by regex for example
- It's the documentation of *possible* options, doesn't include the actually chosen val…

📝 `nix build .#docs` now builds a HTML with NixOS options config (including custom ones) (b7be1d09) · Commits · Yann Büchau / 📦 Yanns NixOS Config · GitLab
My NixOS Config

[OT] Extensions to reduce Google AI-generated search clutter in Chrome and Edge (on Windows) https://chromewebstore.google.com/detail/bye-bye-google-ai-turn-of/imllolhfajlbkpheaapjocclpppchggc or Firefox

Bye Bye, Google AI: Turn off Google AI Overviews, Discussions and Ads - Chrome Web Store
Filter Google search results to hide AI overviews, ads, discussions or videos. You choose.

🇺🇦 Auf radioeins läuft...
Smuged, Adult DVD:
🎵 Jennifer Low-Pass Filter Modulation (Adult DVD Remix)
#NowPlaying #Smuged #AdultDVD

PDLRecover: Privacy-preserving Decentralized Model Recovery with Machine Unlearning
Xiangman Li, Xiaodong Wu, Jianbing Ni, Mohamed Mahmoud, Maazen Alsabaan
https://arxiv.org/abs/2506.15112

PDLRecover: Privacy-preserving Decentralized Model Recovery with Machine Unlearning
Decentralized learning is vulnerable to poison attacks, where malicious clients manipulate local updates to degrade global model performance. Existing defenses mainly detect and filter malicious models, aiming to prevent a limited number of attackers from corrupting the global model. However, restoring an already compromised global model remains a challenge. A direct approach is to remove malicious clients and retrain the model using only the benign clients. Yet, retraining is time-consuming, c…

Hi friends!
I set my alarm to 5am and headed out for a nice walk. It was getting warm, so I started early. - and it was just so good to do so!
A nice 6h walk with lots of views, lots of photos and just enjoying being out. End the #summit just for me 😍
On the way up I noted all places where I could refuel later using my water filter. Seriously: why didn't I buy that waaays ear…

Coffee will be interesting today... the only Oat Milk I have left is Chocolate, and there's just one V60 filter cone 😅

Bridging a gap: A heavy elastica between point supports
Grace K. Curtis, Ian M. Griffiths, Dominic Vella
https://arxiv.org/abs/2506.11875 https://

Bridging a gap: A heavy elastica between point supports
We study the deformation and slip-through of a heavy elastic beam suspended above two point supports and subject to an increasing body force -- an idealized model of a fibre trapped in the pores of a filter as flow strength increases, for example. Using both asymptotic and numerical techniques, we investigate the behaviour of the beam under increasing body force and the maximum force that can be supported before it must slip between the supports. We quantify this maximum body force as a functio…

Invariant Extended Kalman Filter for Autonomous Surface Vessels with Partial Orientation Measurements
Derek Benham, Easton Potokar, Joshua G. Mangelson
https://arxiv.org/abs/2506.10850

Invariant Extended Kalman Filter for Autonomous Surface Vessels with Partial Orientation Measurements
Autonomous surface vessels (ASVs) are increasingly vital for marine science, offering robust platforms for underwater mapping and inspection. Accurate state estimation, particularly of vehicle pose, is paramount for precise seafloor mapping, as even small surface deviations can have significant consequences when sensing the seafloor below. To address this challenge, we propose an Invariant Extended Kalman Filter (InEKF) framework designed to integrate partial orientation measurements. While con…

The Stellar Populations and Rest-Frame Colors of Star-Forming Galaxies at $z \approx 8$: Exploring the Impact of Filter Choice and Star Formation History Assumption with JADES
Jakob M. Helton, Stacey Alberts, George H. Rieke, Kevin N. Hainline, Zhiyuan Ji, Marcia J. Rieke, Benjamin D. Johnson, Brant Robertson, Sandro Tacchella, Lily Whitler, William M. Baker, Rachana Bhatawdekar, Kristan Boyett, Andrew J. Bunker, Phillip A. Cargile, Stefano Carniani, Stephane Charlot, Jacopo Chevallard…

The Stellar Populations and Rest-Frame Colors of Star-Forming Galaxies at $z \approx 8$: Exploring the Impact of Filter Choice and Star Formation History Assumption with JADES
Our understanding of the physical properties of star-forming galaxies during the Epoch of Reionization (EoR, at $z > 6$) suffers from degeneracies among the apparent properties of the stars, the nebular gas, and the dust. These degeneracies are most prominent with photometry, which has insufficient (1) spectral resolution and (2) rest-frame spectral coverage. We explore ways to break these degeneracies with a sample of $N = 22$ high-redshift star-forming galaxies at $7 < z_{\mathrm{phot}} \leq …

Turns out the reason that the GPU accelerated level detector made the CDR slower is that I was working on test data loaded from a file, and not moving the data from CPU to GPU before starting the filter graph. So of *course* it was slower, due to the unnecessary data movement.
But that's unrealistic since on a real high-performance scope driver (e.g. thunderscope) the first thing we typically do is push data from CPU to GPU to do the int-float conversion there.
Time to repea…

🇺🇦 #NowPlaying on #BBC6Music's #ThePeoplesParty with #AFRODEUTSCHE
The Golden Filter:
🎵 Solid Gold
#TheGoldenFilter
https://maffiss.bandcamp.com/track/the-golden-filter-solid-gold-maffiss-remix
https://open.spotify.com/track/6JIFYjSLPwpFtiSkthr5HV

Manchmal gelingt es frühmorgens den #Tau im #Sonnenlicht im Bild einzufangen, aber meist geht etwas Brillianz verloren. Außerdem habe ich meist auch einen Filter auf dem #Objektiv.

Rather surprised to see the performance scaling of nftables is so bad compared to iptables, especially as many distros switched to nftables by default some time ago.
I do understand that synthetic benchmarks of firewalls are difficult, and that you are supposed to use the advanced features of nftables (e.g. sets, maps) to express the same filter in fewer rules.
h…

Splashback radius and the mass accretion rate of RASS MCMF galaxy clusters
Jitendra Joshi, Divya Rana, Surhud More, Matthias Klein
https://arxiv.org/abs/2506.08925

Splashback radius and the mass accretion rate of RASS MCMF galaxy clusters
We present measurements of the radial profile of mass and galaxy number density around X-ray selected ROSAT All Sky Survey-Multi-Component Matched Filter galaxy clusters using Year 3 data from the Dark Energy Survey. We measure the projected cross-correlation signal of the RedMaGiC "high density" galaxies around an approximately volume-limited sample of 255 galaxy clusters at a median redshift of $z=0.4$ and an X-ray luminosity $L_X > 10^{44} \,\text{ergs} \, \text{s}^{-1} \, \text{h}^{-2}$. Th…

With the 5th #AAS246 presser come the paper https://arxiv.org/abs/2506.07262 (ALMA-JELLY I: High Resolution CO(2-1) Observations of Ongoing Ram Pressure Stripping in NGC 4858 Reveal Asymmetrical Gas Tail Formation and Fallback), the press release https://news.arizona.edu/news/belly-beast-massive-clumps-reveal-star-factories-bygone-era-cosmos (In the belly of the beast: massive clumps reveal star factories from a bygone era of the cosmos) and the papers https://iopscience.iop.org/article/10.3847/1538-4357/ada8a6 (UNCOVERing the Faint End of the z ∼ 7 [O iii] Luminosity Function with JWST's F410M Medium Bandpass Filter) with the press release https://science.nasa.gov/missions/webb/nasas-webb-uncovers-galaxy-population-driving-cosmic-renovation/ and https://arxiv.org/abs/2505.06198 (The "Dark-Matter Dominated" Galaxy Segue 1 Modeled with a Black Hole and no Dark Halo) with the press release https://www.utsa.edu/today/2025/06/story/researchers-offer-alternative-to-dark-matter-model.html

This https://arxiv.org/abs/2502.20338 has been replaced.
initial toot: https://mastoxiv.page/@arXiv_csDS_…

KeBaB: $k$-mer based breaking for finding long MEMs
Long maximal exact matches (MEMs) are used in many genomics applications such as read classification and sequence alignment. Li's ropebwt3 finds long MEMs quickly because it can often ignore much of its input. In this paper we show that a fast and space efficient $k$-mer filtration step using a Bloom filter speeds up MEM-finders such as ropebwt3 even further by letting them ignore even more. We also show experimentally that our approach can accelerate metagenomic classification without signific…

My least favorite work interactions are with customers’ 3rd party “rockstar” consultants. I never know how to respond to certain sorts of queries. Ones where I could answer the question as asked but it really implies a deeper misunderstanding. I feel like I want to write him a treatise on VPNs: what they are and how they work. And Cc his boss (who shares his surname…) to communicate the depth of the problem.
I’m letting my boss handle it. He’s the networking guy anyway…

This https://arxiv.org/abs/2409.15134 has been replaced.
initial toot: https://mastoxiv.page/@arXiv_mat…

SCMAlgebras: a Macaulay2 package to check sequential Cohen-Macaulayness
We introduce the Macaulay2 package SCMAlgebras. It provides functions for computing the modules of deficiency and the filter ideals, in order to check whether a module or an ideal is sequentially Cohen-Macaulay. After the basic algebraic notions and results are recalled, the main features of the package are described through examples

Літо - то добре. Навіть попри грьобану русню.
by Archa (#art

Archa (@archapxl.bsky.social)
I still love this filter so much

The Invariant Zonotopic Set-Membership Filter for State Estimation on Groups
Tao Li, Yi Li, Lulin Zhang, Jiuxiang Dong
https://arxiv.org/abs/2506.08530 htt…

The Invariant Zonotopic Set-Membership Filter for State Estimation on Groups
The invariant filtering theory based on the group theory has been successful in statistical filtering methods. However, there exists a class of state estimation problems with unknown statistical properties of noise disturbances, and it is worth discussing whether the invariant observer still has performance advantages. In this paper, considering the problem of state estimation with unknown but bounded noise disturbances, an Invariant Zonotopic Set-Membership Filter (InZSMF) method on groups is …

This https://arxiv.org/abs/2504.18022 has been replaced.
initial toot: https://mastoxiv.page/@arXiv_csIT_…

Iterative Joint Detection of Kalman Filter and Channel Decoder for Sensor-to-Controller Link in Wireless Networked Control Systems
In this letter, we propose an iterative joint detection algorithm of Kalman filter (KF) and channel decoder for the sensor-to-controller link of wireless networked control systems, which utilizes the prior information of control system to improve control and communication performance. In this algorithm, we first use the KF to estimate the probability density of the control system outputs and calculate the prior probability of received signals to assist decoder. Then, the possible outputs of the…

Recursive KalmanNet: Deep Learning-Augmented Kalman Filtering for State Estimation with Consistent Uncertainty Quantification
Hassan Mortada, Cyril Falcon, Yanis Kahil, Math\'eo Clavaud, Jean-Philippe Michel
https://arxiv.org/abs/2506.11639

Recursive KalmanNet: Deep Learning-Augmented Kalman Filtering for State Estimation with Consistent Uncertainty Quantification
State estimation in stochastic dynamical systems with noisy measurements is a challenge. While the Kalman filter is optimal for linear systems with independent Gaussian white noise, real-world conditions often deviate from these assumptions, prompting the rise of data-driven filtering techniques. This paper introduces Recursive KalmanNet, a Kalman-filter-informed recurrent neural network designed for accurate state estimation with consistent error covariance quantification. Our approach propaga…

This https://arxiv.org/abs/2505.07614 has been replaced.
initial toot: https://mastoxiv.page/@arXiv_csLG_…

Trial and Trust: Addressing Byzantine Attacks with Comprehensive Defense Strategy
Recent advancements in machine learning have improved performance while also increasing computational demands. While federated and distributed setups address these issues, their structure is vulnerable to malicious influences. In this paper, we address a specific threat, Byzantine attacks, where compromised clients inject adversarial updates to derail global convergence. We combine the trust scores concept with trial function methodology to dynamically filter outliers. Our methods address the c…

Hi friends!
I set my alarm to 5am and headed out for a nice walk. It was getting warm, so I started early. - and it was just so good to do so!
A nice 6h walk with lots of views, lots of photos and just enjoying being out. End the #summit just for me 😍
On the way up I noted all places where I could refuel later using my water filter. Seriously: why didn't I buy that waaays ear…

I think this will do nicely.
Folks were complaining about how long the AC RMS amplitude measurement in ngscopeclient took on large datasets, so I made it 67 times faster (as long as your GPU supports GL_ARB_gpu_shader_int64)
Benchmark: 50M point sinusoid, Xeon 6144 vs RTX 2080 Ti

Equivariant Filter for Relative Attitude and Target Angular Velocity Estimation
Gil Serrano, Bruno J. Guerreiro, Pedro Louren\c{c}o, Rita Cunha
https://arxiv.org/abs/2506.06016

Equivariant Filter for Relative Attitude and Target Angular Velocity Estimation
Accurate estimation of the relative attitude and angular velocity between two rigid bodies is fundamental in aerospace applications such as spacecraft rendezvous and docking. In these scenarios, a chaser vehicle must determine the orientation and angular velocity of a target object using onboard sensors. This work addresses the challenge of designing an Equivariant Filter (EqF) that can reliably estimate both the relative attitude and the target angular velocity using noisy observations of two …

Max Entropy Moment Kalman Filter for Polynomial Systems with Arbitrary Noise
Sangli Teng, Harry Zhang, David Jin, Ashkan Jasour, Ram Vasudevan, Maani Ghaffari, Luca Carlone
https://arxiv.org/abs/2506.00838

Max Entropy Moment Kalman Filter for Polynomial Systems with Arbitrary Noise
Designing optimal Bayes filters for nonlinear non-Gaussian systems is a challenging task. The main difficulties are: 1) representing complex beliefs, 2) handling non-Gaussian noise, and 3) marginalizing past states. To address these challenges, we focus on polynomial systems and propose the Max Entropy Moment Kalman Filter (MEM-KF). To address 1), we represent arbitrary beliefs by a Moment-Constrained Max-Entropy Distribution (MED). The MED can asymptotically approximate almost any distribution…

Rather surprised to see the performance scaling of nftables is so bad compared to iptables, especially as many distros switched to nftables by default some time ago.
I do understand that synthetic benchmarks of firewalls are difficult, and that you are supposed to use the advanced features of nftables (e.g. sets, maps) to express the same filter in fewer rules.
h…

Another step in the #PoolPond today. Bought the 2 pumps. They are high-efficiency, DC variable speed/power up to 15000L/hr (4000gal/hr) and 105W.
One will be to take water from the pond to the bog filter, and one will do double duty going to the bog filter or to sprayers/jets inside the pond (both decorative and for circulation)
I might get a 3rd pump in time if I find the extra capacity is needed.
#DIY #PondLife #PortAlberni #Pool #Pond #Natural
https://www.amazon.ca/dp/B0CLB7SJ4Q?psc=1&smid=A7SIQ2Y2T11UM&ref_=chk_typ_imgToDp

This https://arxiv.org/abs/2503.10349 has been replaced.
initial toot: https://mastoxiv.page/@arXiv_csRO_…

Autonomous Robotic Radio Source Localization via a Novel Gaussian Mixture Filtering Approach
This study proposes a new Gaussian Mixture Filter (GMF) to improve the estimation performance for the autonomous robotic radio signal source search and localization problem in unknown environments. The proposed filter is first tested with a benchmark numerical problem to validate the performance with other state-of-the-practice approaches such as Particle Filter (PF) and Particle Gaussian Mixture (PGM) filters. Then the proposed approach is tested and compared against PF and PGM filters in real…

Hiding in Plain Sight: Query Obfuscation via Random Multilingual Searches
Anton Firc, Jan Klus\'a\v{c}ek, Kamil Malinka
https://arxiv.org/abs/2506.04963

Hiding in Plain Sight: Query Obfuscation via Random Multilingual Searches
Modern search engines extensively personalize results by building detailed user profiles based on query history and behaviour. While personalization can enhance relevance, it introduces privacy risks and can lead to filter bubbles. This paper proposes and evaluates a lightweight, client-side query obfuscation strategy using randomly generated multilingual search queries to disrupt user profiling. Through controlled experiments on the Seznam.cz search engine, we assess the impact of interleaving…

Channel Estimation with Asynchronous Reception for User-Centric Cell-Free MIMO Systems
Xuyang Sun, Hussein A. Ammar, Raviraj Adve, Israfil Bahceci, Gary Boudreau
https://arxiv.org/abs/2506.05496

Channel Estimation with Asynchronous Reception for User-Centric Cell-Free MIMO Systems
The user-centric, cell-free wireless network is a promising next-generation communication system, but signal synchronization issues arise due to distributed access points and lack of cellular structure. We propose a novel method to recover synchronous pilot reception by introducing new pilot sequences and a matched filter window, enabling orthogonality even with asynchronous reception. Our approach mimics synchronous transmission by extending training sequences. Analysis shows asynchronous rece…

This https://arxiv.org/abs/2309.03765 has been replaced.
initial toot: https://mastoxiv.page/@arXiv_csRO_…

Equivariant Symmetries for Inertial Navigation Systems
This paper investigates the problem of inertial navigation system (INS) filter design through the lens of symmetry. The extended Kalman filter (EKF) and its variants have been the staple of INS filtering for 50 years. However, recent advances in inertial navigation systems have exploited matrix Lie group structure to design stochastic filters and state observers that have been shown to display superior performance compared to classical solutions. In this work, we explore various symmetries of i…

A Hybrid Artificial Intelligence Method for Estimating Flicker in Power Systems
Javad Enayati, Pedram Asef, Alexandre Benoit
https://arxiv.org/abs/2506.13611

A Hybrid Artificial Intelligence Method for Estimating Flicker in Power Systems
This paper introduces a novel hybrid AI method combining H filtering and an adaptive linear neuron network for flicker component estimation in power distribution systems.The proposed method leverages the robustness of the H filter to extract the voltage envelope under uncertain and noisy conditions followed by the use of ADALINE to accurately identify flicker frequencies embedded in the envelope.This synergy enables efficient time domain estimation with rapid convergence and noise resilience ad…

Fast Sampling for System Identification: Overcoming Noise, Offsets, and Closed-Loop Challenges with State Variable Filter
Ichiro Maruta, Toshiharu Sugie
https://arxiv.org/abs/2506.03650

Fast Sampling for System Identification: Overcoming Noise, Offsets, and Closed-Loop Challenges with State Variable Filter
This paper investigates the effects of setting the sampling frequency significantly higher than conventional guidelines in system identification. Although continuous-time identification methods resolve the numerical difficulties encountered in discrete-time approaches when employing fast sampling (e.g., the problems caused by all poles approaching unity), the potential benefits of using sampling frequencies that far exceed traditional rules like the "ten times the bandwidth" guideline remained …

HiLO: High-Level Object Fusion for Autonomous Driving using Transformers
Timo Osterburg, Franz Albers, Christopher Diehl, Rajesh Pushparaj, Torsten Bertram
https://arxiv.org/abs/2506.02554

HiLO: High-Level Object Fusion for Autonomous Driving using Transformers
The fusion of sensor data is essential for a robust perception of the environment in autonomous driving. Learning-based fusion approaches mainly use feature-level fusion to achieve high performance, but their complexity and hardware requirements limit their applicability in near-production vehicles. High-level fusion methods offer robustness with lower computational requirements. Traditional methods, such as the Kalman filter, dominate this area. This paper modifies the Adapted Kalman Filter (A…

TinyML-Based Adaptive Pulse Shaping for Edge Intelligence in IoT/IIoT
Afan Ali
https://arxiv.org/abs/2506.05789 https://arxiv.org/pdf…

TinyML-Based Adaptive Pulse Shaping for Edge Intelligence in IoT/IIoT
Edge intelligence in IoT and IIoT demands lightweight algorithms for data processing on resource-constrained devices. This paper introduces a novel adaptive pulse shape filter based on TinyML for PAPR and SER optimization on edge devices used in uplink IoT communication. Implemented on IoT nodes such as sensors, our pruned neural network provides up to 2 dB PAPR saving over root-raised-cosine (RRC) filters. Mass simulations validate its efficacy in DFT-s-OFDM systems and offer an energy-efficie…

Equivalence of Left- and Right-Invariant Extended Kalman Filters on Matrix Lie Groups
Finn G. Maurer, Erlend A. Basso, Henrik M. Schmidt-Didlaukies, Torleiv H. Bryne
https://arxiv.org/abs/2506.01514

Equivalence of Left- and Right-Invariant Extended Kalman Filters on Matrix Lie Groups
This paper derives the extended Kalman filter (EKF) for continuous-time systems on matrix Lie groups observed through discrete-time measurements. By modeling the system noise on the Lie algebra and adopting a Stratonovich interpretation for the stochastic differential equation (SDE), we ensure that solutions remain on the manifold. The derivation of the filter follows classical EKF principles, naturally integrating a necessary full-order covariance reset post-measurement update. A key contribut…

Data-Driven Prediction of Dynamic Interactions Between Robot Appendage and Granular Material
Guanjin Wang, Xiangxue Zhao, Shapour Azarm, Balakumar Balachandran
https://arxiv.org/abs/2506.10875

Data-Driven Prediction of Dynamic Interactions Between Robot Appendage and Granular Material
An alternative data-driven modeling approach has been proposed and employed to gain fundamental insights into robot motion interaction with granular terrain at certain length scales. The approach is based on an integration of dimension reduction (Sequentially Truncated Higher-Order Singular Value Decomposition), surrogate modeling (Gaussian Process), and data assimilation techniques (Reduced Order Particle Filter). This approach can be used online and is based on offline data, obtained from the…

Learning Safe Control via On-the-Fly Bandit Exploration
Alexandre Capone, Ryan Cosner, Aaaron Ames, Sandra Hirche
https://arxiv.org/abs/2506.10279 https://…

Learning Safe Control via On-the-Fly Bandit Exploration
Control tasks with safety requirements under high levels of model uncertainty are increasingly common. Machine learning techniques are frequently used to address such tasks, typically by leveraging model error bounds to specify robust constraint-based safety filters. However, if the learned model uncertainty is very high, the corresponding filters are potentially invalid, meaning no control input satisfies the constraints imposed by the safety filter. While most works address this issue by assu…

Adaptive event-triggered robust tracking control of soft robots
Renjie Ma, Ziyao Qu, Zhijian Hu, Dong Zhao, Marios M. Polycarpou
https://arxiv.org/abs/2506.09523

Adaptive event-triggered robust tracking control of soft robots
Soft robots manufactured with flexible materials can be highly compliant and adaptive to their surroundings, which facilitates their application in areas such as dexterous manipulation and environmental exploration. This paper aims at investigating the tracking control problem for soft robots under uncertainty such as unmodeled dynamics and external disturbance. First, we establish a novel switching function and design the compensated tracking error dynamics by virtue of the command filter. The…

This https://arxiv.org/abs/2408.11978 has been replaced.
initial toot: https://mastoxiv.page/@arXiv_csRO_…

Optimized Kalman Filter based State Estimation and Height Control in Hopping Robots
Rotor-based hopping locomotion significantly improves efficiency and operation time as compared to purely flying systems; where most hopping robots use the liftoff states and an assumed ballistic trajectory to determine the hopping height. However, significant aerial phase force (e.g., thrust and drag) can invalidate this assumption and lead to poor estimation performance. To combat this issue, a group has implemented multiple sensors (active and passive optical, inertial, and contact) and sign…

The Geometry of Extended Kalman Filters on Manifolds with Affine Connection
Yixiao Ge, Pieter van Goor, Robert Mahony
https://arxiv.org/abs/2506.05728 http…

The Geometry of Extended Kalman Filters on Manifolds with Affine Connection
The extended Kalman filter (EKF) has been the industry standard for state estimation problems over the past sixty years. The classical formulation of the EKF is posed for nonlinear systems defined on global Euclidean spaces. The design methodology is regularly applied to systems on smooth manifolds by choosing local coordinates, however, it is well known that this approach is not intrinsic to the manifold and performance depends heavily on choosing 'good' coordinates. In this paper, we propose …

Distributed Risk-Sensitive Safety Filters for Uncertain Discrete-Time Systems
Armin Lederer, Erfaun Noorani, Andreas Krause
https://arxiv.org/abs/2506.07347

Distributed Risk-Sensitive Safety Filters for Uncertain Discrete-Time Systems
Ensuring safety in multi-agent systems is a significant challenge, particularly in settings where centralized coordination is impractical. In this work, we propose a novel risk-sensitive safety filter for discrete-time multi-agent systems with uncertain dynamics that leverages control barrier functions (CBFs) defined through value functions. Our approach relies on centralized risk-sensitive safety conditions based on exponential risk operators to ensure robustness against model uncertainties. W…

Tram Positioning with Map-Enabled GNSS Data Reconciliation
Jakub Ka\v{s}par, V\'it Fanta, Vladim\'ir Havlena
https://arxiv.org/abs/2506.08032 https…

Tram Positioning with Map-Enabled GNSS Data Reconciliation
This paper presents an approach to tackle the problem of tram localization through utilizing a custom processing of Global Navigation Satellite System (GNSS) observables and the track map. The method is motivated by suboptimal performance in dense urban environments where the direct line of sight to GNSS satellites is often obscured which leads to multipath propagation of GNSS signals. The presented concept is based upon the iterated extended Kalman filter (IEKF) and has linear complexity (with…

This https://arxiv.org/abs/2407.07589 has been replaced.
initial toot: https://mastoxiv.page/@arXiv_csRO_…

MSC-LIO: An MSCKF-Based LiDAR-Inertial Odometry with Same-Plane Cluster Tracking
The multi-state constraint Kalman filter (MSCKF) has been proven to be more efficient than graph optimization for visual-based odometry while with similar accuracy. However, it has not been adequately considered and studied for LiDAR-based odometry. In this paper, we propose a novel tightly-coupled LiDAR-inertial odometry based on the MSCKF framework, named MSC-LIO. An efficient LiDAR same-plane cluster (LSPC) tracking method, without explicit feature extraction, is present for frame-to-frame d…