Thomas Berger

Lukas Lanza, Johannes Köhler, Dario Dennstädt et al.

Control barrier functions (CBFs) are a widely applied modular tool to ensure safe operation of nonlinear dynamical control systems. However, for their construction accurate knowledge of the system dynamics is typically needed. This requirement was recently alleviated for relative-degree-one systems using techniques from prescribed performance control (PPC) or funnel control (FC). This article extends the model-free CBF design to nonlinear systems of arbitrary relative degree. Moreover, we show with a simple example that a straightforward extension of existing results for relative-degree-one systems fails. Instead, we utilize novel techniques from funnel control to characterize a subset of the controls satisfying a CBF condition without requiring a dynamic model or state measurement. Finally, we demonstrate the applicability of our results on a seven degrees of freedom robotic manipulator with relative degree two.

Rileigh Bandy, Enrico Camporeale, Andong Hu et al.

Computational models support high-stakes decisions across engineering and science, and practitioners increasingly seek probabilistic predictions to quantify uncertainty in such models. Existing approaches generate predictions either by sampling input parameter distributions or by augmenting deterministic outputs with uncertainty representations, including distribution-free and distributional methods. However, sampling-based methods are often computationally prohibitive for real-time applications, and many existing uncertainty representations either ignore input dependence or rely on restrictive Gaussian assumptions that fail to capture asymmetry and heavy-tailed behavior. Therefore, we extend the ACCurate and Reliable Uncertainty Estimate (ACCRUE) framework to learn input-dependent, non-Gaussian uncertainty distributions, specifically two-piece Gaussian and asymmetric Laplace forms, using a neural network trained with a loss function that balances predictive accuracy and reliability. Through synthetic and real-world experiments, we show that the proposed approach captures an input-dependent uncertainty structure and improves probabilistic forecasts relative to existing methods, while maintaining flexibility to model skewed and non-Gaussian errors.

Varad Deshmukh, Thomas Berger, James Meiss et al.

Solar flares are caused by magnetic eruptions in active regions (ARs) on the surface of the sun. These events can have significant impacts on human activity, many of which can be mitigated with enough advance warning from good forecasts. To date, machine learning-based flare-prediction methods have employed physics-based attributes of the AR images as features; more recently, there has been some work that uses features deduced automatically by deep learning methods (such as convolutional neural networks). We describe a suite of novel shape-based features extracted from magnetogram images of the Sun using the tools of computational topology and computational geometry. We evaluate these features in the context of a multi-layer perceptron (MLP) neural network and compare their performance against the traditional physics-based attributes. We show that these abstract shape-based features outperform the features chosen by the human experts, and that a combination of the two feature sets improves the forecasting capability even further.