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International Conference on advanced systems and Electric Technologies (IC_ASET)

作者： Takoua Grami Ali Sghaier Tlili National High School of Engineering of Tunis (ENSIT) University of Tunis Laboratory of Advanced Systems Polytechnic School of Tunisia Tunis Tunisia University of Carthage High Institute of Computer Science (ISI) University of Tunis El Manar

ISBN: (数字)9781728163567

ISBN: (纸本)9781728163574

The present paper proposes a new framework based on a python code using the particle filter approach to monitor and estimate accurately the positions and the directions of a mobile robot. As a matter of fact, the real time localization of such a mobile robot is a challenging task due to diversified uncertainties and temporal changes in the environmental circumstances, measurement noises as well as errors of sensors used for anticipating the trajectory. The efficacy and the outstanding performances of the proposed particle filter-based real time localization approach are demonstrated via numerical simulation on an intelligent autonomous mobile robot with a considerable developed python code.

关键词： Robots Mobile robots Robot sensing systems Location awareness Sensors Particle measurements Atmospheric measurements

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Adaptive event-triggered PID controllers for linear discrete-time plants

Adaptive event-triggered PID controllers for linear discrete...

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第三十九届中国控制会议

作者： Hao Yu Zhe Guan Tongwen Chen Toru Yamamoto Department of Electrical and Computer Engineering University of Alberta Data-Driven Smart Systems Collaborative Research Laboratory KOBELCO Construction Machinery Dream-Driven Co-Creation Research Center Hiroshima University Graduate School of Advanced Science and Engineering Hiroshima University

This paper studies adaptive event-triggered PID controllers for 2nd-order linear discrete-time plants for set-point tracking. A new adaptive law is designed by introducing a decay parameter to improve the robustness of the closed-loop *** utilizing the extra robustness, an absolute type of event-triggering conditions is proposed, where the threshold parameter is co-designed with the adaptive laws. Then, the closed-loop system is formulated into a nonlinear interconnected system among the tracking errors, the differences of outputs, and the parameter estimation errors. A rigorous proof of stability is provided to ensure that the tracking error converges to a vicinity of zero when the initial state belongs to some compact sets. Finally,numerical simulations are given to illustrate the efficiency and feasibility of the proposed results.

关键词： Adaptive control event-triggered control linear systems PID controllers

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Spatial Multiplexing with Limited RF Chains: Generalized Beamspace Modulation (GBM) for mmWave Massive MIMO

Spatial Multiplexing with Limited RF Chains: Generalized Bea...

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作者： Gao, Shijian Cheng, Xiang Yang, Liuqing Department of Electrical and Computer Engineering Colorado State University Fort CollinsCO United States Department of Electronics State Key Laboratory of Advanced Optical Communication Systems and Networks School of Electronics Engineering and Computing Sciences Peking University Beijing China

Millimeter wave (mmWave) massive multiple-input multiple-output (mMIMO) has been recognized as a promising candidate for 5G communications for its capability of supporting Gb/s transmission. However, it is a common exercise to deploy a limited number of radio-frequency (RF) chains at mmWave mMIMO transceivers due to hardware complexity and cost. As a result, the potential multiplexing gain (MG), which is restricted by the smaller number of RF chains at the transmitter and receiver, is markedly compromised. In order to boost the MG and spectral efficiency (SE), we innovatively develop a novel index modulation termed as the generalized beamspace modulation (GBM). The acquisition of (sub-)beamspace is owing to a natural exploitation of the unique features of mmWave mMIMO. Based on the (sub-)beamspace, a complete GBM transceiver is designed and optimized. Unlike existing alternatives that are largely digital based, our GBM is tailored for the hybrid structure of mmWave mMIMO and can, thereby, realize efficient spatial multiplexing despite the limited RF chains. Extensive analyses and simulations have demonstrated remarkable superiority of GBM over existing counterparts in terms of the error performance and SE. © 1983-2012 IEEE.

关键词： Modulation

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Secure Precoding Aided Spatial Modulation via Transmit Antenna Selection

Secure Precoding Aided Spatial Modulation via Transmit Anten...

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作者： Huang, Yu Wen, Miaowen Zheng, Beixiong Cheng, Xiang Yang, Liuqing Ji, Fei School of Electronics and Information Engineering South China University of Technology Guangzhou510641 China State Key Laboratory of Advanced Optical Communication Systems and Networks School of Electronics Engineering and Computer Science Peking University Beijing China Department of Electrical and Computer Engineering Colorado State University Fort CollinsCO80523 United States

In this paper, two transmit antenna selection schemes are proposed for precoding-aided spatial modulation (PSM) to enhance the secrecy performance with reduced hardware complexity. The first strategy is determined by the channel state information (CSI) of both the legitimate and illegitimate links, called deterministic antenna selection based PSM (DAS-PSM), which selects partial transmit antennas to implement zero-forcing (ZF) precoding for maximizing the secrecy rate. For practical implementation, the low-complexity DAS-PSM criterion is demonstrated. The second strategy resorts to random antenna selection (RAS) with the aid of fast radio-frequency switching. Different from the DAS-PSM, this so-called RAS based PSM (RAS-PSM) dispenses with the CSI of the wiretap channel, which generates the ZF precoding matrix associated with randomly selected transmit antenna combination during each symbol period, creating additional turbulence that solely affects the eavesdropper. To combat the issue of low secrecy rate in the high signal-to-noise ratio regime due to the finite-alphabet inputs, time-varying artificial noise with extra power can be incorporated into both aforementioned strategies, which is exemplified in the RAS-PSM. Finally, the secrecy rates of both proposed schemes are theoretically analyzed and evaluated via Monte Carlo simulations, demonstrating that both proposed schemes with different requirements are capable of enhancing the secrecy performance compared to the conventional PSM. © 1967-2012 IEEE.

关键词： Channel state information

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Double-Free-Layer Magnetic Tunnel Junctions for Probabilistic Bits

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Physical Review Applied 2021年第4期15卷 044049-044049页

作者： Kerem Y. Camsari Mustafa Mert Torunbalci William A. Borders Hideo Ohno Shunsuke Fukami Department of Electrical and Computer Engineering University of California Santa Barbara California 93106 USA Birck Nanotechnology Center Purdue University West Lafayette Indiana 47907 USA Laboratory for Nanoelectronics and Spintronics Research Institute of Electrical Communication Tohoku University Japan Center for Spintronics Research Network Tohoku University Japan Center for Science and Innovation in Spintronics Tohoku University Japan WPI Advanced Institute for Materials Research Tohoku University Japan Center for Innovative Integrated Electronic Systems Tohoku University Japan

Naturally random devices that exploit ambient thermal noise have recently attracted attention as hardware primitives for accelerating probabilistic computing applications. One such approach is to use a low barrier nanomagnet as the free layer of a magnetic tunnel junction (MTJ), the magnetic fluctuations of which are converted to resistance fluctuations in the presence of a stable fixed layer. Here, we propose and theoretically analyze a MTJ with no fixed layers but two free layers that are circularly shaped disk magnets. We use an experimentally benchmarked model that accounts for finite-temperature magnetization dynamics, bias-dependent charge, and spin-polarized currents as well as the dipolar coupling between the free layers. We obtain analytical results for statistical averages of fluctuations that are in good agreement with the numerical model. We find that the free layers with low diameters fluctuate to randomize the resistance of the MTJ in an approximately bias-independent manner. We show how such MTJs can be used to build a binary stochastic neuron (or a p-bit) in hardware. Unlike earlier stochastic MTJs that need to operate at a specific bias point to produce random fluctuations, the proposed design can be random for a wide range of bias values, independent of spin-transfer-torque pinning. Moreover, in the absence of a carefully optimized stabled fixed layer, the symmetric double-free-layer stack can be manufactured using present-day magnetoresistive random-access memory (MRAM) technology by minimal changes to the fabrication process. Such devices can be used as hardware accelerators in energy-efficient computing schemes that require a large throughput of tunably random bits.

关键词： Spintronics Superparamagnetism Magnetic tunnel junctions

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Stochastic Exceptional Points for Noise-Assisted Sensing

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Physical Review Letters 2023年第22期130卷 227201-227201页

作者： Zhipeng Li Chenhui Li Ze Xiong Guoqiang Xu Yongtai Raymond Wang Xi Tian Xin Yang Zhu Liu Qihang Zeng Rongzhou Lin Ying Li Jason Kai Wei Lee John S. Ho Cheng-Wei Qiu Department of Electrical and Computer Engineering National University of Singapore Singapore 117583 Singapore Wireless and Smart Bioelectronics Lab School of Biomedical Engineering ShanghaiTech University Shanghai 201210 China Department of Physiology Yong Loo Lin School of Medicine National University of Singapore Singapore 117593 Singapore School of Physics and Electronics Hunan Normal University Changsha Hunan 410081 China Interdisciplinary Center for Quantum Information State Key Laboratory of Modern Optical Instrumentation ZJU-Hangzhou Global Scientific and Technological Innovation Center Zhejiang University Hangzhou 310027 China International Joint Innovation Center Key Lab of Advanced Micro/Nano Electronic Devices and Smart Systems of Zhejiang The Electromagnetics Academy of Zhejiang University Zhejiang University Haining 314400 China Heat Resilience and Performance Centre Yong Loo Lin School of Medicine National University of Singapore Singapore 119228 Singapore Human Potential Translational Research Programme Yong Loo Lin School of Medicine National University of Singapore Singapore 119228 Singapore

Noise is a fundamental challenge for sensors deployed in daily environments for ambient sensing, health monitoring, and wireless networking. Current strategies for noise mitigation rely primarily on reducing or removing noise. Here, we introduce stochastic exceptional points and show the utility to reverse the detrimental effect of noise. The stochastic process theory illustrates that the stochastic exceptional points manifest as fluctuating sensory thresholds that give rise to stochastic resonance, a counterintuitive phenomenon in which the added noise increases the system’s ability to detect weak signals. Demonstrations using a wearable wireless sensor show that the stochastic exceptional points lead to more accurate tracking of a person’s vital signs during exercise. Our results may lead to a distinct class of sensors that overcome and are enhanced by ambient noise for applications ranging from healthcare to the internet of things.

关键词： Noise Non-Hermitean systems PT-symmetry Noise measurements

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Dynamic Modeling for Dielectric Elastomer Actuators Based on LSTM Deep Neural Network

Dynamic Modeling for Dielectric Elastomer Actuators Based on...

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International Conference on advanced Robotics and Mechatronics (ICARM)

作者： Huai Xiao Jundong Wu Wenjun Ye Yawu Wang School of Automation Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems China University of Geosciences Wuhan Hubei China Gina Cody School of Engineering and Computer Science Concordia University Montreal Quebec Canada

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164809

This paper proposes a dynamic model for dielectric elastomer actuators (DEAs) based on the long-short term memory (LSTM) deep neural network. The fabrication of the DEA and the framework of the experimental platform are introduced firstly. The behaviors of the DEA are analyzed through several sets of experiments, which shows the DEA has obvious memory behavior (i.e., the hysteresis behavior and creep behavior), where the hysteresis behavior is a symmetry and rate-dependence. Considering that the traditional neural network is difficult to describe the memory property, the LSTM deep neural network is constructed as the dynamic model of the DEA. Then, such neural network is trained according to the experimental data. Finally, the comparation results of the experimental data and the model output verify the effectiveness as well as the generalization ability of the dynamic model.

关键词： Mathematical model Neural networks Hysteresis Actuators Logic gates Soft robotics

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Diffusive nonreciprocity and thermal diode

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Physical Review B 2021年第1期103卷 014307-014307页

作者： Ying Li Jiaxin Li Minghong Qi Cheng-Wei Qiu Hongsheng Chen Interdisciplinary Center for Quantum Information State Key Laboratory of Modern Optical Instrumentation College of Information Science and Electronic Engineering Zhejiang University Hangzhou 310027 China ZJU-Hangzhou Global Science and Technology Innovation Center Key Lab. of Advanced Micro/Nano Electronic Devices & Smart Systems of Zhejiang Zhejiang University Hangzhou 310027 China International Joint Innovation Center ZJU-UIUC Institute The Electromagnetics Academy at Zhejiang University Zhejiang University Haining 314400 China Department of Electrical and Computer Engineering National University of Singapore Singapore 117583 Singapore State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

Wave propagation and diffusion in linear materials preserve local reciprocity in terms of a symmetric Green's function. For wave propagations, the relation between the fields entering and leaving a system is more relevant than the detailed information about the fields inside it. In such cases, the global reciprocity of the scattering off a system through several ports is more important, which is defined as the symmetric transmission between the scattering channels. When a two-port system supports nonreciprocal (electromagnetic, acoustic) wave propagation, it is a (optical, phonon) diode directly following the definition. However, to date no concrete definition or discussion has been made on the global reciprocity of diffusive processes through a multiple-port system. It thus remains unclear what are the differences and relations between the three concepts, namely, local nonreciprocity, global nonreciprocity, and diode effect in diffusion. Here, we provide theoretical analysis on the frequency-domain Green's function and define the global reciprocity of heat diffusion through a two-port system, which has a different setup from that of a thermal diode. We further prove the equivalence between a heat transfer system with broken steady-state global reciprocity and a thermal diode, assuming no temperature-dependent heat generation. The validities of some typical mechanisms in breaking the diffusive reciprocity and making a thermal diode have been discussed. Our results set a general background for future studies on symmetric and asymmetric diffusive processes.

关键词： Diffusion Heat transfer Metamaterials Diodes Green's function methods

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Bacteria Flagella-Mimicking Polymer Multilayer Magnetic Microrobots

SSRN

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SSRN 2024年

作者： Wu, Zhiguang Lu, Liang Bai, Shuang Shi, Jiaqi Zhang, Zhuotao Pan, Yunlu Wang, Wei Wu, Wenfeng Sun, Shoubin Li, Xu Hou, Gang Huang, Tianyun Jia, Yuxin Zuo, Kaiwen Granovsky, Alexander Wu, He Nikolai, Perov School of Medicine and Health Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China The First Affiliated Hospital of Harbin Medical University Harbin China National Center for Respiratory Medicine State Key Laboratory of Respiratory Health and Multimorbidity National Clinical Research Center for Respiratory Diseases Institute of Respiratory Medicine Chinese Academy of Medical Sciences Department of Pulmonary and Critical Care Medicine Center of Respiratory Medicine China-Japan Friendship Hospital Beijing China College of Science Sichuan Agricultural University Chengdu China The Fourth Affiliated Hospital of Harbin Medical University Harbin China Department of Ophthalmology The Second Hospital Jilin University Changchun China Department of Advanced Manufacturing and Robotics College of Engineering State Key Laboratory for Turbulence and Complex Systems Peking University Beijing China Department of Mathematics Imperial College London United Kingdom Department of Computer Science University of Warwick Coventry United Kingdom Magnetism Department Faculty of Physics Lomonosov Moscow State University Moscow Russia Harbin Medical University China

Learning from natural bacteria flagellum, we demonstrate a magnetic polymer multilayer conical microrobot that bestow the controllable propulsion upon external rotating magnetic field with uniform intensity. The magnetic microrobots were constructed by template-assisted Layer-by-Layer technique technique and subsequent functionalization of magnetic particle onto the big opening of the microrobots. Geometric variables of the polymer microrobots, such as the diameter and wall thickness, can be controlled by selection of porous template and layers of assembly. The microrobots perform controllable propulsion through the manipulation of magnetic field. The comparative analysis of the movement behavior reveals that the deformation of microrobots may attributed to the propulsion upon rotating magnetic field, which is similar as that of natural bacteria. The influence of actuation frequencies and frequencies on the velocity of the microrobots is studied. Such use of polymer polymer multilayer tubular micro/nanoarchitectures results in significant savings in the processing costs and provides a simple and cost-effective fabrication route for the mass production of magnetic polymer microrobots. © 2024, The Authors. All rights reserved.

关键词： Bacteria

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Free-electron Brewster radiation

arXiv

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arXiv 2023年

作者： Chen, Ruoxi Chen, Jialin Gong, Zheng Zhang, Xinyan Zhu, Xingjian Yang, Yi Kaminer, Ido Chen, Hongsheng Zhang, Baile Lin, Xiao Interdisciplinary Center for Quantum Information State Key Laboratory of Extreme Photonics and Instrumentation ZJU-Hangzhou Global Scientific and Technological Innovation Center College of Information Science & Electronic Engineering Zhejiang University Hangzhou310027 China International Joint Innovation Center The Electromagnetics Academy Zhejiang University Zhejiang University Haining314400 China Department of Electrical and Computer Engineering Technion-Israel Institute of Technology Haifa32000 Israel School of Physics Zhejiang University Hangzhou310027 China Department of Physics University of Hong Kong 999077 Hong Kong Key Laboratory of Advanced Micro/Nano Electronic Devices & Smart Systems of Zhejiang Jinhua Institute of Zhejiang University Zhejiang University Jinhua321099 China Shaoxing Institute of Zhejiang University Zhejiang University Shaoxing312000 China Division of Physics and Applied Physics School of Physical and Mathematical Sciences Nanyang Technological University Singapore637371 Singapore Centre for Disruptive Photonic Technologies Nanyang Technological University Singapore637371 Singapore

Free-electron radiation offers an enticing route to create light emission at arbitrary spectral regime. However, this type of light emission is generally weak, which is intrinsically limited by the weak particle-matter interaction and unavoidably impedes the development of many promising applications, such as the miniaturization of free-electron radiation sources and high-energy particle detectors. Here we reveal a mechanism to enhance the particle-matter interaction by exploiting the pseudo-Brewster effect of gain materials – presenting an enhancement of at least four orders of magnitude for the light emission. This mechanism is enabled by the emergence of an unprecedented phase diagram that maps all phenomena of free-electron radiation into three distinct phases in a gain-thickness parameter space, namely the conventional, intermediate, and Brewster phases, when an electron penetrates a dielectric slab with a modest gain and a finite thickness. Essentially, our revealed mechanism corresponds to the free-electron radiation in the Brewster phase, which also uniquely features ultrahigh directionality, always at the Brewster angle, regardless of the electron velocity. Counterintuitively, we find that the intensity of this free-electron Brewster radiation is insensitive to the Fabry-Pérot resonance condition and thus the variation of slab thickness, and moreover, a weaker gain could lead to a stronger enhancement for the light emission. The scheme of free-electron Brewster radiation, especially along with its compatibility with low-energy electrons, may enable the development of high-directionality high-intensity light sources at any frequency. © 2023, CC BY.

关键词： Electrons

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