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Navigation with Multi-obstacle Avoidance Composed of Stochastic Optimal controllers

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Navigation with Multi-obstacle Avoidance Composed of Stochas...

American control Conference (ACC)

作者： Alexey A. Munishkin Dejan Milutinović David W. Casbeer Electrical and Computer Engineering Department University of California Santa Cruz CA USA Control Science Center of Excellence Air Force Research Laboratory Wright-Patterson AFB OH

ISBN: (纸本)9781538679012;9781538679265

Avoiding collisions with obstacles is of fundamental importance for the safe navigation of unmanned aerial vehicles (UAVs) and mobile robots. In this paper, we approach the avoidance problem by composing a scalable navigation strategy from multiple stochastic optimal controllers. We consider a scenario with a fixed speed Dubins vehicle, which is tasked to reach a waypoint while avoiding collisions with multiple moving obstacles. Obstacle moving directions are unknown, therefore, we use a random walk stochastic process model to anticipate that uncertainty in the design of navigation feedback control. The proposed navigation is based on a composition of minimum time stochastic optimal controllers. Each optimal controller is the solution to a minimum time problem to reach either the waypoint or a safe configuration with respect to an obstacle. The composition is based on the controller value functions and is scalable, i.e., it can deal with any number of obstacles. Our results are illustrated with a numerical simulation.

关键词： Navigation Optimal control Stochastic processes Collision avoidance Unmanned aerial vehicles Uncertainty Mobile robots

Efficient experimental quantum fingerprinting with wavelength division multiplexing

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arXiv 2020年

作者： Zhong, Xiaoqing Xu, Feihu Lo, Hoi-Kwong Qian, Li Center for Quantum Information and Quantum Control Dept. of Physics University of Toronto TorontoONM5S 1A7 Canada Hefei National Laboratory for Physical Sciences at the Microscale and Department of Modern Physics University of Science and Technology of China Hefei230026 China Center for Quantum Information and Quantum Control Dept. of Electrical & Computer Engineering University of Toronto TorontoONM5S 3G4 Canada

Quantum communication complexity studies the efficiency of information communication (that is, the minimum amount of communication required to achieve a certain task) using quantum states. One representative example is quantum fingerprinting, in which the simultaneous message passing model is considered and the minimum amount of communication could be exponentially smaller than the classical fingerprinting protocol. Experimental demonstrations based on a practical quantum fingerprinting protocol where coherent states are used to construct the fingerprints, have successfully shown the superiority of quantum fingerprinting. However, as a consequence of using coherent states, the communication time in this coherent quantum fingerprinting (CQF) protocol is increased. Moreover, the minimum amount of information communicated in these experimental demonstrations is largely limited by the dark counts of the single photon detectors. Here, we propose to enhance the performance of the existing CQF protocol through applying wavelength division multiplexing (WDM) and simultaneous detection of multiple wavelength channels. We show that the new WDM-CQF protocol can potentially reduce the communication time significantly. More importantly, with the same experimental parameters, the amount of communication is much reduced in the new scheme compared with the original CQF protocol. The more wavelength channels are used, the less communication is required by WDM-CQF protocol. We also perform a proof-of-concept experimental demonstration of the new WDM-CQF protocol with 6 wavelength channels. The experimental results further validate that the new scheme with WDM not only beats the classical protocol, but also reduces the amount of communication required by the original CQF protocol by more than half. Copyright © 2020, The Authors. All rights reserved.

关键词： Demonstrations

Coupling the reduced-order model and the generative model for an importance sampling estimator

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arXiv 2019年

作者： Wan, Xiaoliang Wei, Shuangqing Department of Mathematics Center for Computation and Technology Louisiana State University Baton RougeLA70803 United States Division of Electrical & Computer Engineering Louisiana State University Baton RougeLA70803 United States

In this work, we develop an importance sampling estimator by coupling the reduced-order model and the generative model in a problem setting of uncertainty quantification. The target is to estimate the probability that the quantity of interest (QoI) in a complex system is beyond a given threshold. To avoid the prohibitive cost of sampling a large scale system, the reduced-order model is usually considered for a trade-off between efficiency and accuracy. However, the Monte Carlo estimator given by the reduced-order model is biased due to the error from dimension reduction. To correct the bias, we still need to sample the fine model. An effective technique to reduce the variance reduction is importance sampling, where we employ the generative model to estimate the distribution of the data from the reduced-order model and use it for the change of measure in the importance sampling estimator. To compensate the approximation errors of the reduced-order model, more data that induce a slightly smaller QoI than the threshold need to be included into the training set. Although the amount of these data can be controlled by a posterior error estimate, redundant data, which may outnumber the effective data, will be kept due to the epistemic uncertainty. To deal with this issue, we introduce a weighted empirical distribution to process the data from the reduced-order model. The generative model is then trained by minimizing the cross entropy between it and the weighted empirical distribution. We also introduce a penalty term into the objective function to deal with the overfitting for more robustness. Numerical results are presented to demonstrate the effectiveness of the proposed methodology. Copyright © 2019, The Authors. All rights reserved.

关键词： Uncertainty analysis

Transforming heat transfer with thermal metamaterials and devices

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arXiv 2020年

作者： Li, Ying Li, Wei Han, Tiancheng Zheng, Xu Li, Jiaxin Li, Baowen Fan, Shanhui Qiu, Cheng-Wei Department of Electrical and Computer Engineering National University of Singapore Singapore117583 Singapore Interdisciplinary Center for Quantum Information State Key Laboratory of Modern Optical Instrumentation College of Information Science and Electronic Engineering Zhejiang University Hangzhou310027 China ZJU-Hangzhou Global Science and Technology Innovation Center Key Lab. of Advanced Micro/Nano Electronic Devices & Smart Systems of Zhejiang Zhejiang University Hangzhou310027 China Department of Electrical Engineering Ginzton Laboratory Stanford University StanfordCA94305 United States National Engineering Research Center of Electromagnetic Radiation Control Materials State Key Laboratory of Electronic Thin Film and Integrated Devices University of Electronic Science and Technology of China Chengdu610054 China Department of Physics University of Colorado BoulderCO80309 United States School of Mechatronics Engineering Harbin Institute of Technology Harbin150001 China Paul M. Rady Department of Mechanical Engineering University of Colorado BoulderCO80309 United States

| The demand for sophisticated tools and approaches in heat management and control has triggered fast development of emerging fields including conductive thermal metamaterials, nanophononics, far-field and near-field radiative thermal management, etc. In this review, we cast a unified perspective on the control of heat transfer, based on which the related studies can be considered as complementary paradigms toward manipulating physical parameters and realizing unprecedented phenomena in heat transfer using artificial structures, such as thermal conductivity in heat conduction, thermal emissivity in radiation, and properties related to multi-physical effects. The review is divided into three parts that focus on the three main categories of heat flow control, respectively. Thermal conduction and radiation are emphasized in the first and second parts at both macro- and micro-scale. The third part discusses the efforts to actively introduce heat sources or tune the material parameters with multi-physical effects in both conduction and radiation, including works using thermal convection. We conclude the review with challenges in this research topic and new possibilities about topological thermal effects, heat waves, and quantum thermal effects. Copyright © 2020, The Authors. All rights reserved.

关键词： Metamaterials

Design of ADRC for Second-Order Mechanical Systems without Time-Derivatives in the Tracking controller

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Design of ADRC for Second-Order Mechanical Systems without T...

American control Conference

作者： M. Ramirez-Neria R. Madonski A. Luviano-Juarez Z. Gao H. Sira-Ramirez Mechatronics Departament Uni¬versidad Politécnica del Valle de Mexico Tultitlán Es¬tado de Méixico Energy Electricity Research Center Inter¬national Energy College Jinan University Zhuhai P. R. China UPIITA-IPN Mexico City Mexico Department of Electrical and Computer Engineering Center for Advanced Control Technologies Cleveland State University Cleveland Ohio USA Electrical Engineer¬ing Department of Cinvestav-IPN Mechatronics Section Mexico City

ISBN: (数字)9781538682661

ISBN: (纸本)9781538682678

In this article, the problem of designing Active Disturbance Rejection control (ADRC) for a class of second-order mechanical systems, expressed with Euler-Lagrange equations, is studied. A specific and practically motivated case is considered here, namely trajectory tracking task without the use of signal time-derivatives in the tracking controller. A general solution is proposed showing how to synthesize and tune the observer and the controller parts of the ADRC scheme. A special Extended State Observer is used in the design and here it takes the form of a Generalized Proportional Integral Observer (GPIO), which uses a Taylor series approximation of the total disturbance. A set of experimental results, obtained using a two degree-of-freedom robotic manipulator, shows the effectiveness of the proposed governing scheme in terms of trajectory realization and disturbance rejection without the use of signal time-derivatives in the controller.

关键词： Observers Manipulators Mechanical systems Trajectory tracking Trajectory Electronic mail

Observation of nonreciprocal magneto-optical scattering in nonencapsulated few-layered CrI3

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arXiv 2020年

作者： Guo, Kai Liu, Zhen Hu, Guangwei Shi, Zhongtai Li, Yue Zhang, Linbo Chen, Haiyan Zhang, Li Zhou, Peiheng Lu, Haipeng Lin, Miao-Ling Liu, Sizhao Cheng, Yingchun Liu, Xue Lu Xie, Jianliang Bi, Lei Tan, Ping-Heng Deng, Long jiang Qiu, Cheng-Wei Peng, Bo National Engineering Research Center of Electromagnetic Radiation Control Materials School of Electronic Science and Engineering University of Electronic Science and Technology of China Chengdu611731 China Department of Electrical and Computer Engineering National University of Singapore 117583 Singapore Key Laboratory of Flexible Electronics Institute of Advanced Materials Jiangsu National Synergetic Innovation Center for Advanced Materials Nanjing Tech University Nanjing211816 China State Key Laboratory of Superlattices and Microstructures Institute of Semiconductors Chinese Academy of Sciences P. O. Box 912 Beijing100083 China

"Magneto-optical" effect refers to a rotation of polarization plane, which has been widely studied in traditional ferromagnetic metal and insulator films and scarcely in two-dimensional layered materials. Here we uncover a new nonreciprocal magneto-inelastic light scattering effect in ferromagnetic few-layer CrI3. We observed a rotation of the polarization plane of inelastic light scattering between -20o and +60o that are tunable by an out-of-plane magnetic field from -2.5 to 2.5 T. It is experimentally observed that the degree of polarization can be magnetically manipulated between -20% and 85%. This work raises a new magneto-optical phenomenon and could create opportunities of applying 2D ferromagnetic materials in Raman lasing, topological photonics, and magneto-optical modulator for information transport and storage. © 2020, CC BY-NC-SA.

关键词： Ferromagnetic materials

Distribution system state estimation: an overview of recent developments

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Frontiers of Information Technology & Electronic engineering 2019年第1期20卷 4-17页

作者： Wang Gang Giannakis Georgios B Chen Jie Sun Jian Department of Electrical and Computer Engineering and Digital Technology Center University of Minnesota USA Minneapolis MN 55455 School of Automation Beijing Institute of Technology Beijing 100081 Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081

In the envisioned smart grid, high penetration of uncertain renewables, unpredictable participation of (industrial) customers, and purposeful manipulation of smart meter readings, all highlight the need for accurate, fast, and robust power system state estimation (PSSE). Nonetheless, most real-time data available in the current and upcoming transmission/distribution systems are nonlinear in power system states (i.e., nodal voltage phasors). Scalable approaches to dealing with PSSE tasks undergo a paradigm shift toward addressing the unique modeling and computational challenges associated with those nonlinear measurements. In this study, we provide a contemporary overview of PSSE and describe the current state of the art in the nonlinear weighted least-squares and least-absolutevalue PSSE. To benchmark the performance of unbiased estimators, the Cramer-Rao lower bound is developed. Accounting for cyber attacks, new corruption models are introduced, and robust PSSE approaches are outlined as well. Finally, distribution system state estimation is discussed along with its current challenges. Simulation tests corroborate the effectiveness of the developed algorithms as well as the practical merits of the theory.

关键词： State estimation Cramer-Rao bound Feasible point pursuit Semidefinite relaxation Proximal linear algorithm Composite optimization Cyber attack Bad data detection

Generalized swap networks for near-term quantum computing

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arXiv 2019年

作者： O'Gorman, Bryan Huggins, William J. Rieffel, Eleanor G. Whaley, K. Birgitta Department of Electrical Engineering and Computer Sciences University of California Berkeley United States Department of Chemistry Berkeley Quantum Information and Computation Center University of California Berkeley United States Quantum Artificial Intelligence Laboratory NASA Ames Research Center Moffett FieldCA

The practical use of many types of near-term quantum computers requires accounting for their limited connectivity. One way of overcoming limited connectivity is to insert swaps in the circuit so that logical operations can be performed on physically adjacent qubits, which we refer to as solving the "routing via matchings" problem. We address the routing problem for families of quantum circuits defined by a hypergraph wherein each hyperedge corresponds to a potential gate. Our main result is that any unordered set of k-qubit gates on distinct k-qubit subsets of n logical qubits can be ordered and parallelized in O(nk-1) depth using a linear arrangement of n physical qubits;the construction is completely general and achieves optimal scaling in the case where gates acting on all (nk) sets of k qubits are desired. We highlight two classes of problems for which our method is particularly useful. First, it applies to sets of mutually commuting gates, as in the (diagonal) phase separators of Quantum Alternating Operator Ansatz (Quantum Approximate Optimization Algorithm) circuits. For example, a single level of a QAOA circuit for Maximum Cut can be implemented in linear depth, and a single level for 3-SAT in quadratic depth. Second, it applies to sets of gates that do not commute but for which compilation efficiency is the dominant criterion in their ordering. In particular, it can be adapted to Trotterized time-evolution of fermionic Hamiltonians under the Jordan-Wigner transformation, and also to non-standard mixers in QAOA. Using our method, a single Trotter step of the electronic structure Hamiltonian in an arbitrary basis of n orbitals can be done in O(n3) depth while a Trotter step of the unitary coupled cluster singles and doubles method can be implemented in O(n2η) depth, where η is the number of electrons. Copyright © 2019, The Authors. All rights reserved.

关键词： Qubits

Identifying laguerre-gaussian modes using convolutional neural network 18

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Identifying laguerre-gaussian modes using convolutional neur...

18th IEEE International Conference on Machine Learning and Applications, ICMLA 2019

作者： Sharifi, Safura Brown, Sofia Novikova, Irina Mikhailov, Eugeniy Veronis, Georgios Dowling, Jonathan Banadaki, Yaser Siddiqui, Elisha Cuzzo, Savannah Bhusal, Narayan Cohen, Lior Kalasky, Austin Prajapati, Nik Soto-Garcia, Rachel School of Electrical Engineering and Computer Science Department of Physics and Astronomy Louisiana State University Baton RougeLA70803 United States Center for Computation and Technology Department of Physics and Astronomy Louisiana State University Baton RougeLA70803 United States Hearne Institute for Theoretical Physics Department of Physics and Astronomy Louisiana State University Baton RougeLA70803 United States School of Computer Science Southern University and A and M College Baton RougeLA70813 United States Department of Physics College of William and Marry WilliamburgVA8795 United States

ISBN: (纸本)9781728145495

An automated determination of Laguerre-Gaussian (LG) modes benefits cavity tuning and optical communication. In this paper, we employ machine learning techniques to automatically detect the lowest sixteen LG modes of a laser beam. Convolutional neural networks (CNN) are trained by collecting the experimental and simulated datasets of LG modes that relies only on the intensity images of their unique patterns. We demonstrate that the trained CNN model can detect LG modes with the maximum accuracy greater than 96% after 60 epochs. The study evaluates the CNN's ability to generalize to new data and adapt to experimental conditions. © 2019 IEEE.

关键词： Optical communication