The sit-to-stand movement is a key feature for wide adoption of powered lower limb orthoses for patients with complete paraplegia. In this paper we study the control of the ascending phase of the sit-to-stand movement...
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This study presents a technique to safely control the Sit-to-Stand movement of powered lower limb orthoses in the presence of parameter uncertainty. The weight matrices used to calculate the finite time horizon linear...
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A sensitivity-based approach for computing over-approximations of reachable sets, in the presence of constant parameter uncertainties and a single initial state, is used to analyze a three-link planar robot modeling a...
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This paper presents a nonlinear-model based hybrid optimal control technique to compute a suboptimal power-split strategy for power/energy management in a parallel hybrid electric vehicle (PHEV). The power-split strat...
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This article concerns the problem of computing solutions to state-constrained optimal control problems whose trajectory is affected by a flow field. This general mathematical framework is particularly pertinent to the...
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As for a pipe-line plant subjected to complex logical control specifications, an approach is proposed to generate the control codes via Petri net such that the plant is run as concurrently as possible. A PN model, cal...
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As for a pipe-line plant subjected to complex logical control specifications, an approach is proposed to generate the control codes via Petri net such that the plant is run as concurrently as possible. A PN model, called the plant net, is designed to represent the whole process of a pipe-line system. In this plant net, the tasks, including fluid transportation from one tank to another and cleaning tank, are represented by operational places, and level sensors in tanks are modeled by labels assigned with transitions. Further, conflict structures are used to describe the conflict relations among tasks due to the shared valves and pipes. By introducing a priority order in the transitions, an algorithm is presented to compute the control commands for valves based on this plant net. A beer filtration plant is taken as an example to illustrate the method.
Chimera states in spatiotemporal dynamical systems have been investigated in physical, chemical, and biological systems, and have been shown to be robust against random perturbations. How do chimera states achieve the...
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Chimera states in spatiotemporal dynamical systems have been investigated in physical, chemical, and biological systems, and have been shown to be robust against random perturbations. How do chimera states achieve their robustness? We uncover a self-adaptation behavior by which, upon a spatially localized perturbation, the coherent component of the chimera state spontaneously drifts to an optimal location as far away from the perturbation as possible, exposing only its incoherent component to the perturbation to minimize the disturbance. A systematic numerical analysis of the evolution of the spatiotemporal pattern of the chimera state towards the optimal stable state reveals an exponential relaxation process independent of the spatial location of the perturbation, implying that its effects can be modeled as restoring and damping forces in a mechanical system and enabling the articulation of a phenomenological model. Not only is the model able to reproduce the numerical results, it can also predict the trajectory of drifting. Our finding is striking as it reveals that, inherently, chimera states possess a kind of “intelligence” in achieving robustness through self-adaptation. The behavior can be exploited for the controlled generation of chimera states with their coherent component placed in any desired spatial region of the system.
A fully homomorphic encryption system hides data from unauthorized parties while still allowing them to perform computations on the encrypted data. Aside from the straightforward benefit of allowing users to delegate ...
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A fully homomorphic encryption system hides data from unauthorized parties while still allowing them to perform computations on the encrypted data. Aside from the straightforward benefit of allowing users to delegate computations to a more powerful server without revealing their inputs, a fully homomorphic cryptosystem can be used as a building block in the construction of a number of cryptographic functionalities. Designing such a scheme remained an open problem until 2009, decades after the idea was first conceived, and the past few years have seen the generalization of this functionality to the world of quantum machines. Quantum schemes prior to the one implemented here were able to replicate some features in particular use cases often associated with homomorphic encryption but lacked other crucial properties, for example, relying on continual interaction to perform a computation or leaking information about the encrypted data. We present the first experimental realization of a quantum fully homomorphic encryption scheme. To demonstrate the versatility of a a quantum fully homomorphic encryption scheme, we further present a toy two-party secure computation task enabled by our scheme.
Self-Driving Car research problem requires several sub-topics that need to be discussed more deeply. Such as Deep Learning, computer Vision, Fusion Sensor, Localization, control, until Path Planning. All of them are f...
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