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2022 IEEE International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale, 3M-NANO 2022

作者： Sun, Wanyan Tan, Qingyuan Tan, Yonghong Tianjin Key Laboratory of Intelligent Robotics Nankai University Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin China University of Windsor Dept. of Electrical and Computer Engineering Windsor Canada College of Information Mechanical and Electrical Engineering Shanghai Normal University Shanghai China

ISBN: (数字)9781665475433

ISBN: (纸本)9781665475433

In this paper, a model-independent adaptive PID control scheme is proposed for the angle control of electromagnetic scanning micromirrors. In this scheme, only using the input and output data of the micromirror, a model-free adaptive mechanism is designed to adjust the PID parameters online to adapt to the change of the micromirror characteristics due to the hysteresis exists in the micromirror. It makes the deflection angle of the micromirror can track the reference trajectory fast and accurately. Finally, the simulation results show that the proposed control method has achieved better control performance than PID control in controlling the deflection angle of the micromirror. © 2022 IEEE.

关键词： Three term control systems

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Designing Controller for the 2-DoF Cable-Driven Serial Robot with Variable Configuration based on Adaptive Neuro-Fuzzy Systems

Designing Controller for the 2-DoF Cable-Driven Serial Robot...

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RSI/ISM International Conference on Robotics and Mechatronics (ICROM)

作者： Vahid Bahrami Ahmad Kalhor Mehdi Tale Masouleh School of Electrical and Computer Engineering University of Tehran Human and Robot Interaction Laboratory Tehran Iran

ISBN: (纸本)9781665454537

This paper addresses the problem of actuation and design of a controller for a 2-DoF Cable-Driven Serial Chain (CDSC) with variable configuration based on adaptive neuro-fuzzy systems. The mentioned structure uses several light cables to actuate rigid links of a passive planar serial robot, performing a 2-DoF motion pattern, which can apply tensile forces for moving the links and thus produce the necessary torque to track the desired reference model by the robot’s end-effector. Additionally, cable attachment point coordinates of the CDSC are considered variable configurations. So, a novel concept is expressed in the calculation of the CDSC’s Jacobian matrix. In this mechanism, upon formulating the sliding mode error dynamics, an Adaptive Neural Network (ANN) is used to cope with complex mathematical calculations of the CDSC dynamics. Then, the coordinates of cables are considered as variables that depend on the main states of the plant. These co-states are adaptively determined by applying an appropriate fuzzy system. As a result, an Adaptive Neuro-Fuzzy Controller (ANFC) algorithm is introduced for the mentioned redundant mechanism. Finally, by defining a new Cost of Redundancy (CoR), an optimal configuration of the cables is found, so the maximum Degrees of Redundancy (DoR) is obtained. The simulation results indicate that using the ANFC algorithm leads to a reduction of 2.23% in the CoR for the 2-DoF CDSC.

关键词： Adaptive systems Costs Torque Tracking Robot kinematics Heuristic algorithms Simulation

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Dual-demodulation large-scope high-sensitivity refractive index sensor based on twin-core PCF

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Optoelectronics Letters 2021年第4期17卷 193-198页

作者： LI Chen-yuan SONG Bin-bin WU Ji-xuan HUANG Wei WU Xu-jie JIN Chang The Key Laboratory of Computer Vision and System of Ministry of Education Tianjin Key Laboratory of Intelligence Computing and Novel Software TechnologyTianjin University of TechnologyTianjin 300384China Tianjin Key Laboratory of Optoelectronic Detection Technology and Systems College of Electronic and Information EngineeringTiangong UniversityTianjin 3003S7China

In this paper, a refractive index(RI) sensor based on the twin-core photonic crystal fiber(TC-PCF) is presented. Introducing the rectangular array in the core area makes the PCF possible to obtain high birefringence and low confinement loss over the wavelength range from 0.6 μm to 1.7 μm. Therefore, the core region can enhance the interaction between the core mode and the filling material. We studied theoretically the evolution characteristics of the birefringence and operating wavelength corresponding to the strongest polarization point under the condition of filling the rectangular array with RI matching fluid range from 1.33 to 1.41. Simulation results reveal that the proposed TC-PCF has opposite evolutions of change rates between the B and wavelength, and the maximum RI sensing sensitivities of 1.809× 10-2 B/RIU and 8 700 nm/RIU at low and high RI infill are obtained respectively, which means that the TC-PCF features of dual-parameter demodulation for the RI sensing can maintain a high refractive index sensing sensitivity within a large scope of RI ranging from 1.33 to 1.41. Compared with the results of single-parameter demodulation, it is an optimized method to improve the sensitivity of low refractive index sensors, which has great application potency in the field of biochemical sensing and detection.

关键词： polarization refractive index

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Johnsen-Rahbek Capstan Clutch: A High Torque Electrostatic Clutch

Johnsen-Rahbek Capstan Clutch: A High Torque Electrostatic C...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Timothy E. Amish Jeffrey T. Auletta Chad C. Kessens Joshua R. Smith Jeffrey I. Lipton Dept of Electrical and Computer Engineering University of Washington Seattle WA USA US Army Research Directorate DEVCOM Army Research Laboratory MD USA Paul G Allen School of Computer Science and Engineering University of Washington Seattle WA USA Mechanical and Industrial Engineering Department Northeastern University Boston MA USA

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

In many robotic systems, the holding state consumes power, limits operating time, and increases operating costs. Electrostatic clutches have the potential to improve robotic performance by generating holding torques with low power consumption. A key limitation of electrostatic clutches has been their low specific shear stresses which restrict generated holding torque, limiting many applications. Here we show how combining the Johnsen-Rahbek (JR) effect with the exponential tension scaling capstan effect can produce clutches with the highest specific shear stress in the literature. Our system generated 31.3 N/cm 2 sheer stress and a total holding torque of 7.1 N•m while consuming only 2.5 mW/cm 2 at 500 V. We demonstrate a theoretical model of an electrostatic adhesive capstan clutch and demonstrate how large angle (θ > 2π) designs increase efficiency over planar or small angle (θ < π) clutch designs. We also report the first unfilled polymeric material, polybenzimidazole (PBI), to exhibit the JR-effect.

关键词： Electric potential Torque Power demand Limiting Costs Polymers Electrostatics

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OpenChemIE: An Information Extraction Toolkit For Chemistry Literature

arXiv

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arXiv 2024年

作者： Fan, Vincent Qian, Yujie Wang, Alex Wang, Amber Coley, Connor W. Barzilay, Regina Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology CambridgeMA02139 United States Department of Chemical Engineering Massachusetts Institute of Technology CambridgeMA02139 United States Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology CambridgeMA02139 United States

Information extraction from chemistry literature is vital for constructing up-to-date reaction databases for data-driven chemistry. Complete extraction requires combining information across text, tables, and figures, whereas prior work has mainly investigated extracting reactions from single modalities. In this paper, we present OpenChemIE to address this complex challenge and enable the extraction of reaction data at the document level. OpenChemIE approaches the problem in two steps: extracting relevant information from individual modalities and then integrating the results to obtain a final list of reactions. For the first step, we employ specialized neural models that each address a specific task for chemistry information extraction, such as parsing molecules or reactions from text or figures. We then integrate the information from these modules using chemistry-informed algorithms, allowing for the extraction of fine-grained reaction data from reaction condition and substrate scope investigations. Our machine learning models attain state-of-the-art performance when evaluated individually, and we meticulously annotate a challenging dataset of reaction schemes with R-groups to evaluate our pipeline as a whole, achieving an F1 score of 69.5%. Additionally, the reaction extraction results of OpenChemIE attain an accuracy score of 64.3% when directly compared against the Reaxys chemical database. We provide OpenChemIE freely to the public as an open-source package, as well as through a web interface. © 2024, CC BY.

关键词： Data mining

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Nefis: A Network Coding Based Flexible Device-to-Device Video Streaming Scheme

SSRN

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SSRN 2024年

作者： Yin, Jun Wen, Jiaxin Zhu, Ming Li, Yulong Wang, Lei The Jiangsu Key Laboratory of Broadband Wireless Communication and Internet of Things Nanjing University of Posts and Telecommunications Nanjing210003 China The Department of Electrical and Computer Engineering University of Nevada Las VegasNV89154 United States The School of Computer Engineering Nanjing University of Posts and Telecommunications Nanjing210003 China

Wireless device-to-device (D2D) communication has empowered efficient and convenient video sharing among neighboring devices. However, the mobility and diversity of user devices, combined with dynamically shifting channel conditions, make these processes susceptible to environmental interference. In this paper, we introduce an adaptive network coding scheme tailored for D2D raw source video streaming in the scalable video coding (SVC) format. Video frames are partitioned into equalsized fragments and encoded into streaming packets with the addition of certain redundancy. To address the observed deficiencywhere decoding throughput of coded video frames is generally lower than that of the encoding operation on mobile device platforms, we introduce a parallel decoding algorithm based on LU decomposition. Furthermore, we propose a flexible adjustment mechanism, named Nefis, which dynamically adapts the networkcoding redundancy and stream resolution based on the statistical model established to predict current network conditions and video streaming quality. Implementation on Android platform demonstrates that Nefis reduce redundancy in bandwidth usage during streaming process and enhance resilience to network dynamics. Experimental results also conclusively demonstrate the feasibility and advantages of network coding technology in D2D streaming applications. Nevertheless, achieving these advantages requires carefully designed encoding and decoding mechanisms. © 2024, The Authors. All rights reserved.

关键词： Wi-Fi

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Joint Task Offloading and Resource Allocation for LEO Satellite-Based Mobile Edge Computing Systems With Heterogeneous Task Demands

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IEEE Transactions on Vehicular Technology 2025年

作者： Zhong, Liang Li, Youyuan Ge, Ming-Feng Feng, Mingjie Mao, Shiwen China University of Geosciences School of Mechanical Engineering and Electronic Information Wuhan430072 China Huazhong University of Science and Technology Wuhan National Laboratory for Optoelectronics Wuhan430074 China Auburn University Department of Electrical and Computer Engineering AuburnAL36849 United States

To satisfy the growing demand for supporting intelligent Internet of Things (IoT) applications in remote areas, satellite mobile edge computing (SMEC) systems are expected to be widely deployed. Meanwhile, as IoT applications are increasingly diversified, the tasks received by SMEC systems present heterogeneous demands for various resources and quality of service (QoS) metrics, necessitating customized design to accommodate such heterogeneity. In this paper, we investigate the problem of joint task offloading and resource allocation in SMEC systems with heterogeneous task demands. We first propose a customized task utility model that captures the diversified demands, which is an extension of traditional unified task utility models. Based on the model, we then formulate a mixed integer non-linear programming (MINLP) problem for joint optimization of task offloading, computing resource allocation, transmission power control, and user association, aiming to maximize the sum utility of all tasks. To solve the MINLP, a multi-layer iterative framework is proposed that decomposes the original problem into two subproblems, which are solved by successive convex approximation (SCA) and deep reinforcement learning (DRL) algorithms, respectively. Simulation results show that, by applying the proposed task utility model, the average utility performance of UEs can be improved by 50% and 100% compared to applying a single metric-based utility model and a typical classification-based utility model, respectively;the proposed task offloading and resource allocation scheme achieves a 30%-80% performance gain compared to benchmark schemes. © 1967-2012 IEEE.

关键词： Quality of service

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Optimum Noise Mechanism for Probabilistic Differentially Private Queries in Discrete Finite Sets

Optimum Noise Mechanism for Probabilistic Differentially Pri...

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International Conference on Smart Communications and Networking (SmartNets)

作者： Sachin Kadam Anna Scaglione Nikhil Ravi Sean Peisert Brent Lunghino Aram Shumavon Dept. of Electrical and Computer Engineering Sungkyunkwan University Suwon Republic of Korea Dept. of Electrical and Computer Engineering Cornell Tech Cornell University New York USA Lawrence Berkeley National Laboratory Berkeley CA USA Kevala Inc. San Francisco CA USA

Most published work on differential privacy (DP) focuses exclusively on meeting privacy constraints by adding to the query noise with a pre-specified parametric distribution model, typically with one or two degrees of freedom. The accuracy of the response and its utility for the intended use are often not part of the design. Considering that several database queries are categorical in nature (e.g., label, color, etc.), or discrete numerical data (e.g., ranking, histogram, etc.), or can be quantized to discrete values, the parameters that define the randomized mechanism’s distribution are finite. Thus, it is reasonable to search through numerical optimization for the probability masses that meet the privacy constraints while minimizing the query distortion. Considering the modulo summation of random noise as the probabilistic DP mechanism, the goal of this paper is to introduce a tractable framework to design the optimum noise probability mass function (PMF) for database queries with a discrete and finite set, optimizing with an expected distortion metric for a given privacy requirement. This paper shows that the optimum PMF can be obtained by solving a mixed integer linear program (MILP) and that the proposed optimal mechanism significantly outperforms the state-of-the-art.

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A Framework of FAS-RIS Systems: Performance Analysis and Throughput Optimization

arXiv

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arXiv 2024年

作者： Yao, Junteng Lai, Xiazhi Zhi, Kangda Wu, Tuo Jin, Ming Pan, Cunhua Elkashlan, Maged Yuen, Chau Wong, Kai-Kit The Faculty of Electrical Engineering and Computer Science Ningbo University Ningbo315211 China The School of Computer Science Guangdong University of Education Guangdong Guangzhou China The School of Electrical Engineering and Computer Science Technical University of Berlin Berlin10623 Germany The School of Electrical and Electronic Engineering Nanyang Technological University 639798 Singapore The National Mobile Communications Research Laboratory Southeast University Nanjing210096 China The School of Electronic Engineering and Computer Science Queen Mary University of London LondonE1 4NS United Kingdom The Department of Electronic and Electrical Engineering University College London LondonWC1E 6BT United Kingdom The Yonsei Frontier Laboratory the School of Integrated Technology Yonsei University Seoul03722 Korea Republic of

In this paper, we investigate reconfigurable intelligent surface (RIS)-assisted communication systems which involve a fixed-antenna base station (BS) and a mobile user (MU) that is equipped with fluid antenna system (FAS). Specifically, the RIS is utilized to enable communication for the user whose direct link from the base station is blocked by obstacles. We propose a comprehensive framework that provides transmission design for both static scenarios with the knowledge of channel state information (CSI) and harsh environments where CSI is hard to acquire. It leads to two approaches: a CSI-based scheme where CSI is available, and a CSI-free scheme when CSI is inaccessible. Given the complex spatial correlations in FAS, we employ block-diagonal matrix approximation and independent antenna equivalent models to simplify the derivation of outage probabilities in both cases. Based on the derived outage probabilities, we then optimize the throughput of the FAS-RIS system. For the CSI-based scheme, we first propose a gradient ascent-based algorithm to obtain a near-optimal solution. Then, to address the possible high computational complexity in the gradient algorithm, we approximate the objective function and confirm a unique optimal solution accessible through a bisection search method. For the CSI-free scheme, we apply the partial gradient ascent algorithm, reducing complexity further than full gradient algorithms. We also approximate the objective function and derive a locally optimal closed-form solution to maximize throughput. Simulation results validate the effectiveness of the proposed framework for the transmission design in FAS-RIS systems. © 2024, CC BY.

关键词： Antennas

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Technologies for Modulation of Visible Light and their Applications

arXiv

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arXiv 2024年

作者： Park, Sanghyo Notaros, Milica Mohanty, Aseema Kim, Donggyu Notaros, Jelena Mouradian, Sara Department of Physics Korea Advanced Institute of Science and Technology Daejeon34141 Korea Republic of Research Laboratory of Electronics Massachusetts Institute of Technology CambridgeMA02139 United States Department of Electrical & Computer Engineering Tufts University MedfordMA02155 United States Department of Electrical & Computer Engineering University of Washington SeattleWA98195 United States

Control over the amplitude, phase, and spatial distribution of visible-spectrum light underlies many technologies, but commercial solutions remain bulky, require high control power, and are often too slow. Active integrated photonics for visible light promises a solution, especially with recent materials and fabrication advances. In this review, we discuss three growing application spaces which rely on control of visible light: control and measurement of atomic quantum technologies, augmented-reality displays, and measurement and control of biological systems. We then review the commercial dynamic surfaces and bulk systems which currently provide visible-light modulation and the current state-of-the-art integrated solutions. Throughout the review we focus on speed, control power, size, optical bandwidth, and technological maturity when comparing technologies. Copyright © 2024, The Authors. All rights reserved.

关键词： Light modulation

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