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Conference on Lasers and Electro-Optics (CLEO)

作者： Jesús Arjona Ryan Parker Kevin Chen Carola Purser Linsen Li Cathryn Michaels Alexander Stramma Romain Debroux Isaac Harris Martin Hayhurst Eleanor Nichols Matthew Trusheim Dorian Gangloff Dirk Englund Mete Atature Cavendish Laboratory University of Cambridge Cambridge United Kingdom Department of Electrical Engineering and Computer Science MIT Cambridge USA

Tin-vacancy centres in diamond are spin-photon interfaces with intrinsic environmental noise insensitivity. We reveal their high optical coherence in a nanostructured environment and generate single photons with a 99.... 详细信息

ISBN: (纸本)9781957171258

关键词： Coherence Diamond Interference Photons Quantum networks Single mode fibers

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A lightweight high-voltage boost circuit for soft-actuated micro-aerial-robots

A lightweight high-voltage boost circuit for soft-actuated m...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Zhijian Ren Jiahui Yang Suhan Kim Yi-Hsuan Hsiao Jeffrey Lang Yufeng Chen Department of Electrical Engineering and Computer Science Research Laboratory of Electronics Massachusetts Institute of Technology (MIT) Cambridge MA USA

Flight is an energetically expensive task. While aerial insects can effortlessly fly through natural environments, achieving power autonomous flights in insect-scale robots remains a major challenge. In prior works, we developed soft-actuated insect-scale aerial robots that demonstrated unique capabilities such as in-flight collision recovery and somersaults. However, the soft dielectric elastomer actuators (DEAs) have low efficiency (< 20%) and require a high driving voltage (>600 V). These properties represent formidable obstacles for soft aerial robots to achieve power autonomous flights. In this work, we developed a 127 mg boost circuit that can convert a 7.7 V DC input into a 600 V and 400 Hz output for driving a 120 mg DEA. It has an equivalent capacitance and resistance of 20 nF and 5 $\mathbf{k}\Omega$ , respectively. The DEA is assembled into a 158 mg aerial robot, which can demonstrate liftoff while carrying the boost circuit as a payload. Although the robot remains tethered to an off-board power supply, this result represents a first step towards achieving power autonomy in soft aerial robots.

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Identifiability of linear noise approximation models of chemical reaction networks from stationary distributions

Identifiability of linear noise approximation models of chem...

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IEEE Conference on Decision and Control

作者： Theodore W. Grunberg Domitilla Del Vecchio Department of Electrical Engineering and Computer Science MIT Cambridge USA Department of Mechanical Engineering MIT Cambridge USA

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

Biomolecular systems can often be modeled by chemical reaction networks with unknown parameters. In many cases, the available data is constituted of samples from the stationary distribution, wherein each sample is given by a cell in a population. In this work, we develop a framework to assess identifiability of parameters in such a situation. Working with the Linear Noise Approximation (LNA) we give an algebraic formulation of identifiability and use it to certify identifiability with Hilbert’s Nullstellensatz. We include applications to particular biomolecular systems, focusing on the identifiability of a sequestration-based motif and of a feedback arrangement based on it.

关键词： Biological system modeling Computational modeling Sociology Focusing Chemical reactions Mathematical models Steady-state

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Heading Control of a Long-Endurance Insect-Scale Aerial Robot Powered by Soft Artificial Muscles

Heading Control of a Long-Endurance Insect-Scale Aerial Robo...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Yi-Hsuan Hsiao Suhan Kim Zhijian Ren YuFeng Chen Department of Electrical Engineering and Computer Science Research Laboratory of Electronics Massachusetts Institute of Technology (MIT) Cambridge MA USA

Aerial insects demonstrate fast and precise heading control when they perform body saccades and rapid escape maneuvers. While insect-scale micro-aerial-vehicles (IMAVs) have demonstrated early results on heading control, their flight endurance and heading angle tracking accuracy remain far inferior to that of natural fliers. In this work, we present a long endurance sub-gram aerial robot that can demonstrate effective heading control during hovering flight. Through using a tilted wing stroke-plane design, our robot demonstrates a 10-second flight where it tracks a desired yaw trajectory with maximum and root-mean-square (RMS) error of $\boldsymbol{14.2^{\circ}}$ and $\boldsymbol{5.8}^{\mathrm{o}}$ . The new robot design requires 7% higher lift forces for enabling heading angle control, which creates higher stress on wing hinges and adversely influences robot endurance. To address this challenge, we developed novel 3-layered wing hinges that exhibit 1.82 times improvement of lifetime. With the new wing hinges, our robot demonstrates a 40-second hovering flight - the longest among existing sub-gram IMAVs. These results represent substantial improvement of flight capabilities in soft-actuated IMAVs, showing the potential of operating these insect-like fliers in cluttered natural environments.

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Strong Compliant Grasps Using a Cable-Driven Soft Gripper

Strong Compliant Grasps Using a Cable-Driven Soft Gripper

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Gregory Xie Lillian Chin Byungchul Kim Rachel Holladay Daniela Rus MIT Computer Science and Artificial Intelligence Laboratory (CSAIL) Massachusetts Institute of Technology Cambridge MA USA Department of Electrical and Computer Engineering The University of Texas at Austin Austin TX USA

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

The natural flexibility of soft robotic grippers allows for versatile and compliant grasping. However, this same flexibility can restrict the gripper’s strength. Striking a balance between compliance and strength is essential for effective soft grippers. In this work, we present Flexible Robust Observant Gripper (FROG), a soft gripper that is both compliant and strong. We describe the mechanical design of the gripper, characterize the soft flexures used in the design, and analyze the grasp forces generated by the gripper. Utilizing the structure of the gripper, we develop feedforward grasp controllers and a classifier to distinguish between grasp types. Grasping experiments show that FROG can effectively grasp a variety of objects, including very soft or delicate items. Holding force tests show that our gripper can conform to the grasped object and exert large grasp forces.

关键词： Force Grasping Soft robotics Grippers Feedforward systems Intelligent robots

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Analysis of a Synthesized Slot Permanent Magnet Flux Reversal Motor

Analysis of a Synthesized Slot Permanent Magnet Flux Reversa...

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electrical Machines and Drives (ICEMD), International Conference on

作者： Mohammad Reza Sarshar Mohammad Amin Jalali Kondelaji Mojtaba Mirsalim Department of Electrical Engineering Amirkabir University of Technology (Tehran Polytechnic) Tehran Iran Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology (MIT) Cambridge USA

This paper presents a comparison of three stator-permanent magnet (PM) motors, each with a different PM arrangement on the stator. These arrangements include tangential, radial, and tangential-radial directions of magnetization for the PMs, which results in three main structures. The first and main motor structure contains two sets of PMs with tangential and radial magnetization directions, which introduces a new synthesized slot-PM flux reversal motor. The other two motors have only one PM arrangement (either tangential or radial). The simulation results under no-load and full-load states are derived with finite element method, which show that the dual-PM motor structure has higher torque density and smaller torque ripple compared to the other two motors. Additionally, all proposed topologies have demonstrated a robust overload capability with no significant drop in the torque-current curve.

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GRAND-EDGE: A Universal, Jamming-resilient Algorithm with Error-and-Erasure Decoding

arXiv

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arXiv 2023年

作者： Ercan, Furkan Galligan, Kevin Starobinski, David Médard, Muriel Duffy, Ken R. Yazicigil, Rabia Tugce Department of Electrical and Computer Engineering Boston University BostonMA United States Department of Electrical Engineering and Computer Science MIT CambridgeMA United States Hamilton Institute Maynooth University Ireland

Random jammers that overpower transmitted signals are a practical concern for many wireless communication protocols. As such, wireless receivers must be able to cope with standard channel noise and jamming (intentional or unintentional). To address this challenge, we propose a novel method to augment the resilience of the recent family of universal error-correcting GRAND algorithms. This method, called Erasure Decoding by Gaussian Elimination (EDGE), impacts the syndrome check block and is applicable to any variant of GRAND. We show that the proposed EDGE method naturally reverts to the original syndrome check function in the absence of erasures caused by jamming. We demonstrate this by implementing and evaluating GRAND-EDGE and ORBGRAND-EDGE. Simulation results, using a Random Linear Code (RLC) with a code rate of 105/128, show that the EDGE variants lower both the Block Error Rate (BLER) and the computational complexity by up to five order of magnitude compared to the original GRAND and ORBGRAND algorithms. We further compare ORBGRAND-EDGE to Ordered Statistics Decoding (OSD), and demonstrate an improvement of up to three orders of magnitude in the BLER. Copyright © 2023, The Authors. All rights reserved.

关键词： Decoding

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10th International Conference on Smart Computing and Communication, ICSCC 2024

作者： Shaharao, Rushikesh Sakarkar, Gopal Khandagale, Abhijeet Gaurihar, Mahima Shaikh, Ramsha Kadhare, Rupak Abiyasa, Agus Putu G. H. Raisoni College of Engineering Department of Artificial Intelligence Nagpur India Dr Vishwanath Karad MIT World Peace University Department of Computer Science & Applications Pune India Vruksh Ecosystem Foundation India Nagpur India Ekatra Learning Inc. Mumbai India Universitas Pendidikan Nasional Department of Electrical Engineering Denpasar Indonesia

ISBN: (纸本)9798350363104

Semantic Similarity, also known as Semantic Textual Similarity, is an NLP task that evaluates the relationship between texts using predefined metrics. It is crucial in domains like information retrieval and sentiment analysis. This research proposes a methodology to enhance learner performance by leveraging semantic similarity for multi-source information retrieval. The methodology involves four stages: text extraction from PDFs and web scraping from web pages, preprocessing, embedding, and semantic similarity computation. Various embedding techniques, such as word2vec, GloVe, Hugging Face embeddings, and BERT, are employed to vectorize text data. We compute cosine similarity between the query and sentences to find the top N matches. Our approach aims to retrieve relevant information efficiently, supporting learners in accessing information pertinent to their queries. The results demonstrate that our methodology outperforms traditional information retrieval methods in precision and speed. This approach can significantly benefit NLP and information retrieval, especially in improving learner performance. © 2024 IEEE.

关键词： Contrastive Learning

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Doubly Robust Inference in Causal Latent Factor Models

arXiv

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arXiv 2024年

作者： Abadie, Alberto Agarwal, Anish Dwivedi, Raaz Shah, Abhin Department of Economics MIT United States Department of Industrial Engineering and Operations Research Columbia University United States Department of Operations Research and Information Engineering Cornell Tech United States Department of Electrical Engineering and Computer Science MIT United States

This article introduces a new estimator of average treatment effects under unobserved confounding in modern data-rich environments featuring large numbers of units and outcomes. The proposed estimator is doubly robust, combining outcome imputation, inverse probability weighting, and a novel cross-fitting procedure for matrix completion. We derive finite-sample and asymptotic guarantees, and show that the error of the new estimator converges to a mean-zero Gaussian distribution at a parametric rate. Simulation results demonstrate the relevance of the formal properties of the estimators analyzed in this article. © 2024, CC BY.

关键词： Inverse problems

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Two-Timescale Q-Learning with Function Approximation in Zero-Sum Stochastic Games 24

Two-Timescale Q-Learning with Function Approximation in Zero...

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Proceedings of the 25th ACM Conference on Economics and Computation

作者： Zaiwei Chen Kaiqing Zhang Eric Mazumdar Asuman Ozdaglar Adam Wierman Computing + Mathematical Sciences Caltech Pasadena CA USA Electrical and Computer Engineering University of Maryland College Park MD USA Electrical Engineering and Computer Science MIT Cambridge MA USA Computing + Mathematical Sciences Caltech Pasadena CA United States

ISBN: (纸本)9798400707049

We consider two-player zero-sum stochastic games and propose a two-timescale variant of Q-learning with function approximation that is payoff-based, convergent, rational, and symmetric between the two players. In two-timescale Q-learning, the fast-timescale iterates are updated in spirit to the stochastic gradient descent for minimizing a Bellman error variant and the slow-timescale iterates (which we use to compute the policies) are updated by taking a convex combination between its previous iterate and the latest fast-timescale iterate. In the special case of linear function approximation, we present, to the best of our knowledge, the first last-iterate finite-sample bound for payoff-based independent learning dynamics of these *** establish the results, we analyze our proposed algorithm using a two-timescale stochastic approximation framework, and derive the finite-sample bound through a Lyapunov-based approach. The key technical novelty lies in the construction of a valid Lyapunov function to capture the evolution of the slow-timescale iterates. Specifically, through a change of variable, we show that the update equation of the slow-timescale iterates resembles the classical smoothed best-response dynamics, where the regularized Nash gap serves as a valid Lyapunov function. This insight enables us to construct a valid Lyapunov function via a generalized variant of the Moreau envelope of the regularized Nash gap. The construction of our Lyapunov function might be of independent interest in studying the dynamics of general stochastic approximation *** full paper is publicly available at https://***/abs/2312.04905.

关键词： zero-sum stochastic games

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