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FaSTrack:A Modular Framework for Real-Time Motion Planning and Guaranteed Safe Tracking

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FaSTrack:A Modular Framework for Real-Time Motion Planning a...

作者： Chen, Mo Herbert, Sylvia L. Hu, Haimin Pu, Ye Fisac, Jaime Fernandez Bansal, Somil Han, Soojean Tomlin, Claire J. School of Computing Science Simon Fraser University BurnabyBCV5A 1S6 Canada Department of Mechanical and Aerospace Engineering University of California San Diego San DiegoCA92122 United States Department of Electrical Engineering Princeton University PrincetonNJ08536 United States Department of Electrical and Electronic Engineering University of Melbourne ParkvilleVIC3010 Australia Department of Electrical Engineering and Computer Sciences University of California Berkeley BerkeleyCA94704 United States Control and Dynamical Systems Program California Institute of Technology Los AngelesCA90019 United States

Real-time, guaranteed safe trajectory planning is vital for navigation in unknown environments. However, real-time navigation algorithms typically sacrifice robustness for computation speed. Alternatively, provably safe trajectory planning tends to be too computationally intensive for real-time replanning. We propose FaSTrack, Fast and Safe Tracking, a framework that achieves both real-time replanning and guaranteed safety. In this framework, real-time computation is achieved by allowing any trajectory planner to use a simplified planning model of the system. The plan is tracked by the system, represented by a more realistic, higher dimensional tracking model. We precompute the tracking error bound (TEB) due to mismatch between the two models and due to external disturbances. We also obtain the corresponding tracking controller used to stay within the TEB. The precomputation does not require prior knowledge of the environment. We demonstrate FaSTrack using Hamilton-Jacobi reachability for precomputation and three different real-time trajectory planners with three different tracking-planning model pairs. © 1963-2012 IEEE.

关键词： Real time systems

Nonreciprocal transport in a bilayer of MnBi2Te4 and Pt

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arXiv 2022年

作者： Ye, Chen Xie, Xiangnan Lv, Wenxing Huang, Ke Yang, Allen Jian Jiang, Sicong Liu, Xue Zhu, Dapeng Qiu, Xuepeng Tong, Mingyu Zhou, Tong Hsu, Chuang-Han Chang, Guoqing Lin, Hsin Li, Peisen Yang, Kesong Wang, Zhenyu Jiang, Tian Wang, Xiao Renshaw Division of Physics and Applied Physics School of Physical and Mathematical Sciences Nanyang Technological University 21 Nanyang Link 637371 Singapore State Key Laboratory of High Performance Computing College of Computer Science and Technology National University of Defense Technology Changsha410073 China Physics Laboratory Industrial Training Center Shenzhen Polytechnic Guangdong Shenzhen518055 China Department of NanoEngineering Program of Chemical Engineering University of California La Jolla San DiegoCA92093-0448 United States Program of Materials Science and Engineering University of California La Jolla San DiegoCA92093-0418 United States Institutes of Physical Science and Information Technology Anhui University Hefei230601 China Fert Beijing Institute MIIT Key Laboratory of Spintronics School of Integrated Circuit Science and Engineering Beihang University Beijing100191 China Beihang-Goertek Joint Microelectronics Institute Qingdao Research Institute Beihang University Qingdao266000 China Shanghai Key Laboratory of Special Artificial Microstructure Materials and Technology School of Physics Science and Engineering Tongji University Shanghai200092 China College of Advanced Interdisciplinary Studies National University of Defense Technology Changsha410073 China Insitute of Physics Academia Sinica Taipei115229 Taiwan College of Intelligence Science and Technology National University of Defense Technology Changsha410073 China National Innovation Institute of Defense Technology Academy of Military Sciences PLA China Beijing100010 China Beijing Academy of Quantum Information Sciences Beijing100084 China Beijing Institute for Advanced Study National University of Defense Technology Changsha410073 China School of Electrical and Electronic Engineering Nanyang Technological University 50 Nanyang Ave 639798 Singapore

MnBi2Te4 (MBT) is the first intrinsic magnetic topological insulator with the interaction of spin-momentum locked surface electrons and intrinsic magnetism, and it exhibits novel magnetic and topological phenomena. Recent studies suggested that the interaction of electrons and magnetism can be affected by the Mn-doped Bi2Te3 phase at the surface due to inevitable structural defects. Here we report an observation of nonreciprocal transport, i.e. current-direction-dependent resistance, in a bilayer composed of antiferromagnetic MBT and nonmagnetic Pt. The emergence of the nonreciprocal response below the Néel temperature confirms a correlation between nonreciprocity and intrinsic magnetism in the surface state of MBT. The angular dependence of the nonreciprocal transport indicates that nonreciprocal response originates from the asymmetry scattering of electrons at the surface of MBT mediated by magnon. Our work provides an insight into nonreciprocity arising from the correlation between magnetism and Dirac surface electrons in intrinsic magnetic topological insulators. © 2022, CC BY.

关键词： Magnetism

FaSTrack: A modular framework for real-time motion planning and guaranteed safe tracking

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arXiv 2021年

作者： Chen, Mo Herbert, Sylvia L. Hu, Haimin Pu, Ye Fisac, Jaime F. Bansal, Somil Han, SooJean Tomlin, Claire J. School of Computing Science Simon Fraser University Canada Department of Mechanical and Aerospace Engineering UC San Diego United States Department of Electrical Engineering Princeton University United States Department of Electrical and Electronic Engineering University of Melbourne Australia Department of Electrical Engineering and Computer Sciences UC Berkeley United States Control and Dynamical Systems Program California Institute of Technology United States

Real-time, guaranteed safe trajectory planning is vital for navigation in unknown environments. However, real-time navigation algorithms typically sacrifice robustness for computation speed. Alternatively, provably safe trajectory planning tends to be too computationally intensive for real-time replanning. We propose FaSTrack, Fast and Safe Tracking, a framework that achieves both real-time replanning and guaranteed safety. In this framework, real-time computation is achieved by allowing any trajectory planner to use a simplified planning model of the system. The plan is tracked by the system, represented by a more realistic, higher-dimensional tracking model. We precompute the tracking error bound (TEB) due to mismatch between the two models and due to external disturbances. We also obtain the corresponding tracking controller used to stay within the TEB. The precomputation does not require prior knowledge of the environment. We demonstrate FaSTrack using Hamilton-Jacobi reachability for precomputation and three different real-time trajectory planners with three different tracking-planning model pairs. Copyright © 2021, The Authors. All rights reserved.

关键词： Trajectories

Wind energy electret-based electrostatic harvester 21

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Wind energy electret-based electrostatic harvester

21st European Conference on Power electronics and Applications, EPE 2019 ECCE Europe

作者： Coronado, Daniel Augusto Castellanos Romano, Emanuele Dallago, Enrico Juan de Castellanos University Foundation School of Engineering and Basic Sciences Research Group in Science Innovation and Technology Electronic Engineering Program Tunja Colombia University of Pavia Power Electronics Laboratory Department of Electrical Computer and Biomedical Engineering Pavia Italy

ISBN: (纸本)9789075815313

In this paper an electret-based electrostatic induction wind harvester is presented. The induction electrostatic field is produced with an electret. It is described how the electret and the harvester prototype have been obtained. A complete electrical characterization of the harvester and experimental results are then reported. © 2019 EPE Association.

关键词： Wind power

Whole-body phase plane analysis for standard maximum vertical jump assessment

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Gait & Posture 2021年 90卷 203-204页

作者： Rodrigues, C. Correia, M. Abrantes, J. Rodrigues, B. Nadal, J. INESC TEC - Institute for Systems and Computer Engineering- Technology and Science C-BER - Centre for Biomedical Engineering Research Porto Portugal University of Porto Faculty of Engineering Porto Portugal Lusófona University CICANT Centre for Research in Applied Communication Culture and New Technologies - MovLab Laboratory of Technologies for Interactions and Interfaces Lisbon Portugal Federal University of Pernambuco Department of Electronic and Systems Recife Brazil Federal University of Rio de Janeiro Biomedical Engineering Program Rio de Janeiro Brazil

Lower limb joint angular phase plane coordination analysis on standard maximum vertical jump

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Gait & Posture 2021年 90卷 205-206页

作者： Rodrigues, C. Correia, M. Abrantes, J. Rodrigues, B. Nadal, J. INESC TEC - Institute for Systems and Computer Engineering- Technology and Science C-BER - Centre for Biomedical Engineering Research Porto Portugal University of Porto Faculty of Engineering Porto Portugal Lusófona University CICANT Centre for Research in Applied Communication Culture and New Technologies- MovLab Laboratory of Technologies for Interactions and Interfaces Lisbon Portugal Federal University of Pernambuco Department of Electronic and Systems Recife Brazil Federal University of Rio de Janeiro Biomedical Engineering Program Rio de Janeiro Brazil

Observation of the dual quantum spin Hall insulator by density-tuned correlations in a van der Waals monolayer

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arXiv 2024年

作者： Tang, Jian Ding, Thomas Siyuan Chen, Hongyu Gao, Anyuan Qian, Tiema Huang, Zumeng Sun, Zhe Han, Xin Strasser, Alex Li, Jiangxu Geiwitz, Michael Shehabeldin, Mohamed Belosevich, Vsevolod Wang, Zihan Wang, Yiping Watanabe, Kenji Taniguchi, Takashi Bell, David C. Wang, Ziqiang Fu, Liang Zhang, Yang Qian, Xiaofeng Burch, Kenneth S. Shi, Youguo Ni, Ni Chang, Guoqing Xu, Su-Yang Ma, Qiong Department of Physics Boston College Chestnut HillMA United States Division of Physics and Applied Physics School of Physical and Mathematical Sciences Nanyang Technological University Singapore Singapore Department of Chemistry and Chemical Biology Harvard University CambridgeMA United States Department of Physics and Astronomy and California NanoSystems Institute University of California Los Angeles Los AngelesCA United States Beijing National Laboratory for Condensed Matter Physics Institute of Physics Chinese Academy of Sciences Beijing China Department of Materials Science and Engineering Texas A&M University College StationTX United States Department of Physics and Astronomy University of Tennessee KnoxvilleTN United States Min H. Kao Department of Electrical Engineering and Computer Science University of Tennessee KnoxvilleTN United States Research Center for Electronic and Optical Materials National Institute for Materials Science Tsukuba Japan Research Center for Materials Nanoarchitectonics National Institute for Materials Science Tsukuba Japan Harvard John A. Paulson School of Engineering and Applied Sciences The Center for Nanoscale system Harvard University CambridgeMA United States Department of Physics Massachusetts Institute of Technology CambridgeMA United States CIFAR Azrieli Global Scholars program CIFAR Toronto Canada

The convergence of topology and correlations represents a highly coveted realm in the pursuit of novel quantum states of matter [1, 2]. Introducing electron correlations to a quantum spin Hall (QSH) insulator can lead to the emergence of a fractional topological insulator and other exotic time-reversal-symmetric topological order [3- 10], not possible in quantum Hall and Chern insulator systems. However, the QSH insulator with quantized edge conductance remains rare, let alone that with significant correlations. In this work, we report a novel dual QSH insulator within the intrinsic monolayer crystal of TaIrTe4, arising from the interplay of its single-particle topology and density-tuned electron correlations. At charge neutrality, monolayer TaIrTe4 demonstrates the QSH insulator that aligns with single-particle band structure calculations, manifesting enhanced nonlocal transport and quantized helical edge conductance. Interestingly, upon introducing electrons from charge neutrality, TaIrTe4 only shows metallic behavior in a small range of charge densities but quickly goes into a new insulating state, entirely unexpected based on TaIrTe4's single-particle band structure. This insulating state could arise from a strong electronic instability near the van Hove singularities (VHS), likely leading to a charge density wave (CDW). Remarkably, within this correlated insulating gap, we observe a resurgence of the QSH state, marked by the revival of nonlocal transport and quantized helical edge conduction. Our observation of helical edge conduction in a CDW gap could bridge spin physics and charge orders. The discovery of a dual QSH insulator introduces a new method for creating topological flat minibands via CDW superlattices, which offer a promising platform for exploring time-reversal-symmetric fractional phases and electromagnetism [3-5, 11, 12]. Copyright © 2024, The Authors. All rights reserved.

关键词： Charge density waves

Decoding Transition between Kinematics Stages for Brain-Machine Interface*

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Decoding Transition between Kinematics Stages for Brain-Mach...

IEEE International Conference on Systems, Man and Cybernetics

作者： Shuhang Chen Xiang Zhang Xiang Shen Yifan Huang Yiwen Wang Program of Bioengineering Hong Kong University of Science and Technology department of Electronic and Computer Engineering Hong Kong University of Science and Technology department of Chemical and Biological Engineering Hong Kong University of Science and Technology

ISBN: (纸本)9781728145709

Brain-machine interfaces (BMIs) translate the neural activity into digital command to control external devices in accomplishing movement task, which could involve multiple stages of behaviors in sequence. Previous work generally discriminates the stage labels using a classifier and uses a combination of sub-decoders designed respectively for each stage. Without considering the time dynamics of neural activity, the classifier often introduces noisy estimation in stage prediction. Brain-controlling neuro-prosthesis requires the decoder to continuously output the kinematics interpretation on brain state for each time instance, including when to start or end each stage within the task smoothly and accurately. We propose to decode the kinematic states within stages and during stage transition in one paradigm. The kinematics state vector is extended, and the time dynamics is modelled in the state-observation framework. We validate our approach on a brain-controlled lever discrimination task. The rats need to adjust the neural activity to press the correct virtual lever and drives the brain state to trigger the start of the next trial. Compared with the existing method whose mean square error is 0.8038, our results show smoother transition prediction and better decoding accuracy with less mean square error which is 0.7922. And the correction rate of holding lever and rest is above 90%. These results help the subjects do the task with even less response time (2.81s) and shorter inter-trial duration (4.5s).

关键词： Decoding Kinematics Pressing Neural activity Task analysis Rats Human factors

Bulk-plasmon-mediated free-electron radiation beyond the conventional formation time

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arXiv 2022年

作者： Tay, Fuyang Lin, Xiao Shi, Xihang Chen, Hongsheng Kaminer, Ido Zhang, Baile Interdisciplinary Center for Quantum Information State Key Laboratory of Modern Optical Instrumentation ZJUHangzhou Global Science and Technology Innovation Center College of Information Science and Electronic Engineering Zhejiang University Hangzhou310027 China Department of Electrical and Computer Engineering Rice University HoustonTX77005 United States Applied Physics Graduate Program Smalley–Curl Institute Rice University HoustonTX77005 United States International Joint Innovation Center The Electromagnetics Academy Zhejiang University Zhejiang University Haining314400 China Department of Electrical Engineering Technion-Israel Institute of Technology Haifa32000 Israel Jinhua Institute of Zhejiang University Zhejiang University Jinhua321099 China Division of Physics and Applied Physics School of Physical and Mathematical Sciences Nanyang Technological University 637371 Singapore Centre for Disruptive Photonic Technologies Nanyang Technological University 637371 Singapore

Free-electron radiation is a fundamental photon emission process that is induced by fast-moving electrons interacting with optical media. Historically, it has been understood that, just like any other photon emission process, free-electron radiation must be constrained within a finite time interval known as the "formation time", whose concept is applicable to both Cherenkov radiation and transition radiation, the two basic mechanisms describing radiation from a bulk medium and from an interface, respectively. Here we reveal an alternative mechanism of free-electron radiation far beyond the previously defined formation time. It occurs when a fast electron crosses the interface between vacuum and a plasmonic medium supporting bulk plasmons. While emitted continuously from the crossing point on the interface — thus consistent with the features of transition radiation — the extra radiation beyond the conventional formation time is supported by a long tail of bulk plasmons following the electron’s trajectory deep into the plasmonic medium. Such a plasmonic tail mixes surface and bulk effects, and provides a sustained channel for electron-interface interaction. These results also settle the historical debate in Ferrell radiation, regarding whether it is a surface or bulk effect, from transition radiation or plasmonic oscillation. Copyright © 2022, The Authors. All rights reserved.

关键词： Plasmonics