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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Damsara Jayarathne Santiago Paternain Sandipan Mishra Department of Mechanical Aerospace and Nuclear Engineering of Rensselaer Polytechnic Institute Troy NY Department of Electrical Computer and Systems Engineering of Rensselaer Polytechnic Institute Troy NY

Autonomous helicopter aerial refueling is a challenging problem because of the complex aerodynamic interactions between the helicopter, the tanker and the refueling hose-drogue system. Methodologies solely relying on model-based control approaches are unable to directly address the aerodynamic interactions, whereas pure data-driven methods such as reinforcement learning (RL) often do not provide safety guarantees. Therefore, in this paper, we propose a novel residual RL control methodology that works in conjunction with a model-based outer-loop position controller. Further, we incorporate a safe RL algorithm that assures probabilistic safety guarantees by imposing appropriate constraints. This algorithm leverages the primal-dual formulation of a constrained optimal control problem to solve a sequence of RL problems that ultimately guarantees a probabilistic safety assurance requirement. The RL agent is trained in a simulation platform that consists of a reduced-order helicopter model and a state-dependent control mixer that appropriately delegates the control authority between the outer-loop controller and the RL controller. Once trained, the RL agent is deployed on a physics-based high-fidelity helicopter model without additional parameter tuning. These high-fidelity simulations reveal that the application of the proposed methodology yields a mean 2-norm error of 0.25m at the time of docking, which outperforms a purely model-based controller by 24%.

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A High-Linear PLL-based FMCW Frequency Synthesizer with 42-kHz rms FM Error and 1.2-GHz Chirp Bandwidth

A High-Linear PLL-based FMCW Frequency Synthesizer with 42-k...

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IEEE Annual Conference on Wireless and Microwave Technology (WAMICON)

作者： Zitong Zhang Yuri Lu Xiaoyuan Wu Hao Deng Chunqi Shi Leilei Huang Jinghong Chen Runxi Zhang Institute of Microelectronic Circuits and Systems East China Normal University Shanghai China Department of Electrical and Computer Engineering University of Houston Houston USA

This article presents a high-linear phase-locked-loop-based (PLL-based) frequency-modulated continuous-wave (FMCW) frequency synthesizer for 77 GHz automotive radar applications. A behavioral model of the rms FM error by constructing the PLL transient response under a unit frequency step and taking into account the slope of the chirp signal is developed. Simulation results demonstrate the effectiveness of the proposed model in optimizing chirp linearity. The behavioral model is used to facilitate the design of the 77 GHz FMCW synthesizer fabricated in a 55 nm CMOS process. A gain linearized varactor approach is also developed to linearize the voltage-controlled oscillator (VCO) gain (K VCO ) to ensure constant PLL bandwidth maintaining optimum chirp linearity. Measurement results show that the synthesizer achieves a 1.2 GHz chirp bandwidth, a minimum rms FM error of 42 kHz (0.0035% of the chirp bandwidth) under a 4.219 MHz/μs chirp slope while consuming 74.6 mW of power. The measured integer-N mode and fractional-N mode phase noises normalized to 78 GHz are −81.6 dBc/Hz and −80.1 dBc/Hz at 1 MHz offset, respectively.

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Emergency Clinical Procedure Detection via Wearable Sensors

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Proceedings of the Human Factors and Ergonomics Society Annual Meeting 2022年第1期66卷 2239 - 2243页

作者： Prakash Baskaran Jamison Heard Julie A. Adams Collaborative Robotics and Intelligent Systems Institute Oregon State University Corvallis OR Department of Electrical and Microelectronic Engineering Rochester Institute of Technology NY

Communicating a patient’s state accurately during transfer from emergency medical technicians to hospital personnel is crucial for optimal care. Prior work demonstrated automated algorithms that combined wearable sensors with video data from cameras to detect clinical procedures and improve this information transfer. However, incorporating video requires task-or environment-specific installation mechanisms, raises privacy concerns, and is susceptible to occlusion and image noise. The presented approach detects clinical procedures using wearable sensors (i.e., inertial and electrophysiological) only and the procedures’ subtasks to mitigate the sensors’ signal variability to provide clinical procedure detection.

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Efficient Arm Motion Planning with Reduced Viapoints for Mars Rover Operations

Efficient Arm Motion Planning with Reduced Viapoints for Mar...

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Space robotics (iSpaRo), International Conference on

作者： Justin Huang Valen Yamamoto Ana Warner Jet Propulsion Laboratory California Institute of Technology Pasadena CA Department of Electrical Engineering and Computer Science UC Irvine Irvine CA Department of Robotics University of Michigan Ann Arbor MI

ISBN: (数字)9798350367232

ISBN: (纸本)9798350367249

This paper describes additions and enhancements we made to the standard RRT-Connect motion planning algorithm to suit the unique needs of operating the robotic arm on the Perseverance Mars Rover. One constraint we have is to maintain a minimum distance between the terrain and any part of the arm hardware. Another goal specific to rover planning is to minimize the number of viapoints in our motion plans. These algorithms should also run efficiently so that rover planners can generate arm motion sequences in time for uplink windows. We applied the RRT-Connect algorithm to the rover’s robotic arm and tested its performance, and we found that it could be used successfully for rover planning with a few changes. First, we implemented the terrain clearance requirement using a software tool called Proximeter. Second, we simplify the paths computed by RRT-Connect to minimize the number of viapoints in a motion plan. Third, we leverage Proximeter to reduce the number of expensive terrain collision checks done by the algorithm, speeding up motion planning.

关键词： Space vehicles Mars Costs Software algorithms Manipulators Hardware Planning

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End-to-end Semantic Segmentation Network for Low-Light Scenes

End-to-end Semantic Segmentation Network for Low-Light Scene...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Hongmin Mu Gang Zhang MengChu Zhou Zhengcai Cao College of Information Science and Technology Beijing University of Chemical Technology Beijing China Department of Macao Institute of Systems Engineering Macau University of Science and Technology Macao China Helen and John C. Hartmann Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ USA State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

In the fields of robotic perception and computer vision, achieving accurate semantic segmentation of low-light or nighttime scenes is challenging. This is primarily due to the limited visibility of objects and the reduced texture and color contrasts among them. To address the issue of limited visibility, we propose a hierarchical gated convolution unit, which simultaneously expands the receptive field and restores edge texture. To address the issue of reduced texture among objects, we propose a dual closed-loop bipartite matching algorithm to establish a total loss function consisting of the unsupervised illumination enhancement loss and supervised intersection-over-union loss, thus enabling the joint minimization of both losses via the Hungarian algorithm. We thus achieve end-to-end training for a semantic segmentation network especially suitable for handling low-light scenes. Experimental results demonstrate that the proposed network surpasses existing methods on the Cityscapes dataset and notably outperforms state-of-the-art methods on both Dark Zurich and Nighttime Driving datasets.

关键词： Training computer vision Accuracy Convolution Semantic segmentation Lighting Logic gates

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A Data-and-Model-Driven Acceleration Approach for Large-Scale Network-Constrained Unit Commitment Problem With Uncertainty

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IEEE Transactions on Sustainable Energy 2025年

作者： Zhou, Yuzhou Han, Zhihan Zhai, Qiaozhu Wu, Lei Cao, Xiaoyu Guan, Xiaohong Xi'an Jiaotong University Systems Engineering Institute MOEKLINNS Lab Xi'an710049 China Sichuan Digital Economy Industry Development Research Institute Sichuan Chengdu610037 China Xi'an Jiaotong University Systems Engineering Institute Xi'an710049 China Stevens Institute of Technology Department of Electrical and Computer Engineering Hoboken07030 United States Tsinghua University Department of Automation Center for Intelligent and Networked Systems Beijing100084 China

Numerous binary variables and constraints greatly affect the computation of large-scale network-constrained unit commitment (NCUC) problems. With the integration of massive renewable energy and distributed loads, binary variables and network power flows face more frequent changes to cope with uncertainties. How to ensure the calculation efficiency and accuracy of NCUC problems against uncertainties and frequent changes becomes a common challenge for academia and industry. Inspired by data-driven and model-driven technologies, this paper presents a hybrid reduction approach for variables and constraints to accelerate the solving of large-scale NCUC problems, which achieves "one plus one much greater than two" effect. Specifically, an offline database of nodal net load clusters and the corresponding NCUC solutions is established, which also captures the impacts of changes in renewables, loads, topology, etc. on UC solutions. With this database, a data-and-modeldriven reduction method is proposed to fix binary variables and reduce constraints, while considering the changes of prices and net loads in online NCUC instances. Moreover, the reduction method was further developed to accelerate various NCUC problems, including scenario-based methods, robust optimization methods, etc. Thus, the computation burden of online large-scale NCUC problems is greatly mitigated while ensuring good solution quality. Numerical tests implemented on IEEE 24-bus system, 118-bus system, and Polish 2383-bus system illustrate the efficiency of the proposed approach. © 2025 IEEE. All rights reserved.

关键词： Mendelevium

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Towards Continuous Development for Quantum Programming in Decentralized IoT environments

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Procedia computer Science 2024年 238卷 7-14页

作者： Michail Alexandros Kourtis Nikolay Tcholtchev Ilie-Daniel Gheorghe-Pop Colin Kai-Uwe Becker Georgios Xylouris Evangelos Markakis Matic Petric Raphael Seidel Sebastian Bock National Center of Scientific Research “Demokritos” Athens Greece Fraunhofer Institute for Open Communication Systems (FOKUS) Berlin Germany Department of Electrical and Computer Engineering Hellenic Mediterranean University Heraklion Greece

The progression in quantum computing and the rapid development of quantum computation hardware has raised expectations for its application to commercially relevant use cases in the future. However, the need for high-level quantum programming abstractions and targeted use cases paired with vertical applications, which can directly benefit from quantum computing, remains an open challenge. This paper presents our vision for a decentralized architecture for swarm based IoT systems that leverages a high-level continuous development and integration quantum programming suite to support edge processing capabilities for different use cases across the edge-fog-cloud continuum. The planned Quantum DevKit provides the necessary abstractions and low-level backend interfaces for quantum computing infrastructure, enabling edge computation using quantum processing, with extensions to efficient management of Service Level Agreements (SLAs). The paper focuses on the presentation of the development kit and its coupling swarm-based architecture that automates the orchestration of the cloud-to-edge continuum, showcasing the potential of quantum technology in edge processing.

关键词： Quantum Programming Swarm Intelligence Decentralized Computing Edge Blockchain

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Non-Hermitian chiral degeneracy of gated graphene metasurfaces

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Light(Science & Applications) 2023年第5期12卷 766-775页

作者： Soojeong Baek Sang Hyun Park Donghak Oh Kanghee Lee Sangha Lee Hosub Lim Taewoo Ha Hyun Sung Park Shuang Zhang Lan Yang Bumki Min Teun-Teun Kim Department of Mechanical Engineering Korea Advanced Institute of Science and Technology(KAIST)Daehak-ro 291Daejeon 34141Republic of Korea Department of Electrical and Computer Engineering University of Minnesota200 Union street SEMinneapolisMN 55455USA Harvard Institute of Medicine Harvard Medical SchoolHarvard UniversityBrigham and Women's Hospital25 Shattuck StreetBostonMA 02215USA Center for Integrated Nanostructure Physics Institute for Basic Science(IBS)Sungkyunkwan UniversitySeobu-ro 2066Suwon 16419Republic of Korea Samsung Advanced Institute of Technology Samsung ElectronicsSamsung-roSuwon 16678Republic of Korea Department of Physics The University of Hong KongPokfulam RoadHong Kong Special Administrative RegionChina Department of Electrical and Systems Engineering Washington University1 Brookings DriveSaint LouisMO 63130USA Department of Physics Korea Advanced Institute of Science and Technology(KAIST)Daehak-ro 291Daejeon 34141Republic of Korea Department of Physics University of UlsanDaehakroUlsan 44610Republic of Korea Korea Research Institute of Standards and Science(KRISS) Gajeong-ro 267Daejeon 34113Republic of Korea

Non-Hermitian degeneracies,also known as exceptional points(EPs),have been the focus of much attention due to their singular eigenvalue surface ***,as pertaining to a non-Hermitian metasurface platform,the reduction of an eigenspace dimensionality at the EP has been investigated mostly in a passive repetitive ***,we propose an electrical and spectral way of resolving chiral EPs and clarifying the consequences of chiral mode collapsing of a non-Hermitian gated graphene *** specifically,the measured non-Hermitian Jones matrix in parameter space enables the quantification of nonorthogonality of polarisation eigenstates and half-integer topological charges associated with a chiral ***,the output polarisation state can be made orthogonal to the coalesced polarisation eigenstate of the metasurface,revealing the missing dimension at the chiral *** addition,the maximal nonorthogonality at the chiral EP leads to a blocking of one of the cross-polarised transmission pathways and,consequently,the observation of enhanced asymmetric polarisation *** anticipate that electrically controllable non-Hermitian metasurface platforms can serve as an interesting framework for the investigation of rich non-Hermitian polarisation dynamics around chiral EPs.

关键词： structure chiral integer

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Next Generation Memristor Reservoir Computing

Next Generation Memristor Reservoir Computing

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Metrology for Extended Reality, Artificial Intelligence and Neural engineering (MetroXRAINE), IEEE International Conference on

作者： K. Nikiruy T. Ivanov M. Ziegler D. Rossetti F. Corinto A. Ascoli R. Tetzlaff A. S. Demirkol N. Schmitt Department of Electrical Engineering and Information Technology Micro-and Nanoelectronic Systems TU Ilmenau Ilmenau Germany Department of Electronics and Telecommunications (DET) Politecnico di Torino Turin Italy Faculty of Electrical and Computer Engineering Institute of Circuits and Systems TU Dresden Dresden Germany

ISBN: (数字)9798350378009

ISBN: (纸本)9798350378016

The nonlinear transformation used in reservoir computing can be effectively replaced by nonlinear vector autoregression (NVAR) for data prediction. In such a method, also known as next generation reservoir computing (NGRC), the input signal consists of a linear part, including several previous data points, and their nonlinear combinations. Here we show that the application of this method to a network with memristive weights (memristors) can be used to predict signals, depending on the nature of the nonlinear functions and the number of memristors. The network allows an accurate prediction of chaotic time series of Mackey-Glass and Duffing oscillators.

关键词： Performance evaluation Accuracy Time series analysis Memristors Reservoir computing Neural engineering Ordinary differential equations Vectors Next generation networking Oscillators

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Dissipative Avoidance Feedback for Reactive Navigation Under Second-Order Dynamics

arXiv

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arXiv 2024年

作者： Smaili, Lyes Tang, Zhiqi Berkane, Soulaimane Hamel, Tarek Department of Computer Science and Engineering University of Quebec in Outaouais GatineauQC Canada Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology StockholmSE-10044 Sweden Department of Electrical Engineering Lakehead University ON Canada France

This paper addresses the problem of autonomous robot navigation in unknown, obstacle-filled environments with second-order dynamics by proposing a Dissipative Avoidance Feedback (DAF). Compared to the Artificial Potential Field (APF), which primarily uses repulsive forces based on position, DAF employs a dissipative feedback mechanism that accounts for both position and velocity, contributing to smoother and more natural obstacle avoidance. The proposed continuously differentiable controller solves the motion-to-goal problem while guaranteeing collision-free navigation by using the robot’s state and local obstacle distance information. We show that the controller guarantees safe navigation in generic n-dimensional environments and that all undesired ω-limit points are unstable under certain controlled curvature conditions. Designed for real-time implementation, DAF requires only locally measured data from limited-range sensors (e.g., LiDAR, depth cameras), making it particularly effective for robots navigating unknown workspaces. Simulations in 2D and 3D environments are conducted to validate the theoretical results and to showcase the effectiveness of our approach. © 2024, CC BY.

关键词： Feedback

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