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arXiv 2019年

作者： Masnadi, Sina LaViola, Joseph J. Pavlasek, Jana Zhu, Xiaofan Desingh, Karthik Jenkins, Odest Chadwicke Department of Electrical Engineering & Computer Science University of Central Florida Department of Electrical Engineering & Computer Science Robotics Institute University of Michigan Ann Arbor United States

— In this paper, we present an easy to use sketch-based interface to extract geometries and generate affordance files from 3D point clouds for robot-object interaction tasks. Using our system, even novice users can perform robot task planning by employing such sketch tools. Our focus in this paper is employing human-in-the-loop approach to assist in the generation of more accurate affordance templates and guidance of robot through the task execution process. Since we do not employ any unsupervised learning to generate affordance templates, our system performs much faster and is more versatile for template generation. Our system is based on the extraction of geometries for generalized cylindrical and cuboid shapes, after extracting the geometries, affordances are generated for objects by applying simple sketches. We evaluated our technique by asking users to define affordances by employing sketches on the 3D scenes of a door handle and a drawer handle and used the resulting extracted affordance template files to perform the tasks of turning a door handle and opening a drawer by the robot. Copyright © 2019, The Authors. All rights reserved.

关键词： Door handles

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Adaptive Coordination Offsets for Signalized Arterial Intersections using Deep Reinforcement Learning

arXiv

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arXiv 2020年

作者： Diaz, Keith Anshilo Dailisan, Damian Sharaf, Umang Santos, Carissa Gan, Qijian Uy, Francis Aldrine Lim, May T. Bayen, Alexandre M. The School of Civil Environmental and Geological Engineering Mapua University Manila Philippines The National Institute of Physics University of the Philippines Diliman Philippines The Analytics Computing and Complex Systems Laboratory Asian Institute of Management Philippines The Electrical Engineering and Computer Sciences department at University of California Berkeley United States The PATH program in the Institute of Transportation Studies University of California Berkeley United States The Electrical Engineering and Computer Sciences Department The Department of Civil and Environmental Engineering The Institute of Transportation Studies University of California Berkeley United States

Coordinating intersections in arterial networks is critical to the performance of urban transportation systems. Deep reinforcement learning (RL) has gained traction in traffic control research along with data-driven approaches for traffic control systems. To date, proposed deep RL-based traffic schemes control phase activation or duration. Yet, such approaches may bypass low-volume links for several cycles to optimize the network-level traffic flow. Here we propose a deep RL framework that dynamically adjusts offsets based on traffic states and preserves the planned phase timings and order derived from model-based methods. This framework improves arterial coordination while maintaining phase order and timing predictability. Using a validated and calibrated traffic model, we trained the policy of a deep RL agent that aims to reduce travel delays in the network. To evaluate the resulting policy, we compared its performance against the phase offsets deployed along a segment of Huntington Drive in the city of Arcadia. The resulting policy dynamically readjusts phase offsets in response to changes in traffic demand. Simulation results show that the proposed deep RL agent outperformed the baseline on average, effectively reducing delay time by 13.21% in the AM Scenario, 2.42% in the Noon scenario, and 6.2% in the PM scenario when offsets are adjusted in 15-minute intervals. Finally, we also show the robustness of our agent to extreme traffic conditions, such as demand surges in off-peak hours and localized traffic incidents. Copyright © 2020, The Authors. All rights reserved.

关键词： Reinforcement learning

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Wireless Avionics Intra-Communications: A Survey of Benefits, Challenges, and Solutions

arXiv

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arXiv 2020年

作者： Park, Pangun Marco, Piergiuseppe Di Nah, Junghyo Fischione, Carlo Department of Radio and Information Communications Engineering Chungnam National University Korea Republic of Department of Information Engineering Computer Science and Mathematics University of L’Aquila Italy Department of Electrical Engineering Chungnam National University Korea Republic of Department of Network and Systems Engineering School of Engineering KTH Royal Institute of Technology Sweden

In the aeronautics industry, wireless avionics intra-communications have a tremendous potential to improve efficiency and flexibility while reducing the weight, fuel consumption, and maintenance costs over traditional wired avionics systems. This survey starts with an overview of the major benefits and opportunities in the deployment of wireless technologies for critical applications of an aircraft. The current state-of-art is presented in terms of system classifications based on data rate demands and transceiver installation locations. We then discuss major technical challenges in the design and realization of the envisioned aircraft applications. Although wireless avionics intra-communication has aspects and requirements similar to mission-critical applications of industrial automation, it also has specific issues such as complex structures, operations, and safety of the aircraft that make this area of research self-standing and challenging. To support the critical operations of an aircraft, existing wireless standards for mission-critical industrial applications are briefly discussed to investigate the applicability of the current solutions. Specifically, IEEE 802.15.4-based protocols and Bluetooth are discussed for low data rate applications, whereas IEEE 802.11-based standards are considered for high data rate applications. Eventually, we propose fundamental schemes in terms of network architecture, protocol, and resource management to support the critical avionics applications and discuss the research directions in this emerging area. Copyright © 2020, The Authors. All rights reserved.

关键词： Real time systems

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Big Data Governance for Building A Smart Cities 10

Big Data Governance for Building A Smart Cities

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10th International Conference on ICT for Smart Society, ICISS 2019

作者： Zulkarnain, Novan Kosala, Raymond Ranti, Benny Supangkat, Suhono Harso Bina Nusantara University Computer Science Department BINUS Graduate Program Doctor of Computer Science Information Systems Department Jakarta11480 Indonesia Universitas Indonesia Computer Science Department Depok16424 Indonesia Institute of Technology Bandung School of Electrical and Informatics Engineering Bandung40132 Indonesia

ISBN: (纸本)9781728148809

There have been many studies conducted related to Smart City, IT Governance and Big Data. In this study aims to find out how the relationship between the three and how to form a framework to explain it. The methodology used is qualitative by looking for some literature on smart city framework, IT Governance framework, and a Big Data framework. From these results, an overall picture of the relationship between the three is concluded, where Big Data has a role in IT Governance. and also the relationship of IT Governance to the realization of Smart City. And the final results of this study produce a framework to explain the relationship between Smart City, IT Governance and Big Data. © 2019 IEEE.

关键词： Big data

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Chattering-free fixed-time sliding mode control for bilateral teleoperation under unknown time-varying delay via disturbance and state observers

Advanced Control for Applications: Engineering and Industria...

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Advanced Control for Applications: engineering and Industrial systems 2020年第4期2卷

作者： Abadi, Ali Soltani Sharif Hosseinabadi, Pooyan Alinaghi Mekhilef, Saad Ordys, Andrzej Department of Electrical Engineering Faculty of Engineering Yazd University Yazd Iran Faculty of Engineering University of Malaya Kuala Lumpur Malaysia School of Software and Electrical Engineering Faculty of Science Engineering and Technology Swinburne University of Technology Melbourne Australia Center of Research Excellence in Renewable Energy and Power Systems King Abdulaziz University Jeddah Saudi Arabia The Institute of Automatic Control and Robotics Faculty of Mechatronics Warsaw University of Technology Warsaw Poland

This paper proposes a new chattering-free Fixed-time Observer-Based Sliding Mode Control (FOBSMC) scheme for synchronization of two bilateral teleoperations under unknown time-varying delay. The system is subjected to unknown disturbances which are estimated in a fixed time by utilizing the Disturbance Observer-based SMC scheme. The fixed-time State Observer-based SMC is designed to estimate the unmeasured velocity state, while the position state is assumed to be available. Fixed-time stability method is used to provide the system convergence time independently of initial states. A FOBSMC scheme is first designed for master system of bilateral teleoperation under unknown time-varying delay to track the environmental torque by the human operating torque in the presence of time delay in the communication channel, as well as estimating the unknown disturbances and unmeasured states. A FOBSMC scheme is designed to synchronize slave system to master system in the presence of time delay in the communication channel, as well as estimating disturbances and states. The stability analysis is performed for closed-loop system of combined controller-observer by using Lyapunov theory. The efficacy of the proposed method to fulfill a good transparency and stability under time-varying communication delays is tested by performing numerical simulation in Simulink/MATLAB. © 2020 John Wiley & Sons Ltd.

关键词： Time delay

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Online Change-Point Detection in Sparse Time Series with Application to Online Advertising

Online Change-Point Detection in Sparse Time Series with App...

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作者： Zhang, Jie Wei, Zhi Yan, Zhenyu Zhou, MengChu Pani, Abhishek Adobe Systems Inc. San JoseCA95110 United States Department of Computer Science New Jersey Institute of Technology NewarkNJ07102 United States Institute of Systems Engineering Macau University of Science and Technology 999078 China Helen and John C. Hartmann Department of Electrical and Computer Engineering New Jersey Institute of Technology NewarkNJ07102 United States

Online advertising delivers promotional marketing messages to consumers through online media. Advertisers often have the desire to optimize their advertising spending strategies in order to gain the highest return on investment and maximize their key performance indicator. To build accurate advertisement performance predictive models, it is crucial to detect the change-points in the historical data and apply appropriate strategies to address a data pattern shift problem. However, with sparse data, which is common in online advertising and some other applications, online change-point detection is very challenging. We present a novel collaborated online change-point detection method in this paper. Through efficiently leveraging and coordinating with auxiliary time series, we can quickly and accurately identify the change-points in sparse and noisy time series. Simulation studies as well as real data experiments have justified the proposed method's effectiveness in detecting change-points in sparse time series. Therefore, it can be used to improve the accuracy of predictive models. © 2013 IEEE.

关键词： Time series

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Broken poloidal symmetry and plasmonic eigenmodes on a torus

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Physical Review B 2020年第11期101卷 115426-115426页

作者： Tharindu Warnakula Sarath D. Gunapala Mark I. Stockman Malin Premaratne Advanced Computing and Simulation Laboratory (AχL) Department of Electrical and Computer Systems Engineering Monash University Clayton Vic 3800 Australia Jet Propulsion Laboratory California Institute of Technology Pasadena California 91109 USA Department of Physics and Astronomy Georgia State University Atlanta Georgia 30303 USA

We study the poloidal modes (modes whose variations are strictly along the direction of the torus axis) of toroidal nanoparticles. We show that the modes may be understood in terms of the symmetry breaking that occurs when an infinite cylinder is folded to form a torus. This symmetry breaking results in the splitting of the transverse cylinder modes into two distinct sets of modes on a torus. One set of these modes was known to exist already. We show the existence of the second set and also analytically derive the surface charge structure for that set of modes. We also consolidate recent advances made in studying the modal structure on torus particles and complete our understanding of the plasmonic modes of a torus.

关键词： Electromagnetic field calculations Plasmonics Surface plasmons Nanoparticles

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Optically controlled quantum thermal gate

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Physical Review B 2020年第24期101卷 245402-245402页

作者： Ravi T. Wijesekara Sarath D. Gunapala Mark I. Stockman Malin Premaratne Advanced Computing and Simulation Laboratory(AχL) Department of Electrical and Computer Systems Engineering Monash University Clayton Victoria 3800 Australia Jet Propulsion Laboratory California Institute of Technology Pasadena California 91109 USA Department of Physics and Astronomy Georgia State University Atlanta Georgia 30303 USA

The ability to actively control heat flows in the nanoscale can open up a plethora of opportunities for applications that require thermal management and regulation. We show that it is possible to build a three-terminal quantum thermal gating device which regulates the thermal conductivity between two of its terminals in response to light incident upon the remaining terminal. We model our device as three mutually coupled two-level systems which interact thermally and optically with their environment. To incorporate the thermal interactions of our device, we adopt an open quantum systems framework under the Born-Markov approximation. We subsequently use detailed quantum mechanical state analysis to illustrate its operating principle. Through numerical simulations, we further explore the nonlinear relationship between the optical field amplitude and the thermal conductivity of the device in the steady-state regime. Based on our investigations, we find that the energy-gating behavior of our device is highly efficient in that it can control a significantly larger thermal energy flow compared to the amount of energy it absorbs from the optical field in the process. The approach we have taken to analyze the system, in particular the graphical representations we developed to intuitively and concisely represent the quantum states, energy flows, and the relationships between them, could be of value in analyzing other similar thermo-optical systems. Thus, we envision that both the device concept and its analysis technique would be useful to researchers working in this area.

关键词： Electronic transitions Open quantum systems Thermal properties Transistors

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Spintronic memristors for computing

arXiv

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arXiv 2021年

作者： Shao, Qiming Wang, Zhongrui Zhou, Yan Fukami, Shunsuke Querlioz, Damien Chua, Leon O. Department of Electronic and Computer Engineering Department of Physics Guangdong-Hong Kong-Macao Joint Laboratory for Intelligent Micro-Nano Optoelectronic Technology The Hong Kong University of Science and Technology Clear Water Bay Hong Kong Department of Electrical and Electronic Engineering The University of Hong Kong Pokfulam Road Hong Kong School of Science and Engineering The Chinese University of Hong Kong Guangdong Shenzhen518172 China Research Institute of Electrical Communication Tohoku University Sendai980-8577 Japan Université Paris-Saclay CNRS Centre de Nanosciences et de Nanotechnologies Palaiseau91120 France Department of Electrical Engineering and Computer Sciences University of California BerkeleyCA94720 United States ACCESS – AI Chip Center for Emerging Smart Systems Hong Kong Science Park Hong Kong

The ever-increasing amount of data from ubiquitous smart devices fosters data-centric and cognitive algorithms. Traditional digital computer systems have separate logic and memory units, resulting in a huge delay and energy cost for implementing these algorithms. Memristors are programmable resistors with a memory, providing a paradigm-shifting approach towards creating intelligent hardware systems to handle data-centric tasks. Spintronic nanodevices are promising choices as they are high-speed, low-power, highly scalable, robust, and capable of constructing dynamic complex systems. In this Review, we survey spintronic devices from a memristor point of view. We introduce spintronic memristors based on magnetic tunnel junctions, nanomagnet ensemble, domain walls, topological spin textures, and spin waves, which represent dramatically different state spaces. They can exhibit steady, oscillatory, stochastic, and chaotic trajectories in their state spaces, which have been exploited for in-memory logic, neuromorphic computing, stochastic and chaos computing. Finally, we discuss challenges and trends in realizing large-scale spintronic memristive systems for practical applications. © 2021, CC BY.

关键词： Stochastic systems

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Modelling Hybrid Acoustofluidic Devices for Enhancing Nano- and Mirco-Particle Manipulation in Microfluidics

SSRN

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SSRN 2022年

作者： Wang, Hanlin Yuan, Fan Xie, Zhihua Sun, Chao Wu, Fangda Mikhaylov, Roman Shen, Minghong Yang, Jian Zhou, You Liang, Dongfang Sun, Xianfang Wu, Zhenlin Yang, Zhiyong Yang, Xin Department of Electrical and Electronic Engineering School of Engineering Cardiff University CF24 3AA United Kingdom Department of Biomedical Engineering School of Engineering Duke University NC27708-0281 United States Department of Civil Engineering School of Engineering Cardiff University CF24 3AA United Kingdom School of Life Sciences Northwestern Polytechnical University 710072 China Division of Cancer and Genetics School of Medicine Cardiff University CF14 4XN United Kingdom Systems Immunity Research Institute School of Medicine Cardiff University CF14 4XN United Kingdom Department of Engineering University of Cambridge CB2 1PZ United Kingdom School of Computer Science Cardiff University CF24 3AA United Kingdom School of Optoelectronic Engineering and Instrumentation Science Dalian University of Technology 116023 China School of Mechanical Engineering Tianjin University 300072 China

Acoustofluidic techniques are increasingly used to manipulate nano- and micro-particles in microfluidics. A wide range of acoustofluidic devices integrating microchannel and acoustic sources have been developed for applications in biochemistry and biomedicine. In this work, we developed two novel acoustofluidic configurations: a microchannel was sandwiched between two identical surface acoustic wave (SAW) transducers (SAW-SAW), or between a piezoelectric transducer (PZT) and a SAW transducer (PZT-SAW). We numerically simulated the distributions of the acoustic pressure, time-averaged streaming velocity, and particle trajectories in these devices, and compared the simulation results among the different acoustofluidic configurations. The results revealed that both the SAW-SAW and PZT-SAW configurations produced significantly higher acoustic pressure and particle velocity in the microchannel © 2022, The Authors. All rights reserved.

关键词： Microfluidics

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