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作者： José Ribeiro João Gomes Rui Dinis Institute for Systems and Robotics — Instituto Superior Técnico Universidade de Lisboa Portugal Department of Electrical and Computer Engineering FCT — Universidade Nova de Lisboa Portugal

This work aims to explore Orthogonal Signal-Division Multiplexing, an existing modulation format that was recently introduced in underwater communications [1], [2], [3], with flexible spectrum management and relatively simple equalization techniques. The matrix interpretation of the modulation allows a turbo like receiver to be implemented. A MIMO extension based on interference cancellation is developed to increase the spectral efficiency of the system. The effectiveness of MIMO OSDM is studied here through simulation, to characterize the efficiency of the link as a function of the time-frequency partitioning, as well as the impact of several parameters that control the iterative decoding process at the receiver.

关键词： Transmitters Receivers Doppler effect Modulation OFDM MIMO communication Channel estimation

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Controllability and accessibility on graphs for bilinear systems over lie groups

arXiv

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arXiv 2020年

作者： Wang, Xing Li, Bo Li, Jr-Shin Petersen, Ian R. Shi, Guodong Key Laboratory of Mathematics Mechanization Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China School of Mathematical Sciences University of Chinese Academy of Sciences Beijing100049 China Key Laboratory of Mathematics Mechanization Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China Department of Electrical and Systems Engineering Washington University St. LouisMO63130 United States Research School of Electrical Energy and Materials Engineering Australian National University CanberraACT0200 Australia Australian Center for Field Robotics School of Aerospace Mechanical and Mechatronic Engineering University of Sydney NSW2006 Australia

This paper presents graph theoretic conditions for the controllability and accessibility of bilinear systems over the special orthogonal group, the special linear group and the general linear group, respectively, in the presence of drift terms. Such bilinear systems naturally induce two interaction graphs: one graph from the drift, and another from the controlled dynamics. As a result, the system controllability or accessibility becomes a property of the two graphs in view of the classical Lie algebra rank condition. We establish a systemic way of transforming the Lie bracket operations in the underlying Lie algebra, into specific operations of removing or creating links over the drift and controlled interaction graphs. As a result, we establish a series of graphical conditions for the controllability and accessibility of such bilinear systems, which rely only on the connectivity of the union of the drift and controlled interaction graphs. We present examples to illustrate the validity of the established results, and show that the proposed conditions are in fact considerably tight. Copyright © 2020, The Authors. All rights reserved.

关键词： Controllability

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Precision of sung notes in carnatic music 19

Precision of sung notes in carnatic music

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19th International Society for Music Information Retrieval Conference, ISMIR 2018

作者： Viraraghavan, Venkata Subramanian Murthy, Hema A. Aravind, R. TCS Research and Innovation Embedded Systems and Robotics Bangalore India Department of Electrical Engineering Indian Institute of Technology Madras India Department of Computer Science and Engineering Indian Institute of Technology Madras India

ISBN: (纸本)9782954035123

Carnatic music is replete with continuous pitch movement called gamakas and can be viewed as consisting of constant-pitch notes (CPNs) and transients. The stationary points (STAs) of transients – points where the pitch curve changes direction – also carry melody information. In this paper, the precision of sung notes in Carnatic music is studied in detail by treating CPNs and STAs separately. There is variation among the nineteen musicians considered, but on average, the precision of CPNs increases exponentially with duration and settles at about 10 cents for CPNs longer than 0.5 seconds. For analyzing STAs, in contrast to Western music, rāga (melody) information is found to be necessary, and errors in STAs show a significantly larger standard deviation of about 60 cents. To corroborate these observations, the music was automatically transcribed and re-synthesized using CPN and STA information using two interpolation techniques. The results of perceptual tests clearly indicate that the grammar is highly flexible. We also show that the precision errors are not due to poor pitch tracking, singer deficiencies or delay in auditory feedback. © V S Viraraghavan, H A Murthy, R Aravind.

关键词： Music

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Smart decentralised energy management

Smart decentralised energy management

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CIRED 2020 Berlin Workshop (CIRED 2020)

作者： Stefan Werner Thomas Walter Christian Wiezorek Christian Backe Miguel Bande Firvida Thomas Vögele Peter Conradi Samrat Bose Enrique Kremers Easy Smart Grid GmbH (ESG) Karlsruhe Germany Technical University of Berlin (TUB) Department of Electrical Engineering and Computer Sciences Berlin Germany German Research Center for Artificial Intelligence (DFKI) Robotics Innovation Center Bremen Germany ALL4IP Technologies Darmstadt Germany European Institute for Energy Research (EIFER) Department of Complex Systems Research Karlsruhe Germany

The German–Finnish research project FUture Smart Energy shows, how flexible devices, consuming or producing electricity in electric grids, can be self-organised in a fully decentralised way, using autonomous algorithms integrated with the devices' controllers. By shifting operation time, existing flexible devices are hereby utilised as ‘virtual batteries’, providing high storage capacity and power. To gain sufficient flexibility, a large number of devices like combined heat and power generators, heat pumps (HP), heaters, coolers, charging stations, pumps, household appliances and industrial plants, has to be coordinated. This results in a high system complexity for which the evaluated method provides an easy, resilient, cyber-secure and cost-effective solution. This novel technology uses a new market approach for electric energy systems. A real-time price signal is generated directly out of grid state variables, like frequency, voltage, power or current, and broadcast to the flexible devices. Without a need for central control, the flexible devices react like a natural swarm to the price signal. The system is easily and highly scalable, as adding and removing flexibilities does not imply adapting a central control system. The system can be operated parallel or in addition to existing energy markets.

关键词： Internet of Things smart power grids energy management systems decentralised control power distribution control decision making pricing

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Consistent approximation of optimal control problems using Bernstein polynomials

Consistent approximation of optimal control problems using B...

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IEEE Annual Conference on Decision and Control

作者： Venanzio Cichella Isaac Kaminer Claire Walton Naira Hovakimyan Antonio M. Pascoal Department of Mechanical Engineering University of Iowa Iowa City IA Department of Mechanical and Aerospace Engineering Naval Postgraduate School Monterey CA Department of Mechanical Science and Engineering University of Illinois at Urbana-Champaign Urbana IL Institute for Systems and Robotics (ISR) Instituto Superior Tecnico (IST) Univ. Lisbon Portugal

ISBN: (数字)9781728113982

ISBN: (纸本)9781728113999

We present a direct method for the solution of nonlinear optimal control problems based on Bernstein polynomial approximations. We show, using a rigorous setting, that the proposed method yields consistent approximations of time continuous optimal control problems. We demonstrate that the method can also be used for the estimation of optimal control problems costates. This result leads to the formulation of the Covector Mapping Theorem for Bernstein polynomial approximation. Finally, we exploit the numerical and geometric properties of Bernstein polynomials, and illustrate the advantages of the method through numerical examples.

关键词： Optimal control Convergence Approximation methods Optimization Robots Conferences Estimation

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Adhesively Bridging Co-Self-Assembled Monolayer and Perovskite Via In Situ Polymerization for Enhanced Stability of Inverted Perovskite Solar Cells

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Advanced materials (Deerfield Beach, Fla.) 2025年 e2505745页

作者： Xiaowei Xu Sibo Li Chengwei Shan Wenbo Peng You Chen Shangzhi Li Haichen Peng Tingting Dai Erjun Zhou Yang Bai Longbin Qiu Pingping Sun Baomin Xu Aung Ko Ko Kyaw Department of Electronic & Electrical Engineering Southern University of Science and Technology Shenzhen 518055 P. R. China. Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems Department of Mechanical and Energy Engineering SUSTech Energy Institute for Carbon Neutrality Southern University of Science and Technology Shenzhen 518055 P. R. China. Department of Materials Science and Engineering Southern University of Science and Technology Shenzhen Guangdong 518055 P. R. China. Institute of Technology for Carbon Neutrality Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen 518055 P. R. China. Michael Grätzel Center for Mesoscopic Solar Cells Wuhan National Laboratory for Optoelectronics Huazhong University of Science and Technology Wuhan Hubei 430074 P. R. China. College of Biological Chemical Sciences and Engineering Jiaxing University Jiaxing Zhejiang 314001 P. R. China. School of Chemistry and Chemical Engineering Hainan University Haikou 570228 P. R. China.

The strategic utilization of self-assembled monolayers (SAMs) significantly advances the interfacial contact and power conversion efficiency (PCE) of inverted perovskite solar cells (IPSCs). However, inadequate adhesion between the SAM and perovskite layer remains a critical challenge, limiting further performance enhancement. Herein, a synergistic interface engineering strategy is introduced that combines a co-assembly approach with in situ polymerization to optimize the buried interface of perovskite film. Specifically, 11-Mercaptoundecylphosphoric acid (MPA) is incorporated into a SAM to form co-SAMs, improving homogeneity and mitigating defects at the NiO surface. Simultaneously, the ionic liquid (IL) monomer 1-Allyl-3-vinylimidazolium bis((trifluoromethyl)sulfonyl) imide (AVMTF) is incorporated into the perovskite precursor. The aggregation of ILs cation at the bottom interface facilitates in situ polymerization via sulfhydryl end groups, forming the POL-AVM polymer at the perovskite/SAM interface. This polymer enhances interfacial adhesion, regulates perovskite crystallization, and reinforces structural integrity by strongly anchoring organic cations through multiple hydrogen bonds. As a result, this synergistic strategy achieves a champion PCE of 26.25% (certified 26.04%), along with excellent long-term stability, retaining 95.6% of its initial efficiency after 1000 h of continuous operation under the ISOS-L-2I protocol.

关键词： Co‐SAMs adhesion in situ polymerization inverted planar perovskite solar cells long‐term stability

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Editor-in-Chief

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IEEE Access 2024年 12卷 i-xi页

作者： Derek Abbott Sonia Aissa Anuradha Annaswamy Nirwan Ansari Jun Cai Kun-Shan Chen Yixin Chen J.-C. Chiao Ayman El-Baz Shaikh Fattah Hoay Gooi Maya Gokhale Chih-Lin Ⅰ Giuseppe Iannaccone Yumi Iwashita Bruce Jacob Abbas Jamalipour Bahram Javidi Weihua Jiang Okyay Kaynak Hulya Kirkici Germano Lambert-Torres Shengtao Li Michal Mrozowski Michele Nappi Dalma Novak Hugo Proença Yi Qian Zhihua Qu Susanto Rahardja Mehrdad Saif Ali Serpengüzel Peter H. Siegel Ashitey Trebi-Ollennu Daniela Tuninetti Ge Wang Keith A. Wear Andreas Weisshaar C. Patrick Yue Enrico Zio School of Electrical and Electronic Engineering University of Adelaide Adelaide SA Australia Institut National de la Recherche Scientifique (INRS) Québec City Canada Department of Mechanical Engineering Massachusetts Institute of Technology Cambridge MA USA Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ USA Concordia University Montreal Canada Guilin University of Technology Guilin China Washington University St. Louis MO USA Southern Methodist University Dallas TX USA University of Louisville/Bioengineering Department Louisville KY USA Department of Electrical and Electronic Engineering Bangladesh University of Engineering and Technology Dhaka Bangladesh Nanyang Technological University Jurong West Singapore Lawrence Livermore National Laboratory Livermore CA USA China Mobile Research Institute Beijing China University of Pisa Pisa Italy NASA-JPL California Institute of Technology Pasadena CA USA Florida Polytechnic University Lakeland FL USA The University of Sydney Sydney NSW Australia University of Connecticut Storrs CT USA Nagaoka University of Technology Nagaoka Niigata Japan Department of Electrical and Electronic Engineering Boğaziçi University Istanbul Turkey University of South Alabama Mobile AL USA Gnarus Institute Itajuba Brazil Xi’an Jiaotong University Xi’an China Gdansk University of Technology Gdansk Poland University of Salerno Fisciano Italy Octane Wireless Hanover MD USA University of Beira Interior Covilhã Portugal Department of Electrical and Computer Engineering University of NebraskaLincoln Lincoln NE USA University of Central Florida Orlando Florida USA Singapore Institute of Technology 10 Dover Dr Singapore Infocomm Technology Cluster 10 Dover Dr Singapore University of Windsor Windsor Canada Department of Physics Koç University Istanbul Turkey California Institute of Technology (CalTech) Pasadena California USA NASA-JPL Mobility and Robotics Systems S

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Understanding metric-related pitfalls in image analysis validation

arXiv

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arXiv 2023年

作者： Reinke, Annika Tizabi, Minu D. Baumgartner, Michael Eisenmann, Matthias Heckmann-Nötzel, Doreen Kavur, A. Emre Rädsch, Tim Sudre, Carole H. Acion, Laura Antonelli, Michela Arbel, Tal Bakas, Spyridon Benis, Arriel Blaschko, Matthew B. Buettner, Florian Cardoso, M. Jorge Cheplygina, Veronika Chen, Jianxu Christodoulou, Evangelia Cimini, Beth A. Collins, Gary S. Farahani, Keyvan Ferrer, Luciana Galdran, Adrian van Ginneken, Bram Glocker, Ben Godau, Patrick Haase, Robert Hashimoto, Daniel A. Hoffman, Michael M. Huisman, Merel Isensee, Fabian Jannin, Pierre Kahn, Charles E. Kainmueller, Dagmar Kainz, Bernhard Karargyris, Alexandros Karthikesalingam, Alan Kenngott, Hannes Kleesiek, Jens Kofler, Florian Kooi, Thijs Kopp-Schneider, Annette Kozubek, Michal Kreshuk, Anna Kurc, Tahsin Landman, Bennett A. Litjens, Geert Madani, Amin Maier-Hein, Klaus Martel, Anne L. Mattson, Peter Meijering, Erik Menze, Bjoern Moons, Karel G.M. Müller, Henning Nichyporuk, Brennan Nickel, Felix Petersen, Jens Rafelski, Susanne M. Rajpoot, Nasir Reyes, Mauricio Riegler, Michael A. Rieke, Nicola Saez-Rodriguez, Julio Sánchez, Clara I. Shetty, Shravya Summers, Ronald M. Taha, Abdel A. Tiulpin, Aleksei Tsaftaris, Sotirios A. van Calster, Ben Varoquaux, Gaël Yaniv, Ziv R. Jäger, Paul F. Maier-Hein, Lena Faculty of Mathematics and Computer Science Heidelberg University Heidelberg Germany Heidelberg Division of Intelligent Medical Systems Germany NCT Heidelberg A Partnership Between DKFZ University Medical Center Heidelberg Germany Heidelberg Division of Medical Image Computing Germany Heidelberg Division of Intelligent Medical Systems Germany MRC Unit for Lifelong Health and Ageing UCL Centre for Medical Image Computing Department of Computer Science University College London London United Kingdom School of Biomedical Engineering and Imaging Science King’s College London London United Kingdom Instituto de Cálculo CONICET – Universidad de Buenos Aires Buenos Aires Argentina Centre for Medical Image Computing University College London London United Kingdom McGill University Montreal Canada Division of Computational Pathology Dept of Pathology & Laboratory Medicine Indiana University School of Medicine IU Health Information and Translational Sciences Building Indianapolis United States University of Pennsylvania Richards Medical Research Laboratories FL7 PhiladelphiaPA United States Department of Digital Medical Technologies Holon Institute of Technology Holon Israel European Federation for Medical Informatics Le Mont-sur-Lausanne Switzerland Center for Processing Speech and Images Department of Electrical Engineering KU Leuven Leuven Belgium partner site Frankfurt/Mainz a partnership between DKFZ and UCT Frankfurt Marburg Germany Heidelberg Germany Goethe University Frankfurt Department of Medicine Germany Goethe University Frankfurt Department of Informatics Germany and Frankfurt Cancer Insititute Germany Department of Computer Science IT University of Copenhagen Copenhagen Denmark Leibniz-Institut für Analytische Wissenschaften – ISAS – e.V. Dortmund Germany Imaging Platform Broad Institute of MIT and Harvard CambridgeMA United States Centre for Statistics in Medicine University of Oxford Oxford United Kingdom Center for Biomedical In

Validation metrics are key for tracking scientific progress and bridging the current chasm between artificial intelligence (AI) research and its translation into practice. However, increasing evidence shows that particularly in image analysis, metrics are often chosen inadequately. While taking into account the individual strengths, weaknesses, and limitations of validation metrics is a critical prerequisite to making educated choices, the relevant knowledge is currently scattered and poorly accessible to individual researchers. Based on a multi-stage Delphi process conducted by a multidisciplinary expert consortium as well as extensive community feedback, the present work provides the first reliable and comprehensive common point of access to information on pitfalls related to validation metrics in image analysis. While focused on biomedical image analysis, the addressed pitfalls generalize across application domains and are categorized according to a newly created, domain-agnostic taxonomy. The work serves to enhance global comprehension of a key topic in image analysis validation. © 2023, CC BY.

关键词： Computer vision

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Cation Migration-Induced Lattice Oxygen Oxidation in Spinel Oxide for Superior Oxygen Evolution Reaction

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Angewandte Chemie 2024年第9期137卷

作者： Dr. Mahmoud G. Ahmed Dr. Ying Fan Tay Dr. Xiao Chi Ahmed S. Razeen Dr. Yanan Fang Dr. Mengyuan Zhang Anqi Sng Dr. Sing Yang Chiam Prof. Andrivo Rusydi Prof. Lydia H. Wong School of Materials Science and Engineering Nanyang Technological University Singapore 639798 Singapore Institute of Sustainability for Chemicals Energy and Environment (ISCE2) A*STAR 1 Pesek Road Jurong Island Singapore 627833 Singapore Advanced Research Initiative for Correlated-Electron Systems (ARiCES) Department of Physics National University of Singapore 2 Science Drive 3 Singapore 117551 Singapore Singapore Synchrotron Light Source National University of Singapore 5 Research Link 117603 Singapore School of Electrical and Electronic Engineering Nanyang Technological University Singapore 639798 Singapore Institute of Materials Research and Engineering A*STAR Singapore 138634 Singapore Singapore-HUJ Alliance for Research and Enterprise (SHARE) The Smart Grippers for Soft Robotics (SGSR) Programme Campus for Research Excellence and Technological Enterprise (CREATE) Singapore 138602 Singapore

Activating the lattice oxygen can significantly improve the kinetics of oxygen evolution reaction (OER), however, it often results in reduced stability due to the bulk structure degradation. Here, we develop a spinel Fe 0.3 Co 0.9 Cr 1.8 O 4 with active lattice oxygen by high-throughput methods, achieving high OER activity and stability, superior to the benchmark IrO 2 . The oxide exhibits an ultralow overpotential (190 mV at 10 mA cm −2 ) with outstanding stability for over 170 h at 100 mA cm −2 . Soft X-ray absorption- and Raman-spectroscopies, combined with 18 O isotope-labelling experiments, reveal that lattice oxygen activation is driven by Cr oxidation, which induces a cation migration from CrO 6 octahedrons to CrO 4 tetrahedrons. The geometry conversion creates accessible non-bonding oxygen states, crucial for lattice oxygen oxidation. Upon oxidation, peroxo O−O bond is formed and further stabilized by Cr 6+ (CrO 4 tetrahedra) via dimerization. This work establishes a new approach for designing efficient catalysts that feature active and stable lattice oxygen without compromising structural integrity.

关键词： Spinel oxides Active lattice oxygen Cation migration High-throughput methods Oxygen evolution reaction

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Predictive Inverse Kinematics: optimizing Future Trajectory through Implicit Time Integration and Future Jacobian Estimation

Predictive Inverse Kinematics: optimizing Future Trajectory ...

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2019 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Ko Ayusawa Wael Suleiman Eiichi Yoshida CNRS-AIST JRL (Joint Robotics Laboratory) UMI13218/RL Intelligent Systems Research Institute National Institute of Advanced Industrial Science and Technology (IS-AIST) Japan Electrical and Computer Engineering Department Faculty of Engineering University of Sherbrooke Canada

This paper presents an inverse kinematics (IK) method which can control future velocities and accelerations for multi-body systems. The proposed IK method is formulated as a quadratic programing (QP) that optimizes future joint trajectories. The features of the proposed IK are: (1) the evaluation of accelerations at future time instances, (2) the trajectory representation that can implicitly integrate the time integral formula into QP, (3) the computation of future Jacobian matrices based on the comprehensive theory of differential kinematics proposed in our previous work. Those features enable a stable and fast IK computation while evaluating the future accelerations. We also conducted thorough numerical studies to show the efficiency of the proposed method.

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