In this paper, we study dynamical quantum networks which evolve according to Schrodinger equations but subject to sequential local or global quantum measurements. A network of qubits forms a composite quantum system w...
详细信息
In the field of large-scale SLAM for autonomous driving and mobile robotics, 3D point cloud based place recognition has aroused significant research interest due to its robustness to changing environments with drastic...
详细信息
In this paper, we study the recursion of measurement outcomes for open quantum networks under sequential measurements. Open quantum networks are networked quantum subsystems (e.g., qubits) with the state evolutions de...
详细信息
For multi-sensor centralized fusion with linear measurements, simply stacking all measurements up and then applying the Kalman filter at the fusion center can give the optimal estimation performance. This optimal perf...
详细信息
ISBN:
(数字)9781728123110
ISBN:
(纸本)9781728123127
For multi-sensor centralized fusion with linear measurements, simply stacking all measurements up and then applying the Kalman filter at the fusion center can give the optimal estimation performance. This optimal performance is independent of how the measurements from different sensors are stacked up. However, for centralized fusion with multiple radar measurements under the recursive LMMSE filtering framework, the performance really matters as to how to stack the measurements from different radars. In [1], we have shown that centralized fusion with stacked recombined multi-radar measurements outperforms the one with stacked original measurements under the recursive LMMSE filtering framework. In this paper, we further develop a new multi-radar centralized fusion approach by compressing all measurements first and then applying the recursive LMMSE filter with single radar measurements at the fusion center. Numerical examples show that the new centralized fusion with compressed measurements has better estimation accuracy and smaller noncredibility than the ones with stacked measurements.
With the rapid development and wide application of nanotechnology, nanodevice manufacturing with nanotechnology as its core has become one of the key research areas in nanotechnology. Micro-nano operating system based...
详细信息
With the rapid development and wide application of nanotechnology, nanodevice manufacturing with nanotechnology as its core has become one of the key research areas in nanotechnology. Micro-nano operating system based on scanning electron microscope (SEM) is one of the methods to realize nanodevice manufacturing. SmarAct nanomanipulation platform is an important component of micro-nano operating system, which can realize linear motion in three-dimensional space. However, due to mechanical structure and assembly errors, the SmarAct nanomanipulation platform cannot meet the stable requirements during motion. In this paper, the visual feedback and image processing are used to describe the motion trajectory of SmarAct operator. Based on the motion mechanism of SmarAct operator, the error source is analyzed, at the same time, the motion error is modeled according to the motion trajectory. The feedforward compensation is used to realize the stable linear motion of SmarAct operator, and the interpolation algorithm is used to realize the trajectory motion control of the SmarAct nanomanipulation platform.
In this paper, based on the operating environment of scanning electron microscope (SEM), the cooperative control of carbon nanotubes by controlling multi-operator hand was realized by controlling the robot operator wi...
详细信息
In this paper, based on the operating environment of scanning electron microscope (SEM), the cooperative control of carbon nanotubes by controlling multi-operator hand was realized by controlling the robot operator with multiple degrees of freedom. Firstly, the carbon nanotube was picked up from the bulk by the nano manipulations. Then the nanotube was transferred on the surface of the metal electrode of the chip using the two nano manipulations and fixed on by electron beam induced deposition (EBID). In this robotics manipulation system, operation and assembly of carbon nanotube were successfully realized. The voltage-current property of the carbon nanotube was also evaluated in the SEM.
In this paper, we consider the extension of synchronous distributed filtering under randomized gossip strategy to multi-rate asynchronous sensor network. To deal with asynchronous measurements due to multi-rate sampli...
详细信息
ISBN:
(数字)9780996452786
ISBN:
(纸本)9781728118406
In this paper, we consider the extension of synchronous distributed filtering under randomized gossip strategy to multi-rate asynchronous sensor network. To deal with asynchronous measurements due to multi-rate sampling, two processing schemes are proposed, i.e., a batch one and a sequential one. In batch processing, the common fusion period is chosen as the least common multiple of the sampling periods of all sensors. Each measurement of a sensor is propagated to the nearest common fusion time and saved locally. At the common fusion time, multiple propagated measurements of a sensor are compressed to a single measurement and then exchanged with its neighbors. Whereas in sequential processing, the common fusion period is chosen as the greatest common divisor of the sampling periods of all sensors to sequentially process each measurement once it is received. Depending on whether a real measurement is available locally, three exchanging strategies are developed. It is found that unlike in the traditional distributed fusion with a common fusion center, the batch and sequential processing schemes are not equivalent. Pros and cons of these two schemes are analyzed. Numerical experimental results further verify the effectiveness of the proposed schemes.
This paper addresses the problem of Static Output Feedback (SOF) stabilization for continuous-time linear systems subject to norm-bounded parameter uncertainties. Usually this issue leads to the feasibility of a Bilin...
详细信息
This paper addresses the problem of Static Output Feedback (SOF) stabilization for continuous-time linear systems subject to norm-bounded parameter uncertainties. Usually this issue leads to the feasibility of a Bilinear Matrix Inequality (BMI), which is difficult to linearize to get non conservative Linear matrix inequality (LMI) conditions. In this paper, by means of some technical lemmas, we transform the BMI into a new LMI with a line search over two scalar variables. The obtained LMI conditions are less conservative than those existing in the literature. Numerical evaluations are presented to show the superiority of the proposed method.
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 fu...
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.
暂无评论