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RBFNN-based bilateral control design for delayed nonlinear teleoperation system with general environments

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RBFNN-based bilateral control design for delayed nonlinear t...

2019 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2019

作者： Huang, Fanghao Chen, Zheng Song, Wei Wang, Tao Zhu, Shiqiang Gu, Jason Ocean College Zhejiang University Zhoushan316021 China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University Hangzhou310027 China Department of Electrical and Computer Engineering Dalhousie University HalifaxNSB3H 4R2 Canada Zhejiang Lab Hangzhou311100 China

ISBN: (纸本)9781728137261

In this paper, an RBFNN-based bilateral control design is developed for delayed nonlinear teleoperation system with uncertainties to achieve both stability and good transparency performance. The environment force is modeled in the general form via RBFNN algorithm with the identification of its parameter and transmitted to rebuild the environment force in the master side, which prevents the power signals such as environment force transmitting in the communication channel and avoids the passivity problem in the traditional teleoperation control. The desired master/slave trajectory planners are designed to produce the desired trajectories for the master/slave tracking, and the master/slave controllers are designed afterwards for the good tracking of master/slave with nonlinearities and uncertainties. Thus, the global stability of the delayed teleoperation system is theoretically guaranteed, and the good transparency performance with both position tracking and force feedback is achieved. The simulation is conducted in MATLAB/Simulink environment, and the results demonstrate the effectiveness of the developed bilateral control design. © 2018 IEEE.

关键词： Transparency

Emergent Dimer-Model Topological Order and Quasiparticle Excitations in Liquid Crystals: Combinatorial Vortex Lattices

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Physical Review X 2025年第2期15卷 021084-021084页

作者： Cuiling Meng Jin-Sheng Wu Žiga Kos Jörn Dunkel Cristiano Nisoli Ivan I. Smalyukh Department of Physics and Chemical Physics Program University of Colorado Boulder Colorado 80309 USA International Institute for Sustainability with Knotted Chiral Meta Matter (WPI-SKCM) Hiroshima University Higashihiroshima Hiroshima Japan Department of Mathematics Massachusetts Institute of Technology Cambridge Massachusetts 02139 USA Faculty of Mathematics and Physics University of Ljubljana Ljubljana Slovenia Department of Condensed Matter Physics Jožef Stefan Institute Ljubljana Slovenia Theoretical Division Physics of Condensed Matter and Complex Systems and Center For Nonlinear Studies Los Alamos National Laboratory Los Alamos New Mexico 87545 USA Department of Electrical Computer and Energy Engineering Materials Science and Engineering Program University of Colorado Boulder Colorado 80309 USA Renewable and Sustainable Energy Institute National Renewable Energy Laboratory University of Colorado Boulder Colorado 80309 USA

Liquid crystals have proven to provide a versatile experimental and theoretical platform for studying topological objects such as vortices, skyrmions, and hopfions. In parallel, in hard condensed matter physics, the concept of topological phases and topological order has been introduced in the context of spin liquids to investigate emergent phenomena like quantum Hall effects and high-temperature superconductivity. Here, we bridge these two seemingly disparate perspectives on topology in physics. Combining experiments and simulations, we show how topological defects in liquid crystals can be used as versatile building blocks to create complex, highly degenerate topological phases, which we refer to as “combinatorial vortex lattices” (CVLs). CVLs exhibit extensive residual entropy and support locally stable quasiparticle excitations in the form of charge-conserving topological monopoles, which can act as mobile information carriers and be linked via Dirac strings. CVLs can be rewritten and reconfigured on demand, endowed with various symmetries, and modified through laser-induced topological surgery—an essential capability for information storage and retrieval. We demonstrate experimentally the realization, stability, and precise optical manipulation of CVLs, thus opening new avenues for understanding and technologically exploiting higher-hierarchy topology in liquid crystals and other ordered media.

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Valley population of donor states in highly strained silicon

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arXiv 2021年

作者： Voisin, B. Ng, K.S.H. Salfi, J. Usman, M. Wong, J.C. Tankasala, A. Johnson, B.C. McCallum, J.C. Hutin, L. Bertrand, B. Vinet, M. Valanoor, N. Simmons, M.Y. Rahman, R. Hollenberg, L.C.L. Rogge, S. Silicon Quantum Computing SydneyNSW2052 Australia School of Physics Sydney The University of New South Wales SydneyNSW2052 Australia Centre for Quantum Computation and Communication Technology School of Physics The University of New South Wales SydneyNSW2052 Australia 5. Physikalisches Institut and Center for Integrated Quantum Science and Technology Universität Stuttgart Stuttgart70569 Germany Department of Electrical and Computer Engineering University of British Columbia VancouverBCV6T 1Z4 Canada Centre for Quantum Computation and Communication Technology School of Physics The University of Melbourne ParkvilleVIC3010 Australia School of Computing and Information Systems Faculty of Engineering and Information Technology The University of Melbourne ParkvilleVIC3010 Australia School of Materials Science and Engineering The University of New South Wales SydneyNSW2052 Australia Electrical and Computer Engineering Department Purdue University West LafayetteIN United States Quantum Photonics Laboratory School of Engineering RMIT University MelbourneVIC3000 Australia Université Grenoble Alpes CEA LETI Grenoble38000 France

Strain is extensively used to controllably tailor the electronic properties of materials. In the context of indirect band-gap semiconductors such as silicon, strain lifts the valley degeneracy of the six conduction band minima, and by extension the valley states of electrons bound to phosphorus donors. Here, single phosphorus atoms are embedded in an engineered thin layer of silicon strained to 0.8% and their wave function imaged using spatially resolved spectroscopy. A prevalence of the out of plane valleys is confirmed from the real-space images, and a combination of theoretical modelling tools is used to assess how this valley repopulation effect can yield isotropic exchange and tunnel interactions in the xy-plane relevant for atomically precise donor qubit devices. Finally, the residual presence of in-plane valleys is evidenced by a Fourier analysis of both experimental and theoretical images, and atomistic calculations highlight the importance of higher orbital excited states to obtain a precise relationship between valley population and strain. Controlling the valley degree of freedom in engineered strained epilayers provides a new competitive asset for the development of donor-based quantum technologies in silicon. Copyright © 2021, The Authors. All rights reserved.

关键词： Landforms

Localized heat diffusion in topological thermal materials

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arXiv 2021年

作者： Qi, Minghong Wang, Dong Cao, Pei-Chao Zhu, Xue-Feng Qiu, Cheng-Wei Chen, Hongsheng Li, Ying Interdisciplinary Center for Quantum Information State Key Laboratory of Modern Optical Instrumentation ZJU-Hangzhou Global Scientific and Technological Innovation Center Zhejiang University Hangzhou310027 China International Joint Innovation Center Key Lab. of Advanced Micro/Nano Electronic Devices & Smart Systems of Zhejiang The Electromagnetics Academy Zhejiang University Zhejiang University Haining314400 China School of Physics Innovation Institute Huazhong University of Science and Technology Wuhan430074 China Department of Electrical and Computer Engineering National University of Singapore Singapore117583 Singapore

Various unusual behaviors of artificial materials are governed by their topological properties, among which the edge state at the boundary of a photonic or phononic lattice has been captivated as a popular notion. However, this remarkable bulk-boundary correspondence and the related phenomena are missing in thermal materials. One reason is that heat diffusion is described in a non-Hermitian framework because of its dissipative nature. The other is that the relevant temperature field is mostly composed of modes that extend over wide ranges, making it difficult to be rendered within the tight-binding theory as commonly employed in wave physics. Here, we overcome the above challenges and perform systematic studies on heat diffusion in thermal lattices. Based on a continuum model, we introduce a state vector to link the Zak phase with the existence of the edge state, and thereby analytically prove the thermal bulk-boundary correspondence. We experimentally demonstrate the predicted edge states with a topologically protected and localized heat dissipation capacity. Our finding sets up a solid foundation to explore the topology in novel heat transfer manipulations. © 2021, CC BY.

关键词： Topology

FUTURE-AI: International consensus guideline for trustworthy and deployable artificial intelligence in healthcare

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arXiv 2023年

作者： Lekadir, Karim Feragen, Aasa Fofanah, Abdul Joseph Frangi, Alejandro F. Buyx, Alena Emelie, Anais Lara, Andrea Porras, Antonio R. Chan, An-Wen Navarro, Arcadi Glocker, Ben Botwe, Benard O. Khanal, Bishesh Beger, Brigit Wu, Carol C. Cintas, Celia Langlotz, Curtis P. Rueckert, Daniel Mzurikwao, Deogratias Fotiadis, Dimitrios I. Zhussupov, Doszhan Ferrante, Enzo Meijering, Erik Weicken, Eva González, Fabio A. Asselbergs, Folkert W. Prior, Fred Krestin, Gabriel P. Collins, Gary S. Tegenaw, Geletaw S. Kaissis, Georgios Misuraca, Gianluca Tsakou, Gianna Dwivedi, Girish Kondylakis, Haridimos Jayakody, Harsha Woodruf, Henry C. Mayer, Horst Joachim Aerts, Hugo JWL Walsh, Ian Chouvarda, Ioanna Buvat, Irène Tributsch, Isabell Rekik, Islem Duncan, James Kalpathy-Cramer, Jayashree Zahir, Jihad Park, Jinah Mongan, John Gichoya, Judy W. Schnabel, Julia A. Kushibar, Kaisar Riklund, Katrine Mori, Kensaku Marias, Kostas Amugongo, Lameck M. Fromont, Lauren A. Maier-Hein, Lena Alberich, Leonor Cerdá Rittner, Leticia Phiri, Lighton Marrakchi-Kacem, Linda Donoso-Bach, Lluís Martí-Bonmatí, Luis Cardoso, M. Jorge Bobowicz, Maciej Shabani, Mahsa Tsiknakis, Manolis Zuluaga, Maria A. Bielikova, Maria Fritzsche, Marie-Christine Camacho, Marina Linguraru, Marius George Wenzel, Markus De Bruijne, Marleen Tolsgaard, Martin G. Ghassemi, Marzyeh Ashrafuzzaman, Md Goisauf, Melanie Yaqub, Mohammad Abadía, Mónica Cano Mahmoud, Mukhtar M.E. Elattar, Mustafa Rieke, Nicola Papanikolaou, Nikolaos Lazrak, Noussair Díaz, Oliver Salvado, Olivier Pujol, Oriol Sall, Ousmane Guevara, Pamela Gordebeke, Peter Lambin, Philippe Brown, Pieta Abolmaesumi, Purang Dou, Qi Lu, Qinghua Osuala, Richard Nakasi, Rose Zhou, S. Kevin Napel, Sandy Colantonio, Sara Albarqouni, Shadi Joshi, Smriti Carter, Stacy Klein, Stefan Petersen, Steffen E. Aussó, Susanna Awate, Suyash Raviv, Tammy Riklin Cook, Tessa Mutsvangwa, Tinashe E.M. Rogers, Wendy A. Niessen, Wiro J. Puig-Bosch, Xènia Zeng, Yi Mohammed, Yunusa G. Aquino, Yves Saint James Salahuddin, Zohaib Starmans, Martijn P.A. Department de Matemàtiques i Informàtica Universitat de Barcelona Barcelona Spain Barcelona Spain DTU Compute Technical University of Denmark Kgs Lyngby Denmark Department of Mathematics and Computer Science Faculty of Science and Technology Milton Margai Technical University Freetown Sierra Leone Center for Computational Imaging & Simulation Technologies in Biomedicine Schools of Computing and Medicine University of Leeds Leeds United Kingdom Cardiovascular Science and Electronic Engineering Departments KU Leuven Leuven Belgium Institute of History and Ethics in Medicine Technical University of Munich Munich Germany Faculty of Engineering of Systems Informatics and Sciences of Computing Galileo University Guatemala City Guatemala Department of Biostatistics and Informatics Colorado School of Public Health University of Colorado Anschutz Medical Campus AuroraCO United States Department of Medicine Women’s College Research Institute University of Toronto Toronto Canada Universitat Pompeu Fabra BarcelonaBeta Brain Research Center Barcelona Spain Department of Computing Imperial College London London United Kingdom School of Biomedical & Allied Health Sciences University of Ghana Accra Ghana Department of Midwifery & Radiography School of Health & Psychological Sciences City University of London United Kingdom Kathmandu Nepal European Heart Network Brussels Belgium Department of Thoracic Imaging University of Texas MD Anderson Cancer Center Houston United States IBM Research Africa Nairobi Kenya Departments of Radiology Medicine and Biomedical Data Science Stanford University School of Medicine Stanford United States Institute for AI and Informatics in Medicine Klinikum rechts der Isar Technical University Munich Munich Germany Department of Computing Imperial College London London United Kingdom Muhimbili University of Health and Allied Sciences Dar es Salaam Tanzania United Republic of Ioannina Greece Almaty AI Lab Almaty Kazakhstan

Background: Despite major advances in artificial intelligence (AI) research for healthcare, the deployment and adoption of AI technologies remain limited in clinical practice. In recent years, concerns have been raised about the clinical, technical, ethical and legal risks associated with healthcare AI. To increase adoption in the real world, it is essential that AI technologies are trusted and accepted by patients, clinicians, health organisations and authorities. This paper describes the FUTURE-AI framework as the first international consensus guideline for trustworthy AI in healthcare. Methods: The FUTURE-AI consortium was founded in 2021 and now comprises 117 interdisciplinary experts from 50 countries representing all continents, including AI scientists, clinical researchers, biomedical ethicists, and social scientists. Over a two-year period, the consortium established guiding principles and best practices for trustworthy and deployable AI through an iterative process comprising an in-depth literature review, a modified Delphi survey, and online consensus meetings. Findings: The FUTURE-AI framework was established based on six guiding principles for trustworthy AI in healthcare, i.e. Fairness, Universality, Traceability, Usability, Robustness and Explainability. Through consensus, a set of 30 best practices were defined, addressing technical, clinical, socio-ethical and legal dimensions of trustworthy AI. The recommendations cover the entire lifecycle of healthcare AI, from design, development and validation to regulation, deployment, and monitoring. Interpretation: FUTURE-AI is a structured, risk-informed framework which provides guidance for constructing healthcare AI tools that will be trusted, deployed and adopted in real-world clinical practice. Researchers are encouraged to take the recommendations into account in proof-of-concept stages to facilitate future translation towards clinical practice of healthcare AI. Copyright © 2023, The Authors. All rights

关键词： Clinical research

A Design Framework for Invertible Logic

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A Design Framework for Invertible Logic

Asilomar Conference on Signals, systems & computers

作者： N. Onizawa K. Nishino S. Smithson B. Meyer W. Gross H. Yamagata H. Fujita T. Hanyu Research Institute of Electrical Communication Tohoku University Sendai Japan Department of Electrical and Computer Engineering McGill University Canada Advanced Research Laboratory Canon Medical Systems Corp. Japan

ISBN: (数字)9781728143002

ISBN: (纸本)9781728143019

Invertible logic using a probabilistic magnetoresistive device model has been recently presented that can operate in bidirectional ways and solve several problems quickly, such as factorization and combinational optimization. In this paper, we present a design framework for large- scale invertible logic circuits. Our approach makes use of linear programming to create a Hamiltonian library with the minimum number of nodes. In addition, as the device model is approximated based on stochastic computing in SystemVerilog, a faster simulation using the compiled SystemC binary is realized than a conventional SPICE-level simulation. We have evaluated our framework on designing invertible multipliers, which realizes almost 5 order-of-magnitude faster simulation than a conventional method.

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parallel-in-Time Multi-Level Integration of the Shallow-Water Equations on the Rotating Sphere

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arXiv 2019年

作者： Hamon, François P. Schreiber, Martin Minion, Michael L. Center for Computational Sciences and Engineering Lawrence Berkeley National Laboratory Berkeley United States Chair of Computer Architecture and Parallel Systems Technical University of Munich Germany Department of Applied Mathematics Lawrence Berkeley National Laboratory Berkeley United States

The modeling of atmospheric processes in the context of weather and climate simulations is an important and computationally expensive challenge. The temporal integration of the underlying PDEs requires a very large number of time steps, even when the terms accounting for the propagation of fast atmospheric waves are treated implicitly. Therefore, the use of parallel-in-time integration schemes to reduce the time-to-solution is of increasing interest, particularly in the numerical weather forecasting field. We present a multi-level parallel-in-time integration method combining the parallel Full Approximation Scheme in Space and Time (PFASST) with a spatial discretization based on Spherical Harmonics (SH). The iterative algorithm computes multiple time steps concurrently by interweaving parallel high-order fine corrections and serial corrections performed on a coarsened problem. To do that, we design a methodology relying on the spectral basis of the SH to coarsen and interpolate the problem in space. The methods are evaluated on the shallow-water equations on the sphere using a set of tests commonly used in the atmospheric flow community. We assess the convergence of PFASST-SH upon refinement in time. We also investigate the impact of the coarsening strategy on the accuracy of the scheme, and specifically on its ability to capture the high-frequency modes accumulating in the solution. Finally, we study the computational cost of PFASST-SH to demonstrate that our scheme resolves the main features of the solution multiple times faster than the serial schemes. Copyright © 2019, The Authors. All rights reserved.

关键词： Harmonic analysis

Self-Propelled Detachment upon Coalescence of Surface Bubbles

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Physical Review Letters 2021年第23期127卷 235501-235501页

作者： Pengyu Lv Pablo Peñas Hai Le The Jan Eijkel Albert van den Berg Xuehua Zhang Detlef Lohse State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering Science Beijing Innovation Center for Engineering Science and Advanced Technology College of Engineering Peking University Beijing 100871 People’s Republic of China Physics of Fluids group Faculty of Science and Technology Max Planck—University of Twente Center for Complex Fluid Dynamics MESA+Institute and J. M. Burgers Centre for Fluid Dynamics University of Twente P.O. Box 217 7500 AE Enschede Netherlands BIOS Lab-on-a-Chip group Faculty of Electrical Engineering Max Planck—University of Twente Center for Complex Fluid Dynamics Mathematics and Computer Science MESA+Institute University of Twente P.O. Box 217 7500 AE Enschede Netherlands Department of Chemical & Materials Engineering University of Alberta Edmonton Alberta T6G1H9 Canada Max Planck Institute for Dynamics and Self-Organization 37077 Göttingen Germany

The removal of microbubbles from substrates is crucial for the efficiency of many catalytic and electrochemical gas evolution reactions in liquids. The current work investigates the coalescence and detachment of bubbles generated from catalytic decomposition of hydrogen peroxide. Self-propelled detachment, induced by the coalescence of two bubbles, is observed at sizes much smaller than those determined by buoyancy. Upon coalescence, the released surface energy is partly dissipated by the bubble oscillations, working against viscous drag. The remaining energy is converted to the kinetic energy of the out-of-plane jumping motion of the merged bubble. The critical ratio of the parent bubble sizes for the jumping to occur is theoretically derived from an energy balance argument and found to be in agreement with the experimental results. The present results provide both physical insight for the bubble interactions and practical strategies for applications in chemical engineering and renewable energy technologies like electrolysis.

关键词： Drops & bubbles

Adversarial deep learning in EEG biometrics

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arXiv 2019年

作者： Özdenizci, Ozan Wang, Ye Koike-Akino, Toshiaki Erdoğmuş, Deniz Cognitive Systems Laboratory Department of Electrical and Computer Engineering Northeastern University BostonMA United States Mitsubishi Electric Research Laboratories CambridgeMA United States

Deep learning methods for person identification based on electroencephalographic (EEG) brain activity encounters the problem of exploiting the temporally correlated structures or recording session specific variability within EEG. Furthermore, recent methods have mostly trained and evaluated based on single session EEG data. We address this problem from an invariant representation learning perspective. We propose an adversarial inference approach to extend such deep learning models to learn session-invariant person-discriminative representations that can provide robustness in terms of longitudinal usability. Using adversarial learning within a deep convolutional network, we empirically assess and show improvements with our approach based on longitudinally collected EEG data for person identification from half-second EEG epochs. Copyright © 2019, The Authors. All rights reserved.

关键词： Biometrics