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

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Predictive Inverse Kinematics: optimizing Future Trajectory ...

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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Non-Coherent Multi-User Detection Based on Expectation Propagation

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Non-Coherent Multi-User Detection Based on Expectation Propa...

Asilomar Conference on Signals, systems & computers

作者： Khac-Hoang Ngo Maxime Guillaud Alexis Decurninge Sheng Yang Subrata Sarkar Philip Schniter Mathematical and Algorithmic Sciences Lab. Huawei Technologies France France Laboratory of Signals and Systems CentraleSupélec Gif-sur-Yvette France Department of Electrical and Computer Engineering The Ohio State University Columbus OH USA

ISBN: (数字)9781728143002

ISBN: (纸本)9781728143019

In this paper, we propose a novel soft-output multi-user detector for non-coherent multiple access with Grassmannian signaling under Rayleigh block fading. Our detector is based on expectation propagation (EP) approximate inference and has polynomial complexity in the number of users. A simplified version of this scheme coincides with a scheme based on soft minimum-mean-square-error (MMSE) estimation and successive interference cancellation (SIC). Both schemes, especially EP, produce accurate approximates of the true posterior. They outperform a baseline decoder based on projecting the received signal onto the subspace orthogonal to the interference in terms of both hard-detected symbol error rate and coded bit error rate.

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Free-standing zirconia metasurfaces for microwave resonant polarization conversion

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Physical Review Materials 2025年第5期9卷 055203-055203页

作者： Dimitrios C. Zografopoulos Konstantinos Ntokos Georgios Nousios Guillaume de Calan Odysseas Tsilipakos Walter Fuscaldo Angelos Xomalis Laszlo Pethö José Francisco Algorri Victor Dmitriev Traianos V. Yioultsis Emmanouil E. Kriezis School of Electrical and Computer Engineering Aristotle University of Thessaloniki GR-54124 Thessaloniki Greece Consiglio Nazionale delle Ricerche Istituto per la Microelettronica e Microsistemi Via del fosso del cavaliere 100 00133 Rome Italy Nanoe Corporation 6 Rue des Frênes Ballainvilliers 91160 France Theoretical and Physical Chemistry Institute National Hellenic Research Foundation GR-11635 Athens Greece Nanoelectronics and Photonics Group Department of Electronic Systems Norwegian University of Science and Technology Trondheim 7034 Norway Laboratory for Mechanics of Materials and Nanostructures Empa Swiss Federal Laboratories for Materials Science and Technology Feuerwerkerstrasse 39 3602 Thun Switzerland Photonics Engineering Group University of Cantabria 39005 Santander Spain CIBER-bbn Instituto de Salud Carlos III 28029 Madrid Spain Instituto de Investigación Sanitaria Valdecilla 39011 Santander Spain Electrical Engineering Department Federal University of Pará CEP 66075-900 Belém Brazil

A dielectric zirconia metasurface for resonant polarization conversion at microwave frequencies is theoretically and experimentally investigated. The metasurface is composed of a periodic array of square slotted rings interrupted by solid bridge sectors that provide interconnection and mechanical stability to the free-standing metasurface structure. Moreover, they selectively break the symmetry of the unit cell, thus allowing for polarization conversion based on both weakly and strongly resonant modes, the latter stemming from bound states in the continuum. The main findings of the theoretical analysis are corroborated through the experimental characterization of a metasurface sample fabricated by a recently introduced three-dimensional (3D) printing technique based on fused filament fabrication. Going beyond the target application of resonant polarization conversion, this work proposes an approach for the realization of high-permittivity, 3D-printed zirconia metasurfaces with submillimeter features for strong wave-matter interaction at microwave frequencies.

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Overcoming the disconnect between energy system and climate modelling

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arXiv 2022年

作者： Craig, Michael T. Wohland, Jan Stoop, Laurens P. Kies, Alexander Pickering, Bryn Bloomfield, Hannah C. Browell, Jethro De Felice, Matteo Dent, Chris J. Deroubaix, Adrien Frischmuth, Felix Gonzalez, Paula L.M. Grochowicz, Aleksander Gruber, Katharina Härtel, Philipp Kittel, Martin Kotzur, Leander Labuhn, Inga Lundquist, Julie K. Pflugradt, Noah van der Wiel, Karin Zeyringer, Marianne Brayshaw, David J. School for Environment and Sustainability University of Michigan United States Institute for Environmental Decisions ETH Zurich Switzerland Helmholtz-Zentrum Hereon Germany Information and Computing Science Copernicus Institute of Sustainable Development Utrecht University Netherlands TenneT TSO B.V. Arnhem Netherlands Royal Netherlands Meteorological Institute Netherlands Frankfurt Institute for Advanced Studies Germany Department of Electrical and Computer Engineering Aarhus University Denmark ETH Zürich Switzerland School of Geographical Sciences University of Bristol United Kingdom Department of Meteorology University of Reading United Kingdom University of Glasgow United Kingdom European Commission Joint Research Centre Netherlands School of Mathematics University of Edinburg United Kingdom The Alan Turing Institute United Kingdom Max Planck Institute Germany Fraunhofer Institute for Energy Economics and Energy System Technology Germany Department of Mathematics University of Oslo Norway University of Natural Resources and Life Sciences Austria German Institute for Economic Research Germany Institute of Energy and Climate Research Techno-economic Systems Analysis Germany University of Bremen Institute of Geography Germany Dept. of Atmospheric and Oceanic Science University of Colorado Boulder United States National Renewable Energy Laboratory United States Renewable and Sustainable Energy Institute United States Forschungszentrum Jülich Germany Department of Technology Systems University of Oslo Norway

Energy system models underpin decisions by energy system planners and operators. Energy system modelling faces a transformation: accounting for changing meteorological conditions imposed by climate change. To enable that transformation, a community of practice in energy-climate modelling has started to form that aims to better integrate energy system models with weather and climate models. Here, we evaluate the disconnects between the energy system and climate modelling communities, then lay out a research agenda to bridge those disconnects. In the near-term, we propose interdisciplinary activities for expediting uptake of future climate data in energy system modelling. In the long-term, we propose a transdisciplinary approach to enable development of (1) energy-system-tailored climate datasets for historical and future meteorological conditions and (2) energy system models that can effectively leverage those datasets. This agenda increases the odds of meeting ambitious climate mitigation goals by systematically capturing and mitigating climate risk in energy sector decision making. © 2022, CC BY-NC-ND.

关键词： Decision making

Passive SAR imaging using phaseless measurements 12

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Passive SAR imaging using phaseless measurements

12th European Conference on Synthetic Aperture Radar, EUSAR 2018

作者： Mason, Eric Yazıcı, Birsen Tactical Electronic Warfare Division Naval Research Laboratory WashingtonDC20375 United States Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute TroyNY12180 United States

ISBN: (纸本)9783800746361

Passive synthetic aperture radar (SAR) is an imaging method that uses existing illuminators of opportunity rather than a dedicated transmitter. Passive radar has seen an increase in popularity due to increased stealth, decreased cost, and superior use of the electromagnetic spectrum. In this paper we present an incoherent imaging method for passive SAR that uses phaseless or magnitude only measurements. Unlike conventional methods, our approach only requires a single receiver. The method is based on the observation that the squared modulus of the data can be cast as a linear mapping of a rank-one positive semi-definite operator, formed as the tensor product of scene reflectivity with itself. Thus, we pose imaging as a convex optimization problem which utilizes the mathematical structure of the unknown. We demonstrate the performance of our approach with numerical simulations. © VDE VERLAG GMBH Â Berlin Â Offenbach.

关键词： Synthetic aperture radar

Some Remarks on Robust Gene Regulation in a Biomolecular Integral Controller

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Some Remarks on Robust Gene Regulation in a Biomolecular Int...

IEEE Annual Conference on Decision and Control

作者： Deepak K. Agrawal Ryan Marshall M. Ali Al-Radhawi Vincent Noireaux Eduardo D Sontag Department of Bioengineering and Department of Electrical and Computer Engineering Northeastern University Boston MA USA School of Physics and Astronomy University of Minnesota Minneapolis MN USA Laboratory of Systems Pharmacology Program in Therapeutic Science Harvard Medical School Boston MA USA

ISBN: (数字)9781728113982

ISBN: (纸本)9781728113999

Integral feedback can help achieve robust tracking independently of external disturbances. Motivated by this knowledge, biological engineers have proposed various designs of biomolecular integral feedback controllers to regulate biological processes. In this paper, we theoretically analyze the operation of a particular synthetic biomolecular integral controller, which we have recently proposed and implemented experimentally. Using a combination of methods, ranging from linearized analysis to sum-of-squares (SOS) Lyapunov functions, we demonstrate that, when the controller is operated in closed-loop, it is capable of providing integral corrections to the concentration of an output species in such a manner that the output tracks a reference signal linearly over a large dynamic range. We investigate the output dependency on the reaction parameters through sensitivity analysis, and quantify performance using control theory metrics to characterize response properties, thus providing clear selection guidelines for practical applications. We then demonstrate the stable operation of the closed-loop control system by constructing quartic Lyapunov functions using SOS optimization techniques, and establish global stability for a unique equilibrium. Our analysis suggests that by incorporating effective molecular sequestration, a biomolecular closed-loop integral controller that is capable of robustly regulating gene expression is feasible.

关键词： Steady-state Robustness Mathematical model Proteins Gene expression Kinetic theory Production

Self-propelled detachment upon coalescence of surface bubbles

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arXiv 2021年

作者： Lv, Pengyu Peñas, Pablo Le The, Hai Eijkel, Jan van den Berg, Albert Zhang, Xuehua Lohse, Detlef State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering Science BIC-ESAT College of Engineering Peking University Beijing100871 China Physics of Fluids group Faculty of Science and Technology Max Planck - University of Twente Center for Complex Fluid Dynamics MESA+ Institute J. M. Burgers Centre for Fluid Dynamics University of Twente P.O. Box 217 Enschede7500 AE 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 Enschede7500 AE Netherlands Department of Chemical & Materials Engineering University of Alberta EdmontonABT6G1H9 Canada Max Planck Institute for Dynamics and Self-Organization Göttingen37077 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. Copyright © 2021, The Authors. All rights reserved.

关键词： Coalescence

Benchmarking quality-dependent and cost-sensitive score-level multimodal biometric fusion algorithms

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arXiv 2021年

作者： Poh, Norman Bourlai, Thirimachos Kittler, Josef Allano, Lorene Alonso-Fernandez, Fernando Ambekar, Onkar Baker, John Dorizzi, Bernadette Fatukasi, Omolara Fierrez, Julian Ganster, Harald Ortega-Garcia, Javier Maurer, Donald Salah, Albert Ali Scheidat, Tobias Vielhauer, Claus Centre for Vision Speech and Signal Processing School of Electronics and Physical Sciences University of Surrey Guildford SurreyGU2 7XH United Kingdom Biometrics Center Lane Department of Computer Science and Electrical Engineering College of Engineering and Mineral Resources West Virginia University MorgantownWV26506-6109 United States Institut Telecom Telecom and Management SudParis Evry91011 France Biometric Recognition Group – ATVS Escuela Politecnica Superior Universidad Autonoma de Madrid Madrid28049 Spain Amsterdam1098 XG Netherlands Applied Physics Laboratory Johns Hopkins University LaurelMD20723 United States Electronics and Physics Department Institut Telecom Telecom and Management SudParis Evry91011 France Institute of Digital Image Processing Joanneum Research Graz8010 Austria ISLA-ISIS University of Amsterdam Amsterdam1098 XG Netherlands Department of Informatics and Media Brandenburg University of Applied Sciences Brandenburg an der HavelD-14770 Germany Research Group Multimedia and Security Department of Technical and Business Information Systems Faculty of Computer Science Otto-von-Guericke-University of Magdeburg MagdeburgD-39106 Germany

Automatically verifying the identity of a person by means of biometrics (e.g., face and fingerprint) is an important application in our day-to-day activities such as accessing banking services and security control in airports. To increase the system reliability, several biometric devices are often used. Such a combined system is known as a multimodal biometric system. This paper reports a benchmarking study carried out within the framework of the BioSecure DS2 (Access Control) evaluation campaign organized by the University of Surrey, involving face, fingerprint, and iris biometrics for person authentication, targeting the application of physical access control in a medium-size establishment with some 500 persons. While multimodal biometrics is a well-investigated subject in the literature, there exists no benchmark for a fusion algorithm comparison. Working towards this goal, we designed two sets of experiments: quality-dependent and cost-sensitive evaluation. The quality-dependent evaluation aims at assessing how well fusion algorithms can perform under changing quality of raw biometric images principally due to change of devices. The cost-sensitive evaluation, on the other hand, investigates how well a fusion algorithm can perform given restricted computation and in the presence of software and hardware failures, resulting in errors such as failure-to-acquire and failure-to-match. Since multiple capturing devices are available, a fusion algorithm should be able to handle this nonideal but nevertheless realistic scenario. In both evaluations, each fusion algorithm is provided with scores from each biometric comparison subsystem as well as the quality measures of both the template and the query data. The response to the call of the evaluation campaign proved very encouraging, with the submission of 22 fusion systems. To the best of our knowledge, this campaign is the first attempt to benchmark quality-based multimodal fusion algorithms. In the presence of changing

关键词： Benchmarking

Energy-efficient hybrid precoding design for integrated multicast-unicast millimeter wave communications with SWIPT

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arXiv 2020年

作者： Hao, Wanming Sun, Gangcan Zhou, Fuhui Mi, De Shi, Jia Xiao, Pei Leung, Victor C.M. School of Information Engineering Zhengzhou University Zhengzhou450001 China 5G Innovation Center Institute of Communication Systems University of Surrey GuildfordGU2 7XH United Kingdom 5G Innovation Center Institute of Communication Systems University of Surrey GuildfordGU2 7XH United Kingdom College of Electronic and Information Engineering Nanjing University of Aeronautics and Astronautics Nanjing210000 China State Key Laboratory of Integrated Services Networks Xi'dian University Xian710071 China College of Computer Science and Software Engineering Shenzhen University Shenzhen518060 China Department of Electrical and Computer Engineering University of British Columbia VancouverBCV6T1Z4 Canada

In this paper, we investigate the energy-efficient hybrid precoding design for integrated multicast-unicast millimeter wave (mmWave) system, where the simultaneous wireless information and power transform is considered at receivers. We adopt two sparse radio frequency chain antenna structures at the base station (BS), i.e., fully-connected and subarray structures, and design the codebook-based analog precoding according to the different structures. Then, we formulate a joint digital multicast, unicast precoding and power splitting ratio optimization problem to maximize the energy efficiency of the system, while the maximum transmit power at the BS and minimum harvested energy at receivers are considered. Due to its difficulty to directly solve the formulated problem, we equivalently transform the fractional objective function into a subtractive form one and propose a two-loop iterative algorithm to solve it. For the outer loop, the classic Bi-section iterative algorithm is applied. For the inner loop, we transform the formulated problem into a convex one by successive convex approximation techniques and propose an iterative algorithm to solve it. Meanwhile, to reduce the complexity of the inner loop, we develop a zero forcing (ZF) technique-based low complexity iterative algorithm. Specifically, the ZF technique is applied to cancel the inter-unicast interference and the first order Taylor approximation is used for the convexification of the non-convex constraints in the original problem. Finally, simulation results are provided to compare the performance of the proposed algorithms under different schemes. Copyright © 2020, The Authors. All rights reserved.

关键词： Energy efficiency