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arXiv 2019年

作者： Qi, Hongsheng Muy, Biqiang Petersenz, Ian R. Shix, Guodong Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China Research School of Electrical Energy and Materials Engineering Australian National University Canberra0200 Australia Australian Center for Field Robotics School of Aerospace Mechanical and Mechatronic Engineering University of Sydney NSW2008 Australia

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 whose state undergoes unitary evolution in between periodic measurements, leading to hybrid quantum dynamics with random jumps at discrete time instances along a continuous orbit. The measurements either act on the entire network of qubits, or only a subset of qubits. First of all, we reveal that this type of hybrid quantum dynamics induces probabilistic Boolean recursions representing the measurement outcomes. With global measurements, it is shown that such resulting Boolean recursions define Markov chains whose state-transitions are fully determined by the network Hamiltonian and the measurement observables. Particularly, we establish an explicit and algebraic representation of the underlying recursive random mapping driving such induced Markov chains. Next, with local measurements, the resulting probabilistic Boolean dynamics is shown to be no longer Markovian. The state transition probability at any given time becomes dependent on the entire history of the sample path, for which we establish a recursive way of computing such non-Markovian probability transitions. Finally, we adopt the classical bilinear control model for the continuous Schrodinger evolution, and show how the measurements affect the controllability of the quantum networks. Copyright © 2019, The Authors. All rights reserved.

关键词： Quantum optics

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Measurement-Induced boolean dynamics for open quantum networks

arXiv

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arXiv 2019年

作者： Qi, Hongsheng Mu, Biqiang Petersen, Ian R. Shi, Guodong Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China Research School of Electrical Energy and Materials Engineering Australian National University Canberra0200 Australia Australian Center for Field Robotics School of Aerospace Mechanical and Mechatronic Engineering University of Sydney NSW2008 Australia

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 described by a continuous Lindblad master equation. When measurements are performed sequentially along such continuous dynamics, the quantum network states undergo random jumps and the corresponding measurement outcomes can be described by a vector of probabilistic Boolean variables. The induced recursion of the Boolean vectors forms a probabilistic Boolean network. First of all, we show that the state transition of the induced Boolean networks can be explicitly represented through realification of the master equation. Next, when the open quantum dynamics is relaxing in the sense that it possesses a unique equilibrium as a global attractor, structural properties including absorbing states, reducibility, and periodicity for the induced Boolean network are direct consequences of the relaxing property. Particularly, we show that generically, relaxing quantum dynamics leads to irreducible and aperiodic chains for the measurement outcomes. Finally, we show that for quantum consensus networks as a type of non-relaxing open quantum network dynamics, the communication classes of the measurement-induced Boolean networks are encoded in the quantum Laplacian of the underlying interaction graph. Copyright © 2019, The Authors. All rights reserved.

关键词： Quantum theory

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Coherent H ∞ control for Markovian jump linear quantum systems

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IFAC-PapersOnLine 2020年第2期53卷 269-274页

作者： Yanan Liu Daoyi Dong Ian R. Petersen Qing Gao Steven X. Ding Hidehiro Yonezawa School of Engineering and Information Technology University of New South Wales Canberra ACT 2600 Australia Center for Quantum Computation and Communication Technology Australian Research Council Canberra ACT 2600 Australia Institute for Automatic Control and Complex Systems (AKS) University of Duisburg-Essen. 47057 Duisburg Germany Research School of Electrical Energy and Materials Engineering The Australian National University Canberra ACT 2601 Australia School of Automation Science and Electrical Engineering State Key Laboratory of Software Development Environment Beijing and also with Advanced Innovation Center for Big Data and Brain Computing Beihang University Beijing 100191 China

The purpose of this paper is to design a coherent feedback controller for a Markovian jump linear quantum system suffering from a fault signal. The control objective is to bound the effect of the disturbance input on the output for the time-varying quantum system. We prove the relation between the H ∞ control problem, the dissipation properties, and the solutions of Riccati differential equations, by which the H ∞ controller of the Markovian jump linear quantum system is given by the solutions of Linear Matrix Inequalities (LMIs).

关键词： Coherent quantum feedback H∞ control fault-tolerant control Markovian jump linear quantum systems

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Safe Stop Trajectory Planning for Highly Automated Vehicles: An Optimal control Problem Formulation

Safe Stop Trajectory Planning for Highly Automated Vehicles:...

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2018 IEEE Intelligent Vehicles Symposium, IV 2018

作者： Svensson, Lars Masson, Lola Mohan, Naveen Ward, Erik Brenden, Anna Pernestål Feng, Lei Törngren, Martin Mechatronics and Embedded Control Systems KTH Royal Institute of Technology StockholmSE-10044 Sweden LAAS-CNRS University of Toulouse Toulouse France Robotics Perception and Learning KTH Royal Institute of Technology Sweden Integrated Transport Research Lab KTH Royal Institute of Technology Sweden

ISBN: (纸本)9781538644522

Highly automated road vehicles need the capability of stopping safely in a situation that disrupts continued normal operation, e.g. due to internal system faults. Motion planning for safe stop differs from nominal motion planning, since there is not a specific goal location. Rather, the desired behavior is that the vehicle should reach a stopped state, preferably outside of active lanes. Also, the functionality to stop safely needs to be of high integrity. The first contribution of this paper is to formulate the safe stop problem as a benchmark optimal control problem, which can be solved by dynamic programming. However, this solution method cannot be used in real-time. The second contribution is to develop a real-time safe stop trajectory planning algorithm, based on selection from a precomputed set of trajectories. By exploiting the particular properties of the safe stop problem, the cardinality of the set is decreased, making the algorithm computationally efficient. Furthermore, a monitoring based architecture concept is proposed, that ensures dependability of the safe stop function. Finally, a proof of concept simulation using the proposed architecture and the safe stop trajectory planner is presented. © 2018 IEEE.

关键词： Motion planning

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research and Application of Industrial Equipment Management Service System Based on Cloud-Edge Collaboration

Research and Application of Industrial Equipment Management ...

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Chinese Automation Congress (CAC)

作者： Hua Zhang Shichao Chen Ping Zou Gang Xiong Hongxia Zhao Yicun Zhang Platform Research and Development Department Beijing Aerospace Smart Manufacturing Technology Development Co.Ltd Beijing China The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Macau University of Science and Technology Beijing China The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Product Department Zhejiang Hanshow Technology Co.Ltd Beijing China

With the integration development of Internet of Things, edge computing, cloud computing and artificial intelligence, the computing paradigm centered on traditional cloud computing has begun to integrate the edge computing paradigm, forming an industrial Internet of Things revolution based on Cloud-Edge collaboration. It not only can improve the response speed of industrial field system and reduce the load pressure of network bandwidth caused by data transmission, but also can realize the refined management of industrial devices and the deep mining of industrial data by on the cloud platform. In short, the cloud platform and the edge platform can play their respective advantages and continue to promote the industrial Internet of Things to the intellectualized development. In this paper, it started from the system architecture, and an industrial equipment management service system based on Cloud-Edge collaboration was discussed, including the design of equipment management service cloud platform and edge intelligent gateway in detail. The central airconditioning energy consumption monitoring and optimization application based on INDICS platform and SMART IOT edge intelligent gateway were introduced, to verify system availability.

关键词： Cloud computing Collaboration Logic gates Data models Memory Edge computing Internet of Things

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Analysis of the Road Traffic Safety Strategy in the Russian Federation for 2018-2023 11

Analysis of the Road Traffic Safety Strategy in the Russian ...

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11th International Conference "Management of Large-Scale System development", MLSD 2018

作者： Kupriyanov, Alexander Kondratiev, Victor Shchepkin, Alexander Chudinov, Andrey Pavlyukevich, Ekaterina Moscow Aviation Institute National Research University Moscow Russia Moscow Automobile and Road Construction State Technical University Moscow Russia V. A. Trapeznikov Institute of Control Sciences Russian Academy of Sciences Moscow Russia Auditing and Consulting Group 'Business Systems Development' Moscow Russia Auditing and Consulting Group 'Business Systems Development' Moscow Russia

ISBN: (纸本)9781538649244

Progressive and inertial scenarios for the development of the socio-economic situation in the country are considered, for the case when the external environment forms a position in which the number of road accidents and those killed as a result of the road accident will increase steadily every year. We substantiate the need to formulate a strategic document in the field of road safety for the medium term and the actualization of priority activities and the system of similar measures taking into account the emerging situation, scenario forecasts, external (primarily resource) constraints and regional specifics. © 2018 IEEE.

关键词： Roads and streets

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Global, regional, and national burden of neck pain, 1990–2020, and projections to 2050: a systematic analysis of the Global Burden of Disease Study 2021

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The Lancet Rheumatology 2024年第3期6卷 e142-e155页

作者： Wu, Ai-Min Cross, Marita Elliott, James M. Culbreth, Garland T. Cousin, Ewerton Haile, Lydia M. Steinmetz, Jaimie D. Hagins, Hailey Kopec, Jacek A. Brooks, Peter M. Woolf, Anthony D. Kopansky-Giles, Deborah R. Walton, David M. Treleaven, Julia M. Dreinhoefer, Karsten E. Betteridge, Neil Abbasifard, Mitra Abbasi-Kangevari, Zeinab Addo, Isaac Yeboah Adesina, Miracle Ayomikun Adnani, Qorinah Estiningtyas Sakilah Aithala, Janardhana P. Alhalaiqa, Fadwa Alhalaiqa Naji Alimohamadi, Yousef Amiri, Sohrab Amu, Hubert Antony, Benny Arabloo, Jalal Aravkin, Aleksandr Y. Asghari-Jafarabadi, Mohammad Atomsa, Gamechu Hunde Azadnajafabad, Sina Azzam, Ahmed Y. Baghdadi, Soroush Balogun, Saliu A. Balta, Asaminew Birhanu Banach, Maciej Banakar, Morteza Barrow, Amadou Bashiri, Azadeh Bekele, Alehegn Bensenor, Isabela M. Bhardwaj, Pankaj Bhat, Ajay Nagesh Bilchut, Awraris Hailu Briggs, Andrew M. Buchbinder, Rachelle Cao, Chao Chaurasia, Akhilanand Chirinos-Caceres, Jesus Lorenzo Christensen, Steffan Wittrup McPhee Coberly, Kaleb Dadras, Omid Dai, Xiaochen de Luca, Katie Dehghan, Azizallah Dong, Huan-Ji Ekholuenetale, Michael Elhadi, Muhammed Eshetu, Habitu Birhan Eskandarieh, Sharareh Etaee, Farshid Fagbamigbe, Adeniyi Francis Fares, Jawad Fatehizadeh, Ali Feizkhah, Alireza Ferreira, Manuela L. Ferreira, Nuno Fischer, Florian Franklin, Richard Charles Ganesan, Balasankar Gebremichael, Mathewos Alemu Gerema, Urge Gholami, Ali Ghozy, Sherief Gill, Tiffany K. Golechha, Mahaveer Goleij, Pouya Golinelli, Davide Graham, Simon Matthew Haj-Mirzaian, Arvin Harlianto, Netanja I. Hartvigsen, Jan Hasanian, Mohammad Hassen, Mohammed Bheser Hay, Simon I. Hebert, Jeffrey J. Heidari, Golnaz Hoveidaei, Amir Human Hsiao, Alexander Kevin Ibitoye, Segun Emmanuel Iwu, Chidozie C.D. Jacob, Louis Janodia, Manthan Dilipkumar Jin, Yingzhao Jonas, Jost B. Joshua, Charity Ehimwenma Kandel, Himal Khader, Yousef Saleh Khajuria, Himanshu Khan, Ejaz Ahmad Khan, Moien A.B. Khatatbeh, Moawiah Mohammad Khateri, Sorour Khayat Kashani, Hamid Reza Khonji, Mohammad Saeid Department of Orthopaedics The Second Affiliated Hospital of Wenzhou Medical University Wenzhou China Faculty of Medicine and Health University of Sydney Sydney NSW Australia Global Alliance for Musculoskeletal Health Sydney NSW Australia Kolling Institute of Medical Research University of Sydney Northern Sydney Local Health District St Leonards NSW Australia Department of Physical Therapy and Human Movement Sciences Northwestern University Chicago IL United States Institute for Health Metrics and Evaluation University of Washington Seattle WA United States School of Population and Public Health University of British Columbia Vancouver BC Canada Arthritis Research Canada Richmond BC Canada US Department of Veterans Affairs (VA) Birmingham AL United States Centre for Health Policy University of Melbourne Melbourne VIC Australia Bone and Joint Research Group Royal Cornwall Hospital Truro United Kingdom Department of Family and Community Medicine University of Toronto Toronto ON Canada Department of Research and Innovation Canadian Memorial Chiropractic College Toronto ON Canada Department of Physical Therapy University of Sydney Sydney NSW Australia School of Physical Therapy Western University London ON Canada School of Health and Rehabilitation Sciences The University of Queensland Brisbane Australia Center of Musculoskeletal Surgery Charité Universitätsmedizin Berlin (Charité Medical University Berlin) Berlin Germany London United Kingdom Department of Internal Medicine Rafsanjan University of Medical Sciences Rafsanjan Iran Clinical Research Development Unit Rafsanjan University of Medical Sciences Rafsanjan Iran Social Determinants of Health Research Center Shahid Beheshti University of Medical Sciences Tehran Iran Non-communicable Diseases Research Center Tehran University of Medical Sciences Tehran Iran Tehran University of Medical Sciences Tehran Iran Centre for Social Research in Health University of New South Wales Sydney NSW

Background: Neck pain is a highly prevalent condition that leads to considerable pain, disability, and economic cost. We present the most current estimates of neck pain prevalence and years lived with disability (YLDs) from the Global Burden of Diseases, Injuries, and Risk Factors Study (GBD) by age, sex, and location, with forecasted prevalence to 2050. Methods: Systematic reviews identified population-representative surveys used to estimate the prevalence of and YLDs from neck pain in 204 countries and territories, spanning from 1990 to 2020, with additional data from opportunistic review. Medical claims data from Taiwan (province of China) were also included. Input data were pooled using DisMod-MR 2.1, a Bayesian meta-regression tool. Prevalence was forecast to 2050 using a mixed-effects model using Socio-demographic Index as a predictor and multiplying by projected population estimates. We present 95% UIs for every metric based on the 2·5th and 97·5th percentiles of 100 draws of the posterior distribution. Findings: Globally, in 2020, neck pain affected 203 million (95% uncertainty interval [UI] 163–253) people. The global age-standardised prevalence rate of neck pain was estimated to be 2450 (1960–3040) per 100 000 population and global age-standardised YLD rate was estimated to be 244 (165–346) per 100 000. The age-standardised prevalence rate remained stable between 1990 and 2020 (percentage change 0·2% [–1·3 to 1·7]). Globally, females had a higher age-standardised prevalence rate (2890 [2330–3620] per 100 000) than males (2000 [1600–2480] per 100 000), with the prevalence peaking between 45 years and 74 years in male and female sexes. By 2050, the estimated global number of neck pain cases is projected to be 269 million (219–322), with an increase of 32·5% (23·9–42·3) from 2020 to 2050. Decomposition analysis of the projections showed population growth was the primary contributing factor, followed by population ageing. Interpretation: Although age-standardi

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Toward a Human-Machine Interface Based on Electrical Impedance Tomography for Robotic Manipulator control

Toward a Human-Machine Interface Based on Electrical Impedan...

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

作者： Enhao Zheng Yuhua Li Qining Wang Hong Qiao The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences No. 95 of Zhongguancun East Road Beijing China School of information engineering China university of geosciences (Beijing) Beijing China The Robotics Research Group College of Engineering Peking University Beijing China

In this study, we proposed a novel human-machine interface (HMI) for robotic manipulator control. The specific target was to adjust the impedance coefficients of the robot controller in real time by measuring the human forearm muscle contractions. We firstly designed a HMI system. Different from the frequently used sEMG technologies, the interface in our study could detect muscle morphological changes within the skin by the electrical impedance tomography (EIT). The sensing front-end was a soft elastic fabric band which was compatible to different arm shapes. With the specific designed sensing hardware and the re-construction algorithms, EIT images indicating forearm muscle shapes were obtained. We then designed a hybrid positon/impedance controller on a UR5 with the impedance coefficients being tuned in real time by the grasp force estimation. A sigmoid regression algorithm was used to map the EIT images to the grasp forces. After implementation of the whole system, two experiments were carried out. The first experiment was the off-line grasp force estimation. With the 1:1 cross validation, an average R 2 of 0.83±0.04 and an average of the relative root mean square error (RRMSE) of 0.31±0.10 across 5 subjects were yielded. The second experiment was the real-time robot control. Trajectory tracking task with dynamic uncertainties were investigated and grasp forces were estimated in real-time. With higher muscle contraction levels, smaller position errors were observed and shorter time was needed to return to the expected trajectory when there were external disturbances. The results proved the feasibility of the new approach on human-robot interaction tasks. Future endeavours will be made to get more promising results.

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Mars helicopter technology demonstrator

Mars helicopter technology demonstrator

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AIAA Atmospheric Flight Mechanics Conference, 2018

作者： Bob Balaram, J. Canham, Timothy Duncan, Courtney Golombek, Matt Grip, Håvard Fjær Johnson, Wayne Maki, Justin Quon, Amelia Stern, Ryan Zhu, David Jet Propulsion Laboratory California Institute of Technology PasadenaCA91109 United States NASA Ames Research Center Moffet Field CA94035 United States Robotics Technologist JPL Mobility and Robotic Systems Section JPL Flight Software and Avionics Systems Section JPL Flight Communications Systems Section JPL Planetary Science Section Robotics Technologist JPL Guidance and Control Section NASA Ames Aeromechanics Office JPL Instrument Software and Science Data Systems Section JPL Spacecraft Mechanical Engineering Section JPL Flight Electronics Section Robotics Electrical Engineer JPL Mobility and Robotic Systems Section

We describe a helicopter that is being developed as a technology demonstrator of Mars aerial mobility. The key design features of the helicopter, associated test infrastructure, and results from a full-scale prototype... 详细信息

ISBN: (数字)9781624105258

ISBN: (纸本)9781624105258

关键词： Antennas

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Building an Aerial-Ground robotics System for Precision Farming: An Adaptable Solution

arXiv

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arXiv 2019年

作者： Pretto, Alberto Aravecchia, Stéphanie Burgard, Wolfram Chebrolu, Nived Dornhege, Christian Falck, Tillmann Fleckenstein, Freya Fontenla, Alessandra Imperoli, Marco Khanna, Raghav Liebisch, Frank Lottes, Philipp Milioto, Andres Nardi, Daniele Nardi, Sandro Pfeifer, Johannes Popović, Marija Potena, Ciro Pradalier, Cédric Rothacker-Feder, Elisa Sa, Inkyu Schaefer, Alexander Siegwart, Roland Stachniss, Cyrill Walter, Achim Winterhalter, Wera Wu, Xiaolong Nieto, Juan Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy International Research Lab 2958 Georgia Tech-CNRS Metz France Department of Computer Science University of Freiburg Germany Toyota Research Institute Los Altos United States Photogrammetry & Robotics Lab University of Bonn Germany Robert Bosch GmbH Corporate Research Renningen Germany Osimo Italy Autonomous Systems Lab. Department of Mechanical and Process Engineering ETH Zurich Zürich Switzerland Department of Environmental Systems Science Institute of Agricultural Sciences ETH Zurich Zürich Switzerland IT+Robotics Srl Padova Italy Smart Robotics Lab. Department of Computing Imperial College London London United Kingdom CSIRO Data61 Australia

The application of autonomous robots in agriculture is gaining increasing popularity thanks to the high impact it may have on food security, sustainability, resource use efficiency, reduction of chemical treatments, and the optimization of human effort and yield. With this vision, the Flourish research project aimed to develop an adaptable robotic solution for precision farming that combines the aerial survey capabilities of small autonomous unmanned aerial vehicles (UAVs) with targeted intervention performed by multi-purpose unmanned ground vehicles (UGVs). This paper presents an overview of the scientific and technological advances and outcomes obtained in the project. We introduce multi-spectral perception algorithms and aerial and ground-based systems developed for monitoring crop density, weed pressure, crop nitrogen nutrition status, and to accurately classify and locate weeds. We then introduce the navigation and mapping systems tailored to our robots in the agricultural environment, as well as the modules for collaborative mapping. We finally present the ground intervention hardware, software solutions, and interfaces we implemented and tested in different field conditions and with different crops. We describe a real use case in which a UAV collaborates with a UGV to monitor the field and to perform selective spraying without human intervention. Copyright © 2019, The Authors. All rights reserved.

关键词： Mapping

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