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arXiv 2024年

作者： Kim, Gyunghun Li, Jensen Piao, Xianji Park, Namkyoo Yu, Sunkyu Intelligent Wave Systems Laboratory Department of Electrical and Computer Engineering Seoul National University Seoul08826 Korea Republic of Department of Engineering University of Exeter EX4 4QF United Kingdom Wave Engineering Laboratory School of Electrical and Computer Engineering University of Seoul Seoul02504 Korea Republic of Photonic Systems Laboratory Department of Electrical and Computer Engineering Seoul National University Seoul08826 Korea Republic of

Non-Abelian physics, originating from noncommutative sequences of operations, unveils novel topological degrees of freedom for advancing band theory and quantum computation. In photonics, significant efforts have been devoted to developing reconfigurable non-Abelian platforms, serving both as classical testbeds for non-Abelian quantum phenomena and as programmable systems that harness topological complexities. Here we establish topological spinor lattices for non-Abelian programmable photonics. We design a building block for reconfigurable unitary coupling between pseudospin resonances, achieving a universal set of rotation gates through coupling along the unit cell boundary. The lattice assembly of our building blocks enables the emulation of the extended quantum Hall family across various eigenspinor bases. Particularly, we reveal the emergence of a non-Abelian interface even when the bulks are Abelian, which allows the topologically trivial engineering of topologically protected edge states. We also define the braid group for pseudospin observables, demonstrating non-Abelian braiding operations and the Yang–Baxter relations. Our results pave the way for realizing a reconfigurable testbed for a wide class of Abelian and non-Abelian topological phenomena and braiding operations. © 2024, CC BY.

关键词： Topology

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A Graph-Based Self-Calibration Technique for Cable-Driven Robots with Sagging Cable

A Graph-Based Self-Calibration Technique for Cable-Driven Ro...

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

作者： M. R. Dindarloo A. S. Mirjalili S. A. Khalilpour R. Khorrambakht Stephan Weiss H. D. Taghirad Advanced Robotics and Automated Systems (ARAS) Faculty of Electrical Engineering K. N. Toosi University of Technology Tehran Iran Department of Electrical and Computer Engineering Tandon School of Engineering Control/Robotics Research Laboratory New York University Brooklyn NY Department of Smart Systems Technologies University of Klagenfurt Austria

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

The efficient operation of large-scale Cable-Driven Parallel Robots (CDPRs) relies on precise calibration of kinematic parameters and the simplicity of the calibration process. This paper presents a graph-based self-calibration framework that explicitly addresses cable sag effects and facilitates the calibration procedure for large-scale CDPRs by only relying on internal sensors. A unified factor graph is proposed, incorporating a catenary cable model to capture cable sagging. The factor graph iteratively refines kinematic parameters, including anchor point locations and initial cable length, by considering jointly onboard sensor data and the robot’s kineto-static model. The applicability and accuracy of the proposed technique are demonstrated through Finite Element (FE) simulations, on both large and small-scale CDPRs subjected to significant initialization perturbations.

关键词： Meters Accuracy Perturbation methods Kinematics Robot sensing systems End effectors Software Calibration Sensors Finite element analysis

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Worst-Case Integrity Attacks and Resilient State Estimation With Partially Secured Measurements

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IEEE Transactions on Control of Network systems 2025年

作者： Zhou, Jing Shang, Jun Chen, Tongwen University of Alberta Department of Electrical and Computer Engineering EdmontonABT6G 1H9 Canada Tongji University Department of Control Science and Engineering Shanghai Institute of Intelligent Science and Technology National Key Laboratory of Autonomous Intelligent Unmanned Systems Frontiers Science Center for Intelligent Autonomous Systems Shanghai200092 China

This paper examines the problem of optimal deception attacks against state estimation with partially secured measurements, where smart sensors transmit innovation sequences to the remote end for information fusion. Due to resource limitations or defensive countermeasures, the adversary can only modify data packets transmitted through unreliable channels. Meanwhile, the attack should be synthesized with sophistication to deceive an anomaly detector. To investigate the vulnerabilities of such estimation systems without feedback links and enhance security performance, the optimal attack policy is derived by formulating and explicitly solving a convex optimization problem, with the goal of maximizing the sum of estimation errors. Subsequently, a novel attack detection and resilient state estimation algorithm is proposed to ensure an acceptable level of estimation accuracy. The theoretical performance metrics, including false alarm rates for the proposed detector, are provided. Finally, the effectiveness of the results is confirmed through numerical examples. © 2014 IEEE.

关键词： Optimal detection

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Implementation of Rev1 and Rev2 Bug Family Algorithms in ROS Noetic

Implementation of Rev1 and Rev2 Bug Family Algorithms in ROS...

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Information, Control, and Communication Technologies (ICCT), International Conference on

作者： Maksim Roslavtsev Alexander Eryomin Ramil Safin Evgeni Magid Department of Computer Engineering (DCE) Moscow Institute of Electronics and Mathematics Higher School of Economics Moscow Russian Federation Laboratory of Intelligent Robotics Systems (LIRS) Institute of Information Technology and Intelligent Systems Kazan Federal University Kazan Russian Federation

ISBN: (数字)9798331517564

ISBN: (纸本)9798331517571

Modern map-dependent algorithms for mobile robot navigation typically overload a CPU and memory with a gradually increasing amount of environmental data. In contrast, Bug family local path planning algorithms operate without mapping and have significantly lower hardware requirements. Bug algorithms use real-time measurements from visual and touch sensors to make immediate decisions on direction of the robot’s motion. This paper presents an implementation of Rev1 and Rev2 Bug algorithms for the Robot Operating System (ROS) Noetic framework with a virtual model of the TurtleBot3 Burger robot. Given algorithms are validated in Gazebo simulation using various convex and maze environments. The results demonstrate superiority of Rev1 method over Rev2 in trajectory length in convex maps. However, Rev2 finds shorter paths in maze type environments.

关键词： Visualization Navigation Operating systems computer bugs Tactile sensors Real-time systems Trajectory Motion measurement Robots Testing

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Implementation and Validation of the CautiousBug Algorithm in ROS Noetic

Implementation and Validation of the CautiousBug Algorithm i...

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Information, Control, and Communication Technologies (ICCT), International Conference on

作者： Roman Mishenin Alexander Eryomin Tatyana Tsoy Evgeni Magid Department of Computer Engineering (DCE) Moscow Institute of Electronics and Mathematics Higher School of Economics Moscow Russian Federation Laboratory of Intelligent Robotics Systems (LIRS) Institute of Information Technology and Intelligent Systems Kazan Federal University Kazan Russian Federation

ISBN: (数字)9798331517564

ISBN: (纸本)9798331517571

In this paper, we present an implementation of the CautiousBug algorithm within the Noetic distribution of the Robot Operating System (ROS). Bug algorithms address a challenge of robot navigation in unknown environments without relying on pre-existing maps or constructing new ones. These algorithms utilize odometry data, operate without a map, require minimal computational resources, and can be implemented on relatively simple hardware. A C++ software application was created to simulate a behavior of the CautiousBug algorithm in various environments within the Gazebo simulator. This application allows for an analysis of key metrics, including accumulated yaw, distance traversed and algorithm's runtime. We conducted a set of virtual experiments in the Gazebo to evaluate the CautiousBug performance.

关键词： Runtime Navigation Software architecture Working environment noise Operating systems Software algorithms Software Robustness Path planning Robots

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Assessing the Robustness of nnU-Net in the Detection of Prostate Lesions via Bi-Parametric MRI

Assessing the Robustness of nnU-Net in the Detection of Pros...

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2023 IEEE EMBS Special Topic Conference on Data Science and engineering in Healthcare, Medicine and Biology, IEEECONF 2023

作者： Zaridis, Dimitrios I. Mylona, Eugenia Tachos, Nikolaos Kalantzopoulos, Charalampos Pezoulas, Vasileios C. Koutsouris, Dimitrios D. Matsopoulos, George K. Marias, Kostas Tsiknakis, Manolis Fotiadis, Dimitrios I. National Technical University of Athens School of Electrical and Computer Engineering Biomedical Engineering Laboratory AthensGR15773 Greece Forth Biomedical Research Institute Ioannina Greece University of Ioannina Ioannina Greece Forth Institute of Computer Science Heraklion Greece Hellenic Mediterranean University Department of Electrical and Computer Engineering Crete Heraklion Greece FORTH-IMBB Ioannina Greece University of Ioannina Unit of Medical Technology and Intelligent Information Systems Materials Science and Engineering Department IoanninaGR 45110 Greece

ISBN: (纸本)9798350383386

Within the scope of prostate cancer diagnostic imaging, distinguishing lesions is challenging due to their subtle appearance and the prostate gland's complexity. This study employed the nnU-Net, a state-of-the-art medical image segmentation model, on a dataset of 301 patients from 2 openly available datasets to identify whether lesion sizes are affecting the model's performance. By applying t-SNE dimensionality reduction algorithm among dice score and respective lesion sizes, we found that nnU-Net behaves differently for lesions smaller than 9mm compared to lesions larger than 15mm. These insights can inform specialized training approaches for future deep learning models in prostate lesion *** Relevance: The main contributions of this study is, to investigate whether lesion sizes affects nnU-Net's deficiency leading to the development of more specialized models in respect to these factors. © 2023 IEEE.

关键词： Urology

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Short-Term Prediction of Solar Photovoltaic Power Generation Using a Digital Twin

Short-Term Prediction of Solar Photovoltaic Power Generation...

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Annual North-American Power Symposium

作者： John Yonce Michael Walters Ganesh K. Venayagamoorthy Holcombe Department of Electrical and Computer Engineering Real-Time Power and Intelligent Systems Laboratory Clemson University Clemson SC USA

Large volumes of distributed energy resources (DERs), such as solar photovoltaic (PV) plants are integrated into the power distribution system due to increased awareness of climate change. These DERs introduce variable and uncertain generation sources due to changing weather conditions. This makes operations and controls challenging and complex. To better understand and manage the dynamic nature of solar PV power plants, digital twins (DTs) will be needed. DTs based on artificial intelligence (AI) methods can be applied to replicate the dynamics of PV plants. This study utilizes a popular paradigm of AI - neural networks to create a variety of data-driven DT (DD-DT) prediction models for a 1 MW solar PV plant located at Clemson University in South Carolina, USA. State-of-the-art internet of things (IoT) based real-time measurements are used to develop the DD-DTs. Typical results for short-term PV power prediction for DTs implemented using multilayer perceptron neural networks (MLPNNs) and Elman recurrent neural networks (ERNNs) are presented in this paper.

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Neural-network-based design of tunable multilayer films

Neural-network-based design of tunable multilayer films

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Photonic Networks and Devices, Networks 2021 - Part of OSA Advanced Photonics Congress 2021

作者： Kim, Jungmin Yu, Sunkyu Park, Namkyoo Photonic Systems Laboratory Department of Electrical and Computer Engineering Seoul National University Seoul08826 Korea Republic of Intelligent Wave Systems Laboratory Department of Electrical and Computer Engineering Seoul National University Seoul08826 Korea Republic of

We introduce the data-driven design of multilayers with enhanced tunability. By applying the machine-learning-designed claddings to a phase-changeable core, we obtain the deterministic realization of on-off states in ... 详细信息

ISBN: (纸本)9781557528209

关键词： Multilayer films

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Coexistence of oscillation quenching states in nonlinear parity-time-symmetric systems

Coexistence of oscillation quenching states in nonlinear par...

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2021 OSA Nonlinear Optics, NLO 2021

作者： Choi, Seou Park, Namkyoo Yu, Sunkyu Intelligent Wave Systems Laboratory Department of Electrical and Computer Engineering Seoul National University Seoul08826 Korea Republic of Photonic Systems Laboratory Department of Electrical and Computer Engineering Seoul National University Seoul08826 Korea Republic of

We introduce coexisting oscillation quenching states in parity-time-symmetric systems. The degrees of freedom in the triatomic system including nonlinear resonators allow multiple dynamical stabilities with different ... 详细信息

ISBN: (纸本)9781557528209

关键词： Degrees of freedom (mechanics)

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Robot Person Following Under Partial Occlusion

Robot Person Following Under Partial Occlusion

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IEEE International Conference on robotics and Automation (ICRA)

作者： Hanjing Ye Jieting Zhao Yaling Pan Weinan Cherr Li He Hong Zhang Department of Electronic and Electrical Engineering Shenzhen Key Laboratory of Robotics and Computer Vision Southern University of Science and Technology (SUSTech) SUSTech Biomimetic and Intelligent Robotics Lab Guangdong University of Technology

Robot person following (RPF) is a capability that supports many useful human-robot-interaction (HRI) applications. However, existing solutions to person following often as-sume full observation of the tracked person. As a consequence, they cannot track the person reliably under partial occlusion where the assumption of full observation is not satisfied. In this paper, we focus on the problem of robot person following under partial occlusion caused by a limited field of view of a monocular camera. Based on the key insight that it is possible to locate the target person when one or more of hislher joints are visible, we propose a method in which each visible joint contributes a location estimate of the followed person. Experiments on a public person-following dataset show that, even under partial occlusion, the proposed method can still locate the person more reliably than the existing SOTA methods. As well, the application of our method is demonstrated in real experiments on a mobile robot.

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