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Adaptive ELM-Based Time-Constrained control of Uncertain Robotic Manipulators With Minimum Learning Computation

IEEE Transactions on Emerging Topics in Computing 2025年

作者： Jin, Xiaozheng Hou, Yuhan Wu, Xiaoming Chi, Jing Qilu University of Technology Shandong Academy of Sciences Key Laboratory of Computing Power Network and Information Security Ministry of Education Shandong Computer Science Center National Supercomputer Center in Jinan Shandong Jinan250353 China Shandong Fundamental Research Center for Computer Science Shandong Provincial Key Laboratory of Computing Power Internet and Service Computing Shandong Jinan250013 China Qilu Institute of Technology School of Intelligent Manufacturing and Control Engineering Shandong Jinan250200 China Shandong University of Finance and Economics School of Computing and Artificial Intelligence Shandong Jinan250014 China

This paper studies the extreme learning machine (ELM)-based time-constrained trajectory tracking control of a class of robotic manipulator systems with model/input uncertainties, matched and mismatched disturbances. A uniform robust exact differentiator (URED) is developed to construct a multi-layer virtual control framework of the robotic manipulator system. Under the control framework, adaptive ELM-based control strategies are proposed to suppress the influence of the uncertainties and disturbances layer-by-layer, combining with the minimum learning parameter (MLP) technique which is employed to reduce the calculation complexity of ELM parameters. The significance of this study is that general model/input uncertainties, matched and mismatched disturbances can be effectively compensated within a limited time, so that bounded trajectory tracking of the robotic manipulator can be achieved avoiding the complexity explosion issue. The time-constrained stability of the closed-loop robotic error systems is proved through Lyapunov stability theory. Finally, comparative simulations are employed to display the feasibility and superiority of the designed robust adaptive ELM-based control schemes of a robotic manipulator system. © 2013 IEEE.

关键词： Robust control

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Bayesian Framework for Multi-User Cooperative Radio SLAM

Bayesian Framework for Multi-User Cooperative Radio SLAM

引用

IEEE International Symposium on Personal, Indoor and Mobile Radio Communications (PIMRC)

作者： Hang Que Jie Yang Tao Du Shuqiang Xia Chao-Kai Wen Shi Jin National Mobile Communications Research Laboratory Southeast University Nanjing China Frontiers Science Center for Mobile Information Communication and Security Southeast University Nanjing China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing China ZTE Corporation Shenzhen China State Key Laboratory of Mobile Network and Mobile Multimedia Technology Shenzhen China Institute of Communications Engineering National Sun Yat-sen University Kaohsiung Taiwan

ISBN: (数字)9798350362244

ISBN: (纸本)9798350362251

The advancement of millimeter-wave communication technology heralds new sensing capabilities. By leveraging channel multipath parameter estimates, we can harness simultaneous localization and mapping (SLAM) for precise user equipment (UE) localization and radio map construction in 6 G communication systems. Particularly in multi-UE scenarios, SLAM empowers base stations to amalgamate the local radio maps of various UEs efficiently. This study introduces a novel Bayesian framework specifically designed for multi-UE SLAM, complemented by a tailored factor graph. We also unveil a two-stage multi-UE SLAM algorithm. Our simulation results reveal that this algorithm substantially enhances radio map construction accuracy by $\mathbf{4 8. 5 \%}$ and UE localization accuracy by $13.5 \%$, outperforming single-UE cases. Moreover, the algorithm demonstrates remarkable adaptability to environmental changes, showcasing its potential for long-term evolution in dynamic settings.

关键词： Location awareness Simultaneous localization and mapping Accuracy Communication systems Heuristic algorithms Simulation Bayes methods Sensors Millimeter wave communication Land mobile radio

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Observation of Co-propagating Chiral Zero Modes in Magnetic Photonic Crystals

arXiv

引用

arXiv 2024年

作者： Li, Zhongfu Ma, Shaojie Li, Shuwei You, Oubo Liu, Yachao Yang, Qingdong Xiang, Yuanjiang Zhou, Peiheng Zhang, Shuang New Cornerstone Science Laboratory Department of Physics The University of Hong Kong 999077 Hong Kong Shanghai Engineering Research Centre of Ultra Precision Optical Manufacturing Department of Optical Science and Engineering School of Information Science and Technology Fudan University Shanghai200433 China National Engineering Research Center of Electromagnetic Radiation Control Materials Key Laboratory of Multi-spectral Absorbing Materials and Structures of Ministry of Education University of Electronic Science and Technology of China Chengdu China College of Electronics and Information Engineering Shenzhen University Shenzhen518060 China School of Physics and Electronics Hunan University Changsha410082 China

Topological singularities, such as Weyl points and Dirac points, can give rise to unidirectional propagation channels known as chiral zero modes (CZMs) when subject to a magnetic field. These CZMs are responsible for intriguing phenomena like the chiral anomaly in quantum systems. The propagation direction of each CZM is determined by both the applied magnetic field and the topological charge of the singularity point. While counter-propagating CZMs have been observed in 2D and 3D systems, the realization of co-propagating CZMs has remained elusive. Here we present the first experimental observation of co-propagating CZMs in magnetic photonic crystals hosting a single pair of ideal Weyl points WPs. By manipulating the crystal’s structural configuration, we spatially alter the locations of the WPs, creating pseudo-magnetic fields in opposite directions between them. This arrangement results in a pair of CZMs that possess the same group velocity and co-propagate. Our work opens up new possibilities for topological manipulation of wave propagation and may lead to advancements in optical waveguides, switches, and various other applications. Copyright © 2024, The Authors. All rights reserved.

关键词： Magnetic fields

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E-3DGS: Gaussian Splatting with Exposure and Motion Events

arXiv

引用

arXiv 2024年

作者： Yin, Xiaoting Shi, Hao Bao, Yuhan Bing, Zhenshan Liao, Yiyi Yang, Kailun Wang, Kaiwei State Key Laboratory of Modern Optical Instrumentation Zhejiang University China School of Robotics National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University China College of Information Science and Electronic Engineering Zhejiang University China The Chair of Robotics AI and Real-Time Systems Technical University of Munich Germany

Estimating Neural Radiance Fields (NeRFs) from images captured under optimal conditions has been extensively explored in the vision community. However, robotic applications often face challenges such as motion blur, insufficient illumination, and high computational overhead, which adversely affect downstream tasks like navigation, inspection, and scene visualization. To address these challenges, we propose E-3DGS, a novel event-based approach that partitions events into motion (from camera or object movement) and exposure (from camera exposure), using the former to handle fast-motion scenes and using the latter to reconstruct grayscale images for high-quality training and optimization of event-based 3D Gaussian Splatting (3DGS). We introduce a novel integration of 3DGS with exposure events for high-quality reconstruction of explicit scene representations. Our versatile framework can operate on motion events alone for 3D reconstruction, enhance quality using exposure events, or adopt a hybrid mode that balances quality and effectiveness by optimizing with initial exposure events followed by high-speed motion events. We also introduce EME-3D, a real-world 3D dataset with exposure events, motion events, camera calibration parameters, and sparse point clouds. Our method is faster and delivers better reconstruction quality than event-based NeRF while being more cost-effective than NeRF methods that combine event and RGB data by using a single event sensor. By combining motion and exposure events, E-3DGS sets a new benchmark for event-based 3D reconstruction with robust performance in challenging conditions and lower hardware demands. The source code and dataset will be available at https://***/MasterHow/E-3DGS. Copyright © 2024, The Authors. All rights reserved.

关键词： Gaussian distribution

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Direction Modulation Design for UAV Assisted by IRS with discrete phase shift

arXiv

引用

arXiv 2024年

作者： Li, Maolin Gao, Wei Wu, Qi Shu, Feng Pan, Cunhua Wu, Di The School of Information and Communication Engineering Hainan University Haikou570228 China The School of Information and Communication Engineering Collaborative Innovation Center of Information Technology Hainan University Haikou570228 China The School of Electronic and Optical Engineering Nanjing University of Science and Technology Nanjing210094 China The National Mobile Communications Research Laboratory Southeast University China The School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai200240 China The State Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong University Beijing100044 China

As a physical layer security technology, directional modulation (DM) can be combined with intelligent reflect-ing surface (IRS) to improve the security of drone communications. In this paper, a directional modulation scheme assisted by the IRS is proposed to maximize the transmission rate of unmanned aerial vehicle (UAV) secure communication. Specifically, with the assistance of the IRS, the UAV transmits legitimate information and main-tains its constellation pattern at the location of legitimate users on the ground, while the constellation pattern is disrupted at the eavesdropper's location. In order to solve the joint optimization problem of digital weight coefficients, UAV position, and IRS discrete phase shift, firstly, the digital weight vector and UAV position are optimized through power minimization. Secondly, three methods are proposed to optimize IRS phase shift, namely vector trajectory (VT) method, cross entropy vector trajectory (CE-VT) algorithm, and block coordinate descent vector trajectory (BCD-VT) algorithm. Compared to traditional cross entropy (CE) methods and block coordinate descent (BCD) methods, the proposed CE-VT and BCD-VT algorithms can improve transmission rate performance. The numerical results validate the effectiveness of the optimization scheme in IRS assisted UAV communication. Copyright © 2024, The Authors. All rights reserved.

关键词： Vectors

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SFNet: Stage Spatial Attention and Feature Waterfall Fusion for Mathematical Document Text Line Detection

SFNet: Stage Spatial Attention and Feature Waterfall Fusion ...

引用

IEEE International Symposium on Dependable, Autonomic and Secure Computing (DASC)

作者： Chang Liu Jiaxin Liu Yong Zhang Lei Huang University of Electronic Science and Technology of China Chengdu Sichuan China Science and Technology on Electro-Optical Information Security Control LaboratoryTianjinChina300308 China Sichuan College of Architectural Technology Deyang Sichuan China

ISBN: (纸本)9781665421751

Text line detection is an important technique in layout analysis. Due to the existence of non-text areas and the change of formula height, text line detection in mathematical documents has always been a huge challenge. In view of the complexity of the spatial structure of mathematical text lines, on the one hand, based on the existing attention mechanism, we proposed a composite network structure with Stage Spatial Attention, which has better feature extraction. In addition, a multi-scale feature fusion structure, called Feature Waterfall Fusion, adds features with low-resolution but stronger semantic information into the features with high-resolution but weaker semantic information indirectly and directly. Combining them results in SFNet. On the other hand, to explore the mathematical document text line detection, we constructed a dataset named Mathematical Document Text Line Dataset (MDTL-1850), which includes about 10,669 text line annotations in 1,850 images (1,280 for training and 570 for testing). We assembled SFNet and a learnable post-processing Progressive Scale Expansion (PSE) surpassed mainstream text detection networks such as PSENet and PANet in all metrics on MDTL-1850. Precision $(P)$ , Recall $(R)$ and $F_information$ , which improved by 1.0, 0.7 and 0.9 respectively. The experimental results strongly proved the superiority of SFNet network in detecting text line of mathematical documents.

关键词： Training Measurement Semantics Layout Feature extraction Software Robustness

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Ground-to-air-Defense Firepower Assignment Decision Based on Non-cooperative Game

Ground-to-air-Defense Firepower Assignment Decision Based on...

引用

Chinese Automation Congress (CAC)

作者： Hua Gong Mengya Cui Yong Zhang Wenjuan Sun School of Science Shenyang Ligong University Shenyang China School of Automation and Electrical Engineering Shenyang Ligong University Shenyang China Science and Technology on Electro-Optical Information Security Control Laboratory Tianjin China

ISBN: (纸本)9781665426480

The key problem of ground-to-air defense is how to make accurate and effective firepower assignment decision for attacking targets. A multi-objective optimization model of ground-to-air defense firepower assignment is established with the aim of maximizing the damage probability and minimizing the weapon consumption, and non-cooperative game theory is used to solve the problem. A non-cooperative game model is established by mapping the two objectives to players, and weapon assignment schemes to strategy profiles. An improved tabu genetic algorithm based on Nash equilibrium is designed to get the assignment scheme. Experimental results show that the proposed method has better convergence and stability than the improved genetic algorithm based on tabu search for multi-objective optimization model.

关键词： Automation Weapons Games Nash equilibrium Search problems Minimization Stability analysis

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Computing Power in the Sky: Digital Twin-assisted Collaborative Computing with Multi-UAV Networks

引用

IEEE Transactions on Vehicular technology 2025年

作者： Wang, Chao Han, Yu Zhang, Long Jia, Ziye Zhang, Hongliang Hong, Choong Seon Han, Zhu Hebei University of Engineering School of Information and Electrical Engineering Handan056038 China Qilu University of Technology Shandong Academy of Sciences Key Laboratory of Computing Power Network and Information Security Ministry of Education Jinan250014 China Nanjing University of Aeronautics and Astronautics College of Electronic and Information Engineering Nanjing211106 China Southeast University National Mobile Communications Research Laboratory Jiangsu Nanjing211111 China Peking University State Key Laboratory of Advanced Optical Communication Systems and Networks School of Electronics Beijing100871 China Kyung Hee University Department of Computer Science and Engineering Gyeonggi-do Yongin-si17104 Korea Republic of University of Houston Department of Electrical and Computer Engineering HoustonTX77004 United States Kyung Hee University Department of Computer Science and Engineering Seoul446-701 Korea Republic of

The collaboration of computing powers (CPs) among unmanned aerial vehicles (UAVs)-mounted edge servers is essential to handle data-intensive tasks of user equipments (UEs). This paper presents a multi-UAV computing power network (CPN) that orchestrates the CP resources of edge servers to cooperatively process tasks through collaborative computing. Due to the frequent interactions among edge servers and the increased complexities for large-scale task executions, we propose a digital twin (DT)-driven multi-UAV CPN framework, where the aerial DT network is created as a digital replica of the multi-UAV network to assist collaborative computing. A joint optimization problem of the service association, offloading power control, task partitions, CP allocation, and UAV trajectory design is formulated to minimize the long-term average delay of UEs. We use the Lyapunov technique to tackle the long-term energy constraint, forming a tractable optimization problem, which is modeled as a Markov decision process to balance the UAV's deficit queue stability and the UE's task completion delay. A hybrid soft actor-critic based deep reinforcement learning algorithm is developed to optimize the joint design by sampling the hybrid action from the Gumbel and Gaussian distributions. Simulation results verify that the multi-UAV CPN contributes to significant performance gains when supported by DTs. © 2025 IEEE.

关键词： Markov processes

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Delta interferometer: A polarization sensitive interferometer

arXiv

引用

arXiv 2022年

作者： Wei, Chaoqi Liu, Jianbin Sun, Yunong Zhuang, Rui Zhou, Yu Zheng, Huaibin Liu, Yanyan Yan, Xiusheng Li, Fuli Xu, Zhuo Electronic Materials Research Laboratory Key Laboratory of the Ministry of Education & International Center for Dielectric Research Xi’an Jiaotong University Xi’an710049 China The Key Laboratory of Weak Light Nonlinear Photonics Nankai University Ministry of Education Tianjin300457 China MOE Key Laboratory for Nonequilibrium Synthesis and Modulation of Condensed Matter Department of Applied Physics Xi’an Jiaotong University Shaanxi Xi’an710049 China Science and Technology on Electro-Optical Information Security Control Laboratory Tianjin300308 China

A new type of polarization sensitive interferometer is proposed, which is named as Delta interferometer due to the geometry of the simplest interferometer looks like Greek letter, Delta. To the best of our knowledge, it is the first time that this type of interferometer is proposed. The main difference between Delta interferometer and other existed interferometer, such as Michelson interferometer, Mach-Zehnder interferometer, Young’s double-slit interferometer, is that the two interfering paths are asymmetrical in Delta interferometer, which makes it polarization sensitive. The visibility of the first-order interference pattern observed in Delta interferometer is dependent on the polarization of the incidental light. optical coherence theory is employed to interpret the phenomenon and a single-mode continuous-wave laser is employed to verify the theoretical predictions. The theoretical and experimental results are consistent. Delta interferometer provides a perfect tool to study the reflection of electric field in different polarizations and may find applications in polarization sensitive scenarios. Copyright © 2022, The Authors. All rights reserved.

关键词： Electric fields

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Localization of Chiral Edge States by the Non-Hermitian Skin Effect

引用

Physical Review Letters 2024年第11期132卷 113802-113802页

作者： Gui-Geng Liu (刘癸庚) Subhaskar Mandal Peiheng Zhou Xiang Xi Rimi Banerjee Yuan-Hang Hu Minggui Wei Maoren Wang Qiang Wang Zhen Gao Hongsheng Chen Yihao Yang Yidong Chong Baile Zhang Division of Physics and Applied Physics School of Physical and Mathematical Sciences Nanyang Technological University 21 Nanyang Link Singapore 637371 Singapore National Engineering Research Center of Electromagnetic Radiation Control Materials State Key Laboratory of Electronic Thin Film and Integrated Devices University of Electronic Science and Technology of China Chengdu 610054 China School of Electrical Engineering and Intelligentization Dongguan University of Technology Dongguan 523808 China School of Physics Collaborative Innovation Center of Advanced Microstructures Nanjing University Nanjing Jiangsu 210093 China Department of Electrical and Electronic Engineering Southern University of Science and Technology Shenzhen 518055 China Interdisciplinary Center for Quantum Information State Key Laboratory of Modern Optical Instrumentation ZJU-Hangzhou Global Science and Technology Innovation Center College of Information Science and Electronic Engineering Key Laboratory of Advanced Micro/Nano Electronic Devices and Smart Systems of Zhejiang ZJU-UIUC Institute Zhejiang University Hangzhou 310027 China Centre for Disruptive Photonic Technologies The Photonics Institute Nanyang Technological University 50 Nanyang Avenue Singapore 639798 Singapore

Quantum Hall systems host chiral edge states extending along the one-dimensional boundary of any two-dimensional sample. In solid state materials, the edge states serve as perfectly robust transport channels that produce a quantized Hall conductance; due to their chirality, and the topological protection by the Chern number of the bulk band structure, they cannot be spatially localized by defects or disorder. Here, we show experimentally that the chiral edge states of a lossy quantum Hall system can be localized. In a gyromagnetic photonic crystal exhibiting the quantum Hall topological phase, an appropriately structured loss configuration imparts the edge states’ complex energy spectrum with a feature known as point-gap winding. This intrinsically non-Hermitian topological invariant is distinct from the Chern number invariant of the bulk (which remains intact) and induces mode localization via the “non-Hermitian skin effect.” The interplay of the two topological phenomena—the Chern number and point-gap winding—gives rise to a non-Hermitian generalization of the paradigmatic Chern-type bulk-boundary correspondence principle. Compared to previous realizations of the non-Hermitian skin effect, the skin modes in this system have superior robustness against local defects and disorders.

关键词： Edge states Photonic crystals Quantum Hall effect Chern insulators Non-Hermitian systems

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