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A Cyclic Small Phase Theorem for MIMO LTI systems*

IFAC-PapersOnLine 2023年第2期56卷 1883-1888页

作者： Chao Chen Wei Chen Di Zhao Jianqi Chen Li Qiu Department of Electronic and Computer Engineering The Hong Kong University of Science and Technology Hong Kong China Department of Mechanics and Engineering Science & State Key Laboratory for Turbulence and Complex Systems Peking University Beijing China Department of Control Science and Engineering & Shanghai Institute of Intelligent Science and Technology Tongji University Shanghai China

This paper introduces a brand-new phase definition called the segmental phase for multi-input multi-output linear time-invariant systems. The underpinning of the definition lies in the matrix segmental phase which, as its name implies, is graphically based on the smallest circular segment covering the matrix normalized numerical range in the unit disk. The matrix segmental phase has the crucial product eigen-phase bound, which makes itself stand out from several existing phase notions in the literature. The proposed bound paves the way for stability analysis of a cyclic feedback system consisting of multiple subsystems. A cyclic small phase theorem is then established as our main result, which requires the loop system phase to lie between -π and π. The proposed theorem complements the celebrated small gain theorem.

关键词： Small phase theorem segmental phase cyclic feedback systems stability analysis lead-lag compensation

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Corrigendum to "Hyperledger sawtooth based supplychain traceability system for counterfeit drugs" [Comput. Ind. Eng. 190 (2024) 110021] (computers & Industrial Engineering (2024) 190, (S0360835224001426), (10.1016/***.2024.110021))

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computers and Industrial Engineering 2025年 204卷

作者： Nawaz, Anum Wang, Liguan Irfan, Muhammad Westerlund, Tomi Shanghai Key Laboratory of Intelligent Information Processing School of Computer Science Fudan University Shanghai China Turku Intelligent and Embedded Robotic Systems Lab Faculty of Technology University of Turku Finland

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Bandwidth Enhancement of Silicon Thermo-Optic Phase Shifter with Electronic-Photonic Co-Design

Bandwidth Enhancement of Silicon Thermo-Optic Phase Shifter ...

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CLEO: science and Innovations in CLEO 2024, CLEO: S and I 2024 - Part of Conference on Lasers and Electro-Optics

作者： Han, keyi Lu, Liangjun Li, Xin Liu, Chuxin Xu, Weihan Guo, Yuyao Chen, Jianping Zhou, Linjie State Key Laboratory of Advanced Optical Communication Systems and Networks Shanghai Key Lab of Navigation and Location Services Shanghai Institute for Advanced Communication and Data Science Department of Electronic Engineering Shanghai Jiao Tong University Shanghai200240 China SJTU-Pinghu Institute of Intelligent Optoelectronics Pinghu314200 China

Based on a resistance-capacitance equalizer, we demonstrated a silicon thermo-optic phase shifter with a rise time of 2.3 µs and a modulation bandwidth of 250 kHz, offering 10 times enhancement over the original ... 详细信息

ISBN: (纸本)9781957171395

关键词： Silicon photonics

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Stereovision-Based Target Trajectory Tracking Control for Robotic Manipulator 19th

Stereovision-Based Target Trajectory Tracking Control for R...

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19th Chinese intelligent systems Conference, CISC 2023

作者： Chen, Tianqi Sun, Liang Li, Peng Jiang, Jingjing Key Laboratory of Intelligent Bionic Unmanned Systems Ministry of Education School of Intelligence Science and Technology Institute of Artificial Intelligence University of Science and Technology Beijing Beijing100083 China Beijing Key Laboratory of Urban Underground Space Engineering University of Science and Technology Beijing Beijing100083 China Department of Aeronautical and Automotive Engineering Loughborough University LeicestershireLE11 3TU United Kingdom

ISBN: (纸本)9789819968855

The stereovision-based visual servo control is designed to enable robotic manipulator to track the target object. A method of target position estimation with existence of measurement noise is achieved through Kalman filter. The adaptive proportional-derivative control is designed to track the desired position and velocity of each joint angle in the joint space. Stability analysis based on the Lyapunov theory is used to prove the rationality and strictness of the designed controllers. Numerical simulations on 2 degree-of-freedom manipulator demonstrate the effectiveness of estimation and control. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Kalman filters

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Wireless channel estimation for high-speed rail communications:Challenges,solutions and future directions

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High-Speed Railway 2023年第1期1卷 18-22页

作者： Xuying Chen Wei Chen Xiao Gong Bo Ai Ian Wassell State Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong UniversityBeijing 100044China Department of Computer Science and Technology University of CambridgeCambridgeCB21TNUK

With the development of High-Speed Rail(HSR),countries and individual passengers alike have enjoyed far ranging benefits as a result-economic,social,environment and in added *** of the important parts of HSR construction is the signaling system,where wireless communications play a key role in the transmission of train control *** estimation has a significant impact on the quality of the wireless communication,however,whose performance is degraded due to the fast mobility of *** paper focuses on the channel estimation technology in *** first summarize the key challenges for HSR channel estimation,especially the Inter-Carrier Interference(ICI)faced by Orthogonal Frequency Division Multiplexing(OFDM)*** we provide a comprehensive review of existing pilot-aided channel estimation schemes from three points:channel model,estimation algorithm,joint channel estimation and ICI mitigation ***,we present the challenges of channel estimation for the Orthogonal Time Frequency Space(OTFS)system and Reconfigurable intelligent Surface(RIS),which are promising techniques for HSR systems in the future sixth Generation(6G)wireless communication.

关键词： Channel estimation High-speed rail Inter carrier interference

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Code Generation Based on Quality-Aware Reordering

Code Generation Based on Quality-Aware Reordering

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6th International Conference on intelligent Computing and Signal Processing (ICSP)

作者： Yuan Song Luo Yu College of Computer Science and Technology Wuhan University of Science and Technology Wuhan China Hubei Provincial Key Laboratory of Intelligent Information Processing and Real-time Industrial Systems Wuhan China

ISBN: (数字)9798350376548

ISBN: (纸本)9798350376555

Translation efforts from natural language to code generation have achieved great success with large pre-trained language models. However, selecting the correct code output for the problem posed by the generated set of candidate codes is still challenging. In this paper, we address this problem by proposing an outcome-based quality-aware reordering method for code selection. This method scores each code by whether the set of candidate codes passes the test cases or not as a reference to select the top k best code outputs. In addition, this method depends on the quality and number of test cases. However, it is impractical to manually create a large number of test cases for each problem, so this paper adopts an automated approach that utilizes the current model to generate test cases for each problem. The experimental results show that the approach proposed in this paper obtains a significant improvement in the pass@k benchmark for each model, and the correctness and quality of test cases generated automatically using the model are discussed experimentally. Summarizing the experimental results and discussions, the result-based quality-aware reordering method proposed in this paper achieves a significant improvement in solving the problem of selecting the correct output from natural language to code generation, effectively improves the accuracy of evaluation by automating the generation of test cases, and provides an effective solution to improving the correctness of code generation.

关键词： Codes Accuracy Computational modeling Estimation Signal processing Benchmark testing

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VLC-enabled UAV Network for IoT with Co-channel Interference: Joint Spatial Deployment and Resource Allocation

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IEEE Internet of Things Journal 2025年第12期12卷 20707-20721页

作者： Liu, Jiaji Yang, Fang An, Nan Song, Jian Han, Zhu State Key Laboratory of Widegap Semiconductor Optoelectronic Materials and Technologies Beijing100084 China Tsinghua University Beijing National Research Center for Information Science and Technology Department of Electronic Engineering Beijing100084 China Research Institute of Tsinghua University Shenzhen518057 China Tsinghua University Shenzhen International Graduate School Shenzhen518055 China 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

Unmanned aerial vehicles (UAVs) have gained significant attention due to their low cost and efficient deployment. Specifically, UAV-based communications hold promise to supplement the coverage limitations of terrestrial networks and achieve superior connectivity for the Internet of Things (IoT). Moreover, UAVs with visible light communication (VLC) capability do not interfere with existing radio frequency (RF) communication infrastructure, thereby providing flexible, high-throughput on-demand wireless communications. In this paper, considering the limited battery capacity of UAVs, we aim to maximize the energy efficiency (EE) of a multi-UAV downlink VLC system for IoT. To this end, the system model with co-channel interference is first established, followed by the formulation of the joint spatial deployment and resource allocation problem. Besides, the original problem is decomposed into three subproblems, focusing on spatial deployment, subchannel assignment, and power allocation. By employing the block coordinate descent method, the three subproblems are solved alternately. Moreover, simulation results demonstrate that the proposed method achieves superior improvements in EE compared to other baselines. In addition, the convergence and computational complexity of the proposed algorithm, as well as the impacts of key parameters on the overall system performance are also investigated. © 2025 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Joint Communication Bandwidth and Computing Frequency Allocation for Control-Oriented UAV-Robot Rescue systems 24

Joint Communication Bandwidth and Computing Frequency Alloca...

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24th IEEE International Conference on Communication technology, ICCT 2024

作者： Shen, Daohong Fang, Xinran Feng, Wei Chen, Yunfei Pang, Zhibo Tsinghua University Department of Electronic Engineering Beijing100084 China State Key Laboratory of Space Network and Communications Beijing100084 China University of Durham Department of Engineering DurhamDH1 3LE United Kingdom Kth Royal Institute of Technology Department of Intelligent Systems Sweden

ISBN: (纸本)9798350363760

In post-disaster scenarios, field robots and unmanned aerial vehicles (UAVs) are effective tools to provide an ondemand response and guarantee the safety of humans. Sensors, field robots, and the devices equipped by UAVs, such as base stations (BSs) and mobile edge computing (MEC) servers, can be jointly deployed to form a sensing-communication-computing-control (SC3) closed loop, which could be used to complete dangerous tasks without human intervention. In this paper, we jointly optimize the communication bandwidth and computing frequency for a UAV-robot rescue system, aiming to improve the control performance of the SC3 loop. We introduce the linear quadratic regulator (LQR) cost to measure the control performance. We use the successive convex approximation (SCA) method and propose an iterative algorithm to solve the non-convex problem effectively. Numerical results corroborate the superiority of our proposed scheme compared with existing communication-oriented schemes. The results also show that the joint optimization of communication bandwidth and computing frequency is essential for closed-loop control, providing insights into the intrinsic relationships among communication, computing, and control. © 2024 IEEE.

关键词： Bandwidth

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Joint Moment Estimation for Hip Exoskeleton Control: A Generalized Moment Feature Generation Method

arXiv

引用

arXiv 2024年

作者： Zhang, Yuanwen Xiong, Jingfeng Xian, Haolan Chen, Chuheng Chen, Xinxing Fu, Chenglong Leng, Yuquan Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen China The Key Laboratory of Image Processing and Intelligent Control The Hubei Key Laboratory of Brain-inspired Intelligent Systems School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China

Hip joint moments during walking are the key foundation for hip exoskeleton assistance control. Most recent studies have shown estimating hip joint moments instantaneously offers a lot of advantages compared to generating assistive torque profiles based on gait estimation, such as simple sensor requirements and adaptability to variable walking speeds. However, existing joint moment estimation methods still suffer from a lack of personalization, leading to estimation accuracy degradation for new users. To address the challenges, this paper proposes a hip joint moment estimation method based on generalized moment features (GMF). A GMF generator is constructed to learn GMF of the joint moment which is invariant to individual variations while remaining decodable into joint moments through a dedicated decoder. Utilizing this well-featured representation, a GRU-based neural network is used to predict GMF with joint kinematics data, which can easily be acquired by hip exoskeleton encoders. The proposed estimation method achieves a root mean square error of 0.1180 ± 0.0021 Nm/kg under 28 walking speed conditions on a treadmill dataset, improved by 6.5% compared to the model without body parameter fusion, and by 8.3% for the conventional fusion model with body parameter. Furthermore, the proposed method was employed on a hip exoskeleton with only encoder sensors and achieved an average 20.5% metabolic reduction (p Copyright © 2024, The Authors. All rights reserved.

关键词： Exoskeleton (Robotics)

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Low-noise Microwave Signal Generation by Heterodyning Two Narrow-linewidth Self-injection Locked Lasers

Low-noise Microwave Signal Generation by Heterodyning Two Na...

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2024 Conference on Lasers and Electro-Optics, CLEO 2024

作者： Fan, Yihao Siyu, E. Guo, Yuyao Li, Xinhang Lu, Liangjun Wang, Shuxiao Cai, Yan Chen, Jianping Zhou, Linjie State Key Laboratory of Advanced Optical Communication Systems and Networks Shanghai Key Lab of Navigation and Location Services Department of Electronic Engineering Shanghai Jiao Tong University Shanghai200240 China SJTU-Pinghu Institute of Intelligent Optoelectronics Pinghu314200 China State Key Laboratory of Functional Materials for Informatics Shanghai Institute of Microsystem and Information Technology Chinese Academy of Sciences Shanghai200050 China Shanghai Industrial μTechnology Research Institute Shanghai201800 China

We realize a hybrid integrated self-injection locking laser (SIL) with an ultra-narrow intrinsic linewidth of 5 Hz. With heterodyne synthesis using a pair of SILs, a microwave signal with a 4-kHz linewidth is achieved... 详细信息

ISBN: (纸本)9781957171395

关键词： Linewidth

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