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Economic model predictive control for obstacle-aided snake robot locomotion

IFAC-PapersOnLine 2020年第2期53卷 9702-9708页

作者： Evan Müller Philipp N. Köhler Kristin Y. Pettersen Frank Allgöwer Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart Germany. Center for Autonomous Marine Operations and Systems Department of Engineering Cybernetics Norwegian University of Science and Technology Trondheim Norway.

This paper studies the application of economic model predictive control (MPC) to snake robot locomotion. The proposed MPC algorithm integrates the gait pattern creation into the closed loop by maximizing the forward snake velocity. We consider both purely planar locomotion as well as obstacle-aided locomotion. A compliant obstacle-snake contact model is introduced, rendering the interaction dynamics considered in the optimal control problem smooth. We illustrate the efficacy of the scheme by numerical simulations. The emerging gait patterns are undulatory and can make simultaneous use of anisotropic ground friction and obstacles.

关键词： Model Predictive control Mobile robots Obstacles Trajectory planning

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Diagonal catalysts in quantum adiabatic optimization

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Physical Review A 2021年第2期103卷 022608-022608页

作者： Tameem Albash Matthew Kowalsky Department of Electrical and Computer Engineering University of New Mexico Albuquerque New Mexico 87131 USA Department of Physics and Astronomy and Center for Quantum Information and Control CQuIC University of New Mexico Albuquerque New Mexico 87131 USA Department of Physics and Astronomy University of Southern California Los Angeles California 90089 USA Center for Quantum Information Science & Technology University of Southern California Los Angeles California 90089 USA

We propose a protocol for quantum adiabatic optimization whereby an intermediary Hamiltonian that is diagonal in the computational basis is turned on and off during the interpolation. This “diagonal catalyst” serves to bias the energy landscape towards a given spin configuration, and we show how this can remove the first-order phase transition present in the standard protocol for the ferromagnetic p spin and the weak-strong cluster problems. The success of the protocol also makes clear how it can fail: biasing the energy landscape towards a state only helps in finding the ground state if the Hamming distance from the ground state and the energy of the biased state are correlated. We present examples where biasing towards low-energy states that are nonetheless very far in Hamming distance from the ground state can severely worsen the efficiency of the algorithm compared to the standard protocol. Our results for the diagonal catalyst protocol are analogous to results exhibited by adiabatic reverse annealing, so our conclusions should apply to that protocol as well.

关键词： Adiabatic quantum optimization

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Climate warming restructures seasonal dynamics of grassland soil microbial communities

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mLife 2022年第3期1卷 245-256页

作者： Xue Guo Mengting Yuan Jiesi Lei Zhou Shi Xishu Zhou Jiabao Li Ye Deng Yunfeng Yang Liyou Wu Yiqi Luo James MTiedje Jizhong Zhou State Key Joint Laboratory of Environment Simulation and Pollution Control School of EnvironmentTsinghua UniversityBeijingChina Institute for Environmental Genomics and Department of Microbiology and Plant Biology University of OklahomaNormanOklahomaUSA Department of Environmental Science Policyand ManagementUniversity of CaliforniaBerkeleyCaliforniaUSA Gladstone Institutes and Chan‐Zuckerberg Biohub San FranciscoCaliforniaUSA School of Minerals Processing and Bioengineering Central South UniversityChangshaChina Key Laboratory of Environmental and Applied Microbiology Chinese Academy of Sciences and Environmental Microbiology&Key Laboratory of Sichuan ProvinceChengdu Institute of BiologyChinese Academy of SciencesChengduChina Key Laboratory of Environmental Biotechnology Research Center for Eco‐Environmental SciencesChinese Academy of SciencesBeijingChina Department of Biological Sciences Center for Ecosystem Science and SocietyNorthern Arizona UniversityFlagstaffArizonaUSA Center for Microbial Ecology Michigan State UniversityEast LansingMichiganUSA School of Civil Engineering and Environmental Sciences University of OklahomaNormanOklahomaUSA Earth and Environmental Sciences Lawrence Berkeley National LaboratoryBerkeleyCaliforniaUSA School of Computer Sciences University of OklahomaNormanOklahomaUSA.

Soil microbial community's responses to climate warming alter the global carbon *** temperate ecosystems,soil microbial communities function along seasonal ***,little is known about how the responses of soil microbial communities to warming vary when the season *** this study,we investigated the seasonal dynamics of soil bacterial community under experimental warming in a temperate tall‐grass prairie *** results showed that warming significantly(p=0.001)shifted community structure,such that the differences of microbial communities between warming and control plots increased nonlinearly(R^(2)=0.578,p=0.021)from spring to ***,warming significantly(p<0.050)increased microbial network complexity and robustness,especially during the colder seasons,despite large variations in network size and complexity in different *** addition,the relative importance of stochastic processes in shaping the microbial community decreased by warming in fall and winter but not in spring and *** study indicates that climate warming restructures the seasonal dynamics of soil microbial community in a temperate *** seasonality of microbial responses to warming may enlarge over time and could have significant impacts on the terrestrial carbon cycle.

关键词： climate warming microbial community microbial network seasonal dynamics

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Sliding sequential CVAE with time variant socially-aware rethinking for trajectory prediction

arXiv

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arXiv 2021年

作者： Zhou, Hao Ren, Dongchun Yang, Xu Fan, Mingyu Huang, Hai National Key Laboratory of Science and Technology of Underwater Vehicle Harbin Engineering University Harbin China State Key Laboratory of Management and Control for Complex System Institute of Automation Chinese Academy of Sciences Beijing China Research Center for Autonomous Vehicles Meituan Beijing China College of Computer Science Wenzhou University Wenzhou China National Key Laboratory of Science and Technology of Underwater Vehicle Harbin Engineering University Harbin China

Pedestrian trajectory prediction is a key technology in many applications such as video surveillance, social robot navigation, and autonomous driving, and significant progress has been made in this research topic. However, there remain two limitations of previous studies. First, with the continuation of time, the prediction error at each time step increases significantly, causing the final displacement error to be impossible to ignore. Second, the prediction results of multiple pedestrians might be impractical in the prediction horizon, i.e., the predicted trajectories might collide with each other. To overcome these limitations, this work proposes a novel trajectory prediction method called CSR, which consists of a cascaded conditional variational autoencoder (CVAE) module and a socially-aware regression module. The cascaded CVAE module first estimates the future trajectories in a sequential pattern. Specifically, each CVAE concatenates the past trajectories and the predicted points so far as the input and predicts the location at the following time step. Then, the socially-aware regression module generates offsets from the estimated future trajectories to produce the socially compliant final predictions, which are more reasonable and accurate results than the estimated trajectories. Moreover, considering the large model parameters of the cascaded CVAE module, a slide CVAE module is further exploited to improve the model efficiency using one shared CVAE, in a slidable manner. Experiments results demonstrate that the proposed method exhibits improvements over state-of-the-art method on the Stanford Drone Dataset (SDD) and ETH/UCY of approximately 38.0% and 22.2%, respectively. © 2021, CC BY.

关键词： Trajectories

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A teaching quality evaluation framework for blended classroom modes with multi-domain heterogeneous data integration

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Expert Systems with Applications 2025年 289卷

作者： Zhou, Yu Zou, Sai Liwang, Minghui Sun, Yanglong Ni, Wei The State Key Laboratory of Public Big Data College of Big Data and Information Engineering Guizhou University Guizhou Guiyang550000 China Department of Control Science and Engineering the National Key Laboratory of Autonomous Intelligent Unmanned Systems Shanghai200433 China Frontiers Science Center for Intelligent Autonomous Systems Ministry of Education Tongji University Shanghai200433 China Navigation College Jimei University Fujian Xiamen361021 China Data61 CSIRO Sydney Australia

The blended teaching model, combining online and traditional classroom education, has become a normalized instructional approach in the artificial intelligence (AI) era. However, effectively integrating diverse educational data, accurately evaluating student learning, and providing personalized teaching recommendations remain key challenges. To address these, this study develops an AI-driven framework for evaluating teaching quality in blended classrooms. The framework aggregates multi-source educational data from both physical and digital learning environments, enabling a comprehensive assessment of student progress. Based on the evaluation outcomes, it leverages AI to generate personalized teaching strategies aligned with each student's learning profile. Applied on a large scale in Western China, this framework has demonstrated significant improvements in teaching quality and efficiency. By bridging educational theory and AI-driven applications, this study offers a scalable model for enhancing personalized learning experiences in global digital education. © 2025

关键词： Teaching

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Innovation, Research and Development in engineering Education. Activities of the Spanish Chapter of the IEEE Education Society: Directive Board of the IEEE Education Society Spanish Chapter 2020-2021

Innovation, Research and Development in Engineering Educatio...

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Technologies Applied to Electronics Teaching (TAEE)

作者： Ó scar Martí nez Bonastre Cristina Ferná ndez Lluí s Vicent Francisco Mur Manuel Castro Gabriel Diaz Jose Carpio Elio Sancristobal Sergio Martin Jose Sá nchez Francisco Javier Arcega Solsona Juan Suardiaz Muro Manuel Caeiro-Rodrí guez Martí n Llamas Inmaculada Plaza Baltasar Ferná ndez Manjó n Pedro Muñ oz-Merino Edmundo Tovar Telmo Zarraonandia Ayo Javier Garcia Zubia José Antonio Delgado Pení n Department of Statistics Mathematics and Computing Science Operations Research Centre Universidad Miguel Hern&#x00E1 ndez Elche Spain Department of Electronic Technology Universidad Carlos III de Madrid Madrid Spain UPF Barcelona School of Management Barcelona Spain Department of Electrical Electronic and Control Engineering UNED Madrid Spain Department of Electrical Engineering Universidad de Zaragoza Zaragoza Spain Department of Automatics Electrical Engineering and Electronic Technology Technical University of Cartagena Cartagena Spain atlanTTic Research Center University of Vigo Vigo Spain Department of Electronics and Communication Universidad de Zaragoza Zaragoza Spain Department of Software Engineering and Artificial Intelligence Complutense University of Madrid Madrid Spain Department of Telematic Engineering Universidad Carlos III de Madrid Madrid Spain Department of Computer Languages and Systems and Software Engineering Universidad Polit&#x00E9 cnica de Madrid Madrid Spain Department of Computer Science and Engineering Universidad Carlos III de Madrid Madrid Spain Department of Electronic Engineering Universidad de Deusto Bilbao Spain Universitat Polit&#x00E8 cnica de Catalunya Barcelona Spain

ISBN: (数字)9781665421614

ISBN: (纸本)9781665421621

The Technical Committee of the CESEI (Spanish Chapter of the IEEE Education Society) is focused on the Innovation, Research and Development (I+R+D) of the education in engineering, mainly Electric and computer engineering. As in other interdisciplinary fields, the I+R+D involves several sources of information and different stakeholders, each one with its own focus and purpose. As a result, sometimes it may be complex for practitioners and researchers to identify the more appropriate entities for their interests. This paper shows how the CESEI Technical Committee tries to solve this difficulty by providing updated information regarding the main publications (journals), events (conferences) and awards to the best academic works. The paper focuses special attention on the activities held during 2020–2021.

关键词： Technological innovation Collaboration Stakeholders engineering education Research and development

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Association Between Long‑Term Exposure to Air Pollution and the Rate of Mortality After Hip Fracture Surgery in Patients Older Than 60 Years: Nationwide Cohort Study in Taiwan

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JMIR Public Health and Surveillance 2024年 10卷 e46591页

作者： Chuang, Shu-Han Kuo, Yi-Jie Huang, Shu-Wei Zhang, Han-Wei Peng, Hsiao-Ching Chen, Yu-Pin Division of General Practice Department of Medical Education Changhua Christian Hospital Changhua Taiwan Department of Orthopedics Wan Fang Hospital Taipei Medical University Taipei City Taiwan Department of Orthopedics School of Medicine College of Medicine Taipei Medical University Taipei Taiwan Department of Applied Science National Taitung University Taitung County Taitung City Taiwan MetaTrial Research Center Biomedica Corporation New Taipei Taiwan Program for Aging China Medical University Taichung Taiwan Institute of Population Health Sciences National Health Research Institutes Miaoli Taiwan Department of Electrical and Computer Engineering Institute of Electrical Control Engineering National Yang Ming Chiao Tung University Hsinchu Taiwan

Background: To enhance postoperative patient survival, particularly in older adults, understanding the predictors of mortality following hip fracture becomes paramount. Air pollution, a prominent global environmental issue, has been linked to heightened morbidity and mortality across a spectrum of diseases. Nevertheless, the precise impact of air pollution on hip fracture outcomes remains elusive. Objective: This retrospective study aims to comprehensively investigate the profound influence of a decade-long exposure to 12 diverse air pollutants on the risk of post–hip fracture mortality among older Taiwanese patients (older than 60 years). We hypothesized that enduring long-term exposure to air pollution would significantly elevate the 1-year mortality rate following hip fracture surgery. Methods: From Taiwan’s National Health Insurance Research Database, we obtained the data of patients who underwent hip fracture surgery between July 1, 2003, and December 31, 2013. Using patients’ insurance registration data, we estimated their cumulative exposure levels to sulfur dioxide (SO2), carbon dioxide (CO2), carbon monoxide (CO), ozone (O3), particulate matter having a size of <10 μm (PM10), particulate matter having a size of <2.5 μm (PM2.5), nitrogen oxides (NOX), nitrogen monoxide (NO), nitrogen dioxide (NO2), total hydrocarbons (THC), nonmethane hydrocarbons (NMHC), and methane (CH4). We quantified the dose-response relationship between these air pollutants and the risk of mortality by calculating hazard ratios associated with a 1 SD increase in exposure levels over a decade. Results: Long-term exposure to SO2, CO, PM10, PM2.5, NOX, NO, NO2, THC, NMHC, and CH4 demonstrated significant associations with heightened all-cause mortality risk within 1 year post hip fracture surgery among older adults. For older adults, eac

关键词： air pollution environmental hazard exposure hazard hip fracture morbidity mortality older adult

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Varying control intensity of synchronized chaotic system with time delay

Varying control intensity of synchronized chaotic system wit...

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2020 International Symposium on Automation, Information and Computing, ISAIC 2020

作者： Onasanya, Babatunde O. Wen, Shiping Feng, Yuming Zhang, Wei Tang, Ning Ademola, Adeleke T. Key Laboratory of Intelligent Information Processing and Control Chongqing Three Gorges University Wanzhou Chongqing404100 China Department of Mathematics University of Ibadan Ibadan Nigeria Australian AI Institute University of Technology Sydney UltimoNSW2007 Australia School of Computer Science and Engineering Chongqing Three Gorges University Wanzhou Chongqing404100 China Chongqing Engineering Research Center of Internet of Things and Intelligent Control Technology Chongqing Three Gorges University Wanzhou Chongqing404100 China School of Three Gorges Artificial Intelligence Chongqing Three Gorges University Wanzhou Chongqing404100 China Department of Mathematics Obafemi Awolowo University Post Code Ile-Ife220005 Nigeria

Hyperchaotic system is a very useful tool in secure and encrypted communications. But situations arise when engineers and scientists seek to synchronize two hyperchaotic systems. This gives another (error) system. The goal is to minimize the error as much as can be in order to make one system look like the other by synchronization. This is a particularly challenging situation. In this paper, two hyperchaotic systems are synchronized by impulsive control. Also, the condition for uniform asymptotic stability of the synchronized error system was given. Finally, the simulation results to justify the reliability of this method is also presented. © 2021 Institute of Physics Publishing. All rights reserved.

关键词： Chaotic systems

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Local Partial Zero-Forcing Combining for Cell-Free Massive MIMO Systems

arXiv

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arXiv 2022年

作者： Zhang, Jiayi Zhang, Jing Björnson, Emil Ai, Bo The School of Electronic and Information Engineering Beijing Jiaotong University Beijing100044 China The Frontiers Science Center for Smart High-Speed Railway System Beijing Jiaotong University Beijing100044 China The Department of Electrical Engineering Linköping University Linköping Sweden The Department of Computer Science KTH Royal Institute of Technology Kista Sweden The State Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong University Beijing100044 China The Frontiers Science Center for Smart High-Speed Railway System Henan Joint International Research Laboratory of Intelligent Networking and Data Analysis Zhengzhou University Zhengzhou450001 China Research Center of Networks and Communications Peng Cheng Laboratory Shenzhen China

Cell-free massive multiple-input multiple-output (MIMO) provides more uniform spectral efficiency (SE) for users (UEs) than cellular technology. The main challenge to achieve the benefits of cell-free massive MIMO is to realize signal processing in a scalable way. In this paper, we consider scalable full-pilot zero-forcing (FZF), partial FZF (PFZF), protective weak PFZF (PWPFZF), and local regularized ZF (LRZF) combining by exploiting channel statistics. We derive closed-form expressions of the uplink SE for FZF, PFZF, and PWPFZF combining with large-scale fading decoding over independent Rayleigh fading channels, taking channel estimation errors and pilot contamination into account. Moreover, we investigate the impact of the number of pilot sequences, antennas per AP, and APs on the performance. Numerical results show that LRZF provides the highest SE. However, PWPFZF is preferable when the number of pilot sequences is large and the number of antennas per AP is small. The reason is that PWPFZF has lower computational complexity and the SE expression can be computed in closed-form. Furthermore, we investigate the performance of PWPFZF combining with fractional power control and the numerical results show that it improves the performance of weak UEs and realizes uniformly good service for all UEs in a scalable fashion. Copyright © 2022, The Authors. All rights reserved.

关键词： Power control

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Enhanced phase sensitivity in a Mach-Zehnder interferometer via photon recycling

arXiv

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arXiv 2023年

作者： Li, Dong Yuan, Chun-Hua Ma, Xiaoping Wang, Qingle Lee, Hwang Yao, Yao Zhang, Weiping Microsystem and Terahertz Research Center China Academy of Engineering Physics Sichuan Chengdu610200 China Institute of Electronic Engineering China Academy of Engineering Physics Sichuan Mianyang621999 China State Key Laboratory of Precision Spectroscopy Quantum Institute of Atom and Light Department of Physics East China Normal University Shanghai200062 China College of Mathematical and Physical Sciences Qingdao University of Science and Technology Qingdao China School of Control and Computer Engineering North China Electric Power University Beijing102206 China CAS Key Laboratory of Quantum Information University of Science and Technology of China Hefei230026 China Hearne Institute for Theoretical Physics Department of Physics and Astronomy Louisiana State University Baton RougeLA70803 United States Department of Physics Shanghai Jiao Tong University Tsung-Dao Lee Institute Shanghai200240 China Collaborative Innovation Center of Extreme Optics Shanxi University Shanxi Taiyuan030006 China

We propose an alternative scheme for phase estimation in a Mach-Zehnder interferometer (MZI) with photon recycling. It is demonstrated that with the same coherent-state input and homodyne detection, our proposal possesses a phase sensitivity beyond the traditional MZI. For instance, it can achieve an enhancement factor of ∼9.32 in the phase sensitivity compared with the conventional scheme even with a photon loss of 10% on the photon-recycled arm. From another point of view, the quantum Cramér-Rao bound (QCRB) is also investigated. It is found that our scheme is able to achieve a lower QCRB than the traditional one. Intriguingly, the QCRB of our scheme is dependent of the phase shift φ while the traditional scheme has a constant QCRB regardless of the phase shift. Finally, we present the underlying mechanisms behind the enhanced phase sensitivity (due to the improved number of photons inside the interferometer). We believe that our results may pave the way to enhance the phase sensitivity via photon recycling. © 2023, CC BY.

关键词： Photons

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