arXiv - EE - Systems and Control最新文献_第9页

Control Pneumatic Soft Bending Actuator with Feedforward Hysteresis Compensation by Pneumatic Physical Reservoir Computing 通过气动物理储库计算控制具有前馈滞后补偿功能的气动软弯曲执行器

arXiv - EE - Systems and Control Pub Date : 2024-09-11 DOI: arxiv-2409.06961

Junyi Shen, Tetsuro Miyazaki, Kenji Kawashima

{"title":"Control Pneumatic Soft Bending Actuator with Feedforward Hysteresis Compensation by Pneumatic Physical Reservoir Computing","authors":"Junyi Shen, Tetsuro Miyazaki, Kenji Kawashima","doi":"arxiv-2409.06961","DOIUrl":"https://doi.org/arxiv-2409.06961","url":null,"abstract":"The nonlinearities of soft robots bring control challenges like hysteresis\u0000but also provide them with computational capacities. This paper introduces a\u0000fuzzy pneumatic physical reservoir computing (FPRC) model for feedforward\u0000hysteresis compensation in motion tracking control of soft actuators. Our\u0000method utilizes a pneumatic bending actuator as a physical reservoir with\u0000nonlinear computing capacities to control another pneumatic bending actuator.\u0000The FPRC model employs a Takagi-Sugeno (T-S) fuzzy model to process outputs\u0000from the physical reservoir. In comparative evaluations, the FPRC model shows\u0000equivalent training performance to an Echo State Network (ESN) model, whereas\u0000it exhibits better test accuracies with significantly reduced execution time.\u0000Experiments validate the proposed FPRC model's effectiveness in controlling the\u0000bending motion of the pneumatic soft actuator with open and closed-loop control\u0000systems. The proposed FPRC model's robustness against environmental\u0000disturbances has also been experimentally verified. To the authors' knowledge,\u0000this is the first implementation of a physical system in the feedforward\u0000hysteresis compensation model for controlling soft actuators. This study is\u0000expected to advance physical reservoir computing in nonlinear control\u0000applications and extend the feedforward hysteresis compensation methods for\u0000controlling soft actuators.","PeriodicalId":501175,"journal":{"name":"arXiv - EE - Systems and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142217818","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

High Performance Three-Terminal Thyristor RAM with a P+/P/N/P/N/N+ Doping Profile on a Silicon-Photonic CMOS Platform 在硅光子 CMOS 平台上采用 P+/P/N/P/N/N+ 掺杂曲线的高性能三端晶闸管 RAM

arXiv - EE - Systems and Control Pub Date : 2024-09-11 DOI: arxiv-2409.07598

Changseob Lee, Ikhyeon Kwon, Anirban Samanta, Siwei Li, S. J. Ben Yoo

引用次数: 0

Bio-Eng-LMM AI Assist chatbot: A Comprehensive Tool for Research and Education 生物工程-LMM 人工智能辅助聊天机器人：用于研究和教育的综合工具

arXiv - EE - Systems and Control Pub Date : 2024-09-11 DOI: arxiv-2409.07110

Ali Forootani, Danial Esmaeili Aliabadi, Daniela Thraen

{"title":"Bio-Eng-LMM AI Assist chatbot: A Comprehensive Tool for Research and Education","authors":"Ali Forootani, Danial Esmaeili Aliabadi, Daniela Thraen","doi":"arxiv-2409.07110","DOIUrl":"https://doi.org/arxiv-2409.07110","url":null,"abstract":"This article introduces Bio-Eng-LMM AI chatbot, a versatile platform designed\u0000to enhance user interaction for educational and research purposes. Leveraging\u0000cutting-edge open-source Large Language Models (LLMs), Bio-Eng-LMM operates as\u0000a sophisticated AI assistant, exploiting the capabilities of traditional models\u0000like ChatGPT. Central to Bio-Eng-LMM is its implementation of Retrieval\u0000Augmented Generation (RAG) through three primary methods: integration of\u0000preprocessed documents, real-time processing of user-uploaded files, and\u0000information retrieval from any specified website. Additionally, the chatbot\u0000incorporates image generation via a Stable Diffusion Model (SDM), image\u0000understanding and response generation through LLAVA, and search functionality\u0000on the internet powered by secure search engine such as DuckDuckGo. To provide\u0000comprehensive support, Bio-Eng-LMM offers text summarization, website content\u0000summarization, and both text and voice interaction. The chatbot maintains\u0000session memory to ensure contextually relevant and coherent responses. This\u0000integrated platform builds upon the strengths of RAG-GPT and Web-Based RAG\u0000Query (WBRQ) where the system fetches relevant information directly from the\u0000web to enhance the LLMs response generation.","PeriodicalId":501175,"journal":{"name":"arXiv - EE - Systems and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142217820","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Scoping Sustainable Collaborative Mixed Reality 可持续协作混合现实技术的范围界定

arXiv - EE - Systems and Control Pub Date : 2024-09-11 DOI: arxiv-2409.07640

Yasra Chandio, Noman Bashir, Tian Guo, Elsa Olivetti, Fatima Anwar

{"title":"Scoping Sustainable Collaborative Mixed Reality","authors":"Yasra Chandio, Noman Bashir, Tian Guo, Elsa Olivetti, Fatima Anwar","doi":"arxiv-2409.07640","DOIUrl":"https://doi.org/arxiv-2409.07640","url":null,"abstract":"Mixed Reality (MR) is becoming ubiquitous as it finds its applications in\u0000education, healthcare, and other sectors beyond leisure. While MR end devices,\u0000such as headsets, have low energy intensity, the total number of devices and\u0000resource requirements of the entire MR ecosystem, which includes cloud and edge\u0000endpoints, can be significant. The resulting operational and embodied carbon\u0000footprint of MR has led to concerns about its environmental implications.\u0000Recent research has explored reducing the carbon footprint of MR devices by\u0000exploring hardware design space or network optimizations. However, many\u0000additional avenues for enhancing MR's sustainability remain open, including\u0000energy savings in non-processor components and carbon-aware optimizations in\u0000collaborative MR ecosystems. In this paper, we aim to identify key challenges,\u0000existing solutions, and promising research directions for improving MR\u0000sustainability. We explore adjacent fields of embedded and mobile computing\u0000systems for insights and outline MR-specific problems requiring new solutions.\u0000We identify the challenges that must be tackled to enable researchers,\u0000developers, and users to avail themselves of these opportunities in\u0000collaborative MR systems.","PeriodicalId":501175,"journal":{"name":"arXiv - EE - Systems and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142217808","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Orthogonal Mode Decomposition for Finite Discrete Signals 有限离散信号的正交模式分解

arXiv - EE - Systems and Control Pub Date : 2024-09-11 DOI: arxiv-2409.07242

Ning Li, Lezhi Li

{"title":"Orthogonal Mode Decomposition for Finite Discrete Signals","authors":"Ning Li, Lezhi Li","doi":"arxiv-2409.07242","DOIUrl":"https://doi.org/arxiv-2409.07242","url":null,"abstract":"In this paper, an orthogonal mode decomposition method is proposed to\u0000decompose ffnite length real signals on both the real and imaginary axes of the\u0000complex plane. The interpolation function space of ffnite length discrete\u0000signal is constructed, and the relationship between the dimensionality of the\u0000interpolation function space and its subspaces and the band width of the\u0000interpolation function is analyzed. It is proved that the intrinsic mode is\u0000actually the narrow band signal whose intrinsic instantaneous frequency is\u0000always positive (or always negative). Thus, the eigenmode decomposition problem\u0000is transformed into the orthogonal projection problem of interpolation function\u0000space to its low frequency subspace or narrow band subspace. Different from the\u0000existing mode decomposition methods, the orthogonal modal decomposition is a\u0000local time-frequency domain algorithm. Each operation extracts a speciffc mode.\u0000The global decomposition results obtained under the precise deffnition of\u0000eigenmodes have uniqueness and orthogonality. The computational complexity of\u0000the orthogonal mode decomposition method is also much smaller than that of the\u0000existing mode decomposition methods.","PeriodicalId":501175,"journal":{"name":"arXiv - EE - Systems and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142217817","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A feedback control approach to convex optimization with inequality constraints 带不平等约束的凸优化反馈控制方法

arXiv - EE - Systems and Control Pub Date : 2024-09-11 DOI: arxiv-2409.07168

V. Cerone, S. M. Fosson, S. Pirrera, D. Regruto

引用次数: 0

MPPI-Generic: A CUDA Library for Stochastic Optimization MPPI-Generic：用于随机优化的 CUDA 库

arXiv - EE - Systems and Control Pub Date : 2024-09-11 DOI: arxiv-2409.07563

Bogdan Vlahov, Jason Gibson, Manan Gandhi, Evangelos A. Theodorou

引用次数: 0

Equivariant Filter for Tightly Coupled LiDAR-Inertial Odometry 用于紧密耦合激光雷达-惯性测距的等变滤波器

arXiv - EE - Systems and Control Pub Date : 2024-09-11 DOI: arxiv-2409.06948

Anbo Tao, Yarong Luo, Chunxi Xia, Chi Guo, Xingxing Li

{"title":"Equivariant Filter for Tightly Coupled LiDAR-Inertial Odometry","authors":"Anbo Tao, Yarong Luo, Chunxi Xia, Chi Guo, Xingxing Li","doi":"arxiv-2409.06948","DOIUrl":"https://doi.org/arxiv-2409.06948","url":null,"abstract":"Pose estimation is a crucial problem in simultaneous localization and mapping\u0000(SLAM). However, developing a robust and consistent state estimator remains a\u0000significant challenge, as the traditional extended Kalman filter (EKF)\u0000struggles to handle the model nonlinearity, especially for inertial measurement\u0000unit (IMU) and light detection and ranging (LiDAR). To provide a consistent and\u0000efficient solution of pose estimation, we propose Eq-LIO, a robust state\u0000estimator for tightly coupled LIO systems based on an equivariant filter (EqF).\u0000Compared with the invariant Kalman filter based on the $SE_2(3)$ group\u0000structure, the EqF uses the symmetry of the semi-direct product group to couple\u0000the system state including IMU bias, navigation state and LiDAR extrinsic\u0000calibration state, thereby suppressing linearization error and improving the\u0000behavior of the estimator in the event of unexpected state changes. The\u0000proposed Eq-LIO owns natural consistency and higher robustness, which is\u0000theoretically proven with mathematical derivation and experimentally verified\u0000through a series of tests on both public and private datasets.","PeriodicalId":501175,"journal":{"name":"arXiv - EE - Systems and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142217819","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Short Information-Theoretic Analysis of Linear Auto-Regressive Learning 线性自回归学习的简短信息理论分析

arXiv - EE - Systems and Control Pub Date : 2024-09-10 DOI: arxiv-2409.06437

Ingvar Ziemann

引用次数: 0

Uncovering the inherited vulnerability of electric distribution networks 揭示配电网络固有的脆弱性

arXiv - EE - Systems and Control Pub Date : 2024-09-10 DOI: arxiv-2409.06194

Bálint Hartmann, Tamás Soha, Michelle T. Cirunay, Tímea Erdei

{"title":"Uncovering the inherited vulnerability of electric distribution networks","authors":"Bálint Hartmann, Tamás Soha, Michelle T. Cirunay, Tímea Erdei","doi":"arxiv-2409.06194","DOIUrl":"https://doi.org/arxiv-2409.06194","url":null,"abstract":"Research on the vulnerability of electric networks with a complex network\u0000approach has produced significant results in the last decade, especially for\u0000transmission networks. These studies have shown that there are causal relations\u0000between certain structural properties of networks and their vulnerabilities,\u0000leading to an inherent weakness. The purpose of present work was twofold: to\u0000test the hypotheses already examined on evolving transmission networks and to\u0000gain a deeper understanding on the nature of these inherent weaknesses. For\u0000this, historical models of a medium-voltage distribution network supply area\u0000were reconstructed and analysed. Topological efficiency of the networks was\u0000calculated against node and edge removals of different proportions. We found\u0000that the tolerance of the evolving grid remained practically unchanged during\u0000the examined period, implying that the increase in size is dominantly caused by\u0000the connection of geographically and spatially constrained supply areas and not\u0000by an evolutionary process. We also show that probability density functions of\u0000centrality metrics, typically connected to vulnerability, show only minor\u0000variation during the early evolution of the examined distribution network, and\u0000in many cases resemble the properties of the modern days.","PeriodicalId":501175,"journal":{"name":"arXiv - EE - Systems and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142217670","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0