A Passivity-based Nonlinear Admittance Control with Application to Powered Upper-limb Control under Unknown Environmental Interactions

This paper presents an admittance controller based on the passivity theory for a powered upper-limb exoskeleton robot which is governed by the nonlinear equation of motion. Passivity allows us to include a human operator and environmental interaction in the control loop. The robot interacts with the human operator via F/T sensor and interacts with the environment mainly via end-effectors. Although the environmental interaction cannot be detected by any sensors (hence unknown), passivity allows us to have natural interaction. An analysis shows that the behavior of the actual system mimics that of a nominal model as the control gain goes to infinity, which implies that the proposed approach is an admittance controller. However, because the control gain cannot grow infinitely in practice, the performance limitation according to the achievable control gain is also analyzed. The result of this analysis indicates that the performance in the sense of infinite norm increases linearly with the control gain. In the experiments, the proposed properties were verified using 1 degree-of-freedom testbench, and an actual powered upper-limb exoskeleton was used to lift and maneuver the unknown payload.Comment: Accepted in IEEE/ASME Transactions on Mechatronics (T-MECH

Emergence of robust 2D skyrmions in SrRuO3 ultrathin film without the capping layer

Magnetic skyrmions have fast evolved from a novelty, as a realization of topologically protected structure with particle-like character, into a promising platform for new types of magnetic storage. Significant engineering progress was achieved with the synthesis of compounds hosting room-temperature skyrmions in magnetic heterostructures, with the interfacial Dzyaloshinskii-Moriya interactions (DMI) conducive to the skyrmion formation. Here we report findings of ultrathin skyrmion formation in a few layers of SrRuO3 grown on SrTiO3 substrate without the heavy-metal capping layer. Measurement of the topological Hall effect (THE) reveals a robust stability of skyrmions in this platform, judging from the high value of the critical field 1.57 Tesla (T) at low temperature. THE survives as the field is tilted by as much as 85 degrees at 10 Kelvin, with the in-plane magnetic field reaching up to 6.5 T. Coherent Bragg Rod Analysis, or COBRA for short, on the same film proves the rumpling of the Ru-O plane to be the source of inversion symmetry breaking and DMI. First-principles calculations based on the structure obtained from COBRA find significant magnetic anisotropy in the SrRuO3 film to be the main source of skyrmion robustness. These features promise a few-layer SRO to be an important new platform for skyrmionics, without the necessity of introducing the capping layer to boost the spin-orbit coupling strength artificially.Comment: Supplementary Information available upon reques

Consistency-Guided Temperature Scaling Using Style and Content Information for Out-of-Domain Calibration

Research interests in the robustness of deep neural networks against domain shifts have been rapidly increasing in recent years. Most existing works, however, focus on improving the accuracy of the model, not the calibration performance which is another important requirement for trustworthy AI systems. Temperature scaling (TS), an accuracy-preserving post-hoc calibration method, has been proven to be effective in in-domain settings, but not in out-of-domain (OOD) due to the difficulty in obtaining a validation set for the unseen domain beforehand. In this paper, we propose consistency-guided temperature scaling (CTS), a new temperature scaling strategy that can significantly enhance the OOD calibration performance by providing mutual supervision among data samples in the source domains. Motivated by our observation that over-confidence stemming from inconsistent sample predictions is the main obstacle to OOD calibration, we propose to guide the scaling process by taking consistencies into account in terms of two different aspects -- style and content -- which are the key components that can well-represent data samples in multi-domain settings. Experimental results demonstrate that our proposed strategy outperforms existing works, achieving superior OOD calibration performance on various datasets. This can be accomplished by employing only the source domains without compromising accuracy, making our scheme directly applicable to various trustworthy AI systems.Comment: Accepted at AAAI-24 (The 38th AAAI Conference on Artificial Intelligence, February 2024

Emergence of robust 2D skyrmions in SrRuO3 ultrathin film without the capping layer

Magnetic skyrmions have fast evolved from a novelty, as a realization of topologically protected structure with particle-like character, into a promising platform for new types of magnetic storage. Significant engineering progress was achieved with the synthesis of compounds hosting room-temperature skyrmions in magnetic heterostructures, with the interfacial Dzyaloshinskii-Moriya interactions (DMI) conducive to the skyrmion formation. Here we report findings of ultrathin skyrmion formation in a few layers of SrRuO3 grown on SrTiO3 substrate without the heavy-metal capping layer. Measurement of the topological Hall effect (THE) reveals a robust stability of skyrmions in this platform, judging from the high value of the critical field 1.57 Tesla (T) at low temperature. THE survives as the field is tilted by as much as 85 degrees at 10 Kelvin, with the in-plane magnetic field reaching up to 6.5 T. Coherent Bragg Rod Analysis, or COBRA for short, on the same film proves the rumpling of the Ru-O plane to be the source of inversion symmetry breaking and DMI. First-principles calculations based on the structure obtained from COBRA find significant magnetic anisotropy in the SrRuO3 film to be the main source of skyrmion robustness. These features promise a few-layer SRO to be an important new platform for skyrmionics, without the necessity of introducing the capping layer to boost the spin-orbit coupling strength artificially.Comment: Supplementary Information available upon reques