Iterative learning control method for improving the effectiveness of upper limb rehabilitation

In rehabilitation, passive control mode is common used at early stages of the post-stroke therapy, when the impaired limb is usually unresponsive. The simplest is the use of a proportional-integral-derivative (PID) feedback control which usually regulates the position or the interaction force along a known reference. Nonetheless PID method cannot achieve an ideal tracking performance due to dynamical uncertainties and unknown time-varying periodic disturbances from the environment. In order to minimize steady-state error with respect to uncertainties in exoskeleton passive control, Iterative Learning Control(ILC) and Neural PID control are proposed to improve the control effective of conventional linear PID. In this paper, two different control algorithms are introduced. Moreover, an experimental study on a 5-DOF upper limb exoskeleton with them is addressed for comparison

Adaptive rendezvous of multiple mobile agents with nonlinear dynamics and preserved network connectivity

This paper investigates rendezvous of multiple nonlinear dynamical mobile agents with a virtual leader in a dynamic proximity network. It is assumed that only a fraction of agents in the group have access to the information on the position and velocity of the virtual leader. To avoid fragmentation, a bounded connectivity-preserving rendezvous algorithm is proposed for the multi-agent systems. Under the assumption that the initial network is connected, local adaptation strategies for the rendezvous algorithm are introduced that enable all agents to synchronize with the virtual leader even when only one agent is informed, without requiring any knowledge of the agent dynamics. Simulation results on an example are given to numerically verify the theoretical results. © 2011 Asian Control Association.published_or_final_versio

VIENA2: A Driving Anticipation Dataset

Action anticipation is critical in scenarios where one needs to react before the action is finalized. This is, for instance, the case in automated driving, where a car needs to, e.g., avoid hitting pedestrians and respect traffic lights. While solutions have been proposed to tackle subsets of the driving anticipation tasks, by making use of diverse, task-specific sensors, there is no single dataset or framework that addresses them all in a consistent manner. In this paper, we therefore introduce a new, large-scale dataset, called VIENA2, covering 5 generic driving scenarios, with a total of 25 distinct action classes. It contains more than 15K full HD, 5s long videos acquired in various driving conditions, weathers, daytimes and environments, complemented with a common and realistic set of sensor measurements. This amounts to more than 2.25M frames, each annotated with an action label, corresponding to 600 samples per action class. We discuss our data acquisition strategy and the statistics of our dataset, and benchmark state-of-the-art action anticipation techniques, including a new multi-modal LSTM architecture with an effective loss function for action anticipation in driving scenarios.Comment: Accepted in ACCV 201

Distinctive Genetic Activity Pattern of the Human Dental Pulp between Deciduous and Permanent Teeth

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Experimental investigation on the deformation characteristics of granular materials under drained rotational shear

Rotational shear is the type of loading path where samples are subjected to cyclic rotation of principal stress directions while the magnitudes of principal stresses are maintained constant. This paper presents results from an experimental investigation on the drained deformation behaviour of saturated sand in rotational shear conducted in a hollow cylinder apparatus. Two types of granular materials, Leighton Buzzard sand and glass beads are tested. A range of influential factors are investigated including the material density, the deviatoric stress level, and the intermediate principal stress. It is observed that the volumetric strain during rotational shear is mainly contractive and most of strains are generated during the first 20 cycles. The mechanical behaviour of sand under rotational shear is generally non-coaxial, i.e., there is no coincidence between the principal axes of stress and incremental strain, and the variation of the non-coaxiality shows a periodic trend during the tests. The stress ratio has a significant effect on soil response in rotational shear. The larger the stress ratio, the more contractive behaviour and the lower degree of non-coaxiality are induced. The test also demonstrates that the effect of the intermediate principal stress, material density and particle shape on the results is pronounced

The multi-level and multi-dimensional quantum wavelet packet transforms

© 2018, The Author(s). The classical wavelet packet transform has been widely applied in the information processing field. It implies that the quantum wavelet packet transform (QWPT) can play an important role in quantum information processing. In this paper, we design quantum circuits of a generalized tensor product (GTP) and a perfect shuffle permutation (PSP). Next, we propose multi-level and multi-dimensional (1D, 2D and 3D) QWPTs, including a Haar QWPT (HQWPT), a D4 QWPT (DQWPT) based on the periodization extension and their inverse transforms for the first time, and prove the correctness based on the GTP and PSP. Furthermore, we analyze the quantum costs and the time complexities of our proposed QWPTs and obtain precise results. The time complexities of HQWPTs is at most 6 on 2n elements, which illustrates high-efficiency of the proposed QWPTs. Simulation experiments demonstrate that the proposed QWPTs are correct and effective

Effects of the principal stress rotation in numerical simulations of geotechnical laboratory cyclic tests

Cyclic stress paths in geotechnical experiments can generate considerable principal stress rotation (PSR) in the saturated soil. The PSR without changes of principal stress magnitudes can generate additional excess pore water pressures and plastic strains, thus accelerating liquefactions in undrained conditions. This paper simulates a series of laboratory tests considering the PSR using two types of sand. The impact of PSR is taken into account by using an elastoplastic soil model developed on the basis of a kinematic hardening soil model with the bounding surface concept. The soil model considers the PSR by treating the stress rate generating the PSR independently. The capability of this soil model is verified by comparing the numerical predictions with and without PSR, as well as experimental results. The comparative results indicate that the simulation with the soil model considering the PSR can better reproduce the test results on the development of shear strain, reduction of effective confining pressure and liquefaction than the soil model without PSR. Therefore, it is important to consider PSR effects in simulations of geotechnical experiments under cyclic loadings

A possible method for non-Hermitian and non-PTPT-symmetric Hamiltonian systems

A possible method to investigate non-Hermitian Hamiltonians is suggested through finding a Hermitian operator $\eta_+$ and defining the annihilation and creation operators to be $\eta_+$-pseudo-Hermitian adjoint to each other. The operator $\eta_+$ represents the $\eta_+$-pseudo-Hermiticity of Hamiltonians. As an example, a non-Hermitian and non-$PT$-symmetric Hamiltonian with imaginary linear coordinate and linear momentum terms is constructed and analyzed in detail. The operator $\eta_+$ is found, based on which, a real spectrum and a positive-definite inner product, together with the probability explanation of wave functions, the orthogonality of eigenstates, and the unitarity of time evolution, are obtained for the non-Hermitian and non-$PT$-symmetric Hamiltonian. Moreover, this Hamiltonian turns out to be coupled when it is extended to the canonical noncommutative space with noncommutative spatial coordinate operators and noncommutative momentum operators as well. Our method is applicable to the coupled Hamiltonian. Then the first and second order noncommutative corrections of energy levels are calculated, and in particular the reality of energy spectra, the positive-definiteness of inner products, and the related properties (the probability explanation of wave functions, the orthogonality of eigenstates, and the unitarity of time evolution) are found not to be altered by the noncommutativity.Comment: 15 pages, no figures; v2: clarifications added; v3: 16 pages, 1 figure, clarifications made clearer; v4: 19 pages, the main context is completely rewritten; v5: 25 pages, title slightly changed, clarifications added, the final version to appear in PLOS ON

Graph Distillation for Action Detection with Privileged Modalities

We propose a technique that tackles action detection in multimodal videos under a realistic and challenging condition in which only limited training data and partially observed modalities are available. Common methods in transfer learning do not take advantage of the extra modalities potentially available in the source domain. On the other hand, previous work on multimodal learning only focuses on a single domain or task and does not handle the modality discrepancy between training and testing. In this work, we propose a method termed graph distillation that incorporates rich privileged information from a large-scale multimodal dataset in the source domain, and improves the learning in the target domain where training data and modalities are scarce. We evaluate our approach on action classification and detection tasks in multimodal videos, and show that our model outperforms the state-of-the-art by a large margin on the NTU RGB+D and PKU-MMD benchmarks. The code is released at http://alan.vision/eccv18_graph/.Comment: ECCV 201

Network coding for wireless communication networks

This special issue includes a collection of 19 outstanding research papers which cover a diversity of topics on the application of network coding in wireless communication networks.published_or_final_versio