Global Feed-Forward Adaptive Fuzzy Control of Uncertain MIMO Nonlinear Systems

This study proposes a novel adaptive control approach using a feedforward Takagi-Sugeno (TS) fuzzy approximator for a class of highly unknown multi-input multi-output (MIMO) nonlinear plants. First of all, the design concept, namely, feedforward fuzzy approximator (FFA) based control, is introduced to compensate the unknown feedforward terms required during steady state via a forward TS fuzzy system which takes the desired commands as the input variables. Different from the traditional fuzzy approximation approaches, this scheme allows easier implementation and drops the boundedness assumption on fuzzy universal approximation errors. Furthermore, the controller is synthesized to assure either the disturbance attenuation or the attenuation of both disturbances and estimated fuzzy parameter errors or globally asymptotic stable tracking. In addition, all the stability is guaranteed from a feasible gain solution of the derived linear matrix inequality (LMI). Meanwhile, the highly uncertain holonomic constrained systems are taken as applications with either guaranteed robust tracking performances or asymptotic stability in a global sense. It is demonstrated that the proposed adaptive control is easily and straightforwardly extended to the robust TS FFA-based motion/force tracking controller. Finally, two planar robots transporting a common object is taken as an application example to show the expected performance. The comparison between the proposed and traditional adaptive fuzzy control schemes is also performed in numerical simulations. Keywords: Adaptive control; Takagi-Sugeno (TS) fuzzy system; holonomic systems; motion/force control

Conformal Freeze-In, Composite Dark Photon, and Asymmetric Reheating

Large classes of dark sector models feature mass scales and couplings very different from the ones we observe in the Standard Model (SM). Moreover, in the freeze-in mechanism, often employed by the dark sector models, it is also required that the dark sector cannot be populated during the reheating process like the SM. This is the so called asymmetric reheating. Such disparities in sizes and scales often call for dynamical explanations. In this paper, we explore a scenario in which slow evolving conformal field theories (CFTs) offer such an explanation. Building on the recent work on conformal freeze-in (COFI), we focus on a coupling between the Standard Model Hypercharge gauge boson and an anti-symmetric tensor operator in the dark CFT. We present a scenario which dynamically realizes the asymmetric reheating and COFI production. With a detailed study of dark matter production, and taking into account limits on the dark matter (DM) self-interaction, warm DM bound, and constraints from the stellar evolution, we demonstrate that the correct relic abundance can be obtained with reasonable choices of parameters. The model predicts the existence of a dark photon as an emergent composite particle, with a small kinetic mixing also determined by the CFT dynamics, which correlates it with the generation of the mass scale of the dark sector. At the same time, COFI production of dark matter is very different from those freeze-in mediated by the dark photon. This is an example of the physics in which a realistic dark sector model can often be much richer and with unexpected features.Comment: 41 pages, 8 figure

Probing flavor nonuniversal theories through Higgs physics at the LHC and future colliders

We explored the possibility that Higgs coupling to new physics violates flavor universality. In particular, we parametrize such models with dimension-six effective operators which modify the coupling between the first generation quarks, Higgs boson, and $Z$ boson. Through the use of boosted Higgsstrahlung events at both the HL-LHC and potential future hadron colliders, as well as existing ATLAS data for background estimates, we projected constraints on the scale of new physics as a function of the Wilson coefficient. The high energy $Zh$ process will provide unique information about these class of operators, and the sensitivity is competitive with the LEP electroweak precision measurements. We include different scenarios of the overall systematic uncertainties and the PDF uncertainties when presenting the projected sensitivities. We also discuss the constraints from flavor changing neutral currents to these flavor-violating models and the complementarity of the exotic Higgs decay to the $Zh$ process

Towards Full Automated Drive in Urban Environments: A Demonstration in GoMentum Station, California

Each year, millions of motor vehicle traffic accidents all over the world cause a large number of fatalities, injuries and significant material loss. Automated Driving (AD) has potential to drastically reduce such accidents. In this work, we focus on the technical challenges that arise from AD in urban environments. We present the overall architecture of an AD system and describe in detail the perception and planning modules. The AD system, built on a modified Acura RLX, was demonstrated in a course in GoMentum Station in California. We demonstrated autonomous handling of 4 scenarios: traffic lights, cross-traffic at intersections, construction zones and pedestrians. The AD vehicle displayed safe behavior and performed consistently in repeated demonstrations with slight variations in conditions. Overall, we completed 44 runs, encompassing 110km of automated driving with only 3 cases where the driver intervened the control of the vehicle, mostly due to error in GPS positioning. Our demonstration showed that robust and consistent behavior in urban scenarios is possible, yet more investigation is necessary for full scale roll-out on public roads.Comment: Accepted to Intelligent Vehicles Conference (IV 2017

Open Gromov-Witten Invariants of Toric Calabi-Yau 3-Folds

We present a proof of the mirror conjecture of Aganagic-Vafa [arXiv:hep-th/0012041] and Aganagic-Klemm-Vafa [arXiv:hep-th/0105045] on disk enumeration in toric Calabi-Yau 3-folds for all smooth semi-projective toric Calabi-Yau 3-folds. We consider both inner and outer branes, at arbitrary framing. In particular, we recover previous results on the conjecture for (i) an inner brane at zero framing in the total space of the canonical line bundle of the projective plane (Graber-Zaslow [arXiv:hep-th/0109075]), (ii) an outer brane at arbitrary framing in the resolved conifold (Zhou [arXiv:1001.0447]), and (iii) an outer brane at zero framing in the total space of the canonical line bundle of the projective plane (Brini [arXiv:1102.0281, Section 5.3]).Comment: 39 pages, 11 figure

Protein subcellular localization prediction based on compartment-specific features and structure conservation

BACKGROUND: Protein subcellular localization is crucial for genome annotation, protein function prediction, and drug discovery. Determination of subcellular localization using experimental approaches is time-consuming; thus, computational approaches become highly desirable. Extensive studies of localization prediction have led to the development of several methods including composition-based and homology-based methods. However, their performance might be significantly degraded if homologous sequences are not detected. Moreover, methods that integrate various features could suffer from the problem of low coverage in high-throughput proteomic analyses due to the lack of information to characterize unknown proteins. RESULTS: We propose a hybrid prediction method for Gram-negative bacteria that combines a one-versus-one support vector machines (SVM) model and a structural homology approach. The SVM model comprises a number of binary classifiers, in which biological features derived from Gram-negative bacteria translocation pathways are incorporated. In the structural homology approach, we employ secondary structure alignment for structural similarity comparison and assign the known localization of the top-ranked protein as the predicted localization of a query protein. The hybrid method achieves overall accuracy of 93.7% and 93.2% using ten-fold cross-validation on the benchmark data sets. In the assessment of the evaluation data sets, our method also attains accurate prediction accuracy of 84.0%, especially when testing on sequences with a low level of homology to the training data. A three-way data split procedure is also incorporated to prevent overestimation of the predictive performance. In addition, we show that the prediction accuracy should be approximately 85% for non-redundant data sets of sequence identity less than 30%. CONCLUSION: Our results demonstrate that biological features derived from Gram-negative bacteria translocation pathways yield a significant improvement. The biological features are interpretable and can be applied in advanced analyses and experimental designs. Moreover, the overall accuracy of combining the structural homology approach is further improved, which suggests that structural conservation could be a useful indicator for inferring localization in addition to sequence homology. The proposed method can be used in large-scale analyses of proteomes

Activation of NRG1-ERBB4 signaling potentiates mesenchymal stem cell-mediated myocardial repairs following myocardial infarction

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