DAMM: Directionality-Aware Mixture Model Parallel Sampling for Efficient Dynamical System Learning

The Linear Parameter Varying Dynamical System (LPV-DS) is a promising framework for learning stable time-invariant motion policies in robot control. By employing statistical modeling and semi-definite optimization, LPV-DS encodes complex motions via non-linear DS, ensuring the robustness and stability of the system. However, the current LPV-DS scheme faces challenges in accurately interpreting trajectory data while maintaining model efficiency and computational efficiency. To address these limitations, we propose the Directionality-aware Mixture Model (DAMM), a new statistical model that leverages Riemannian metric on $d$-dimensional sphere $\mathbb{S}^d$, and efficiently incorporates non-Euclidean directional information with position. Additionally, we introduce a hybrid Markov chain Monte Carlo method that combines the Gibbs Sampling and the Split/Merge Proposal, facilitating parallel computation and enabling faster inference for near real-time learning performance. Through extensive empirical validation, we demonstrate that the improved LPV-DS framework with DAMM is capable of producing physically-meaningful representations of the trajectory data and improved performance of the generated DS while showcasing significantly enhanced learning speed compared to its previous iterations

D3G: Exploring Gaussian Prior for Temporal Sentence Grounding with Glance Annotation

Temporal sentence grounding (TSG) aims to locate a specific moment from an untrimmed video with a given natural language query. Recently, weakly supervised methods still have a large performance gap compared to fully supervised ones, while the latter requires laborious timestamp annotations. In this study, we aim to reduce the annotation cost yet keep competitive performance for TSG task compared to fully supervised ones. To achieve this goal, we investigate a recently proposed glance-supervised temporal sentence grounding task, which requires only single frame annotation (referred to as glance annotation) for each query. Under this setup, we propose a Dynamic Gaussian prior based Grounding framework with Glance annotation (D3G), which consists of a Semantic Alignment Group Contrastive Learning module (SA-GCL) and a Dynamic Gaussian prior Adjustment module (DGA). Specifically, SA-GCL samples reliable positive moments from a 2D temporal map via jointly leveraging Gaussian prior and semantic consistency, which contributes to aligning the positive sentence-moment pairs in the joint embedding space. Moreover, to alleviate the annotation bias resulting from glance annotation and model complex queries consisting of multiple events, we propose the DGA module, which adjusts the distribution dynamically to approximate the ground truth of target moments. Extensive experiments on three challenging benchmarks verify the effectiveness of the proposed D3G. It outperforms the state-of-the-art weakly supervised methods by a large margin and narrows the performance gap compared to fully supervised methods. Code is available at https://github.com/solicucu/D3G.Comment: ICCV202

Identification of a novel seed size associated locus SW9-1 in soybean

Published versionSeed size is one of the vital traits determining seed appearance, quality, and yield. Untangling the genetic mechanisms regulating soybean 100-seed weight (100-SW), seed length and seed width across environments may provide a theoretical basis for improving seed yield. However, there are few reports related to QTL mapping of 100-SW across multiple ecological regions. In this study, 21 loci associated with seed size traits were identified using a genome-wide association of 5361 single nucleotide polymorphisms (SNPs) across three ecoregions in China, which could explain 8.12%–14.25% of the phenotypic variance respectively. A new locus, named as SW9-1 on chromosome 9 that explained 10.05%–10.93% of the seed weight variance was found significantly related to seed size traits, and was not previously reported. The selection effect analysis showed that SW9-1 locus has a relatively high phenotypic effect (13.67) on 100-SW, with a greater contribution by the accessions with bigger seeds (3.69) than the accessions with small seeds (1.66). Increases in seed weight were accompanied by increases in the frequency of SW9-1T allele, with >90% of the bred varieties with a 100-SW >30 g carrying SW9-1T. Analysis of SW9-1 allelic variation in additional soybean accessions showed that SW9-1T allele accounting for 13.83% of the wild accessions, while in 46.55% and 51.57% of the landraces and bred accessions, respectively, this results indicating that the SW9-1 locus has been subjected to artificial selection during the early stages of soybean breeding, especially the utilization of SW9-1T in edamame for big seed. These results suggest that SW9-1 is a novel and reliable locus associated with seed size traits, and might have an important implication for increasing soybean seed weight in molecular design breeding. Cloning this locus in future may provide new insights into the genetic mechanisms underlying soybean seed size traits

Determining charge carrier mobility in Schottky contacted single-carrier organic devices by impedance spectroscopy

Impedance spectroscopy (IS) is one of the most important methods for analyzing transport properties of semiconducting thin films. At present carrier mobility can be determined by IS methods only for Ohmic contacted single-carrier devices, which hinders the use of the IS method for determining the carrier mobility of thin films with high-lying lowest unoccupied molecular orbits or low-lying highest occupied molecular orbits. Based on the theory of space charge limited current conduction and thermionic emission at metal-organic interface, we developed a numerical IS model for single-carrier organic devices with Schottky injection contact. With the help of this model, a concise empirical formula is obtained from which the carrier mobility can be determined from the characteristic frequency of the negative differential susceptance and the Schottky energy barrier height at the injection contact

Intelligent ADRC‐based inertia control for offshore wind farm

Abstract This paper proposes a virtual inertia control strategy for wind farms based on auto disturbance rejection controller with artificial bee colony (ABC) algorithm. First, based on the system frequency dynamic response equation, an active disturbance rejection controller is designed according to the non‐linear feedback control law and the extended state observer to improve the anti‐interference capability of the virtual inertia control system. Second, in order to solve the problem of difficulty in tuning the parameters of the active disturbance rejection control (ADRC), an ABC algorithm based on nectar collection behaviour was proposed to iteratively optimize the parameters of ADRC. Finally, the proposed control method is effectively verified based on Matlab/Simulink. The simulation results show that compared with traditional algorithms, the proposed ABC‐ADRC can effectively control the rotor speed to adjust the frequency of the power grid system, achieve power sharing and adaptive noise elimination, reduce the complexity of parameter settings, not only improve anti‐interference ability, but also enhance the robustness of the system

Evidence of a strong perpendicular magnetic anisotropy in Au/Co/MgO/GaN heterostructures

International audienceWe report a strong perpendicular magnetic anisotropy (PMA) in Au/Co/MgO/GaN heterostructures from both experiments and first-principles calculations. The Au/Co/MgO heterostructures have been grown by molecular beam epitaxy (MBE) on GaN/sapphire substrates. By carefully optimizing the growth conditions, we obtained a fully epitaxial structure with a crystalline orientation relationship Au(111)[ 110]// Co(0001)[11 20]//MgO(111)[10 1]//GaN(0002)[11 20]. More interestingly, we demonstrate that a 4.6 nm thick Co film grown on MgO/GaN still exhibits a large perpendicular magnetic anisotropy. First-principles calculations performed on the Co (4ML)/MgO(111) structure showed that the MgO(111) surface can strongly enhance the magnetic anisotropy energy by 40% compared to a reference 4ML thick Co hcp film. Our layer-resolved and orbital-hybridization resolved anisotropy analyses helped to clarify that the origin of the PMA enhancement is due to the interfacial hybridization of O 2p and Co 3d orbitals at the Co/MgO interface. The perpendicularly magnetized Au/Co/MgO/GaN heterostructures are promising for efficient spin injection and detection in GaN based opto-electronics without any external magnetic field

Highly heterogeneous epitaxy of flexoelectric BaTiO3-δ membrane on Ge

The integration of complex oxides with a wide spectrum of functionalities on Si, Ge and flexible substrates is highly demanded for functional devices in information technology. We demonstrate the remote epitaxy of BaTiO3 (BTO) on Ge using a graphene intermediate layer, which forms a prototype of highly heterogeneous epitaxial systems. The Ge surface orientation dictates the outcome of remote epitaxy. Single crystalline epitaxial BTO3-δ films were grown on graphene/Ge (011), whereas graphene/Ge (001) led to textured films. The graphene plays an important role in surface passivation. The remote epitaxial deposition of BTO3-δ follows the Volmer-Weber growth mode, with the strain being partially relaxed at the very beginning of the growth. Such BTO3-δ films can be easily exfoliated and transferred to arbitrary substrates like Si and flexible polyimide. The transferred BTO3-δ films possess enhanced flexoelectric properties with a gauge factor of as high as 1127. These results not only expand the understanding of heteroepitaxy, but also open a pathway for the applications of devices based on complex oxides