arXiv subjects

He

Publications and source records attributed to He.

14 recordsLinked to original sources

arXiv2024

Radio-Based Passive Target Tracking by a Mobile Receiver with Unknown Transmitter Position

In this paper, we propose a radio-based passive target tracking algorithm using multipath measurements, including the angle of arrival and relative distance. We focus on a scenario in which a mobile receiver continuously receives radio signals from a transmitter located at an unknown position. The receiver utilizes multipath measurements extracted from the received signal to jointly localize the transmitter and the scatterers over time, with scatterers comprising a moving target and stationary objects that can reflect signals within the environment. We develop a comprehensive probabilistic model for the target tracking problem, incorporating the localization of the transmitter and scatterers, the identification of false alarms and missed detections in the measurements, and the association between scatterers and measurements. We employ a belief propagation approach to compute the posterior distributions of the positions of the scatterers and the transmitter. Additionally, we introduce a particle implementation for the belief propagation method. Simulation results demonstrate that our proposed algorithm outperforms existing benchmark methods in terms of target tracking accuracy.

eess.SP↗

arXiv2024

Optimizing the Weather Research and Forecasting Model with OpenMP Offload and Codee

Currently, the Weather Research and Forecasting model (WRF) utilizes shared memory (OpenMP) and distributed memory (MPI) parallelisms. To take advantage of GPU resources on the Perlmutter supercomputer at NERSC, we port parts of the computationally expensive routines of the Fast Spectral Bin Microphysics (FSBM) microphysical scheme to NVIDIA GPUs using OpenMP device offloading directives. To facilitate this process, we explore a workflow for optimization which uses both runtime profilers and a static code inspection tool Codee to refactor the subroutine. We observe a 2.08x overall speedup for the CONUS-12km thunderstorm test case.

cs.DC↗

arXiv2022

Design of EMG-driven Musculoskeletal Model for Volitional Control of a Robotic Ankle Prosthesis

Existing robotic lower-limb prostheses use autonomous control to address cyclic, locomotive tasks, but they are inadequate to operate the prosthesis for daily activities that are non-cyclic and unpredictable. To address this challenge, this study aims to design a novel electromyography (EMG)-driven musculoskeletal model for volitional control of a robotic ankle-foot prosthesis. This controller places the user in continuous control of the device, allowing them to freely manipulate the prosthesis behavior at will. The Hill-type muscle model was used to model a dorsiflexor and a plantarflexor, which functioned around a virtual ankle joint. The model parameters were determined by fitting the model prediction to the experimental data collected from an able-bodied subject. EMG signals recorded from ankle agonist and antagonist muscle pair were used to activate the virtual muscle models. This model was validated via offline simulations and real-time prosthesis control. Additionally, the feasibility of the proposed prosthesis control on assisting the user's functional tasks was demonstrated. The present control may further improve the function of robotic prosthesis for supporting versatile activities in individuals with lower-limb amputations.

cs.RO↗

arXiv2021

Robotic Knee Tracking Control to Mimic the Intact Human Knee Profile Based on Actor-critic Reinforcement Learning

We address a state-of-the-art reinforcement learning (RL) control approach to automatically configure robotic prosthesis impedance parameters to enable end-to-end, continuous locomotion intended for transfemoral amputee subjects. Specifically, our actor-critic based RL provides tracking control of a robotic knee prosthesis to mimic the intact knee profile. This is a significant advance from our previous RL based automatic tuning of prosthesis control parameters which have centered on regulation control with a designer prescribed robotic knee profile as the target. In addition to presenting the complete tracking control algorithm based on direct heuristic dynamic programming (dHDP), we provide an analytical framework for the tracking controller with constrained inputs. We show that our proposed tracking control possesses several important properties, such as weight convergence of the learning networks, Bellman (sub)optimality of the cost-to-go value function and control input, and practical stability of the human-robot system under input constraint. We further provide a systematic simulation of the proposed tracking control using a realistic human-robot system simulator, the OpenSim, to emulate how the dHDP enables level ground walking, walking on different terrains and at different paces. These results show that our proposed dHDP based tracking control is not only theoretically suitable, but also practically useful.

cs.RO↗

arXiv2021

Reinforcement Learning Enabled Automatic Impedance Control of a Robotic Knee Prosthesis to Mimic the Intact Knee Motion in a Co-Adapting Environment

Automatically configuring a robotic prosthesis to fit its user's needs and physical conditions is a great technical challenge and a roadblock to the adoption of the technology. Previously, we have successfully developed reinforcement learning (RL) solutions toward addressing this issue. Yet, our designs were based on using a subjectively prescribed target motion profile for the robotic knee during level ground walking. This is not realistic for different users and for different locomotion tasks. In this study for the first time, we investigated the feasibility of RL enabled automatic configuration of impedance parameter settings for a robotic knee to mimic the intact knee motion in a co-adapting environment. We successfully achieved such tracking control by an online policy iteration. We demonstrated our results in both OpenSim simulations and two able-bodied (AB) subjects.

cs.RO↗

arXiv2020

A Data-Driven Reinforcement Learning Solution Framework for Optimal and Adaptive Personalization of a Hip Exoskeleton

Robotic exoskeletons are exciting technologies for augmenting human mobility. However, designing such a device for seamless integration with the human user and to assist human movement still is a major challenge. This paper aims at developing a novel data-driven solution framework based on reinforcement learning (RL), without first modeling the human-robot dynamics, to provide optimal and adaptive personalized torque assistance for reducing human efforts during walking. Our automatic personalization solution framework includes the assistive torque profile with two control timing parameters (peak and offset timings), the least square policy iteration (LSPI) for learning the parameter tuning policy, and a cost function based on transferred work ratio. The proposed controller was successfully validated on a healthy human subject to assist unilateral hip extension in walking. The results showed that the optimal and adaptive RL controller as a new approach was feasible for tuning assistive torque profile of the hip exoskeleton that coordinated with human actions and reduced activation level of hip extensor muscle in human.

cs.RO↗

arXiv2020

Model-Driven Deep Learning for Massive Multiuser MIMO Constant Envelope Precoding

Constant envelope (CE) precoding design is of great interest for massive multiuser multi-input multi-output systems because it can significantly reduce hardware cost and power consumption. However, existing CE precoding algorithms are hindered by excessive computational overhead. In this letter, a novel model-driven deep learning (DL)-based network that combines DL with conjugate gradient algorithm is proposed for CE precoding. Specifically, the original iterative algorithm is unfolded and parameterized by trainable variables. With the proposed architecture, the variables can be learned efficiently from training data through unsupervised learning approach. Thus, the proposed network learns to obtain the search step size and adjust the search direction. Simulation results demonstrate the superiority of the proposed network in terms of multiuser interference suppression capability and computational overhead.

eess.SP↗

arXiv2020

Reinforcement Learning Control of Robotic Knee with Human in the Loop by Flexible Policy Iteration

We are motivated by the real challenges presented in a human-robot system to develop new designs that are efficient at data level and with performance guarantees such as stability and optimality at systems level. Existing approximate/adaptive dynamic programming (ADP) results that consider system performance theoretically are not readily providing practically useful learning control algorithms for this problem; and reinforcement learning (RL) algorithms that address the issue of data efficiency usually do not have performance guarantees for the controlled system. This study fills these important voids by introducing innovative features to the policy iteration algorithm. We introduce flexible policy iteration (FPI), which can flexibly and organically integrate experience replay and supplemental values from prior experience into the RL controller. We show system level performances including convergence of the approximate value function, (sub)optimality of the solution, and stability of the system. We demonstrate the effectiveness of the FPI via realistic simulations of the human-robot system. It is noted that the problem we face in this study may be difficult to address by design methods based on classical control theory as it is nearly impossible to obtain a customized mathematical model of a human-robot system either online or offline. The results we have obtained also indicate the great potential of RL control to solving realistic and challenging problems with high dimensional control inputs.

eess.SY↗

arXiv2019

RTL-PSC: Automated Power Side-Channel Leakage Assessment at Register-Transfer Level

Power side-channel attacks (SCAs) have become a major concern to the security community due to their non-invasive feature, low-cost, and effectiveness in extracting secret information from hardware implementation of cryto algorithms. Therefore, it is imperative to evaluate if the hardware is vulnerable to SCAs during its design and validation stages. Currently, however, there is little-known effort in evaluating the vulnerability of a hardware to SCAs at early design stage. In this paper, we propose, for the first time, an automated framework, named RTL-PSC, for power side-channel leakage assessment of hardware crypto designs at register-transfer level (RTL) with built-in evaluation metrics. RTL-PSC first estimates power profile of a hardware design using functional simulation at RTL. Then it utilizes the evaluation metrics, comprising of KL divergence metric and the success rate (SR) metric based on maximum likelihood estimation to perform power side-channel leakage (PSC) vulnerability assessment at RTL. We analyze Galois-Field (GF) and Look-up Table (LUT) based AES designs using RTL-PSC and validate its effectiveness and accuracy through both gate-level simulation and FPGA results. RTL-PSC is also capable of identifying blocks inside the design that contribute the most to the PSC vulnerability which can be used for efficient countermeasure implementation.

cs.CR↗

arXiv2011

Statistical Characterization of the Chandra Source Catalog

The first release of the Chandra Source Catalog (CSC) contains ~95,000 X-ray sources in a total area of ~0.75% of the entire sky, using data from ~3,900 separate ACIS observations of a multitude of different types of X-ray sources. In order to maximize the scientific benefit of such a large, heterogeneous data-set, careful characterization of the statistical properties of the catalog, i.e., completeness, sensitivity, false source rate, and accuracy of source properties, is required. Characterization efforts of other, large Chandra catalogs, such as the ChaMP Point Source Catalog (Kim et al. 2007) or the 2 Mega-second Deep Field Surveys (Alexander et al. 2003), while informative, cannot serve this purpose, since the CSC analysis procedures are significantly different and the range of allowable data is much less restrictive. We describe here the characterization process for the CSC. This process includes both a comparison of real CSC results with those of other, deeper Chandra catalogs of the same targets and extensive simulations of blank-sky and point source populations.

astro-ph.HE↗

arXiv2010

The Chandra Source Catalog

The Chandra Source Catalog (CSC) is a general purpose virtual X-ray astrophysics facility that provides access to a carefully selected set of generally useful quantities for individual X-ray sources, and is designed to satisfy the needs of a broad-based group of scientists, including those who may be less familiar with astronomical data analysis in the X-ray regime. The first release of the CSC includes information about 94,676 distinct X-ray sources detected in a subset of public ACIS imaging observations from roughly the first eight years of the Chandra mission. This release of the catalog includes point and compact sources with observed spatial extents <~ 30''. The catalog (1) provides access to the best estimates of the X-ray source properties for detected sources, with good scientific fidelity, and directly supports scientific analysis using the individual source data; (2) facilitates analysis of a wide range of statistical properties for classes of X-ray sources; and (3) provides efficient access to calibrated observational data and ancillary data products for individual X-ray sources, so that users can perform detailed further analysis using existing tools. The catalog includes real X-ray sources detected with flux estimates that are at least 3 times their estimated 1 sigma uncertainties in at least one energy band, while maintaining the number of spurious sources at a level of <~ 1 false source per field for a 100 ks observation. For each detected source, the CSC provides commonly tabulated quantities, including source position, extent, multi-band fluxes, hardness ratios, and variability statistics, derived from the observations in which the source is detected. In addition to these traditional catalog elements, for each X-ray source the CSC includes an extensive set of file-based data products that can be manipulated interactively.

astro-ph.HE↗

arXiv1995

The Nonresonant Cabibbo Suppressed Decay $B^\pm\to \pi^+\pi^-\pi^\pm$ and Signal for CP Violation

We consider various contributions to the nonresonant decay $B^\pm\rightarrow \pi^+\pi^-\pi^\pm$, both of the long-distance and short-distance types with the former providing for most of the branching ratio, predicted to be $BR(B^\pm\rightarrow \pi^+\pi^-\pi^\pm) = (1.5 - 8.4 )\times 10^{-5}$. We also discuss an application to CP violation resulting from the interference of that nonresonant background (with $m(\pi^+\pi^-)\approx 3.4$ GeV) and $B^\pm\rightarrow \chi_{c0} \pi^\pm$ followed by $\chi_{c0}\rightarrow \pi^+\pi^-$. The resulting value of the partial rate asymmetry is $(0.40\sim 0.48)\mbox{sin}\gamma$, where $\gamma = \mbox{arg}(V_{ub}^*)$.

hep-ph↗

arXiv1994

Unique Signature of Electroweak Penguin In Pure Hadronic $B$ Decays

We study elelctroweak penguin contributions in pure hadronic $B$ decays in the Standard and two-Higgs-doublet models. We find that in $B_s\rightarrow π^0 (η\;, ϕ)$ and $B_s\rightarrow ρ^0 (η\;, ϕ)$ decays, the electroweak penguin contributions dominate over all other contribuitons. These processes provide unique signatures of electroweak penguin in pure hadronic processes. These modes could be in measureable range of future $B$ facilities.

hep-ph↗

arXiv1994

Amplitude Zeros in Radiative Decays of Scalar Particles

We study amplitude zeros in radiative decay processes with a photon or a gluon emission of all possible scalar particles(e.g. scalar leptoquarks) which may interact with the usual fermions in models beyond the standard model. For the decays with a photon emission, the amplitudes clearly exhibit the factorization property and the differential decay rates vanish at specific values of a certain variable which are determined only by the electric charges of the particles involved and independent of the particle masses and the various couplings. For the decays with a gluon emission, even though the zeros are washed away, the differential decay rates still have distinct minima. The branching ratios as a function of leptoquark masses are presented for the scalar leptoquark decays. We also comment on the decays of vector particles into two fermions and a photon.

hep-ph↗