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This paper presents a generalization of conventional sliding mode control designs for systems in Euclidean spaces to fully actuated simple mechanical systems whose configuration space is a Lie group for the trajectory-tracking problem. A generic kinematic control is first devised in the underlying Lie algebra, which enables the construction of a Lie group on the tangent bundle where the system state evolves. A sliding subgroup is then proposed on the tangent bundle with the desired sliding properties, and a control law is designed for the error dynamics trajectories to reach the sliding subgroup globally exponentially. Tracking control is then composed of the reaching law and sliding mode, and is applied for attitude tracking on the special orthogonal group SO(3) and the unit sphere S3. Numerical simulations show the performance of the proposed geometric sliding-mode controller (GSMC) in contrast with two control schemes of the literature., Comment: 13 pages, 1 figure

Connected vehicles (CVs) can provide numerous new data via vehicle-to-vehicle or vehicle-to-infrastructure communication. These data can in turn be used to facilitate real-time traffic state estimation. In this paper, we focus on ramp queue length estimation in a connected vehicle environment, which improves control design and implementation of ramp metering algorithms. One major challenge of the estimation problem is that the CV data only represent partial traffic observations and could introduce new uncertainties if real-time CV penetration rates are unknown. To address this, we build our estimation approach on both traditional freeway sensors and new CV data. We first formulate a ramp queue model that considers i) variations in the penetration rate and ii) noise in measurements. Then we develop a robust filter that minimizes the impacts of these two kinds of uncertainties on queue estimation. More importantly, we show that the designed filter has guaranteed long-term estimation accuracy. It allows us to quantify in a theoretical way the relationship between estimation error and fluctuation of CV penetration rates. We also provide a series of simulation results to verify our approach.

Routing control is one of important traffic management strategies against urban congestion. However, it could be compromised by heterogeneous driver non-compliance with routing instructions. In this article we model the compliance in a stochastic manner and investigate its impacts on routing control. We consider traffic routing for two parallel links. Particularly, we consider two scenarios: one ignores congestion spillback while the other one considers it. We formulate the problem as a non-linear Markov chain, given random compliance rates. Then we propose the stability and instability conditions to reveal when the routing is able or unable to stabilize the traffic. We show that for links without congestion spillback there exists a sufficient and necessary stability criterion. For links admiting congestion propagation, we present one stability condition and one instability condition. This stability conditions allow us to quantify the impacts of driver non-compliance on the two-link network in terms of throughput. Finally, we illustrate the results with a set of numerical examples.

This paper presents a robust solution to the Memotion 3.0 Shared Task. The goal of this task is to classify the emotion and the corresponding intensity expressed by memes, which are usually in the form of images with short captions on social media. Understanding the multi-modal features of the given memes will be the key to solving the task. In this work, we use CLIP to extract aligned image-text features and propose a novel meme sentiment analysis framework, consisting of a Cooperative Teaching Model (CTM) for Task A and a Cascaded Emotion Classifier (CEC) for Tasks B&C. CTM is based on the idea of knowledge distillation, and can better predict the sentiment of a given meme in Task A; CEC can leverage the emotion intensity suggestion from the prediction of Task C to classify the emotion more precisely in Task B. Experiments show that we achieved the 2nd place ranking for both Task A and Task B and the 4th place ranking for Task C, with weighted F1-scores of 0.342, 0.784, and 0.535 respectively. The results show the robustness and effectiveness of our framework. Our code is released at github., Comment: De-Factify 2: Second Workshop on Multimodal Fact Checking and Hate Speech Detection, co-located with AAAI 2023

As a de facto solution, the vanilla Vision Transformers (ViTs) are encouraged to model long-range dependencies between arbitrary image patches while the global attended receptive field leads to quadratic computational cost. Another branch of Vision Transformers exploits local attention inspired by CNNs, which only models the interactions between patches in small neighborhoods. Although such a solution reduces the computational cost, it naturally suffers from small attended receptive fields, which may limit the performance. In this work, we explore effective Vision Transformers to pursue a preferable trade-off between the computational complexity and size of the attended receptive field. By analyzing the patch interaction of global attention in ViTs, we observe two key properties in the shallow layers, namely locality and sparsity, indicating the redundancy of global dependency modeling in shallow layers of ViTs. Accordingly, we propose Multi-Scale Dilated Attention (MSDA) to model local and sparse patch interaction within the sliding window. With a pyramid architecture, we construct a Multi-Scale Dilated Transformer (DilateFormer) by stacking MSDA blocks at low-level stages and global multi-head self-attention blocks at high-level stages. Our experiment results show that our DilateFormer achieves state-of-the-art performance on various vision tasks. On ImageNet-1K classification task, DilateFormer achieves comparable performance with 70% fewer FLOPs compared with existing state-of-the-art models. Our DilateFormer-Base achieves 85.6% top-1 accuracy on ImageNet-1K classification task, 53.5% box mAP/46.1% mask mAP on COCO object detection/instance segmentation task and 51.1% MS mIoU on ADE20K semantic segmentation task., Comment: Accepted to IEEE Transaction on Multimedia, 2023 (Submission date: 22-Sep-2022)

Silicon is the ideal material for building electronic and photonic circuits at scale. Spin qubits and integrated photonic quantum technologies in silicon offer a promising path to scaling by leveraging advanced semiconductor manufacturing and integration capabilities. However, the lack of deterministic quantum light sources, two-photon gates, and spin-photon interfaces in silicon poses a major challenge to scalability. In this work, we show a new type of indistinguishable photon source in silicon photonics based on an artificial atom. We show that a G center in a silicon waveguide can generate high-purity telecom-band single photons. We perform high-resolution spectroscopy and time-delayed two-photon interference to demonstrate the indistinguishability of single photons emitted from a G center in a silicon waveguide. Our results show that artificial atoms in silicon photonics can source highly coherent single photons suitable for photonic quantum networks and processors., Comment: 10 pages, 9 figures

In our JunPy package, we have combined the first-principles calculated self-consistent Hamiltonian with divide-and-conquer technique to successfully determine the magnetic anisotropy (MA) in an Fe/MgO/Fe magnetic tunnel junction (MTJ). We propose a comprehensive analytical derivation to clarify the crucial roles of spin-orbit coupling that mediates the exchange and spin-orbit components of spin torque, and the kinetic and spin-orbit components of spin current accumulation. The angular dependence of cumulative spin-orbit torque (SOT) indicates a uniaxial MA corresponding to the out-of-plane rotations of magnetic moments of the free Fe layers. Different from the conventional MA energy calculation and the phenomenological theory for a whole MTJ, our results provide insight into the orbital-resolved SOT for atomistic spin dynamics simulation in emergency complex magnetic heterojunctions., Comment: 12 pages, 6 figures

A series of dynamical anomalies in the orbits of distant trans-Neptunian objects points to a new celestial body (usually named Planet Nine) in the solar system. In this draft, we point out that a mirror planet captured from the outer solar system or formed in the solar system is also a possible candidate. The introduction of the mirror matter model is due to an unbroken parity symmetry and is a potential explanation for dark matter. This mirror planet has null or fainter electromagnetic counterparts with a smaller optical radius and might be explored through gravitational effects.

We introduce an explorative active learning (AL) algorithm based on Gaussian process regression and marginalized graph kernel (GPR-MGK) to explore chemical space with minimum cost. Using high-throughput molecular dynamics simulation to generate data and graph neural network (GNN) to predict, we constructed an active learning molecular simulation framework for thermodynamic property prediction. In specific, targeting 251,728 alkane molecules consisting of 4 to 19 carbon atoms and their liquid physical properties: densities, heat capacities, and vaporization enthalpies, we use the AL algorithm to select the most informative molecules to represent the chemical space. Validation of computational and experimental test sets shows that only 313 (0.124\% of the total) molecules were sufficient to train an accurate GNN model with $\rm R^2 > 0.99$ for computational test sets and $\rm R^2 > 0.94$ for experimental test sets. We highlight two advantages of the presented AL algorithm: compatibility with high-throughput data generation and reliable uncertainty quantification., Comment: 9 pages, 5 figures

The rigid-body attitude tracking using vector and biased gyro measurements with unknown inertia matrix is studied in this note. First, a gyro-bias observer with global exponential stability is designed. Then, an attitude tracking controller based on this observer is devised, ensuring almost global asymptotic stability and almost semiglobal exponential stability. A separation property of the combined observer-controller is proved. Lastly, an adaptive attitude tracking controller relying on a modified gyro-bias observer and with no over-parametrization is developed to deal with the unknown inertia matrix. The proposed control schemes require neither an explicit attitude representation nor any attitude estimation, but only the measurement of at least two non-collinear known inertial reference vectors and biased gyro rate, which can be obtained by common low-cost IMU sensors. Simulations are included to illustrate the proposed adaptive controller under noisy measurements.