arXiv subjects

Dhruv Pratap Singh

Publications and source records attributed to Dhruv Pratap Singh.

6 recordsLinked to original sources

arXiv2026

Vision-Guided Closed-Loop Autonomous Navigation of Light-Driven Janus Microbots

Artificial microbots capable of precise and autonomous navigation could provide versatile platforms for microscale transport, manipulation, and task execution in complex environments. However, reliable navigation becomes increasingly challenging at the micrometre scale, particularly when the surrounding environment changes dynamically. Here, we develop a vision-guided closed-loop navigation framework for light-driven cube-shaped hematite/TiO2 Janus microbots with a characteristic size of approximately 3 μm. Real-time visual localization using a custom-trained YOLOv11 object-detection model is integrated with discretized waypoint-based magnetic steering to enable precise navigation along complex prescribed trajectories, with more than 90% of the measured trajectory deviations remaining below 6 μm across the tested path geometries. The framework further enables arbitrary user-defined free-hand trajectories and autonomous navigation through a physically confined maze. In dynamically changing environments, A* path planning enables real-time path replanning while avoiding multiple independently swimming 5 μm spherical Janus micromotors. Finally, the microbot selectively captures multiple cargo particles and autonomously transports and delivers them to a predefined location while simultaneously avoiding dynamic obstacles. These results establish an integrated platform combining programmable trajectory control, autonomous path planning, real-time environmental adaptation, and task execution within a single light-driven Janus microbot system.

cs.RO↗

arXiv2026

Coded Caching for Combinatorial Multi-Access Hotplug Networks from $t$-Designs

We study hotplug coded caching in combinatorial multi-access networks, which generalizes existing hotplug coded caching models by allowing users to access multiple caches, while only a subset of caches is online during the delivery phase. We first generalize the Hotplug Placement Delivery Array (HpPDA) framework to the combinatorial multi-access setting. Based on this generalized framework, we propose a t-design-based coded caching scheme for combinatorial multi-access networks. We characterize a class of design parameters under which every active user has access to a sufficient number of coded subfiles to decode its requested file, and show that appropriate parameter choices allow for the elimination of redundant multicast transmissions. As a result, the proposed scheme achieves a family of rate memory trade offs with flexible subpacketization. We present numerical comparisons illustrating that the proposed t-scheme outperforms existing hotplug coded caching schemes in certain memory regimes.

cs.IT↗

arXiv2025

Combinatorial Multi-Access Coded Caching with Private Caches under Intersecting Index Constraints

We consider the coded caching system where each user, equipped with a private cache, accesses a distinct r-subset of access caches. A central server housing a library of files populates both private and access caches using uncoded placement. In this work, we focus on a constrained indexing regime, referred to as the intersection class, in which the sets used to index the demands of each user must have a nonempty intersection. This regime models resource-limited IoT scenarios such as edge-assisted IoT systems, where devices with small private caches connect to a small number of shared caches. We provide a necessary and sufficient condition under which the system parameters fall within this intersection class. Under this condition, we propose a centralized coded caching scheme and characterize its rate-memory trade-off. Next, we define a uniform-intersection subclass and establish a condition under which the system belongs to this subclass. Within this subclass, the proposed scheme has a regular structure, with each transmission benefiting the same number of users, and we characterize its rate-memory trade-off. Additionally, we derive an index coding-based lower bound on the minimum achievable worst-case rate under uncoded placement. Finally, we provide numerical comparisons between the rate of the proposed scheme, the new lower bound, and bounds from the original work.

cs.IT↗

arXiv2024

Cyclic Wrap-Around Multi-Access Coded Caching with Private Caches

We consider a variant of the coded caching problem where users connect to two types of caches, called private caches and access caches. The problem setting consists of a server having a library of files and a set of access caches. Every user, equipped with a private cache, connects to $L$ neighboring access caches in a cyclic wrap-around fashion. The server populates the private and access caches with file contents in either coded or uncoded format. For this setting, we derive a lower bound on the optimal worst-case transmission rate using cut-set arguments. This lower bound applies to both coded and uncoded placements. We then provide an achievable scheme with uncoded placement and show that our scheme specializes to the well-known Maddah-Ali-Niesen scheme for the dedicated cache network in the absence of access caches. Finally, we show that the proposed scheme achieves optimality in large memory regimes and provide numerical plots comparing the rate of the proposed scheme with the derived lower bound, demonstrating the optimality of our scheme.

cs.IT↗

arXiv2024

Combinatorial Multi-Access Coded Caching with Private Caches

We consider a variant of the coded caching problem where users connect to two types of caches, called private and access caches. The problem setting consists of a server with a library of files and a set of access caches. Each user, equipped with a private cache, connects to a distinct $r-$subset of the access caches. The server populates both types of caches with files in uncoded format. For this setting, we provide an achievable scheme and derive a lower bound on the number of transmissions for this scheme. We also present a lower and upper bound for the optimal worst-case rate under uncoded placement for this setting using the rates of the Maddah-Ali--Niesen scheme for dedicated and combinatorial multi-access coded caching settings, respectively. Further, we derive a lower bound on the optimal worst-case rate for any general placement policy using cut-set arguments. We also provide numerical plots comparing the rate of the proposed achievability scheme with the above bounds, from which it can be observed that the proposed scheme approaches the lower bound when the amount of memory accessed by a user is large. Finally, we discuss the optimality w.r.t worst-case rate when the system has four access caches.

cs.IT↗

arXiv2021

Chiral Plasmonic Hydrogen Sensors

In this article, a chiral plasmonic hydrogen-sensing platform using palladium-based nanohelices is demonstrated. Such 3D chiral nanostructures fabricated by nanoglancing angle deposition exhibit strong circular dichroism both experimentally and theoretically. The chiroptical properties of the palladium nanohelices are altered upon hydrogen uptake and sensitively depend on the hydrogen concentration. Such properties are well suited for remote and spark-free hydrogen sensing in the flammable range. Hysteresis is reduced, when an increasing amount of gold is utilized in the palladium-gold hybrid helices. As a result, the linearity of the circular dichroism in response to hydrogen is significantly improved. The chiral plasmonic sensor scheme is of potential interest for hydrogen-sensing applications, where good linearity and high sensitivity are required.

physics.app-ph↗