arXiv subjects

Hai Lin

Publications and source records attributed to Hai Lin.

At least 55 records · Page 3Linked to original sources

arXiv2025

Inventory Consensus Control in Supply Chain Networks using Dissipativity-Based Control and Topology Co-Design

Recent global and local phenomena have exposed vulnerabilities in critical supply chain networks (SCNs), drawing significant attention from researchers across various fields. Typically, SCNs are viewed as static entities regularly optimized to maintain their optimal operation. However, the dynamic nature of SCNs and their associated uncertainties have motivated researchers to treat SCNs as dynamic networked systems requiring robust control techniques. In this paper, we address the SCN inventory consensus problem, which aims to synchronize multiple parallel supply chains, enhancing coordination and robustness of the overall SCN. To achieve this, we take a novel approach exploiting dissipativity theory. In particular, we propose a dissipativity-based co-design strategy for distributed consensus controllers and communication topology in SCNs. It requires only the dissipativity information of the individual supply chains and involves solving a set of convex optimization problems, thus contributing to scalability, compositionality, and computational efficiency. Moreover, it optimizes the robustness of the SCN to various associated uncertainties, mitigating both bullwhip and ripple effects. We demonstrate our contributions using numerical examples, mainly by comparing the consensus performance with respect to standard steady-state control, feedback control, and consensus control strategies.

eess.SY↗

arXiv2025

Polarization-controlled non-Hermitian metasurfaces for ultra-sensitive terahertz sensing

Non-Hermitian systems offer significant advantages in sensor design, especially at the exceptional points. However, the extreme sensitivity near these points poses great challenges due to fabrication errors and system noises, which degrade sensing performance. To address this, we introduce a novel approach leveraging the polarization degrees of freedom in non-Hermitian systems. In this work, we establish a direct relation between the incident polarization and the transmission phase of a coupled metasurface system and achieve the polarization-controlled phase singularity even post-fabrication. The incident polarization angle can be utilized as a sensing index, which enables indirect and accurate measurement. The theoretical approach is experimentally validated using a general design of THz non-Hermitian metasurface sensors. Our method enhances robustness and sensitivity, opening new avenues for practical applications in ultra-sensitive sensing.

physics.optics↗

arXiv2024

An Advantage-based Optimization Method for Reinforcement Learning in Large Action Space

Reinforcement learning tasks in real-world scenarios often involve large, high-dimensional action spaces, leading to challenges such as convergence difficulties, instability, and high computational complexity. It is widely acknowledged that traditional value-based reinforcement learning algorithms struggle to address these issues effectively. A prevalent approach involves generating independent sub-actions within each dimension of the action space. However, this method introduces bias, hindering the learning of optimal policies. In this paper, we propose an advantage-based optimization method and an algorithm named Advantage Branching Dueling Q-network (ABQ). ABQ incorporates a baseline mechanism to tune the action value of each dimension, leveraging the advantage relationship across different sub-actions. With this approach, the learned policy can be optimized for each dimension. Empirical results demonstrate that ABQ outperforms BDQ, achieving 3%, 171%, and 84% more cumulative rewards in HalfCheetah, Ant, and Humanoid environments, respectively. Furthermore, ABQ exhibits competitive performance when compared against two continuous action benchmark algorithms, DDPG and TD3.

cs.LG↗

arXiv2024

On the Time-Frequency Localization Characteristics of the Delay-Doppler Plane Orthogonal Pulse

In this work, we study the time-frequency (TF) localization characteristics of the prototype pulse of orthogonal delay-Doppler (DD) division multiplexing modulation, namely, the DD plane orthogonal pulse (DDOP). The TF localization characteristics examine how concentrated or spread out the energy of a pulse is in the joint TF domain, the time domain (TD), and the frequency domain (FD). We first derive the TF localization metrics of the DDOP, including its TF area, its time and frequency dispersions, and its direction parameter. Based on these results, we demonstrate that the DDOP exhibits a high energy spread in the TD, FD, and the joint TF domain, while adhering to the Heisenberg uncertainty principle. Thereafter, we discuss the potential advantages brought by the energy spread of the DDOP, especially with regard to harnessing both time and frequency diversities and enabling fine-resolution sensing. Subsequently, we examine the relationships between the time and frequency dispersions of the DDOP and those of the envelope functions of DDOP's TD and FD representations, paving the way for simplified determination of the TF localization metrics for more generalized variants of the DDOP and the pulses used in other DD domain modulation schemes. Finally, using numerical results, we validate our analysis and find further insights.

eess.SP↗

arXiv2024

Assessing data-driven predictions of band gap and electrical conductivity for transparent conducting materials

Machine Learning (ML) has offered innovative perspectives for accelerating the discovery of new functional materials, leveraging the increasing availability of material databases. Despite the promising advances, data-driven methods face constraints imposed by the quantity and quality of available data. Moreover, ML is often employed in tandem with simulated datasets originating from density functional theory (DFT), and assessed through in-sample evaluation schemes. This scenario raises questions about the practical utility of ML in uncovering new and significant material classes for industrial applications. Here, we propose a data-driven framework aimed at accelerating the discovery of new transparent conducting materials (TCMs), an important category of semiconductors with a wide range of applications. To mitigate the shortage of available data, we create and validate unique experimental databases, comprising several examples of existing TCMs. We assess state-of-the-art (SOTA) ML models for property prediction from the stoichiometry alone. We propose a bespoke evaluation scheme to provide empirical evidence on the ability of ML to uncover new, previously unseen materials of interest. We test our approach on a list of 55 compositions containing typical elements of known TCMs. Although our study indicates that ML tends to identify new TCMs compositionally similar to those in the training data, we empirically demonstrate that it can highlight material candidates that may have been previously overlooked, offering a systematic approach to identify materials that are likely to display TCMs characteristics.

cond-mat.mtrl-sci↗

arXiv2024

Performance of orthogonal delay-doppler division multiplexing modulation with imperfect channel estimation

The orthogonal delay-Doppler division multiplexing (ODDM) modulation is a recently proposed multi-carrier modulation that features a realizable pulse orthogonal with respect to the delay-Doppler (DD) plane's fine resolutions. In this paper, we investigate the performance of ODDM systems with imperfect channel estimation considering three detectors, namely the message passing algorithm (MPA) detector, iterative maximum-ratio combining (MRC) detector, and successive interference cancellation with minimum mean square error (SIC-MMSE) detector. We derive the post-equalization signal-to-interference-plus-noise ratio (SINR) for MRC and SIC-MMSE and analyze their bit error rate (BER) performance. Based on this analysis, we propose the MRC with subtractive dither (MRC-SD) and soft SIC-MMSE initialized MRC (SSMI-MRC) detector to improve the BER of iterative MRC. Our results demonstrate that soft SIC-MMSE consistently outperforms the other detectors in BER performance under perfect and imperfect CSI. While MRC exhibits a BER floor above $10^{-5}$, MRC-SD effectively lowers the BER with a negligible increase in detection complexity. SSMI-MRC achieves better BER than hard SIC-MMSE with the same detection complexity order. Additionally, we show that MPA has an error floor and is sensitive to imperfect CSI.

eess.SP↗

arXiv2024

IRSC: A Zero-shot Evaluation Benchmark for Information Retrieval through Semantic Comprehension in Retrieval-Augmented Generation Scenarios

In Retrieval-Augmented Generation (RAG) tasks using Large Language Models (LLMs), the quality of retrieved information is critical to the final output. This paper introduces the IRSC benchmark for evaluating the performance of embedding models in multilingual RAG tasks. The benchmark encompasses five retrieval tasks: query retrieval, title retrieval, part-of-paragraph retrieval, keyword retrieval, and summary retrieval. Our research addresses the current lack of comprehensive testing and effective comparison methods for embedding models in RAG scenarios. We introduced new metrics: the Similarity of Semantic Comprehension Index (SSCI) and the Retrieval Capability Contest Index (RCCI), and evaluated models such as Snowflake-Arctic, BGE, GTE, and M3E. Our contributions include: 1) the IRSC benchmark, 2) the SSCI and RCCI metrics, and 3) insights into the cross-lingual limitations of embedding models. The IRSC benchmark aims to enhance the understanding and development of accurate retrieval systems in RAG tasks. All code and datasets are available at: https://github.com/Jasaxion/IRSC_Benchmark

cs.IR↗

arXiv2024

Giant graviton expansions and ETW brane

We study the giant gravitons in the $AdS_4$ bagpipe geometries involving end-of-the-world (ETW) brane constructed by a single $5$-brane and either two stacks or one stack of D3-branes in Type IIB string theory. From the exact formulae and giant graviton expansions of the half-indices for the half-BPS boundary conditions and interfaces in $\mathcal{N}=4$ super Yang-Mills theory, we obtain the BPS spectra of the fluctuation modes of the $AdS_4$ bagpipe geometries including the ETW brane region.

hep-th↗

arXiv2024

Full State Estimation of Continuum Robots from Tip Velocities: A Cosserat-Theoretic Boundary Observer

State estimation of robotic systems is essential to implementing feedback controllers, which usually provide better robustness to modeling uncertainties than open-loop controllers. However, state estimation of soft robots is very challenging because soft robots have theoretically infinite degrees of freedom while existing sensors only provide a limited number of discrete measurements. This work focuses on soft robotic manipulators, also known as continuum robots. We design an observer algorithm based on the well-known Cosserat rod theory, which models continuum robots by nonlinear partial differential equations (PDEs) evolving in geometric Lie groups. The observer can estimate all infinite-dimensional continuum robot states, including poses, strains, and velocities, by only sensing the tip velocity of the continuum robot, and hence it is called a ``boundary'' observer. More importantly, the estimation error dynamics is formally proven to be locally input-to-state stable. The key idea is to inject sequential tip velocity measurements into the observer in a way that dissipates the energy of the estimation errors through the boundary. The distinct advantage of this PDE-based design is that it can be implemented using any existing numerical implementation for Cosserat rod models. All theoretical convergence guarantees will be preserved, regardless of the discretization method. We call this property ``one design for any discretization''. Extensive numerical studies are included and suggest that the domain of attraction is large and the observer is robust to uncertainties of tip velocity measurements and model parameters.

cs.RO↗

arXiv2024

Averaging Orientations with Molecular Symmetry in Cryo-EM

Cryogenic electron microscopy (cryo-EM) is an invaluable technique for determining high-resolution three-dimensional structures of biological macromolecules using transmission particle images. The inherent symmetry in these macromolecules is advantageous, as it allows each image to represent multiple perspectives. However, data processing that incorporates symmetry can inadvertently average out asymmetric features. Therefore, a key preliminary step is to visualize 2D asymmetric features in the particle images, which requires estimating orientation statistics under molecular symmetry constraints. Motivated by this challenge, we introduce a novel method for estimating the mean and variance of orientations with molecular symmetry. Utilizing tools from non-unique games, we show that our proposed non-convex formulation can be simplified as a semi-definite programming problem. Moreover, we propose a novel rounding procedure to determine the representative values. Experimental results demonstrate that the proposed approach can find the global minima and the appropriate representatives with a high degree of probability. We release the code of our method as an open-source Python package named pySymStat. Finally, we apply pySymStat to visualize an asymmetric feature in an icosahedral virus, a feat that proved unachievable using the conventional 2D classification method in RELION.

math.OC↗

arXiv2024

Dissipativity-Based Decentralized Co-Design of Distributed Controllers and Communication Topologies for Vehicular Platoons

Vehicular platoons provide an appealing option for future transportation systems. Most of the existing work on platoons separated the design of the controller and its communication topologies. However, it is beneficial to design both the platooning controller and the communication topology simultaneously, i.e., controller and topology co-design, especially in the cases of platoon splitting and merging. We are, therefore, motivated to propose a co-design framework for vehicular platoons that maintains both the compositionality of the controller and the string stability of the platoon, which enables the merging and splitting of the vehicles in a platoon. To this end, we first formulate the co-design problem as a centralized linear matrix inequality (LMI) problem and then decompose it using Sylvester's criterion to obtain a set of smaller decentralized LMI problems that can be solved sequentially at individual vehicles in the platoon. Moreover, in the formulated decentralized LMI problems, we encode a specifically derived local LMI to enforce the $L_2$ stability of the closed-loop platooning system, further implying the $L_2$ weak string stability of the vehicular platoon. Finally, to validate the proposed co-design method and its features in terms of merging/splitting, we provide an extensive collection of simulation results generated from a specifically developed simulation framework. Available in GitHub: HTTP://github.com/NDzsong2/Longitudinal-Vehicular-Platoon-Simulator.git that we have made publicly available.

eess.SY↗

arXiv2024

OpenFMNav: Towards Open-Set Zero-Shot Object Navigation via Vision-Language Foundation Models

Object navigation (ObjectNav) requires an agent to navigate through unseen environments to find queried objects. Many previous methods attempted to solve this task by relying on supervised or reinforcement learning, where they are trained on limited household datasets with close-set objects. However, two key challenges are unsolved: understanding free-form natural language instructions that demand open-set objects, and generalizing to new environments in a zero-shot manner. Aiming to solve the two challenges, in this paper, we propose OpenFMNav, an Open-set Foundation Model based framework for zero-shot object Navigation. We first unleash the reasoning abilities of large language models (LLMs) to extract proposed objects from natural language instructions that meet the user's demand. We then leverage the generalizability of large vision language models (VLMs) to actively discover and detect candidate objects from the scene, building a Versatile Semantic Score Map (VSSM). Then, by conducting common sense reasoning on VSSM, our method can perform effective language-guided exploration and exploitation of the scene and finally reach the goal. By leveraging the reasoning and generalizing abilities of foundation models, our method can understand free-form human instructions and perform effective open-set zero-shot navigation in diverse environments. Extensive experiments on the HM3D ObjectNav benchmark show that our method surpasses all the strong baselines on all metrics, proving our method's effectiveness. Furthermore, we perform real robot demonstrations to validate our method's open-set-ness and generalizability to real-world environments.

cs.CL↗

arXiv2024

Estimating Infinite-Dimensional Continuum Robot States From the Tip

Knowing the state of a robot is critical for many problems, such as feedback control. For continuum robots, state estimation is an incredible challenge. First, the motion of a continuum robot involves many kinematic states, including poses, strains, and velocities. Second, all these states are infinite-dimensional due to the robot's flexible property. It has remained unclear whether these infinite-dimensional states are observable at all using existing sensing techniques. Recently, we presented a solution to this challenge. It was a mechanics-based dynamic state estimation algorithm, called a Cosserat theoretic boundary observer, which could recover all the infinite-dimensional robot states by only measuring the velocity twist of the tip. In this work, we generalize the algorithm to incorporate tip pose measurements for more tuning freedom. We also validate this algorithm offline using experimental data recorded from a tendon-driven continuum robot. We feed the recorded tendon force and tip measurements into a numerical solver of the Cosserat rod model based on our robot. It is observed that, even with purposely deviated initialization, the state estimates by our algorithm quickly converge to the recorded ground truth states and closely follow the robot's actual motion.

cs.RO↗

arXiv2024

YOLO: An Efficient Terahertz Band Integrated Sensing and Communications Scheme with Beam Squint

Using communications signals for dynamic target sensing is an important component of integrated sensing and communications (ISAC). In this paper, we propose to utilize the beam squint effect to realize fast non-cooperative dynamic target sensing in massive multiple input and multiple output (MIMO) Terahertz band communications systems. Specifically, we construct a wideband channel model of the echo signals, and design a beamforming strategy that controls the range of beam squint by adjusting the values of phase shifters and true time delay lines. With this design, beams at different subcarriers can be aligned along different directions in a planned way. Then the received echo signals at different subcarriers will carry target information in different directions, based on which the targets' angles can be estimated through sophisticatedly designed algorithm. Moreover, we propose a supporting method based on extended array signal estimation, which utilizes the phase changes of different frequency subcarriers within different OFDM symbols to estimate the distance and velocity of dynamic targets. Interestingly, the proposed sensing scheme only needs to transmit and receive the signals once, which can be termed as You Only Listen Once (YOLO). Compared with the traditional ISAC method that requires time consuming beam sweeping, the proposed one greatly reduces the sensing overhead. Simulation results are provided to demonstrate the effectiveness of the proposed scheme.

eess.SP↗

arXiv2024

Interior analysis, stretched technique and bubbling geometries

We perform a detailed analysis of quarter BPS bubbling geometries with AdS asymptotics and their corresponding duality relations with their dual states in the quantum field theory side, among other aspects. We derive generalized Laplace-type equations with sources, obtained from linearized Monge-Ampere equations, and used for asymptotically AdS geometry. This enables us to obtain solutions specific to the asymptotically AdS context. We conduct a thorough analysis of boundary conditions and explore the stretched technique where boundary conditions are imposed on a stretched surface. These boundary conditions include grey droplets. This stretched technique is naturally used for the superstar, where we place grey droplet boundary conditions on the stretched surface. We also perform a coarse-graining of configurations and analyze the symplectic forms on the configuration space and their coarse-graining.

hep-th↗

arXiv2024

Extremely asymmetric absorption and reflection near the exceptional point of three-dimensional metamaterial

In recent years, particular physical phenomena enabled by non-Hermitian metamaterial systems have attracted significant research interests. In this paper, a non-Hermitian three-dimensional metamaterial near the exceptional point (EP) is proposed to demonstrate extremely asymmetric absorption and reflection. Unlike its conventional counterparts, this proposed metamaterial is constructed with a loss-assisted design. Localized losses are introduced into the structure by combining our technique of graphene-based resistive inks with conventional printed circuit board (PCB) process. Extremely asymmetric absorption and reflection near the EP are experimentally observed by tuning the loss between split ring resonators (SRRs) in the meta-atoms. Simultaneously, by linking the equivalent circuit model (ECM) with the Hamiltonian quantum physical model, the equivalent non-Hermitian Hamiltonian is obtained and a non-Hermitian transmission matrix is constructed. We show that tuning the structure and circuit parameters of the ECM produces a metamaterial system with EP response. Our system can be used in the design of asymmetric metamaterial absorbers. Our work lays down the way for the manipulation of EP to develop perfect absorption, sensing and other applications in the 3D metamaterial platform.

physics.app-ph↗

arXiv2024

AAT: Adapting Audio Transformer for Various Acoustics Recognition Tasks

Recently, Transformers have been introduced into the field of acoustics recognition. They are pre-trained on large-scale datasets using methods such as supervised learning and semi-supervised learning, demonstrating robust generality--It fine-tunes easily to downstream tasks and shows more robust performance. However, the predominant fine-tuning method currently used is still full fine-tuning, which involves updating all parameters during training. This not only incurs significant memory usage and time costs but also compromises the model's generality. Other fine-tuning methods either struggle to address this issue or fail to achieve matching performance. Therefore, we conducted a comprehensive analysis of existing fine-tuning methods and proposed an efficient fine-tuning approach based on Adapter tuning, namely AAT. The core idea is to freeze the audio Transformer model and insert extra learnable Adapters, efficiently acquiring downstream task knowledge without compromising the model's original generality. Extensive experiments have shown that our method achieves performance comparable to or even superior to full fine-tuning while optimizing only 7.118% of the parameters. It also demonstrates superiority over other fine-tuning methods.

cs.SD↗

arXiv2024

Multi-Robot-Guided Crowd Evacuation: Two-Scale Modeling and Control

Emergency evacuation describes a complex situation involving time-critical decision-making by evacuees. Mobile robots are being actively explored as a potential solution to provide timely guidance. In this work, we study a robot-guided crowd evacuation problem where a small group of robots is used to guide a large human crowd to safe locations. The challenge lies in how to use micro-level human-robot interactions to indirectly influence a population that significantly outnumbers the robots to achieve the collective evacuation objective. To address the challenge, we follow a two-scale modeling strategy and explore hydrodynamic models, which consist of a family of microscopic social force models that describe how human movements are locally affected by other humans, the environment, and robots, and associated macroscopic equations for the temporal and spatial evolution of the crowd density and flow velocity. We design controllers for the robots such that they not only automatically explore the environment (with unknown dynamic obstacles) to cover it as much as possible, but also dynamically adjust the directions of their local navigation force fields based on the real-time macrostates of the crowd to guide the crowd to a safe location. We prove the stability of the proposed evacuation algorithm and conduct extensive simulations to investigate the performance of the algorithm with different combinations of human numbers, robot numbers, and obstacle settings.

cs.RO↗