arXiv subjects

Huang Huang

Publications and source records attributed to Huang Huang.

At least 73 records · Page 4Linked to original sources

arXiv2020

A Complex Stiffness Human Impedance Model with Customizable Exoskeleton Control

The natural impedance, or dynamic relationship between force and motion, of a human operator can determine the stability of exoskeletons that use interaction-torque feedback to amplify human strength. While human impedance is typically modelled as a linear system, our experiments on a single-joint exoskeleton testbed involving 10 human subjects show evidence of nonlinear behavior: a low-frequency asymptotic phase for the dynamic stiffness of the human that is different than the expected zero, and an unexpectedly consistent damping ratio as the stiffness and inertia vary. To explain these observations, this paper considers a new frequency-domain model of the human joint dynamics featuring complex value stiffness comprising a real stiffness term and a hysteretic damping term. Using a statistical F-test we show that the hysteretic damping term is not only significant but is even more significant than the linear damping term. Further analysis reveals a linear trend linking hysteretic damping and the real part of the stiffness, which allows us to simplify the complex stiffness model down to a 1-parameter system. Then, we introduce and demonstrate a customizable fractional-order controller that exploits this hysteretic damping behavior to improve strength amplification bandwidth while maintaining stability, and explore a tuning approach which ensures that this stability property is robust to muscle co-contraction for each individual.

cs.RO↗

arXiv2020

Adaptive Compliance Shaping with Human Impedance Estimation

Human impedance parameters play an integral role in the dynamics of strength amplification exoskeletons. Many methods are used to estimate the stiffness of human muscles, but few are used to improve the performance of strength amplification controllers for these devices. We propose a compliance shaping amplification controller incorporating an accurate online human stiffness estimation from surface electromyography (sEMG) sensors and stretch sensors connected to the forearm and upper arm of the human. These sensor values along with exoskeleton position and velocity are used to train a random forest regression model that accurately predicts a person's stiffness despite varying movement, relaxation, and muscle co-contraction. Our model's accuracy is verified using experimental test data and the model is implemented into the compliance shaping controller. Ultimately we show that the online estimation of stiffness can improve the bandwidth and amplification of the controller while remaining robustly stable.

eess.SY↗

arXiv2020

Complex Stiffness Model of Physical Human-Robot Interaction: Implications for Control of Performance Augmentation Exoskeletons

Human joint dynamic stiffness plays an important role in the stability of performance augmentation exoskeletons. In this paper, we consider a new frequency domain model of the human joint dynamics which features a complex value stiffness. This complex stiffness consists of a real stiffness and a hysteretic damping. We use it to explain the dynamic behaviors of the human connected to the exoskeleton, in particular the observed non-zero low frequency phase shift and the near constant damping ratio of the resonant as stiffness and inertia vary. We validate this concept by experimenting with an elbow-joint exoskeleton testbed on a subject while modifying joint stiffness behavior, exoskeleton inertia, and strength augmentation gains. We compare three different models of elbow-joint dynamic stiffness: a model with real stiffness, viscous damping and inertia, a model with complex stiffness and inertia, and a model combining the previous two models. Our results show that the hysteretic damping term improves modeling accuracy, using a statistical F-test. Moreover this improvement is statistically more significant than using classical viscous damping term. In addition, we experimentally observe a linear relationship between the hysteretic damping and the real part of the stiffness which allows us to simplify the complex stiffness model as a 1-parameter system. Ultimately, we design a fractional order controller to demonstrate how human hysteretic damping behavior can be exploited to improve strength amplification performance while maintaining stability.

cs.RO↗

arXiv2020

Combining interdependent climate model outputs in CMIP5: A spatial Bayesian approach

Projections of future climate change rely heavily on climate models, and combining climate models through a multi-model ensemble is both more accurate than a single climate model and valuable for uncertainty quantification. However, Bayesian approaches to multi-model ensembles have been criticized for making oversimplified assumptions about bias and variability, as well as treating different models as statistically independent. This paper extends the Bayesian hierarchical approach of Sansom et al. (2017) by explicitly accounting for spatial variability and inter-model dependence. We propose a Bayesian hierarchical model that accounts for bias between climate models and observations, spatial and inter-model dependence, the emergent relationship between historical and future periods, and natural variability. Extensive simulations show that our model provides better estimates and uncertainty quantification than the commonly used simple model mean. These results are illustrated using data from the CMIP5 model archive. As examples, for Central North America our projected mean temperature for 2070--2100 is about 0.8 K lower than the simple model mean, while for East Asia it is about 0.5 K higher; however, in both cases, the widths of the 90% credible intervals are of the order 3--6 K, so the uncertainties overwhelm the relatively small differences in projected mean temperatures.

stat.AP↗

arXiv2019

A machine learning method correlating pulse pressure wave data with pregnancy

Pulse feeling, representing the tactile arterial palpation of the heartbeat, has been widely used in traditional Chinese medicine (TCM) to diagnose various diseases. The quantitative relationship between the pulse wave and health conditions however has not been investigated in modern medicine. In this paper, we explored the correlation between pulse pressure wave (PPW), rather than the pulse key features in TCM, and pregnancy by using deep learning technology. This computational approach shows that the accuracy of pregnancy detection by the PPW is 84% with an AUC of 91%. Our study is a proof of concept of pulse diagnosis and will also motivate further sophisticated investigations on pulse waves.

q-bio.QM↗

arXiv2019

Pushing the Limit: A Hybrid Parallel Implementation of the Multi-resolution Approximation for Massive Data

The multi-resolution approximation (MRA) of Gaussian processes was recently proposed to conduct likelihood-based inference for massive spatial data sets. An advantage of the methodology is that it can be parallelized. We implemented the MRA in C++ for both serial and parallel versions. In the parallel implementation, we use a hybrid parallelism that employs both distributed and shared memory computing for communications between and within nodes by using the Message Passing Interface (MPI) and OpenMP, respectively. The performance of the serial code is compared between the C++ and MATLAB implementations over a small data set on a personal laptop. The C++ parallel program is further carefully studied under different configurations by applications to data sets from around a tenth of a million to 47 million observations. We show the practicality of this implementation by demonstrating that we can get quick inference for massive real-world data sets. The serial and parallel C++ code can be found at https://github.com/hhuang90.

stat.CO↗

arXiv2018

Search for a heavy resonance decaying to a pair of vector bosons in the lepton plus merged jet final state at 13 TeV

A search for a new heavy particle decaying to a pair of vector bosons (WW or WZ) is presented using data from the CMS detector corresponding to an integrated luminosity of 35.9/fb collected in proton-proton collisions at a centre-of-mass energy of 13 TeV in 2016. One of the bosons is required to be a W boson decaying to eν or μν, while the other boson is required to be reconstructed as a single massive jet with substructure compatible with that of a highly-energetic quark pair from a W or Z boson decay. The search is performed in the resonance mass range between 1.0 and 4.5 TeV. The largest deviation from the background-only hypothesis is observed for a mass near 1.4 TeV and corresponds to a local significance of 2.5 standard deviations. The result is interpreted as an upper bound on the resonance production cross section. Comparing the excluded cross section values and the expectations from theoretical calculations in the bulk graviton and heavy vector triplet models, spin-2 WW resonances with mass smaller than 1.07 TeV and spin-1 WZ resonances lighter than 3.05 TeV, respectively, are excluded at 95% confidence level.

hep-ex↗

arXiv2017

Searches for diboson resonances at CMS

A list of searches is presented for massive resonances decaying to WW, WZ, ZZ, WH, ZH and HH boson pairs in proton-proton collision data collected by the CMS experiment at the LHC. The data are taken at centre-of-mass energies of 13TeV, corresponding to respective integrated luminosities of 12.9/fb(ICHEP) and up to 35.9/fb. The results are interpreted in the context of heavy vector triplet and singlet models that mimic properties of composite-Higgs models predicting W' and Z' bosons decaying to WZ, WW, WH, and ZH bosons. A model with a bulk graviton that decays into WW and ZZ is also considered. Upper limits are set on the production cross section of the two models and no evidence is found for a signal.

hep-ex↗

arXiv2017

Visualization and Assessment of Spatio-temporal Covariance Properties

Spatio-temporal covariances are important for describing the spatio-temporal variability of underlying random processes in geostatistical data. For second-order stationary processes, there exist subclasses of covariance functions that assume a simpler spatio-temporal dependence structure with separability and full symmetry. However, it is challenging to visualize and assess separability and full symmetry from spatio-temporal observations. In this work, we propose a functional data analysis approach that constructs test functions using the cross-covariances from time series observed at each pair of spatial locations. These test functions of temporal lags summarize the properties of separability or symmetry for the given spatial pairs. We use functional boxplots to visualize the functional median and the variability of the test functions, where the extent of departure from zero at all temporal lags indicates the degree of non-separability or asymmetry. We also develop a rank-based nonparametric testing procedure for assessing the significance of the non-separability or asymmetry. The performances of the proposed methods are examined by simulations with various commonly used spatio-temporal covariance models. To illustrate our methods in practical applications, we apply it to real datasets, including weather station data and climate model outputs.

stat.AP↗

arXiv2016

Beampattern-Based Tracking for Millimeter Wave Communication Systems

We present a tracking algorithm to maintain the communication link between a base station (BS) and a mobile station (MS) in a millimeter wave (mmWave) communication system, where antenna arrays are used for beamforming in both the BS and MS. Downlink transmission is considered, and the tracking is performed at the MS as it moves relative to the BS. Specifically, we consider the case that the MS rotates quickly due to hand movement. The algorithm estimates the angle of arrival (AoA) by using variations in the radiation pattern of the beam as a function of this angle. Numerical results show that the algorithm achieves accurate beam alignment when the MS rotates in a wide range of angular speeds. For example, the algorithm can support angular speeds up to 800 degrees per second when tracking updates are available every 10 ms.

cs.IT↗

arXiv2016

Total Variation Depth for Functional Data

There has been extensive work on data depth-based methods for robust multivariate data analysis. Recent developments have moved to infinite-dimensional objects such as functional data. In this work, we propose a new notion of depth, the total variation depth, for functional data. As a measure of depth, its properties are studied theoretically, and the associated outlier detection performance is investigated through simulations. Compared to magnitude outliers, shape outliers are often masked among the rest of samples and harder to identify. We show that the proposed total variation depth has many desirable features and is well suited for outlier detection. In particular, we propose to decompose the total variation depth into two components that are associated with shape and magnitude outlyingness, respectively. This decomposition allows us to develop an effective procedure for outlier detection and useful visualization tools, while naturally accounting for the correlation in functional data. Finally, the proposed methodology is demonstrated using real datasets of curves, images, and video frames.

stat.ME↗

arXiv2016

Effect of Wideband Beam Squint on Codebook Design in Phased-Array Wireless Systems

Analog beamforming with phased arrays is a promising technique for 5G wireless communication at millimeter wave frequencies. Using a discrete codebook consisting of multiple analog beams, each beam focuses on a certain range of angles of arrival or departure and corresponds to a set of fixed phase shifts across frequency due to practical hardware considerations. However, for sufficiently large bandwidth, the gain provided by the phased array is actually frequency dependent, which is an effect called beam squint, and this effect occurs even if the radiation pattern of the antenna elements is frequency independent. This paper examines the nature of beam squint for a uniform linear array (ULA) and analyzes its impact on codebook design as a function of the number of antennas and system bandwidth normalized by the carrier frequency. The criterion for codebook design is to guarantee that each beam's minimum gain for a range of angles and for all frequencies in the wideband system exceeds a target threshold, for example 3 dB below the array's maximum gain. Analysis and numerical examples suggest that a denser codebook is required to compensate for beam squint. For example, 54% more beams are needed compared to a codebook design that ignores beam squint for a ULA with 32 antennas operating at a carrier frequency of 73 GHz and bandwidth of 2.5 GHz. Furthermore, beam squint with this design criterion limits the bandwidth or the number of antennas of the array if the other one is fixed.

cs.IT↗

arXiv2016

Hierarchical low rank approximation of likelihoods for large spatial datasets

Datasets in the fields of climate and environment are often very large and irregularly spaced. To model such datasets, the widely used Gaussian process models in spatial statis- tics face tremendous challenges due to the prohibitive computational burden. Various ap- proximation methods have been introduced to reduce the computational cost. However, most of them rely on unrealistic assumptions for the underlying process and retaining statistical efficiency remains an issue. We develop a new approximation scheme for maximum likeli- hood estimation. We show how the composite likelihood method can be adapted to provide different types of hierarchical low rank approximations that are both computationally and statistically efficient. The improvement of the proposed method is explored theoretically; the performance is investigated by numerical and simulation studies; and the practicality is illustrated through applying our methods to 2 million measurements of soil moisture in the area of the Mississippi River basin, which facilitates a better understanding of the climate variability.

stat.ME↗

arXiv2015

Some new progress on the light absorption properties of linear alkyl benzene solvent

Linear alkyl benzene (LAB) will be used as the solvent of a liquid scintillator mixture for the JUNO antineutrino experiment in the near future. Its light absorption property should therefore be understood prior to its effective use in the experiment. Attenuation length measurements at a light wavelength of 430 nm have been performed on samples of LAB prepared for the purpose of the JUNO experiment. Inorganic impurities in LAB have also been studied for their possibilities of light absorption in our wavelength of interest. In view of a tentative plan by the JUNO collaboration to utilize neutron capture with hydrogen in the detector, we have also presented in this work, a study on the carbon-hydrogen ratio and the relationship thereof with the attenuation length of the samples.

physics.ins-det↗

arXiv2013

Dynamic Partial Cooperative MIMO System for Delay-Sensitive Applications with Limited Backhaul Capacity

Considering backhaul consumption in practical systems, it may not be the best choice to engage all the time in full cooperative MIMO for interference mitigation. In this paper, we propose a novel downlink partial cooperative MIMO (Pco-MIMO) physical layer (PHY) scheme, which allows flexible tradeoff between the partial data cooperation level and the backhaul consumption. Based on this Pco-MIMO scheme, we consider dynamic transmit power and rate allocation according to the imperfect channel state information at transmitters (CSIT) and the queue state information (QSI) to minimize the average delay cost subject to average backhaul consumption constraints and average power constraints. The delay-optimal control problem is formulated as an infinite horizon average cost constrained partially observed Markov decision process (CPOMDP). By exploiting the special structure in our problem, we derive an equivalent Bellman Equation to solve the CPOMDP. To reduce computational complexity and facilitate distributed implementation, we propose a distributed online learning algorithm to estimate the per-flow potential functions and Lagrange multipliers (LMs) and a distributed online stochastic partial gradient algorithm to obtain the power and rate control policy. The proposed low-complexity distributed solution is based on local observations of the system states at the BSs and is very robust against model variations. We also prove the convergence and the asymptotic optimality of the proposed solution.

cs.IT↗

arXiv2012

Decentralized Delay Optimal Control for Interference Networks with Limited Renewable Energy Storage

In this paper, we consider delay minimization for interference networks with renewable energy source, where the transmission power of a node comes from both the conventional utility power (AC power) and the renewable energy source. We assume the transmission power of each node is a function of the local channel state, local data queue state and local energy queue state only. In turn, we consider two delay optimization formulations, namely the decentralized partially observable Markov decision process (DEC-POMDP) and Non-cooperative partially observable stochastic game (POSG). In DEC-POMDP formulation, we derive a decentralized online learning algorithm to determine the control actions and Lagrangian multipliers (LMs) simultaneously, based on the policy gradient approach. Under some mild technical conditions, the proposed decentralized policy gradient algorithm converges almost surely to a local optimal solution. On the other hand, in the non-cooperative POSG formulation, the transmitter nodes are non-cooperative. We extend the decentralized policy gradient solution and establish the technical proof for almost-sure convergence of the learning algorithms. In both cases, the solutions are very robust to model variations. Finally, the delay performance of the proposed solutions are compared with conventional baseline schemes for interference networks and it is illustrated that substantial delay performance gain and energy savings can be achieved.

cs.IT↗

arXiv2011

A Survey on Delay-Aware Resource Control for Wireless Systems --- Large Deviation Theory, Stochastic Lyapunov Drift and Distributed Stochastic Learning

In this tutorial paper, a comprehensive survey is given on several major systematic approaches in dealing with delay-aware control problems, namely the equivalent rate constraint approach, the Lyapunov stability drift approach and the approximate Markov Decision Process (MDP) approach using stochastic learning. These approaches essentially embrace most of the existing literature regarding delay-aware resource control in wireless systems. They have their relative pros and cons in terms of performance, complexity and implementation issues. For each of the approaches, the problem setup, the general solution and the design methodology are discussed. Applications of these approaches to delay-aware resource allocation are illustrated with examples in single-hop wireless networks. Furthermore, recent results regarding delay-aware multi-hop routing designs in general multi-hop networks are elaborated. Finally, the delay performance of the various approaches are compared through simulations using an example of the uplink OFDMA systems.

cs.PF↗

arXiv2011

Partial Interference Alignment for K-user MIMO Interference Channels

In this paper, we consider a Partial Interference Alignment and Interference Detection (PIAID) design for $K$-user quasi-static MIMO interference channels with discrete constellation inputs. Each transmitter has M antennas and transmits L independent data streams to the desired receiver with N receive antennas. We focus on the case where not all K-1 interfering transmitters can be aligned at every receiver. As a result, there will be residual interference at each receiver that cannot be aligned. Each receiver detects and cancels the residual interference based on the constellation map. However, there is a window of unfavorable interference profile at the receiver for Interference Detection (ID). In this paper, we propose a low complexity Partial Interference Alignment scheme in which we dynamically select the user set for IA so as to create a favorable interference profile for ID at each receiver. We first derive the average symbol error rate (SER) by taking into account of the non-Guassian residual interference due to discrete constellation. Using graph theory, we then devise a low complexity user set selection algorithm for the PIAID scheme,which minimizes the asymptotically tight bound for the average end-to-end SER performance. Moreover, we substantially simplify interference detection at the receiver using Semi-Definite Relaxation (SDR) techniques. It is shown that the SER performance of the proposed PIAID scheme has significant gain compared with various conventional baseline solutions.

cs.IT↗