arXiv subjects

Po-Chih Chen

Publications and source records attributed to Po-Chih Chen.

4 recordsLinked to original sources

arXiv2026

A Master-Slave Robot Manipulator for Needle-Based Teleoperation in MRI Chamber

We present a MR safe, master-slave robot manipulator for abdominal interventions in the MRI chamber. A human operated 2+1-DoF master controller manipulator transmits motion and force to a 2+1-DoF slave manipulator via fluid transmission. Jointly, a digital master controller provides multimodal control capability beyond common split axis or mode switchable hybrid human-digital controller configurations found in previous studies. High input impedance, low-leakage, elastomeric fluid actuators are delegated to remote angulation control. Low-friction graphite piston cylinders are delegated to needle insertion axis remote actuation given the sub-newton force transparency and sub-millimeter motion transmission over bedside fluid piping lengths. The device enables real-time MRI guided interventions allowing manual, digital, hybrid, and collaborative control modes. Collaborative tasks such as assisted tissue penetration, fault-driven virtual fixture, and motion compensation through feedback control are presented in this paper. Preliminary MR scanner results demonstrate manipulator functional viability for an in-vivo pig experiment in bedside, manual control mode configuration.

cs.RO↗

arXiv2026

Fundamental Limits of MIMO-OTFS and MIMO-OFDM in High-Dynamics ISAC: An Antenna Array Architecture Perspective

This paper investigates the fundamental limits of MIMO-OTFS and MIMO-OFDM integrated sensing and communications (ISAC) systems in high-mobility environments, specifically comparing sparse arrays (SA) against conventional uniform linear arrays (ULA). High-dynamics scenarios, such as V2X and satellite networks, suffer from severe Doppler shifts and rapidly time-varying channels, necessitating robust modulation schemes and efficient array geometries. A unified theoretical analysis of ergodic channel capacity and the Cram\'{e}r$\unicode{x2013}$Rao bound (CRB) for angle estimation is provided. Utilizing the framework of stochastic majorization, the study reveals that SAs consistently outperform ULAs by creating a more $\unicode{x201C}$uniform$\unicode{x201D}$ spatial eigenvalue distribution, which decorrelates the multipath environment and increases communication capacity. For sensing, the paper proves that the angle CRB is inversely proportional to the array's second-order moment of antenna positions asymptotically, demonstrating that SAs achieve superior accuracy$\unicode{x2014}$improving by up to the square of the number of antennas$\unicode{x2014}$due to their increased physical aperture. Notably, the analysis shows that under relatively ideal conditions, MIMO-OTFS and MIMO-OFDM share similar fundamental limits for both capacity and angle estimation, suggesting that spatial geometry, rather than waveform, is the primary driver of fundamental performance gains in the spatial dimension.

cs.IT↗

arXiv2021

MoSES_2PDF: A GIS-Compatible GPU-accelerated High-Performance Simulation Tool for Grain-Fluid Shallow Flows

We introduce a GPU-accelerated simulation tool, named Modeling on Shallow Flows with Efficient Simulation for Two-Phase Debris Flows (MoSES_2PDF), of which the input and output data can be linked to the GIS system for engineering application. MoSES_2PDF is developed based on the CUDA structure so that it can well run with different NVIDIA GPU cards, once the CUDA vers. 9.2 (or higher) is installed. The performance of the MoSES_2PDF is evaluated, and it is found that the present GPU-CUDA implementation can enhance efficiency by up to 230 folds, depending on the PC/workstations, models of GPU card, and the mesh numbers in the computation domain. Two numerical examples are illustrated with two distinct initial inflow conditions, which are included in two modes of MoSES_2PDF, respectively. In the numerical example of a large-scale event, the 2009 Hsiaolin event, the results computed by two distinct NVIDIA GPU cards (RTX-2080-Ti and Tesla-V100) are found to be identical but only tiny deviation is figured out in comparison with the results computed by the conventional single-core CPU-code. It is speculated to be caused by the different structures in the source codes and some float/double operations. In addition to the illustration in the GIS system, the computed results by MoSES\_2PDF can also be shown with animated 3D graphics in the ANSI-Platform, where the user can interact with 3D scenes. The feasibility, features, and facilities of MoSES\_2PDF are demonstrated with respect to the two numerical examples concerning two real events.

cs.CE↗

arXiv2017

Matrix Characterization for GFDM Systems: Low-Complexity MMSE Receivers and Optimal Prototype Filters

In this paper, a new matrix-based characterization of generalized-frequency-division-multiplexing (GFDM) transmitter matrices is proposed, as opposed to traditional vector-based characterization with prototype filters. The characterization facilitates deriving properties of GFDM (transmitter) matrices, including conditions for GFDM matrices being nonsingular and unitary, respectively. Using the new characterization, the necessary and sufficient conditions for the existence of a form of low-complexity implementation for a minimum mean square error (MMSE) receiver are derived. Such an implementation exists under multipath channels if the GFDM transmitter matrix is selected to be unitary. For cases where this implementation does not exist, a low-complexity suboptimal MMSE receiver is proposed, with its performance approximating that of an MMSE receiver. The new characterization also enables derivations of optimal prototype filters in terms of minimizing receiver mean square error (MSE). They are found to correspond to the use of unitary GFDM matrices under many scenarios. The use of such optimal filters in GFDM systems does not cause the problem of noise enhancement, thereby demonstrating the same MSE performance as orthogonal frequency division multiplexing. Moreover, we find that GFDM matrices with a size of power of two are verified to exist in the class of unitary GFDM matrices. Finally, while the out-of-band (OOB) radiation performance of systems using a unitary GFDM matrix is not optimal in general, it is shown that the OOB radiation can be satisfactorily low if parameters in the new characterization are carefully chosen.

cs.IT↗