arXiv subjects

Tan Chen

Publications and source records attributed to Tan Chen.

23 records · Page 2Linked to original sources

arXiv2023

Gravitational microlensing by dressed primordial black holes

The accretion of dark matter around the primordial black holes (PBHs) could lead to the formation of surrounding minihalos, whose mass can be several orders of magnitude higher than the central PBH mass. The gravitational microlensing produced by such dressed PBHs could be quite different from that of the bare PBHs, which may significantly affect the constraints on the PBH abundance. In this paper, we study the gravitational microlensing produced by dressed PBHs in detail. We find that all the microlensing effects by dressed PBHs have asymptotic behavior depending on the minihalo size, which can be used to predict the microlensing effects by comparing the halo size with the Einstein radius. When the minihalo radius and the Einstein radius are comparable, the effect of the density distribution of the halo is significant to the microlensing. Applying the stellar microlensing by dressed PBHs to the data of the Optical Gravitational Lensing Experiment and Subaru/HSC Andromeda observations, we obtain the improved constraints on the PBH abundance. It shows that the existence of dark matter minihalos surrounding PBHs can strengthen the constraints on the PBH abundance from stellar microlensing by several orders, and can shift the constraints to the well-known asteroid mass window where PBHs can constitute all the dark matter.

astro-ph.CO↗

arXiv2022

Seamless Interaction Design with Coexistence and Cooperation Modes for Robust Human-Robot Collaboration

A robot needs multiple interaction modes to robustly collaborate with a human in complicated industrial tasks. We develop a Coexistence-and-Cooperation (CoCo) human-robot collaboration system. Coexistence mode enables the robot to work with the human on different sub-tasks independently in a shared space. Cooperation mode enables the robot to follow human guidance and recover failures. A human intention tracking algorithm takes in both human and robot motion measurements as input and provides a switch on the interaction modes. We demonstrate the effectiveness of CoCo system in a use case analogous to a real world multi-step assembly task.

cs.RO↗

arXiv2022

Insights from an Industrial Collaborative Assembly Project: Lessons in Research and Collaboration

Significant progress in robotics reveals new opportunities to advance manufacturing. Next-generation industrial automation will require both integration of distinct robotic technologies and their application to challenging industrial environments. This paper presents lessons from a collaborative assembly project between three academic research groups and an industry partner. The goal of the project is to develop a flexible, safe, and productive manufacturing cell for sub-centimeter precision assembly. Solving this problem in a high-mix, low-volume production line motivates multiple research thrusts in robotics. This work identifies new directions in collaborative robotics for industrial applications and offers insight toward strengthening collaborations between institutions in academia and industry on the development of new technologies.

cs.RO↗

arXiv2020

A Data-Dependent Algorithm for Querying Earth Mover's Distance with Low Doubling Dimensions

In this paper, we consider the following query problem: given two weighted point sets $A$ and $B$ in the Euclidean space $\mathbb{R}^d$, we want to quickly determine that whether their earth mover's distance (EMD) is larger or smaller than a pre-specified threshold $T\geq 0$. The problem finds a number of important applications in the fields of machine learning and data mining. In particular, we assume that the dimensionality $d$ is not fixed and the sizes $|A|$ and $|B|$ are large. Therefore, most of existing EMD algorithms are not quite efficient to solve this problem due to their high complexities. Here, we consider the problem under the assumption that $A$ and $B$ have low doubling dimensions, which is common for high-dimensional data in real world. Inspired by the geometric method {\em net tree}, we propose a novel ``data-dependent'' algorithm to avoid directly computing the EMD between $A$ and $B$, so as to solve this query problem more efficiently. We also study the performance of our method on synthetic and real datasets. The experimental results suggest that our method can save a large amount of running time comparing with existing EMD algorithms.

cs.CG↗

arXiv2019

Controllability and Accessibility Results for N-Link Horizontal Planar Manipulators with One Unactuated Joint

This paper presents the accessibility and small-time local controllability (STLC) results for $N$-link horizontal planar manipulators with only one unactuated joint. STLC is important in controls, both for design considerations and because large and swinging maneuvers may be avoided for close reconfiguration if a system is STLC. Despite the fact that controllability of underactuated horizontal planar manipulators has been extensively studied, most work focused only on three-link and global controllability. This paper thus has two contributions: 1) using Lie brackets to study the accessibility and STLC for underactuated two-link manipulators with different actuator configurations, and illustrating the results from a perspective of system dynamics, 2) obtaining the accessibility and STLC results for $N$-link manipulators with one unactuated joint by considering realistic models and different actuator configurations. It is found that an $N$-link ($N\geq 3$) with the first joint actuated is STLC for a subset of equilibrium points based on Sussmann's general theorem for STLC. Moreover, with the dynamics of $N$-link considered in the controllability analysis, it gives relatively simple forms for the nontrivial vector fields, which make it easy to determine at which configurations a model loses full rank condition for accessibility.

eess.SY↗