arXiv subjects

Tao Han

Publications and source records attributed to Tao Han.

At least 199 records · Page 11Linked to original sources

arXiv2018

Robust Shape Estimation for 3D Deformable Object Manipulation

Existing shape estimation methods for deformable object manipulation suffer from the drawbacks of being off-line, model dependent, noise-sensitive or occlusion-sensitive, and thus are not appropriate for manipulation tasks requiring high precision. In this paper, we present a real-time shape estimation approach for autonomous robotic manipulation of 3D deformable objects. Our method fulfills all the requirements necessary for the high-quality deformable object manipulation in terms of being real-time, model-free and robust to noise and occlusion. These advantages are accomplished using a joint tracking and reconstruction framework, in which we track the object deformation by aligning a reference shape model with the stream input from the RGB-D camera, and simultaneously upgrade the reference shape model according to the newly captured RGB-D data. We have evaluated the quality and robustness of our real-time shape estimation pipeline on a set of deformable manipulation tasks implemented on physical robots. Videos are available at https://lifeisfantastic.github.io/DeformShapeEst/

cs.RO↗

arXiv2018

CATCH-919 Hand: Design of a 9-actuator 19-DOF Anthropomorphic Robotic Hand

To achieve human-like dexterity for anthropomorphic robotic hands, it is essential to understand the biomechanics and control strategies of the human hand, in order to reduce the number of actuators being used without loosing hand flexibility. To this end, in this article, we propose a new interpretation about the working mechanism of the metacarpal (MCP) joint's extension and the underlying control strategies of the human hand, based on which we further propose a highly flexible finger design to achieve independent movements of interphalangeal (IP) joints and MCP joint. Besides, we consider the hyperextension of fingertip into our design which helps robotic finger present compliant and adaptive posture for touching and pinching. In addition, human thumb muscle functions are reconstructed in the proposed robotic hand design, by replacing 9 human muscle tendons with 3 cables in the proposed task-oriented design, realizing all 33 static and stable grasping postures. Videos are available at https://sites.google.com/view/szwd

cs.RO↗

arXiv2018

New physics implication of Higgs precision measurements

Studying the properties of the Higgs boson can be an important window to explore the physics beyond the Standard Model (SM). In this work, we present studies on the implications of the Higgs precision measurements at future Higgs Factories. We perform a global fit to various Higgs search channels to obtain the 95 % C.L. constraints on the model parameter spaces of Two Higgs Double Model (2HDM) and Minimal Supersymmetric Standard Model (MSSM). In the 2HDM, we analyze tree level effects as well as one-loop contributions from the heavy Higgs bosons. The strong constraints on $\cos(β-α)$, heavy Higgs masses and their mass splitting are complementary to direct search of the LHC as well as possible future Z pole precision measurements. For the MSSM, we study both the Higgs couplings and mass precisions. The constraints on the CP-odd Higgs mass $m_A$ and stop mass scale $m_{SUSY}$ can be complementary to the direct search of HL-LHC. We also compare the sensitivity of various future Higgs factories, namely Circular Electron Positron Collider (CEPC), Future Circular Collider (FCC)-ee and International Linear Collider (ILC).

hep-ph↗

arXiv2018

Higgs Couplings at High Scales

We study the off-shell production of the Higgs boson at the LHC to probe Higgs physics at higher energy scales utilizing the process $g g \rightarrow h^{*} \rightarrow ZZ$. We focus on the energy scale dependence of the off-shell Higgs propagation, and of the top quark Yukawa coupling, $y_t (Q^2)$. Extending our recent study in arXiv:1710.02149, we first discuss threshold effects in the Higgs propagator due to the existence of new states, such as a gauge singlet scalar portal, and a possible continuum of states in a conformal limit, both of which would be difficult to discover in other traditional searches. We then examine the modification of $y_t (Q^2)$ from its Standard Model (SM) prediction in terms of the renormalization group running of the top Yukawa, which could be significant in the presence of large flat extra-dimensions. Finally, we explore possible strongly coupled new physics in the top-Higgs sector that can lead to the appearance of a non-local $Q^2$-dependent form factor in the effective top-Higgs vertex. We find that considerable deviations compared to the SM prediction in the invariant mass distribution of the $Z$-boson pair can be conceivable, and may be probed at a $2σ$-level at the high-luminosity 14 TeV HL-LHC for a new physics scale up to $\mathcal{O}(1 {~\rm TeV})$, and at the upgraded 27 TeV HE-LHC for a scale up to $\mathcal{O}(3 {~\rm TeV})$. For a few favorable scenarios, $5σ$-level observation may be possible at the HE-LHC for a scale of about $\mathcal{O}(1 {~\rm TeV})$.

hep-ph↗

arXiv2018

Off-shell Higgs Probe to Naturalness

Examining the Higgs sector at high energy scales through off-shell Higgs production can potentially shed light on the naturalness problem of the Higgs mass. We propose such a study at the LHC by utilizing a representative model with a new scalar field ($S$) coupled to the Standard Model Higgs doublet ($H$) in a form $ |S|^2 |H|^2$. In the process $p p \rightarrow h^* \rightarrow ZZ$, the dominant momentum-dependent part of the one-loop scalar singlet corrections, especially above the new threshold at $2m_S$, leads to a measurable deviation in the differential distribution of the $Z$-pair invariant mass, in accordance with the quadratic divergence cancellation to the Higgs mass. We find that it is conceivable to probe such new physics at the $5σ$ level at the high-luminosity LHC, improving further with the upgraded $27$ TeV LHC, without requiring the precise measurement of the Higgs boson total width. The discovery of such a Higgs portal could also have important implications for thermal dark matter as well as for electroweak baryogenesis.

hep-ph↗

arXiv2018

Lepton Number Violation: Seesaw Models and Their Collider Tests

The Majorana nature of neutrinos is strongly motivated from the theoretical and phenomenological point of view. A plethora of neutrino mass models, known collectively as Seesaw models, exist that could generate both a viable neutrino mass spectrum and mixing pattern. They can also lead to rich, new phenomenology, including lepton number non-conservation as well as new particles, that may be observable at collider experiments. It is therefore vital to search for such new phenomena and the mass scale associated with neutrino mass generation at high energy colliders. In this review, we consider a number of representative Seesaw scenarios as phenomenological benchmarks, including the characteristic Type I, II, and III Seesaw mechanisms, their extensions and hybridizations, as well as radiative constructions. We present new and updated predictions for analyses featuring lepton number violation and expected coverage in the theory parameter space at current and future colliders. We emphasize new production and decay channels, their phenomenological relevance and treatment across different facilities in $e^+e^-$, $e^-p$ and $pp$ collisions, as well as the available Monte Carlo tools available for studying Seesaw partners in collider environments.

hep-ph↗

arXiv2018

DRAPS: Dynamic and Resource-Aware Placement Scheme for Docker Containers in a Heterogeneous Cluster

Virtualization is a promising technology that has facilitated cloud computing to become the next wave of the Internet revolution. Adopted by data centers, millions of applications that are powered by various virtual machines improve the quality of services. Although virtual machines are well-isolated among each other, they suffer from redundant boot volumes and slow provisioning time. To address limitations, containers were born to deploy and run distributed applications without launching entire virtual machines. As a dominant player, Docker is an open-source implementation of container technology. When managing a cluster of Docker containers, the management tool, Swarmkit, does not take the heterogeneities in both physical nodes and virtualized containers into consideration. The heterogeneity lies in the fact that different nodes in the cluster may have various configurations, concerning resource types and availabilities, etc., and the demands generated by services are varied, such as CPU-intensive (e.g. Clustering services) as well as memory-intensive (e.g. Web services). In this paper, we target on investigating the Docker container cluster and developed, DRAPS, a resource-aware placement scheme to boost the system performance in a heterogeneous cluster.

cs.DC↗

arXiv2018

Topological semimetal state and field-induced Fermi surface reconstruction in antiferromagnetic monopnictide NdSb

We report the experimental realization of Dirac semimetal state in NdSb, a material with antiferromagnetic ground state. The occurrence of topological semimetal state has been well supported by our band structure calculations and the experimental observation of chiral anomaly induced negative magnetoresistance. A field-induced Fermi surface reconstruction is observed, in response to the change of spin polarization. The observation of topological semimetal state in a magnetic material provides an opportunity to investigate the magneto-topological phenomena.

cond-mat.mtrl-sci↗

arXiv2018

Energy-Aware Virtual Machine Management in Inter-datacenter Networks over Elastic Optical Infrastructure

Datacenters (DCs), deployed in a large scale to support the ever increasing demand for data processing applications, consume tremendous energy. Powering DCs with renewable energy can effectively reduce the brown energy consumption. Owing to geographically distributed deployment of DCs, the renewable energy generation and the data processing demands usually vary in different DCs. Migrating virtual machines (VMs) among DCs according to the availability of renewable energy helps match the energy demands and the renewable energy generation in DCs, and thus maximizes the utilization of renewable energy. We first elicit the renewable energy-aware inter-datacenter (inter-DC) VM migration problem in an inter-DC network over the elastic optical infrastructure, present it as a many-manycast communications problem, and then formulate it as an integer linear programming problem. The objective is to minimize the total cost of the brown energy consumption of DCs in such inter-DC network via VM migration. We use CVX and Gurobi to solve this problem for small network configurations, and we propose a few heuristic algorithms that approximate the optimal solution for large network configurations. Through extensive simulations, we show that the proposed algorithms, by migrating VM among DCs, can reduce up to 19.7% cost of the brown energy consumption.

cs.NI↗

arXiv2018

Tradeoff between Delay and Physical Layer Security in Wireless Networks

Exchange of crucial and confidential information leads to the unprecedented attention on the security problem in wireless networks. Though the security has been studied in a number of works, the joint optimization of the physical layer security and the end-to-end delay management, which requires a meticulous cross-layer design, has seldom been evaluated. In this work, by combining the tools from stochastic geometry and queueing theory, we analyze the tradeoff between the delay and the security performance in large wireless networks. We further propose a simple transmission mechanism which splits a message into two packets and evaluate its effect on the mean delay and the secrecy outage probability. Our numerical results reveal that the security performance is better for larger path loss exponent when the density of legitimate nodes is large, and it is reverse when the density is small. Moreover, it is observed that by introducing the simple mechanism of message split, the security performance is greatly improved in the backlogged scenario and slightly improved in the dynamic scenario when the density of legitimate transmitters is large. In summary, this work provides an understanding and a rule-of-thumb for the practical design of wireless networks where both the delay and the security are key concerns.

cs.IT↗

arXiv2018

End to End Performance Analysis of Relay Cooperative Communication Based on Parked Cars

Parking lots (PLs) are usually full with cars. If these cars are formed into a self-organizing vehicular network, they can be new kind of road side units (RSUs) in urban area to provide communication data forwarding between mobile terminals nearby and a base station. However cars in PLs can leave at any time, which is neglected in the existing studies. In this paper, we investigate relay cooperative communication based on parked cars in PLs. Taking the impact of the car's leaving behavior into consideration, we derive the expressions of outage probability in a two-hop cooperative communication and its link capacity. Finally, the numerical results show that the impact of a car's arriving time is greater than the impact of the duration the car has parked on outage probability.

cs.IT↗

arXiv2018

Study on Energy Consumption and Coverage of Hierarchical Cooperation of Small Cell Base Stations in Heterogeneous Networks

The demand for communication services in the era of intelligent terminals is unprecedented and huge. To meet such development, modern wireless communications must provide higher quality services with higher energy efficiency in terms of system capacity and quality of service (QoS), which could be achieved by the high-speed data rate, the wider coverage and the higher band utilization. In this paper, we propose a way to offload users from a macro base station(MBS) with a hierarchical distribution of small cell base stations(SBS). The connection probability is the key indicator of the implementation of the unload operation. Furthermore, we measure the service performance of the system by finding the conditional probability-coverage probability with the certain SNR threshold as the condition, that is, the probability of obtaining the minimum communication quality when the different base stations are connected to the user. Then, user-centered total energy consumption of the system is respectively obtained when the macro base station(MBS) and the small cell base stations(SBS) serve each of the users. The simulation results show that the hierarchical SBS cooperation in heterogeneous networks can provide a higher system total coverage probability for the system with a lower overall system energy consumption than MBS.

cs.IT↗

arXiv2018

Cell-less Communications in 5G Vehicular Networks Based on Vehicle-Installed Access Points

The development of intelligent transportation systems raises many requirements to the current vehicular networks. For instance, to ensure secure communications between vehicles, low latency, high connectivity and high data rate are required for vehicular networks. To meet such requirements, the 5G communication systems for vehicular networks should be improved accordingly. This article proposes a communication scheme for 5G vehicular networks, in which moving access points are deployed on vehicles to facilitate the access of vehicle users. Moreover, the adjacent vehicle-installed moving access points may cooperatively communicate with the vehicle users by joint transmissions and receptions. In this way, the vehicle users communicate with one or more unspecified cooperative access points in a cell-less manner instead of being associated to a single access point. To manage such cell-less networks, local moving software-defined cloudlets are adopted to perform transmission and scheduling management. Simulation results show that the proposed scheme significantly reduces the latency, while improving the connectivity of the vehicular networks, and can be considered as a research direction for the solution to 5G vehicular networks.

cs.NI↗

arXiv2018

Electroweak Splitting Functions and High Energy Showering

We derive the electroweak (EW) collinear splitting functions for the Standard Model, including the massive fermions, gauge bosons and the Higgs boson. We first present the splitting functions in the limit of unbroken SU(2)xU(1) and discuss their general features in the collinear and soft-collinear regimes. We then systematically incorporate EW symmetry breaking (EWSB), which leads to the emergence of additional "ultra-collinear" splitting phenomena and naive violations of the Goldstone-boson Equivalence Theorem. We suggest a particularly convenient choice of non-covariant gauge (dubbed "Goldstone Equivalence Gauge") that disentangles the effects of Goldstone bosons and gauge fields in the presence of EWSB, and allows trivial book-keeping of leading power corrections in the VEV. We implement a comprehensive, practical EW showering scheme based on these splitting functions using a Sudakov evolution formalism. Novel features in the implementation include a complete accounting of ultra-collinear effects, matching between shower and decay, kinematic back-reaction corrections in multi-stage showers, and mixed-state evolution of neutral bosons (gamma/Z/h) using density-matrices. We employ the EW showering formalism to study a number of important physical processes at O(1-10 TeV) energies. They include (a) electroweak partons in the initial state as the basis for vector-boson-fusion; (b) the emergence of "weak jets" such as those initiated by transverse gauge bosons, with individual splitting probabilities as large as O(30%); (c) EW showers initiated by top quarks, including Higgs bosons in the final state; (d) the occurrence of O(1) interference effects within EW showers involving the neutral bosons; and (e) EW corrections to new physics processes, as illustrated by production of a heavy vector boson (W') and the subsequent showering of its decay products.

hep-ph↗

arXiv2018

A Normalization Model for Analyzing Multi-Tier Millimeter Wave Cellular Networks

Based on the distinguishing features of multi-tier millimeter wave (mmWave) networks such as different transmit powers, different directivity gains from directional beamforming alignment and path loss laws for line-of-sight (LOS) and non-line-of-sight (NLOS) links, we introduce a normalization model to simplify the analysis of multi-tier mmWave cellular networks. The highlight of the model is that we convert a multi-tier mmWave cellular network into a single-tier mmWave network, where all the base stations (BSs) have the same normalized transmit power 1 and the densities of BSs scaled by LOS or NLOS scaling factors respectively follow piecewise constant function which has multiple demarcation points. On this basis, expressions for computing the coverage probability are obtained in general case with beamforming alignment errors and the special case with perfect beamforming alignment in the communication. According to corresponding numerical exploration, we conclude that the normalization model for multi-tier mmWave cellular networks fully meets requirements of network performance analysis, and it is simpler and clearer than the untransformed model. Besides, an unexpected but sensible finding is that there is an optimal beam width that maximizes coverage probability in the case with beamforming alignment errors.

cs.IT↗

arXiv2017

Radiative Decays of the Higgs Boson to a Pair of Fermions

We revisit the radiative decays of the Higgs boson to a fermion pair $h\rightarrow f\bar{f}γ$ where $f$ denotes a fermion in the Standard Model (SM). We include the chirality-flipping diagrams via the Yukawa couplings at the order $\mathcal{O}(y_f^2 α)$, the chirality-conserving contributions via the top-quark loops of the order $\mathcal{O}(y_t^2 α^3)$, and the electroweak loops at the order $\mathcal{O}(α^4)$. The QED correction is about $Q_f^2\times {\cal O}(1\%)$ and contributes to the running of fermion masses at a similar level, which should be taken into account for future precision Higgs physics. The chirality-conserving electroweak-loop processes are interesting from the observational point of view. First, the branching fraction of the radiative decay $h \to μ^+μ^- γ$ is about a half of that of $h \to μ^+μ^-$, and that of $h \to e^+ e^- γ$ is more than four orders of magnitude larger than that of $h \to e^+ e^-$, both of which reach about $10^{-4}$. The branching fraction of $h \to τ^+τ^- γ$ is of the order $10^{-3}$. All the leptonic radiative decays are potentially observable at the LHC Run 2 or the HL-LHC. The kinematic distributions for the photon energy or the fermion pair invariant mass provide non-ambiguous discrimination for the underlying mechanisms of the Higgs radiative decay. We also study the process $h \to c\bar c γ$ and evaluate the observability at the LHC. We find it comparable to the other related studies and better than the $h \to J/ψ γ$ channel in constraining the charm-Yukawa coupling.

hep-ph↗

arXiv2017

Thermal Dark Matter Through the Dirac Neutrino Portal

We study a simple model of thermal dark matter annihilating to standard model neutrinos via the neutrino portal. A (pseudo-)Dirac sterile neutrino serves as a mediator between the visible and the dark sectors, while an approximate lepton number symmetry allows for a large neutrino Yukawa coupling and, in turn, efficient dark matter annihilation. The dark sector consists of two particles, a Dirac fermion and complex scalar, charged under a symmetry that ensures the stability of the dark matter. A generic prediction of the model is a sterile neutrino with a large active-sterile mixing angle that decays primarily invisibly. We derive existing constraints and future projections from direct detection experiments, colliders, rare meson and tau decays, electroweak precision tests, and small scale structure observations. Along with these phenomenological tests, we investigate the consequences of perturbativity and scalar mass fine tuning on the model parameter space. A simple, conservative scheme to confront the various tests with the thermal relic target is outlined, and we demonstrate that much of the cosmologically-motivated parameter space is already constrained. We also identify new probes of this scenario such as multi-body kaon decays and Drell-Yan production of $W$ bosons at the LHC.

hep-ph↗

arXiv2017

Small Cell Offloading Through Cooperative Communication in Software-Defined Heterogeneous Networks

To meet the ever-growing demand for a higher communicating rate and better communication quality, more and more small cells are overlaid under the macro base station (MBS) tier, thus forming the heterogeneous networks. Small cells can ease the load pressure of MBS but lack of the guarantee of performance. On the other hand, cooperation draws more and more attention because of the great potential of small cell densification. Some technologies matured in wired network can also be applied to cellular networks, such as Software-defined networking (SDN). SDN helps simplify the structure of multi-tier networks. And it's more reasonable for the SDN controller to implement cell coordination. In this paper, we propose a method to offload users from MBSs through small cell cooperation in heterogeneous networks. Association probability is the main indicator of offloading. By using the tools from stochastic geometry, we then obtain the coverage probabilities when users are associated with different types of base stations (BSs). All the cell association and cooperation are conducted by the SDN controller. Then on this basis, we compare the overall coverage probabilities, achievable rate and energy efficiency with and without cooperation. Numerical results show that small cell cooperation can offload more users from MBS tier. It can also increase the system's coverage performance. As small cells become denser, cooperation can bring more gains to the energy efficiency of the network.

cs.NI↗