Abstract: A magnetic particle imaging system includes a field free region generator and an excited magnetic field generator. The field free region generator generates a field free line with a direction of linear extension of a field free region as a direction of extension. The excited magnetic field generator generates an excited magnetic field in the field free line generated by the field free region generator. The excited magnetic field generator includes a first excited magnetic field generation unit and a second excited magnetic field generation unit. The first excited magnetic field generation unit and the second excited magnetic field generation unit are spaced from each other in the direction of extension of the field free line.

Abstract: Embodiment of the present disclosure disclose a tomographic imaging system for reconstructing an image of an internal structure of an object. An incident wavefield is transmitted into the object occupying a background domain embedding the object. The incident wavefield is scattered into multiple scattered wavefield by the object. The incident and scattered wavefields are measured as a total wavefield. The total wavefield propagates through a computational domain and a residual domain in the background domain that are defined by cross-domain and residual measurement operators. The total wavefield is used for the image reconstruction. The image is reconstructed by solving an optimization problem corresponding to the computational domain. The optimization problem is solved iteratively to minimize a difference between the total wavefield and a wavefield synthesized using a measurement operator and a Green's function operator from the reconstructed image.

Abstract: A method for communication between a communication device and a base station in a private 5G network where the communication device and the base station have a base period of transmission defined there between as a minimal scheduling period, comprises transmitting location data of the communication device in a last subframe of a current communication period of the communication device. The method further comprises receiving resource allocation data including a transmission period widening factor for one or more subsequent communication periods of the communication device and computing a semi-persistent scheduling (SPS) period as a subsequent communication period of the one or more subsequent communication periods, based on the transmission period widening factor and the base period of transmission. Uplink communication is performed in the one or more subsequent periods, based on the resource allocation data and the SPS period.

Abstract: A method for semi-persistent scheduling (SPS) based resource allocation in a private 5G network comprises receiving location data of a plurality of user equipment (UEs) in the private 5G network in a last subframe of respective current communication periods of the UEs and determining distance distribution of the UEs in a subsequent communication period of a candidate UE of the plurality of UEs, based on the respective location data of the UEs. The method further comprises determining signal to noise ratio expectation of the UEs for the subsequent communication period, solving an optimization problem optimizing an expectation of data to be carried by each of the one or more SPS channels in the subsequent communication period, to obtain scheduling result for each of the one or more SPS channels and generating resource allocation data for the candidate UE based on the scheduling result.

Abstract: A system for designing a circuitry configuration of heat-exchanger units includes an interface to acquire design parameters the heat-exchanger units, a memory to store computer-executable programs including a relaxed decision diagram formation module, and a processor, in connection with the memory, configured to perform the computer-executable programs. The computer-executable programs include steps of providing a configuration of the heat-exchanger units, providing the design parameters of the heat-exchanger units acquired via the interface, generating a relaxed decision diagram based on the design parameters, creating constraints with respect to connections of the heat-exchanger units according to the relaxed decision diagram, and generating feasible configurations of the heat-exchanger units by a mixed-integer-programing method using the constraints.

Abstract: A computer-implemented method of training an autoencoder to recover missing data is provided. The autoencoder includes an encoder for encoding its inputs into a latent space and a decoder for decoding the encodings from the latent space. The method comprises creating a first training set including a valid data set of multiple dimensions, and training the encoder and the decoder in a first training stage using the first training set to reduce a difference between the valid data set provided to the encoder and a data set decoded by the decoder. The method further comprises creating a second training set comprising an invalid data set, and training the encoder in a second training stage using the second training set to reduce a difference between encodings of valid data instances and encodings of their corresponding invalid data instances.

Abstract: A stochastic model predictive controller (SMPC) estimates a current state of the system and a probability distribution of uncertainty of a parameter of dynamics of the system based on measurements of outputs of the system, and updates a control model of the system including a function of dynamics of the system modeling the uncertainty of the parameter with first and second order moments of the estimated probability distribution of uncertainty of the parameter. The SMPC determines a control input to control the system by optimizing the updated control model of the system at the current state over a prediction horizon and controls the system based on the control input to change the state of the system.

Abstract: A method and system for activating thrusters of a vehicle for trajectory-tracking control of the vehicle. A transfer orbit generator to generate a transfer orbit for the vehicle from an initial orbit to a target orbit, and a feedback stabilization controller. Compute the target orbit for the vehicle about the celestial body. Compute a free trajectory with patch points along the free trajectory using a free trajectory module, each patch point includes a position and a velocity. Determine a feedback gain at each patch point using a feedback gain module, wherein a state penalty function at each patch point is set to match a state uncertainty function at the same patch point. Apply the feedback gain at each patch point to map the position and the velocity at each patch point to delta v commands, to maintain the target orbit using a feedback stabilization controller.

Abstract: A soft gripper including tentacles, each tentacle includes lower and upper members connected by a connector. Each member includes guide discs, and each guide disc includes a ring with passthrough holes, and a spacer located in a donut hole of the ring with passthrough holes, the passthrough holes collectively define cable pathways. The connector includes a center thru-hole and transfer channels. Cables have proximal ends attached to actuators and extend through apertures of a baseplate located at a proximal end of the lower member. A set of lower cables extend through the lower ring passthrough holes to couple to a distal lower guide disc. A set of upper cables extend through the lower spacer passthrough holes, through the transfer channels to the upper ring passthrough holes to couple to a distal upper guide ring, and an end cap is attached to the distal end of the upper member.

Abstract: A controller and a method for optimizing a controlled operation of a system performing a task is provided. The method for optimizing the controlled operation of the system comprises accessing a probabilistic distribution of a performance function trained to provide a relationship between different combinations of control parameters for controlling the system and their corresponding costs of operation, selecting a combination of control parameters from the different combinations of control parameters, such that the selected combination of control parameters is having the largest likelihood of being optimal at the probabilistic distribution of the performance function. The method further comprises controlling the system using the selected combination of the control parameters and modifying the probabilistic distribution of the performance function conditioned on the selected combination of the control parameters and the corresponding cost of operation.

Abstract: The present disclosure provides a system and a method for detecting a fault of an operation of a synchronous motor. The method includes collecting an electrical input and measurements associated with the operation of the synchronous motor caused by the electrical input. The method further includes determining sequences of points defining a mutual position between a stator and a rotor of the synchronous motor that results in magnetostatic determined as a weighted summation over real-space basis functions parameterized on pairs of adjoint points in the determined sequence of points and weighted with a surface charge density between corresponding adjoint points, such that the resulted magnetostatic explains the measurements of the operation of the synchronous motor given the electrical input. Further, the method includes determining the fault of the operation of the synchronous motor based on the mutual position between the stator and the rotor of the synchronous motor.

Abstract: A vehicle dynamics control system receives a feedback state signal including values of a roll rate and a roll angle of the motion of the vehicle and updates parameters of a model of roll dynamics of the vehicle by fitting the received values into the roll dynamics model. The roll dynamics model explains the evolution of the roll rate and the roll angle based on the parameters including a center of gravity (CoG) parameter modeling a location of a CoG of the vehicle, and a spring constant and a damping coefficient modeling suspension dynamics of the vehicle. The system determines a control command for controlling at least one actuator of the vehicle using a motion model including the updated CoG parameter and submits the control command to the vehicle controller to control the motion of the vehicle.

Abstract: Systems and methods for identifying a fault condition in an Ungrounded Electrical Distribution (UED) system, the system receives measurements with instantaneous values and effective values associated when a fault event is identified, measured transient waveforms and a fault type. A processor applies an empirical mode decomposition to the measured transient waveforms to extract a dominant vibration mode and an associated derived waveform corresponding to the dominant vibration mode. A Hilbert transform is applied to the associated derived waveform to obtain a set of feature attributes. Subsets are computed from the set, at a pre-fault time, at a fault inception time, and at a post-fault time, and inputted into the fault type trained neural network model. An output of the model are locational parameters used to determine a fault section, a fault line segment and a fault location point with a topology connectivity analysis of the UED system.

Abstract: A controller is provided for generating a policy controlling a system by learning a dynamics of the system.

Abstract: The present disclosure provides a system and a method for controlling a motion of a spacecraft in a multi-object celestial system while avoiding an unauthorized entry into a keep-away region during a normal and an abnormal operation of the spacecraft. The method includes executing, during the normal operation of the spacecraft, a nominal control law subject to constraints on maintaining a state of the spacecraft within a union of a plurality of control invariant sets of values of the state of the spacecraft. The state of the spacecraft includes a location of the spacecraft and at least one or a combination of a velocity and an acceleration of the spacecraft. The method further includes executing, upon detecting the abnormal operation of the spacecraft, an abort control law associated with the control invariant set including a current state of the spacecraft.

Abstract: A method and a system for processing an image and transform it into a high resolution and high-definition image using a computationally efficient image transformation procedure is provided. The transformation of the image comprises transforming a received intensity image into a layered distance field (DF) image including an ordered sequence of multiple layers. Each layer of the layered DF image includes a DF procedure defining DF values at all locations of the received intensity image and rules for mapping these DF values into intensity values of the layer. The intensity image is transformed iteratively until an error between the received intensity image and an intensity image reconstructed from the layered DF image by combining the intensities values of each level in their corresponding order is less than a threshold error value.

Abstract: A method and a system for processing an image and transform it into a high resolution and high-definition image using a computationally efficient image transformation procedure is provided. The transformation of the image comprises first transforming the image, also referred to as an intensity image, into a layered distance field (DF) image comprising an ordered sequence of multiple layers. Each layer in the ordered sequence is associated with a DF procedure and a set of rules for mapping the DF values to intensity values of the respective layer. The result of applying the DF procedures to each location in the intensity image is a transformed intensity image, which is of high definition and high resolution. The application of the DF procedures is governed by a stopping criteria based on error values between the intensity image and a reconstructed intensity image.

Abstract: Systems and methods performed by a fault detection apparatus for fault detection and localization in distribution feeders having branches and nodes. The method including receive feeder raw data in a feeder of a power system. Process the feeder raw data with given operational electrical characteristics of the feeder to generate a branch attribute dataset for each branch separated by a pair of nodes for all branches. Generate a node attribute dataset for each node for all the nodes in the feeder. Input the branch and node attribute datasets into a trained neural network to determine whether a branch has a fault and a fault location within the branch, to output a classification of the fault and the fault location. Generate an alert signal based upon determining the classified fault and fault location in response to the alert signal to an outage response system.

Abstract: A system for controlling an operation of a machine subject to state constraints in continuous state space of the machine and subject to control input constraints in continuous control input space of the machine is provided. The apparatus includes an input interface to accept data indicative of a state of the machine, a memory configured to store an optimization problem for computing the safety margin of a state and action pair satisfying the state constraints and a control policy mapping the state of the machine within a control invariant set (CIS) to a control input satisfying the control input constraints, and a processor configured to iteratively perform a reinforcement learning (RL) algorithm to jointly control the machine and update the control policy.

Abstract: A robot for performing an assembly operation is provided. The robot comprises a processor configured to determine a control law for controlling a plurality of motors of the robot to move a robotic arm according to an original trajectory, execute a self-exploration program to produce training data indicative of a space of the original trajectory, and learn, using the training data, a non-linear compliant control law including a non-linear mapping that maps measurements of a force sensor of the robot to a direction of corrections to the original trajectory defining the control law. The processor transforms the original trajectory according to a new goal pose to produce a transformed trajectory, update the control law according to the transformed trajectory to produce the updated control law, and command the plurality of motors to control the robotic arm according to the updated control law corrected with the compliance control law.