17 results on '"Miaomiao Wang"'
Search Results
2. Generalized n-Dimensional Rigid Registration: Theory and Applications
- Author
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Jin Wu, Miaomiao Wang, Hassen Fourati, Hui Li, Yilong Zhu, Chengxi Zhang, Yi Jiang, Xiangcheng Hu, Ming Liu, Hong Kong University of Science and Technology (HKUST), University of Western Ontario (UWO), Dynamics and Control of Networks (DANCE), Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-GIPSA Pôle Automatique et Diagnostic (GIPSA-PAD), Grenoble Images Parole Signal Automatique (GIPSA-lab), Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes (UGA)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP ), Université Grenoble Alpes (UGA)-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes (UGA)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP ), Université Grenoble Alpes (UGA)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Grenoble Alpes (UGA), Jiangnan University, Harbin Institute of Technology (HIT), and City University of Hong Kong [Hong Kong] (CUHK)
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Optimization ,Rotation measurement ,Covariance matrices ,Uncertainty ,Singular value decomposition ,Space vehicles ,[SPI.AUTO]Engineering Sciences [physics]/Automatic ,Computer Science Applications ,Human-Computer Interaction ,Control and Systems Engineering ,Quaternions ,Electrical and Electronic Engineering ,ComputingMilieux_MISCELLANEOUS ,Software ,Information Systems - Abstract
International audience; The generalized rigid registration problem in high-dimensional Euclidean spaces is studied. The loss function is minimized with an equivalent error formulation by the Cayley formula. The closed-form linear least-square solution to such a problem is derived which generates the registration covariances, i.e., uncertainty information of rotation and translation, providing quite accurate probabilistic descriptions. Simulation results indicate the correctness of the proposed method and also present its efficiency on computation-time consumption, compared with previous algorithms using singular value decomposition (SVD) and linear matrix inequality (LMI). The proposed scheme is then applied to an interpolation problem on the special Euclidean group SE(n) with covariance-preserving functionality. Finally, experiments on covariance-aided Lidar mapping show practical superiority in robotic navigation.
- Published
- 2023
3. A Blockchain-Based Multi-CA Cross-Domain Authentication Scheme in Decentralized Autonomous Network
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Miaomiao Wang, Lanlan Rui, Yang Yang, Zhipeng Gao, and Xingyu Chen
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Computer Networks and Communications ,Electrical and Electronic Engineering - Published
- 2022
4. Simultaneous Hand–Eye/Robot–World/Camera–IMU Calibration
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Rui Fan, Ming Liu, Miaomiao Wang, Bowen Yi, Yi Jiang, and Jin Wu
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Inertial frame of reference ,business.industry ,Computer science ,ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION ,Robot manipulator ,Euclidean group ,Computer Science Applications ,Computer Science::Robotics ,Control and Systems Engineering ,Inertial measurement unit ,Calibration ,Robot ,Computer vision ,Artificial intelligence ,Electrical and Electronic Engineering ,Simultaneous optimization ,Global optimality ,business - Abstract
The problem of calibrating extrinsic parameter between camera and inertial measurement unit (IMU) using an industrial robotic manipulator has been studied. This generates a result of hand-eye/robot-world/camera-IMU calibration in a simultaneous fashion. The developed method is free of inertial integration over time and thus is robust to uncertain IMU biases. It is derived that the problem can be solved via a simultaneous optimization of hand-eye/robot-world/camera-IMU transformations. The resulted optimization is highly non-convex on the special Euclidean group and we give globally optimal solutions. Experiments verify that the proposed method is capable of estimating accurate calibration parameters. Comparative studies between representatives show the global optimality of the proposed method. The new simultaneous method is capable of conducting calibration of a robot/camera/IMU combination. The designed method guarantees the global optimality thus the accuracy is ensured. The developed globally optimal solutions will also be computationally efcient on modern industrial computers. Finally, we show that the proposed method can give accurate calibration results for a stereo/IMU sensor combination.
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- 2022
5. Nonlinear Observers Design for Vision-Aided Inertial Navigation Systems
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Abdelhamid Tayebi, Miaomiao Wang, and Soulaimane Berkane
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FOS: Computer and information sciences ,0209 industrial biotechnology ,Inertial frame of reference ,Computer science ,Systems and Control (eess.SY) ,0102 computer and information sciences ,02 engineering and technology ,Electrical Engineering and Systems Science - Systems and Control ,01 natural sciences ,Constant linear velocity ,Computer Science - Robotics ,020901 industrial engineering & automation ,Exponential stability ,Control theory ,FOS: Mathematics ,FOS: Electrical engineering, electronic engineering, information engineering ,State observer ,Observability ,Electrical and Electronic Engineering ,Mathematics - Optimization and Control ,Inertial navigation system ,Observer (special relativity) ,Computer Science Applications ,Nonlinear system ,Optimization and Control (math.OC) ,010201 computation theory & mathematics ,Control and Systems Engineering ,Robotics (cs.RO) - Abstract
This paper deals with the simultaneous estimation of the attitude, position and linear velocity for vision-aided inertial navigation systems. We propose a nonlinear observer on $SO(3)\times \mathbb{R}^{15}$ relying on body-frame acceleration, angular velocity and (stereo or monocular) bearing measurements of some landmarks that are constant and known in the inertial frame. Unlike the existing local Kalman-type observers, our proposed nonlinear observer guarantees almost global asymptotic stability and local exponential stability. A detailed uniform observability analysis has been conducted and sufficient conditions are derived. Moreover, a hybrid version of the proposed observer is provided to handle the intermittent nature of the measurements in practical applications. Simulation and experimental results are provided to illustrate the effectiveness of the proposed state observer., Accepted for publication in IEEE Transaction on Automatic Control. 16 pages, 6 figures
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- 2022
6. Stabilizing Design of Third-order Continuous-time Switched Linear Systems
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Miaomiao Wang and Zhendong Sun
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Control and Optimization ,Control and Systems Engineering - Published
- 2023
7. Improved Air Spacer for Highly Scaled CMOS Technology
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Tenko Yamashita, Andrew M. Greene, Kangguo Cheng, Frougier Julien, Miaomiao Wang, Balasubramanian S. Pranatharthi Haran, Sanjay Mehta, Nicolas Loubet, Richard A. Conti, Son Nguyen, Zuoguang Liu, Jingyun Zhang, Heng Wu, Juntao Li, Chanro Park, and Rama Divakaruni
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Materials science ,business.industry ,Dielectric ,Ring oscillator ,Capacitance ,Electronic, Optical and Magnetic Materials ,Reduction (complexity) ,CMOS ,Logic gate ,Hardware_INTEGRATEDCIRCUITS ,Optoelectronics ,Node (circuits) ,Electrical and Electronic Engineering ,business ,Scaling - Abstract
We report an improved air spacer (AS) integration scheme to overcome problems with the conventional AS process. The new scheme is fully compatible with other emerging CMOS technology elements such as self-aligned contact (SAC) and contact over active gate (COAG). Using a fan-out3 (FO3) ring oscillator (RO) on a 10-nm FinFET platform, we experimentally demonstrate that the new AS provides 15% reduction in the effective capacitance ( ${C}_{{\text {eff}}}{)}$ . Such a ${C}_{{\text {eff}}}$ reduction translates to 21% performance gain at the constant power (iso-power) or 36% power reduction at the constant performance (iso-speed). The benefits provided by AS exceed the benefits of a full CMOS node scaling from 7 to 5 nm. Clearly, AS is a viable technological element for continuing CMOS scaling.
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- 2020
8. A New Formulation for Hand–Eye Calibrations as Point-Set Matching
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Shuwei Qiu, Miaomiao Wang, and Mehrdad R. Kermani
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Robot kinematics ,Matching (graph theory) ,Computer science ,business.industry ,020208 electrical & electronic engineering ,Point set ,Euclidean group ,Robot manipulator ,02 engineering and technology ,Grippers ,0202 electrical engineering, electronic engineering, information engineering ,Calibration ,Computer vision ,Artificial intelligence ,Electrical and Electronic Engineering ,business ,Instrumentation - Abstract
Conventional methods formulate the calibration problem between a robot hand and a camera, also known as hand–eye-calibration problem, as AX = XB . However, in practice, these methods have limited accuracy, as will be shown in our experimental results. In this article, we formulated the hand–eye calibration problem as a point-set-matching problem and proposed a new approach to solve this problem. The proposed approach is particularly suitable for robotic applications and offers good accuracy. We obtain a solution for the said problem using the gradient-descent (GD) technique on the special Euclidean group SE(3). We call this approach GD-SE(3). To prove the validity of the proposed approach and to demonstrate its advantages, experimental results are provided, where we compare the performance of GD-SE(3) with both conventional solutions for the hand–eye calibration problem as well as those based on point-set matching. The results show that the accuracy of GD-SE(3) is comparable with those based on other point-set-matching algorithms. Yet, it outperforms conventional formulations based on AX = XB while offering a more suitable approach for the hand–eye calibration problem of robot manipulators.
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- 2020
9. Hand-Eye Calibration: 4-D Procrustes Analysis Approach
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Miaomiao Wang, Yuxiang Sun, Jin Wu, and Ming Liu
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Calibration (statistics) ,Computation ,020208 electrical & electronic engineering ,Euclidean group ,02 engineering and technology ,0202 electrical engineering, electronic engineering, information engineering ,Applied mathematics ,Electrical and Electronic Engineering ,Procrustes analysis ,Quaternion ,Orthogonal Procrustes problem ,Instrumentation ,Eigendecomposition of a matrix ,Variable (mathematics) ,Mathematics - Abstract
We give a universal analytical solution to the hand-eye calibration problem ${AX} = {XB}$ with known matrices ${A}$ and ${B}$ and unknown variable ${X}$ , all in the set of special Euclidean group SE(3). The developed method relies on the 4-D Procrustes analysis. A unit-octonion representation is proposed for the first time to solve such a Procrustes problem through which an optimal closed-form eigendecomposition solution is derived. By virtue of such a solution, the uncertainty description of ${X}$ , being a sophisticated problem previously, can be solved in a simpler manner. The proposed approach is then verified using simulations and real-world experimentations on an industrial robotic arm. The results indicate that it owns better accuracy and better description of uncertainty and consumes much less computation time.
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- 2020
10. Hybrid Pose and Velocity-Bias Estimation on $SE(3)$ Using Inertial and Landmark Measurements
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Miaomiao Wang and Abdelhamid Tayebi
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0209 industrial biotechnology ,Landmark ,Inertial frame of reference ,Noise measurement ,Computer science ,Angular velocity ,02 engineering and technology ,Computer Science Applications ,Vehicle dynamics ,020901 industrial engineering & automation ,Exponential stability ,Control and Systems Engineering ,Electrical and Electronic Engineering ,Invariant (mathematics) ,Pose ,Algorithm - Abstract
This paper deals with the design of globally exponentially stable invariant observers on the Special Euclidian group $SE(3)$ . First, we propose a generic hybrid estimation scheme (depending on a generic potential function) evolving on $SE(3)\times \mathbb {R}^6$ for pose (orientation and position) and velocity-bias estimation. Thereafter, the proposed estimation scheme is formulated explicitly in terms of inertial vectors and landmark measurements. Interestingly, the proposed estimation scheme leads to a decoupled rotational error dynamics from the translational dynamics, which is an interesting feature in practical applications with noisy measurements and disturbances.
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- 2019
11. Self-Remanufacturing or Outsourcing? Hybrid Manufacturing System With Remanufacturing Options Under Yield Uncertainty
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Tao Tian, Miaomiao Wang, and Xiaoxi Zhu
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General Computer Science ,020209 energy ,Supply chain ,yield uncertainty ,02 engineering and technology ,Outsourcing ,Strategic sourcing ,Procurement ,Bullwhip effect ,0202 electrical engineering, electronic engineering, information engineering ,Production (economics) ,General Materials Science ,Remanufacturing ,Industrial organization ,0505 law ,business.industry ,05 social sciences ,General Engineering ,Production planning ,recovery rate ,outsourcing ,050501 criminology ,lcsh:Electrical engineering. Electronics. Nuclear engineering ,business ,lcsh:TK1-9971 - Abstract
Yield uncertainty widely exists in manufacturing industries. Because of the particularities of the recovery and production processes, remanufacturing is seriously affected by the uncertainty of the production process, which also affects the remanufacturing choice of enterprises. In this paper, we focus on the case where a make-to-order type manufacturer is confronted with the strategic option of obtaining core materials by self-remanufacturing or outsourcing new cores. Through a stochastic modelling approach, a two-echelon closed-loop supply chain is constructed to capture the manufacturer's sourcing strategy and production planning by considering yield uncertainty in both the remanufacturing and production stages. We first examine the case of a deterministic recovery rate. The results show that regardless of whether the firm chooses to remanufacture or buy new core materials, the expected profit of the (re)manufacturer is always concave. Then, in the case of a random recovery rate, we show that the distribution bounds are important and play key roles in deciding the strategic option of self-remanufacturing or outsourcing. By comparing the upper and lower bounds of the recovery rate with the procurement cost of new raw material and used product, three production/sourcing strategies, namely, using remanufactured cores only, outsourcing new material only and jointly using the two materials, are investigated. The optimal procurement quantity and the optimal production input are derived to maximize the (re)manufacturer's expected profits under the three scenarios. Finally, we perform sensitivity analysis of the impact of yield uncertainty on the optimal results. The results show that when the shortage cost increases, the collection quantity increases faster than the production input, which implies that a “bullwhip effect” exists in the proposed two-period collection and production system. The conclusions of this paper can be applied to remanufacturing in related enterprises to provide production and procurement decision support for managers and to promote the efficiency of closed-loop supply chains.
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- 2019
12. Modeling of NBTI Kinetics in RMG Si and SiGe FinFETs, Part-I: DC Stress and Recovery
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Miaomiao Wang, Richard G. Southwick, James H. Stathis, Narendra Parihar, and Souvik Mahapatra
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ultrafast characterization ,Kinetics ,chemistry.chemical_element ,Germanium ,02 engineering and technology ,Activation energy ,BIAS TEMPERATURE INSTABILITY ,01 natural sciences ,Stress (mechanics) ,Bulk trap generation ,chemistry.chemical_compound ,0103 physical sciences ,Electrical and Electronic Engineering ,Metal gate ,hole trapping ,010302 applied physics ,Physics ,ISSUES ,Negative-bias temperature instability ,Condensed matter physics ,P-MOSFETS ,SiGe channel ,GATE ,DEGRADATION ,021001 nanoscience & nanotechnology ,negative bias temperature instability (NBTI) ,voltage acceleration factor (VAF) ,Electronic, Optical and Magnetic Materials ,Threshold voltage ,Silicon-germanium ,interface trap generation ,chemistry ,INTERFACE-TRAP GENERATION ,FinFET ,replacement metal gate (RMG) high-K metal gate (HKMG) ,0210 nano-technology - Abstract
An ultrafast (10- $\mu \text{s}$ delay) measurement technique is used to characterize the negative bias temperature instability-induced threshold voltage shift ( $\Delta {V}_{T}$ ) in replacement metal gate-based high-K metal gate Si and SiGe p-FinFETs. The dc stress-recovery $\Delta {V}_{T}$ time kinetics, voltage acceleration factor (VAF), and temperature activation energy ( ${E}_{A}$ ) are compared for different germanium percentages (Ge%) in the channel and nitrogen percentages (N%) in the gate-stack. A comprehensive physical model framework based on uncorrelated contributions from the generation of interface ( $\Delta {V}_{\mathrm {IT}}$ ) and bulk oxide ( $\Delta {V}_{\mathrm {OT}}$ ) traps and hole trapping in preexisting defects ( $\Delta {V}_{\mathrm {HT}}$ ) is used to explain the measured data. The impact of Ge% and N% on $\Delta {V}_{T}$ , VAF, ${E}_{A}$ , temperature (T) dependence of VAF, and stress bias ( ${V}_{\mathrm {GSTR}}$ ) dependence of ${E}_{A}$ are quantified. The interface trap generation component is independently verified by direct-current ${I}$ – ${V}$ (DCIV) measurements.
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- 2018
13. Modeling of NBTI Kinetics in Replacement Metal Gate Si and SiGe FinFETs—Part-II: AC Stress and Recovery
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Richard G. Southwick, Narendra Parihar, Souvik Mahapatra, Miaomiao Wang, and James H. Stathis
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bulk-trap generation ,Silicon ,ultrafast characterization ,chemistry.chemical_element ,Germanium ,02 engineering and technology ,Activation energy ,01 natural sciences ,Stress (mechanics) ,chemistry.chemical_compound ,replacement metal gate high-K metal gate ,0103 physical sciences ,0202 electrical engineering, electronic engineering, information engineering ,Electrical and Electronic Engineering ,Metal gate ,hole trapping ,010302 applied physics ,Physics ,Condensed matter physics ,020208 electrical & electronic engineering ,SiGe channel ,AC-to-dc ratio ,voltage acceleration factor (VAF) ,Electronic, Optical and Magnetic Materials ,Silicon-germanium ,Threshold voltage ,DYNAMIC NBTI ,chemistry ,Duty cycle ,frequency ,duty cycle ,FinFET ,negative-bias temperature instability (NBTI) ,interface-trap generation - Abstract
An ultrafast (10- $\mu \text{s}$ delay) measurement technique is used to characterize ac negative-bias temperature instability-induced threshold voltage shift ( $\Delta \text {V}_\text {T}$ ) in replacement metal-gate-based high-K metal gate Si and SiGe p-FinFETs. Time kinetics of stress and recovery, voltage acceleration factor, temperature activation energy ( $\text {E}_\text {A}$ ), frequency (f), and pulse duty cycle (PDC) dependence are shown for different germanium percentages (Ge%) in the channel and nitrogen percentages (N%) in the gate insulator. A comprehensive physical model framework based on uncorrelated contributions from interface ( $\Delta \text {V}_\text {IT}$ ) and bulk oxide ( $\Delta \text {V}_\text {OT}$ ) trap generation and hole trapping in preexisting defects ( $\Delta \text {V}_\text {HT}$ ) is used to explain the measured data at different stress biases ( $\text {V}_\text {GSTR}$ ), temperatures (T), f, and PDCs. Direct-current I–V measurements are used to independently verify the interface-trap generation component for ac stress. End-of-life degradation for different processes under dc and ac conditions is estimated by using the calibrated model and compared to predictions from conventional analytical methods.
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- 2018
14. FOV Expansion of Bioinspired Multiband Polarimetric Imagers With Convolutional Neural Networks
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Jonathan Cheung-Wai Chan, Guang Yang, Miaomiao Wang, and Yongqiang Zhao
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lcsh:Applied optics. Photonics ,Computer science ,Feature extraction ,0211 other engineering and technologies ,Polarimetry ,Field of view ,02 engineering and technology ,Iterative reconstruction ,01 natural sciences ,Convolutional neural network ,010309 optics ,Reduction (complexity) ,Bio-inspired vision ,convolutional neural networks ,0103 physical sciences ,lcsh:QC350-467 ,Astrophysics::Solar and Stellar Astrophysics ,FOV expansion ,Computer vision ,multiband polarization imaging ,Electrical and Electronic Engineering ,021101 geological & geomatics engineering ,business.industry ,Deep learning ,Astrophysics::Instrumentation and Methods for Astrophysics ,lcsh:TA1501-1820 ,Spectral bands ,Atomic and Molecular Physics, and Optics ,Artificial intelligence ,business ,lcsh:Optics. Light - Abstract
Spectral and polarimetric contents of the light reflected from an object contain useful information on material type and surface characteristics of the object. Jointly exploiting spatial, spectral, and polarimetric information helps detect camouflage targets. Motivated by the vision mechanism of some known aquatic insects, we construct a bioinspired multiband polarimetric imaging system using a camera array, which simultaneously captures multiple images of different spectral bands and polarimetric angles. But the disparity between the fixed positions of each component camera leads to the loss of information in the boundary region and a reduction in the field of view (FOV). In order to overcome the limits, this paper presents a deep learning method for FOV expansion, incorporating the gradient prior of the image into a nine-dimensional convolutional neural network's framework to learn end-to-end mapping between the incomplete images and the FOV-expanded images. With FOV expansion, the proposed model recovers significant missing information. For the problem of insufficient training data, we construct the training dataset and propose the corresponding training methods to achieve good convergence of the network. We also provide some experimental results to validate its state-of-the-art performance of FOV expansion.
- Published
- 2018
15. Special reliability features for Hf-based high-/spl kappa/ gate dielectrics
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L.Y. Song, W. He, Miaomiao Wang, H.M. Bu, Philip J. Tobin, X. W. Wang, Tso-Ping Ma, and Hsing-Huang Tseng
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Materials science ,Inelastic electron tunneling spectroscopy ,business.industry ,Electrical engineering ,Context (language use) ,Time-dependent gate oxide breakdown ,Dielectric ,Electronic, Optical and Magnetic Materials ,Threshold voltage ,Reliability (semiconductor) ,MOSFET ,Optoelectronics ,Electrical and Electronic Engineering ,Safety, Risk, Reliability and Quality ,business ,Quantum tunnelling - Abstract
Several special reliability features for Hf-based high-/spl kappa/ gate dielectrics are highlighted, including: 1) trapping-induced threshold voltage (V/sub th/) shift is much more of a concern than TDDB in determining the operating lifetime; 2) n-channel MOSFETs (nMOSFETs) are more vulnerable than p-channel MOSFETs (pMOSFETs); and 3) MOSFETs with polySi gates are more vulnerable than those with metal gates. These will be discussed in the context of existing electron/hole traps and trap generation by high-field stress. A novel technique to probe traps in ultrathin gate dielectrics, inelastic electron tunneling spectroscopy (IETS), will be shown to be capable of revealing the energies and locations of traps in high-/spl kappa/ gate dielectrics.
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- 2005
16. Superior PBTI Reliability for SOI FinFET Technologies and Its Physical Understanding
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James H. Stathis, Barry Linder, Miaomiao Wang, J. Faltermeier, Hemanth Jagannathan, and Ramachandran Muralidhar
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Materials science ,Temperature instability ,MOSFET ,Electronic engineering ,Silicon on insulator ,Soi finfet ,Electrical and Electronic Engineering ,Operating voltage ,Scaling ,Vertical field ,Engineering physics ,Electronic, Optical and Magnetic Materials ,Voltage - Abstract
FinFETs provide a path for continued pitch and voltage scaling because of their excellent electrostatic short channel control. The key to design and optimization of FinFET technologies is to understand the differences of their reliability characteristics from those of planar devices. In this letter, we elucidate the differences in positive-bias temperature instability (PBTI) reliability between silicon-on-insulator nFinFETs and planar-bulk nFETs through experiments and TCAD modeling. We show that significantly improved PBTI for FinFET over planar-bulk at a given operating voltage arises from reduced vertical field. Furthermore, we show that the reduced field in FinFETs stems from less depletion charge in strong inversion associated with a fully depleted structure.
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- 2013
17. Copper Contact for 22 nm and Beyond: Device Performance and Reliability Evaluation
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Bruce B. Doris, Kangguo Cheng, D. Horak, Chih-Chao Yang, S. Fan, Lahir Shaik Adam, Soon-Cheon Seo, Frederic Monsieur, Jeffrey B. Johnson, Miaomiao Wang, and James H. Stathis
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Materials science ,business.industry ,Gate dielectric ,Electrical engineering ,Ring oscillator ,Electrical contacts ,Electronic, Optical and Magnetic Materials ,Reliability (semiconductor) ,Optoelectronics ,Field-effect transistor ,Electrical and Electronic Engineering ,business ,Metal gate ,High-κ dielectric ,Hot-carrier injection - Abstract
We demonstrate the device performance benefit of Cu contact over W contact using high-κ/metal gate CMOS devices. The ring oscillator (RO) device of Cu contact showed reduction in external resistance, which resulted in an increase in drive current by 5% for both nFET and pFET devices. The delay on the gate-cap-loaded RO improved by 5%-7% with Cu contact. We evaluated device reliability tests for gate dielectric breakdown, positive-bias temperature instability, negative-bias temperature instability, and hot carrier injection on 32- and 22-nm-node devices with Cu contact. The reliability results for the Cu contacts with the reliable barrier layer and good gap fill are comparable to those of W contacts.
- Published
- 2010
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