Search

We present the sense of effort through vibration to help the video viewer understand how the person in the video moves the body. We suppose sense of effort is related to force, so we generate vibration based on force and present the sense of effort through the vibration. We use perceived intensity to make sense of effort proportional to vibration. In our demonstration, you can experience vibration while watching a video. We can create vibration on the spot, so you can experience vibration made from a video taken on the spot., Comment: Part of proceedings of 6th International Conference AsiaHaptics 2024

LiDAR-Inertial Odometry (LIO) is typically implemented using an optimization-based approach, with the factor graph often being employed due to its capability to seamlessly integrate residuals from both LiDAR and IMU measurements. Conversely, a recent study has demonstrated that accurate LIO can also be achieved using a loosely-coupled method. Inspired by this advancements, we present a LIO method that leverages the recursive Bayes filter, solved via the Extended Kalman Filter (EKF) - herein referred to as KLIO. Within KLIO, prior and likelihood distributions are computed using IMU preintegration and scan matching between LiDAR and local map point clouds, and the pose, velocity, and IMU biases are updated through the EKF process. Through experiments with the Newer College dataset, we demonstrate that KLIO achieves precise trajectory tracking and mapping. Its accuracy is comparable to that of the state-of-the-art methods in both tightly- and loosely-coupled methods.

This paper presents a reactive navigation method that leverages a Model Predictive Path Integral (MPPI) control enhanced with spline interpolation for the control input sequence and Stein Variational Gradient Descent (SVGD). The MPPI framework addresses a nonlinear optimization problem by determining an optimal sequence of control inputs through a sampling-based approach. The efficacy of MPPI is significantly influenced by the sampling noise. To rapidly identify routes that circumvent large and/or newly detected obstacles, it is essential to employ high levels of sampling noise. However, such high noise levels result in jerky control input sequences, leading to non-smooth trajectories. To mitigate this issue, we propose the integration of spline interpolation within the MPPI process, enabling the generation of smooth control input sequences despite the utilization of substantial sampling noises. Nonetheless, the standard MPPI algorithm struggles in scenarios featuring multiple optimal or near-optimal solutions, such as environments with several viable obstacle avoidance paths, due to its assumption that the distribution over an optimal control input sequence can be closely approximated by a Gaussian distribution. To address this limitation, we extend our method by incorporating SVGD into the MPPI framework with spline interpolation. SVGD, rooted in the optimal transportation algorithm, possesses the unique ability to cluster samples around an optimal solution. Consequently, our approach facilitates robust reactive navigation by swiftly identifying obstacle avoidance paths while maintaining the smoothness of the control input sequences. The efficacy of our proposed method is validated on simulations with a quadrotor, demonstrating superior performance over existing baseline techniques.

This paper presents a novel Stochastic Optimal Control (SOC) method based on Model Predictive Path Integral control (MPPI), named Stein Variational Guided MPPI (SVG-MPPI), designed to handle rapidly shifting multimodal optimal action distributions. While MPPI can find a Gaussian-approximated optimal action distribution in closed form, i.e., without iterative solution updates, it struggles with the multimodality of the optimal distributions. This is due to the less representative nature of the Gaussian. To overcome this limitation, our method aims to identify a target mode of the optimal distribution and guide the solution to converge to fit it. In the proposed method, the target mode is roughly estimated using a modified Stein Variational Gradient Descent (SVGD) method and embedded into the MPPI algorithm to find a closed-form "mode-seeking" solution that covers only the target mode, thus preserving the fast convergence property of MPPI. Our simulation and real-world experimental results demonstrate that SVG-MPPI outperforms both the original MPPI and other state-of-the-art sampling-based SOC algorithms in terms of path-tracking and obstacle-avoidance capabilities. Source code: https://github.com/kohonda/proj-svg_mppi, Comment: 7 pages, 5 figures

We analyzed the X-ray photoemission spectra (XPS) of carbon 1s states in graphene and oxygen-intercalated graphene grown on SiC(0001) using Bayesian spectroscopy. To realize highly accurate spectral decomposition of the XPS spectra, we proposed a framework for discovering physical constraints from the absence of prior quantified physical knowledge, in which we designed the prior probabilities based on the found constraints and the physically required conditions. This suppresses the exchange of peak components during replica exchange Monte Carlo iterations and makes possible to decompose XPS in the case where a reliable structure model or a presumable number of components is not known. As a result, we have successfully decomposed XPS of one monolayer (1ML), two monolayers (2ML), and quasi-freestanding 2ML (qfs-2ML) graphene samples deposited on SiC substrates with the meV order precision of the binding energy, in which the posterior probability distributions of the binding energies were obtained distinguishably between the different components of buffer layer even though they are observed as hump and shoulder structures because of their overlapping.

We estimate the spatial distribution of heterogeneous physical parameters involved in the formation of magnetic domain patterns of polycrystalline thin films by using convolutional neural networks. We propose a method to obtain a spatial map of physical parameters by estimating the parameters from patterns within a small subregion window of the full magnetic domain and subsequently shifting this window. To enhance the accuracy of parameter estimation in such subregions, we employ large-scale models utilized for natural image classification and exploit the benefits of pretraining. Using a model with high estimation accuracy on these subregions, we conduct inference on simulation data featuring spatially varying parameters and demonstrate the capability to detect such parameter variations., Comment: 32 pages, 14 figures

This paper presents an efficient solution to 3D-LiDAR-based Monte Carlo localization (MCL). MCL robustly works if particles are exactly sampled around the ground truth. An inertial navigation system (INS) can be used for accurate sampling, but many particles are still needed to be used for solving the 3D localization problem even if INS is available. In particular, huge number of particles are necessary if INS is not available and it makes infeasible to perform 3D MCL in terms of the computational cost. Scan matching (SM), that is optimization-based localization, efficiently works even though INS is not available because SM can ignore movement constraints of a robot and/or device in its optimization process. However, SM sometimes determines an infeasible estimate against movement. We consider that MCL and SM have complemental advantages and disadvantages and propose a fusion method of MCL and SM. Because SM is considered as optimization of a measurement model in terms of the probabilistic modeling, we perform measurement model optimization as SM. The optimization result is then used to approximate the measurement model distribution and the approximated distribution is used to sample particles. The sampled particles are fused with MCL via importance sampling. As a result, the advantages of MCL and SM can be simultaneously utilized while mitigating their disadvantages. Experiments are conducted on the KITTI dataset and other two open datasets. Results show that the presented method can be run on a single CPU thread and accurately perform localization even if INS is not available., Comment: 8 pages, 4 figures

SuperKEKB is the e-/e+ collider which targets the world highest luminosity. In recent operation, SuperKEKB achieved a new world record of $4.71\times 10^{34} cm^{-2}s^{-1}$ for luminosity with the beam current of 1.4 A. In the future, the beam current will be increased further to aim at the design value of 3.6 A and much higher luminosity. The RF system consists of 38 cavities (30 klystron stations), which share the huge beam loading brought by high current beam with each other cavities. For beam stability and power efficiency, it is important to distribute the beam loading properly among RF cavities. It is equivalent to adjust the acceleration phase of each cavity. However, it is difficult to evaluate the acceleration phase using only the pickup signal. Therefore, we established a method to evaluate the beam loading balance among RF stations from the RF power measurement for each cavity, and to adjust the acceleration phase. This report introduces the method for evaluating and optimizing the beam loading (acceleration phase) among stations in SuperKEKB, which has a large number of RF stations, and its operation., Comment: Talk presented at LLRF Workshop 2022 (LLRF2022, arXiv:2208.13680)

This paper presents a simultaneous localization and map-assisted environment recognition (SLAMER) method. Mobile robots usually have an environment map and environment information can be assigned to the map. Important information for mobile robots such as no entry zone can be predicted if localization has succeeded since relative pose of them can be known. However, this prediction is failed when localization does not work. Uncertainty of pose estimate must be considered for robustly using the map information. In addition, robots have external sensors and environment information can be recognized using the sensors. This on-line recognition of course contains uncertainty; however, it has to be fused with the map information for robust environment recognition since the map also contains uncertainty owing to over time. SLAMER can simultaneously cope with these uncertainties and achieves accurate localization and environment recognition. In this paper, we demonstrate LiDAR-based implementation of SLAMER in two cases. In the first case, we use the SemanticKITTI dataset and show that SLAMER achieves accurate estimate more than traditional methods. In the second case, we use an indoor mobile robot and show that unmeasurable environmental objects such as open doors and no entry lines can be recognized.

Reliability is a key factor for realizing safety guarantee of full autonomous robot systems. In this paper, we focus on reliability in mobile robot localization. Monte Carlo localization (MCL) is widely used for mobile robot localization. However, it is still difficult to guarantee its safety because there are no methods determining reliability for MCL estimate. This paper presents a novel localization framework that enables robust localization, reliability estimation, and quick re-localization, simultaneously. The presented method can be implemented using similar estimation manner to that of MCL. The method can increase localization robustness to environment changes by estimating known and unknown obstacles while performing localization; however, localization failure of course occurs by unanticipated errors. The method also includes a reliability estimation function that enables us to know whether localization has failed. Additionally, the method can seamlessly integrate a global localization method via importance sampling. Consequently, quick re-localization from failures can be realized while mitigating noisy influence of global localization. Through three types of experiments, we show that reliable MCL that performs robust localization, self-failure detection, and quick failure recovery can be realized.

The performance of permanent magnets YCo$_5$ can be improved by replacing cobalt with other elements, such as iron, copper, and nickel. In order to determine its optimum composition, it is necessary to perform systematic theoretical calculations in a consistent framework. In this study, we calculated the magnetocrystalline anisotropy constant $K_{\rm u}$ of Y(Co$_{1-x-y}$Fe$_{x}$Cu$_{y}$)$_3$(Co$_{1-z}$Ni$_{z}$)$_2$ on the basis of the full-potential Korringa-Kohn-Rostoker Green's function method in conjunction with the coherent potential approximation. The calculated $K_{\rm u}$ of YCo$_5$ was smaller than the experimental value because of a missing enhancement due to orbital polarization. Although the value of $K_{\rm u}$ of Y(Co$_{1-x-y}$Fe$_{x}$Cu$_{y}$)$_3$(Co$_{1-z}$Ni$_{z}$)$_2$ was systematically underestimated compared to their experimental counterparts, the doping effect can be analyzed within a consistent framework. The results have shown that YFe$_3$Co$_2$ has much higher $K_{\rm u}=5.00$ MJ/m$^3$ than pristine YCo$_5$ ($K_{\rm u}=1.82$ MJ/m$^3$), and that nickel as a stabilization element decreases $K_{\rm u}$ and magnetization in YFe$_3$(Co$_{1-z}$Ni$_z$)$_2$. However, the anisotropy field of $z\sim0.5$ can compete with the value of YCo$_5$., Comment: 20 pages, 8 figures

In this paper, we propose a Bayesian spectral deconvolution considering the properties of peaks in different energy domains. Bayesian spectral deconvolution regresses spectral data into the sum of multiple basis functions. Conventional methods use a model that treats all peaks equally. However, in X-ray absorption near edge structure (XANES) spectra, the properties of the peaks differ depending on the energy domain, and the specific energy domain of XANES is essential in condensed matter physics. We propose a model that discriminates between the low- and high-energy domains. We also propose a prior distribution that reflects the physical properties. We compare the conventional and proposed models in terms of computational efficiency, estimation accuracy, and model evidence. We demonstrate that our method effectively estimates the number of transition components in the important energy domain, on which the material scientists focus for mapping the electronic transition analysis by first-principles simulation.