Fractional Control of a Lightweight Single Link Flexible Robot Robust to Strain Gauge Sensor Disturbances and Payload Changes

In this paper, a method to control one degree of freedom lightweight flexible manipulators is investigated. These robots have a single low-frequency and high amplitude vibration mode. They hold actuators with high friction, and sensors which are often strain gauges with offset and high-frequency noise. These problems reduce the motion’s performance and the precision of the robot tip positioning. Moreover, since the carried payload changes in the different tasks, that vibration frequency also changes producing underdamped or even unstable time responses of the closed-loop control system. The actuator friction effect is removed by using a robust two degrees of freedom PID control system which feeds back the actuator position. This is called the inner loop. After, an outer loop is closed that removes the link vibrations and is designed based on the combination of the singular perturbation theory and the input-state linearization technique. A new controller is proposed for this outer loop that: (1) removes the strain gauge offset effects, (2) reduces the risk of saturating the actuator due to the high-frequency noise of strain gauges and (3) achieves high robustness to a change in the payload mass. This last feature prompted us to use a fractional-order PD controller. A procedure for tuning this controller is also proposed. Simulated and experimental results are presented that show that its performance overcomes those of PD controllers, which are the controllers usually employed in the input-state linearization of second-order systems.

On the State Approach Representations of Convolutional Codes over Rings of Modular Integers

In this study, we prove the existence of minimal first-order representations for convolutional codes with the predictable degree property over principal ideal artinian rings. Further, we prove that any such first-order representation leads to an input/state/output representation of the code provided the base ring is local. When the base ring is a finite field, we recover the classical construction, studied in depth by J. Rosenthal and E. V. York. This allows us to construct observable convolutional codes over such rings in the same way as is carried out in classical convolutional coding theory. Furthermore, we prove the minimality of the obtained representations. This completes the study of the existence of input/state/output representations of convolutional codes over rings of modular integers.

Variational quantum algorithms for trace distance and fidelity estimation

Estimating the difference between quantum data is crucial in quantum computing. However, as typical characterizations of quantum data similarity, the trace distance and quantum fidelity are believed to be exponentiallyhard to evaluate in general. In this work, we introduce hybrid quantum-classical algorithms for these two distance measures on near-term quantum devices where no assumption of input state is required. First, we introduce the Variational Trace Distance Estimation (VTDE) algorithm. We in particular provide the technique to extract the desired spectrum information of any Hermitian matrix by local measurement. A novel variational algorithm for trace distance estimation is then derived from this technique, with the assistance of a single ancillary qubit. Notably, VTDE could avoid the barren plateau issue with logarithmic depth circuits due to a local cost function. Second, we introduce the Variational Fidelity Estimation (VFE) algorithm. We combine Uhlmann’s theorem and the freedom in purification to translate the estimation task into an optimization problem over a unitary on an ancillary system with fixed purified inputs. We then provide a purification subroutine to complete the translation. Both algorithms are verified by numerical simulations and experimental implementations, exhibiting high accuracy for randomly generated mixed states.

Excluding false negative error in certification of quantum channels

Certification of quantum channels is based on quantum hypothesis testing and involves also preparation of an input state and choosing the final measurement. This work primarily focuses on the scenario when the false negative error cannot occur, even if it leads to the growth of the probability of false positive error. We establish a condition when it is possible to exclude false negative error after a finite number of queries to the quantum channel in parallel, and we provide an upper bound on the number of queries. On top of that, we found a class of channels which allow for excluding false negative error after a finite number of queries in parallel, but cannot be distinguished unambiguously. Moreover, it will be proved that parallel certification scheme is always sufficient, however the number of steps may be decreased by the use of adaptive scheme. Finally, we consider examples of certification of various classes of quantum channels and measurements.

State-Burst Feedback Control for Fault Recovery of Input/State Asynchronous Sequential Machines

Static corrective controllers are more efficient than dynamic ones since they consist of only logic elements, whereas their existence conditions are more restrictive. In this paper, we present a static corrective control scheme for fault diagnosis and fault tolerant control of input/state asynchronous sequential machines (ASMs) vulnerable to transient faults. The design flexibility of static controllers is enlarged by virtue of using a diagnoser and state bursts. Necessary and sufficient conditions for the existence of a diagnoser and static fault tolerant controller are presented, and the process of controller synthesis is addressed based on the derived condition. Illustrative examples on practical ASMs are provided to show the applicability of the proposed scheme.

Faster Coherent Quantum Algorithms for Phase, Energy, and Amplitude Estimation

We consider performing phase estimation under the following conditions: we are given only one copy of the input state, the input state does not have to be an eigenstate of the unitary, and the state must not be measured. Most quantum estimation algorithms make assumptions that make them unsuitable for this 'coherent' setting, leaving only the textbook approach. We present novel algorithms for phase, energy, and amplitude estimation that are both conceptually and computationally simpler than the textbook method, featuring both a smaller query complexity and ancilla footprint. They do not require a quantum Fourier transform, and they do not require a quantum sorting network to compute the median of several estimates. Instead, they use block-encoding techniques to compute the estimate one bit at a time, performing all amplification via singular value transformation. These improved subroutines accelerate the performance of quantum Metropolis sampling and quantum Bayesian inference.