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2019 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Ko Ayusawa Wael Suleiman Eiichi Yoshida CNRS-AIST JRL (Joint Robotics Laboratory) UMI13218/RL Intelligent Systems Research Institute National Institute of Advanced Industrial Science and Technology (IS-AIST) Japan Electrical and Computer Engineering Department Faculty of Engineering University of Sherbrooke Canada

This paper presents an inverse kinematics (IK) method which can control future velocities and accelerations for multi-body systems. The proposed IK method is formulated as a quadratic programing (QP) that optimizes future joint trajectories. The features of the proposed IK are: (1) the evaluation of accelerations at future time instances, (2) the trajectory representation that can implicitly integrate the time integral formula into QP, (3) the computation of future Jacobian matrices based on the comprehensive theory of differential kinematics proposed in our previous work. Those features enable a stable and fast IK computation while evaluating the future accelerations. We also conducted thorough numerical studies to show the efficiency of the proposed method.

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Evaluation of carbon based interconnects for digital signalling in printed flexible electronics on sustainable substrates

IEEE Journal on Flexible Electronics

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IEEE Journal on Flexible Electronics 2025年

作者： Wang, Zixin Saleh, Mahdi Alwattar, Aula Alfredsson, Maria Horne, Robert J. Ang, Chee S. Condell, Joan Flowers, Emily Matcham, Faith Robinson, Tony Rooksby, John Saha, Sian Rose, Louise Batchelor, John C. Casson, Alexander J. Henry Royce Institute for Advanced Materials Manchester United Kingdom The University of Manchester School of Engineering Department of Electrical and Electronic Engineering Manchester United Kingdom The University of Manchester School of Natural Sciences Department of Chemistry Manchester United Kingdom University of Kent School of Chemistry and Forensic Science Canterbury United Kingdom University of Kent School of Engineering Canterbury United Kingdom University of Kent School of Computing Canterbury United Kingdom Ulster University School of Computing Engineering and Intelligent Systems Derry United Kingdom King’s College London Division of Digital Health and Applied Technology Assessment London United Kingdom University of Sussex School of Psychology Falmer United Kingdom Northumbria University Department of Computer and Information Sciences Newcastle upon Tyne United Kingdom

Printed electronics using flexible substrates are an emerging area, allowing next-generation electronics to conform and flex with different surfaces, from human skin to clothing. In the hybrid integration, or sea-of-rigids, approach, conventional microchips are mounted onto (generally) plastic substrates such as polyethylene naphthalate (PEN), with (typically) printed silver tracks for interconnections between components. An ongoing research direction is to replace plastic substrates with biodegradable substrates and to replace silver tracks with non-heavy metal-based tracks. While the substrates and tracks form only part of an overall system, replacing them is a step towards increased sustainability and helps to meet net-zero goals for printed electronic systems. Previously, several papers have investigated printed carbon tracks for low-frequency analog sensing applications. This paper explores the feasibility of using printed carbon tracks on biodegradable substrates for high-frequency applications such as digital signaling over a Serial-Peripheral Interface (SPI). We investigate the printability, thermal stability, and electrical conductivity of carbon ink screen-printed onto six commercially available sustainable and flexible substrates. Our results demonstrate that multi-layer screen printing substantially reduced the electrical resistance of carbon tracks, enabling SPI communication at frequencies up to 16 MHz with three layers of carbon ink. A Natureflex™ substrate provided the best balance of printability, thermal stability, and electrical performance. Substrates such as greaseproof paper and ClearFilm PU showed potential for flexible electronics, but require further optimization. This study provides valuable insights into selecting and optimizing biodegradable substrates for high-frequency digital systems, supporting the move towards more sustainable printed electronics. © 2022 IEEE.

关键词： Variable frequency oscillators

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Rethinking loss design for large-scale 3D shape retrieval

arXiv

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arXiv 2019年

作者： Li, Zhaoqun Xu, Cheng Leng, Biao School of Computer Science and Engineering Beihang University Beijing100191 Beijing Advanced Innovation Center for Big Data and Brain Computing Beihang University Beijing100191 State Key Laboratory of Virtual Reality Technology and Systems Beihang University Beijing100191

Learning discriminative shape representations is a crucial issue for large-scale 3D shape retrieval. In this paper, we propose the Collaborative Inner Product Loss (CIP Loss) to obtain ideal shape embedding that discriminative among different categories and clustered within the same class. Utilizing simple inner product operation, CIP loss explicitly enforces the features of the same class to be clustered in a linear subspace, while inter-class subspaces are constrained to be at least orthogonal. Compared to previous metric loss functions, CIP loss could provide more clear geometric interpretation for the embedding than Euclidean margin, and is easy to implement without normalization operation referring to cosine margin. Moreover, our proposed loss term can combine with other commonly used loss functions and can be easily plugged into existing off-the-shelf architectures. Extensive experiments conducted on the two public 3D object retrieval datasets, ModelNet and ShapeNetCore 55, demonstrate the effectiveness of our proposal, and our method has achieved state-of-the-art results on both datasets. Copyright © 2019, The Authors. All rights reserved.

关键词： Embeddings

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Distributed Optimization in DC Microgrids with Subsystem Dynamics

Distributed Optimization in DC Microgrids with Subsystem Dyn...

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International Conference on systems and Control (ICSC)

作者： Eyad Sindi Le Yi Wang Michael Polis George Yin Lei Ding Department of Electrical and Computer Engineering Wayne State University Detroit Department of Industrial and Systems Engineering Oakland University Rochester Department of Mathematics Wayne State University Detroit Institute of Advanced Technology Nanjing University of Posts and Telecommunications Nanjing Jiangsu China

Optimal control strategies are studied for DC microgrid management. The optimization strategies intend to achieve the desired tradeoff for fair load allocation, loss reduction, and quality enhancement of voltage. Continuing our previous work on distributed optimization algorithms for such problems, this paper considers DC microgrids with subsystem dynamics. Inclusion of subsystem dynamics accommodates many real systems such as converter dynamics, impacts performance significantly, and complicates system analysis. Expanded system dynamics are derived, stability and convergence analysis are carried out, and main properties are established. Case studies are performed to demonstrate our methods and their performance.

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The haptic paradigm in education: Challenges and case studies

arXiv

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arXiv 2018年

作者： Hamza-Lup, Felix G. Stanescu, Ioana A. Computer Science Armstrong Atlantic State University Research & Development Advanced Technology Systems Romania

The process of learning involves interaction with the learning environment through our five senses (sight, hearing, touch, smell, and taste). Until recently, distance education focused only on the first two of those senses, visual and auditory. Internet-based learning environments are predominantly based on visual with auditory components. With the advent of haptic technology we can now simulate/generate forces and, as a result, the sense of touch. The gaming industry has pushed the "touch" on the "wire," allowing complex multimodal interactions online. In this article we provide a brief overview of the haptic technology evolution, potential for education, and existing challenges. We review recent data on the 21st century students’ behaviors, and share our experiences in designing interactive haptic environments for education. From the "Community of Inquiry" framework perspective, we discuss the potential impact of haptic feedback on cognitive and social presence. Copyright © 2018, The Authors. All rights reserved.

关键词： Audition

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Deep Multi-Model Fusion for Single-Image Dehazing

Deep Multi-Model Fusion for Single-Image Dehazing

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International Conference on computer Vision (ICCV)

作者： Zijun Deng Lei Zhu Xiaowei Hu Chi-Wing Fu Xuemiao Xu Qing Zhang Jing Qin Pheng-Ann Heng South China University of Technology Guangdong Provincial Key Laboratory of Computer Vision and Virtual Reality Technology Shenzhen Institutes of Advanced Technology CAS The Chinese University of Hong Kong State Key Laboratory of Subtropical Building Science Guangdong Provincial Key Lab of Computational Intelligence and Cyberspace Information Sun Yat-sen University The Hong Kong Polytechnic University CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology CAS

ISBN: (数字)9781728148038

ISBN: (纸本)9781728148045

This paper presents a deep multi-model fusion network to attentively integrate multiple models to separate layers and boost the performance in single-image dehazing. To do so, we first formulate the attentional feature integration module to maximize the integration of the convolutional neural network (CNN) features at different CNN layers and generate the attentional multi-level integrated features (AMLIF). Then, from the AMLIF, we further predict a haze-free result for an atmospheric scattering model, as well as for four haze-layer separation models, and then fuse the results together to produce the final haze-free image. To evaluate the effectiveness of our method, we compare our network with several state-of-the-art methods on two widely-used dehazing benchmark datasets, as well as on two sets of real-world hazy images. Experimental results demonstrate clear quantitative and qualitative improvements of our method over the state-of-the-arts.

关键词： Atmospheric modeling Predictive models Scattering Computational modeling Neural networks computer vision Solid modeling

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Practical security of continuous-variable quantum key distribution with reduced optical attenuation

引用

Physical Review A 2019年第1期100卷 012313-012313页

作者： Yi Zheng Peng Huang Anqi Huang Jinye Peng Guihua Zeng College of Information Science and Technology Northwest University Xi'an 710127 Shaanxi China State Key Laboratory of Advanced Optical Communication Systems and Networks and Center of Quantum Information Sensing and Processing Shanghai Jiao Tong University Shanghai 200240 China Institute for Quantum Information & State Key Laboratory of High Performance Computing College of Computer National University of Defense Technology Changsha 410073 China Greatwall Quantum Laboratory China Greatwall Technology Changsha 410205 China

In a practical continuous-variable quantum key distribution (CVQKD) system, the optical attenuator can adjust the Gaussian-modulated coherent states and the local oscillator signal to an optimal value for guaranteeing the security of the system and optimizing the performance of the system. However, the performance of the optical attenuator may deteriorate due to the intentional and unintentional damage of the device. In this paper, we investigate the practical security of a CVQKD system with reduced optical attenuation. We find that the secret key rate of the system may be overestimated based on the investigation of parameter estimation under the effects of reduced optical attenuation. This opens a security loophole for Eve to successfully perform an intercept-resend attack in a practical CVQKD system. To close this loophole, we add an optical fuse at Alice's output port and design a scheme to monitor the level of optical attenuation in real time, which can make the secret key rate of the system evaluated precisely. The analysis shows that these countermeasures can effectively resist this potential attack.

关键词： Quantum communication Quantum cryptography Quantum information processing with continuous variables

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Low-velocity-favored transition radiation

arXiv

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arXiv 2022年

作者： Chen, Jialin Chen, Ruoxi Gong, Zheng Hu, Hao Yang, Yi Zhang, Xinyan Wang, Chan Kaminer, Ido Chen, Hongsheng Zhang, Baile Lin, Xiao Interdisciplinary Center for Quantum Information State Key Laboratory of Extreme Photonics and Instrumentation ZJUHangzhou Global Scientific and Technological Innovation Center College of Information Science & Electronic Engineering Zhejiang University Hangzhou310027 China International Joint Innovation Center The Electromagnetics Academy Zhejiang University Zhejiang University Haining314400 China Department of Electrical and Computer Engineering Technion-Israel Institute of Technology Haifa32000 Israel School of Electrical and Electronic Engineering Nanyang Technological University Singapore639798 Singapore Department of Physics University of Hong Kong 999077 Hong Kong Key Lab of Advanced Micro/Nano Electronic Devices & Smart Systems of Zhejiang Jinhua Institute of Zhejiang University Zhejiang University Jinhua321099 China Shaoxing Institute of Zhejiang University Zhejiang University Shaoxing312000 China Division of Physics and Applied Physics School of Physical and Mathematical Sciences Nanyang Technological University Singapore637371 Singapore Centre for Disruptive Photonic Technologies Nanyang Technological University Singapore637371 Singapore

When a charged particle penetrates through an optical interface, photon emissions emerge — a phenomenon known as transition radiation. Being paramount to fundamental physics, transition radiation has enabled many applications from high-energy particle identification to novel light sources. A rule of thumb in transition radiation is that the radiation intensity generally decreases with the particle velocity v;as a result, low-energy particles are not favored in practice. Here we find that there exist situations where transition radiation from particles with extremely low velocities (e.g. v/c −3) exhibits comparable intensity as that from high-energy particles (e.g. v/c = 0. 999), where c is light speed in free space. The comparable radiation intensity implies an extremely high photon extraction efficiency from low-energy particles, up to eight orders of magnitude larger than that from high-energy particles. This exotic phenomenon of low-velocity-favored transition radiation originates from the excitation of Ferrell-Berreman modes in epsilon-near-zero materials. Our findings may provide a promising route towards the design of integrated light sources based on low-energy electrons and specialized detectors for beyond-standard-model particles. © 2022, CC BY.

关键词： Light sources

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Design of Gesture Recognition System Based on Multi-Channel Myoelectricity Correlation

Design of Gesture Recognition System Based on Multi-Channel ...

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2019 IEEE Global Communications Conference (GLOBECOM)

作者： Di Wu Huiyong Li Xuefeng Liu Jianwei Niu State Key Laboratory of Virtual Reality Technology and Systems School of Computer Science and Engineering Beihang University Beijing China Beijing Advanced Innovation Center for Big Data and Brain Computing (BDBC) Beihang University Hangzhou Innovation Research Institute Beihang University

ISBN: (数字)9781728109626

ISBN: (纸本)9781728109633

Gesture recognition systems based on myoelectric signal have raised more and more attention from researchers. Traditional gesture recognition methods are susceptible to multiple types of noise and require a large number of features, which increase overhead and decrease recognition efficiency. Fully utilizing the characteristics of the signal to recognize gestures is a big challenge. This paper proposes an improved empirical mode decomposition method (XB-EMD) based on autocorrelation function to denoise myoelectric signal. In addition, a novel deep neural network (CRNet) which combines the CNN and RNN layers together is trained for classifying the gestures based on denoised myoelectric signal. Experimental results show that the proposed gesture recognition system can improve recognition effectiveness at 97.4\% with 10 typical gestures, and 72.55\% with 16 complicated gestures.

关键词： Correlation Gesture recognition Feature extraction Empirical mode decomposition Recurrent neural networks Sensors

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Backscatter-assisted Hybrid Relaying Strategy for Wireless Powered IoT Communications

Backscatter-assisted Hybrid Relaying Strategy for Wireless P...

引用

IEEE Global Communications Conference

作者： Yutong Xie Zhengzhuo Xu Shimin Gong Jing Xu Dinh Thai Hoang Dusit Niyato School of Intelligent Systems Engineering Sun Yat-sen University China Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences China School of Electronic Information and Communications Huazhong University of Science and Technology China School of Electrical and Data Engineering University of Technology Sydney Australia School of Computer Science and Engineering Nanyang Technological University Singapore

ISBN: (数字)9781728109626

ISBN: (纸本)9781728109633

In this work, we consider multiple energy harvesting relays to assist information transmission from a hybrid access point (HAP) to a distant receiver. The multi-antenna HAP also beamforms RF power to the relays by using a power-splitting protocol. We aim to maximize the throughput by jointly optimizing the HAP's beamforming strategy as well as individual relays' energy harvesting and collaborative beamforming strategies. With dense user devices, the throughput maximization takes account of the direct links from the HAP to the receiver as they are short and contribute considerably to the overall throughput. Moreover, we introduce the concept of hybrid relaying communications which allows the energy harvesting relays to switch between two radio modes. In particular, the relays can operate either in RF communications or backscatter communications, depending on their channel conditions and energy status. This results in a non-convex and combinatorial throughput maximization problem. With the fixed relay mode, we can find a feasible lower performance bound via convex approximation, which further motivates our algorithm design to update the relay mode in an iterative manner. Simulation results verify that the proposed hybrid relaying strategy can achieve significant performance improvement compared to the conventional relaying strategy with all relays operating in the RF communications mode.

关键词： Relays Receivers Array signal processing Throughput Backscatter Radio frequency Protocols

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