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arXiv 2024年

作者： Mellet, Julien Berra, Andrea Seisa, Achilleas Santi Sankaranarayanan, Viswa Gamage, Udayanga G.W.K.N. Soto, Miguel Ángel Trujillo Heredia, Guillermo Nikolakopoulos, George Lippiello, Vincenzo Ruggiero, Fabio PRISMA Lab Department of Electrical Engineering and Information Technology University of Naples Federico II Naples Italy CATEC Advanced Center for Aerospace Technologies Seville Spain Robotics and AI Team Department of Computer Electrical and Space Engineering LuleåUniversity of Technology Luleå Sweden Automation and Control Group Department of Electrical Engineering and Photonics Technical University of Denmark Denmark Robotics Vision and Control Group School of Engineering University of Seville Seville Spain

This paper introduces a novel compliant mechanism combining lightweight and energy dissipation for aerial physical interaction. Weighting 400 g at take-off, the mechanism is actuated in the forward body direction, enabling precise position control for force interaction and various other aerial manipulation tasks. The robotic arm, structured as a closed-loop kinematic chain, employs two deported servomotors. Each joint is actuated with a single tendon for active motion control in compression of the arm at the end-effector. Its elasto-mechanical design reduces weight and provides flexibility, allowing passive-compliant interactions without impacting the motors’ integrity. Notably, the arm’s damping can be adjusted based on the proposed inner frictional bulges. Experimental applications showcase the aerial system performance in both free-flight and physical interaction. The presented work may open safer applications for Micro Aerial Vehicle (MAV) in real environments subject to perturbations during interaction. © 2024, CC BY.

关键词： End effectors

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Multi-omics graph convolutional networks for digestive system tumour classification and early-late stage diagnosis

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CAAI Transactions on Intelligence Technology 2024年第6期9卷 1572-1586页

作者： Lin Zhou Zhengzhi Zhu Hongbo Gao Chunyu Wang Muhammad Attique Khan Mati Ullah Siffat Ullah Khan School of Information Science and Technology University of Science and Technology of ChinaHefeiAnhuiChina Anhui Engineering Research Center on Information Fusion and Control of Intelligent Robot WuhuAnhuiChina Department of Breast Center West District of The Affiliated Hospital of University of Science and Technology of ChinaDivision of Life Sciences and MedicineUniversity of Science and Technology of ChinaHefeiAnhuiChina Institute of Advanced Technology University of Science and Technology of ChinaHefeiAnhuiChina School of Electrical and Electronic Engineering Nanyang Technological UniversitySingaporeSingapore School of Biological and Environmental Engineering Chaohu UniversityChaohu Regional Collaborative Technology Service Center for Rural RevitalizationHefeiChina Department of Artificial Intelligence College of Computer Engineering and SciencePrince Mohammad Bin Fahd UniversityAl-KhobarSaudi Arabia School of Automation Northwestern Polytechnical UniversityXi'anShaanxiChina Institute of Engineering and Computing Science University of Science and Technology of BannuKPKBannuPakistan

The prevalence of digestive system tumours(DST)poses a significant challenge in the global crusade against *** neoplasms constitute 20%of all documented cancer diagnoses and contribute to 22.5%of cancer-related *** accurate diagnosis of DST is paramount for vigilant patient monitoring and the judicious selection of optimal *** this challenge,the authors introduce a novel methodology,denominated as the Multi-omics Graph Transformer Convolutional Network(MGTCN).This innovative approach aims to discern various DST tumour types and proficiently discern between early-late stage tumours,ensuring a high degree of *** MGTCN model incorporates the Graph Transformer Layer framework to meticulously transform the multi-omics adjacency matrix,thereby illuminating potential associations among diverse samples.A rigorous experimental evaluation was undertaken on the DST dataset from The Cancer Genome Atlas to scrutinise the efficacy of the MGTCN *** outcomes unequivocally underscore the efficiency and precision of MGTCN in diagnosing diverse DST tumour types and successfully discriminating between early-late stage DST *** source code for this groundbreaking study is readily accessible for download at https://***/bigone1/MGTCN.

关键词： digestive system tumors early-late stage multi-omics tumor types

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Robust control of Feeding Speed for Coal Mine Tunnel Drilling Machines 25

Robust Control of Feeding Speed for Coal Mine Tunnel Drillin...

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25th IEEE International Conference on Industrial Technology, ICIT 2024

作者： Liu, Xiao Chen, Luefeng Wu, Min Cao, Weihua Lu, Chengda Pedrycz, Witold School of Automation China University of Geosciences Wuhan China School of Automation The Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems The Engineering Research Center of Intelligent Technology for Geo-Exploration Wuhan430074 China University of Alberta Department of Electrical and Computer Engineering EdmontonABT6G 2R3 Canada Systems Research Institute Polish Academy of Sciences Warsaw00-901 Poland Istinye University Department of Computer Engineering Sariyer Istanbul34396 Turkey

Changes in coal seam hardness cause fluctuations in the feed resistance at the drill bit during the drilling process, leading to unstable feeding speed. This paper proposes a robust dynamic output feedback controller to suppress disturbances caused by the variations in coal seam hardness in the feed system. Firstly, an unknown parameter measuring coal seam hardness is introduced, and an uncertain model of the feeding system is established based on the finite element model of the drill string. By designing weighted functions based on industrial field requirements and constructing a generalized plant, the controller achieves loop shaping, reducing the low-frequency impact of coal seam hardness variations on the feed system and suppressing the systems resonance peak. Simulation results demonstrate that the controller effectively suppresses parameter variations and external disturbances caused by changes in coal seam hardness, achieving stable control of the drilling speed. © 2024 IEEE.

关键词： Robust control

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Ionic liquid multistate resistive switching characteristics in two terminal soft and flexible discrete channels for neuromorphic computing

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Microsystems & Nanoengineering 2022年第3期8卷 153-161页

作者： Muhammad Umair Khan Jungmin Kim Mahesh Y.Chougale Chaudhry Muhammad Furqan Qazi Muhammad Saqib Rayyan Ali Shaukat Nobuhiko P.Kobayashi Baker Mohammad Jinho Bae Hoi-Sing Kwok Department of Ocean System Engineering Jeju National University102 JejudaehakroJeju 63243Republic of Korea Department of Electrical Engineering and Computer Science Khalifa UniversityAbu Dhabi 127788UAE System on Chip Center Khalifa UniversityAbu Dhabi 127788UAE Department of Electronics and Computer Engineering The Hong Kong University of Science and TechnologyClear Water BayKowloonHong KongChina State Key Laboratory on Advanced Displays and Optoelectronics Technologies The Hong Kong University of Science and TechnologyClear Water BayKowloonHong KongChina Baskin School of Engineering Univerity of California Santa Cruz1156 High StreetSanta CruzCA 95064USA

By exploiting ion transport phenomena in a soft and flexible discrete channel,liquid material conductance can be controlled by using an electrical input signal,which results in analog neuromorphic *** paper proposes an ionic liquid(IL)multistate resistive switching device capable of mimicking synapse analog behavior by using IL BMIM FeCL_(4) and H_(2)O into the two ends of a discrete polydimethylsiloxane(PDMs)*** spike rate-dependent plasticity(SRDP)and spike-timing-dependent plasticity(STDP)behavior are highly stable by modulating the input ***,the discrete channel device presents highly durable performance under mechanical bending and *** the obtained parameters from the proposed ionic liquid-based synaptic device,convolutional neural network simulation runs to an image recognition task,reaching an accuracy of 84%.The bending test of a device opens a new gateway for the future of soft and flexible brain-inspired neuromorphic computing systems for various shaped artificial intelligence applications.

关键词： computing gateway state

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Maximizing Harvested Energy in Natural Energy Powered RF WPT with Nonlinear EH Model

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IEEE Transactions on Wireless Communications 2025年

作者： Zhang, Xiang Xiong, Ke Chen, Wei Fan, Pingyi Gao, Bo Letaief, Khaled Ben Collaborative Innovation Center of Railway Traffic Safety School of Computer Science and Technology Engineering Research Center of Network Management Technology for High Speed Railway Ministry of Education China Beijing Jiaotong University National Engineering Research Center of Advanced Network Technologies Beijing100044 China Department of Electronic Engineering China Tsinghua University Beijing National Research Center for Information Science and Technology Beijing100084 China Department of Electrical and Computer Engineering Hong Kong Hong Kong

In the typical radio frequency (RF)-based wireless power transfer (WPT) system, the wireless power station (WPS) connected to the grid transmits energy to charge low-power sensors via radio signals. Such a system may not be green and also difficult to deploy in some special areas including deserts and mountainous areas, because it depends on the grid. To achieve a green RF WPT system design, this paper considers that the WPS is powered by natural energy sources rather than the grid. To explore the maximal total amount of the energy that can be harvested by the sensors, we focus on the offline setting, so similar to many existing works on offline optimization, we assume that the WPS knows prior knowledge about energy arrivals and channel changes, and then formulate an optimization problem to maximize the total harvested energy via optimizing the WPS's time-domain transmit power subject to multiple constraints, including the finite battery capacity at the WPS, the causal relationship between the natural energy harvesting and the WPT, and the transmit power budget of the WPS, where for practicality, the nonlinear energy harvesting (EH) model is also taken into account. To solve this non-convex problem, we first equivalently transform it by using the epigraph reformulation and the variable substitution, and then use the first-order Taylor expansion to get an approximate convex version. Then, we present a successive convex approximation (SCA)-based algorithm to improve the accuracy of the obtained solution for approaching the optimal one. For the special case with a single sensor, we further propose a branch and bound (BB)-based algorithm that is able to get a more accurate solution with lower complexity than the SCA-based one. Numerical results demonstrate that the proposed algorithms are able to achieve the near-global optimal solution. As the average recharge rate increases, compared with the other two baselines, i.e., the greedy power (GP) policy and the constant pow

关键词： Budget control

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High-performance polarization management devices based on thin-film lithium niobate

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Light(Science & Applications) 2022年第5期11卷 868-876页

作者： Zhongjin Lin Yanmei Lin Hao Li Mengyue Xu Mingbo He Wei Ke Heyun Tan Ya Han Zhaohui Li Dawei Wang X.Steve Yao Songnian Fu Siyuan Yu Xinlun Cai State Key Laboratory of Optoelectronic Materials and Technologies School of Electronics and Information TechnologySun Yat-sen University510275 GuangzhouChina Department of Electrical and Computer Engineering The University of British ColumbiaVancouverBC V6T 1Z4Canada Photonics Information Innovation Center and Hebei Provincial Center for Optical Sensing Innovations College of Physics Science and TechnologyHebei University071002 BaodingChina Institute of Advanced Photonics Technology School of Information EngineeringGuangdong University of Technology510006 GuangzhouChina

High-speed polarization management is highly desirable for many applications,such as remote sensing,telecommunication,and medical ***,most of the approaches for polarization management rely on bulky optical components that are slow to respond,cumbersome to use,and sometimes with high drive ***,we overcome these limitations by harnessing photonic integrated circuits based on thin-film lithium niobate *** successfully realize a portfolio of thin-film lithium niobate devices for essential polarization management functionalities,including arbitrary polarization generation,fast polarization measurement,polarization scrambling,and automatic polarization *** present devices feature ultra-fast control speeds,low drive voltages,low optical losses and compact *** these devices,we achieve high fidelity polarization generation with a polarization extinction ratio up to 41.9 dB and fast polarization scrambling with a scrambling rate up to 65 Mrad s−1,both of which are best results in integrated *** also demonstrate the endless polarization state tracking operation in our *** demonstrated devices unlock a drastically new level of performance and scales in polarization management devices,leading to a paradigm shift in polarization management.

关键词： polarization lithium film

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NM-LUD: A NLOS Mitigation Method with Low-cost UWB Devices for Indoor Positioning 8

NM-LUD: A NLOS Mitigation Method with Low-cost UWB Devices f...

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8th International Conference on computer and Communication Systems, ICCCS 2023

作者： Wu, Tong Li, Han Gao, Bo Xiong, Ke Fan, Pingyi Ben Letaief, Khaled Eng. Res. Center of Network Management Technology for High Speed Railway of Ministry of Education School of Computer and Information Technology Beijing Jiaotong University Beijing100044 China Beijing Jiaotong University Collaborative Innovation Center of Railway Traffic Safety Beijing100044 China Beijing Jiaotong University National Engineering Research Center of Advanced Network Technologies Beijing100044 China Tsinghua University Department of Electronic Engineering Beijing100084 China Hong Kong University of Science and Technology Department of Electrical and Computer Engineering Hong Kong Hong Kong

ISBN: (纸本)9781665456128

Ultra-wideband (UWB) is a popular technology for indoor positioning. However, non-line-of-sight (NLOS) propagation caused by human occlusion dramatically affects the accuracy of UWB-based indoor positioning. Most of the existing works focused on mitigating NLOS errors in the scenarios with building structure occlusion, but the NLOS mitigation under human occlusion has not been well addressed. To this end, this paper aims to mitigate the NLOS impact of human occlusion, and then proposes a method of NLOS mitigation to reduce NLOS ranging errors under human occlusion with low-cost UWB devices (i.e., NM-LUD). It takes a set of signal features extracted from low-cost devices as input, calculates their weights and mitigates the ranging error based on the features' weights. Experiment results on the two data sets collected by LinkTrack S and UML1 UWB devices show that the method reduces ranging error from 0.9009 m to 0.1435 m (about by 84.07%) and from 0.7466 m to 0.0792 m (about by 89.39%) respectively, which greatly mitigates the influence of NLOS caused by human occlusion. © 2023 IEEE.

关键词： Costs

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A Graph-Based Self-Calibration Technique for Cable-Driven Robots with Sagging Cable

A Graph-Based Self-Calibration Technique for Cable-Driven Ro...

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

作者： M. R. Dindarloo A. S. Mirjalili S. A. Khalilpour R. Khorrambakht Stephan Weiss H. D. Taghirad Advanced Robotics and Automated Systems (ARAS) Faculty of Electrical Engineering K. N. Toosi University of Technology Tehran Iran Department of Electrical and Computer Engineering Tandon School of Engineering Control/Robotics Research Laboratory New York University Brooklyn NY Department of Smart Systems Technologies University of Klagenfurt Austria

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

The efficient operation of large-scale Cable-Driven Parallel Robots (CDPRs) relies on precise calibration of kinematic parameters and the simplicity of the calibration process. This paper presents a graph-based self-calibration framework that explicitly addresses cable sag effects and facilitates the calibration procedure for large-scale CDPRs by only relying on internal sensors. A unified factor graph is proposed, incorporating a catenary cable model to capture cable sagging. The factor graph iteratively refines kinematic parameters, including anchor point locations and initial cable length, by considering jointly onboard sensor data and the robot’s kineto-static model. The applicability and accuracy of the proposed technique are demonstrated through Finite Element (FE) simulations, on both large and small-scale CDPRs subjected to significant initialization perturbations.

关键词： Meters Accuracy Perturbation methods Kinematics Robot sensing systems End effectors Software Calibration Sensors Finite element analysis

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Virtually coupled train set control subject to space-time separation:A distributed economic MPC approach with emergency braking configuration

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High-Speed Railway 2024年第3期2卷 143-152页

作者： Xiaolin Luo Tao Tang Le Wang Hongjie Liu State Key Laboratory of Advanced Rail Autonomous Operation Beijing Jiaotong UniversityBeijing 100044China Department of Electrical and Computer Engineering University of CaliforniaRiversideCA 92521USA Beijing Zongheng Electro-Mechanical Technology Development Co. Ltd.Beijing 100081China School of Automation and Intelligence Beijing Jiaotong UniversityBeijing 100044China National Engineering Research Center of Rail Transportation Operation and Control System Beijing Jiaotong UniversityBeijing 100044China

The emerging virtual coupling technology aims to operate multiple train units in a Virtually Coupled Train Set(VCTS)at a minimal but safe *** guarantee collision avoidance,the safety distance should be calculated using the state-of-the-art space-time separation principle that separates the Emergency Braking(EB)trajectories of two successive units during the whole EB *** this case,the minimal safety distance is usually numerically calculated without an analytic ***,the constrained VCTS control problem is hard to address with space-time separation,which is still a gap in the existing *** solve this problem,we propose a Distributed Economic Model Predictive control(DEMPC)approach with computation efficiency and theoretical ***,to alleviate the computation burden,we transform implicit safety constraints into explicitly linear ones,such that the optimal control problem in DEMPC is a quadratic programming problem that can be solved *** theoretical analysis,sufficient conditions are derived to guarantee the recursive feasibility and stability of DEMPC,employing compatibility constraints,tube techniques and terminal ingredient ***,we extend our approach with globally optimal and distributed online EB configuration methods to shorten the minimal distance among ***,experimental results demonstrate the performance and advantages of the proposed approaches.

关键词： Virtually coupled train set Space-time separation Economic model predictive control Distributed model predictive control Emergency braking configuration

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Physical Safety and Cyber Security Analysis of Multi-Agent Systems:A Survey of Recent Advances

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IEEE/CAA Journal of Automatica Sinica 2021年第2期8卷 319-333页

作者： Dan Zhang Gang Feng Yang Shi Dipti Srinivasan the Research Center of Automation and Artificial Intelligence Zhejiang University of TechnologyHangzhou310023 Key Laboratory of Advanced Control and Optimization for Chemical Processes(East China University of Science and Technology) Ministry of EducationShanghai 200237China the Department of Biomedical Engineering City University of Hong KongHong KongChina the Department of Mechanical Engineering University of VictoriaCanada the Department of Electrical and Computer Engineering National University of SingaporeSingapore

Multi-agent systems(MASs)are typically composed of multiple smart entities with independent sensing,communication,computing,and decision-making ***,MASs have a wide range of applications in smart grids,smart manufacturing,sensor networks,and intelligent transportation *** of the MASs are often coordinated through information interaction among agents,which is one of the most important factors affecting coordination and cooperation ***,unexpected physical faults and cyber attacks on a single agent may spread to other agents via information interaction very quickly,and thus could lead to severe degradation of the whole system performance and even destruction of *** paper is concerned with the safety/security analysis and synthesis of MASs arising from physical faults and cyber attacks,and our goal is to present a comprehensive survey on recent results on fault estimation,detection,diagnosis and fault-tolerant control of MASs,and cyber attack detection and secure control of MASs subject to two typical cyber ***,the paper concludes with some potential future research topics on the security issues of MASs.

关键词： Consensus deception attack deny-of-service(DoS)attack fault detection fault estimation fault tolerant control multiagent systems

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