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American control Conference (ACC)

作者： Holger Boche Volker Pohl H. Vincent Poor School of Computation Information and Technology Technical University of Munich Munchen Germany Munich Center for Quantum Science and Technology (MCQST) Munchen Germany Department of Electrical and Computer Engineering Princeton University Princeton NJ USA

ISBN: (数字)9798350382655

ISBN: (纸本)9798350382662

This paper gives a complete characterization of the complexity of computing the minimum mean square pre-diction error for wide-sense stationary stochastic processes. It shows that if the spectral density of the stationary process is a strictly positive, computable continuous function then the minimum mean square error (MMSE) is always a computable number. It is also shown that the computation of the MMSE is a $\neq P_computation$ complete problem on the set of strictly positive, polynomial-time computable, continuous spectral densities. This means that if, as widely assumed, $FP_computation\neq\neq P_computation$ , then there exist strictly positive, polynomial-time computable continuous spectral densities for which the computation of the MMSE is not polynomial-time computable. So under the widely accepted assumptions of complexity theory, the computation of the MMSE is generally much harder than $NP_computation$ complete problems.

关键词： Stochastic processes Mean square error methods Complexity theory

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Extracting Stress-Related EEG Patterns from Pre-Sleep EEG for Forecasting Slow-Wave Sleep Deficiency

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IEEE Transactions on Neural Systems and Rehabilitation engineering 2024年 32卷 1817-1827页

作者： Su, Cheng-Hua Ko, Li-Wei Jung, Tzyy-Ping Onton, Julie Tzou, Shey-Cherng Juang, Jia-Chi Hsu, Chung-Yao Institute of Bioinformatics and Systems Biology National Yang Ming Chiao Tung University Hsinchu300 Taiwan Institute of Electrical and Control Engineering National Yang Ming Chiao Tung University Hsinchu300 Taiwan Kaohsiung Medical University Drug Development and Value Creation Research Center Department of Biomedical Science and Environmental Biology Kaohsiung807 Taiwan University of California San Diego Swartz Center for Computational Neuroscience La Jolla CA92093 United States National Yang Ming Chiao Tung University Department of Computer Science Hsinchu300 Taiwan University of California San Diego Institute for Neural Computation La Jolla CA92093 United States National Yang Ming Chiao Tung University Department of Biological Science and Technology Hsinchu300 Taiwan Kaohsiung Medical University Hospital Sleep Disorders Center Department of Neurology Kaohsiung807 Taiwan Kaohsiung Medical University College of Medicine Department of Neurology Kaohsiung807 Taiwan

Sleep is vital to our daily activity. Lack of proper sleep can impair functionality and overall health. While stress is known for its detrimental impact on sleep quality, the precise effect of pre-sleep stress on subsequent sleep structure remains unknown. This study introduced a novel approach to study the pre-sleep stress effect on sleep structure, specifically slow-wave sleep (SWS) deficiency. To achieve this, we selected forehead resting EEG immediately before and upon sleep onset to extract stress-related neurological markers through power spectra and entropy analysis. These markers include beta/delta correlation, alpha asymmetry, fuzzy entropy (FuzzEn) and spectral entropy (SpEn). Fifteen subjects were included in this study. Our results showed that subjects lacking SWS often exhibited signs of stress in EEG, such as an increased beta/delta correlation, higher alpha asymmetry, and increased FuzzEn in frontal EEG. Conversely, individuals with ample SWS displayed a weak beta/delta correlation and reduced FuzzEn. Finally, we employed several supervised learning models and found that the selected neurological markers can predict subsequent SWS deficiency. Our investigation demonstrated that the classifiers could effectively predict varying levels of slow-wave sleep (SWS) from pre-sleep EEG segments, achieving a mean balanced accuracy surpassing 0.75. The SMOTE-Tomek resampling method could improve the performance to 0.77. This study suggests that stress-related neurological markers derived from pre-sleep EEG can effectively predict SWS deficiency. Such information can be integrated with existing sleep-improving techniques to provide a personalized sleep forecasting and improvement solution. © 2001-2011 IEEE.

关键词： Entropy

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Evolving Multi-Access Edge Computing (MEC) for Diverse Ubiquitous Resources Utilization: A Survey

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Telecommunication Systems 2025年第2期88卷 1-41页

作者： Khattak, Muhammad Ilyas Yuan, Hui Khan, Ajmal Ahmad, Ayaz Ullah, Inam Ahmed, Manzoor School of Control Science and Engineering Shandong University Shandong Province Jinan China Communication and Information Research Center Sultan Qaboos University Muscat Oman Department of Electrical Engineering College of Engineering King Faisal University Al-Ahsa Saudi Arabia Jinan China School of Computer and Information Science and AI Industrial Technology Research Hubei Engineering University Xiaogan China

The surge in smart device usage and the demand for high-throughput, low-latency mobile networks have accelerated the adoption of distributed smart applications and Collaborative Resource Management (CRM) techniques such as Multi-Access Edge Computing (MEC). With its ability to handle large data volumes, computational demands, scalability, and high energy consumption, MEC represents the next generation of Mobile Cloud Computing (MCC), addressing key challenges in emerging smart applications. MEC supports real-time, high-throughput, and energy-efficient techniques like task offloading and ultra-reliable low-latency communication (URLLC). However, as these techniques become more widespread, their diversity increases, leading to complexities that make them harder to understand and validate in different applications. This includes their use in areas like assistance for unmanned vehicles (UVs), autonomous driving, unmanned aerial vehicles (UAVs), high altitude platforms (HAPs), underwater unmanned vehicles (UUVs), satellite air-ground communication (SAGC), and other emerging systems that rely on Collaborative Resource Management (CRM). Although a number of review articles pertaining to MEC systems exist, we analyzed techniques beyond task offloading that explore MEC system applicability in diverse domains, including UUVs, vehicular edge computing, Re-configurable Intelligent Surfaces (RIS), Massive MIMO, autonomous driving, HAPs, and SAGC. From the perspective of these optimization techniques, this article highlights their role in shaping MEC’s evolution, focusing on parameters such as real-time response, energy efficiency, and other critical factors in task offloading processes. We also explored the role of Standard Development Organizations (SDOs), such as ETSI and IEEE, in advancing MEC systems. This included an analysis of offloading techniques based on their principles, features, and trade-offs, using key performance indicators (KPIs) for fair comparison, while ident

关键词： computation offloading

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Design of a Flexible Robot Arm for Safe Aerial Physical Interaction

Design of a Flexible Robot Arm for Safe Aerial Physical Inte...

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IEEE International Conference on Soft Robotics (RoboSoft)

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

关键词：

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MealWatcher: A New Toolset to Record Meals for the Development of Automated Energy Intake Estimation

MealWatcher: A New Toolset to Record Meals for the Developme...

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2024 IEEE-EMBS International Conference on Biomedical and Health Informatics, BHI 2024

作者： Armin, Faria Jolly, James Nguyen, James Rangaraju, Lakshmi Regan, Daniel Brown, Zoe O'Toole, Sharon Raynor, Hollie Brick, Leslie Jelalian, Elissa Thomas, J. Graham Goldstein, Stephanie P. Hoover, Adam Clemson University Department of Electrical and Computer Engineering ClemsonSC29631 United States Weight Control and Diabetes Research Center The Miriam Hospital ProvidenceRI02916 United States University of Tennessee Department of Nutrition KnoxvilleTN37996 United States Alpert Medical School Brown University Department of Psychiatry and Human Behavior ProvidenceRI02903 United States Weight Control and Diabetes Research Center The Miriam Hospital/Brown Alpert Medical School Department of Psychiatry and Human Behavior ProvidenceRI02916 United States

ISBN: (纸本)9798350351552

Classic tools for measuring energy intake, such as food diaries and 24 hour recalls, are burdensome to use and have significant measurement error. This hinders research and interventions in obesity treatment and comorbidities such as diabetes and heart disease. New tools are being developed to automate the measurement of energy intake, such as wearable devices like smartwatches. Towards this goal, several datasets have been collected and made publicly available that include hand motion. However, these datasets have been limited to the wrist part of hand motion, and have only been collected in controlled environments such as labs or cafeterias. In this work we describe a new toolset that supports data collection from a smartwatch and smart ring simultaneously, to be used in home, cafeteria, and free-living environments, with real-time user feedback to assist with energy intake estimation. This data collection is ongoing and will eventually encompass 600 subjects. This paper describes the toolset and preliminary results for 16 subjects, including a comparison of smart ring versus smartwatch intake gesture detection. The smart ring achieved an F1 score of 0.74 compared to an F1 score of 0.8 from the smartwatch. Finally, we describe the full set of experiments we intend to perform with the complete dataset. © 2024 IEEE.

关键词： Gesture recognition

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Assisted Physical Interaction: Autonomous Aerial Robots with Neural Network Detection, Navigation, and Safety Layers

Assisted Physical Interaction: Autonomous Aerial Robots with...

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International Conference on Unmanned Aircraft Systems (ICUAS)

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

ISBN: (数字)9798350357882

ISBN: (纸本)9798350357899

The paper introduces a novel framework for safe and autonomous aerial physical interaction in industrial settings. It comprises two main components: a neural network-based target detection system enhanced with edge computing for reduced onboard computational load, and a control barrier function (CBF)-based controller for safe and precise maneuvering. The target detection system is trained on a dataset under challenging visual conditions and evaluated for accuracy across various unseen data with changing lighting conditions. Depth features are utilized for target pose estimation, with the entire detection framework offloaded into low-latency edge computing. The CBF-based controller enables the UAV to converge safely to the target for precise contact. Simulated evaluations of both the controller and target detection are presented, alongside an analysis of real-world detection performance.

关键词： Visualization Pose estimation Neural networks Lighting Object detection Autonomous aerial vehicles Aircraft navigation

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Design of a Flexible Robot Arm for Safe Aerial Physical Interaction

arXiv

引用

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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Assisted Physical Interaction: Autonomous Aerial Robots with Neural Network Detection, Navigation, and Safety Layers

arXiv

引用

arXiv 2024年

作者： Berra, Andrea Sankaranarayanan, Viswa Narayanan Seisa, Achilleas Santi Mellet, Julien Gamage, Udayanga G.W.K.N. Satpute, Sumeet Gajanan Ruggiero, Fabio Lippiello, Vincenzo Tolu, Silvia Fumagalli, Matteo Nikolakopoulos, George Soto, Miguel Ángel Trujillo Heredia, Guillermo CATEC Advanced Center for Aerospace Technologies Seville Spain Robotics and AI Team Department of Computer Electrical and Space Engineering LuleåUniversity of Technology Luleå Sweden PRISMA Lab Department of Electrical Engineering and Information Technology University of Naples Federico II Naples Italy 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

关键词： Unmanned aerial vehicles (UAV)

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Convergence of energy-based learning in linear resistive networks

arXiv

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arXiv 2025年

作者： Huijzer, Anne-Men Chaffey, Thomas Besselink, Bart van Waarde, Henk J. Bernoulli Institute for Mathematics Computer Science and Artificial Intelligence University of Groningen Groningen Netherlands CogniGron - Groningen Cognitive Systems and Materials Center Netherlands Control Group Department of Engineering University of Cambridge United Kingdom School of Electrical and Computer Engineering University of Sydney Australia

Energy-based learning algorithms are alternatives to backpropagation and are well-suited to distributed implementations in analog electronic devices. However, a rigorous theory of convergence is lacking. We make a first step in this direction by analysing a particular energy-based learning algorithm, Contrastive Learning, applied to a network of linear adjustable resistors. It is shown that, in this setup, Contrastive Learning is equivalent to projected gradient descent on a convex function, for any step size, giving a guarantee of convergence for the *** Codes 65K10, 68T05, 93B30, 93D99 © 2025, CC BY-SA.

关键词： Contrastive Learning

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Advance Artificial Intelligence Technique for Designing Double T-Shaped Monopole Antenna

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computers, Materials & Continua 2021年第12期69卷 2983-2995页

作者： El-Sayed M.El-kenawy Hattan F.Abutarboush Ali Wagdy Mohamed Abdelhameed Ibrahim Department of Communications and Electronics Delta Higher Institute of Engineering and TechnologyMansoura35111Egypt Electrical Engineering Department College of EngineeringTaibah UniversityMedina 42353Saudi Arabia Operations Research Department Faculty of Graduate Studies for Statistical ResearchCairo UniversityGiza 12613Egypt Wireless Intelligent Networks Center(WINC) School of Engineering and Applied SciencesNile UniversityGizaEgypt Computer Engineering and Control Systems Department Faculty of EngineeringMansoura UniversityMansoura35516Egypt

Machine learning(ML)has taken the world by a tornado with its prevalent applications in automating ordinary tasks and using turbulent insights throughout scientific research and design *** is a massive area within artificial intelligence(AI)that focuses on obtaining valuable information out of data,explaining why ML has often been related to stats and data *** advanced meta-heuristic optimization algorithm is proposed in this work for the optimization problem of antenna architecture *** algorithm is designed,depending on the hybrid between the Sine Cosine Algorithm(SCA)and the Grey Wolf Optimizer(GWO),to train neural networkbased Multilayer Perceptron(MLP).The proposed optimization algorithm is a practical,versatile,and trustworthy platform to recognize the design parameters in an optimal way for an endorsement double T-shaped monopole *** proposed algorithm likewise shows a comparative and statistical analysis by different curves in addition to the ANOVA and *** offers the superiority and validation stability evaluation of the predicted results to verify the procedures’accuracy.

关键词： Antenna optimization machine learning artificial intelligence multilayer perceptron sine cosine algorithm grey wolf optimizer

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