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arXiv 2024年

作者： Zhao, Yuxuan Liao, Peiyu Liu, Siting Jiang, Jiaxi Lin, Yibo Yu, Bei Department of Computer Science and Engineering The Chinese University of Hong Kong NT Hong Kong School of Integrated Circuits Peking University China Institute of Electronic Design Automation Peking University Wuxi China Beijing Advanced Innovation Center for Integrated Circuits Beijing China

This paper presents an innovative approach to 3D mixed-size placement in heterogeneous face-to-face (F2F) bonded 3D ICs. We propose an analytical framework that utilizes a dedicated density model and a bistratal wirelength model, effectively handling macros and standard cells in a 3D solution space. A novel 3D preconditioner is developed to resolve the topological and physical gap between macros and standard cells. Additionally, we propose a mixed-integer linear programming (MILP) formulation for macro rotation to optimize wirelength. Our framework is implemented with full-scale GPU acceleration, leveraging an adaptive 3D density accumulation algorithm and an incremental wirelength gradient algorithm. Experimental results on ICCAD 2023 contest benchmarks demonstrate that our framework can achieve 5.9% quality score improvement compared to the first-place winner with 4.0× runtime speedup. Additional experiments on modern RISC-V designs further validate the generalizability and superiority of our framework. © 2024, CC BY-NC-ND.

关键词： Mixed-integer linear programming

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Fast accurate position control of light-responsive liquid crystal elastomer actuator

Fast accurate position control of light-responsive liquid cr...

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Asian Control Conference

作者： Xinyu Nie Jundong Wu Yawu Wang Chun-Yi Su Daiki Sato Jinhua She School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China Gina Cody School of Engineering and Computer Science Concordia University Montreal Quebec Canada Laboratory for Future Interdisciplinary Research of Science and Technology (FIRST) Tokyo Institute of Technology Yokohama Kanagawa Japan The School of Engineering Tokyo University of Technology Tokyo Japan

ISBN: (数字)9789887581598

ISBN: (纸本)9798331540845

Light-responsive liquid crystal elastomers (LCEs) are promising for soft robot actuators due to their ability to respond to light stimuli and produce deformation. In order to realize their application in soft robots, fast and accurate position control is essential. Based on the intrinsic physical nature of LCE actuator's deformation, a terminal sliding mode controller (TSMC) is designed to efficiently adjust the temperature of the actuator, thus directly controlling the actuator deformation. In order to achieve the target temperature, a prediction model is established to predict the target temperature corresponding to the target displacement. Moreover, a proportional integration controller is applied to eliminate model errors and disturbances. The feasibility of the control strategy is experimentally verified, and compared with conventional PID controller. The results prove that the proposed control strategy can achieve fast and accurate control of displacement.

关键词： Heating systems Actuators Accuracy Deformation Position control Process control Elastomers

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MambaXCTrack: Mamba-based Tracker with SSM Cross-correlation and Motion Prompt for Ultrasound Needle Tracking

arXiv

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arXiv 2024年

作者： Zhang, Yuelin Ding, Qingpeng Lei, Long Shan, Jiwei Xie, Wenxuan Zhang, Tianyi Yan, Wanquan Tang, Raymond Shing-Yan Cheng, Shing Shin Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong Department of Computer Science and Engineering The Chinese University of Hong Kong Hong Kong Medical Physics Graduate Program Duke Kunshan University Jiangsu Kunshan China Department of Medicine and Therapeutics Institute of Digestive Disease The Chinese University of Hong Kong Hong Kong Department of Mechanical and Automation Engineering T Stone Robotics Institute Shun Hing Institute of Advanced Engineering Multi-Scale Medical Robotics Center Institute of Medical Intelligence and XR The Chinese University of Hong Kong Hong Kong

Ultrasound (US)-guided needle insertion is widely employed in percutaneous interventions. However, providing feedback on the needle tip position via US image presents challenges due to noise, artifacts, and the thin imaging plane of US, which degrades needle features and leads to intermittent tip visibility. In this paper, a Mamba-based US needle tracker MambaXCTrack utilizing structured state space models crosscorrelation (SSMX-Corr) and implicit motion prompt is proposed, which is the first application of Mamba in US needle tracking. The SSMX-Corr enhances cross-correlation by longrange modeling and global searching of distant semantic features between template and search maps, benefiting the tracking under noise and artifacts by implicitly learning potential distant semantic cues. By combining with cross-map interleaved scan (CIS), local pixel-wise interaction with positional inductive bias can also be introduced to SSMX-Corr. The implicit lowlevel motion descriptor is proposed as a non-visual prompt to enhance tracking robustness, addressing the intermittent tip visibility problem. Extensive experiments on a dataset with motorized needle insertion in both phantom and tissue samples demonstrate that the proposed tracker outperforms other stateof- the-art trackers while ablation studies further highlight the effectiveness of each proposed tracking module. © 2024, CC BY.

关键词： Needles

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A strictly predefined-time convergent and anti-noise fractional-order zeroing neural network for solving time-variant quadratic programming in kinematic robot control

arXiv

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arXiv 2025年

作者： Yang, Yi Li, Xiao Wang, Xuchen Liu, Mei Yin, Junwei Li, Weibing Voyles, Richard M. Ma, Xin Multi-Scale Medical Robotics Center The Chinese University of Hong Kong 999077 Hong Kong Department of Mechanical and Automation Engineering The Chinese University of Hong Kong 999077 Hong Kong Qingdao266580 China School of Mechanical Engineering Dalian Jiaotong University Dalian116028 China School of Computer Science and Engineering Sun Yat-sen University Guangzhou510006 China School of Engineering Technology Purdue University West LafayetteIN47907 United States

This paper proposes a strictly predefined-time convergent and anti-noise fractional-order zeroing neural network (SPTC-AN-FOZNN) model, meticulously designed for addressing time-variant quadratic programming (TVQP) problems. This model marks the first variable-gain ZNN to collectively manifest strictly predefined-time convergence and noise resilience, specifically tailored for kinematic motion control of robots. The SPTC-AN-FOZNN advances traditional ZNNs by incorporating a conformable fractional derivative in accordance with the Leibniz rule, a compliance not commonly achieved by other fractional derivative definitions. It also features a novel activation function designed to ensure favorable convergence independent of the model’s order. When compared to five recently published recurrent neural networks (RNNs), the SPTC-AN-FOZNN, configured with 0 © 2025, CC BY.

关键词： Quadratic programming

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Cooperative Relaying for Connected Construction Equipment Networks with Hybrid Hierarchical Proximal Policy Optimization

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IEEE Transactions on Communications 2024年

作者： Ning, Pengfei Wang, Hongwei Tang, Tao Zhang, Jie Chen, Changji Niyato, Dusit Richard Yu, F. Beijing Jiaotong University State Key Laboratory of Advanced Rail Autonomous Operation Beijing China Beijing Jiaotong University Collaborative Innovation Center of Railway Traffic Safety Beijing China Nanyang Technological University School of Computer Science and Engineering Singapore Beijing Jiaotong University School of Automation and Intelligence Beijing China Carleton University Department of Systems and Computer Engineering OttawaONK1S 5B6 Canada

The communication network in a tunnel construction site facilitates real-time data exchange, and serves as a backbone for successfully executing construction projects. However, the long and closed spaces, irregular surfaces, and variable topology as tunnel excavation impose rigorous limitations on signal propagation, communication quality and coverage. To alleviate the realistic issues, we introduce a holistic three-phase cooperative relay scheme based on 5G New Radio (NR) vehicle-to-everything (V2X) architecture, which can extend the communication range and enhance network throughput. We theoretically derive the outage probability of the entire cooperative relaying process from source to destination, and quantify the impact of relaying on construction workflow with relay cost. To minimize the outage probability and relay cost, we formulate a cooperative relay strategies optimization problem and transform the solving procedure into a Markov decision process (MDP). We design a hybrid hierarchical proximal policy optimization (HH-PPO) reinforcement learning method to solve the MDP, which consists of two discrete actor networks, two continuous actor networks, and two critic networks. The hybrid structure enables HH-PPO to tackle the mixed action space, and the hierarchical structure enables adaptive and contextual actions generation by integrating the discrete network outputs into the continuous actor network. Simulation results validate the effectiveness of the HH-PPO algorithm with faster convergence speed, and show superior performance in terms of lower, stable outage probability and relay cost satisfaction compared with another benchmark. © 1972-2012 IEEE.

关键词： Markov processes

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Over-the-air Wireless Federated Learning Model for Generative AI

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IEEE Network 2025年

作者： Zheng, Jie Niyato, Dusit Zhang, Haijun Du, Hongyang Wang, Jiacheng Kang, Jiawen Xiong, Zehui Northwest University State-Province Joint Engineering and Research Center of Advanced Networking and Intelligent Information Services School of Information Science and Technology Shaanxi 710127 China Nanyang Technological University School of Computer Science and Engineering Singapore639798 Singapore University of Science and Technology Beijing Institute of Artificial Intelligence Beijing100083 China University of Hong Kong Department of electrical and electronic engineering Hong Kong Hong Kong Guangdong University of Technology Automation of School Guangzhou510006 China Singapore University of Technology and Design Pillar of Information Systems Technology and Design Singapore

Generative artificial intelligence (GenAI) technologies represent an important advancement in the field of AI, particularly for their capabilities in text and image generation. Over-the-air wireless federated learning (OA-WFL) can utilize the wireless waveform superposition property to achieve efficient model aggregation, thereby providing support for GenAI training and deployment. Therefore, this article investigates the support of OA-WFL for GenAI, focusing on potential applications and specific examples. We first discuss the OA-WFL and GenAI models, emphasizing their functionalities and the potential benefits arising from their interaction. We then explore its application in various GenAI scenarios, including large-scale edge device content generation, efficient distributed training of GenAI models, and reduction of bandwidth requirements and device load. Next, a framework is proposed to apply OA-WFL to diffusion models, such as those used in image generation, and validate its effectiveness through simulation results. Finally, we discuss prospective research directions for the application of OA-WFL for GenAI. © 2025 IEEE.

关键词： Federated learning

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Nearest-Better Network for Fitness Landscape Analysis of Continuous Optimization Problems

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IEEE Transactions on Evolutionary Computation 2024年

作者： Diao, Yiya Li, Changhe Zeng, Sanyou Yang, Shengxiang Coello, Carlos A. Coello China University of Geosciences School of Automation Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Ministry of Education Engineering Research Center of Intelligent Technology for Geo-Exploration Wuhan China Anhui University of Sciences and Technology School of Artificial Intelligence Hefei China China University of Geosciences School of Mechanical Engineering and Electronic Information Wuhan China De Montfort University School of Computer Science and Informatics LeicesterLE1 9BH United Kingdom Department of Computer Science CINVESTAV-IPN 07360 Mexico Tecnologico de Monterrey Faculty of Excellence The School of Engineering and Sciences N.L. Monterrey Mexico

Fitness landscape analysis (FLA) is quite important in evolutionary computation. In this paper, we propose a novel FLA method, the nearest-better network (NBN), which uses the nearest-better relationship to simplify the original fitness landscape of continuous optimization problems. We introduce an efficient algorithm to calculate NBN for continuous problems. We also propose four numerical measurements and a 3D visualization method based on NBN. Experiments show that compared to the other main FLA methods, the four numerical measurements proposed here can effectively measure the four intended features: neutrality, ruggedness, modality, and basin of attraction, respectively, and common features of the fitness landscape can be maintained in 3D NBN visualization, regardless of the scale of the problem. NBN also provides a view of how algorithms search in high-dimensional problems with the help of the 3D NBN visualization. © 1997-2012 IEEE.

关键词： Optimization algorithms

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Energy Efficiency Optimization for Full-Duplex D2D Communications Underlaying Distributed Antenna Systems

IEEE Transactions on Green Communications and Networking

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IEEE Transactions on Green Communications and Networking 2024年

作者： Liu, Zhan Liao, Zhiyuan Li, Chunquan Zhang, Zhijun Yu, Junzhi Liu, P.X. Hunan University of Humanities Science and Technology School of Information Loudi417000 China Nanchang University School of Information Engineering Nanchang330031 China Jiangxi Provincial Key Laboratory of Intelligent Systems and Human-Machine Interaction Nanchang330031 China South China University of Technology School of Automation Science and Engineering Guangzhou510640 China Peking University State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and Robotics College of Engineering Beijing100871 China Carleton University Department of Systems and Computer Engineering OttawaONK1S 5B6 Canada

In this paper, we investigate the total system energy efficiency (EE) of full-duplex (FD) device-to-device (D2D) communications underlaying distributed antenna systems (DAS), where remote access units (RAUs), D2D users (DUs), and cellular users (CUs) are all capable of FD operation. Specifically, we jointly optimize subcarrier assignment and power allocation under the quality of service (QoS) requirements of CUs and DUs and the maximum power constraints of RAUs, CUs, and DUs. In addition, we propose a novel spectrum sharing strategy that allows each subcarrier to be assigned to multiple CUs and/or multiple D2D pairs (DPs) for flexibility. To solve the formulated non-convex optimization problem, we first employ fractional programming to transform the objective function in the optimization problem from the fractional form into the equivalent subtractive form. Then, an efficient iterative resource allocation algorithm is proposed, which needs to solve an inner problem in each iteration. After relaxing the variables and introducing penalty factors, the non-convex inner problem is transformed into a convex problem through the successive convex approximation (SCA) method and solved by iterative algorithm. Simulation results demonstrate that the proposed algorithm can considerably improve the system EE compared to other benchmark schemes. Furthermore, the proposed spectrum sharing strategy is superior to the existing sharing strategies. © 2017 IEEE.

关键词： Convex optimization

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Corrections to “Intelligent Traffic Data Transmission and Sharing Based on Optimal Gradient Adaptive Optimization Algorithm”

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IEEE Transactions on Intelligent Transportation Systems 2024年第3期25卷 3202-3204页

作者： Xing Li Haotian Zhang Yajing Shen Lina Hao Wanfeng Shang School of Electrical Engineering and Intelligentization Dongguan University of Technology Dongguan China State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang China College of Computer Science and Technology Jilin University Changchun China Department of Biomedical Engineering City University of Hong Kong Hong Kong China School of Mechanical and Engineering Northeastern University Shenyang China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China

In [1] , inaccuracies in several critical equations along with their accompanying descriptions appear in the article. Furthermore, some references are missing, and certain analyses of experiments are flawed.

关键词： Adaptive systems Data communication Optimization Intelligent transportation systems

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A Test Suite and An Optimizer for Dietary Nutrition Optimization Problem: From Constrained Many-Objective Perspective

A Test Suite and An Optimizer for Dietary Nutrition Optimiza...

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Congress on Evolutionary Computation

作者： Yaqi Ti Changhe Li Shengxiang Yang School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China School of Computer Science and Informatics De Montfort University Leicester United Kingdom

With increasing people who suffer from diet-related diseases, providing suggestions for personal daily nutrient-dense intake is highly expected. However, current dietary nutrition models are less precise, and dietary nutrition optimizers usually fail to give satisfactory solutions. Therefore, we construct a constrained many-objective nutrition model with more precise nutrient assessments and a scalable constrained many-objective benchmark set. This test suite has great flexibility in evaluating algorithms' performance on high dimensional search and objective spaces with some feasible region fragments. We also propose a kd-tree based dynamic constrained many-objective evolutionary algorithm to search for customized food combinations according to personal daily consumption and intake preference. Experiments show that our algorithm has better diversity maintenance ability in high dimension space.

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