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International Technical Conference o Circuits/systems, computers and Communications (ITC-CSCC)

作者： Taishi Ono Hyun-Woo Kim Myungjin Cho Min-Chul Lee Graduate School of Computer Science and Systems Engineering Kyushu Institute of Technology Fukuoka Japan Department of Computer Science and Networks Kyushu Institute of Technology Fukuoka Japan IITC School of ICT Robotics and Mechanical Engineering Hankyong National University Kyonggi-do Republic of Korea

ISBN: (数字)9798350379051

ISBN: (纸本)9798350379068

Three-dimensional (3D) profile by Digital Holographic Microscopy (DHM) always contains noise. This is an issue in the phase information extraction method of DHM system. However, in the conventional phase information extraction from the frequency domain, it may not extract only phase information. To solve this problem, we propose that the extracting phase information from the frequency domain of recorded hologram using DHM system is specified multiple times and Kalman filtering is performed on the multiple 3D profiles. The purpose of this method is to eliminate randomly generated noise and generate highly accurate 3D profiles. The generated 3D profile is subjectively and quantitatively evaluated with conventional methods. As a result, 3D profile of the proposed method shows the higher accuracy than the conventional method.

关键词： Three-dimensional displays Accuracy Shape Microscopy Frequency-domain analysis Noise Noise reduction

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Variation of sEMG with Muscle Fatigue for Lower Limb Stroke Patient During Walking

Variation of sEMG with Muscle Fatigue for Lower Limb Stroke ...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Shang, Wenze Huang, Ruisen Liao, Wei-Hsin Wu, Xinyu Gao, Fei Southern University of Science and Technology Shenzhen518005 China Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen518055 China The Chinese University of Hong Kong Department of Mechanical and Automation Engineering Hong Kong999077 Hong Kong

ISBN: (纸本)9781665481090

SEMG signal is widely used and explored in control strategies of powered assistive human-robot interaction systems due to its non-invasive nature and ability to estimate motion intention well. However, prolonged use of the sEMG-based systems leads to muscle fatigue, contributing to unstable sEMG signals and regarding the performance of sEMG-based control strategies. In this study, three subjects, including two healthy subjects and one stroke subject, participated in our experiment, and the time domain, frequency domain, and complex features extracted from their sEMG signals were utilized to evaluate muscle fatigue. The results indicate that sEMG from the stroke side of the stroke subject contains more non-linear and chaotic parts, and the statistical differences between different trials are more significant, indicating that stroke has a more significant impact on the stroke side of the stroke subject. This study suggests that RMS in the stroke side of stroke subjects is less than that in others, whereas FuzzyEn in the stroke side of stroke subjects is greater than that in others, indicating that stroke leads to different motion patterns and more susceptibility to muscle fatigue. © 2024 IEEE.

关键词： Human robot interaction

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Methods for Class-Imbalanced Learning with Support Vector Machines: A Review and an Empirical Evaluation

arXiv

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arXiv 2024年

作者： Rezvani, Salim Pourpanah, Farhad Lim, Chee Peng Jonathan Wu, Q.M. Department of Computer Science Toronto Metropolitan University TorontoON Canada Department of Electrical and Computer Engineering Queen's University KingstonON Canada Institute for Intelligent Systems Research and Innovation Deakin University GeelongVIC Australia

This paper presents a review on methods for class-imbalanced learning with the Support Vector Machine (SVM) and its variants. We first explain the structure of SVM and its variants and discuss their inefficiency in learning with class-imbalanced data sets. We introduce a hierarchical categorization of SVM-based models with respect to class-imbalanced learning. Specifically, we categorize SVM-based models into re-sampling, algorithmic, and fusion methods, and discuss the principles of the representative models in each category. In addition, we conduct a series of empirical evaluations to compare the performances of various representative SVM-based models in each category using benchmark imbalanced data sets, ranging from low to high imbalanced ratios. Our findings reveal that while algorithmic methods are less time-consuming owing to no data pre-processing requirements, fusion methods, which combine both re-sampling and algorithmic approaches, generally perform the best, but with a higher computational load. A discussion on research gaps and future research directions is provided. © 2024, CC BY-NC-SA.

关键词： Support vector machines

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SFRE: Safe and Fast Robotic Exploration for 3D Uneven Terrains

SFRE: Safe and Fast Robotic Exploration for 3D Uneven Terrai...

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IEEE/ASME (AIM) International Conference on Advanced intelligent Mechatronics

作者： Shengkai Liu Runhua Wang Qingchen Bi Guanghui Wen Xuebo Zhang Institute of Robotics and Automatic Information System Tianjin Key Laboratory of Intelligent Robotics College of Artificial Intelligence Nankai University Tianjin P. R. China Department of Systems Science Southeast University Nanjing P. R. China

ISBN: (数字)9798350355369

ISBN: (纸本)9798350355376

Exploration strategies of ground robots are often applied in indoor structured environments. However, numerous challenges persist in outdoor 3D unstructured environments, particularly in rough and rugged terrains. This paper proposed an autonomous exploration framework (SFRE) for ground mobile robots in uneven environments. The realization of SFRE can be broken down into three stages. First, the 2D traversability grid map is obtained by analyzing the terrain features of 3D uneven environments. Second, to improve exploration efficiency, we partition the exploration space and utilize the sparrow search algorithm to determine the visit order of each subspace. Finally, to ensure that the robot explores unknown regions safely, a new frontiers selection criterion that combines the height and slope of the frontiers is proposed, which has not been considered in previous methods for frontiers selection. Experiments are conducted to validate the safety and high efficiency of the proposed autonomous exploration framework. All tests show a reduction of 27% in exploration time and 32% in traveling distance compared to the comparative method. (Supplemented video link: https://***/-eVXv8Zx6VA)

关键词： Three-dimensional displays Mechatronics Space exploration Safety Partitioning algorithms Mobile robots

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GraspGPT: Leveraging Semantic Knowledge from a Large Language Model for Task-Oriented Grasping

arXiv

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arXiv 2023年

作者： Tang, Chao Huang, Dehao Ge, Wenqi Liu, Weiyu Zhang, Hong Shenzhen Key Laboratory of Robotics and Computer Vision Southern University of Science and Technology Shenzhen China Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China Institute for Robotics and Intelligent Machines Georgia Institute of Technology Atlanta United States

Task-oriented grasping (TOG) refers to the problem of predicting grasps on an object that enable subsequent manipulation tasks. To model the complex relationships between objects, tasks, and grasps, existing methods incorporate semantic knowledge as priors into TOG pipelines. However, the existing semantic knowledge is typically constructed based on closed-world concept sets, restraining the generalization to novel concepts out of the pre-defined sets. To address this issue, we propose GraspGPT, a large language model (LLM) based TOG framework that leverages the open-end semantic knowledge from an LLM to achieve zero-shot generalization to novel concepts. We conduct experiments on Language Augmented TaskGrasp (LA-TaskGrasp) dataset and demonstrate that GraspGPT outperforms existing TOG methods on different held-out settings when generalizing to novel concepts out of the training set. The effectiveness of GraspGPT is further validated in real-robot experiments. Our code, data, appendix, and video are publicly available at https://***/view/graspgpt. Copyright © 2023, The Authors. All rights reserved.

关键词： Zero-shot learning

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Using Modified Canberra Distance as OFN Numbers Comparison Operator 20th

Using Modified Canberra Distance as OFN Numbers Comparison ...

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20th International Workshop on Intuitionistic Fuzzy Sets and Generalized Nets, IWIFSGN 2022

作者： Czerniak, Jacek M. Baumgart, Jan Zarzycki, Hubert Apiecionek, Lukasz Institute of Computer Science Department of Intelligent Systems Casimir the Great University in Bydgoszcz ul. Kopernika 1 Bydgoszcz85-064 Poland General Tadeusz Kościuszko Military Academy of Land Forces in Wroclaw ul. Czajkowskiego 109 Wroclaw51-147 Poland

ISBN: (纸本)9783031450686

This paper deals with the problem of fuzzy numbers comparison. There are a number of approaches to solving this problem. The authors tried to successfully avoid solutions whose parts are defuzzifiers. Their goal was to propose a comparison operator that would operate intuitively on fuzzy numbers similarly to operators in other number systems. As a result of trials and experiments, the final choice was the Canberra distance metric. To apply this metric to fuzzy numbers, it was necessary to modify it slightly, which was successfully done. The experimental part of the paper provides calculations performed on numbers in OFN notation. Preliminary experiments conducted by the authors show that the proposed approach capes well also with other fuzzy number notations. This is, however, to be fully confirmed in further research works. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Numbering systems

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Predicting Higher-order Dynamics without Network Topology by Ridge Regression

Predicting Higher-order Dynamics without Network Topology by...

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IEEE International Symposium on Circuits and systems (ISCAS)

作者： Zili Zhou Cong Li Bo Qu Xiang Li School of Information Science and Technology Fudan University Shanghai China Department of Computer Science Guangdong University of Science and Technology Dongguan China the Institute of Complex Networks and Intelligent Systems Tongji University Shanghai China

ISBN: (数字)9798350330991

ISBN: (纸本)9798350331004

The prediction of future dynamics on networks is a challenge. Unfortunately, due to the noise in the sampling process, or the low resolution of observational data, it is hardly feasible to get the complete topology of real-world networks. Moreover, the higher-order interactions among nodes add the difficulty to accurate prediction of dynamics on networks. In this work, we proposed a two-step approach for higher-order dynamics prediction without network topology. First, the observations of nodal dynamics of a specific dynamical model on unknown hypergraphs are collected to solve an optimization problem by Ridge regression, to obtain a surrogate incidence matrix. Second, the prediction is obtained by iterating the equation of the dynamical model with the surrogate incidence matrix. We define the average relative prediction error to evaluate the performance of our prediction method, and a wide range of hypergraph dynamics with different parameters are predicted. The prediction accuracy is positively correlated with the number of hyperedges the hypergraph contains and the contact rate in the dynamical model.

关键词： Accuracy Network topology Circuits and systems Noise Predictive models Dynamic range Mathematical models

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Enhance Planning with Physics-informed Safety Controller for End-to-end Autonomous Driving

Enhance Planning with Physics-informed Safety Controller for...

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IEEE International Conference on robotics and Biomimetics

作者： Hang Zhou Haichao Liu Hongliang Lu Jun Ma Yiding Ji Robotics and Autonomous Systems Thrust Systems Hub The Hong Kong University of Science and Technology (Guangzhou) Guangzhou China Department of Electronic and Computer Engineering School of Engineering The Hong Kong University of Science and Technology Hong Kong SAR China Intelligent Transportation Thrust Systems Hub The Hong Kong University of Science and Technology (Guangzhou) Guangzhou China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Recent years have seen a growing research interest in applications of Deep Neural Networks (DNN) on autonomous vehicle technology. The trend started with perception and prediction a few years ago and it is gradually being applied to motion planning tasks. Despite the performance of networks improve over time, DNN planners inherit the natural drawbacks of Deep Learning. Learning-based planners have limitations in achieving perfect accuracy on the training dataset and network performance can be affected by out-of-distribution problem. In this paper, we propose FusionAssurance, a novel trajectory-based end-to-end driving fusion framework which combines physics-informed control for safety assurance. By incorporating Potential Field into Model Predictive Control, FusionAssurance is capable of navigating through scenarios that are not included in the training dataset and scenarios where neural network fail to generalize. The effectiveness of the approach is demonstrated by extensive experiments under various scenarios on the CARLA benchmark.

关键词： Training Trajectory planning Artificial neural networks Benchmark testing System recovery Safety Planning Autonomous vehicles Robots Predictive control

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ROBUSTNESS IMPLIES FAIRNESS IN CASUAL ALGORITHMIC RECOURSE

arXiv

引用

arXiv 2023年

作者： Ehyaei, Ahmad-Reza Karimi, Amir-Hossein Schölkopf, Bernhard Maghsudi, Setareh Department of Computer Science University of Tübingen Tübingen Germany Max Planck Institute for Intelligent Systems Tübingen Germany

Algorithmic recourse aims to disclose the inner workings of the black-box decision process in situations where decisions have significant consequences, by providing recommendations to empower beneficiaries to achieve a more favorable outcome. To ensure an effective remedy, suggested interventions must not only be low-cost but also robust and fair. This goal is accomplished by providing similar explanations to individuals who are alike. This study explores the concept of individual fairness and adversarial robustness in causal algorithmic recourse and addresses the challenge of achieving both. To resolve the challenges, we propose a new framework for defining adversarially robust recourse. The new setting views the protected feature as a pseudometric and demonstrates that individual fairness is a special case of adversarial robustness. Finally, we introduce the fair robust recourse problem to achieve both desirable properties and show how it can be satisfied both theoretically and empirically. © 2023, CC BY-NC-ND.

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Electrolyte Effect on Photoetching of Gallium Nitride

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Nanomanufacturing and Metrology 2024年第1期7卷 61-74页

作者： Huiqiang Liang Zhenghao Wei Jiongchong Fang Yanming Li Changli Li Zhirun Xie Yun Hau Ng Guosong Zeng Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems Southern University of Science and TechnologyShenzhen 518055People’s Republic of China Department of Mechanical and Energy Engineering Southern University of Science and TechnologyShenzhen 518055People’s Republic of China School of Materials Sun Yat-Sen UniversityGuangzhou 510275People’s Republic of China School of Energy and Environment City University of Hong KongKowloon 999077Hong Kong SARPeople’s Republic of China City University of Hong Kong Shenzhen Research Institute Shenzhen Hi-Tech Industrial ParkNanshan DistrictShenzhen 518000People’s Republic of China SUSTech Energy Institute for Carbon Neutrality Southern University of Science and TechnologyShenzhen 518055People’s Republic of China

The limited material removal rate of conventional chemical mechanical polishing(CMP)significantly hinders the fabrica-tion efficiency and surface quality,thereby preventing the development of gallium nitride(GaN)-based ***,the incorporation of photoelectrochemistry in CMP has garnered increasing attention because of its potential to enhance the quality and efficiency of the GaN ***,a considerable gap still exists in the comprehensive understanding of the specific photoelectrochemical(PEC)behavior of ***,we report the influence of the electrolyte on the PEC etching of *** acids and bases were tested,with their pH being carefully *** concentrations of the cations and anions were also *** results showed that photocorrosion/photoetching was more pronounced in sulfuric acid,phosphoric acid,and nitric acid environments than in alkaline environments,but it was less pronounced in hydrochloric ***,the effects of pH and anion concentration on photoetching were investigated,and the results revealed that pho-toetching in acidic environments weakened with increasing pH levels and diminished with increasing sulfate *** underlying reasons contributing to this observation were *** findings provide ideas for improving the pho-toetching efficiency of GaN,thereby enriching the photoelectrochemical mechanical polishing(PECMP)technology of GaN.

关键词： GaN Photoelectrochemistry Photoetching pH

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