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Hydrogel-elastomer-based stretchable strain sensor fabricated by a simple projection lithography method

International Journal of Smart and Nano Materials 2021年第3期12卷 256-268页

作者： Zhenqing Li Xiangnan He Jianxiang Cheng Honggeng Li Yuan-Fang Zhang Xiaojuan Shi Kai Yu Hui Ying Yang Qi Ge Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhenChina Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and TechnologyShenzhenChina Digital Manufacturing and Design Centre Singapore University of Technology and DesignSingapore Department of Mechanical Engineering University of Colorado DenverDenverCOUSA National Key Laboratory of Science and Technology on Advanced Composites in Special Environments Harbin Institute of TechnologyHarbinP.R.China

Stretchable strain sensor detects a wide range of strain variation and is therefore a key component in various *** traditional ones made of elastomers doped with conductive components or fabricated with liquid conductors,ionically conductive hydrogel-based strain sensors remain conductive under large deformations and are ***,dehydration is a challenging issue for the *** have developed hydrogel-elastomer-based strain sensors where an elastomer matrix encapsulates a hydrogel circuit to prevent its ***,the reported multistep approaches are generally *** group recently reported a multimaterial 3D printing approach that enables fast fabrication of such sensors,yet requires a self-built digital-light-processing-based multimaterial 3D ***,we report a simple projection lithography method to fabricate hydrogel-elastomer-based stretchable strain sensors within 5 *** method only requires a UV projector/lamp with photomasks;the chemicals are commercially available;the protocols for preparing the polymer precursors are friendly to users without chemistry ***,the manufacturing flexibility allows users to readily pattern the sensor circuit and attach the sensor to a 3D printed soft pneumatic actuator to enable strain sensing on the *** proposed approach paves a simple and versatile way to fabricate hydrogel-elastomer-based stretchable strain sensors and flexible electronic devices.

关键词： Ionically conductive hydrogel stretchable strain sensor projection lithography

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A review: Challenges and opportunities for artificial intelligence and robotics in the offshore wind sector

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Energy and AI 2022年第2期8卷 177-212页

作者： Daniel Mitchell Jamie Blanche Sam Harper Theodore Lim Ranjeetkumar Gupta Osama Zaki Wenshuo Tang Valentin Robu Simon Watson David Flynn Smart Systems Group Institute of SensorsSignals and SystemsSchool of Engineering and Physical SciencesHeriot-Watt UniversityEdinburghEH144ASUnited Kingdom Centre for Mathematics and Computer Science Intelligent and Autonomous Systems GroupCWIAmsterdam1098 XG Netherlands Algorithms Group Faculty of Electrical EngineeringMathematics and Computer Science(EEMCS)Delft University of Technology(TU Delft)Delft2628 XE Netherlands The University of Manchester Department of Electrical and Electronic EngineeringOxford RoadManchesterM139PL United Kingdom James Watt School of Engineering University of GlasgowG128QQUnited Kingdom

The UK has set plans to increase offshore wind capacity from 22GW to 154GW by 2030. With such tremendous growth, the sector is now looking to robotics and Artificial Intelligence (RAI) in order to tackle lifecycle service barriers as to support sustainable and profitable offshore wind energy production. Today, RAI applications are predominately being used to support short term objectives in operation and maintenance. However, moving forward, RAI has the potential to play a critical role throughout the full lifecycle of offshore wind infrastructure, from surveying, planning, design, logistics, operational support, training and decommissioning. This paper presents one of the first systematic reviews of RAI for the offshore renewable energy sector. The state-of-the-art in RAI is analyzed with respect to offshore energy requirements, from both industry and academia, in terms of current and future requirements. Our review also includes a detailed evaluation of investment, regulation and skills development required to support the adoption of RAI. The key trends identified through a detailed analysis of patent and academic publication databases provide insights to barriers such as certification of autonomous platforms for safety compliance and reliability, the need for digital architectures for scalability in autonomous fleets, adaptive mission planning for resilient resident operations and optimization of human machine interaction for trusted partnerships between people and autonomous assistants. Our study concludes with identification of technological priorities and outlines their integration into a new ‘symbiotic digital architecture’ to deliver the future of offshore wind farm lifecycle management.

关键词： Artificial intelligence Autonomous systems Digitalization Offshore renewable energy Offshore wind farms robotics

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Headline-Guided Extractive Summarization for Thai News Articles

arXiv

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arXiv 2024年

作者： Kositcharoensuk, Pimpitchaya Sritrakool, Nakarin Pratanwanich, Ploy N. Department of Mathematics and Computer Science Faculty of Science Chulalongkorn University Bangkok10330 Thailand National Institute of Informatics Hitotsubashi Tokyo Chiyoda1018430 Japan Chula Intelligent and Complex Systems Research Unit Chulalongkorn University Bangkok10330 Thailand

Text summarization is a process of condensing lengthy texts while preserving their essential information. Previous studies have predominantly focused on high-resource languages, while low-resource languages like Thai have received less attention. Furthermore, earlier extractive summarization models for Thai texts have primarily relied on the article’s body, without considering the headline. This omission can result in the exclusion of key sentences from the summary. To address these limitations, we propose CHIMA, an extractive summarization model that incorporates the contextual information of the headline for Thai news articles. Our model utilizes a pre-trained language model to capture complex language semantics and assigns a probability to each sentence to be included in the summary. By leveraging the headline to guide sentence selection, CHIMA enhances the model’s ability to recover important sentences and discount irrelevant ones. Additionally, we introduce two strategies for aggregating headline-body similarities, simple average and harmonic mean, providing flexibility in sentence selection to accommodate varying writing styles. Experiments on publicly available Thai news datasets demonstrate that CHIMA outperforms baseline models across ROUGE, BLEU, and F1 scores. These results highlight the effectiveness of incorporating the headline-body similarities as model guidance. The results also indicate an enhancement in the model’s ability to recall critical sentences, even those scattered throughout the middle or end of the article. With this potential, headline-guided extractive summarization offers a promising approach to improve the quality and relevance of summaries for Thai news articles. Copyright © 2024, The Authors. All rights reserved.

关键词： Semantics

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Structural uncertainty estimation for medical image segmentation

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Medical Image Analysis 2025年 103卷 103602页

作者： Yang, Bing Zhang, Xiaoqing Zhang, Huihong Li, Sanqian Higashita, Risa Liu, Jiang Department of Computer Science and Engineering Southern University of Science and Technology Shenzhen518055 China TOMEY Corporation Nagoya4510051 Japan Research Institute of Trustworthy Autonomous Systems Southern University of Science and Technology Shenzhen518055 China Guangdong Provincial Key Laboratory of Brain-inspired Intelligent Computation Southern University of Science and Technology Shenzhen518055 China Singapore Eye Research Institute 169856 Singapore

Precise segmentation and uncertainty estimation are crucial for error identification and correction in medical diagnostic assistance. Existing methods mainly rely on pixel-wise uncertainty estimations. They (1) neglect the global context, leading to erroneous uncertainty indications, and (2) bring attention interference, resulting in the waste of extensive details and potential understanding confusion. In this paper, we propose a novel structural uncertainty estimation method, based on Convolutional Neural Networks (CNN) and Active Shape Models (ASM), named SU-ASM, which incorporates global shape information for providing precise segmentation and uncertainty estimation. The SU-ASM consists of three components. Firstly, multi-task generation provides multiple outcomes to assist ASM initialization and shape optimization via a multi-task learning module. Secondly, information fusion involves the creation of a Combined Boundary Probability (CBP) and along with a rapid shape initialization algorithm, Key Landmark Template Matching (KLTM), to enhance boundary reliability and select appropriate shape templates. Finally, shape model fitting where multiple shape templates are matched to the CBP while maintaining their intrinsic shape characteristics. Fitted shapes generate segmentation results and structural uncertainty estimations. The SU-ASM has been validated on cardiac ultrasound dataset, ciliary muscle dataset of the anterior eye segment, and the chest X-ray dataset. It outperforms state-of-the-art methods in terms of segmentation and uncertainty estimation. © 2025 Elsevier B.V.

关键词： Image segmentation

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F2A2: flexible fully-decentralized approximate actor-critic for cooperative multi-agent reinforcement learning

The Journal of Machine Learning Research

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The Journal of Machine Learning Research 2023年第1期24卷 8447-8521页

作者： Wenhao Li Bo Jin Xiangfeng Wang Junchi Yan Hongyuan Zha School of Data Science The Chinese University of Hong Kong Shenzhen Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen China School of Software Engineering Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Shanghai China School of Computer Science and Technology Key Laboratory of Mathematics and Engineering Applications Ministry of Education East China Normal University Shanghai China Department of Computer Science and Engineering Key Laboratory of Artificial Intelligence Ministry of Education Shanghai Jiao Tong University Shanghai China

Traditional centralized multi-agent reinforcement learning (MARL) algorithms are sometimes unpractical in complicated applications due to non-interactivity between agents, the curse of dimensionality, and computation complexity. Hence, several decentralized MARL algorithms are motivated. However, existing decentralized methods only handle the fully cooperative setting where massive information needs to be transmitted in training. The block coordinate gradient descent scheme they used for successive independent actor and critic steps can simplify the calculation, but it causes serious bias. This paper proposes a exible fully decentralized actor-critic MARL framework, which can combine most of the actor-critic methods and handle large-scale general cooperative multi-agent settings. A primal-dual hybrid gradient descent type algorithm framework is designed to learn individual agents separately for decentralization. From the perspective of each agent, policy improvement and value evaluation are jointly optimized, which can stabilize multi-agent policy learning. Furthermore, the proposed framework can achieve scalability and stability for the large-scale environment. This framework also reduces information transmission by the parameter sharing mechanism and novel modeling-other-agents methods based on theory-of-mind and online supervised learning. Sufficient experiments in cooperative Multi-agent Particle Environment and StarCraft II show that the proposed decentralized MARL instantiation algorithms perform competitively against conventional centralized and decentralized methods.

关键词： cooperative MARL decentralized actor-critic primal-dual method

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METEOR: A Dense, Heterogeneous, and Unstructured Traffic Dataset with Rare Behaviors

METEOR: A Dense, Heterogeneous, and Unstructured Traffic Dat...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Rohan Chandra Xijun Wang Mridul Mahajan Rahul Kala Rishitha Palugulla Chandrababu Naidu Alok Jain Dinesh Manocha Department of Computer Science University of Maryland College Park USA Centre for Intelligent Robotics Indian Institute of Information Technology Allahabad India NavAjna Technologies Pvt. Ltd. Department of Electrical and Computer Engineering University of Maryland College Park USA

We present a new traffic dataset, Meteor, which captures traffic patterns and multi-agent driving behaviors in unstructured scenarios. Meteor consists of more than 1000 one-minute videos, over 2 million annotated frames with bounding boxes and GPS trajectories for 16 unique agent categories, and more than 13 million bounding boxes for traffic agents. Meteor is a dataset for rare and interesting, multi-agent driving behaviors that are grouped into traffic violations, atypical interactions, and diverse scenarios. Every video in Meteor is tagged using a diverse range of factors corresponding to weather, time of the day, road conditions, and traffic density. We use Meteor to benchmark perception methods for object detection and multi-agent behavior prediction. Our key finding is that state-of-the-art models for object detection and behavior prediction, which otherwise succeed on existing datasets such as Waymo, fail on the Meteor dataset. Meteor is a step towards developing more sophisticated perception models for dense, heterogeneous, and unstructured scenarios.

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Bifurcations and Application of the Vallis - Model 11

Bifurcations and Application of the Vallis - Model

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11th IEEE International Conference on Computational Cybernetics and Cyber-Medical systems, ICCC 2024

作者： Nagy, Balint Molnar, Gyorgy Joos, Antal Nagy, Eniko Institute of Computer Engineering University of Dunaújváros Department of Mathematics Dunaújváros Hungary Budapest Business University Faculty of Finance and Accountancy Department of Applied Quantitative Methods Budapest Hungary Institute of Electrophysics Óbuda University Kandó Kálmán Faculty of Electrical Engineering Department of Natural Sciences Budapest Hungary Óbuda University Kandó Kálmán Faculty of Electrical Engineering Budapest Hungary Széchenyi University János Csere Apáczai Faculty Győr Hungary Antal Bejczy Center for Intelligent Robotics Institute of Cyberphysical Systems Óbuda University John von Neumann Faculty Budapest Hungary

ISBN: (纸本)9798350350142

Investigating chaotic systems is a fertile field considering that chaos is an exotic chapter in the theory of differential equations, and it has useful applications in the theory of communications. In this work a well-known chaotic system is investigated from the bifurcation point of view and some applications are also introduced. The data studied are also visualized for better clarity. The results observed can be helpful in the encryption methods of the implementation of different communication channels. © 2024 IEEE.

关键词： Chaotic systems

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A K -Band Four-Beam Transmitter with Decoupled Phase/Gain Control and Enhanced Power Back off Efficiency for SATCOM

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IEEE Transactions on Microwave Theory and Techniques 2024年第11期72卷 6443-6459页

作者： Gao, Huiyan Li, Nayu Xie, Xinhong Wang, Shaogang Lu, Hang Kuan, Yen-Cheng Yu, Xiaopeng Song, Chunyi Jane Gu, Qun Xu, Zhiwei Institute of Marine Electronics and Intelligent Systems Ocean College Zhejiang University Zhoushan316021 China Engineering Research Center of Oceanic Sensing Technology and Equipment Ministry of Education Zhoushan316021 China Donghai Laboratory Zhoushan316021 China National Yang Ming Chiao Tung University International College of Semiconductor Technology Hsinchu30010 Taiwan Institute of VLSI Design and Research College of Information Science and Electronic Engineering Zhejiang University Hangzhou310058 China University of California at Davis Department of Electrical and Computer Engineering DavisCA95616 United States

This article presents a 17.7-20.2 GHz eight-element four-beam RF-beamforming transmitter in 65-nm CMOS for satellite communication (SATCOM). The transmitter utilizes an analog scheme in the variable-gain amplifier (VGA) to achieve dB-in-linear gain control with a high dynamic range (DR), together with a current combining crossbar for a compact footprint. The vector-modulation-based (VM-based) phase shifter (PS) adopts the cancellation-based Gm units for low switching variation. Furthermore, eight PSs of each beam are split into two groups, with each group sharing the same tunable I/Q generator for low power consumption. Considering the increased peak-to-average power ratio (PAPR) caused by high-order modulation schemes and multibeam operation, the transmitter incorporates compact transformer-based Doherty power amplifiers (DPAs) with adaptive bias control to improve the power efficiency at back-off. The chip achieves a 31-dB gain-tuning range with a 0.283-dB step and a 360° phase-shifting range with a calibrated 7-bit resolution. The measured root-mean-square (RMS) phase/gain errors induced by the VGA/PS are below 2.05°/0.147 dB, respectively, which decouples phase/gain control. The transmitter achieves a maximum output 1-dB gain compression point (OP1dB) of 17.9 dBm and a maximum saturated power (Psat) of 18.9 dBm. The output element exhibits 29.3% drain efficiency (DE) at 6-dB power back off (PBO) from Psat , which is 1.56/3.12 times over the normalized class-B/class-A implementations, demonstrating Doherty PBO efficiency enhancement. The chip occupies an area of 8.59 × 4.17 mm2 and consumes 398 mW per element at OP1dB. Additionally, a 16-element linear array has been developed to showcase the capabilities of the multibeam operation and gain tapering. © 1963-2012 IEEE.

关键词： Efficiency

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Personalized Neural Speech Codec

arXiv

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arXiv 2024年

作者： Jang, Inseon Yang, Haici Lim, Wootaek Beack, Seungkwon Kim, Minje Electronics and Telecommunications Research Institute Daejeon34129 Korea Republic of Indiana University Department of Intelligent Systems Engineering BloomingtonIN47408 United States University of Illinois at Urbana-Champaign Department of Computer Science IL61801 United States

In this paper, we propose a personalized neural speech codec, envisioning that personalization can reduce the model complexity or improve perceptual speech quality. Despite the common usage of speech codecs where only a single talker is involved on each side of the communication, personalizing a codec for the specific user has rarely been explored in the literature. First, we assume speakers can be grouped into smaller subsets based on their perceptual similarity. Then, we also postulate that a group-specific codec can focus on the group’s speech characteristics to improve its perceptual quality and computational efficiency. To this end, we first develop a Siamese network that learns the speaker embeddings from the LibriSpeech dataset, which are then grouped into underlying speaker clusters. Finally, we retrain the LPCNet-based speech codec baselines on each of the speaker clusters. Subjective listening tests show that the proposed personalization scheme introduces model compression while maintaining speech quality. In other words, with the same model complexity, personalized codecs produce better speech quality. Copyright © 2024, The Authors. All rights reserved.

关键词： Computational efficiency

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One Policy to Run Them All: an End-to-end Learning Approach to Multi-Embodiment Locomotion

arXiv

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arXiv 2024年

作者： Bohlinger, Nico Czechmanowski, Grzegorz Krupka, Maciej Kicki, Piotr Walas, Krzysztof Peters, Jan Tateo, Davide Department of Computer Science Technical University of Darmstadt Germany Institute of Robotics and Machine Intelligence Poznan University of Technology Poland Research Department: Systems AI for Robot Learning Germany IDEAS NCBR Warsaw Poland Hessian.AI Germany Centre for Cognitive Science United Kingdom

Deep Reinforcement Learning techniques are achieving state-of-the-art results in robust legged locomotion. While there exists a wide variety of legged platforms such as quadruped, humanoids, and hexapods, the field is still missing a single learning framework that can control all these different embodiments easily and effectively and possibly transfer, zero or few-shot, to unseen robot embodiments. We introduce URMA, the Unified Robot Morphology Architecture, to close this gap. Our framework brings the end-to-end Multi-Task Reinforcement Learning approach to the realm of legged robots, enabling the learned policy to control any type of robot morphology. The key idea of our method is to allow the network to learn an abstract locomotion controller that can be seamlessly shared between embodiments thanks to our morphology-agnostic encoders and decoders. This flexible architecture can be seen as a potential first step in building a foundation model for legged robot locomotion. Our experiments show that URMA can learn a locomotion policy on multiple embodiments that can be easily transferred to unseen robot platforms in simulation and the real world. Copyright © 2024, The Authors. All rights reserved.

关键词： Reinforcement learning

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