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IEEE International Conference on Development and Learning, ICDL

作者： Murat Kirtay Verena V. Hafner Minoru Asada Erhan Oztop department of Cognitive Science and Artificial Intelligence Tilburg University Tilburg Netherlands Department of Computer Science Adaptive Systems Group Humboldt-Universität zu Berlin Berlin Germany Research Cluster of Excellence Science of Intelligence Berlin Symbiotic Intelligent Systems Research Center Institute for Open and Transdisciplinary Research Initiatives Osaka University Japan International Professional University of Technology in Osaka Osaka Japan Ozyegin University Istanbul Turkey

Multimodal learning is an active research area that is gaining importance in human-robot interaction. Despite the obvious benefit of levering multiple sensors for perceiving the world, its neural computational cost has not been addressed in robotics, especially in Robot-Robot Interaction (RRI). This study addresses the role of computational cost in multimodal processing by considering robot-robot interaction in a sequential multimodal memory recall task. In this setting, the learner (Nao) robot receives auditory-only, visual-only, or audio-visual information from an instructor (Pepper) robot and the environment regarding previously learned memory items. The goal of the learner robot is to perform the interactive task with as low as possible neural computational cost. The learner robot has two cognitive modules: a multimodal auto-associative network that stands for the perceptual-cognitive processing of the robot and an internal reward mechanism that monitors the changes in neural energy incurred for two consecutive steps by the processing of the attended stimuli. The reward computed is used to build an action policy for minimizing the neural energy consumption over the sequential memory recall task. The experimental results show that having access to both auditory and visual information is beneficial not only for better memory recall but also for minimizing the cost of neural computation.

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Design and Implementation of a Two-Limbed 3T1R Haptic Device

Design and Implementation of a Two-Limbed 3T1R Haptic Device

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IEEE/RSJ International Conference on intelligent Robots and systems (IROS)

作者： Long Kang Yang Yang Byung-Ju Yi PCA Lab Key Laboratory of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education School of Computer Science and Engineering Nanjing University of Science and Technology Nanjing China Xi'an Modern Control Technology Research Institute Xi'an China School of Automation Nanjing University of Information Science and Technology Nanjing China Department of the Electronic Systems Engineering Hanyang University Ansan South Korea

This paper presents a haptic device with a simple architecture of only two limbs that can provide translational motion in three degrees of freedom (DOF) and one-DOF rotational motion. Actuation redundancy eliminates all forward-kinematic singularities and improves the motion-force transmission property. Thanks to the special structure of the kinematic chains, all actuators are close to the base and full gravity compensation is achieved passively by using springs. Force producibility analysis shows that this haptic device is able to produce long-term continuous force feedback of 15–30 N in each direction. By developing a prototype of the haptic device and a virtual three-dimensional simulator, a preliminary performance evaluation of the haptic device was conducted. In addition, a torque distribution algorithm considering a relaxed form of actuator-torque saturation was experimentally evaluated, and a comparison with other algorithms reveals that this algorithm offers several advantages.

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Signal Attenuation Modeling and Simulation for 5G and Beyond P2P Wireless Communication Networks in FR2 Bands: Comparison within M-Region in Nigeria 2

Signal Attenuation Modeling and Simulation for 5G and Beyond...

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2nd International Conference on Multidisciplinary Engineering and Applied science, ICMEAS 2023

作者： Alozie, Emmanuel Faruk, Nasir Abdulkarim, Abubakar Usman, Aliyu D. Olayinka Imam-Fulani, Yusuf Garba, Salisu Adewole, Kayode S. Oloyede, Abdulkarim A. Sowande, Olugbenga A. Abdullahi Baba, Bashir Musa, Abdulwaheed Imoize, Agbotiname Lucky Adediran, Yinusa A. Olagunju, Hawau I. Taura, Lawan S. Sule Lamido University Department of Information Technology Kafin Hausa Nigeria Sule Lamido University Directorate of Information and Communication Technology Kafin Hausa Nigeria Ahmadu Bello University Department of Electrical Engineering Kafin Hausa Nigeria Kampala International University Department of Electrical and Telecommunications Engineering Kampala Uganda Ahmadu Bello University Department of Electronics and Telecommunication Engineering Zaria Nigeria University of Ilorin Department of Telecommunication Science Ilorin Nigeria Sule Lamido University Department of Software Engineering Kafin Hausa Nigeria University of Ilorin Department of Computer Science Ilorin Nigeria Sule Lamido University Department of Cyber Security Kafin Hausa Nigeria Kwara State University Department of Electrical and Computer Engineering Malete Nigeria University of Johannesburg Institute for Intelligent Systems Johannesburg South Africa University of Lagos Department of Electrical and Electronics Engineering Lagos Nigeria Ruhr University Institute of Digital Communication Department of Electrical Engineering and Information Technology Bochum Germany University of Ilorin Department of Electrical and Electronics Engineering Ilorin Nigeria Sule Lamido University Department of Physics Kafin Hausa Nigeria

ISBN: (纸本)9798350358834

ITU-R categorized Nigeria into four rain regions (i.e., M, N, P, and Q) depending on the atmospheric conditions. Previous works that have conducted rain and attenuation modeling and simulations have assumed similar signal propagation behavior and parameters within locations categorized under the same region. This paper aims to explore these assumptions by conducting an extensive radio propagation simulations of point-to-point microwave links with a clear line-of-sight in order to estimate the total path loss (attenuation), excess path loss, and flat fade margins for each of the locations within the M-regions, i.e., Kano, Sokoto, and Adamawa. Results obtained showed that in all the locations, the loss monotonically increases with distance, with Sokoto having the highest level of signal losses and fading, while, Adamawa has the lowest. The deviation for both total loss, excess loss, and flat fading margin was found to be between 15 dB across the region. © 2023 IEEE.

关键词： Location

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Modeling and Simulation of Total Attenuation of P2P NLOS 5G and Beyond Wireless Communication systems Operating in FR2 Bands in Nigeria 2

Modeling and Simulation of Total Attenuation of P2P NLOS 5G ...

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2nd International Conference on Multidisciplinary Engineering and Applied science, ICMEAS 2023

作者： Alozie, Emmanuel Faruk, Nasir Abdulkarim, Abubakar Usman, Aliyu D. Imam-Fulani, Yusuf Olayinka Garba, Salisu Adewole, Kayode S. Oloyede, Abdulkarim A. Sowande, Olugbenga A. Baba, Bashir Abdullahi Musa, Abdulwaheed Imoize, Agbotiname Lucky Adediran, Yinusa A. Olagunju, Hawau I. Taura, Lawan S. Sule Lamido University Department of Information Technology Kafin Hausa Nigeria Sule Lamido University Directorate of Information and Communication Technology Kafin Hausa Nigeria Ahmadu Bello University Department of Electrical Engineering Nigeria Kampala International University Department of Electrical and Telecommunications Engineering Kansanga Kampala Uganda Ahmadu Bello University Department of Electronics and Telecommunication Engineering Nigeria University of Ilorin Department of Telecommunication Science Ilorin Nigeria Sule Lamido University Department of Software Engineering Kafin Hausa Nigeria University of Ilorin Department of Computer Science Ilorin Nigeria Sule Lamido University Department of Cyber Security Kafin Hausa Nigeria Kwara State University Department of Electrical and Computer Engineering Malete Nigeria University of Johannesburg Institute for Intelligent Systems Johannesburg South Africa University of Lagos Department of Electrical and Electronics Engineering Lagos Akoka Nigeria Ruhr University Institute of Digital Communication Department of Electrical Engineering and Information Technology Bochum Germany University of Ilorin Department of Electrical and Electronics Engineering Ilorin Nigeria Sule Lamido University Department of Physics Kafin Hausa Nigeria

ISBN: (纸本)9798350358834

Signal propagation in a particular region differs from another due to differences in atmospheric, climatic and environmental properties, distinct terrain and clutter features. Adequate analysis is essential to understand the radio propagation behavior in a particular region. The ITU-R designated four rain regions, M, N, P, and Q, for Nigeria representing the rain rate distribution and also provided further classifications based on ground conductivity, among other salient parameters. Based on these classifications, this paper utilized the EDX Signal Pro software® to model and simulate a typical Point-to-Point (P2P), Non-Line of Sight (NLOS) link scenarios for 5G networks. The objective was to estimate and compare the total loss, excess loss, and flat fade margins for each rain region in Nigeria. Results obtained from the comparison showed that signals propagating in region N experience the highest level of losses and fading, while, region Q has the least losses and fading. © 2023 IEEE.

关键词： 5G mobile communication systems

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Integrated Optimization of Charging Infrastructure, Renewable Energy and Battery Electric Bus Scheduling Subject to Power Distribution Network Constraints

SSRN

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SSRN 2024年

作者： Najafi, Arsalan Gao, Kun Parishwad, Omkar Tsaousoglou, Georgios Jin, Sheng Yi, Wen Department of Architecture and Civil Engineering Chalmers University of Technology GothenburgSE-412 96 Sweden Department of Applied Mathematics and Computer Science Technical University of Denmark Denmark Institute of Intelligent Transportation Systems College of Civil Engineering and Architecture Zhejiang University Hangzhou310058 China Department of Building and Real Estate The Hong Kong Polytechnic University Hung Hom Hong Kong

The adoption of Battery Electric Buses (BEBs) in electric public transit systems presents a significant opportunity for advancing sustainable transportation. However, it also poses challenges to the coupled electric transport and energy systems, particularly concerning the safety and efficiency of Power Distribution Networks (PDN). This study introduces a comprehensive BEB-PDN framework designed for the joint optimization of charging infrastructure, charging scheduling, and integration of renewable energy resources, with a specific focus on their impacts on PDN. The complexity of the proposed model is primarily due to its extensive decision variables and nonlinear constraints. To address this, a decomposition approach is employed, linearizing the problem and dividing it into master and subproblems for efficient resolution. A case study in Skövde, Sweden demonstrates that without renewable energy integration, high charging demands from BEBs can lead to PDN safety violations, such as significant voltage drops at certain nodes. The incorporation of renewable energy sources with battery energy storage in the BEB transit system is shown to enhance the PDN's stability and safety while catering to the system's spatiotemporal charging demands. This study offers an optimization framework for the integrated planning of charging infrastructure, BEB systems, and renewable energy, providing empirical insights into their potential benefits. © 2024, The Authors. All rights reserved.

关键词： Electric buses

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Enabling surrogate-assisted evolutionary reinforcement learning via policy embedding

arXiv

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arXiv 2023年

作者： Tang, Lan Li, Xiaxi Zhang, Jinyuan Li, Guiying Yang, Peng Tang, Ke Guangdong Provincial Key Laboratory of Brain-Inspired Intelligent Computation Department of Computer Science and Engineering Southern University of Science and Technology Shenzhen518055 China Faculty of engineering Shenzhen MSU-BIT university Shenzhen518172 China Research Institute of Trustworthy Autonomous Systems Southern University of Science and Technology Shenzhen518055 China Department of Statistics and Data Science Southern University of Science and Technology Shenzhen518055 China

Evolutionary Reinforcement Learning (ERL) that applying Evolutionary Algorithms (EAs) to optimize the weight parameters of Deep Neural Network (DNN) based policies has been widely regarded as an alternative to traditional reinforcement learning methods. However, the evaluation of the iteratively generated population usually requires a large amount of computational time and can be prohibitively expensive, which may potentially restrict the applicability of ERL. Surrogate is often used to reduce the computational burden of evaluation in EAs. Unfortunately, in ERL, each individual of policy usually represents millions of weights parameters of DNN. This high-dimensional representation of policy has introduced a great challenge to the application of surrogates into ERL to speed up training. This paper proposes a PE-SAERL Framework to at the first time enable surrogate-assisted evolutionary reinforcement learning via policy embedding (PE). Empirical results on 5 Atari games show that the proposed method can perform more efficiently than the four state-of-the-art algorithms. The training process is accelerated up to 7x on tested games, comparing to its counterpart without the surrogate and PE. Copyright © 2023, The Authors. All rights reserved.

关键词： Reinforcement learning

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WaveFormer: A Wavelet Transformer for Parkinson Disease’s Retinal Layer Segmentation in OCT

WaveFormer: A Wavelet Transformer for Parkinson Disease’s R...

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International Joint Conference on Neural Networks (IJCNN)

作者： Yanlin Chen Xiaoqing Zhang Tianao Wang Chen Tang Haili Ye Jiang Liu Department of Computer Science and Engineering Research Institute of Trustworthy Autonomous Systems Southern University of Science and Technology Shenzhen China Shenzhen Institute of Advanced Technology Center for High Performance Computing and Shenzhen Key Laboratory of Intelligent Bioinformatics Chinese Academy of Sciences Shenzhen China School of Ophthalmology and Optometry Wenzhou Medical University Wenzhou China The Oujiang Laboratory The Affiliated Eye Hospital Wenzhou Medical University Wenzhou China

ISBN: (数字)9798350359312

ISBN: (纸本)9798350359329

Pathology symptoms of Parkinson disease (PD) are different from those of retinal diseases in the retinal layers, which are subtle. However, segmenting pathology information of PD from retinal layers automatically based on optical coherence tomography (OCT) images has not been studied before. Although existing Transformer-based segmentation methods have achieved good segmentation results, they have limitations in capturing local context information. Convolutional neural networks (CNNs) can construct local context dependencies among pixels, which is complementary to Transformers. Particularly, edge information extraction is significant for accurate retinal layer segmentation, which is ignored by both Transformers and CNNs but can be captured by frequency domain learning methods. To fully leverage the advantages of Transformers, CNNs, and frequency domain learning methods, we propose a Wavelet Transformer (WaveFormer) for retinal layer segmentation based on OCT images. In the WaveFormer, we design a Wavelet Spatial Attention block to exploit the potential of frequency information. Based on these advantages, WaveFormer can be data-efficient in limited OCT images of PD. The experimental results on the OCT-PD segmentation dataset show that our WaveFormer outperforms existing Transformers and CNNs. For example, WaveFormer outperforms Swin-UNet by 3.41% of IoU.

关键词： Learning systems Image segmentation Pathology Wavelet domain Image edge detection Frequency-domain analysis Transformers

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Hybrid saturation restoration for LDR images of HDR scenes

arXiv

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arXiv 2021年

作者： Zheng, Chaobing Li, Zhengguo Wu, Shiqian the Institute of Robotics and Intelligent Systems School of Information Science and Engineering Wuhan University of Science and Technology Wuhan430081 China the SRO Department Institute for Infocomm Research Singapore138632 Singapore

There are shadow and highlight regions in a low dynamic range (LDR) image which is captured from a high dynamic range (HDR) scene. It is an ill-posed problem to restore the saturated regions of the LDR image. In this paper, the saturated regions of the LDR image are restored by fusing model-based and data-driven approaches. With such a neural augmentation, two synthetic LDR images are first generated from the underlying LDR image via the model-based approach. One is brighter than the input image to restore the shadow regions and the other is darker than the input image to restore the high-light regions. Both synthetic images are then refined via a novel exposedness aware saturation restoration network (EASRN). Finally, the two synthetic images and the input image are combined together via an HDR synthesis algorithm or a multi-scale exposure fusion algorithm. The proposed algorithm can be embedded in any smart phones or digital cameras to produce an information-enriched LDR image. © 2021, CC0.

关键词： Restoration

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Deep Reinforcement Learning Enabled Joint Deployment and Beamforming in STAR-RIS Assisted Networks

arXiv

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arXiv 2023年

作者： Ma, Zhuoyuan Zhao, Qi Yan, Bai Zhang, Jin The Department of Computer Science and Engineering Southern University of Science and Technology Shenzhen518055 China The 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 Peng Cheng Laboratory Shenzhen518000 China

In the new generation of wireless communication systems, reconfigurable intelligent surfaces (RIS) and simultaneously transmitting and reflecting reconfigurable intelligent surfaces (STAR-RIS) have become competitive network components to achieve intelligent and reconfigurable network environments. However, existing work has not fully studied the deployment freedom of STAR-RIS, which limits further improvements in network communication performance. Therefore, this paper proposes a solution based on a deep reinforcement learning algorithm to dynamically deploy STAR-RIS and hybrid beamforming to improve the total communication rate of users in mobile wireless networks. The paper constructs a STAR-RIS assisted multi-user multiple-input single-output (MU-MISO) mobile wireless network and jointly optimizes the dynamic deployment strategy of STAR-RIS and the hybrid beamforming strategy to maximize the long-term total communication rate of users. To solve this problem, the paper uses the Proximal Policy Optimization (PPO) algorithm to optimize the deployment of STAR-RIS and the joint beamforming strategy of STAR-RIS and the base station. The trained policy can maximize the downlink transmission rate of the system and meet the real-time decision-making needs of the system. Numerical simulation results show that compared with the traditional scheme without using STAR-RIS and fixed STAR-RIS deployment, the PPO method proposed in this paper can effectively improve the total communication rate of wireless network users in the service *** Codes G.1.6, I.2.8 Copyright © 2023, The Authors. All rights reserved.

关键词： Reinforcement learning

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Identifiability Analysis of Noise Covariances for LTI Stochastic systems with Unknown Inputs

arXiv

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arXiv 2022年

作者： Kong, He Sukkarieh, Salah Arnold, Travis J. Chen, Tianshi Mu, Biqiang Zheng, Wei Xing Shenzhen518055 China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities SUSTech Shenzhen518055 China Sydney Institute for Robotics and Intelligent Systems The University of Sydney NSW2006 Australia Madison WI53704 United States School of Data Science Shenzhen Research Institute of Big Data The Chinese University of Hong Kong Shenzhen518172 China Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China School of Computer Data and Mathematical Sciences Western Sydney University SydneyNSW2751 Australia

Most existing works on optimal filtering of linear time-invariant (LTI) stochastic systems with arbitrary unknown inputs assume perfect knowledge of the covariances of the noises in the filter design. This is impractical and raises the question of whether and under what conditions one can identify the process and measurement noise covariances (denoted as Q and R, respectively) of systems with unknown inputs. This paper considers the identifiability of Q/R using the correlation-based measurement difference approach. More specifically, we establish (i) necessary conditions under which Q and R can be uniquely jointly identified;(ii) necessary and sufficient conditions under which Q can be uniquely identified, when R is known;(iii) necessary conditions under which R can be uniquely identified, when Q is known. It will also be shown that for achieving the results mentioned above, the measurement difference approach requires some decoupling conditions for constructing a stationary time series, which are proved to be sufficient for the well-known strong detectability requirements established by Hautus. © 2022, CC BY.

关键词： Stochastic systems

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