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2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Slim, Malak Daher, Naseem Elhajj, Imad H. American University of Beirut Vision and Robotics Lab Electrical and Computer Engineering Department Beirut Lebanon

ISBN: (纸本)9781665481090

In this work, we present a novel solution aimed at improving robotic manipulators' performance in contact tasks. Inspired by the human motor control system, which relies on a feedforward mechanism to anticipate and plan movements based on the physical properties of the target environment, our approach plans the robot's motion during the reaching phase, prior to contact. To validate our approach, we conducted experiments using the KUKA youBot arm in two distinct environments, represented by soft and hard materials. Results showed that the robot exhibited compliant behavior, with an average reduction of 71% in overshoot, 60% in rise-time, and 68% steady-state error of the force control response during contact. © 2024 IEEE.

关键词： Motion planning

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A New Multi-Source Light Detection Benchmark and Semi-Supervised Focal Light Detection 38

A New Multi-Source Light Detection Benchmark and Semi-Superv...

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38th Conference on Neural Information Processing Systems, NeurIPS 2024

作者： Baek, Jae-Yong Yoo, Yong-Sang Bae, Seung-Hwan Inha University Dept. of Electrical and Computer Engineering Vision and Learning Lab Korea Republic of

This paper addresses a multi-source light detection (LD) problem from vehicles, traffic signals, and streetlights under driving scenarios. Albeit it is crucial for autonomous driving and night vision, this problem has not been yet focused on as much as other object detection (OD). One of the main reasons is the absence of a public available LD benchmark dataset. Therefore, we construct a new large LD dataset consisting of different light sources via heavy annotation:YouTube Driving Light Detection dataset (YDLD). Compared to the existing LD datasets, our dataset has much more images and box annotations for multi-source lights. We also provide rigorous statistical analysis and transfer learning comparison of other well-known detection benchmark datasets to prove the generality of our YDLD. For the recent object detectors, we achieve the extensive comparison results on YDLD. However, they tend to yield the low mAP scores due to the intrinsic challenges of LD caused by very tiny size and similar appearance. To resolve those, we design a novel lightness focal loss which penalizes miss-classified samples more and a lightness spatial attention prior by reflecting a global scene context. In addition, we develop a semi-supervised focal light detection (SS-FLD) by embedding our lightness focal loss into the semi-supervised object detection (SSOD). We prove that our methods can consistently boost mAP to the variety of types of recent detectors on YDLD. We will open both YDLD and SS-FLD code at https://***/YDLD-dataset/YDLD. © 2024 Neural information processing systems foundation. All rights reserved.

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Lossy Compression: An Online Multi-Stage Technology for High-Fidelity Synchro-Waveform Measurements

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IEEE Transactions on Industry Applications 2025年第3期61卷 4290-4300页

作者： Qiu, Wei Yin, He Wu, Yuru Dong, Yuqing Zheng, Yao Yao, Wenxuan Liu, Yilu Hunan University Department of Electrical Engineering and Computer Science Changsha410082 China University of Tennessee Department of Electrical Engineering and Computer Science KnoxvilleTN37996 United States Oak Ridge National Laboratory Oak RidgeTN37831 United States

Effective real-time monitoring and analysis of distributed grids necessitate the use of synchro-waveform measurements, which capture almost all high-frequency disturbances and transient phenomena. However, due to limitations in high-speed measurements and network bandwidth, it is challenging to transfer all high-fidelity synchro-waveforms losslessly and successfully. To cope with these challenges, a hybrid-based online multi-stage compression algorithm is proposed to significantly improve the compression efficiency for synchro-waveform measurements. Initially, the multiple discrete Wavelet transformation is deployed to deconstruct the waveform components. The delta encoding is further developed to decrease the magnitude. In conjunction with the Lempel-Ziv-Markov chain, the hybrid compression algorithm is implemented to achieve real-time compression for the synchro-waveform measurements. Moreover, an innovative error index that synergizes the time and frequency domain error and correlation is formulated to evaluate the waveform distortion. By integrating compression ratio, suitable parameters can be optimally selected. Finally, the simulation, laboratory experiments, as well as field tests across a spectrum of sampling frequencies and time intervals are conducted to substantiate the efficacy of the proposed method. The outcomes demonstrated that a compression ratio of approximately 15.5 and 17.83 can be reached for 0.5 s and 1 s data under both offline and online scenarios, which equates to a substantial 93.5% to 94.39% reduction in data storage requirements. © 1972-2012 IEEE.

关键词： Synchros

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Spatio-temporal Attention Graph Convolutions for Skeleton-based Action Recognition 23rd

Spatio-temporal Attention Graph Convolutions for Skeleton-b...

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22nd Scandinavian Conference on Image Analysis, SCIA 2023

作者： Le, Cuong Liu, Xin Computer Vision and Pattern Recognition Laboratory School of Engineering Science Lappeenranta-Lahti University of Technology LUT Lappeenranta Finland Computer Vision Laboratory Department of Electrical Engineering Linköping University Linköping Sweden

ISBN: (纸本)9783031314346

In skeleton-based action recognition, graph convolutional networks (GCN) have been applied to extract features based on the dynamic of the human body and the method has achieved excellent results recently. However, GCN-based techniques only focus on the spatial correlations between human joints and often overlook the temporal relationships. In an action sequence, the consecutive frames in a neighborhood contain similar poses and using only temporal convolutions for extracting local features limits the flow of useful information into the calculations. In many cases, the discriminative features can present in long-range time steps and it is important to also consider them in the calculations to create stronger representations. We propose an attentional graph convolutional network, which adapts self-attention mechanisms to respectively model the correlations between human joints and between every time steps for skeleton-based action recognition. On two common datasets, the NTU-RGB+D60 and the NTU-RGB+D120, the proposed method achieved competitive classification results compared to state-of-the-art methods. The project’s GitHub page: STA-GCN. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Convolution

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Masked Generative Light Field Prompting for Pixel-Level Structure Segmentations

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Research 2024年第4期2024卷 533-544页

作者： Mianzhao Wang Fan Shi Xu Cheng Shengyong Chen The Engineering Research Center of Learning-Based Intelligent System(Ministry of Education) Tianjin University of TechnologyTianjin 300384China Key Laboratory of Computer Vision and System(Ministry of Education) Tianjin University of TechnologyTianjin 300384China School of Computer Science and Engineering Tianjin University of TechnologyTianjin 300384China

Pixel-level structure segmentations have attracted considerable attention,playing a crucial role in autonomous driving within the metaverse and enhancing comprehension in light field-based machine ***,current light field modeling methods fail to integrate appearance and geometric structural information into a coherent semantic space,thereby limiting the capability of light field transmission for visual *** this paper,we propose a general light field modeling method for pixel-level structure segmentation,comprising a generative light field prompting encoder(LF-GPE)and a prompt-based masked light field pretraining(LF-PMP)*** LF-GPE,serving as a light field backbone,can extract both appearance and geometric structural cues *** aligns these features into a unified visual space,facilitating semantic ***,our LF-PMP,during the pretraining phase,integrates a mixed light field and a multi-view light field *** prioritizes considering the geometric structural properties of the light field,enabling the light field backbone to accumulate a wealth of prior *** evaluate our pretrained LF-GPE on two downstream tasks:light field salient object detection and semantic *** results demonstrate that LF-GPE can effectively learn high-quality light field features and achieve highly competitive performance in pixel-level segmentation tasks.

关键词： prompt backbone integrate

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Dynamic Performance of Non-Minimum-Phase Zeros-Dominated Power-Synchronization Control

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IEEE Transactions on Power Systems 2025年第2期40卷 1985-1988页

作者： Jin, Xin Dai, Ningyi State Key Laboratory of Internet of Things for Smart City Department of Electrical and Computer Engineering University of Macau 999078 China

In this letter, it is found that non-minimum-phase zeros of power-synchronization control (PSC), induced by q-axis current injection, only dominate the system in weak grids, with one exception of low converter voltage magnitude. Using Bode's gain/phase relation, a trade-off analytical condition between the bandwidth and phase margin is proposed considering the locations of right-half-plant (RHP) zeros. System dynamic performance is improved compared to the design ignoring the effect of RHP zeros. © 1969-2012 IEEE.

关键词： Bandwidth Transfer functions Power system stability Impedance System dynamics Stability criteria Reactive power Power system dynamics Grid forming Tuning

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A Liquid-Metal-Based, Stretchable Inductive Loop Sensor for Muscle Atrophy

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IEEE Antennas and Wireless Propagation Letters 2024年第1期23卷 424-428页

作者： Rice, Allyanna Kiourti, Asimina Ohio State University ElectroScience Laboratory Department of Electrical and Computer Engineering ColumbusOH43214 United States

We present a sensor toward wearable monitoring of muscle atrophy with improved stretching capabilities and sensing resolution for practical implementation. The operation relies on our previously reported approach, where wrap-around transmit and receive loops at inductive frequencies monitor changes in muscle size via the magnitude and/or phase of the transmission coefficient. The novel aspects of this work entail: 1) a new fabrication approach with stretchable inductive loops made from Gallium Indium eutectic (EGaIn) injected into silicone tubing to improve stretchability, and 2) operation below the defined resonant frequency to improve magnitude resolution of the sensor. Simulation and in vitro measurement results are in excellent agreement. Compared to our previous sensor implementation, the proposed approach: 1) achieves 4.3 times higher stretchability, 2) measures 1.7 times larger muscle volume loss, and 3) improves magnitude resolution by 6 dB. Specifically, we achieve a magnitude and phase resolution of 1.25 dB and 3.8°, respectively, per centimeter of limb circumference, and 0.3 dB and 0.9° per a 1% volume reduction. We also demonstrate repeatable fabrication with a low standard error of 0.19 dB and 0.7°. Because of the improved stretching capabilities and resolution, we can now accurately measure the circumference at any location on the leg of any given member of the population with a single device. Concurrently, this work brings forward innovations in fabricating radio frequency electronics from liquid metals. © 2023 IEEE.

关键词： Muscle

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MMInstruct: a high-quality multi-modal instruction tuning dataset with extensive diversity

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Science China(Information Sciences) 2024年第12期67卷 36-51页

作者： Yangzhou LIU Yue CAO Zhangwei GAO Weiyun WANG Zhe CHEN Wenhai WANG Hao TIAN Lewei LU Xizhou ZHU Tong LU Yu QIAO Jifeng DAI School of Computer Science Nanjing University School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai AI Laboratory School of Computer Science Fudan University Department of Information Engineering The Chinese University of Hong Kong SenseTime Research Department of Electronic Engineering Tsinghua University

Despite the effectiveness of vision-language supervised fine-tuning in enhancing the performance of vision large language models(VLLMs), existing visual instruction tuning datasets include the following limitations.(1) Instruction annotation quality: despite existing VLLMs exhibiting strong performance,instructions generated by those advanced VLLMs may still suffer from inaccuracies, such as hallucinations.(2) Instructions and image diversity: the limited range of instruction types and the lack of diversity in image data may impact the model's ability to generate diversified and closer to real-world scenarios outputs. To address these challenges, we construct a high-quality, diverse visual instruction tuning dataset MMInstruct,which consists of 973k instructions from 24 domains. There are four instruction types: judgment, multiplechoice, long visual question answering, and short visual question answering. To construct MMInstruct, we propose an instruction generation data engine that leverages GPT-4V, GPT-3.5, and manual correction. Our instruction generation engine enables semi-automatic, low-cost, and multi-domain instruction generation at 1/6 the cost of manual construction. Through extensive experiment validation and ablation experiments,we demonstrate that MMInstruct could significantly improve the performance of VLLMs, e.g., the model fine-tuning on MMInstruct achieves new state-of-the-art performance on 10 out of 12 benchmarks. The code and data shall be available at https://***/yuecao0119/MMInstruct.

关键词： instruction tuning multi-modal multi-domain dataset vision large language model

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Multimodal Price Prediction

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Annals of Data Science 2023年第3期10卷 619-635页

作者： Zehtab-Salmasi, Aidin Feizi-Derakhshi, Ali-Reza Nikzad-Khasmakhi, Narjes Asgari-Chenaghlu, Meysam Nabipour, Saeideh Computerized Intelligence Systems Laboratory Department of Computer Engineering University of Tabriz Tabriz Iran Department Computer and Electrical Engineering University of Mohaghegh Ardabili Ardabil Iran

Price prediction is one of the examples related to forecasting tasks and is a project based on data science. Price prediction analyzes data and predicts the cost of new products. The goal of this research is to achieve an arrangement to predict the price of a cellphone based on its specifications. So, five deep learning models are proposed to predict the price range of a cellphone, one unimodal and four multimodal approaches. The multimodal methods predict the prices based on the graphical and non-graphical features of cellphones that have an important effect on their valorizations. Also, to evaluate the efficiency of the proposed methods, a cellphone dataset has been gathered from GSMArena. The experimental results show 88.3% F1-score, which confirms that multimodal learning leads to more accurate predictions than state-of-the-art techniques. © 2021, The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature.

关键词： Price prediction Multimodal learning Convolutional neural network Inception Classification Prediction Multimodal Price Deep learning Data science Mobile phone

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Red VCSEL Array for Optical Parallel-Interconnected Links with Ultra-Low Energy Consumption

Red VCSEL Array for Optical Parallel-Interconnected Links wi...

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CLEO: Science and Innovations in CLEO 2024, CLEO: S and I 2024 - Part of Conference on Lasers and Electro-Optics

作者： Almaymoni, Nawal Alkhazragi, Omar Finkbeiner, Fabian Ng, Tien Khee Ooi, Boon S. Photonics Laboratory Electrical and Computer Engineering Division of Computer Electrical and Mathematical Sciences and Engineering Saudi Arabia Thuwal23955-6900 Saudi Arabia

We demonstrated a high data rate of 4.7 Gb/s based on a single 650-nm vertical-cavity surface-emitting laser with 2-pJ/bit energy consumption, potentially enabling Tb/s parallel interconnects based on a 14×16 arr... 详细信息

关键词： Surface emitting lasers

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