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Stability Analysis and Performance Evaluation of Delayed Bilateral Telerobotic Systems over a Lossy Communication Channel

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Journal of Systems Science & Complexity 2021年第1期34卷 157-179页

作者： BAKHSHI Ali ALFI Alireza TALEBI Heidar Ali SOURATGAR Amir Aboulfazl YOUSEFI Mahdi Faculty of Electrical and Robotic Engineering Shahrood University of TechnologyShahrood 36199-95161Iran Power Plants Control Systems Technology Development Plan Department of monitoring and ControlNiroo Research InstituteTehran 14665-517Iran Real-Time and Robotics system Laboratory Faculty of Electrical EngineeringAmirkabir University of TechnologyHafez AvenueTehran 15914Iran Electrical and Computer Engineering Department The University of British Columbia2385East MallVan couverBC V6T 1Z4Canada

The focus of this paper is to address a novel control technique for stability and transparency analysis of bilateral telerobotic systems in the presence of data loss and time delay in the communication channel. Different control strategies have been reported to compensate the effects of time delay in the communication channel;however, most of them result in poor performance under data loss. First, a model for data loss is proposed using a finite series representation of a set of periodic continuous *** improve the performance and data reconstruction, a holder circuits is also introduced. The passivity of the overall system is provided via the wave variable technique based on the proposed model for the data loss. The stability analysis of the system is then derived using the Lyapunov theorem under the time delay and the data loss. Finally, experimental results are given to illustrate the capability of the proposed control technique.

关键词： Lossy channel passivity stability telerobotic transparency

NTIRE 2023 HR NonHomogeneous Dehazing Challenge Report

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NTIRE 2023 HR NonHomogeneous Dehazing Challenge Report

2023 IEEE/CVF Conference on computer vision and Pattern Recognition Workshops, CVPRW 2023

作者： Ancuti, Codruta O. Ancuti, Cosmin Vasluianu, Florin-Alexandru Timofte, Radu Zhou, Han Dong, Wei Liu, Yangyi Chen, Jun Liu, Huan Li, Liangyan Wu, Zijun Dong, Yubo Li, Yuyan Qiu, Tian He, Yu Lu, Yonghong Wu, Yinwei Jiang, Zhenxiang Liu, Songhua Yang, Xingyi Jing, Yongcheng Benjdira, Bilel Ali, Anas M. Koubaa, Anis Yang, Hao-Hsiang Chen, I-Hsiang Chen, Wei-Ting Huang, Zhi-Kai Chen, Yi-Chung Hsieh, Chia-Hsuan Chang, Hua-En Chiang, Yuan-Chun Kuo, Sy-Yen Guo, Yu Gao, Yuan Liu, Ryan Wen Lu, Yuxu Qu, Jingxiang He, Shengfeng Ren, Wenqi Hoang, Trung Zhang, Haichuan Yazdani, Amirsaeed Monga, Vishal Yang, Lehan Wu, Alex Jiahao Mai, Tiancheng Cong, Xiaofeng Yin, Xuemeng Yin, Xuefei Emad, Hazim Abdallah, Ahmed Yasser, Yahya Elshahat, Dalia Elbaz, Esraa Li, Zhan Kuang, Wenqing Luo, Ziwei Gustafsson, Fredrik K. Zhao, Zheng Sjölund, Jens Schön, Thomas B. Zhang, Zhao Wei, Yanyan Wang, Junhu Zhao, Suiyi Zheng, Huan Guo, Jin Sun, Yangfan Liu, Tianli Hao, Dejun Jiang, Kui Sarvaiya, Anjali Prajapati, Kalpesh Patra, Ratnadeep Barik, Pragnesh Rathod, Chaitanya Upla, Kishor Raja, Kiran Ramachandra, Raghavendra Busch, Christoph ETcTI Universitatea Politehnica Timisoara Romania ICTEAM UCL Belgium Computer Vision Lab University of Wuerzburg Germany Computer Vision Lab ETH Zurich Switzerland Department of Electrical and Computer Engineering McMaster University Canada Department of Electrical and Computer Engineering University of Alberta Canada McMaster University Canada Xidian University China Research Institute Singapore National University of Singapore Singapore University of Sydney Australia Robotics and Internet-of-Things Laboratory Prince Sultan University Riyadh12435 Saudi Arabia Department of Electrical Engineering National Taiwan University Taiwan Graduate Institute of Electronics Engineering National Taiwan University Taiwan Graduate Institute of Communication Engineering National Taiwan University Taiwan Wuhan University of Technology China Singapore Management University Singapore Singapore Sun Yat-sen University China Electrical Engineering Department Pennsylvania State University United States The University of Sydney Australia Southeast University China University of California Los Angeles United States Beijing Jiaotong University China Mansoura Univeristy Egypt College of Information Science and Technology Jinan University China Department of Information Technology Uppsala University Sweden Hefei University of Technology China Zhejiang Dahua Technology China Sardar Vallabhbhai National Institute of Technology India Norwegian University of Science and Technology Norway

ISBN: (纸本)9798350302493

This study assesses the outcomes of the NTIRE 2023 Challenge on Non-Homogeneous Dehazing, wherein novel techniques were proposed and evaluated on new image dataset called HD-NH-HAZE. The HD-NH-HAZE dataset contains 50 high resolution pairs of real-life outdoor images featuring nonhomogeneous hazy images and corresponding haze-free images of the same scene. The nonhomogeneous haze was simulated using a professional setup that replicated real-world conditions of hazy scenarios. The competition had 246 participants and 17 teams submitted solutions for the final testing phase. The proposed solutions demonstrated the cutting-edge in image dehazing technology. © 2023 IEEE.

关键词： Demulsification

Extraordinary Quality Factors in Dual-Band Polarization-Insensitive QuasiBound States in the Continuum

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arXiv 2024年

作者： Ghahremani, Maryam Zapata-Rodríguez, Carlos J. Photonics Research Laboratory Center of Excellence on Applied Electromagnetic Systems School of Electrical and Computer Engineering College of Engineering University of Tehran Tehran Iran Department of Optics and Optometry and Vision Sciences Faculty of Physics University of Valencia Dr. Moliner 50 Burjassot46100 Spain

In this study, we investigate a novel "dimerized" dielectric metasurface featuring dual-mode resonances governed by symmetry-protected bound states in the continuum (BICs). The metasurface design offers advantages such as insensitivity to incident light polarization and exceptionally high quality factors exceeding 105 for low and moderate structural deviations from the monoatomic array. By introducing mastered perturbations in the metasurface via the Brillouin zone folding method, without reducing symmetry, we explore the behavior of symmetry-protected BIC states and their polarization-independent responses. Through numerical simulations and analysis, we demonstrate the superiority of Q factors for specific BIC-based resonances, leading to precise control over interaction behaviors and light engineering in both near and far fields. Our findings contribute to the understanding of BIC resonance interactions and offer insights into the design of high-performance sensing applications and meta-devices with enhanced functionalities. © 2024, CC BY-NC-ND.

关键词： Incident light

Metamaterial-induced-transparency engineering through quasi-bound states in the continuum by using dielectric cross-shaped trimers

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arXiv 2024年

This study presents a novel approach to activate a narrowband transparency line within a reflecting broadband window in all-dielectric metasurfaces, in analogy to the electromagnetically-induced transparency effect, by means of a quasi-bound state in the continuum (qBIC). We demonstrate that the resonance overlapping of a bright mode and a qBIC-based nearly-dark mode with distinct Q-factor can be fully governed by a silicon trimer-based unit cell with broken-inversion-symmetry cross shape, thus providing the required response under normal incidence of a linearly-polarized light. Our analysis that is derived from the far-field multipolar decomposition and near-field electromagnetic distributions uncovers the main contributions of different multipoles on the qBIC resonance, with governing magnetic dipole and electric quadrupole terms supplied by distinct parts of the dielectric "molecule." The findings extracted from this research open up new avenues for the development of polarization-dependent technologies, with particular interest in its capabilities for sensing and biosensing. © 2024, CC BY-NC-ND.

关键词： Transparency

CodeEnhance: A Codebook-Driven Approach for Low-Light Image Enhancement

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arXiv 2024年

作者： Wu, Xu Hou, XianXu Lai, Zhihui Zhou, Jie Zhang, Ya-Nan Pedrycz, Witold Shen, Linlin The Computer Vision Institute College of Computer Science and Software Engineering Shenzhen University Shenzhen518060 China Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen518060 China Guangdong Key Laboratory of Intelligent Information Processing Shenzhen University Shenzhen518060 China School of AI and Advanced Computing Xi’an Jiaotong-Liverpool University China National Engineering Laboratory for Big Data System Computing Technology Shenzhen University SZU Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society Guangdong Shenzhen518060 China The Department of Electrical & Computer Engineering University of Alberta University of Alberta Canada

Low-light image enhancement (LLIE) aims to improve low-illumination images. However, existing methods face two challenges: (1) uncertainty in restoration from diverse brightness degradations;(2) loss of texture and color information caused by noise suppression and light enhancement. In this paper, we propose a novel enhancement approach, CodeEnhance, by leveraging quantized priors and image refinement to address these challenges. In particular, we reframe LLIE as learning an image-to-code mapping from low-light images to discrete codebook, which has been learned from high-quality images. To enhance this process, a Semantic Embedding Module (SEM) is introduced to integrate semantic information with low-level features, and a Codebook Shift (CS) mechanism, designed to adapt the pre-learned codebook to better suit the distinct characteristics of our low-light dataset. Additionally, we present an Interactive Feature Transformation (IFT) module to refine texture and color information during image reconstruction, allowing for interactive enhancement based on user preferences. Extensive experiments on both real-world and synthetic benchmarks demonstrate that the incorporation of prior knowledge and controllable information transfer significantly enhances LLIE performance in terms of quality and fidelity. The proposed CodeEnhance exhibits superior robustness to various degradations, including uneven illumination, noise, and color distortion. Copyright © 2024, The Authors. All rights reserved.

关键词： Image enhancement

Wide field-of-view metalens: a tutorial

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Advanced Photonics 2023年第3期5卷 1-21页

作者： Fan Yang Mikhail YShalaginov Hung-I Lin Sensong An Anu Agarwal Hualiang Zhang Clara Rivero-Baleine Tian Gu Juejun Hu Massachusetts Institute of Technology Department of Materials Science and EngineeringCambridgeMassachusettsUnited States University of Massachusetts Lowell Department of Electrical and Computer EngineeringLowellMassachusettsUnited States Lockheed Martin Corporation OrlandoFloridaUnited States Massachusetts Institute of Technology Materials Research LaboratoryCambridgeMassachusettsUnited States

Wide field-of-view(FOV)optics are essential components in many optical systems,with applications spanning imaging,display,sensing,and beam *** refractive wide FOV optics often involve multiple stacked lenses,resulting in large size and weight as well as high *** lenses or metalenses promise a viable solution to realizing wide FOV optics without complex lens *** review the various architectures of wide FOV metalenses,elucidate their fundamental operating principles and design trade-offs,and quantitatively evaluate and contrast their imaging *** applications enabled by wide FOV metasurface optics are also discussed.

关键词： metasurface lens imaging field of view aberration

S3-Mamba: Small-Size-Sensitive Mamba for Lesion Segmentation 39

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S3-Mamba: Small-Size-Sensitive Mamba for Lesion Segmentation

39th Annual AAAI Conference on Artificial Intelligence, AAAI 2025

作者： Wang, Gui Li, Yuexiang Chen, Wenting Ding, Meidan Cheah, Wooi Ping Qu, Rong Ren, Jianfeng Shen, Linlin Computer Vision Institute School of Computer Science & Software Engineering Shenzhen University Shenzhen China School of Computer Science University of Nottingham Ningbo China Zhejiang Ningbo China Group University Engineering Research Center of Digital Medicine and Healthcare Guangxi Medical University Guangxi Nanning China Department of Electrical Engineering City University of Hong Kong Kowloon Hong Kong School of Computer Science University of Nottingham Nottingham United Kingdom

ISBN: (纸本)157735897X

Small lesions play a critical role in early disease diagnosis and intervention of severe infections. Popular models often face challenges in segmenting small lesions, as it occupies only a minor portion of an image, while down-sampling operations may inevitably lose focus on local features of small lesions. To tackle the challenges, we propose a Small-Size-Sensitive Mamba (S3-Mamba), which promotes the sensitivity to small lesions across three dimensions: channel, spatial, and training strategy. Specifically, an Enhanced Visual State Space block is designed to focus on small lesions through multiple residual connections to preserve local features, and selectively amplify important details while suppressing irrelevant ones through channel-wise attention. A Tensor-based Cross-feature Multi-scale Attention is designed to integrate input image features and intermediate-layer features with edge features and exploit the attentive support of features across multiple scales, thereby retaining spatial details of small lesions at various granularities. Finally, we introduce a novel regularized curriculum learning to automatically assess lesion size and sample difficulty, and gradually focus from easy samples to hard ones like small lesions. Extensive experiments on three medical image segmentation datasets show the superiority of our S3-Mamba, especially in segmenting small lesions. Copyright © 2025, Association for the Advancement of Artificial Intelligence (***). All rights reserved.

关键词： Image segmentation

Multi-Unit Floor Plan Recognition and Reconstruction Using Improved Semantic Segmentation of Raster-Wise Floor Plans

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arXiv 2024年

作者： Kratochvila, Lukas de Jong, Gijs Arkesteijn, Monique Bilík, Šimon Zemčík, Tomáš Horak, Karel Rellermeyer, Jan S. Department of Control and Instrumentation Faculty of Electrical Engineering and Communication Brno University of Technology Brno Czech Republic Department of Software Technology Faculty of Electrical Engineering Mathematics and Computer Science TU Delft Delft Netherlands Department of Management in the Built Environment Faculty of Architecture and the Built Environment TU Delft Delft Netherlands Computer Vision and Pattern Recognition Laboratory Department of Computational Engineering Lappeenranta-Lahti University of Technology LUT Lappeenranta Finland Dependable and Scalable Software Systems Institute of Systems Engineering Faculty of Electrical Engineering and Computer Science Leibniz University Hannover Hannover Germany

Digital twins have a major potential to form a significant part of urban management in emergency planning, as they allow more efficient designing of the escape routes, better orientation in exceptional situations, and faster rescue intervention. Nevertheless, creating the twins still remains a largely manual effort, due to a lack of 3D-representations, which are available only in limited amounts for some new buildings. Thus, in this paper we aim to synthesize 3D information from commonly available 2D architectural floor plans. We propose two novel pixel-wise segmentation methods based on the MDA-Unet and MACU-Net architectures with improved skip connections, an attention mechanism, and a training objective together with a reconstruction part of the pipeline, which vectorizes the segmented plans to create a 3D model. The proposed methods are compared with two other state-of-the-art techniques and several benchmark datasets. On the commonly used CubiCasa benchmark dataset, our methods have achieved the mean F1 score of 0.86 over five examined classes, outperforming the other pixel-wise approaches tested. We have also made our code publicly available to support research in the field. © 2024, CC BY.

关键词： Semantic Segmentation

Estimating Floating Ice Coverage in Tidewater Glacier Bays Automatically from Aerial Imagery

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Estimating Floating Ice Coverage in Tidewater Glacier Bays A...

OCEANS

作者： Hari Vishnu Lin Tianyue Mandar Chitre Bharath Kalyan Emily J. Venables Acoustic Research Laboratory Tropical Marine Science Institute National University of Singapore Department of Electrical and Computer Engineering National University of Singapore UiT The Arctic University of Norway

ISBN: (数字)9798331540081

ISBN: (纸本)9798331540098

This study focuses on the estimation of floating ice distribution on the sea surface from aerial imagery at tidewater glaciers. The presence of ice-mélange in the glacial bay affects ice-loss at the glacier terminus via buttressing of the glacier face, insulation from ocean heat and breaking of oceanic currents. Thus, estimation of its formation, evolution, distribution and dissipation will aid an understanding of climate-change mechanisms at glacial bays. Given the challenges stemming from lack of data and labeled training samples, we employ a pre-trained vision model with zero-shot performance, the Segment Anything Model (SAM). SAM is fine-tuned to perform automatic estimation of floating-ice distribution on a dataset of images collected in Svalbard at various locations and through various modalities, by segmenting the images into floating ice and ocean surface not covered by ice. The Low-rank adaptation technique is employed on the image encoder structure to reduce the training data and hardware resources needed for model fine-tuning. This approach opens new avenues for real-time analysis of glacial dynamics and their implications on global climate patterns.

关键词： Training Adaptation models Sea surface Image segmentation Estimation Training data Glaciers Data models Real-time systems Meteorology