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IEEE Conference on Decision and Control

作者： Shivam Bajaj Eric Torng Shaunak D. Bopardikar Alexander Von Moll Isaac Weintraub Eloy Garcia David W. Casbeer Department of Electrical and Computer Engineering Michigan State University Department of Computer Science and Engineering Michigan State University Control Science Center Air Force Research Laboratory

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

We consider a perimeter defense problem in a planar conical environment in which a single vehicle, having a finite capture radius, aims to defend a concentric perimeter from mobile intruders. The intruders are arbitrarily released at the circumference of the environment and they move radially toward the perimeter with fixed speed. We present a competitive analysis approach to this problem by measuring the performance of multiple online algorithms for the vehicle against arbitrary inputs, relative to an optimal offline algorithm that has information about entire input instance in advance. In particular, we establish two necessary conditions on the parameter space to guarantee (i) finite competitiveness of any algorithm and (ii) a competitive ratio of at least 2 for any algorithm. We then design and analyze three online algorithms and characterize parameter regimes in which they have finite competitive ratios. Specifically, our first two algorithms are provably 1, and 2-competitive, respectively, whereas our third algorithm exhibits different competitive ratios in different regimes of problem parameters. Finally, we provide a numerical plot in the parameter space to reveal additional insights into the relative performance of our algorithms.

关键词： Atmospheric measurements Aerospace electronics Particle measurements

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Energy Efficient Probabilistic Semantic Communication over SAGIN

Energy Efficient Probabilistic Semantic Communication over S...

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IEEE Conference on Global Communications (GLOBECOM)

作者： Zhouxiang Zhao Zhaohui Yang Mingzhe Chen Xu Gan Chongwen Huang Wei Xu Zhaoyang Zhang College of Information Science and Electronic Engineering Zhejiang University Hangzhou China Zhejiang Provincial Key Laboratory of Info. Proc. Commun. & Netw. (IPCAN) Hangzhou China Department of Electrical and Computer Engineering and Institute for Data Science and Computing University of Miami Coral Gables FL USA National Mobile Communications Research Laboratory Southeast University Nanjing China

ISBN: (数字)9798350351255

ISBN: (纸本)9798350351262

In this paper, the energy efficiency maximization problem in space-air-ground integrated network (SAGIN)-enabled probabilistic semantic communication (PSC) is investigated. In the considered model, a satellite needs to transmit data to multiple ground terminals (GTs) via an unmanned aerial vehicle (UAV) acting as a relay. During transmission, the satellite and the UAV can use PSC technique to compress the transmitted data, while the GTs can automatically recover the original data. In the considered PSC system, shared probability graphs serve as a common knowledge base among the transceivers, allowing for resource-saving communication at the expense of increased computation resource. Therefore, it is important to study the trade-off between communication and computation to achieve optimal energy efficiency. The joint communication and computation problem is formulated as an optimization problem aiming to minimize the total communication and computation energy consumption of the network under latency, semantic compression ratio, and UAV location constraints. To solve this non-convex problem, we propose an alternating algorithm. Numerical results show the effectiveness of the proposed algorithm.

关键词： Energy consumption Satellites Autonomous aerial vehicles Space-air-ground integrated networks Semantic communication Probabilistic logic Energy efficiency Transceivers Relays Optimization

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Collaborative Trolley Transportation System with Autonomous Nonholonomic Robots

Collaborative Trolley Transportation System with Autonomous ...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Bingyi Xia Hao Luan Ziqi Zhao Xuheng Gao Peijia Xie Anxing Xiao Jiankun Wang Max Q.-H. Meng Department of Electronic and Electrical Engineering Shenzhen Key Laboratory of Robotics Perception and Intelligence Southern University of Science and Technology Shenzhen China School of Computing National University of Singapore Singapore Jiaxing Research Institute Southern University of Science and Technology Jiaxing China Department of Electronic Engineering Department of Electrical and Computer Engineering Chinese University of Hong Kong in Hong Kong University of Alberta Canada

Cooperative object transportation using multiple robots has been intensively studied in the control and robotics literature, but most approaches are either only applicable to omnidirectional robots or lack a complete navigation and decision-making framework that operates in real time. This paper presents an autonomous nonholonomic multi-robot system and an end-to-end hierarchical autonomy framework for collaborative luggage trolley transportation. This framework finds kinematic-feasible paths, computes online motion plans, and provides feedback that enables the multi-robot system to handle long lines of luggage trolleys and navigate obstacles and pedestrians while dealing with multiple inherently complex and coupled constraints. We demonstrate the designed collaborative trolley transportation system through practical transportation tasks, and the experiment results reveal their effectiveness and reliability in complex and dynamic environments. (Video 1 1 Video demonstration: https://***/efnPERm0Rco.)

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3D direct printing of mechanical and biocompatible hydrogel meta-structures

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Bioactive Materials 2022年第4期7卷 48-55页

作者： Lei Zhang Wenhan Lee Xinhao Li Yanhui Jiang Nicholas Xuanlai Fang Guohao Dai Yongmin Liu Department of Mechanical&Industrial Engineering Northeastern UniversityBostonMA02115United States State Key Laboratory of Primate Biomedical Research Institute of Primate Translational MedicineKunming University of Science and TechnologyKunming650500China Department of Bioengineering Northeastern UniversityBostonMA02115United States Department of Mechanical Engineering Massachusetts Institute of TechnologyCambridgeMA02139United States Department of Electrical and Computer Engineering Northeastern UniversityBostonMA02115United States

Direct Ink Writing(DIW)has demonstrated great potential as a versatile method to 3D print multifunctional *** this work,we report the implementation of hydrogel meta-structures using DIW at room temperature,which seamlessly integrate large specific surface areas,interconnected porous characteristics,mechanical toughness,biocompatibility,and water absorption and retention *** but hydrophobic polymers and weakly crosslinked nature-origin hydrogels form a balance in the self-supporting ink,allowing us to directly print complex meta-structures without sacrificial materials and heating ***,the mixed bending or stretching of symmetrical re-entrant cellular lattices and the unique curvature patterns are combined to provide little lateral expansion and large compressive energy absorbance when external forces are applied on the printed *** addition,we have successfully demonstrated ear,aortic valve conduits and hierarchical *** anticipate that the reported 3D meta-structured hydrogel would offer a new strategy to develop functional biomaterials for tissue engineering applications in the future.

关键词： Direct ink writing Gyroid meta-structure Mechanical-functional integration Naturally derived hydrogel

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Collaborative Trolley Transportation System with Autonomous Nonholonomic Robots

arXiv

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arXiv 2023年

作者： Xia, Bingyi Luan, Hao Zhao, Ziqi Gao, Xuheng Xie, Peijia Xiao, Anxing Wang, Jiankun Meng, Max Q.-H. Shenzhen Key Laboratory of Robotics Perception and Intelligence Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China Jiaxing Research Institute Southern University of Science and Technology Jiaxing China Department of Electronic Engineering The Chinese University of Hong Kong Hong Kong Department of Electrical and Computer Engineering The University of Alberta Canada School of Computing National University of Singapore Singapore

— Cooperative object transportation using multiple robots has been intensively studied in the control and robotics literature, but most approaches are either only applicable to omnidirectional robots or lack a complete navigation and decision-making framework that operates in real time. This paper presents an autonomous nonholonomic multi-robot system and an end-to-end hierarchical autonomy framework for collaborative luggage trolley transportation. This framework finds kinematic-feasible paths, computes online motion plans, and provides feedback that enables the multi-robot system to handle long lines of luggage trolleys and navigate obstacles and pedestrians while dealing with multiple inherently complex and coupled constraints. We demonstrate the designed collaborative trolley transportation system through practical transportation tasks, and the experiment results reveal their effectiveness and reliability in complex and dynamic environments. (Video1) Copyright © 2023, The Authors. All rights reserved.

关键词： Multipurpose robots

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Prediction-Based Thunderstorm Path Recovery Method Using CNN-BiLSTM

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Intelligent Automation & Soft computing 2023年第8期37卷 1637-1654页

作者： Xu Yang Ling Zhuang Yuqiang Sun Wenjie Zhang School of Electronics and Information Engineering Nanjing University of Information Science and TechnologyNanjing210044China Department of Electrical and Computer Engineering University of AlbertaEdmontonAB T6G 2R3Canada CCCC Highway Consultants Co. Ltd.Beijing100101China School of Geographical Sciences Nanjing University of Information Science and TechnologyNanjing210044China State Key Laboratory of Resources and Environmental Information System Institute of Geographic Sciences and Natural Resources ResearchChinese Academy of SciencesBeijing100101China

The loss of three-dimensional atmospheric electric field(3DAEF)data has a negative impact on thunderstorm *** paper proposes a method for thunderstorm point charge path *** on the relation-ship between a point charge and 3DAEF,we derive corresponding localization formulae by establishing a point charge localization ***,point charge movement paths are obtained after fitting time series localization ***,AEF data losses make it difficult to fit and visualize ***,using available AEF data without loss as input,we design a hybrid model combining the convolutional neural network(CNN)and bi-directional long short-term memory(BiLSTM)to predict and recover the lost *** paths are not present during sunny weather,we propose an extreme gradient boosting(XGBoost)model combined with a stacked autoencoder(SAE)to further determine the weather conditions of the recovered ***,historical AEF data of known weathers are input into SAE-XGBoost to obtain the distribution of predicted values(PVs).With threshold adjustments to reduce the negative effects of invalid PVs on SAE-XGBoost,PV intervals corresponding to different weathers are *** recovered AEF is then input into the fixed SAE-XGBoost *** paths need to be fitted is determined by the interval to which the output PV *** results confirm that the proposed method can effectively recover point charge paths,with a maximum path deviation of approximately 0.018 km and a determination coefficient of 94.17%.This method provides a valid reference for visual thunderstorm monitoring.

关键词： Thunderstorm point charge atmospheric electric field(AEF) recovery

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High-Resolution Optical Imaging Incorporated Non-Destructive Morphological Boundary Detection of Fruit Disorders: A Pilot Study 6

High-Resolution Optical Imaging Incorporated Non-Destructive...

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6th International Conference on Advancements in computing, ICAC 2024

作者： Hakmana, Nethmi Tharushi Kahatapitiya, Nipun Shantha Weerasinghe, Sasmitha Kalupahana, Deshan Silva, Bhagya Nathali Ravichandran, Naresh Kumar Seong, Daewoon Han, Sangyeob Lee, Seung Yeol June, Hee-Young Jeon, Mansik Kim, Jeehyun Wijenayake, Udaya Wijesinghe, Ruchire Eranga Faculty of Engineering Sri Lanka Institute of Information Technology Department of Mechanical Engineering Malabe Sri Lanka Faculty of Engineering University of Sri Jayewardenepura Department of Computer Engineering Nugegoda Sri Lanka Faculty of Computing Sri Lanka Institute of Information Technology Department of Information Technology Malabe Sri Lanka Sri Lanka Institute of Information Technology Malabe Sri Lanka Center for Scientific Instrumentation Korea Basic Science Institute Daejeon Korea Republic of School of Electronic and Electrical Engineering College of IT Engineering Kyungpook National University Daegu Korea Republic of ICT Convergence Research Center Kyungpook National University Daegu Korea Republic of Kyungpook National University Department of Plant Medicine Daegu Korea Republic of Institute of Plant Medicine Kyungpook National University Daegu Korea Republic of Faculty of Engineering Sri Lanka Institute of Information Technology Department of Electrical and Electronic Engineering Malabe Sri Lanka

ISBN: (纸本)9798331517878

Plant diseases caused by various pathogens, such as fungi, bacteria, and viruses, lead to significant reductions in crop yield and quality. Early detection of these diseases is critical for preventing their spread and optimizing crop yield. Traditional methods of disease detection, while effective, often involve invasive or time-consuming procedures that may not provide real-time insights. This study investigates the use of Swept-Source Optical Coherence Tomography (SS-OCT) for non-destructive, high-resolution imaging to identify morphological abnormalities in fruit specimens affected by diseases. The research focuses on differentiating healthy regions, healthy boundaries, infected boundaries, and fully infected regions in apples. Using a 1310 nm center wavelength laser, the SS-OCT system captured detailed cross-sectional images of fruit tissue, revealing microstructural changes associated with disease progression. A qualitative assessment of the two-dimensional (2D) OCT images highlighted distinct layers in healthy tissues, noticeable structural deformities, and the merging of microstructural layers in the boundary and infected regions. Quantitative depth-profile analysis of axial-direction A-scan profiles further demonstrated the reduction and merging of intensity peaks correlating with tissue abnormalities in infected fruit specimens. These findings underscore the potential of SS-OCT as an effective tool for early disease detection in agricultural products, providing a means for timely intervention and optimized postharvest management. © 2024 IEEE.

关键词： Fruits

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Multi-Layer Perceptron Regression Model for Material Characterization in the Microwave Frequency Range with Cross-Dataset Validation

Multi-Layer Perceptron Regression Model for Material Charact...

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International Youth Conference on Radio Electronics, electrical and Power engineering (REEPE)

作者： Hanima Kannan C H Deepa Gupta Parul Mathur Dhanesh G Kurup Tilesh Sanjay Chaudhari Priyanka Mathur Department of Electronics and Communication Engineering RF and Wireless Systems Laboratory Amrita School of Engineering Amrita Vishwa Vidyapeetham Bengaluru India Department of Computer Science and Engineering Amrita School of Computing Amrita Vishwa Vidyapeetham Bengaluru India Department of Chemical Engineering Creative and Advanced Research Based on Nanomaterials Laboratory Indian Institute of Technology Hyderabad School of Engineering and Applied Science Bennett University Greater Noida U.P. India

ISBN: (数字)9798331531836

ISBN: (纸本)9798331531843

This paper presents a Multi-Layer Perceptron (MLP) based regression model for characterizing materials at micrwave frequency range. A mathematical model and experimental setup of the Open-Ended Coaxial Probe (OECP) sensor interacting with the material under test (MUT) generate a cross-dataset to validate the MLP regression model, utilizing the frequency-dependent complex dielectric constant for material characterization. This paper utilizes the frequency-dependent response of the OECP sensor (scattering parameters) as input features for the MLP model, while the complex dielectric constant of the MUT serves as the output feature. The optimized MLP model has an $R^{2}$ of 99.991% and MSE of $6.65 \times 10^{-5}$ , with predictions closely aligning with literature values for standard loads such as distilled water, acetone, and ethanol, obtained using a commercially available dielectric assessment software kit. This cost-effective model enables precise dielectric property estimation, with future work extending to unknown materials, mixtures, and electrolyte solutions.

关键词： Power engineering Dielectric constant Predictive models Mathematical models Software Scattering parameters Probes Permittivity Standards Load modeling

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Understanding Wireless Charger Networks: Concepts, Current research, and Future Directions

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IEEE Communications Surveys and Tutorials 2024年

作者： Ren, Meixuan Dai, Haipeng Liu, Tang Deng, Xianjun Dou, Wanchun Yang, Yuanyuan Chen, Guihai Nanjing University State Key Laboratory for Novel Software Technology Nanjing210023 China Sichuan Normal University College of Computer Science Sichuan Chengdu610101 China Sichuan Normal University Visual Computing and Virtual Reality Key Laboratory of Sichuan Province Sichuan Chengdu610068 China Huazhong University of Science and Technology School of Cyber Science and Engineering Wuhan430074 China Stony Brook University Department of Electrical and Computer Engineering NY11794 United States

Wireless Charger Network (WCN) emerges as a promising networking paradigm, employing wireless chargers with Wireless Power Transfer (WPT) technology to provide long-term and sustainable energy supply for future networks. Although extensive research has been conducted in this area over the last decade, there is currently no comprehensive survey to compile the latest literature and provide insights into future research directions. To fill this gap, our survey explores the recent developments in the active research area of WCNs. This paper starts by providing a framework of WCNs in detail, covering aspects of network architecture, various charging models, network design issues, and typical applications of WCNs. Then, we give an overview of charger deployment schemes, focusing on omnidirectional, directional, non-radiative, and heterogeneous charger deployments. We also provide an overview of charging scheduling schemes, encompassing power control, time allocation, energy beamforming, and multi-resource scheduling. Moreover, we explore communication optimization schemes, including Medium Access Control (MAC) protocols, routing protocols, broadcast transmission, and data collection. Finally, we highlight some future research directions and present corresponding open issues to advance the research on WCNs. © 1998-2012 IEEE.

关键词： Inductive power transmission

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Motion Planning Integrated with Vehicle-Terrain Interactions for Off-Road Autonomous Ground Vehicles 27

Motion Planning Integrated with Vehicle-Terrain Interactions...

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27th IEEE International Conference on Intelligent Transportation Systems, ITSC 2024

作者： Yin, Jianhua Zhan, Xianyuan Ji, Tianying Xu, Bingrong He, Yi Zhang, Daqing Li, Lingxi Wuhan University of Technology Intelligent Transportation Systems Research Center Wuhan430063 China Engineering Research Center of Transportation Information and Safety Ministry of Education Wuhan430063 China Chongqing Research Institute Wuhan University of Technology Chongqing China Institute for Ai Industry Research Tsinghua University Beijing100084 China Shanghai Artificial Intelligence Laboratory Shanghai200232 China Tsinghua University Department of Computer Science and Technology Beijing100084 China School of Automation Wuhan University of Technology Wuhan430070 China College of Mechanical and Electrical Engineering Hunan Agricultural University Changsha410128 China Sunward Intelligent Equipment Co. Ltd. Changsha410100 China Elmore Family School of Electrical and Computer Engineering College of Engineering Purdue University IN46202 United States

ISBN: (纸本)9798331505929

Off-road autonomous ground vehicles (AGVs) work in unstructured environments with varied elevation and deformable ground, where vehicle-terrain interactions are more complex resulting in unpredictable dynamics behavior. Current sensor-based hazards/obstacle identification methods mainly focus on geometric hazards/obstacles with explicit geometry, which might be adequate for vehicles in on-road conditions. However, in the off-road environment, vehicle-terrain interactions could introduce non-geometric hazards that cannot be detected by current geometric hazards-oriented sensing techniques, e.g. vehicle stuck in mud. To enable AGVs to traverse the target terrain and meet the goal while avoiding non-geometric hazards, this work proposes a motion planning method integrated with coupled vehicle-terrain dynamics response. Specifically, terramechanics-based modeling and simulation (M&S) is utilized to characterize vehicle-terrain interactions. Based on the dynamics response, a reinforcement learning (RL) algorithm with a specialized reward function is used to navigate the AGV to find the goal with high mobility and safety. We demonstrate the proposed method with two case studies, 1) high mobility is the foremost concern with less safety requirement, and 2) both high mobility and safety are required. The results show that the proposed motion planning method is effective for navigating the AGV in off-road terrains. © 2024 IEEE.

关键词： Off road vehicles

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