检索结果-内蒙古大学图书馆

IEEE Conference on Wireless Communications and Networking

作者： Mohammadreza Mashhadigholamali Ali Samimi Fard Samaneh Zolfaghari Hajar Abedi Mainak Chakraborty Luigi Borzí Masoud Daneshtalab George Shaker Department of Control and Computer Engineering Politecnico di Torino Turin Italy School of Innovation Design and Engineering Mädlardalen University Västerås Sweden Department of Electrical and Computer Engineering University of Waterloo Waterloo Ontario Canada

ISBN: (数字)9798350368369

ISBN: (纸本)9798350368376

In this paper, we propose a novel system prototype for human activity recognition using a low-cost, low-power millimeter-wave (mmWave) frequency-modulated continuous wave (FMCW) radar. Our approach applies the Fast Fourier Transform on the slow time axis and employs a Capon filter to generate range-Doppler, range-azimuth, and range-elevation maps, respectively. It can also effectively mitigate noise and multipath effects. We then use principal component analysis for feature reduction, reducing the dimensionality of the feature vectors extracted from these maps, which can be used to train conventional machine learning classifiers. This approach aims to achieve a balance between computational complexity, accuracy, and overall system performance. Our proposed system demon-strates promising recognition rates and robustness across varying levels of activity granularity, achieving recognition rates from 90.28% for four activities up to 70.97% for seven fine-grained ac-tivities. These findings highlight the potential of millimeter wave radar and suggested range maps combined with conventional machine learning classifiers for noninvasive, privacy-preserving activity recognition, with significant implications for healthcare, elderly care, and ambient assisted living.

关键词： Support vector machines Deep learning Radar imaging Millimeter wave radar Feature extraction Vectors Human activity recognition Older adults Millimeter wave communication Long short term memory

来源：评论

学校读者我要写书评

暂无评论

Transfer and Bayesian Learning Approaches for Land Use and Land Cover Classification

Transfer and Bayesian Learning Approaches for Land Use and L...

引用

Emerging Smart Computing and Informatics (ESCI), Conference on

作者： Zainab Malik Aisha Sir Elkhatem Gokhan Bilgin Dept. of Computer Engineering Yildiz Technical University Istanbul Turkey Dept. of Control and Automation Engineering Yildiz Technical University Istanbul Turkey

ISBN: (数字)9798331515683

ISBN: (纸本)9798331515690

Land use and land cover (LULC) classification is essential for understanding the impact of both human activities and natural processes on the Earth’s surface. This classification plays a critical role in deforestation, urban planning, and damage assessment. However, traditional machine learning techniques often face challenges in achieving consistent accuracy in diverse datasets. In this study, we implement transfer learning and Bayesian learning approaches to enhance the accuracy and robustness of LULC classification. Transfer learning leverages knowledge from previous classification problems, while Bayesian learning addresses uncertainties in the classification process. Using the Remote Sensing Image Classification Benchmark (RSI-CB128) dataset, the study evaluates the performance of Bayesian Convolutional Neural Networks (CNN), Mobile Neural Networks (MobileNet), Inception Neural Networks (InceptionNet), Densely Connected Convolutional Networks (DenseNet) and Efficient Neural Networks (EfficientNet). The study also investigates the impact of varying the Bayesian layers on model performance, finding that a medium number of layers optimally captures model uncertainty. The results indicate that the transfer learning models, particularly MobileNet, achieved the highest accuracy of 97. 48% compared to 90. 33% for Bayesian CNN. These findings suggest that transfer learning techniques are highly effective for LULC classification, providing a reliable method for practical applications in remote sensing.

关键词： Deforestation Accuracy Uncertainty Computational modeling Transfer learning Neural networks Urban planning Land surface Bayes methods Convolutional neural networks

来源：评论

学校读者我要写书评

暂无评论

Scalable and Low-Cost Remote Lab Platforms: Teaching Industrial Robotics Using Open-Source Tools and Understanding Its Social Implications 16th

Scalable and Low-Cost Remote Lab Platforms: Teaching Indust...

引用

16th International Conference on Social Robotics, ICSR + AI 2024

作者： Kumar, Amit Jose, Jaison Jain, Archit Kulkarni, Siddharth Arya, Kavi Centre for Systems and Control Indian Institute of Technology Bombay Mumbai India Embedded Real-Time Systems / e-Yantra Lab Indian Institute of Technology Bombay Mumbai India Computer Science and Engineering Department Indian Institute of Technology Bombay Mumbai India

ISBN: (纸本)9789819635214

With recent advancements in industrial robots, educating students in new technologies and preparing them for the future is imperative. However, access to industrial robots for teaching poses challenges, such as the high cost of acquiring these robots, the safety of the operator and the robot, and complicated training material. This paper proposes two low-cost platforms built using open-source tools like Robot Operating System (ROS) and its latest version ROS 2 to help students learn and test algorithms on remotely connected industrial robots. Universal Robotics (UR5) arm and a custom mobile rover were deployed in different life-size testbeds, a greenhouse, and a warehouse to create an Autonomous Agricultural Harvester System (AAHS) and an Autonomous Warehouse Management System (AWMS). These platforms were deployed for a period of 7 months and were tested for their efficacy with 1,433 and 1,312 students, respectively. The hardware used in AAHS and AWMS was controlled remotely for 160 and 355 hours, respectively, by students over a period of 3 months. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Costs

来源：评论

学校读者我要写书评

暂无评论

Lyapunov-Inspired Deep Reinforcement Learning for Robot Navigation in Obstacle Environments

Lyapunov-Inspired Deep Reinforcement Learning for Robot Navi...

引用

Computational Intelligence on engineering/Cyber Physical Systems (CIES), IEEE Symposium on

作者： Halil Ibrahim Ugurlu Adrian Redder Erdal Kayacan Department of Electrical and Computer Engineering Aarhus University Aarhus Denmark Department of Automatic Control Paderborn University Paderborn Germany

ISBN: (数字)9798331508272

ISBN: (纸本)9798331508289

The inherent black-box nature of deep reinforcement learning (DRL) poses challenges in ensuring safety constraints. This paper, therefore, introduces a DRL reward design inspired by Lyapunov stability theory for safe robot navigation in the presence of obstacles. The navigation problem is formulated as a state-space control problem with close obstacle locations integrated into the state representation. To ensure safe obstacle avoidance, we introduce a novel reward-shaping strategy utilizing a Lyapunov function that discourages fast movement toward obstacles. Our numerical experiments demonstrate the effectiveness of the reward design strategy compared to baselines in achieving consistent superior learning with higher mission completion rates while maintaining speeds closer to a desired target speed. In addition, we show that our reward design enables a generally smaller choice for the discount factor for value-function-based DRL algorithms, which can lead to faster convergence. This is possible since the reward design merely penalizes the one-step decay of the Lyapunov function. Furthermore, policy training simulations employ an early episode termination method to constrain exploration and add more valuable samples to the DRL training replay memory. Finally, real-world experiments with a quadrotor validate the ability of our method to safely navigate around varying densities of obstacles. The proposed method consistently takes cautious maneuvers near obstacles by slowing down, achieving greater obstacle clearance compared to baseline, although with an increase in mission completion time.

关键词： Training Navigation Deep reinforcement learning Safety Planning Collision avoidance Robots Lyapunov methods Quadrotors Convergence

来源：评论

学校读者我要写书评

暂无评论

Strong bounds for large-scale Minimum Sum-of-Squares Clustering

arXiv

引用

arXiv 2025年

作者： Croella, Anna Livia Piccialli, Veronica Sudoso, Antonio M. Department of Computer Control and Management Engineering Antonio Ruberti Sapienza University of Rome Via Ariosto 25 00185 Italy

Clustering is a fundamental technique in data analysis and machine learning, used to group similar data points together. Among various clustering methods, the Minimum Sum-of-Squares Clustering (MSSC) is one of the most widely used. MSSC aims to minimize the total squared Euclidean distance between data points and their corresponding cluster centroids. Due to the unsupervised nature of clustering, achieving global optimality is crucial, yet computationally challenging. The complexity of finding the global solution increases exponentially with the number of data points, making exact methods impractical for large-scale datasets. Even obtaining strong lower bounds on the optimal MSSC objective value is computationally prohibitive, making it difficult to assess the quality of heuristic solutions. We address this challenge by introducing a novel method to validate heuristic MSSC solutions through optimality gaps. Our approach employs a divide-and-conquer strategy, decomposing the problem into smaller instances that can be handled by an exact solver. The decomposition is guided by an auxiliary optimization problem, the "anticlustering problem", for which we design an efficient heuristic. Computational experiments demonstrate the effectiveness of the method for large-scale instances, achieving optimality gaps below 3% in most cases while maintaining reasonable computational times. These results highlight the practicality of our approach in assessing feasible clustering solutions for large datasets, bridging a critical gap in MSSC evaluation. Copyright © 2025, The Authors. All rights reserved.

关键词： Large datasets

来源：评论

学校读者我要写书评

暂无评论

Climate Downscaling Using Neural Operator: Spatiotemporal Multimodal Fusion Operator with State-Query Coupled Kernel

Climate Downscaling Using Neural Operator: Spatiotemporal Mu...

引用

2025 IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP 2025

作者： Zhang, Haodi Wang, Yichi Jian, Yifan Jiang, Jiahui Bai, Zhaohai Ma, Lin College of Computer Science and Software Engineering Shenzhen University China Center for Agricultural Resources Research Institute of Genetic and Developmental Biology Chinese Academy of Sciences China State Key Laboratory of Pollution Control and Resource Reuse School of the Environment Nanjing University China

ISBN: (纸本)9798350368741

Climate downscaling is crucial for detailed small-scale analysis and for acquiring climate data in regions without weather stations. Operator learning has proven potential for this task. However, several challenges remain in operator learning, such as multimodal fusion, spatiotemporal fusion and input state and query adaptation. To address these challenges, we propose a Spatiotemporal Multimodal Fusion Operator with a State-Query Coupled Kernel (SMCK). This framework includes a latent space fusion encoder that encodes climate variables using position-wise multihead attention for multimodal fusion and integrates historical information to generate robust and precise representation. Additionally, we introduce a state-query coupled kernel that combines radial basis functions and discrete fourier encoding to enhance query location representation, while also adapting to the state to obtain the coupled kernel. Extensive experiments demonstrate that our method achieves state-ofthe-art performance and provides strong support for climate downscaling and the planning of climate-related strategies. © 2025 IEEE.

关键词： Climate downscaling Deep Learning Multimodal fusion Operator learning Time series forecasting

来源：评论

学校读者我要写书评

暂无评论

MaskPlanner: Learning-Based Object-Centric Motion Generation from 3D Point Clouds

arXiv

引用

arXiv 2025年

作者： Tiboni, Gabriele Camoriano, Raffaello Tommasi, Tatiana Department of Control and Computer Engineering Politecnico di Torino Turin Italy Istituto Italiano di Tecnologia Genoa Italy

Object-Centric Motion Generation (OCMG) plays a key role in a variety of industrial applications—such as robotic spray painting and welding—requiring efficient, scalable, and generalizable algorithms to plan multiple long-horizon trajectories over free-form 3D objects. However, existing solutions rely on specialized heuristics, expensive optimization routines, or restrictive geometry assumptions that limit their adaptability to real-world scenarios. In this work, we introduce a novel, fully data-driven framework that tackles OCMG directly from 3D point clouds, learning to generalize expert path patterns across free-form surfaces. We propose MaskPlanner, a deep learning method that predicts local path segments for a given object while simultaneously inferring "path masks" to group these segments into distinct paths. This design induces the network to capture both local geometric patterns and global task requirements in a single forward pass. Extensive experimentation on a realistic robotic spray painting scenario shows that our approach attains near-complete coverage (above 99%) for unseen objects, while it remains task-agnostic and does not explicitly optimize for paint deposition. Moreover, our real-world validation on a 6-DoF specialized painting robot demonstrates that the generated trajectories are directly executable and yield expert-level painting quality. Our findings crucially highlight the potential of the proposed learning method for OCMG to reduce engineering overhead and seamlessly adapt to several industrial use cases. Copyright © 2025, The Authors. All rights reserved.

关键词： Deep learning

来源：评论

学校读者我要写书评

暂无评论

Safe Multi-Robotic Arm Interaction via 3D Convex Shapes

arXiv

引用

arXiv 2025年

作者： Kaypak, Ali Umut Wei, Shiqing Krishnamurthy, Prashanth Khorrami, Farshad Control/Robotics Research Laboratory Electrical and Computer Engineering Department Tandon School of Engineering New York University BrooklynNY11201 United States

Inter-robot collisions pose a significant safety risk when multiple robotic arms operate in close proximity. We present an online collision avoidance methodology leveraging 3D convex shape-based High-Order control Barrier Functions (HOCBFs) to address this issue. While prior works focused on using control Barrier Functions (CBFs) for human–robotic arm and single-arm collision avoidance, we explore the problem of collision avoidance between multiple robotic arms operating in a shared space. In our methodology, we utilize the proposed HOCBFs as centralized and decentralized safety filters. These safety filters are compatible with any nominal controller and ensure safety without significantly restricting the robots’ workspace. A key challenge in implementing these filters is the computational overhead caused by the large number of safety constraints and the computation of a Hessian matrix per constraint. We address this challenge by employing numerical differentiation methods to approximate computationally intensive terms. The effectiveness of our method is demonstrated through extensive simulation studies and real-world experiments with Franka Research 3 robotic arms. © 2025, CC BY.

关键词： Robotic arms

来源：评论

学校读者我要写书评

暂无评论

Reactive Navigation of the Ackermann Steering Robot in Unknown Environments

Reactive Navigation of the Ackermann Steering Robot in Unkno...

引用

International Conference on Autonomous Robots and Agents, ICARA

作者： ANA ŠELEK IVAN HRABAR SAŠA ŠTEKOVIĆ Department of Control and Computer Engineering Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Autegra D.O.O. Zagreb Croatia

ISBN: (数字)9798331509231

ISBN: (纸本)9798331509248

Mobile robots are now widely used in numerous real-world applications that have complex navigation requirements, especially in environments used by humans. This requires highly accurate navigation that can be performed in realtime. In this paper, a method for generating a smooth motion of nonholonomic mobile robots is proposed. It enables robots to move optimally toward the desired goal and allows fast path replanning when encountering unknown or dynamic obstacles. The method generates smooth, collision-free trajectories based on clothoids, ensuring high computational efficiency and suitability for realtime path planning. By applying a smoothing algorithm, the proposed method improves the robot's efficiency in terms of travel time and trajectory length from start to goal, as demonstrated by a comparison with model predictive control.

关键词： Smoothing methods Navigation Dynamics Real-time systems Trajectory Computational efficiency Mobile robots Collision avoidance Testing Predictive control

来源：评论

学校读者我要写书评

暂无评论

BAT Optimized SMC for Continuous Stirred Tank Reactor

BAT Optimized SMC for Continuous Stirred Tank Reactor

引用

IEEE Information Technology and Mechatronics engineering Conference (ITOEC)

作者： Husam E. Elfadel Haroon Congzhi Huang School of Control and Computer Engineering North China Electric Power University Beijing China Department of Electrical and Electronic Engineering Faculty of Engineering Omdurman Islamic University Khartoum Sudan

ISBN: (数字)9798331529482

ISBN: (纸本)9798331529499

This topic proposed a Sliding Mode control (SMC) strategy utilizing the BAT Algorithm (BAT-SMC) for regulating concentration and temperature in a Continuous Stirred Tank Reactor (CSTR) system. The SMC is designed to maintain concentration (CA) and temperature (T) within desired setpoints by adapting sliding surfaces in the presence of disturbances and system uncertainties. The BAT Algorithm enhances the SMC by optimizing control parameters, reducing chattering effects, and improving tracking accuracy. Simulations validate the efficacy of BAT-SMC, showing improved dynamic performance for both concentration and temperature control compared to other controllers.

关键词： Uncertainty Mechatronics Heuristic algorithms Optimal control Coolants Temperature control Continuous-stirred tank reactor Feeds Information technology Sliding mode control

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：