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10th Mediterranean Conference on Embedded Computing, MECO 2021

作者： Das, Nimai Chandra Skakun, Anastasiia D. Zim, Ziaul Haque Rafi, Mehdi Hasan Akif, Ahanaf Thamid Saint Petersburg Electrotechnical University 'Leti' Department of Automatic Control Systems Saint Petersburg Russia Daffodil International University Department of Computer Science and Engineering Dhaka Bangladesh Daffodil International University Department of Electrical and Electronics Engineering Dhaka Bangladesh

ISBN: (纸本)9780738133614

In the medical system, it is crucial to hold patient past health records to give the correct treatment to the patient and ensure the medical practitioner's physical health safety. The 'PatiCare' patient healthcare monitoring system is a promising alternative to the conventional method of checking the human body and checking the patient health record. Despite the ongoing investigation, an outbreak of a pan-demic disease called COVID-19 it creates a situation involving exposure to a danger to medical practitioners. In this paper, we implement a Patient Care Monitoring system called PatiCare to reduce viral diseases affection risk. We use IoT and WEB service for communication with users or patients and take his past health record and a doctor can check remotely to his patient. Our implemented prototype gathers biomedical and orientation information through sensors and re-serves it in a WEB Server. A doctor or a medical practitioner is able to assign medicine remotely and monitor patient instant health. © 2021 IEEE.

关键词： Internet of things

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NAS-WFPN: Neural Architecture Search Weighted Feature Pyramid Networks for Object Detection 13th

NAS-WFPN: Neural Architecture Search Weighted Feature Pyrami...

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13th International Conference on Security, Privacy, and Anonymity in Computation, Communication, and Storage, SpaCCS 2020

作者： Li, Xiaohan Xie, Ziyan Lai, Taotao Zhao, Fusheng Xu, Haiyin Chen, Riqing School of Computer Science Fujian Agriculture and Forestry University Fuzhou350002 China School of Computer and Control Engineering Minjiang University Fuzhou350108 China School of Mathematics and Computer Science Quanzhou Normal University Quanzhou362000 China Department of Information Engineering Hebei Vocational and Technical College of Building Materials Qinhuangdao066000 China

ISBN: (纸本)9783030688837

As we known, most of convolution neural architectures are manually designed. However, they cannot obtain the optimal structures. To address this problem, based on Weighted Feature Pyramid Networks (WFPN), in this paper, we use gaussian kernel to calculate the weight to design a novel method called the Neural Architecture Search Weighted Feature Pyramid Networks (i.e., NAS-WFPN). NAS-WFPN mainly consists of three parts (i.e., top-down pathway, bottom-up pathway and lateral connections) to fuse features across different scales. Experimental results show that NAS-WFPN achieves higher accuracy compared with the existing object detection methods. Specifically, NAS-WFPN increases accuracy by 2.3 AP compared to SSDLite with MobileNetV2 model and gets 49.1 AP, which exceeds NAS-FPN and Mask R-CNN. © 2021, Springer Nature Switzerland AG.

关键词： Object detection

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Augmented Reality Display of Robot with Graphs of Property Response Using Its USD Model

Augmented Reality Display of Robot with Graphs of Property R...

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International Conference on control, Automation and Systems ( ICCAS)

作者： Kazuki Tsukamoto Masanobu Koga Department of Creative Informatics Kyushu Institute of Technology Department of Intelligent and Control Systems Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology

This study proposes a method that can easily grasp the relationship between the actual machine and the graphs. In recent years, there has been a lot of research on augmented reality displays. The fields of research range from education to welfare. In the development of control systems, when evaluating the performance of a system by simulation or experiment, the results are often checked as graphs. Since the graphs are checked on a PC using CAD or other means, it is difficult to know which part of the actual machine each graph corresponds to. Therefore, we developed a tool that displays graphs in augmented reality around the actual machine through a camera on a mobile terminal. To display graphs in augmented reality, it is important to obtain the coordinates of the actual machine and display them in a location associated with the device. Therefore, a USD model with the same shape and size as the actual machine is used. This is achieved by displaying the USD model in augmented reality so that it is superimposed on the actual machine. The accuracy of the tool was also examined and its usefulness was evaluated.

关键词： Solid modeling Automation Shape Robot kinematics Robot vision systems Education control systems

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MG-SLAM: Structure Gaussian Splatting SLAM with Manhattan World Hypothesis

arXiv

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arXiv 2024年

作者： Liu, Shuhong Deng, Tianchen Zhou, Heng Li, Liuzhuozheng Wang, Hongyu Wang, Danwei Li, Mingrui Department of Information Science and Technology Department of Complexity Science and Engineering The University of Tokyo Tokyo113-8654 Japan Institute of Medical Robotics Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China Department of Mechanical Engineering Columbia University New York10027 United States School of Electrical and Electronic Engineering Nanyang Technological University Singapore Department of Computer Science Dalian University of Technology Dalian116024 China

Gaussian Splatting SLAMs have made significant advancements in improving the efficiency and fidelity of real-time reconstructions. However, these systems often encounter incomplete reconstructions in complex indoor environments, characterized by substantial holes due to unobserved geometry caused by obstacles or limited view angles. To address this challenge, we present Manhattan Gaussian SLAM, an RGB-D system that leverages the Manhattan World hypothesis to enhance geometric accuracy and completeness. By seamlessly integrating fused line segments derived from structured scenes, our method ensures robust tracking in textureless indoor areas. Moreover, The extracted lines and planar surface assumption allow strategic interpolation of new Gaussians in regions of missing geometry, enabling efficient scene completion. Extensive experiments conducted on both synthetic and real-world scenes demonstrate that these advancements enable our method to achieve state-of-the-art performance, marking a substantial improvement in the capabilities of Gaussian SLAM systems. © 2024, CC BY.

关键词： Gaussian distribution

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High-precision Calibration of Camera and IMU on Manipulator for Bio-inspired Robotic System

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Journal of Bionic engineering 2022年第2期19卷 299-313页

作者： Yinlong Zhang Wei Liang Sichao Zhang Xudong Yuan Xiaofang Xia Jindong Tan Zhibo Pang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China The School of Computer Science and Technology Xidian UniversityXi’an 710071China Department of Mechanical Aerospace and Biomedical EngineeringUniversity of TennesseeKonxville 37996USA Department of Automation Technology ABB Corporate Research Sweden72178 VästerasSweden

Inspired by box jellyfish that has distributed and complementary perceptive system,we seek to equip manipulator with a camera and an Inertial Measurement Unit(IMU)to perceive ego motion and surrounding unstructured *** robot perception,a reliable and high-precision calibration between camera,IMU and manipulator is a critical *** paper introduces a novel calibration ***,we seek to correlate the spatial relationship between the sensing units and manipulator in a joint ***,the manipulator moving trajectory is elaborately designed in a spiral pattern that enables full excitations on yaw-pitch-roll rotations and x-y-z translations in a repeatable and consistent *** calibration has been evaluated on our collected visual inertial-manipulator *** systematic comparisons and analysis indicate the consistency,precision and effectiveness of our proposed calibration method.

关键词： Bio-inspired robotic system Monocular camera IMU Manipulator Calibration

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Formal safety verification of unknown continuous-time systems: A data-driven approach 24

Formal safety verification of unknown continuous-time system...

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24th ACM International Conference on Hybrid Systems Computation and control, HSCC 2021, held as part of the 14th Cyber Physical Systems and Internet-of-Things Week, CPS-IoT Week 2021

作者： Lavaei, Abolfazl Nejati, Ameneh Jagtap, Pushpak Zamani, Majid Institute for Dynamic Systems and Control Eth Zurich Switzerland Department of Electrical Engineering Technical University of Munich Germany Department of Electrical Engineering Kth Royal Institute of Technology Sweden Department of Computer Science University of Colorado Boulder United States

ISBN: (纸本)9781450383394

This work studies formal verification of continuous-time continuous-space systems with unknown dynamics against safety specifications. The proposed framework is based on a data-driven construction of barrier certificates using which the safety of unknown systems is verified via a finite set of data collected from trajectories of systems with a priori guaranteed confidence. In the proposed scheme, we first cast the original safety problem as a robust convex program (RCP). Since the unknown model appears in one of the constraints of the proposed RCP, we provide the scenario convex program (SCP) corresponding to the original RCP by collecting finite numbers of data from systems' evolutions. We then establish a probabilistic closeness between the optimal value of SCP and that of RCP. Accordingly, we formally quantify the safety guarantee of unknown systems based on the number of data and the required level of safety confidence. Motivations. In the past few years, formal methods have become a promising approach to analyze dynamical systems against high-level logic properties, e.g., those expressed as linear temporal logic (LTL) formulae, in a reliable way. In this regard, barrier certificates, as a discretization-free approach, have received significant attention as a useful tool for formal analysis of complex dynamical systems. In particular, barrier certificates are Lyapunov-like functions defined over the state space of systems subjected to a set of inequalities on both the function itself and its time derivative along the flow of the system. The existence of such a function provides a formal certificate for the safety of the system [1, 2]. To employ the proposed approaches in the setting of barrier certificates, one needs to know precise models of dynamical systems and, hence, those approaches are not applicable where the model is unknown. Although there are some identification techniques in the relevant literature to first learn the model and then provide the analys

关键词： Continuous time systems

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Learning Multi-Frequency Partial Correlation Graphs

arXiv

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arXiv 2023年

作者： D’Acunto, Gabriele Di Lorenzo, Paolo Bonchi, Francesco Sardellitti, Stefania Barbarossa, Sergio The Department of Computer Control and Management Engineering Sapienza University of Rome 00185 Italy Centai Institute Turin Italy Barcelona Spain The Department of Information Engineering Electronics and Telecommunications Sapienza University of Rome Rome00184 Italy The Faculty of Engineering in Computer Science Universitas Mercatorum University of Italian Chambers of Commerce Rome00186 Italy

Despite the large research effort devoted to learning dependencies between time series, the state of the art still faces a major limitation: existing methods learn partial correlations but fail to discriminate across distinct frequency bands. Motivated by many applications in which this differentiation is pivotal, we overcome this limitation by learning a block-sparse, frequency-dependent, partial correlation graph, in which layers correspond to different frequency bands, and partial correlations can occur over just a few layers. To this aim, we formulate and solve two nonconvex learning problems: the first has a closed-form solution and is suitable when there is prior knowledge about the number of partial correlations;the second hinges on an iterative solution based on successive convex approximation, and is effective for the general case where no prior knowledge is available. Numerical results on synthetic data show that the proposed methods outperform the current state of the art. Finally, the analysis of financial time series confirms that partial correlations exist only within a few frequency bands, underscoring how our methods enable the gaining of valuable insights that would be undetected without discriminating along the frequency domain. Copyright © 2023, The Authors. All rights reserved.

关键词： Time series

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Benchmarking Semantic Communications for Image Transmission Over MIMO Interference Channels

arXiv

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arXiv 2024年

作者： Wang, Yanhu Guo, Shuaishuai Dong, Anming Zhao, Hui School of Control Science and Engineering Shandong Key Laboratory of Wireless Communication Technologies Shandong University Jinan250061 China The School of Computer Science and Technology Qilu University of Technology Jinan250353 China The Communication Systems Department EURECOM Sophia Antipolis 06410 France

Semantic communications offer promising prospects for enhancing data transmission efficiency. However, existing schemes have predominantly concentrated on point-to-point transmissions. In this paper, we aim to investigate the validity of this claim in interference scenarios compared to baseline approaches. Specifically, our focus is on general multiple-input multiple-output (MIMO) interference channels, where we propose an interference-robust semantic communication (IRSC) scheme. This scheme involves the development of transceivers based on neural networks (NNs), which integrate channel state information (CSI) either solely at the receiver or at both transmitter and receiver ends. Moreover, we establish a composite loss function for training IRSC transceivers, along with a dynamic mechanism for updating the weights of various components in the loss function to enhance system fairness among users. Experimental results demonstrate that the proposed IRSC scheme effectively learns to mitigate interference and outperforms baseline approaches, particularly in low signal-to-noise (SNR) regimes. © 2024, CC BY.

关键词： Channel state information

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Human-Robot Collaboration using Monte Carlo Tree Search

Human-Robot Collaboration using Monte Carlo Tree Search

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Automation, Robotics and computer engineering (ICARCE), International Conference on

作者： Feng Yao Huailin Zhao Huaping Liu Graduate School of Control Science and Engineering Shanghai Institute of Technology University Shanghai China Department of Computer Department Tsinghua University Beijing China

ISBN: (纸本)9781665475495

Human-Robot collaboration as a challenging task has received great attention in the academic research field. Many existing search models are aimed at single agent or multi-agent, but there are some defects in the search efficiency of their task targets. Therefore, we propose a human-computer cooperative search algorithm in the indoor scene, where people and agents cooperate to complete the search of related objects. We have developed a platform for human-robot collaboration, and designed a set of algorithms for agent to integrate scene prior knowledge, target recognition, and path planning. The experimental results that the H-R cooperative search model proposed by us shows good efficiency in target search tasks.

关键词： Knowledge engineering Monte Carlo methods Automation Target recognition Collaboration Search problems Path planning

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Permanent Magnet Wind Generator with Double Excitation for Smart Grids

Permanent Magnet Wind Generator with Double Excitation for S...

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

作者： L. L. Amuhaya Nicasio M. Muchuka Udochukwu B. Akuru M. J. Kamper E. S. Obe Department of Electrical Computer & Telecommunication Engineering Botswana International University of Science & Technology Palapye Botswana Department of Electrical & Control Engineering Egerton University Nakuru Kenya Department of Electrical Engineering Tshwane University of Technology Pretoria Campus Gauteng South Africa Department of Electric & Electronic Engineering Stellenbosch University Stellenbosch South Africa

The contribution begins with the attention that there is attention of directly grid connected wind turbine systems with generator designs adapting to the grid constraints. This paper considers permanent magnet synchronous generator topologies with rotor field coils to achieve reduced mass with good efficiency for smart grids. Conventional double-excited synchronous generators have surface mounted permanent magnets. However, the low relative permeability of PMs results in an increased air-gap size. This increased air-gap size limits the minimal copper-mass of the rotor-field-winding. To improve on this limitation, Interior permanent magnets (IPM) are used. Three rotor topologies with IPM are presented in this paper. The analysis of their 2D FEM results and optimization are shown considering their magnetizing current, torque, Back EMF for smart grids application. The three rotor topologies are compared on the overall active mass and their performance by considering PM and rotor copper mass, torque capabilities and efficiency. The spoke-type topology with rectangular magnets achieves the lowest total rotor mass reduction of 39% total mass reduction when compared to the topology with PMs that are buried horizontally. The reduced copper mass and flux variation capabilities are good characteristics in wind energy conversion generators with direct grid connections for smart grid.

关键词： Coils Torque Rotors Generators Permanent magnets Synchronous generators Topology

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