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arXiv 2024年

作者： Feng, Yifan Yang, Chengwu Hou, Xingliang Du, Shaoyi Ying, Shihui Wu, Zongze Gao, Yue School of Software BNRist THUIBCS BLBCI Tsinghua University China Institute of Artificial Intelligence and Robotics College of Artificial Intelligence Xi’an Jiaotong University China School of Software Xi’an Jiaotong University China Department of Mathematics School of Science Shanghai University China College of Mechatronics and Control Engineering Shenzhen University China

Existing benchmarks like NLGraph and GraphQA evaluate LLMs on graphs by focusing mainly on pairwise relationships, overlooking the high-order correlations found in real-world data. Hypergraphs, which can model complex beyond-pairwise relationships, offer a more robust framework but are still underexplored in the context of LLMs. To address this gap, we introduce LLM4Hypergraph, the first comprehensive benchmark comprising 21,500 problems across eight low-order, five high-order, and two isomorphism tasks, utilizing both synthetic and real-world hypergraphs from citation networks and protein structures. We evaluate six prominent LLMs, including GPT-4o, demonstrating our benchmark’s effectiveness in identifying model strengths and weaknesses. Our specialized prompting framework incorporates seven hypergraph languages and introduces two novel techniques, Hyper-BAG and Hyper-COT, which enhance high-order reasoning and achieve an average 4% (up to 9%) performance improvement on structure classification tasks. This work establishes a foundational testbed for integrating hypergraph computational capabilities into LLMs, advancing their comprehension. The source codes are at https://***/iMoonLab/LLM4Hypergraph. Copyright © 2024, The Authors. All rights reserved.

关键词： Benchmarking

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Wavefront Characterization of a Gaussian Beam after Propagation through Optical Turbulence Generated by Rayleigh-Bénard Convection

Wavefront Characterization of a Gaussian Beam after Propagat...

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Conference on Lasers and Electro-Optics (CLEO)

作者： Owen M. O’Malley Svetlana Avramov-Zamurovic Nathaniel A. Ferlic Linda J. Mullen K. Peter Judd Weapons Robotics and Control Engineering Department United States Naval Academy Hopper Hall Annapolis MD USA Naval Air Warfare Center – Aircraft Division (NAWCAD) Patuxent River MD USA United States Naval Research Laboratory Washington DC USA

A Gaussian beam is propagated through a water tank containing Rayleigh-Bénard convection. The beam wavefront is measured using a Shack-Hartmann sensor to obtain optical wavefront statistics for characterization o... 详细信息

ISBN: (纸本)9781957171258

关键词： Atmospheric turbulence Beam expanders Gaussian beams Laser communications Optical sensing Optical turbulence

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Discrete-Time Switched Models of Non-linear Fractional-Order Systems 20th

Discrete-Time Switched Models of Non-linear Fractional-Order...

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20th Polish control Conference, PCC 2020

作者： Domek, Stefan Department of Control Engineering and Robotics West Pomeranian University of Technology Szczecin ul. Sikorskiego 37 Szczecin70-313 Poland

ISBN: (纸本)9783030509354

In the paper methods for modeling complex, non-linear dynamical systems of non-integer order, using the so-called switched models that are based on the dynamic change of local linear models, depending on the value of an appropriately chosen switching function are discussed. Such a multimodel approach enables a relatively simple description of properties of many complex processes encountered in technology, especially in electrical engineering, automation and robotics, but also in nature, biology, medicine and, for example, in economics. Although the theory of switched systems has been developing intensively since over a dozen or so years, many issues and problems have not been solved yet. This is particularly true for systems of non-integer order. In the paper three type of discrete-time dynamical switched models of fractional systems: Fuzzy Takagi-Sugeno Model (FO FTS), Piecewise Linear Model (FO PWL) and a new one – Mixed Logical Dynamical Model (FO MLD) are proposed. Some examples of applications of such models in control are given. © 2020, Springer Nature Switzerland AG.

关键词： Linear control systems

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Pedestrian Simulation by Learning from Online Human Demonstration with VR Headset

Pedestrian Simulation by Learning from Online Human Demonstr...

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International Conference on Intelligent Transportation

作者： Feiyang Yu Tingting Long Zhichao Cui Linhai Xu Li Li Chi Zhang National Key Laboratory of Human-Machine Hybrid Augmented Intelligence National Engineering Research Center for Visual Information and Applications Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an Shaanxi China Department of Automation BNRist Tsinghua University Beijing China School of Electronics and Control Engineering Chang'an University.

Pedestrian simulation is essential for verifying the safety of autonomous vehicles in simulators. The goal of pedes-trian simulation is to create realistic virtual representations of the pedestrian. However, current simulations lack empirical knowledge about real pedestrian behavior. In this paper, we propose a virtual reality (VR)-based method that enables real-time interaction between an individual and a simulated traffic environment. Our human-in-the-loop approach incorporates the empirical knowledge of a VR user into the simulator. The user can view the traffic simulation by wearing a VR device, which includes a head-mounted display and two controllers and provides sparse sensor data about their position and rotation. We combine representation learning techniques to develop a full-body motion-tracking agent that takes in sparse signals from the VR device and simulates full-body motions. This agent can estimate the full-body pose and visualize a pedestrian avatar in a traffic simulation scene. To validate our method, we constructed a VR traffic simulation environment and demonstrated that our approach can produce a pedestrian avatar whose behavior closely resembles that of the real VR user.

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Genetic-Algorithm-Based Proportional Integral controller (GAPI) for ROV Steering control

arXiv

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arXiv 2023年

作者： Tanveer, Ahsan Ahmad, Sarvat Mushtaq Faculty of Mechanical Engineering Ghulam Ishaq Khan Institute of Engineering Sciences and Technology Topi23640 Pakistan Department of Mechanical & Aerospace Engineering Institute of Avionics and Aeronautics Air University Islamabad44000 Pakistan Control & Instrumentation Engineering Department King Fahd University of Petroleum and Minerals Dhahran31261 Saudi Arabia Interdisciplinary Research Center for Intelligent Manufacturing and Robotics King Fahd University of Petroleum and Minerals Dhahran31261 Saudi Arabia

This article presents the design and real-time implementation of an optimal controller for precise steering control of a remotely operated underwater vehicle (ROV). A PI controller is investigated to achieve the desired steering performance. The gain parameters of the controller are tuned using the genetic algorithm (GA). The experimental response corresponding to the step waveform for the GA is obtained. A root-locus-tuned PI controller alongside a simulated-annealing-based PI controller (SAPI) is used to benchmark the response characteristics such as overshoot, peak time, and settling time. The experimental findings indicate that GAPI provides considerably better performance than SAPI and the root-locus-tuned controller. © 2023, CC BY.

关键词： Simulated annealing

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Distributed formation control of networked mechanical systems

arXiv

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arXiv 2022年

作者： Javanmardi, Najmeh Borja, P. Yazdanpanah, M.J. Scherpen, J.M.A. Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran Iran Department of Cognitive Robotics Delft University of Technology Delft Netherlands Jan C. Wilems Center for Systems and Control ENTEG Faculty of Science and Engineering University of Groningen Groningen Netherlands

This paper investigates a distributed formation tracking control law for large-scale networks of mechanical systems. In particular, the formation network is represented by a directed communication graph with leaders and followers, where each agent is described as a port-Hamiltonian system with a constant mass matrix. Moreover, we adopt a distributed parameter approach to prove the scalable asymptotic stability of the network formation, i.e., the scalability with respect to the network size and the specific formation preservation. A simulation case illustrates the effectiveness of the proposed control approach. © 2022, CC BY.

关键词： Networked control systems

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Generalized Multi-kernel Maximum Correntropy Kalman Filter for Disturbance Estimation

arXiv

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arXiv 2023年

作者： Li, Shilei Shi, Dawei Lou, Yunjiang Zou, Wulin Shi, Ling The Department of Electronic and Computer Engineering The Hong Kong University of Science and Technology Hong Kong The School of Automation Beijing Institute of Technology China The State Key Laboratory of Robotics and System School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Shenzhen518055 China Xeno Dynamics Control Department Xeno Dynamics Co. Ltd Shenzhen518055 China

Disturbance observers have been attracting continuing research efforts and are widely used in many applications. Among them, the Kalman filter-based disturbance observer is an attractive one since it estimates both the state and the disturbance simultaneously, and is optimal for a linear system with Gaussian noises. Unfortunately, The noise in the disturbance channel typically exhibits a heavy-tailed distribution because the nominal disturbance dynamics usually do not align with the practical ones. To handle this issue, we propose a generalized multi-kernel maximum correntropy Kalman filter for disturbance estimation, which is less conservative by adopting different kernel bandwidths for different channels and exhibits excellent performance both with and without external disturbance. The convergence of the fixed point iteration and the complexity of the proposed algorithm are given. Simulations on a robotic manipulator reveal that the proposed algorithm is very efficient in disturbance estimation with moderate algorithm complexity. Copyright © 2023, The Authors. All rights reserved.

关键词： Kalman filters

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Configurability Selection of Robotic Arm with Constrained Task and Environment in Laparoscopic Hysterectomy for Uterus Manipulation

Configurability Selection of Robotic Arm with Constrained Ta...

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2022 IEEE International Conference on Real-Time Computing and robotics, RCAR 2022

作者： Chen, Wei Wu, Jiahao Zhou, Jianshu Wang, Hesheng Wang, Yudong Cheung, Tak Hong Liu, Yun-Hui Chinese University of Hong Kong T Stone Robotics Institute Department of Mechanical and Automation Engineering Hong Kong Hong Kong Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China China International Peace Maternity and Child Health Hospital Shanghai Jiaotong University School of Medicine Department of Obstetrics and Gynecology Shanghai China Prince of Wales Hospital Chinese University of Hong Kong Department of Obstetrics and Gynaecology Hong Kong

ISBN: (数字)9781665469838

ISBN: (纸本)9781665469838

Multi-link serial robots have gained growing popularity in robot-Assisted surgeries with the advantages of flexibility and versatility. This type of robot has be introduced into the uterus manipulation in laparoscopic hysterectomy (UMLH) to mitigate the disadvantages of our previous robotic uterus manipulator. Compared with the other surgical tasks (e.g. laparoscope manipulation, orthopedic and neurosurgery surgeries), the UMLH has a more narrow workspace and a stringent task requirement. Selecting the proper initial configuration of the robot is a key issue for such kind of surgical operations. In this paper, we develop a scheme to select appropriate initial configurations for the UMLH. Moreover, our method can satisfy both the static RCM and dynamic RCM. In an dynamic RCM, the task path or trajectory depends on the robot initial pose and arbitrary (or indefinite) with respect to the robot base frame. We also proposed a criterion, i.e. configuration-Type task capability (CTTC), to measure the task capability of a given configuration-Type for the dynamic RCMs. Simulations are carried out to validate our scheme. © 2022 IEEE.

关键词： Neurosurgery

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Adaptive Neural Network-Based Higher-Order Sliding Mode control for Floating Offshore Wind Turbines

Adaptive Neural Network-Based Higher-Order Sliding Mode Cont...

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International Workshop on Variable Structure Systems, VSS

作者： Flavie Didier Hussein Obeid Yacine Chitour Leonid Fridman Salah Laghrouche FEMTO-ST Institutes (UMR 6174) Université Franche-Comté UTBM CNRS Belfort France Mechanical and Industrial Engineering Department College of Engineering Sultan Qaboos University (SQU) Muscat Oman Laboratoire des Signaux et Systèmes Université Paris-Saclay Gif-sur-Yvette Paris France Departement of Robotics and Control Engineering Faculty Universidad Nacional Autónoma de México (UNAM) México

ISBN: (数字)9798350353686

ISBN: (纸本)9798350353693

This paper introduces a novel adaptive feedback control approach for disturbed chains of integrators with smooth disturbances with unknown upper bound. The proposed approach combines adaptive neural network with higher-order sliding mode control to achieve the convergence of system states towards a vicinity of the origin. Notably, this approach does not rely on any prior information about the disturbance. The adaptive neural network term compensates the disturbance with an error, while the higher-order sliding mode control term effectively addresses this error and ensures the stabilization of the system state. Compared with existing neural network-based sliding mode control approaches, our proposed method does not require reducing the system order and utilizes only two terms for control. These characteristics contribute to its simplicity and lead to improved closed-loop performance. The effectiveness of the adaptive feedback control is specifically assessed for semi-submersible floating offshore wind turbines operating above rated speed. Simulation results demonstrate superior performance in rotor speed regulation and platform pitch reduction compared to the baseline gain-scheduling proportional integral controller.

关键词： Variable structure systems Adaptive systems Upper bound Simulation Neural networks Rotors Feedback control Wind turbines Sliding mode control Convergence

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Force-Based Pose Regulation of a Cable-Suspended Load Using UAVs with Force Bias

Force-Based Pose Regulation of a Cable-Suspended Load Using ...

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

作者： C. Gabellieri M. Tognon D. Sanalitro A. Franchi Robotics and Mechatronics (RaM) group EEMCS faculty University of Twente Enschede The Netherlands CNRS Inria IRISA Univ Rennes Rennes France LAAS-CNRS CNRS Université de Toulouse Toulouse France Electrical electronic and computer engineering department University of Catania Catania Italy Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy

This work studies how force measurement/estimation biases affect the force-based cooperative manipulation of a beam-like load suspended with cables by two aerial robots. Indeed, force biases are especially relevant in a force-based manipulation scenario in which direct communication is not relied upon. First, we compute the equilibrium configurations of the system. Then, we show that inducing an internal force in the load augments the robustness of the load attitude error and its sensitivity to force-bias variations. Eventually, we propose a method for zeroing the load position error. The results are validated through numerical simulations and experiments.

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