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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Ding, Menglong Zhang, Yanyan Zhu, Shiqiang Song, Wei Zhao, Pengyu Yan, Xufei Cai, Jiandong Gu, Jason Xie, Anhuan Research Institute of Interdisciplinary Innovation Zhejiang Lab Research Center for Intelligent Robotics Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China Dalhousie University Department of Electrical and Computer Engineering HalifaxNSB3H4R2 Canada

ISBN: (纸本)9781665481090

The aerodynamic interaction among rotors is a key phenomenon that influences the performance of the electric Vertical Takeoff and Landing (eVTOL) aircraft. This study applied Lattice-Boltzmann Method (LBM) to systematically investigate the aerodynamic interaction under typical flight conditions. Simulation of a single rotor was performed to validate the reliability of LBM on rotor aerodynamics and find the maximum acceptable grid size. A numerical study on the complex unsteady flowfield caused by the sixteen rotors was also performed when considering the eVTOL is in hovering, forward flight and hovering under sidewind. Moreover, the analysis of the flowfield provides a detailed insight into the flow physics involved in such regular flight conditions. © 2022 IEEE.

关键词： VTOL/STOL aircraft

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Towards Efficient Path Finding and Moving Stability-Focused Trajectory Planning for Mobile Robots

Towards Efficient Path Finding and Moving Stability-Focused ...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Hou, Muyang Lei, Zhenya Hu, Haidong Wang, Zhong Wang, Yong Xie, Le Wang, Hesheng Shanghai Jiao Tong University Department of Automation Shanghai200240 China School of Information and Control Engineering China University of Mining and Technology Xuzhou221116 China Beijing Institute of Control Engineering Beijing100190 China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Department of Automation Shanghai200240 China

ISBN: (纸本)9781665481090

Nowadays, mobile robots play an important role in a variety of service scenarios. They need to plan and track trajectories to accomplish tasks such as delivery or guided tours. In such tasks, there are two remaining challenges: on one hand, the time and memory consumption of present path planners are still significant;on the other hand, service robots, which have a higher center of gravity, demand greater moving stability than that of current trajectory planners provide. To address these two challenges. Firstly, we propose a safety boundary first A∗ which fully utilizes environmental obstacle information to create a safety boundary and searches in it to quickly find an initial path. Secondly, we formulate the trajectory optimization problem as a nonlinear optimization problem, where the smoothness, safety, feasibility, and moving stability of the robot are taken into account. Furthermore, to constrain the robot's lateral acceleration, we design a time allocation algorithm based on non-uniform B-spline, enhancing the quality of the resulting trajectory. Simulations and real-world experiments demonstrate that our algorithms significantly improve path search efficiency, enhance moving stability, reduce the difficulty of tracking, and improve the quality of task completion. © 2024 IEEE.

关键词： Trajectories

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Robotic fish:Opening a new era of underwater detection

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The Innovation 2025年第3期6卷 13-14页

作者： Dongfang Li Suet To Zhicheng Xu Guanghong Liu Rob Law Edmond Q.Wu Limin Zhu State Key Laboratory of Ultraprecision Machining Technology Department of Industrial and Systems EngineeringThe Hong Kong Polytechnic UniversityHong Kong 999077China School of Electrical Engineering and Automation Fuzhou UniversityFujian 350108China China Electronics Technology Group Corporation Information Science Research InstituteBeijing 100086China School of Mechanical Engineering Beijing Institute of TechnologyBeijing 100081China Asia-Pacific Academy of Economics and Management Faculty of Business AdministrationUniversity of MacaoMacao 999078China Department of Computer Science and Engineering Shanghai JiaoTong UniversityShanghai 200240China

Escalating competition within aquatic environments,particularly in oceans,underscores the imperative for innovative solutions in underwater *** solutions necessitate the development of intelligent underwater equipment,with robotic fish emerging as a promising contender.1 Leveraging advancements in robotics and artificial intelligence,robotic fish offer a suite of advantages that position them as transformative assets in underwater exploration and *** fish are autonomous robots designed based on biomimetics principles that mimic the appearance of fish and can autonomously swim and perform specific tasks in water.

关键词： robotic fish intelligent underwater equipmentwith autonomous robots underwater detection oceans artificial intelligencerobotic fish aquatic environments innovative solutions

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Rethinking the Reversal Curse of LLMs: a Prescription from Human Knowledge Reversal

Rethinking the Reversal Curse of LLMs: a Prescription from H...

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2024 Conference on Empirical Methods in Natural Language Processing, EMNLP 2024

作者： Lu, Zhicong Jin, Li Li, Peiguang Tian, Yu Zhang, Linhao Wang, Sirui Xu, Guangluan Tian, Changyuan Cai, Xunliang Aerospace Information Research Institute Chinese Academy of Sciences China School of Electronic Electrical and Communication Engineering University of Chinese Academy of Sciences China Meituan China Dept. of Comp. Sci. and Tech. Institute for AI Tsinghua University China Department of Automation Tsinghua University China

ISBN: (纸本)9798891761643

Large Language Models (LLMs) have exhibited exceptional performance across diverse domains. However, recent studies reveal that LLMs are plagued by the "reversal curse". Most existing methods rely on aggressive sample permutation and pay little attention to delving into the underlying reasons for this issue, resulting in only partial mitigation. In this paper, inspired by human knowledge reversal, we investigate and quantify the individual influence of three potential reasons on the reversal curse: 1) knowledge clarity, 2) entity correlation modeling, and 3) pairwise relationship reasoning capability. Motivated by the analysis of these reasons, we propose a novel Pairwise entity Order- and Relationship-Enhanced (PORE) data strategy, which facilitates bidirectional entity correlation modeling and pairwise relationship reasoning to overcome the reversal curse. Specifically, PORE augments the samples with entity order-reversal and semantically preserved question-answer pairs, enhancing the encoding of entity correlations in both directions. PORE also employs entity-interleaved pairwise relationship data, which elevates the model's capability for relationship reasoning. Additionally, to improve the recall of reverse relationships, we leverage knowledge clarity to construct high-clarity data for PORE. Extensive experimental results on available and two newly assembled datasets demonstrate the effectiveness and generalization of our method in both data-sufficient and -constrained situations. © 2024 Association for Computational Linguistics.

关键词： Computational linguistics

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Empirical Line-of-Sight Probability Modeling for UAVs in Random Urban Layouts

Empirical Line-of-Sight Probability Modeling for UAVs in Ran...

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IEEE Conference on Wireless Communications and Networking

作者： Abdul Saboor Zhuangzhuang Cui Evgenii Vinogradov Sofie Pollin Department of Electrical Engineering (ESAT) KU Leuven WaveCoRE Leuven Belgium Autonomous Robotics Research Center Technology Innovation Institute Abu Dhabi UAE

ISBN: (数字)9798350368369

ISBN: (纸本)9798350368376

Accurate Probability of Line-of-Sight $(P_{\text{LoS}})$ modeling is important in evaluating the performance of Unmanned Aerial Vehicle (UAV)-based communication systems in urban environments, where real-time communication and low latency are often major requirements. Existing $P_{L o S}$ models often rely on simplified Manhattan grid layouts using International Telecommunication Union (ITU)-defined builtup parameters, which may not reflect the randomness of real cities. Therefore, this paper introduces the Urban Line-ofSight Simulator (ULS) to model $P_{\text{LoS}}$ for three random city layouts with varying building sizes and shapes constructed using ITU built-up parameters. Based on the ULS simulated data, we obtained the empirical $P_{L o S}$ for four standard urban environments across three different city layouts. Finally, we analyze how well Manhattan grid-based models replicate $P_{L o S}$ results from random and real-world layouts, providing insights into their applicability for time-critical communication systems in urban IoT networks.

关键词： Wireless communication Analytical models Shape Layout Urban areas Buildings Line-of-sight propagation Autonomous aerial vehicles ITU Standards

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A Comparison of Advanced IPT Systems with Nanocrystalline and Ferrite Cores for Wireless EV Charging 48

A Comparison of Advanced IPT Systems with Nanocrystalline an...

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48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Xiang, Jingchun Jiang, Chaoqiang Ma, Tianlu Wang, Xiaosheng Luo, Bo Fang, Li City University of Hong Kong Department of Electrical Engineering Hong Kong Hong Kong City University of Hong Kong City University of Hong Kong Shen Zhen Research Institute Department of Electrical Engineering China Wuhan University School of Electrical Engineering and Automation Wu Han China

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

Wireless power transfer (WPT) is one of the global highlight techniques with the rapid development of electric vehicles (EV). Currently, inductive power transfer (IPT) for EV charging faces the efficiency problem caused by the low saturation flux in the ferrite core bars. The nanocrystalline ribbon core is an advisable choice for the features of a high saturation flux and low power loss. In this paper, a double-D pads coupler with nanocrystalline core enhanced and ferrite TDK PC40 core will be detailed analyzed and compared regarding the magnetic field flux density, the air flux leakage around the vehicle body, the power loss distribution, and the magnetic shielding for wireless EV charging. © 2022 IEEE.

关键词： Ferrite

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Generalized Continuous-Time Models for Nesterov’s Accelerated Gradient Methods

arXiv

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arXiv 2024年

作者： Park, Chanwoong Cho, Youngchae Yang, Insoon Department of Electrical and Computer Engineering Seoul National University Seoul08826 Korea Republic of Automation and Systems Research Institute Seoul National University Seoul08826 Korea Republic of Department of Electrical and Computer Engineering Automation and Systems Research Institute Seoul National University Seoul08826 Korea Republic of

Recent research has indicated a substantial rise in interest in understanding Nesterov’s accelerated gradient methods via their continuous-time models. However, most existing studies focus on specific classes of Nesterov’s methods, which hinders the attainment of an in-depth understanding and a unified perspective. To address this deficit, we present generalized continuous-time models that cover a broad range of Nesterov’s methods, including those previously studied under existing continuous-time frameworks. Our key contributions are as follows. First, we identify the convergence rates of the generalized models, eliminating the need to determine the convergence rate for any specific continuous-time model derived from them. Second, we show that six existing continuous-time models are special cases of our generalized models, thereby positioning our framework as a unifying tool for analyzing and understanding these models. Third, we design a restart scheme for Nesterov’s methods based on our generalized models and show that it ensures a monotonic decrease in objective function values. Owing to the broad applicability of our models, this scheme can be used to a broader class of Nesterov’s methods compared to the original restart scheme. Fourth, we uncover a connection between our generalized models and gradient flow in continuous time, showing that the accelerated convergence rates of our generalized models can be attributed to a time reparametrization in gradient flow. Numerical experiment results are provided to support our theoretical analyses and results. © 2024, CC BY-NC-ND.

关键词： Continuous time systems

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Path Loss Modelling for UAV Communications in Urban Scenarios with Random Obstacles

Path Loss Modelling for UAV Communications in Urban Scenario...

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European Conference on Antennas and Propagation, EuCAP

作者： Abdul Saboor Zhuangzhuang Cui Evgenii Vinogradov Sofie Pollin WaveCoRE of the Department of Electrical Engineering (ESAT) KU Leuven Leuven Belgium Autonomous Robotics Research Center Technology Innovation Institute Abu Dhabi UAE

ISBN: (数字)9788831299107

ISBN: (纸本)9798350366327

Path Loss ( $PL$ ) is vital to evaluate the performance of Unmanned Aerial Vehicles (UAVs) as Aerial Base Stations (ABSs), particularly in urban environments with complex propagation due to various obstacles. Accurately modeling $PL$ requires a generalized Probability of Line-of-Sight $(P_{LoS})$ that can consider multiple obstructions. While the existing $P_{LoS}$ models mostly assume a simplified Manhattan grid with uniform building sizes and spacing, they overlook the real-world variability in building dimensions. Furthermore, such models do not consider other obstacles, such as trees and streetlights, which may also impact the performance, especially in millimeter-wave (mmWave) bands. This paper introduces a Manhattan Random Simulator (MRS) to estimate $P_{LoS}$ for UAV-based communications in urban areas by incorporating irregular building shapes, non-uniform spacing, and additional random obstacles to create a more realistic environment. Lastly, we present the PL differences with and without obstacles for standard urban environments and derive the empirical PL for these environments.

关键词： Base stations Shape Urban areas Buildings Layout Line-of-sight propagation Autonomous aerial vehicles Propagation losses Millimeter wave communication Standards

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IEBins: Iterative Elastic Bins for Monocular Depth Estimation

arXiv

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arXiv 2023年

作者： Shao, Shuwei Pei, Zhongcai Wu, Xingming Liu, Zhong Chen, Weihai Li, Zhengguo School of Automation Science and Electrical Engineering Beihang University China School of Electrical Engineering and Automation Anhui University China SRO department Institute for Infocomm Research A*STAR Singapore

Monocular depth estimation (MDE) is a fundamental topic of geometric computer vision and a core technique for many downstream applications. Recently, several methods reframe the MDE as a classification-regression problem where a linear combination of probabilistic distribution and bin centers is used to predict depth. In this paper, we propose a novel concept of iterative elastic bins (IEBins) for the classification-regression-based MDE. The proposed IEBins aims to search for high-quality depth by progressively optimizing the search range, which involves multiple stages and each stage performs a finer-grained depth search in the target bin on top of its previous stage. To alleviate the possible error accumulation during the iterative process, we utilize a novel elastic target bin to replace the original target bin, the width of which is adjusted elastically based on the depth uncertainty. Furthermore, we develop a dedicated framework composed of a feature extractor and an iterative optimizer that has powerful temporal context modeling capabilities benefiting from the GRU-based architecture. Extensive experiments on the KITTI, NYU-Depth-v2 and SUN RGB-D datasets demonstrate that the proposed method surpasses prior state-of-the-art competitors. The source code is publicly available at https://***/ShuweiShao/IEBins. Copyright © 2023, The Authors. All rights reserved.

关键词： Iterative methods

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research on the Control of Photovoltaic Power Generation System for Arctic Field Monitoring Devices 9

Research on the Control of Photovoltaic Power Generation Sys...

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9th International Conference on Mechanical engineering, Materials, and automation Technology, MMEAT 2023

作者： Zhang, Yu Dou, Yinke Chen, Rui Wang, Ruihao Zhao, Zhenyu Zhang, Yibo Wang, Dayu Zuo, Guangyu Kou, Liwei Sun, Haitao Shanxi Energy Internet Research Institute China College of Electrical and Power Engineering Taiyuan University of Technology Taiyuan030024 China State Grid Taiyuan Electric Power Supply Company China Department of Automation Taiyuan Institute of Technology Taiyuan030008 China

ISBN: (纸本)9781510668584

Because of the current situation that the Arctic field monitoring device drifts with the sea ice all year round and mainly relies on battery power supply, this paper proposes a control strategy for the Wind, light and sea current power supply system, which is the central power generation unit in the scenic sea current power supply system, using an improved adaptive variable-step maximum power tracking to ensure the tracking speed and steady-state accuracy;when the input power is redundant, the constant voltage control bus voltage is used to safeguard The two control methods and their switching processes are simulated using Matlab/Simulink for the photovoltaic power generation system at low temperature. The simulation verifies that the control strategy can make the photovoltaic power generation system under the sudden change of environmental conditions stable and controllable output. © 2023 SPIE.

关键词： MATLAB

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