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Awareness in robotics: An early perspective from the viewpoint of the EIC Pathfinder Challenge "Awareness Inside"

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arXiv 2024年

作者： Santina, Cosimo Della Corbato, Carlos Hernandez Sisman, Burak Leiva, Luis A. Arapakis, Ioannis Vakalellis, Michalis Vanderdonckt, Jean D’Haro, LuisFernando Manzi, Guido Becchio, Cristina Elamrani, Aïda Alirezaei, Mohsen Castellano, Ginevra Dimarogonas, Dimos V. Ghosh, Arabinda Haesaert, Sofie Soudjani, Sadegh Stroeve, Sybert Verschure, Paul Bacciu, Davide Deroy, Ophelia Bahrami, Bahador Gallicchio, Claudio Hauert, Sabine Sanz, Ricardo Lanillos, Pablo Iacca, Giovanni Sigg, Stephan Gasulla, Manel Steels, Luc Sierra, Carles Department of Cognitive Robotics Delft University of Technology Delft Netherlands Oberpfaffenhofen Germany Department of Computer Science University of Luxembourg Luxembourg 4 Telefónica I+D Spain AEGIS IT Research GmbH Germany Université catholique de Louvain Belgium Speech Technology and Machine Learning Group ETSI de Telecomunicación Universidad Politécnica de Madrid Madrid Spain Alien Venture Studio Alien Technology Transfer Rome Italy Hamburg Germany Institut Jean Nicod École Normale Supérieure Paris France Research Technology and Development Department Digital Industry Software Helmond Netherlands Department of Information Technology Uppsala University Uppsala Sweden Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Max Planck Institute for Software Systems Kaiserslautern Germany Department of Electrical Engineering Control Systems Group Eindhoven University of Technology Eindhoven Netherlands Amsterdam Netherlands Donders Centre for Neuroscience Radboud University Nijmegen Netherlands Computer Science Department University of Pisa Pisa Italy Faculty of Philosophy Philosophy of Science The Study of Religion Ludwig Maximilian University of Munich Munich Germany School of Engineering Mathematics and Technology University of Bristol Bristol United Kingdom Autonomous Systems Laboratory Universidad Politécnica de Madrid Spain Madrid Spain Department of Information Engineering and Computer Science University of Trento Trento Italy Department of Information and Communications Engineering Aalto University Espoo Finland Department of Electronic Engineering Universitat Politècnica de Catalunya Barcelona Spain Studio Stelluti Brussels Belgium Barcelona Spain

Consciousness has been historically a heavily debated topic in engineering, science, and philosophy. On the contrary, awareness had less success in raising the interest of scholars in the past. However, things are changing as more and more researchers are getting interested in answering questions concerning what awareness is and how it can be artificially generated. The landscape is rapidly evolving, with multiple voices and interpretations of the concept being conceived and techniques being developed. The goal of this paper is to summarize and discuss the ones among these voices that are connected with projects funded by the EIC Pathfinder Challenge called "Awareness Inside", a nonrecurring call for proposals within Horizon Europe that was designed specifically for fostering research on natural and synthetic awareness. In this perspective, we dedicate special attention to challenges and promises of applying synthetic awareness in robotics, as the development of mature techniques in this new field is expected to have a special impact on generating more capable and trustworthy embodied systems. © 2024, CC BY.

关键词： Robotics

LPV modeling of nonlinear systems: A multi-path feedback linearization approach

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arXiv 2021年

作者： Abbas, Hossam S. Tóth, Roland Petreczky, Mihály Meskin, Nader Velni, Javad Mohammadpour Koelewijn, Patrick J.W. Institute for Electrical Engineering in Medicine University of Lübeck Germany Control Systems Group Department of Electrical Engineering Eindhoven University of Technology Netherlands France Department of Electrical Engineering College of Engineering Qatar University Qatar School of Electrical and Computer Engineering The University of Georgia GA United States Electrical Engineering Department Faculty of Engineering Assiut University Egypt

This paper introduces a systematic approach to synthesize linear parameter-varying (LPV) representations of nonlinear (NL) systems which are described by input affine state-space (SS) representations. The conversion approach results in LPV-SS representations in the observable canonical form. Based on the relative degree concept, first the SS description of a given NL representation is transformed to a normal form. In the SISO case, all nonlinearities of the original system are embedded into one NL function, which is factorized, based on a proposed algorithm, to construct an LPV representation of the original NL system. The overall procedure yields an LPV model in which the scheduling variable depends on the inputs and outputs of the system and their derivatives, achieving a practically applicable transformation of the model in case of low order derivatives. In addition, if the states of the NL model can be measured or estimated, then a modified procedure is proposed to provide LPV models scheduled by these states. Examples are included to demonstrate both approaches. © 2021, CC BY-NC-ND.

关键词： Linear systems

An evaluation of Google Translate for Sanskrit to English translation via sentiment and semantic analysis

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arXiv 2023年

作者： Shukla, Akshat Bansal, Chaarvi Badhe, Sushrut Ranjan, Mukul Chandra, Rohitash Department of Computer Science and Information Systems Birla Institute of Technology and Science Pilani Rajasthan Pilani India Department of Civil Engineering Indian Institute of Technology Delhi Delhi India Department of Electronics and Electrical Engineering Indian Institute of Technology Guwahati Assam Guwahati India Midam Charitable Trust Puducherry India Transitional Artificial Intelligence Research Group School of Mathematics and Statistics University of New South Wales Sydney Australia

Google Translate has been prominent for language translation;however, limited work has been done in evaluating the quality of translation when compared to human experts. Sanskrit one of the oldest written languages in the world. In 2022, the Sanskrit language was added to the Google Translate engine. Sanskrit is known as the mother of languages such as Hindi and an ancient source of the Indo-European group of languages. Sanskrit is the original language for sacred Hindu texts such as the Bhagavad Gita. In this study, we present a framework that evaluates the Google Translate for Sanskrit using the Bhagavad Gita. We first publish a translation of the Bhagavad Gita in Sanskrit using Google Translate. Our framework then compares Google Translate version of Bhagavad Gita with expert translations using sentiment and semantic analysis via BERT-based language models. Our results indicate that in terms of sentiment and semantic analysis, there is low level of similarity in selected verses of Google Translate when compared to expert translations. In the qualitative evaluation, we find that Google translate is unsuitable for translation of certain Sanskrit words and phrases due to its poetic nature, contextual significance, metaphor and imagery. The mistranslations are not surprising since the Bhagavad Gita is known as a difficult text not only to translate, but also to interpret since it relies on contextual, philosophical and historical information. Our framework lays the foundation for automatic evaluation of other languages by Google Translate. © 2023, CC BY.

关键词： Sentiment analysis

Fast Radix-32 Approximate DFTs for 1024-Beam Digital RF Beamforming

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arXiv 2022年

作者： Madanayake, A. Cintra, R.J. Akram, N. Ariyarathna, V. Mandal, S. Coutinho, V.A. Bayer, F.M. Coelho, D. Rappaport, T.S. Electrical and Computer Engineering Department Florida International University United States Signal Processing Group Ufpe Brazil School of Science and Mathematics Howard Payne University TX United States Electrical Computer and Systems Engineering Department Case Western Reserve University United States Universidade Federal Rural de Pernambuco Recife Brazil Department of Statistics Lacesm Federal University of Santa Maria Brazil AB Calgary Canada Nyu Wireless Department of Electrical Engineering Tandon School of Engineering New York University BrooklynNY11220 United States

The discrete Fourier transform (DFT) is widely employed for multi-beam digital beamforming. The DFT can be efficiently implemented through the use of fast Fourier transform (FFT) algorithms, thus reducing chip area, power consumption, processing time, and consumption of other hardware resources. This paper proposes three new hybrid DFT 1024-point DFT approximations and their respective fast algorithms. These approximate DFT (ADFT) algorithms have significantly reduced circuit complexity and power consumption compared to traditional FFT approaches while trading off a subtle loss in computational precision which is acceptable for digital beamforming applications in RF antenna implementations. ADFT algorithms have not been introduced for beamforming beyond N = 32, but this paper anticipates the need for massively large adaptive arrays for future 5G and 6G systems. Digital CMOS circuit designs for the ADFTs show the resulting improvements in both circuit complexity and power consumption metrics. Simulation results show similar or lower critical path delay with up to 48.5% lower chip area compared to a standard Cooley-Tukey FFT. The time-area and dynamic power metrics are reduced up to 66.0%. The 1024-point ADFT beamformers produce signal-to-noise ratio (SNR) gains between 29.2-30.1 dB, which is a loss of ≤ 0.9 dB SNR gain compared to exact 1024-point DFT beamformers (worst case) realizable at using an FFT. Copyright © 2022, The Authors. All rights reserved.

关键词： Beamforming

Effect of Cl substitution on the microstructure, dielectric and optical properties of CaCu₃Ti₄O₁₂ ceramics

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Results in Physics 2025年 68卷

作者： Gouitaa, Najwa. Kumar, Sahil Ahjyaje, Fatima Zahra. Lamcharfi, Taj-dine. Benatia, Amina. Abarkan, Mustapha. Shandilya, Mamta Signals Systems and Components Laboratory (LSSC) Electrical Engineering Department University Sidi Mohamed Ben Abdellah USMBA FST. Fez Imouzzer Road B.P. 2202 Morocco LSI Department of Mathematics Physics and Computer Science Polydisciplinary Faculty Sidi Mohamed Ben Abdellah University B.P. 1223 Taza Morocco School of Physics and Materials Science Shoolini University Solan 173229 India

This study investigates the enhanced properties of CaCu3Ti4O12 (CCTO) ceramics by substituting oxygen anions with chlorine to form CaCu3Ti4O10Cl2 (CCTO-Cl2). The structural, morphological, optical, and dielectric char... 详细信息

This study investigates the enhanced properties of CaCu₃Ti₄O₁₂ (CCTO) ceramics by substituting oxygen anions with chlorine to form CaCu₃Ti₄O₁₀Cl₂ (CCTO-Cl₂). The structural, morphological, optical, and dielectric characteristics of CCTO-Cl₂ were systematically analyzed. Among the calcination temperatures studied, 900 °C emerged as the optimal condition, significantly enhancing all properties. X-ray diffraction (XRD) confirmed phase formation and a reduction in lattice parameters due to Cl⁻ substitution and thermal treatment. Scanning electron microscopy (SEM) revealed substantial grain growth and densification, contributing to improved material density. Optical analysis showed a redshift in absorption peaks, and the band gap energy reduced to 1.68 eV, attributed to enhanced crystallinity and phase transformations. Dielectric measurements at 900 °C demonstrated a colossal dielectric constant of 3.259 × 10⁴ and a reduced dielectric loss of 0.17, indicating exceptional energy storage potential. These findings underscore the effectiveness of Cl⁻ substitution and calcination at 900 °C in optimizing CCTO-Cl₂ ceramics for advanced dielectric and electronic applications. © 2024 The Author(s)

关键词： CaCu3Ti4O12 Ceramics Dielectric Doping Impedance Optical

Subsentence extraction from text using coverage-based deep learning language models

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arXiv 2021年

作者： Lim, JongYoon Sa, Inkyu Ahn, Ho Seok Gasteiger, Norina Lee, Sanghyub John MacDonald, Bruce CARES Department of Electrical Computer and Software Engineering University of Auckland New Zealand CSIRO Data61 Robotics and Autonomous Systems Group Dynamic Platforms

Sentiment prediction remains a challenging and unresolved task in various research fields, including psychology, neuroscience and computer science. This stems from its high-degree of subjectivity and limited input sources that can effectively capture the actual sentiment. This can be even more challenging with only text-based input. Meanwhile, the rise of deep learning and an unprecedented large volume of data have paved the way for artificial intelligence to perform impressively accurate predictions or even human-level reasoning. Drawing inspiration from this, we propose a coverage-based sentiment and subsentence extraction system that estimates a span of input text and recursively feeds this information back to the networks. The predicted subsentence consists of auxiliary information expressing a sentiment. This is an important building block for enabling vivid and epic sentiment delivery (within the scope of this paper) and for other natural language processing tasks such as text summarisation and Q&A. Our approach outperforms the state-of-the-art approaches by a large margin in subsentence prediction (i.e., Average Jaccard scores from 0.72 to 0.89). For the evaluation, we designed rigorous experiments consisting of 24 ablation studies. Finally, our learned lessons are returned to the community by sharing software packages and a public dataset that can reproduce the results presented in this paper. © 2021, CC BY.

关键词： Sentiment analysis

Modelling smart energy consumption with hybrid demand management in off-grid electrical system considering techno-economic indices

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Science and Technology for Energy Transition (STET)

Science and Technology for Energy Transition (STET) 2024年第1期79卷

作者： Rui-Ming, Fang Liao, Qiangqiang Askar, Shavan Pallathadka, Harikumar Sapaev, I.B. Baldaniya, Lalji Chahar, Mamata Saini, Suman Kapila, Ish Jewahery, Hassan Farhan, Mohsen Aued Mohmmedi, M. Information Systems Engineering Department Erbil Technical Engineering College Erbil Polytechnic University Erbil Iraq Manipur International University Manipur Imphal India Department Physics and Chemistry Tashkent Institute of Irrigation and Agricultural Mechanization Engineers Institute National Research University Tashkent Uzbekistan Scientific Researcher University of Tashkent for Applied Sciences Str. Gavhar 1 Tashkent100149 Uzbekistan Scientific Researcher Western Caspian University Baku Azerbaijan Marwadi University Research Centre Department of Pharmacy Faculty of Health Science Marwadi University Gujarat Rajkot360003 India Deparment of Chemistry NIMS Institute of Engineering & Technology NIMS University Rajasthan Jaipur India Department of Applied Sciences Chandigarh Engineering College Chandigarh Group of Colleges Mohali Punjab Jhanjeri140307 India Centre for Research Imapct & Outcome Chitkara University Institute of Engineering and Technology Chitkara University Punjab Rajpura140401 India Department of Computer Techniques Engineering College of Technical Engineering The Islamic University Najaf Iraq Department of Computer Techniques Engineering College of Technical Engineering The Islamic University of Al Diwaniyah Al Diwaniyah Iraq Department of Computer Techniques Engineering College of Technical Engineering The Islamic University of Babylon Babylon Iraq Department of Management Al-Nisour University College Nisour Seq. Karkh Baghdad Iraq Department of Electrical Engineering Islamic Azad University Branch of Central Tehran Tehran Iran

This study proposes day-ahead power scheduling for electrical systems in off-grid mode, emphasizing consumer involvement. Bi-Demand Side Management (DSM) approaches like strategic conversion and demand shifting are proposed for consumer involvement. Multiple objectives are modelled to voltage profile improvement and reduce the operation energy cost. The non-dominated solutions of the voltage of buses and operation energy cost are generated by enhanced epsilon-constraint technique, simultaneously. The General Algebraic Modeling System (GAMS) software is proposed for solving optimization problems. A combination of decision-making methods like weight sum and fuzzy procedures are implemented for finding optimal solution non-dominated solutions. The proposed method's effectiveness is confirmed through numerical simulations carried out on several case studies that utilize the 33-bus electrical system. The findings illustrate the substantial effectiveness of demand-side participation in improving power dispatch and the optimal rate of multiple objectives. By using DSM, operation cost is reduced by 21.58% and the voltage index is improved by 13.36% than the lack of implementing DSM. © The Author(s), published by EDP Sciences, 2024.

关键词： Demand response

Impact of Channel Aging on Reconfigurable Intelligent Surface Aided Massive MIMO systems with Statistical CSI

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arXiv 2022年

作者： Papazafeiropoulos, Anastasios Krikidis, Ioannis Kourtessis, Pandelis The Communications and Intelligent Systems Research Group University of Hertfordshire HatfieldAL10 9AB United Kingdom The SnT The University of Luxembourg Luxembourg The IRIDA Research Centre for Communication Technologies Department of Electrical and Computer Engineering University of Cyprus Cyprus

The incorporation of reconfigurable intelligent surface (RIS) into massive multiple-input-multiple-output (mMIMO) systems can unleash the potential of next-generation networks by improving the performance of user equipments (UEs) in service dead zones. However, their requirement for accurate channel state information (CSI) is critical, and especially, applications with UE mobility that induce channel aging make challenging the achievement of adequate quality of service. Hence, in this work, we investigate the impact of channel aging on the performance of RIS-assisted mMIMO systems under both spatial correlation and imperfect CSI conditions. Specifically, by accounting for channel aging during both uplink training and downlink data transmission phases, we first perform minimum mean square error (MMSE) channel estimation to obtain the UE effective channels with low overhead similar to conventional systems without RIS. Next, we derive the downlink achievable sum spectral efficiency (SE) with regularized zero-forcing (RZF) precoding in closed-form being dependent only on large-scale statistics by using the deterministic equivalent (DE) analysis. Subsequently, we present the attractive optimization of the achievable sum SE with respect to the phase shifts and the total transmit power that can be performed every several coherence intervals due to the slow variation of the large-scale statistics. Numerical results validate the analytical expressions and demonstrate the performance while allowing the extraction of insightful design conclusions for common scenarios including UE mobility. In particular, channel aging degrades the performance but its impact can be controlled by choosing appropriately the frame duration or by increasing the number of RIS elements. © 2022, CC BY.

关键词： 5G mobile communication systems

Experimental analysis of tensor LMS for determining the long-range outdoor acoustic transfer function

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Applied Acoustics 2025年 238卷

作者： Hussain, Hammad Moinuddin, Muhammad Dutilleux, Guillaume Acoustics Group Department of Electronic Systems Norwegian University of Science and Technology Trondheim7491 Norway Department of Electrical and Computer Engineering King Abdulaziz University Jeddah21589 Saudi Arabia

In this experimental study, we investigated the effectiveness of the Tensor Least Mean Squares (TLMS) algorithm compared to the traditional Least Mean Squares (LMS) method for determining long-range outdoor acoustic attenuation transfer functions under variable weather conditions. We conducted an outdoor long-range field experiment over a 326-meter range to capture the effect of time-varying environmental conditions on sound propagation. The input signal was a 3-second linear sweep ranging from 125 Hz to 4 kHz, transmitted every 10 minutes for an hour. We continuously monitored weather conditions, including wind speed and direction. We first conducted a convergence analysis and impulse response evaluation using both TLMS and LMS algorithms. Our results show that TLMS significantly outperforms the traditional Least Mean Squares (LMS) method in channel estimation accuracy, achieving a Mean Square Error (MSE) of approximately 10−38 compared to 10−8 for LMS. This demonstrates TLMS's superior adaptability to time-varying characteristics of outdoor acoustic channels. Subsequently, the study evaluated the transfer function through spectral analysis, revealing the impact of atmospheric conditions on acoustic signal propagation and providing insights into the time-variance of the acoustic channel. The findings confirm the potential of TLMS for advanced acoustic modeling in outdoor environments, thus validating its implementation for real-time acoustic transfer function estimation. © 2025 The Author(s)

关键词： Optical transfer function