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arXiv 2025年

作者： Wu, Sicheng Liwang, Minghui Wang, Deqing Wang, Xianbin Wu, Chao Tang, Junyi Li, Li Jiao, Zhenzhen The School of Informatics Xiamen University Fujian China The Department of Control Science and Engineering The National Key Laboratory of Autonomous Intelligent Unmanned Systems Tongji University Shanghai China Frontiers Science Center for Intelligent Autonomous Systems Ministry of Education Tongji University Shanghai China The Department of Electrical and Computer Engineering Western University ON Canada The School of Public Affairs Zhejiang University Hangzhou310027 China School of Information Science and Engineering Lanzhou University Lanzhou China The iF-Labs Beijing Teleinfo Technology Co. Ltd. CAICT China

To facilitate responsive and cost-effective computing resource scheduling and service delivery over edge-assisted mobile networks, this paper investigates a novel two-stage double auction methodology via utilizing an interesting idea of resource overbooking to overcome dynamic and uncertain nature from edge servers (sellers) and demand from mobile devices (as buyers). The proposed auction integrates multiple essential factors such as social welfare maximization and decision-making latency (e.g., the time for determining winning seller-buyer pairs) reduction, by introducing a stagewise strategy: an overbooking-driven pre-double auction (OPDAuction) for determining long-term cooperations between sellers and buyers before practical resource transactions as Stage I, and a real-time backup double auction (RBDAuction) for handling residual resource demands during actual transactions. In particular, by applying a proper overbooking rate, OPDAuction helps with facilitating trading contracts between appropriate sellers and buyers as guidance for future transactions, by allowing the booked resources to exceed supply. Then, since pre-auctions may cause risks, our RBDAuction adjusts to real-time market changes, further enhancing the overall social welfare. More importantly, we offer an interesting view to show that our proposed two-stage auction can support significant design properties such as truthfulness, individual rationality, and budget balance. Through extensive experiments, we demonstrate good performance in social welfare, time efficiency, and computational scalability, outstripping conventional methods in dynamic edge computing settings. Copyright © 2025, The Authors. All rights reserved.

关键词： Budget control

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Advances in artificial joint bio-friction and wear simulation assessment technology

Advances in artificial joint bio-friction and wear simulatio...

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IEEE International Conference on robotics and Biomimetics

作者： Yanyan Zhang Yiming Liang Shiqiang Zhu Menglong Ding Yunhe Bai Haoyuan Du Jason Gu Tiefeng Li Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Lab Hangzhou China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou China Department of Electrical and Computer Engineering Dalhousie University Halifax NS Canada Center for X-mechanics Zhejiang University Hangzhou China Department of Engineering Mechanics Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province Zhejiang University Hangzhou China

ISBN: (纸本)9781665481106

Natural joints have excellent low-friction properties that positively inspire the frictional wear properties of artificial joints. Replacing damaged biological joints with artificial ones can restore bio-function and reduce the pain of arthritic patients. Improvements in the frictional wear properties of artificial joints will effectively increase the life of the prosthesis, especially for young arthritic patients. This paper reviews the lubrication mechanism of natural joints before systematically introducing the development of lubrication and wear simulation techniques for artificial joints, offering references and insights for further studies of artificial joints and the optimization of tribological properties of commercial artificial joint prostheses.

关键词： Pain Friction Biological system modeling Lubrication Surface texture Optimization Surface treatment

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Conceptual Design and Simulation of a BCF Swimming Soft Robotic Fish for Deep-Sea*

Conceptual Design and Simulation of a BCF Swimming Soft Robo...

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IEEE International Conference on robotics and Biomimetics

作者： Yanyan Zhang Menglong Ding Shiqiang Zhu Yiming Liang Yunhe Bai Keren Xie Minhong Wan Jason Gu Tiefeng Li Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Lab Hangzhou China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou China Department of Electrical and Computer Engineering Dalhousie University Halifax NS Canada Center for X-mechanics Zhejiang University Hangzhou China Department of Engineering Mechanics Zhejiang University Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province Hangzhou China

ISBN: (纸本)9781665481106

This work provides a design of a deep-sea soft robotic fish propelled by the body and/or caudal fin (BCF) mode. The robotic fish consists of a bionic fish head and a BCF propulsion body. To enhance the swimming performance of the first soft robot fish in the deep sea, the design combines the advantages of high efficiency in BCF propulsion with the large deformation angle of dielectric elastomers (DE) flexible joints. The connection of the bionic fish head and BCF is cast in one piece of silicone to achieve deep-sea pressure self-adaptation of the soft robotic fish. The swimming performance was simulated using the CFD method, and the BCF propulsion behaviors were analyzed to evaluate the design proposed. The design goal was verified through numerical calculation, and a further enhanced strategy for the thrust ability of the fish was presented as well. This work can provide a low-cost bionic soft robot fish solution for deep-sea exploration.

关键词： Biological system modeling Kinematics Soft robotics Propulsion Fish Dielectric elastomers Numerical models

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Multimodal Emotion Recognition Based on Multi-Scale Facial Features and Cross-Modal Attention

Multimodal Emotion Recognition Based on Multi-Scale Facial F...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Chengao Bao Luefeng Chen Min Li Min Wu Witold Pedrycz Kaoru Hirota School of Automation China University of Geosciences Wuhan China the Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems School of Automation and the Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education China University of Geosciences Wuhan China Department of Electrical and Computer Engineering University of Alberta Edmonton Canada Tokyo Institute of Technology Yokohama Japan Tokyo Institute of Technology Tokyo Japan

ISBN: (数字)9798331521950

ISBN: (纸本)9798331521967

A multi-modal emotion recognition method based on facial multi-scale features and cross-modal attention (MS-FCA) network is proposed. The MSFCA model improves the traditional single-branch ViT network into a two-branch ViT architecture by using classification tokens in each branch to interact with picture embeddings in the other branch, which facilitates effective interactions between different scales of information. Subsequently, audio features are extracted using ResNet18 network. The cross-modal attention mechanism is used to obtain the weight matrices between different modal features, making full use of inter-modal correlation and effectively fusing visual and audio features for more accurate emotion recognition. Two datasets are used for the experiments: eNTERFACE'05 and REDVESS dataset. The experimental results show that the accuracy of the proposed method on the eNTERFACE'05 and REDVESS datasets is 85.42% and 83.84% respectively, which proves the effectiveness of the proposed method.

关键词： Emotion recognition Visualization Accuracy Service robots Semantics Human-robot interaction Speech recognition Feature extraction Data mining Facial features

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Dynamic Spectrum Sharing in Cellular Based Urban Air Mobility via Deep Reinforcement Learning

Dynamic Spectrum Sharing in Cellular Based Urban Air Mobilit...

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GLOBECOM 2022 - 2022 IEEE Global Communications Conference

作者： Ruixuan Han Hongxiang Li Eric J. Knoblock Michael R. Gasper Rafael D. Apaza Department of Electrical and Computer Engineering University of Louisville Louisville KY United States Communications and Intelligent Systems Division NASA Glenn Research Center Cleveland OH United States

ISBN: (纸本)9781665435413

With increasing mobility demands in metropolitan areas, the emerging concept of Urban Air Mobility (UAM) opens a new urban air transportation paradigm, where one big challenge is to ensure reliable two-way communications between aerial vehicles and their ground control stations for safe operations. The concept of cellular-based UAM (cUAM) provides a promising solution where aerial vehicles are regarded as new aerial users, sharing the cellular spectrum with existing terrestrial users. However, with new characteristics and demands of aerial users, the severity of spectrum scarcity becomes more prominent and new spectrum management solutions are needed. In this paper, we consider a typical cUAM scenario where multiple aerial vehicles transport passengers/cargo along their pre-defined paths, with the coexistence of terrestrial users. We assume the minimum communication Quality of Service (QoS) must be achieved for all users at all times. Our objective is to simultaneously minimize aerial users' mission completion time and maximize terrestrial users' achievable data rate by jointly optimizing the spectrum allocation for all users and the moving velocities of aerial users. We formulate the optimization problem as a multi-stage Markov Decision Process and propose a multi-agent deep reinforcement learning-based algorithm. We also propose a heuristic greedy algorithm and an orthogonal multiple access algorithm as baseline solutions. Simulation results show that our learning-based solution outperforms the baseline solutions under different network configurations.

关键词： Simulation Heuristic algorithms Urban areas Quality of service Reinforcement learning Resource management Reliability

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Study of Helicopter Optimal Autorotation Landing Procedure in Tail Rotor Drive Failure

Study of Helicopter Optimal Autorotation Landing Procedure i...

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IEEE International Conference on robotics and Biomimetics

作者： Xufei Yan Renliang Chen Shiqiang Zhu Anhuan Xie Jason Gu Research Center for Intelligent Robotics Zhejiang Lab Hangzhou China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou China National Key Laboratory of Science and Technology on Rotorcraft Aeromechanics College of Aeronautics Nanjing University of Aeronautics and Astronautics Nanjing Jiangsu China Intelligent Robot Research Center Zhejiang Lab Hangzhou Zhejiang China Department of Electrical and Computer Engineering Dalhousie University Halifax NS Canada

ISBN: (纸本)9781665481106

This paper investigates the optimal landing trajectory and control procedure when a helicopter undergoes autorotation due to tail rotor drive failure (TRDF), in which an optimal control methodology is proposed. First, a helicopter flight dynamics model with TRDF was developed. Then, the autorotation in TRDF was converted to be a nonlinear optimal control problem, solved by direct node collocation method and sequential quadratic programming algorithm. Finally, a model helicopter (Z11) with single main rotor and tail rotor was used to demonstrate the proposed approach. An optimal autorotation landing procedure in TRDF was determined accordingly. Results indicate that the airframe will immediately respond to the excess torque generated by the main rotor via yawing, sideslip and rolling when TRDF occurs. The pilot is recommended to shut down the engine and perform a series of critical operations to stabilize the violent yaw and roll movements. In addition, flight test data were used to validate the numerical simulations of autorotation landing. The proposed optimal control approach provides a useful tool to investigate helicopter TRDF autorotation landing procedure.

关键词： Torque Biological system modeling Helicopters Rotors Optimal control Tail Numerical simulation

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Bringing sensation to prosthetic hands-chronic assessment of implanted thin-film electrodes in humans

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npj Flexible Electronics 2023年第1期7卷 32-45页

作者： PaulČvančara Giacomo Valle Matthias Müller Inga Bartels Thomas Guiho Arthur Hiairrassary Francesco Petrini Stanisa Raspopovic Ivo Strauss Giuseppe Granata Eduardo Fernandez Paolo M.Rossini Massimo Barbaro Ken Yoshida Winnie Jensen Jean-Louis Divoux David Guiraud Silvestro Micera Thomas Stieglitz Laboratory for Biomedical Microtechnology Department of Microsystems Engineering-IMTEKAlbert-Ludwig-University FreiburgFreiburgGermany Center for Neuroprosthetics and Institute of Bioengineering School of EngineeringÉcole Polytechnique Fédérale de Lausanne(EPFL)LausanneSwitzerland The Biorobotics Institute Scuola Superiore Sant’AnnaPisaItaly Camin Team INRIAUniversity of MontpellierMontpellierFrance Institute of Neurology Catholic University of the Sacred HeartRomaItaly Institute of Neurosurgery Catholic University of the Sacred HeartRomaItaly Department of Neuroscience&Neurorehabilitation IRCCS San Raffaele Roma00166 RomeItaly Department of Electrical and Electronic Engineering University of CagliariCagliariItaly Biomedical Engineering Department Indiana University-Purdue UniversityIndianapolisINUSA SMI Dept.Health Science and TechnologyAalborg UniversityAalborgDenmark AXONIC/Groupe MXM VallaurisFrance BrainLinks-BrainTools Albert-Ludwig-University FreiburgFreiburgGermany Bernstein Center Freiburg Albert-Ludwig-University FreiburgFreiburgGermany Present address:Laboratory for Neuroengineering Department of Health Sciences and TechnologyInstitute for Robotics and Intelligent SystemsETH ZürichZürichSwitzerland

Direct stimulation of peripheral nerves with implantable electrodes successfully provided sensory feedback to amputees while using hand *** of the electrodes is key to success,which we have improved for the polyimide-based transverse intrafascicular multichannel electrode(TIME).The TIMEs were implanted in the median and ulnar nerves of three trans-radial amputees for up to six *** present a comprehensive assessment of the electrical properties of the thin-film metallization as well as material status post *** TIMEs stayed within the electrochemical safe limits while enabling consistent and precise amplitude *** lead to a reliable performance in terms of eliciting *** signs of corrosion or morphological change to the thin-film metallization of the probes was observed by means of electrochemical and optical *** presented longevity demonstrates that thin-film electrodes are applicable in permanent implant systems.

关键词： film electrodes sensation

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Objective diagnosis of ADHD through movement analysis by using a smart chair with piezoelectric material

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Pediatrics and Neonatology 2023年第1期64卷 46-52页

作者： Chang, Tung-Ming Wu, Rong-Ching Yang, Rei-Cheng Chiang, Ching-Tai Chiu, Yi-Hung Ouyang, Chen-Sen Wang, Yun-Ming Wu, Ming-Hsu Lin, Guang-Chung Lin, Lung-Chang Department of Pediatric Neurology Changhua Christian Children's Hospital Changhua Taiwan Department of Electrical Engineering I-Shou University Taiwan Departments of Pediatrics Kaohsiung Medical University Hospital Kaohsiung Medical University Taiwan Department of Computer and Communication National Pingtung University Taiwan Department of Information Engineering I-Shou University Taiwan Department of Biological Science and Technology Institute of Molecular Medicine and Bioengineering Center for Intelligent Drug Systems and Smart Bio-Devices (IDS2B) National Yang Ming Chiao Tung University Taiwan Department of Pediatrics School of Medicine College of Medicine Kaohsiung Medical University Taiwan Department of Biological Science and Technology College of Biological Science and Technology National Yang Ming Chiao Tung University Hsinchu Taiwan

Background: Attention-deficit/hyperactivity disorder (ADHD) is the most common neuropsychiatric disorder in schoolchildren. ADHD diagnoses are generally made based on criteria from the Diagnostic and Statistical Manual of Mental Disorders, Fifth Edition. The diagnosis is made clinically based on observation and information provided by parents and teachers, which is highly subjective and can lead to disparate results. Considering that hyperactivity is one of the main symptoms of ADHD, the inaccuracy of ADHD diagnosis based on subjective criteria necessitates the identification of a method to objectively diagnose ADHD. Methods: In this study, a medical chair containing a piezoelectric material was applied to objectively analyze movements of patients with ADHD, which were compared with those of patients without ADHD. This study enrolled 62 patients—31 patients with ADHD and 31 patients without ADHD. During the clinical evaluation, participants’ movements were recorded by the piezoelectric material for analysis. The variance, zero-crossing rate, and high energy rate of movements were subsequently analyzed. Results: The results revealed that the variance, zero-crossing rate, and high energy rate were significantly higher in patients with ADHD than in those without ADHD. Classification performance was excellent in both groups, with the area under the curve as high as 98.00%. Conclusion: Our findings suggest that the use of a smart chair equipped with piezoelectric material is an objective and potentially useful method for supporting the diagnosis of ADHD. © 2022 Taiwan Pediatric Association

关键词： Attention-deficit/hyperactivity disorder piezoelectric material smart chair

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Continuity Scaling: A Rigorous Framework for Detecting and Quantifying Causality Accurately

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Research 2022年第4期2022卷 137-146页

作者： Xiong Ying Si-Yang Leng Huan-Fei MaD Qing Nie Ying-Cheng Lai Wei Lin School of Mathematical Sciences SCMSand SCAMFudan UniversityShanghai 200433China Research Institute for Inteligent Complex Systems CCSBand LCNBIFudan UniversityShanghai 200433China State Key Laboratory of Medical Neurobiology and MOE Frontiers Center for Brain Science Institutes of Brain ScienceFudan UniversityShanghai 200032China Institute of AI and Robotics Academy for Engineering and TechnologyFudan UniversityShanghai 200433China School of Mathematical Sciences Soochow UniversitySuzhou 215006China Department of Mathematics Department of Developmental and Cll BiologyAnd NSF-Simons Center for Multiscale Cell Fate ResearchUniversity of CaliforniaIrvineCA 92697-3875USA School of Electrical ComputerAnd Energy EngineeringArizona State UniversityTempeArizona 85287-5706USA Shanghai Artificial Intelligence Laboratory Shanghai 200232China

Data-based detection and quantification of causation in complex,nonlinear dynamical systems is of paramount importance to science,engineering,and *** by the widely used methodology in recent years,the cross-map-based techniques,we develop a general framework to advance towards a comprehensive understanding of dynamical causal mechanisms,which is consistent with the natural interpretation of *** particular,instead of measuring the smoothness of the cross-map as conventionally implemented,we define causation through measuring the scaling law for the continuity of the investigated dynamical system *** uncovered scaling law enables accurate,reliable,and eficient detection of causation and assessment of its strength in general complex dynamical systems,outperforming those existing representative *** continuity scaling-based framework is rigorously established and demonstrated using datasets from model complex systems and the real world.

关键词： dynamical scaling continuity

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Riemannian Online Optimistic Algorithms with Dynamic Regret

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IEEE Transactions on Automatic Control 2025年

作者： Wang, Xi Yuan, Deming Hong, Yiguang Hu, Zihao Wang, Lei Shi, Guodong University of New South Wales School of Electrical Engineering & Telecommunications SydneyNSW2052 Australia Nanjing University of Science and Technology School of Automation Nanjing210094 China Tongji University Shanghai Research Institute for Intelligent Autonomous Systems Shanghai201210 China Hong Kong University of Science and Technology Department of Mathematics Hong Kong Zhejiang University College of Control Science and Engineering Zhejiang 310058 China The University of Sydney Australian Center for Robotics School of Aerospace Mechanical and Mechatronic Engineering NSW2006 Australia

In this paper, we consider Riemannian online convex optimization with dynamic regret, which involves minimizing the cumulative loss difference between a learner's decisions and a sequence of adaptive decisions across dynamic environments over time on Riemannian manifolds. First, we propose Riemannian Online Optimistic Gradient Descent (R-OOGD), which extends the classical optimistic algorithms to Riemannian manifolds, requiring one gradient inquiry per round. We then propose Riemannian Adaptive Online Optimistic Gradient Descent (R-AOOGD) by incorporating the meta-expert framework into R-OOGD. We analyze the dynamic regret of R-OOGD and R-AOOGD in terms of the regularity of the sequence of cost functions and comparators. The dynamic regret bound matches the results in Euclidean space and with a scale adjustment of O(1+κ D2/√1-KD2) related to the sectional curvature lower bound κ, sectional curvature upper bound and feasible set diameter. Finally, we provide numerical experiments to illustrate the performance of the proposed algorithms. © 1963-2012 IEEE.

关键词： Optimization algorithms

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