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16th International Conference on intelligent robotics and Applications, ICIRA 2023

作者： Zhu, Yiting Xie, Ye Gao, Chengzhi Liang, Dingkun Kong, Lingyu Wang, Xin Xie, Anhuan Gu, Jianjun Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Laboratory Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China Zhejiang University Zhejiang Hangzhou311100 China Department of Electrical and Computer Engineering Dalhousie University HalifaxNSB3H 4R2 Canada

ISBN: (纸本)9789819964918

When a biped robot walks at a high speed, only relying on the open-loop gait trajectory based on the linear inverted pendulum model (LIPM), the robot cannot maintain stability. Sudden contact with the ground when landing may cause the robot to be unstable. Simultaneously, when the robot walks faster, the horizontal position of the center of mass (CoM) varies greatly during a walk cycle, and the expected CoM trajectory cannot be accurately tracked, resulting in a deviation from the zero-moment point (ZMP). Aiming at the above situation that may occur in fast walking, a whole-body compliance controller with emphasis on making robot’s walking more stable and faster is presented in this paper. The whole-body compliance controller consists of three parts: the CoM compliance controller, the vertical compliance controller and the foot compliance controller, which are used to improve the tracking effect of CoM, reduce the force impact of foot, and adjust the posture of the foot respectively. The simulation results show that with the whole-body compliance controller proposed in this paper, the tracking accuracy of the CoM becomes better, the posture of the robot is more stable during walking, and the landing compliance during landing are greatly improved. Finally, the walking speed of the robot can reach 1.8m/s. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2023.

关键词： Compliance control

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Optimal Linear Deception Attacks on Remote State Estimation with Constrained Alarm Rates: A Low-Dimensional Case 63

Optimal Linear Deception Attacks on Remote State Estimation ...

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63rd IEEE Conference on Decision and Control, CDC 2024

作者： Shang, Jun Zhang, Hanwen Zhou, Jing Chen, Tongwen Tongji University Shanghai Research Institute for Intelligent Autonomous Systems National Key Laboratory of Autonomous Intelligent Unmanned Systems Frontiers Science Center for Intelligent Autonomous Systems Department of Control Science and Engineering Shanghai200092 China University of Science and Technology Beijing Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education School of Automation and Electrical Engineering Beijing100083 China University of Alberta Department of Electrical and Computer Engineering EdmontonABT6G 1H9 Canada

ISBN: (纸本)9798350316339

This study addresses linear attacks on remote state estimation within the context of a constrained alarm rate. Smart sensors, which are equipped with local Kalman filters, transmit innovations instead of raw measurements through a wireless communication network. This transmission is vulnerable to malicious data interception and manipulation by attackers. The aim of this research is to identify the optimal attack strategy that degrades the system performance while adhering to stealthiness constraints. A notable innovation of this paper is the direct association of the attack's stealthiness with the alarm rate, diverging from traditional approaches that rely on the covariance of the innovation or the Kullback-Leibler divergence, which are conventional metrics that have been extensively explored in previous studies. Our findings reveal that the optimal attack strategy exhibits some structural characteristics in systems of low dimensions. The performance of the proposed attack strategy is demonstrated through numerical examples. © 2024 IEEE.

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Optimizing One-Stage Object Detection for URLLC: A Two-Stage Pipeline with Oculi SPU 25

Optimizing One-Stage Object Detection for URLLC: A Two-Stage...

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25th International Arab Conference on Information Technology, ACIT 2024

作者： Moghlebey, Adam Bou Moubayed, Abdallah Injadat, MohammadNoor Lebanese American University Electrical & Computer Engineering Department Byblos Lebanon King Fahd University of Petroleum & Minerals Computer Engineering Department Interdisciplinary Research Center for Intelligent Secure Systems Dhahran Saudi Arabia Zarqa University Data Science & Artificial Intelligence Department Zarqa Jordan University of Business and Technology Jeddah Saudi Arabia

ISBN: (纸本)9798331540012

Pedestrian-related accidents account for an estimated 20-25% of the approximately 1.19 million road fatalities occurring annually, highlighting the urgent need for enhanced detection systems in surveillance and smart transportation to mitigate such incidents. The escalating demand for Ultra-Reliable Low-Latency Communications (URLLC) in modern surveillance and transportation systems has become a solution to that problem but highlighted significant challenges in reducing inference times of machine learning models, particularly on constrained hardware. The maximum permissible latency for most vehicular applications ranges from 6 to 20 milliseconds based on the application. When tested on an 8GB RAM setup using the NTU, LLVIP, and VIRAT datasets, YOLOv8n achieved a minimum inference time of approximately 200 milliseconds per frame, making it unsuitable for URLLC applications despite 8GB RAM being an adequate hardware setup for edge devices. This research introduces a new two-stage pipeline that integrates Oculi's Sensing and Processing Unit (SPU) simulation with the YOLOv8n one-stage object detection model to enhance pedestrian detection, thereby addressing these challenges. By leveraging Regions of Interest (ROIs) generated by Oculi's SPU, our approach optimizes the input data for the YOLO model, substantially reducing computational overhead and thus making it suitable for URLLC applications. This integration can lead to a reduction in inference time by up to 93% in the tested frames when being compared to YOLOv8n pre-trained model. © 2024 IEEE.

关键词： Digital storage

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Recent Developments in Event-Triggered Control of Nonlinear systems:An Overview

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无人系统（英文） 2023年第1期11卷 27-56页

作者： Pengpeng Zhang Tengfei Liu Jie Chen Zhong-Ping Jiang Department of Control Science & Engineering Frontiers Science Center for Intelligent Autonomous SystemsTongji UniversityShanghai 201804P.R.China State Key Laboratory of Synthetical Automation for Process Industries Northeastern UniversityShenyang 110819P.R.China Department of Electrical and Computer Engineering New York University370 Jay StreetBrooklynNY 11201USA

Event-triggered control is a most popular paradigm for transferring feedback information in an economical"as needed"*** study of event-triggered control can be traced back to the *** significant advances on the topic of control over networks and the topic of nonlinear control systems over the last two decades,event-triggered control has quickly emerged as a major theoretical subject in control *** of event-triggered control are wide-spread ranging from embedded control systems and industrial control processes to unmanned systems and cyber-physical transportation *** this paper,we first review developments in the synthesis of event-triggered sampling *** event triggering mechanisms,such as static event trigger,dynamic event trigger,time-regularized event trigger,and event trigger with positive threshold offsets,are systematically ***,we study how to design a stabilizing controller that is robust with respect to the sampling ***,we review some recent results in the directions of self-triggered control,event-triggered tracking control and cooperative control,and event-triggered control of stochastic systems and partial differential equation *** applications of event-triggered control are also discussed.

关键词： Event-triggered control event-triggered sampling mechanism event-triggered controller

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Retinal disorder diagnosis based on hybrid deep learning models

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Multimedia Tools and Applications 2025年 1-25页

作者： Sedik, Ahmed El-Shafai, Walid El-Hag, Noha A. El-Banby, Ghada M. Abd El-Samie, Fathi E. Smart Systems Engineering Laboratory College of Engineering Prince Sultan University Riyadh11586 Saudi Arabia Department of the Robotics and Intelligent Machines Faculty of Artificial Intelligence Kafrelsheikh University Kafr el-Sheikh Egypt Computer Science Department Prince Sultan University Riyadh11586 Saudi Arabia Department of Electronics and Electrical Communications Engineering Faculty of Electronic Engineering Menoufia University Menouf32952 Egypt The Higher Institute of Commercial Sciences Algarbia Al Mahalla Al Kubra31951 Egypt Department of Industrial Electronics and Control Engineering Faculty of Electronic Engineering Menoufia University Menouf32952 Egypt Department of Information Technology College of Computer and Information Sciences Princess Nourah Bint Abdulrahman University P.O. Box 84428 Riyadh11671 Saudi Arabia

Anomaly detection from medical images is badly needed for automated diagnosis. For example, medical images obtained with several modalities, such as magnetic resonance (MR) and confocal microscopy, need to be classified for anomaly detection. The MR images may contain tumors that need to be detected with anomaly detection techniques. In MR imaging, brain tumors are represented as areas composed of abnormal cells that need to be detected. On the other hand, confocal microscopy can be used for retinal imaging. Hence, there is a need to apply classification techniques for diagnosing diseases of the eye, such as Diabetic Retinopathy (DR), which leads to exudates in different regions of the retina. The detection of exudates is necessary for the diagnosis of DR. In this paper, two models are presented for the classification of MR and retinal images. Much research has been done in this area, but it did not achieve high accuracy of classification in an acceptable time. In addition, the previous models did not consider both types of image modalities considered in this paper. The suggested models are Convolutional Neural Network (CNN) and Convolutional Long Short-Term Memory (Conv-LSTM). They are used to classify normal and abnormal cases of both brain tumor and DR diseases. The CNN model is composed of six convolutional layers and six max-pooling layers. A soft-max activation function takes the classification decision. The proposed Conv-LSTM model is composed of three stages: pre-processing, feature extraction, and classification. The deep learning model performance is better than those of traditional networks. The CNN gives an accuracy of 94.26% for DR classification and 95.8% for brain tumor classification, while the Conv-LSTM gives the maximum accuracy of 96.41% for DR classification and 97.4% for brain tumor classification. © The Author(s), under exclusive licence to Springer Science+Business Media, LLC, part of Springer Nature 2025.

关键词： Confocal microscopy

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Reducing the Computational Cost of Transformers for Person Re-identification

Reducing the Computational Cost of Transformers for Person R...

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IEEE International Conference on robotics and Biomimetics

作者： Wen Wang Zheyuan Lin Shanshan Ji Te Li Jason Gu Minhong Wan Chunlong Zhang Zhejiang Lab and Zhejiang Engineering Research Center for Intelligent Robotics Research Center for Intelligent Robotics Hangzhou China Department of Electrical and Computer Engineering Dalhousie University Canada

Transformer-based visual technologies have witnessed remarkable progress in recent years, and person re-identification (ReID) is one of the active research areas that adopts transformers to improve the performance. However, a major challenge of applying transformers to ReID is the high computational cost, which hinders the real-time deployment of such methods. To address this issue, this paper proposes two simple yet effective techniques to reduce the computation of transformers for ReID. The first technique is to eliminate the invalid patches that do not contain any person information, thereby reducing the number of tokens fed into the transformer. Considering that computational complexity is quadratic with respect to input tokens, the second technique partitions the image into multiple windows, applies separate transformers to each window, and merges class tokens from each window, which can reduce the complexity of the self-attention mechanism. By combining these two techniques, our proposed method reduces the SOTA baseline model by 12.2% FLOPs, while slightly improving the rank-1 accuracy and only sacrificing 1.1% mAP on DukeMTMC-ReID dataset.

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Characterization of Complex Permittivity of Microwave Substrates in Sub-THz/THz Range

Characterization of Complex Permittivity of Microwave Substr...

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European Conference on Microwave

作者： Milad Entezami Seyed Ali Hosseini Farahabadi Mohammad-Reza Nezhad-Ahmadi Department of Electrical and Computer Engineering Center for Intelligent Antenna and Radio Systems (CIARS) University of Waterloo Canada

ISBN: (数字)9782874870774

ISBN: (纸本)9798350385892

In this paper, a study on the characterization of dielectric substrates in the sub-terahertz (sub-THz) and terahertz (THz) frequency ranges is presented using a Vector Network Analyzer (VNA)-based quasi-optical measurement setup and time-domain spectroscopy (TDS). Complex permittivity calculation methods based on four-parabolic-mirror systems are investigated over the frequency range of 75-110 GHz (W-band), 140–220 GHz (G-Band), and 400-1000 GHz. Our primary focus is on accurately extracting permittivity and loss tangent of dielectric substrates, specifically targeting the widely used Rogers/Duroid series PCB substrates which are commonly used in microwave applications. The purpose of this study is to gain a better understanding of these substrates for sub-THz and THz multilayered electronic and packaging applications.

关键词： Microwave measurement Time-frequency analysis Permittivity measurement Dielectric substrates Microwave communication Dielectric loss measurement Frequency measurement Permittivity Substrates Terahertz communications

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AGVs vs AMRs: A Comparative Study of Fleet Performance and Flexibility

AGVs vs AMRs: A Comparative Study of Fleet Performance and F...

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Iberian robotics Conference (ROBOT)

作者： Rita Tomé Silva Marina Brilhante Héber Sobreira Diogo Matos Pedro Costa Department of Electrical and Computer Engineering Faculty of Engineering of the University of Porto Porto Portugal Centre of Robotics in Industry and Intelligent Systems INESC TEC Porto Portugal

ISBN: (数字)9798350376364

ISBN: (纸本)9798350376371

Autonomous Mobile Robots (AMRs) and Automated Guided Vehicles (AGVs) have emerged as key innovations in the industry world, with AMRs offering flexibility a nd adaptability for dynamic environments, while AGVs provide high accuracy for repetitive tasks; thus, this research proposes a study of fleets of both AGVs and AMRs to enhance productivity and efficiency in industrial settings. Several tests were performed where the duration of a mission, the success and collision rate, and the average number of disputes per mission were analyzed in order to obtain results. In conclusion, while AGVs tend to be more reliable and consistent in task completion, AMRs offer greater flexibility a nd speed.

关键词： Productivity Technological innovation Remotely guided vehicles Navigation Scalability Path planning Mobile robots Reliability Vehicle dynamics Autonomous robots

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A Bi-population Cooperative Optimization Algorithm Assisted by an Autoencoder for Medium-scale Expensive Problems

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IEEE/CAA Journal of Automatica Sinica 2022年第11期9卷 1952-1966页

作者： Meiji Cui Li Li MengChu Zhou Jiankai Li Abdullah Abusorrah Khaled Sedraoui IEEE the School of Intelligent Manufacturing Nanjing University of Science and TechnologyNanjing 210094China the Department of Electronics and Information Engineering Tongji UniversityShanghai 201804China the Helen and John C.Hartmann Department of Electrical and Computer Engineering New Jersey Institute of TechnologyNewarkNJ 07102 USA Center of Research Excellence in Renewable Energy and Power Systems Department of Electrical and Computer EngineeringFaculty of Engineeringand K.A.CARE Energy Research and Innovation CenterKing Abdulaziz UniversityJeddah 21589Saudi Arabia

This study presents an autoencoder-embedded optimization(AEO)algorithm which involves a bi-population cooperative strategy for medium-scale expensive problems(MEPs).A huge search space can be compressed to an informative lowdimensional space by using an autoencoder as a dimension reduction *** search operation conducted in this low space facilitates the population with fast convergence towards the *** strike the balance between exploration and exploitation during optimization,two phases of a tailored teaching-learning-based optimization(TTLBO)are adopted to coevolve solutions in a distributed fashion,wherein one is assisted by an autoencoder and the other undergoes a regular evolutionary ***,a dynamic size adjustment scheme according to problem dimension and evolutionary progress is proposed to promote information exchange between these two phases and accelerate evolutionary convergence *** proposed algorithm is validated by testing benchmark functions with dimensions varying from 50 to *** indicated in our experiments,TTLBO is suitable for dealing with medium-scale problems and thus incorporated into the AEO framework as a base *** with the state-of-the-art algorithms for MEPs,AEO shows extraordinarily high efficiency for these challenging problems,t hus opening new directions for various evolutionary algorithms under AEO to tackle MEPs and greatly advancing the field of medium-scale computationally expensive optimization.

关键词： Autoencoder dimension reduction evolutionary algorithm medium-scale expensive problems teaching-learning-based optimization

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Tracking-Differentiator-Based Sliding-Mode Control for Tracking Control

Tracking-Differentiator-Based Sliding-Mode Control for Track...

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2023 China Automation Congress, CAC 2023

作者： Li, Wenfei Li, Boyuan Hua, Wei Huang, Chao Du, Haiping Xing, Haitao Research Center for Intelligent Transportation Zhejiang Lab Hangzhou China The Hong Kong Polytechnic University Department of Industrial & Systems Engineering Hong Kong School of Electrical Computer and Telecommunications Engineering University of Wollongong Wollongong Australia

ISBN: (纸本)9798350303759

Tracking control has attracted significant attention because of its close link with industrial applications. Tracking control requires that a control algorithm can ensure that an actuator follows control commands, with a fast response anti-disturbance abilities and small chattering. A tracking-differentiator-based sliding-mode control approach for tracking control is proposed in this paper. A tracking differentiator has the ability to obtain the desired signal's differential signal, even when there is noise in the desired signal. A differential signal is often required in the design of sliding-mode controllers. When tracking differentiator is applied to a sliding-mode controller, the chattering of the control commands (caused by noise disturbance) can be reduced while the fast response of the sliding-mode controller can be maintained. The simulation results show that the proposed controller is effective. © 2023 IEEE.

关键词： Sliding mode control

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