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Vision-Based Force Estimation for Minimally Invasive Telesurgery Through Contact Detection and Local Stiffness Models

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Journal of Medical Robotics Research 2024年第3-4期9卷

作者： Yang, Shuyuan Le, My H. Golobish, Kyle R. Beaver, Juan C. Chua, Zonghe Department of Computer and Data Sciences Case Western Reserve University Department of Electrical Systems and Computer Engineering Case Western Reserve University Department of Mechanical and Aerospace Engineering Case Western Reserve University

In minimally invasive telesurgery, obtaining accurate force information is difficult due to the complexities of in-vivo end effector force sensing. This constrains development and implementation of haptic feedback and force-based automated performance metrics, respectively. Vision-based force sensing approaches using deep learning are a promising alternative to intrinsic end effector force sensing. However, they have limited ability to generalize to novel scenarios, and require learning on high-quality force sensor training data that can be difficult to obtain. To address these challenges, this paper presents a novel vision-based contact-conditional approach for force estimation in telesurgical environments. Our method leverages supervised learning with human labels and end effector position data to train deep neural networks. Predictions from these trained models are optionally combined with robot joint torque information to estimate forces indirectly from visual data. We benchmark our method against ground truth force sensor data and demonstrate generality by fine-tuning to novel surgical scenarios in a data-efficient manner. Our methods demonstrated greater than 90% accuracy on contact detection and less than 10% force prediction error. These results suggest potential usefulness of contact-conditional force estimation for sensory substitution haptic feedback and tissue handling skill evaluation in clinical settings. © 2024 World Scientific Publishing Company.

关键词： computer-assisted surgery deep learning force sensing Haptics medical robotics minimally invasive surgery robot vision surgical robotics surgical skills evaluation

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Dynamic Online Modulation Recognition using Incremental Learning

Dynamic Online Modulation Recognition using Incremental Lear...

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International Conference on Computing, Networking and Communications (ICNC)

作者： Ali Owfi Ali Abbasi Fatemeh Afghah Jonathan Ashdown Kurt Turck Holcombe Department of Electrical and Computer Engineering Clemson University Clemson SC USA Computer Science Department Vanderbilt University Nashville TN USA Air Force Research Laboratory Rome NY USA

ISBN: (数字)9798350370997

ISBN: (纸本)9798350371000

Modulation recognition is a fundamental task in communication systems as the accurate identification of modulation schemes is essential for reliable signal processing, interference mitigation for coexistent communication technologies, and network optimization. Incorporating deep learning (DL) models into modulation recognition has demonstrated promising results in various scenarios. However, conventional DL models often fall short in online dynamic contexts, particularly in class incremental scenarios where new modulation schemes are encountered during online deployment. Retraining these models on all previously seen modulation schemes is not only time-consuming but may also not be feasible due to storage limitations. On the other hand, training solely on new modulation schemes often results in catastrophic forgetting of previously learned classes. This issue renders DL-based modulation recognition models inapplicable in real-world scenarios because the dynamic nature of communication systems necessitate the effective adaptability to new modulation schemes. This paper addresses this challenge by evaluating the performance of multiple Incremental Learning (IL) algorithms in dynamic modulation recognition scenarios, comparing them against conventional DL-based modulation recognition. Our results demonstrate that modulation recognition frameworks based on IL effectively prevent catastrophic forgetting, enabling models to perform robustly in dynamic scenarios.

关键词： Wireless communication Training Adaptation models Accuracy Heuristic algorithms Computational modeling Modulation

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Enhancing the Performance of E-Mode AlGaN/GaN HEMTs With Recessed Gates Through Low-Damage Neutral Beam Etching and Post-Metallization Annealing

IEEE Open Journal of Nanotechnology

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IEEE Open Journal of Nanotechnology 2023年 4卷 150-155页

作者： Chen, Yi-Ho Ohori, Daisuke Aslam, Muhammad Lee, Yao-Jen Li, Yiming Samukawa, Seiji National Yang Ming Chiao Tung University Parallel and Scientific Computing Laboratory Graduate Degree Program of College of Electrical and Computer Engineering Hsinchu300093 Taiwan Tohoku University Institute of Fluid Science Sendai980-8577 Japan National Yang Ming Chiao Tung University Parallel and Scientific Computing Laboratory Electrical Engineering and Computer Science International Graduate Program Hsinchu300093 Taiwan National Yang Ming Chiao Tung University Institute of Pioneer Semiconductor Innovation Hsinchu300093 Taiwan National Yang Ming Chiao Tung University Parallel and Scientific Computing Laboratory Institute of Communications Engineering Institute of Biomedical Engineering Hsinchu300093 Taiwan National Yang Ming Chiao Tung University Department of Electronics and Electrical Engineering Hsinchu300093 Taiwan National Yang Ming Chiao Tung University Institute of Communications Engineering Hsinchu300093 Taiwan

This study investigated the electrical properties of AlGaN/GaN high-electron-mobility transistors (HEMTs) with varied recess depths under the gate electrode. We demonstrated a recess depth of approximately 6 nm, which was achieved through neutral beam etching (NBE) technique with a low etch rate of 1.8 nm/min, resulting in device enhancement-mode (E-mode) behavior with threshold voltage (Vth) of 0.49 V. The effects of post-metallization annealing (PMA) on the device performance were also examined. The results revealed that PMA treatment improves the DC characteristics of the devices, including maximum drain current (IDMAX), transconductance (gm), subthreshold swing (SS), on-off ratio, and off-state leakage current, with maximum enhancement percentage of 18.3% for IDMAX, 3758% for on-off ratio, and 54.3% for SS. Moreover, this study compared the recess depths of metal-insulator-semiconductor high-electron-mobility transistors (MIS-HEMTs) with the SiN dielectric layer. The results showed that MIS-HEMTs exhibit more negative Vth values, which can be attributed to the controlled surface states achieved through passivation. © 2020 IEEE.

关键词： Etching

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Maximum Correntropy Criterion Kalman Filter for Indoor Quadrotor Navigation under Intermittent Measurements

Maximum Correntropy Criterion Kalman Filter for Indoor Quadr...

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Mediterranean Conference on Control and Automation (MED)

作者： Loizos Hadjiloizou Evagoras Makridis Themistoklis Charalambous Kyriakos M. Deliparaschos Department of Intelligent Systems KTH Royal Institute of Technology Stockholm Sweden Department of Electrical and Computer Engineering School of Engineering University of Cyprus Nicosia Cyprus Department of Electrical Engineering and Automation School of Electrical Engineering Aalto University Espoo Finland Electrical and Computer Engineering and Informatics Department Cyprus University of Technology Limassol Cyprus

We present a multisensor fusion framework for the onboard real-time navigation of a quadrotor in an indoor environment. The framework integrates sensor readings from an Inertial Measurement Unit (IMU), a camera-based object detection algorithm, and an Ultra-WideBand (UWB) localisation system. Often the sensor readings are not always readily available, leading to inaccurate pose estimation and hence poor navigation performance. To effectively handle and fuse sensor readings, and accurately estimate the pose of the quadrotor for tracking a predefined trajectory, we design a Maximum Correntropy Criterion Kalman Filter (MCC-KF) that can manage intermittent observations. The MCC-KF is designed to improve the performance of the estimation process when is done with a Kalman Filter (KF), since KFs are likely to degrade dramatically in practical scenarios in which noise is non-Gaussian (especially when the noise is heavy-tailed). To evaluate the performance of the MCC-KF, we compare it with a previously designed Kalman filter by the authors. Through this comparison, we aim to demonstrate the effectiveness of the MCC-KF in handling indoor navigation missions. The simulation results show that our presented framework offers low positioning errors, while effectively handling intermittent sensor measurements.

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Federated Temporal Difference Learning with Linear Function Approximation under Environmental Heterogeneity

arXiv

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arXiv 2023年

作者： Wang, Han Mitra, Aritra Hassani, Hamed Pappas, George J. Anderson, James Department of Electrical Engineering Columbia University United States Department of Electrical and Computer Engineering North Carolina State University United States Department of Electrical and Systems Engineering University of Pennsylvania United States

We initiate the study of federated reinforcement learning under environmental heterogeneity by considering a policy evaluation problem. Our setup involves N agents interacting with environments that share the same state and action space but differ in their reward functions and state transition kernels. Assuming agents can communicate via a central server, we ask: Does exchanging information expedite the process of evaluating a common policy? To answer this question, we provide the first comprehensive finite-time analysis of a federated temporal difference (TD) learning algorithm with linear function approximation, while accounting for Markovian sampling, heterogeneity in the agents’ environments, and multiple local updates to save communication. Our analysis crucially relies on several novel ingredients: (i) deriving perturbation bounds on TD fixed points as a function of the heterogeneity in the agents’ underlying Markov decision processes (MDPs);(ii) introducing a virtual MDP to closely approximate the dynamics of the federated TD algorithm;and (iii) using the virtual MDP to make explicit connections to federated optimization. Putting these pieces together, we prove that in a low-heterogeneity regime, exchanging model estimates leads to linear convergence speedups in the number of agents. Our theoretical contribution is significant in that it is the first result of its kind in multi-agent/federated reinforcement learning that complements the numerous analogous results in heterogeneous federated optimization. © 2023, CC BY-NC-ND.

关键词： Federated learning

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On the Performance of Practical Pulse-Shaped OTFS with Analog Receivers

On the Performance of Practical Pulse-Shaped OTFS with Analo...

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IEEE International Conference on Communications Workshops, ICC

作者： Andong Zhou Yanjun Pan Jingxian Wu Hai Lin Jinhong Yuan Department of Electrical Engineering University of Arkansas Fayetteville AR Department of Computer Science and Computer Engineering University of Arkansas Fayetteville AR Department of Electrical and Electronic Systems Engineering Osaka Metropolitan University Osaka Japan School of Electrical Engineering and Telecommunications University of New South Wales Australia

We study the impacts of practical pulse-shaping on the performance of orthogonal time frequency space (OTFS) systems with a matched filter based analog receiver. Unlike most existing OTFS works that use a sampling and DFT-based digital receiver, we investigate the OTFS waveform in a precise manner by strictly following the continuous-time Heisenberg and Wigner transforms as in the original OTFS architecture. Closed-form expressions of the cross-ambiguity functions of several practical pulses are developed to facilitate the modeling and analysis of the analog architecture. In particular, we derive a matrix representation of the input-output relationship of the OTFS system with the help of an equivalent discrete delay-Doppler channel spread function, which incorporates the combined effects of the physical propagation channel, the bandwidth and duration restrictions imposed on the OTFS signals, and the transmit and receive pulses. Numerical results demonstrated that under the analog OTFS architecture, practical rectangular pulse-shaping waveforms can achieve similar performance as the ideal bi-orthogonal robust waveforms in high mobility scenarios.

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An Overview of Artificial Intelligence Ethics

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2023年第4期4卷 799-819页

作者： Huang, Changwu Zhang, Zeqi Mao, Bifei Yao, Xin Southern University of Science and Technology Research Institute of Trustworthy Autonomous Systems Shenzhen518055 China Southern University of Science and Technology Department of Computer Science and Engineering Guangdong Provincial Key Laboratory of Brain-inspired Intelligent Computation Shenzhen518055 China Huawei Technologies Company Ltd. Trustworthiness Theory Research Center Shenzhen518055 China University of Birmingham School of Computer Science BirminghamB15 2TT United Kingdom

Artificial intelligence (AI) has profoundly changed and will continue to change our lives. AI is being applied in more and more fields and scenarios such as autonomous driving, medical care, media, finance, industrial robots, and internet services. The widespread application of AI and its deep integration with the economy and society have improved efficiency and produced benefits. At the same time, it will inevitably impact the existing social order and raise ethical concerns. Ethical issues, such as privacy leakage, discrimination, unemployment, and security risks, brought about by AI systems have caused great trouble to people. Therefore, AI ethics, which is a field related to the study of ethical issues in AI, has become not only an important research topic in academia, but also an important topic of common concern for individuals, organizations, countries, and society. This article will give a comprehensive overview of this field by summarizing and analyzing the ethical risks and issues raised by AI, ethical guidelines and principles issued by different organizations, approaches for addressing ethical issues in AI, and methods for evaluating the ethics of AI. Additionally, challenges in implementing ethics in AI and some future perspectives are pointed out. We hope our work will provide a systematic and comprehensive overview of AI ethics for researchers and practitioners in this field, especially the beginners of this research discipline. © 2020 IEEE.

关键词： Industrial robots

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Spiking neural networks: Towards bio-inspired multimodal perception in robotics

arXiv

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arXiv 2024年

作者： Oikonomou, Katerina Maria Balaska, Vasiliki Tsintotas, Konstantinos A. Mavridis, Christos N. Kansizoglou, Ioannis Gasteratos, Antonios The Department of Production and Management Engineering Laboratory of Robotics and Automation Democritus University of Thrace Xanthi Greece The Department of Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden

Spiking neural networks (SNNs) have captured apparent interest over the recent years, stemming from neuroscience and reaching the field of artificial intelligence. However, due to their nature SNNs remain far behind in achieving the exceptional performance of deep neural networks (DNNs). As a result, many scholars are exploring ways to enhance SNNs by using learning techniques from DNNs. While this approach has been proven to achieve considerable improvements in SNN performance, we propose another perspective: enhancing the biological plausibility of the models to leverage the advantages of SNNs fully. Our approach aims to propose a brain-like combination of audio-visual signal processing for recognition tasks, intended to succeed in more bio-plausible human-robot interaction applications. © 2024, CC BY-NC-SA.

关键词： Adversarial machine learning

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Exploring the use of deep learning in task-flexible ILC*

Exploring the use of deep learning in task-flexible ILC*

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American Control Conference (ACC)

作者： Anantha Sai Hariharan Vinjarapu Yorick Broens Hans Butler Roland Tóth Department of Electrical Engineering Eindhoven University of Technology Eindhoven The Netherlands ASML Veldhoven The Netherlands Systems and Control Laboratory Institute for Computer Science and Control Hungary

Growing demands in today’s industry results in increasingly stringent performance and throughput specifications. For accurate positioning of high-precision motion systems, feedforward control plays a crucial role. Nonetheless, conventional model-based feedforward approaches are no longer sufficient to satisfy the challenging performance requirements. An attractive method for systems with repetitive motion tasks is iterative learning control (ILC) due to its superior performance. However, for systems with non-repetitive motion tasks, ILC is generally not applicable, despite of some recent promising advances. In this paper, we aim to explore the use of deep learning to address the task flexibility constraint of ILC. For this purpose, a novel Task Analogy based Imitation Learning (TAIL)-ILC approach is developed. To benchmark the performance of the proposed approach, a simulation study is presented which compares the TAIL-ILC to classical model-based feedforward strategies and existing learning-based approaches, such as neural network based feedforward learning.

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Distributed Real-time State Estimation for Combined Heat and Power systems

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Journal of Modern Power systems and Clean Energy 2021年第2期9卷 316-327页

作者： Tingting Zhang Wen Zhang Qi Zhao Yaxin Du Jian Chen Junbo Zhao the Key Laboratory of Power System Intelligent Dispatch and Control Ministry of EducationShandong UniversityJinan 250061China the Department of Electrical and Computer Engineering Mississippi State UniversityStarkvilleMS 39762USA

This paper proposes a distributed real-time state estimation(RTSE)method for the combined heat and power systems(CHPSs).First,a difference-based model for the heat system is established considering the dynamics of heat *** heat system model is further used along with the power system steady-state model for holistic CHPS state estimation.A cubature Kalman filter(CKF)-based RTSE is developed to deal with the system nonlinearity while integrating both the historical and present measurement ***,a multi-timescale asynchronous distributed computation scheme is designed to enhance the scalability of the proposed method for largescale *** distributed implementation requires only a small amount of information exchange and thus protects the privacy of different energy *** carried out on two CHPSs show that the proposed method can significantly improve the estimation efficiency of CHPS without loss of accuracy compared with other existing models and methods.

关键词： Combined heat and power system(CHPS) cubature Kalman filter(CKF) heat dynamics multi-time-scale asynchronous distributed scheme real-time state estimation(RTSE)

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