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International Conference on Intelligent Transportation

作者： Tiago Barros Luís Garrote Martin Aleksandrov Cristiano Premebida Urbano J. Nunes Department of Electrical and Computer Engineering University of Coimbra Institute of Systems and Robotics Portugal Dahlem Center for Machine Learning and Robotics Freie Universität Berlin Berlin

Autonomous driving systems often require reliable loop closure detection to guarantee reduced localization drift. Recently, 3D LiDAR-based localization methods have used retrieval-based place recognition to find revisited places efficiently. However, when deployed in challenging real-world scenarios, the place recognition models become more complex, which comes at the cost of high computational demand. This work tackles this problem from an information-retrieval perspective, adopting a first-retrieve-then-re-ranking paradigm, where an initial loop candidate ranking, generated from a 3D place recognition model, is re-ordered by a proposed lightweight transformer-based re-ranking approach (TReR). The proposed approach relies on global descriptors only, being agnostic to the place recognition model. The experimental evaluation, conducted on the KITTI Odometry dataset, where we compared TReR with s.o.t.a. re-ranking approaches such as αQE and SGV, indicate the robustness and efficiency when compared to αQE while offering a good trade-off between robustness and efficiency when compared to SGV.

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Analysis and Prospects of Development of Electric Drives of Metalworking Machines

Analysis and Prospects of Development of Electric Drives of ...

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2022 Conference of Russian Young Researchers in electrical and Electronic engineering, ElConRus 2022

作者： Kundyukov, Oleg A. Belov, Mikhail P. Korolev, Vladimir I. Blagodarnyy, Nikolay C. Ershov, Kirill K. Saint Petersburg Electrotechnical University Department of Robotics of Automated Production Systems Leti Saint Petersburg Russia Graduate School of Technology and Energy Department of Automated Electric Drive and Electrical Engineering Saint Petersburg Russia

The requirements for electric drives of machine tools are generalized. The analysis of control systems for electric drives of metalworking machines is carried out. The prospects for the development of electric drives ... 详细信息

ISBN: (纸本)9781665409933

关键词： Electric drives

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One Solution to the Cost-Sharing Issue by the Sweden Game Experiment and Educational Effects 15

One Solution to the Cost-Sharing Issue by the Sweden Game Ex...

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15th International Congress on Advanced Applied Informatics Winter, IIAI-AAI-Winter 2023

作者： Kawaguchi, Masashi Kusaka, Takashi Ishii, Naohiro Umeno, Masayoshi National Institute of Technology Suzuka College Department of Electrical & Electronic Engineering Suzuka Japan National Institute of Technology Suzuka College Department of General Education Suzuka Japan Information Systems Architecture Course Advanced Institute of Industrial Technology Tokyo Japan Chubu University Department of Electronic Engineering Kasugai Japan

ISBN: (纸本)9798350383829

The issue of cost-sharing has been familiar since ancient times. Even today, it is used in various situations, such as cost-sharing for infrastructure development and contributions to neighborhood associations. Many methods have been proposed for the cost-sharing problem. One typical solution is the Shapley value. However, there are cases where the best solution cannot be obtained. In addition, if the solution is disadvantageous to the parties, there is a risk of dissatisfaction and failure to reach an agreement. On the other hand, gaming solutions are attracting attention. A mutually satisfactory solution can be obtained by gaming by solving the cost-sharing problem between the parties. Furthermore, better solutions than other methods have been derived. In this paper, we report on the optimal solution derived from the gaming results, its educational effects, and the results of a webinar on gaming in Finland and Japan. © 2023 IEEE.

关键词： Cost effectiveness

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Action recognition through fusion of sEMG and skeletal data in feature level

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Journal of Ambient Intelligence and Humanized Computing 2022年第9期13卷 4125-4134页

作者： Wang, Xinming Ding, Weili Bian, Shuangshuang Liu, Honghai Department of Automation Institute of Electrical Engineering Key Laboratory of Intelligent Rehabilitation and Neuromodulation of Hebei Province Yanshan University 438 West of Hebei Avenue Haigang District Qinhuangdao066004 China School of Mechanical Engineering and Automation State Key Laboratory of Robotics and Systems Harbin Institute of Technology Shenzhen Nanshan District Shenzhen518055 China

Human action can be recognized through a unimodal way. However, the information obtained from a single mode is limited due to the fact that a single mode contains only one type of physical attribute. Therefore, it is motivational to improve the accuracy of actions through fusion of two different complementary modality, which are the surface electromyography (sEMG) and the skeletal data. In this paper, we propose a general framework of fusion of sEMG signals and skeletal data. Firstly, vector of locally aggregated descriptor (VLAD) was extracted from sEMG sequences and skeletal sequences, respectively. Secondly, features obtained from sEMG and skeletal data are mapped through different weighted kernels using multiple kernel learning. Finally, the classification results are obtained through the model of multiple kernel learning. A dataset of 18 types of human actions is collected via KinectV2 and Thalmic Myo armband to verify our ideas. The experimental results show that the accuracy of human action recognition are improved by combining skeletal data with sEMG signals. © 2022, The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature.

关键词： Musculoskeletal system

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Backstepping-Based Adaptive Cooperative Control For Multiple Euler-Lagrange systems Under Unknown Harmonic Disturbances

Backstepping-Based Adaptive Cooperative Control For Multiple...

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2023 China Automation Congress, CAC 2023

作者： Chen, Ying Zhao, Zi-Yi Sun, Peng Guo, Xiang-Gui Wang, Jian-Liang Coutinho, Daniel School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing Engineering Research Center of Industrial Spectrum Imaging Beijing China School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing China Hangzhou Innovation Institute of Beihang University Collaborative Flying Robotics HangZhou China Universidade Federal de Santa Catarina Department of Automation and Systems Florianópolis Brazil

ISBN: (纸本)9798350303759

This paper studies cooperative control problem for multiple Euler-Lagrange systems with unknown harmonic disturbances, where the disturbances are the superposition of sinusoidal components with unknown amplitude, phase, and frequency. A novel adaptive disturbance observer without requiring the disturbance frequency information is designed to estimate the disturbances. Over the directed network topology, a cooperative control scheme is proposed based on backstepping techniques, so that the tracking error is ultimately uniformly bounded. The scheme developed can be used to reject the harmonic disturbances in a uniform way, which means the characteristics of the disturbances can be described as a fixed parameter vector. Finally, an application is presented to demonstrate the effectiveness of the proposed control strategy in the context of a two-link manipulator system. © 2023 IEEE.

关键词： Backstepping

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Intelligent upper-limb exoskeleton integrated with soft bioelectronics and deep learning for intention-driven augmentation

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npj Flexible Electronics 2024年第1期8卷 856-868页

作者： Jinwoo Lee Kangkyu Kwon Ira Soltis Jared Matthews Yoon Jae Lee Hojoong Kim Lissette Romero Nathan Zavanelli Youngjin Kwon Shinjae Kwon Jimin Lee Yewon Na Sung Hoon Lee Ki Jun Yu Minoru Shinohara Frank L.Hammond Woon-Hong Yeo Department of Mechanical Roboticsand Energy EngineeringDongguk UniversitySeoul 04620Republic of Korea IEN Center for Wearable Intelligent Systems and Healthcare Institute for Electronics and NanotechnologyGeorgia Institute of TechnologyAtlantaGA 30332USA School of Electrical and Computer Engineering Georgia Institute of TechnologyAtlantaGA 30332USA George W.Woodruff School of Mechanical Engineering Georgia Institute of TechnologyAtlantaGA 30332USA School of Industrial Design Georgia Institute of TechnologyAtlantaGA 30332USA School of Electrical and Electronic Engineering Yonsei UniversitySeoul 03722Republic of Korea School of Biological Sciences Georgia Institute of TechnologyAtlantaGA 30332USA Wallace H.Coulter Department of Biomedical Engineering Georgia Institute of Technology and Emory University School of MedicineAtlantaGA 30332USA Institute for Materials Parker H.Petit Institute for Bioengineering and BiosciencesInstitute for Robotics and Intelligent MachinesGeorgia Institute of TechnologyAtlantaGA 30332USA

The age and stroke-associated decline in musculoskeletal strength degrades the ability to perform daily human tasks using the upper ***,we introduce an intelligent upper-limb exoskeleton system that utilizes deep learning to predict human intention for strength *** embedded soft wearable sensors provide sensory feedback by collecting real-time muscle activities,which are simultaneously computed to determine the user’s intended *** deep learning predicts four upper-limb joint motions with an average accuracy of 96.2%at a 500–550 ms response rate,suggesting that the exoskeleton operates just by human *** addition,an array of soft pneumatics assists the intended movements by providing 897 newtons of force while generating a displacement of 87mm at *** intent-driven exoskeleton can reduce human muscle activities by 3.7 times on average compared to the unassisted exoskeleton.

关键词： skeleton learning utilize

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Hyperbolic Delaunay Geometric Alignment

arXiv

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arXiv 2024年

作者： Medbouhi, Aniss Aiman Marchetti, Giovanni Luca Polianskii, Vladislav Kravberg, Alexander Poklukar, Petra Varava, Anastasia Kragic, Danica Division of Robotics Perception and Learning Department of Intelligent Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm100 44 Sweden

Hyperbolic machine learning is an emerging field aimed at representing data with a hierarchical structure. However, there is a lack of tools for evaluation and analysis of the resulting hyperbolic data representations. To this end, we propose Hyperbolic Delaunay Geometric Alignment (HyperDGA) – a similarity score for comparing datasets in a hyperbolic space. The core idea is counting the edges of the hyperbolic Delaunay graph connecting datapoints across the given sets. We provide an empirical investigation on synthetic and real-life biological data and demonstrate that HyperDGA outperforms the hyperbolic version of classical distances between sets. Furthermore, we showcase the potential of HyperDGA for evaluating latent representations inferred by a Hyperbolic Variational Auto-Encoder. © 2024, CC BY.

关键词： Geometry

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TReR: A Lightweight Transformer Re-Ranking Approach for 3D LiDAR Place Recognition

arXiv

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arXiv 2023年

作者： Barros, Tiago Garrote, Luís Aleksandrov, Martin Premebida, Cristiano Nunes, Urbano J. The University of Coimbra Institute of Systems and Robotics Department of Electrical and Computer Engineering Portugal Dahlem Center for Machine Learning and Robotics Freie Universität Berlin Berlin Germany

关键词： Efficiency

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Recyclable thin-film soft electronics for smart packaging and e-skins

arXiv

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arXiv 2025年

作者： Carneiro, Manuel Reis de Almeida, Aníbal T. Tavakoli, Mahmoud Majidi, Carmel Soft Machines Lab Department of Mechanical Engineering Carnegie Mellon University PittsburghPA15213 United States Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra3030-290 Portugal

Despite advances in soft, sticker-like electronics, few efforts have dealt with the challenge of electronic waste. Here, we address this by introducing an eco-friendly conductive ink for thin-film circuitry composed of silver flakes (Ag) and a water-based polyurethane (WPU) dispersion. This ink uniquely combines high electrical conductivity (1.6x105 S/m), high resolution digital printability, robust adhesion for microchip integration, mechanical resilience, and recyclability. Recycling is achieved with an ecologically-friendly processing method to decompose the circuits into constituent elements and recover the conductive ink with a decrease of only 2.4% in conductivity. Moreover, adding liquid metal enables stretchability of up to 200% strain, although this introduces the need for more complex recycling steps. Lastly, we demonstrate on-skin electrophysiological monitoring biostickers along with a recyclable smart package with integrated sensors for monitoring safe storage of perishable foods. © 2025, CC BY-NC-ND.

关键词： Electronic Waste

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An Improved Isolated Double Step Down DC-DC Converter With ZVZCS Operation

An Improved Isolated Double Step Down DC-DC Converter With Z...

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Annual Conference of Industrial Electronics Society

作者： Van-Cuong Bui Minh-Khai Nguyen Truong-Duy Duong Dai-Van Vo Young-Cheol Lim Joon-Ho Choi Department of Electrical Engineering Chonnam National University Gwangju South Korea Global Electrification and Battery Systems General Motors Warren USA Department of Electrical and Computer Engineering Wayne State University Detroit USA

ISBN: (数字)9781665464543

ISBN: (纸本)9781665464550

The conventional isolated double step-down DC-DC converter has attractive characteristics for high input voltage and low output voltage applications including a high step-down voltage ratio, low voltage stress for three primary switches, low primary transformer voltage, wide soft-switching range, and no saturation problem. However, this converter still has issues that limit practical application including losing zero-voltage switching in very light load conditions, high circulating current, hard-switching turn-off of primary switches, high voltage ringing, and hard-switching operation of rectifier diodes. This paper proposes a soft-switching isolated double step-down DC-DC converter. By using an active snubber on the secondary side, the proposed converter solves effectively all issues of the conventional double step-down DC-DC converter. The proposed converter can achieve zero-voltage switching turn-on, and zero-current switching turn-off for both primary and secondary switches in the entire load range, while the circulating current and output voltage ringing are eliminated. Moreover, the duty cycle is extended by the control signal of the snubber switch. In this paper, the theoretical analysis, a simulation, and a laboratory experiment are completed with 800 V input, 48 V-2 kW prototype.

关键词： Industrial electronics Low voltage Snubbers Rectifiers Prototypes DC-DC power converters Switches Zero voltage switching Zero current switching Stress

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