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A trajectory-level robot skill learning method based on fuzzy systems

Science China(Information Sciences) 2025年第5期68卷 38-52页

作者： Chao ZENG Zhen DENG Boyang TI Yongsheng GAO Department of Computer Science University of Liverpool School of Mechanical Engineering and Automation Fuzhou University State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences State Key Laboratory of Robotics and System Harbin Institute of Technology

Learning from demonstration(LfD) allows for the effective transfer of human manipulation skills to a robot by building a model that represents these skills based on a limited number of demonstrated ***,a skilllearning model that can comprehensively satisfy multiple requirements,such as computational complexity,modeling accuracy,trajectory smoothness,and robustness,is still ***,this work aims to provide such a model by employing fuzzy ***,we introduce an LfD model named Takagi-Sugeno-Kang fuzzy system-based movement primitives(TSKFMPs),which exploits the advantages of the fuzzy theory for effective robotic imitation learning of human *** work formulates the TSK fuzzy system and gradient descent(GD) as imitation learning models,leveraging recent advancements in GD-based optimization for fuzzy *** study takes a two-step strategy.(ⅰ) The input-output relationships of the model are established using TSK fuzzy systems based on demonstration *** this way,the skill is encoded by the model parameter in the latent space.(ⅱ) GD is used to optimize the model parameter to increase the modeling accuracy and trajectory *** further explain how learned trajectories are adapted to new task scenarios through local *** conduct multiple tests using an open dataset to validate our method,and the results demonstrate performance comparable with those of other ***,we implement it in a real-world case study.

关键词： robot skill learning movement primitives TSK fuzzy systems gradient descent robotics

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Empowering Deaf Children with Sinhala Sign Language, Emotion Detection, and Sound Recognition 5

Empowering Deaf Children with Sinhala Sign Language, Emotion...

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5th International Conference on Advancements in Computing, ICAC 2023

作者： Fernando, W.H.K. Perera, P.L.D.N. Fernando, M.I.N. Gunasekara, P.T.E.W. Fernando, Harinda De Zoysa, Rivoni Sri Lanka Institute of Information Technology Department of Information Technology Malabe Sri Lanka Sri Lanka Institute of Information Technology Department of Computer System Engineering Malabe Sri Lanka Sri Lanka Institute of Information Technology Department of Computer Science Software Engineering Malabe Sri Lanka

ISBN: (纸本)9798350358131

This study describes a broad endeavor to use cutting-edge technologies to empower deaf primary school students in Sri Lanka. Three key elements make up the study: a sound recognition and classification system, an Android software for translating gestures in Sinhala Sign Language (SSL), and a mobile app for emotion recognition and text-tospeech in Sinhala. By promptly alerting caregivers to potential dangers, the sound recognition technology secures the security of deaf children at home, providing an invaluable layer of security. The Android software bridges the communication gap and improves family interactions by translating SSL gestures captured by the device's camera into textual representations. This promotes successful communication between deaf children and their parents. Convolutional Neural Networks (CNNs) are used in the mobile application to detect and understand emotions based on facial expressions. This enables non-verbal youngsters to communicate successfully through Sinhala textto-speech output with adaptive tone modulation. This research aims to build a caring and inclusive atmosphere, enabling increased independence and enhanced communication skills in deaf children by combining these advances. The suggested solutions could significantly improve the lives of deaf kids, providing them with opportunities for better learning, social interaction, and emotional health. © 2023 IEEE.

关键词： Emotion Recognition

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Oriented lateral growth of two-dimensional materials on c-plane sapphire

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Nature Nanotechnology 2023年第11期18卷 1289-1294页

作者： Fu, Jui-Han Min, Jiacheng Chang, Che-Kang Tseng, Chien-Chih Wang, Qingxiao Sugisaki, Hayato Li, Chenyang Chang, Yu-Ming Alnami, Ibrahim Syong, Wei-Ren Lin, Ci Fang, Feier Zhao, Lv Lo, Tzu-Hsuan Lai, Chao-Sung Chiu, Wei-Sheng Jian, Zih-Siang Chang, Wen-Hao Lu, Yu-Jung Shih, Kaimin Li, Lain-Jong Wan, Yi Shi, Yumeng Tung, Vincent Department of Chemical System Engineering School of Engineering The University of Tokyo Tokyo Japan Department of Civil Engineering The University of Hong Kong Hong Kong Department of Electrophysics National Yang-Ming Chiao Tung University Hsinchu Taiwan Thuwal Saudi Arabia Department of Mechanical Engineering The University of Hong Kong Hong Kong Research Centre for Applied Sciences Academia Sinica Taipei Taiwan College of Electronics and Information Engineering Shenzhen University Shenzhen China Department of Electronic Engineering Chang Gung University Taoyuan Taiwan National Synchrotron Radiation Research Center Hsinchu Taiwan Center for Green Technology of the Chang Gung University Taoyuan Taiwan

Two-dimensional (2D) semiconducting transition metal dichalcogenides (TMDs) represent the ultimate thickness for scaling down channel materials. They provide a tantalizing solution to push the limit of semiconductor technology nodes in the sub-1 nm range. One key challenge with 2D semiconducting TMD channel materials is to achieve large-scale batch growth on insulating substrates of single crystals with spatial homogeneity and compelling electrical properties. Recent studies have claimed the epitaxy growth of wafer-scale, single-crystal 2D TMDs on a c-plane sapphire substrate with deliberately engineered off-cut angles. It has been postulated that exposed step edges break the energy degeneracy of nucleation and thus drive the seamless stitching of mono-oriented flakes. Here we show that a more dominant factor should be considered: in particular, the interaction of 2D TMD grains with the exposed oxygen–aluminium atomic plane establishes an energy-minimized 2D TMD–sapphire configuration. Reconstructing the surfaces of c-plane sapphire substrates to only a single type of atomic plane (plane symmetry) already guarantees the single-crystal epitaxy of monolayer TMDs without the aid of step edges. Electrical results evidence the structural uniformity of the monolayers. Our findings elucidate a long-standing question that curbs the wafer-scale batch epitaxy of 2D TMD single crystals—an important step towards using 2D materials for future electronics. Experiments extended to perovskite materials also support the argument that the interaction with sapphire atomic surfaces is more dominant than step-edge docking. © 2023, The Author(s), under exclusive licence to Springer Nature Limited.

关键词： Transition metals

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Hybrid Power Generation Forecasting Using an Intellectual Evolutionary Energy-Preserve Rate Clustering Technique 1

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10th International Conference on Innovations in Computer Science and engineering, ICICSE 2022

作者： Webber, Julian L. Jayagopal, Vellingiri Mehbodniya, Abolfazl Sengan, Sudhakar Velayutham, Priya Rangasamy, Rajasekar Stalin David, D. Doha Kuwait Department of Software & System Engineering School of Information Technology & Engineering Vellore Institute of Technology Tamil Nadu Vellore632014 India Department of Computer Science and Engineering PSN College of Engineering and Technology Tamil Nadu Tirunelveli627152 India Department of Computer Science and Engineering Paavai Engineering College Tamil Nadu Namakkal637018 India Department of Computer Science and Engineering GITAM School of Technology GITAM University Karnataka Bengaluru561203 India Department of Information Technology Vel Tech Multi Tech Dr.Rangarajan Dr.Sakunthala Engineering College Tamil Nadu Chennai600072 India

ISBN: (数字)9789811974557

ISBN: (纸本)9789811974540

The significant growth of Wind Power (WP) has significant challenges due to the inconsistency and uncertainty of Wind Power Generation (WPG) to ensure the power system. Solar energy and WP calculation are great ways to overcome the problem. Mainly voltage and frequency fluctuations and harmonics have a high impact on the power generation and distribution system;in any high case, the power quality of grid systems is reduced. This can be primarily solved with proper design, advanced rapid response control facilities and optimization of power systems. A new type of Multi-term Wind Energy (WE) with an IEEE 30 bus forecasting system based on digital weather forecasting and error modification methods is presented. From the Evolutionary Energy- Preserve Rate Clustering (EEPRC) Technique-based technique for the evaluates the probability ratio in Solar and wind error energy prediction, the error assessment model is proposed, which has the advantage of estimating from real wind farms and statistical Weather Forecast (WF) data and has proven to be a nominal method for improving the predictive accuracy of Multi-term WPG. The primary step of the Energy-Preserve Rate Clustering (EPRC) method is to calculate the uncertainty of real-time data with the predicted value. The computed values are helpful for the increases in Solar WPG production. The proposed wind forecasting system is utilized in the Coastal area-based energy generation. Also, it has been demonstrated that wind speed and WPG with its probability ratio have been evaluated with the EEPRC-based forecasting method, especially for its powerful predictive capability for the complex properties of the controller function. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Solar energy

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Realizing Global Citizen Solutions for Sustainable Development Goals: A Collaborative engineering Course Between Thai and Japanese Students 23

Realizing Global Citizen Solutions for Sustainable Developme...

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23rd International Symposium on Communications and Information Technologies, ISCIT 2024

作者： Sae-Jia, Thanachot Leelawat, Natt Tang, Jing Murakami, Rie Taoka, Yuki Ota, Eri Punyabukkana, Proadpran Chulalonkorn University Faculty of Engineering Department of Environmental Engineering Bangkok Thailand Chulalongkorn University Faculty of Engineering Department of Industrial Engineering Bangkok Thailand Chulalongkorn University Disaster and Risk Management Information Systems Research Unit Bangkok Thailand Graduate School of System Design and Management Keio University Yokohama Japan International School of Engineering Chulakongkorn University Faculty of Engineering Bangkok Thailand Global Education Section Center for Entrepreneurship Education Tokyo Institute of Technology Tokyo Japan School of Environment and Society Tokyo Institute of Technology Tokyo Japan Chulalongkorn University Faculty of Engineering Department of Computer Engineering Bangkok Thailand

ISBN: (纸本)9798350353952

One of the problems faced by engineering and science students is focusing solely on technical knowledge while needing more cultural context. In today's interconnected world, addressing global challenges necessitates collaborative efforts from individuals across nations. Accordingly, a joint course between Chulalongkorn University in Thailand and the Tokyo Institute of technology in Japan has been established. The recent theme of the course, 'Gamification towards Sustainable Development Goals (SDGs),' aimed to foster global citizenship and address SDGs through multicultural collaboration. This study examines the similarities and differences in problem identification between Thai and Japanese student groups participating in the course. Data was collected from discussions, presentations, and group assignments throughout the course. The findings indicate that while both groups share common concerns, such as waste management, language barriers, and transportation issues, their perspectives and proposed solutions are influenced by cultural characteristics. Thai students emphasized infrastructural inadequacies and local traditions, whereas Japanese students focused on efficiency and the impacts of tourism. The study highlights the importance of understanding cultural nuances in collaborative international projects to achieve effective and innovative solutions to global challenges. © 2024 IEEE.

关键词： Sustainable development goals

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Electron emission characteristics of nc-Si based planar-type electron emission devices 30

Electron emission characteristics of nc-Si based planar-type...

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30th International Symposium on Discharges and Electrical Insulation in Vacuum, ISDEIV 2023

作者： Shimawaki, H. Nagao, M. Murakami, K. Hachinohe Institute of Technology Department of System and Information Engineering Hachinohe Japan National Institute of Advanced Industrial Science and Technology Device Technology Research Institute Tsukuba Japan

Planar-type electron emission devices based on nanocrystalline silicon (nc-Si) with graphene as the gate electrode were fabricated and the electron emission properties were investigated. In addition, the current condu... 详细信息

ISBN: (纸本)9784886864369

关键词： Electron emission

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Smart Solar E-Tricycle Design and Fabrication for Especially Abled Persons 5th

Smart Solar E-Tricycle Design and Fabrication for Especially...

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5th International Conference on Advances in Distributed Computing and Machine Learning, ICADCML 2024

作者： Rathee, Davinder Singh Rathee, Kanta Singh, Ram Sewak Gemeda, Ketema Adere Department of Electronics and Communication Engineering School of Electrical Engineering and Computing Adama Science and Technology University Po. Box: 1888 Adama Ethiopia Rohtak India Department of CSE and Center for Electrical System and Electronics Adama Science and Technology University Po. Box: 1888 Adama Ethiopia

ISBN: (纸本)9789819718405

Addressing the pressing issue of transportation for individuals with disabilities, this article aims to develop a customized three-wheeled vehicle equipped with an electric motor and pedals, to cater to the mobility requirements of people with disabilities. The proposal focuses on designing, manufacturing, and deploying a solar-powered E-Tricycle using readily available components from the Adama market, enhancing both sustainability and accessibility. To bolster security and track tricycles, a GPS-GSM system has been also integrated in this design. This innovative approach offers an affordable prototype featuring a solar panel on the roof, providing shade and effortless charging. The project encompasses the creation of a sustainable, safe, and robust structure, assembly of mechanical components on the frame, and integration of electrical circuits, including indicators, on/off switches, lights, motors, batteries, battery management systems (BMS), solar panels, and their controllers. Furthermore, a mathematical model has been developed to calculate the power required for E-Tricycle movement, accounting for the rider and their possessions. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Solar panels

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Nodes2STRNet for structural dense displacement recognition by deformable mesh model and motion representation

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International Journal of Mechanical system Dynamics 2023年第3期3卷 229-250页

作者： Jin Zhao Hui Li Yang Xu Key Lab of Smart Prevention and Mitigation of Civil Engineering Disasters of the Ministry of Industry and Information Technology Harbin Institute of TechnologyHarbinChina Key Lab of Structures Dynamics Behavior and Control of the Ministry of Education Harbin Institute of TechnologyHarbinChina School of Civil Engineering Harbin Institute of TechnologyHarbinChina Department of System Design and Simulation Goldwind Science and Technology Co.Ltd.BeijingChina

Displacement is a critical indicator for mechanical systems and civil *** vision-based displacement recognition methods mainly focus on the sparse identification of limited measurement points,and the motion representation of an entire structure is very *** study proposes a novel Nodes2STRNet for structural dense displacement recognition using a handful of structural control nodes based on a deformable structural three-dimensional mesh model,which consists of control node estimation subnetwork(NodesEstimate)and pose parameter recognition subnetwork(Nodes2PoseNet).NodesEstimate calculates the dense optical flow field based on FlowNet 2.0 and generates structural control node ***2PoseNet uses structural control node coordinates as input and regresses structural pose parameters by a multilayer perceptron.A self-supervised learning strategy is designed with a mean square error loss and L2 regularization to train *** effectiveness and accuracy of dense displacement recognition and robustness to light condition variations are validated by seismic shaking table tests of a four-story-building *** studies with image-segmentation-based Structure-PoseNet show that the proposed Nodes2STRNet can achieve higher accuracy and better robustness against light condition *** addition,NodesEstimate does not require retraining when faced with new scenarios,and Nodes2PoseNet has high self-supervised training efficiency with only a few control nodes instead of fully supervised pixel-level segmentation.

关键词： structural dense displacement recognition deformable structural mesh model deep-learning-based monocular vision self-supervised learning

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Turn-off Control Method of the Hybrid Commutated Converter Based on Fault Prediction 7

Turn-off Control Method of the Hybrid Commutated Converter B...

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7th IEEE Conference on Energy Internet and Energy system Integration, EI2 2023

作者： Ma, Yuanshe Yuan, Zhichang Lou, Yantao Wang, Zongze Wang, Jiangping Zhang, Long Gao, Qi Huang, Zhisong Li, Liang Xi'an Xidian Power System Co. Ltd Electric Power System and Power Electronic Technology Xi'an China Tsinghua University Department of Electrical Engineering and Applied Electronics Technology Beijing China

ISBN: (纸本)9798350345094

With the continuous construction of 'Desert-Gobi Desert-Wasteland' new energy bases in northwest China, energy cross-regional transportation technology has become increasingly critical. Despite the fact that the transmission technology of line commuted converter high voltage direct current (LCC-HVDC) plays a crucial role depending on long-distance, large-capacity, and low-loss transmission advantages, its inherent commutation failure (CF) remains to be solved urgently. Nevertheless, Tsinghua University has proposed the technology of hybrid commutated converter (HCC) based on the reverse blocking integrated gate commutated thyristor (RB-IGCT), which can completely solve this problem. In terms of the HCC, this paper proposes an active turn-off control method based on fault prediction. First, the fault prediction means used in the turn-off control method and its principle of resisting commutation failure are introduced;next, it is transformed on the basis of the original LCC control system to enable it to be the control system applicable to HCCs;last, based on the modified model, fault simulation is carried out, and the effect of resisting commutation failure is obtained through the turn-off control method of the HCC based on fault prediction. © 2023 IEEE.

关键词： Control systems

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An optimization approach to transport-of-intensity equation for high resolution quantitative phase imaging 10

An optimization approach to transport-of-intensity equation ...

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Quantitative Phase Imaging X 2024

作者： Tiwari, Shubham Joshi, Himanshu Bhatt, Sunil Kaur, Harpreet Trivedi, Shivam Mehta, Dalip Singh Centre for Sensors Instrumentation and Cyber Physical System Engineering[SeNSE Indian Institute of Technology Delhi110016 India Biophotonics Lab Department of Physics Indian Institute of Technology Delhi110016 India

ISBN: (纸本)9781510669635

Quantitative phase measurements in a Transport of intensity equation(TIE) based method requires capturing images at multiple defocussed positions. Using these intensity measurements along with the phase obtained we demonstrate an optimization algorithm that improves the quantitative phase estimation recovering the fine details that may be lost due to diffraction effects, aberrations and limitations of the TIE based method. We implement a cost minimization scheme to minimize the difference between measured and theoretically expected amplitude to improve the estimate of the required object field. Application of the method shows an improved accuracy in phase estimation of simulated and real objects. © COPYRIGHT SPIE. Downloading of the abstract is permitted for personal use only.

关键词： Inverse problems

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