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23rd International Conference on Control, Automation and Systems, ICCAS 2023

作者： Lee, Seungyeop Hwang, Jae Youn Eun, Yongsoon Dgist Department of Electrical Engineering and Computer Science Daegu42988 Korea Republic of

ISBN: (纸本)9788993215274

In ultrasound shear wave elastography (USWE), the elasticity of a small lesion is underestimated due to the wave reflection inside the lesion. This paper proposes using a deep neural network to compensate for the size effect without explicit size information. The deep neural network corrects the underestimation of the elastic modulus. The dataset for the training process consists of 4000 images with lesions of random sizes and elastic moduli, obtained from the k-Wave MATLAB Toolbox. A mean absolute error (MAE) is calculated between the ground truth and the image generated by the generator network for 500 test datasets with the unitary elasticity background. The maximum value of MAE is 0.0082, indicating that the generator network generates images that are similar to the ground truth in size and modulus. When the unitary elasticity background is replaced by the image of the breast phantom, the neural network proves to be effective in size effect compensation. © 2023 ICROS.

关键词： Elasticity

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3D Joist Perception, Detection, and Climbing for Hexapod Robot

3D Joist Perception, Detection, and Climbing for Hexapod Rob...

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IS and T International Symposium on Electronic Imaging: Intelligent Robotics and Industrial Applications using computer Vision, IRIACV 2023

作者： Li, Yibin Zakhor, Avideh Department of Electrical Engineering and Computer Science University of California Berkeley United States

Avoiding obstacles is challenging for autonomous robotic systems. In this work, we examine obstacle avoidance for legged hexapods, as it relates to climbing over randomly placed wooden joists. Our main motivation is to enable robots to navigate inside tight attic spaces of single-family residential homes in the U.S., which typically contain rows of 4, 6, or 8 inch tall joists placed 16 inches apart from each other. We formulate the task as a 3D joist detection problem, and propose a detect-plan-act pipeline using a simultaneous localization and mapping (SLAM) algorithm to generate a pointcloud and a grid map to expose high obstacles such as joists. A line detector is applied on the grid map to extract parameters of the joist, such as height, orientation, and distance;based on this information the hexapod plans a sequence of leg movements to either climb over the joist or move sideways if the joist is too high. We show that our perception and path planning modules work well on the real-world joists with different heights and orientations. © 2023, Society for Imaging science and Technology.

关键词： Motion planning

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New Delay Doppler Communication Paradigm in 6G Era:A Survey of Orthogonal Time Frequency Space(OTFS)

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China Communications 2023年第6期20卷 1-25页

作者： Weijie Yuan Shuangyang Li Zhiqiang Wei Yuanhao Cui Jiamo Jiang Haijun Zhang Pingzhi Fan Department of Electronic and Electrical Engineering Southern University of Science and TechnologyShenzhenChina Faculty of Electrical Engineering and Computer Science Technical University of BerlinBerlinGermany School of Mathematics and Statistics Xi’an Jiaotong UniversityXi’anChina Department of Communication Engineering Beijing University of Posts and TelecommunicationsBeijingChina China Academy of Information and Communications Technology BeijingChina School of Computer and Communication Engineering University of Science and Technology BeijingBeijingChina School of Information Science and Technology Southwest Jiaotong UniversityChengduChina

In the 6G era,Space-Air-Ground Integrated Network(SAGIN)are anticipated to deliver global coverage,necessitating support for a diverse array of emerging applications in high-mobility,hostile *** such conditions,conventional orthogonal frequency division multiplexing(OFDM)modulation,widely employed in cellular and Wi-Fi communication systems,experiences performance degradation due to significant Doppler *** overcome this obstacle,a novel twodimensional(2D)modulation approach,namely orthogonal time frequency space(OTFS),has emerged as a key enabler for future high-mobility use ***,OTFS modulates information within the delay-Doppler(DD)domain,as opposed to the timefrequency(TF)domain utilized by *** offers advantages such as Doppler and delay resilience,reduced signaling latency,a lower peak-to-average ratio(PAPR),and a reduced-complexity *** studies further indicate that the direct interplay between information and the physical world in the DD domain positions OTFS as a promising waveform for achieving integrated sensing and communications(ISAC).In this article,we present an in-depth review of OTFS technology in the context of the 6G era,encompassing fundamentals,recent advancements,and future *** objective is to provide a helpful resource for researchers engaged in the field of OTFS.

关键词： OTFS 6G delay-Doppler(DD)domain

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Scalable Polynomial RegEM(a)O for Multi-lMany-objective Platform-based Design Optimization Problems 13

Scalable Polynomial RegEM(a)O for Multi-lMany-objective Plat...

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13th IEEE Congress on Evolutionary Computation, CEC 2024

作者： Guha, Ritam Deb, Kalyanmoy Michigan State University Computer Science and Engineering Department East Lansing United States Michigan State University Electrical and Computer Engineering Department East Lansing United States

ISBN: (纸本)9798350308365

The goal of a generic evolutionary multi- or many-objective algorithm is to explore a search space and find the trade-off optimal solutions for two or more conflicting objectives. In platform-based practical design optimization problems, it is not sufficient to just find a set of trade-off optimal solutions, certain regularity properties are expected in the entire fleet of trade-off solutions. For this purpose, we propose a scalable regularity-based optimization framework - RegEM(a)O - which automatically extracts polynomial regularity principles from the resulting Pareto-optimal front of multi- or many-objective problems. Thereafter, it attempts to search for a regular front of trade-off solutions following a similar form of polynomial regularity principles. Despite being slightly worse than the true Pareto-optimal solutions, regular solutions possess simple properties among them, making them easily interpretable, their inventory easily maintainable, and easily scalable. In this paper, we apply RegEM(a)O to a number of small and large-scale real-world engineering design problems to demonstrate its practical advantage. © 2024 IEEE.

关键词： Optimization algorithms

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Elliptic Localization With Imperfect Clock Synchronization for Known and Unknown Propagation Speed Scenarios

Elliptic Localization With Imperfect Clock Synchronization f...

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作者： Xiao, Yudong Wang, Gang Ho, K.C. Ningbo University Faculty of Electrical Engineering and Computer Science Ningbo315211 China University of Missouri Electrical Engineering and Computer Science Department ColumbiaMO65211 United States

In this article, we address the elliptic localization problem in the presence of clock synchronization errors at the receivers and transmitters, when the propagation speed is known as well as not known. For the known propagation speed scenario, we first show that the clock synchronization errors, when modeled as Gaussian random variables, can be treated as part of the composite noise in the measurement model without incurring performance loss in localization. Motivated by this result, we propose a generalized trust region subproblem solution for estimating the object position. For the unknown propagation speed scenario, we first formulate a nonconvex weighted least-squares problem. Such a nonconvex problem is solved by either one of the two proposed methods, semidefinite relaxation or grid search, to jointly estimate the object position and the propagation speed. Furthermore, we conduct the mean square error analysis to show that the proposed methods are able to reach the Cramer-Rao lower bound accuracy under Gaussian noise, which is validated by using simulated and semireal data. © 1965-2011 IEEE.

关键词： Synchronization

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iSummary: Workload-Based, Personalized Summaries for Knowledge Graphs 20th

iSummary: Workload-Based, Personalized Summaries for Knowled...

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20th International Conference on The Semantic Web, ESWC 2023

作者： Vassiliou, Giannis Alevizakis, Fanouris Papadakis, Nikolaos Kondylakis, Haridimos Department of Electrical and Computer Engineering HMU Heraklion Greece Computer Science Department UOC Heraklion Greece Institute of Computer Science FORTH Heraklion Greece

ISBN: (纸本)9783031334542

The explosion in the size and the complexity of the available Knowledge Graphs on the web has led to the need for efficient and effective methods for their understanding and exploration. Semantic summaries have recently emerged as methods to quickly explore and understand the contents of various sources. However, in most cases, they are static, not incorporating user needs and preferences, and cannot scale. In this paper, we present iSummary, a novel, scalable approach for constructing personalized summaries. As the size and the complexity of the Knowledge Graphs for constructing personalized summaries prohibit efficient summary construction, in our approach we exploit query logs. The main idea behind our approach is to exploit knowledge captured in existing user queries for identifying the most interesting resources and linking them, constructing as such high-quality, personalized summaries. We present an algorithm with theoretical guarantees on the summary’s quality, linear in the number of queries available in the query log. We evaluate our approach using three real-world datasets and several baselines, showing that our approach dominates other methods in terms of both quality and efficiency. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Semantics

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Transfer Speed Optimization of Advanced Automated Material Handling Systems in Serial Production Lines 23

Transfer Speed Optimization of Advanced Automated Material H...

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23rd International Conference on Control, Automation and Systems, ICCAS 2023

作者： Kim, Seunghyeon Park, Kyung-Joon Eun, Yongsoon Dgist Department of Electrical Engineering & Computer Science Daegu42988 Korea Republic of

ISBN: (纸本)9788993215274

An automated material handling system (AMHS) is part of a production system that transports products from one machine to another for manufacturing processes. While conveyor belts have been commonly employed as AMHS, the increasing demand for enhanced performance has led to the emergence of advanced AMHS based on linear motors. A feature in these advanced AMHS is that they often allow non-uniform transfer speed setup, i.e., transfer speeds are allowed to be different by individual sections within the production system. This characteristic introduces an opportunity in determining the optimal transfer speed vector for the maximum productivity. In this paper, we propose an algorithm for optimizing the transfer speed vector using an analytical throughput evaluation method. The effectiveness of the algorithm is demonstrated through an example involving five machines. © 2023 ICROS.

关键词： Belt conveyors

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Data-Driven Disturbance Compensation for DC Motors 23

Data-Driven Disturbance Compensation for DC Motors

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23rd International Conference on Control, Automation and Systems, ICCAS 2023

作者： Lee, Jaeho Eun, Yongsoon Dgist Department of Electrical Engineering and Computer Science Daegu42988 Korea Republic of

ISBN: (纸本)9788993215274

This paper presents applications of recently developed data-driven disturbance observer [1] for DC motor control. The proposed approach enables effective compensation for external disturbances, allowing for robust control even in the presence of noise or other interfering factors. By utilizing data-driven techniques, the disturbance observer learns the system dynamics from the behavior of the system to accurately estimate and compensate for disturbances. Experimental results demonstrate the effectiveness of the proposed data-driven observer in mitigating the impact of disturbances and improving the overall control performance of the motor system. © 2023 ICROS.

关键词： DC motors

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Hand Gesture Recognition-Based Control System Using computer Vision for Transporter Robot

Hand Gesture Recognition-Based Control System Using Computer...

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2023 International Conference on Radar, Antenna, Microwave, Electronics, and Telecommunications, ICRAMET 2023

作者： Rianu, Bagas Martinus Kitagawa, Akio Dirgantara, Wahyu Subairi University of Merdeka Malang Department of Electrical Engineering Malang Indonesia Kanazawa University Department of Electrical Engineering and Computer Science Kanazawa Japan

ISBN: (纸本)9798350343892

Robotics is a discipline that has experienced rapid development in recent decades. One of the main focuses in robotics development is the advancement of control systems. The primary objective is to create control systems that are more natural, easily understood, easily operated by humans, thereby enabling more intuitive interactions between humans and robots. To achieve this goal, research based on hand gesture recognition has been conducted by adapting computer vision methods as the control system for controlling a transporter robot. In this paper, computer vision methods are employed using the image processing framework called MediaPipe. MediaPipe is used to recognize and comprehend hand gesture movements, as well as display hand landmarks. The research utilizes two hand landmark functions: 'Finger Up' for the right hand to control the wheel movement, and 'Range Gesture' for the left hand to control the arm and gripper of the transporter robot. The testing results indicate that 'Finger Up' function for the right hand successfully controls robot transporter's wheels with a success rate of 100%. Meanwhile, 'Range Gesture' function for the left hand effectively controls the transporter robot's arm and gripper with a success rate of 97%, with a total average error of 3%. © 2023 IEEE.

关键词： computer control systems

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Automatic Skull Shape Completion of Defective Skulls Using Transformers for Cranial Implant Design 2

Automatic Skull Shape Completion of Defective Skulls Using T...

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2nd International Conference on Machine Learning and Data engineering, ICMLDE 2023

作者： Resmi, S. Singh, Rimjhimpadam Palaniappan, Kannappan Department of Computer Science and Engineering Amrita School of Computing Amrita Vishwa Vidyapeetham Bengaluru India Dept. of Electrical Engineering and Computer Science University of Missouri MO United States

Cranioplasty is a surgical method that restores the aesthetic and protecting function of a damaged skull by implanting material into the damaged *** and accurate design of patient specific cranial implants is very much required in the process of *** time consumption for designing and manufacturing of patient specific cranial implant has become an obstruction for cranioplasty procedures. Hence, a fully automatic and fast design of cranial implant becomes very important. The cranial implant design processmainly comprises of two steps. The former step concentrates on the automatic skull shape completion of defective skulls to fill the gaps and the cracks created in the skull. While the second step computes the difference between defective input and the completed skull for generating the implant. Currently computer aided design is used for the skull shape completion task which is a time consuming process. The application of deep learning techniques may result to faster and accurate skull shape completionwhich can be used for the design of patient specific cranial implants. This work proposes a novel approach combining 3D U-Net with Transformers for the automatic skull shape completion *** are using a vision transformer in the encoder section of the 3D U-Net architecture to consider the volumetric skull reconstruction as sequence- to-sequence prediction problem and to efficaciously grasp the global contextual information. The work also compares its performance with the famous variants of 3D U-Net deep network model namely, 3D U-Net and 3D U-Net with attention. From the values resulted for the dice coefficient metric it is clear that the proposed 3D U-Net with transformer approach performs better than the other two models on test images. © 2024 Elsevier B.V.. All rights reserved.

关键词： computer aided design

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