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International Seminar on Research of Information Technology and Intelligent Systems (ISRITI)

作者： Ardian Budi Kusuma Atmaja Egi Muhammad Idris Hidayat Bambang Riyanto Trilaksono Simon Siregar Natsir habibullah School of Electrical Engineering and Informatics Institut Teknologi Bandung Bandung Indonesia Department Computer Engineering Faculty of Applied Science Doctoral Program of Electrical Engineering Institut Teknologi Bandung Telkom University

This research aims to construct a two-dimensional image to represent an underwater geometry map with a Side Scan Sonar (SSS) mounted on a Hybrid Autonomous Underwater Glider (HAUG). Building the underwater map has two stages of the process. The first stage is preprocessing which includes Time-varying gains (TVG), slant range correction, and ground range correction. The second is HAUG navigation, the movement of HAUG orientation to the angle and distance of SSS readings and plotting the geometry of the grid map. With these two stages, a two-dimensional grid map will be formed. Meanwhile, the 3D plot utilizes slant range and ground range correction to obtain the surface height of the bottom of the pool. From the experiments conducted to conduct mapping in the pool, two-dimensional and three-dimensional visual forms of the pool floor and pool walls were produced. The results of the estimated measurement of the width of the pool obtained 14.05 meters and the height of the pool 3.199 meters with an SSS beam angle of 58 degrees.

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Energy Minimization using Custom-Designed Magnetic-Spring Actuators

Energy Minimization using Custom-Designed Magnetic-Spring Ac...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Yue Yang Fu Ali U. Kilic David J. Braun Department of Electrical and Computer Engineering SyBBURE Searle Undergraduate Research Program Vanderbilt University Advanced Robotics and Control Laboratory Advanced Robotics and Control Laboratory Vanderbilt University

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

This study introduces an innovative actuator that resembles a motor with a non-uniform permanent magnetic field. We have developed a prototype of the actuator by combining a standard motor, characterized by a uniform magnetic field, with a custom rotary magnetic spring exhibiting a non-uniform magnetic field. We have also presented a systematic computational approach to customize the magnetic field to minimize the energy consumption of the actuator when used for a user-defined oscillatory task. Experiments demonstrate that this optimized actuator significantly lowers energy consumption in a typical oscillatory task, such as pick-and-place or oscillatory limb motion during locomotion, compared to conventional motors. Our findings imply that incorporating task-optimized non-uniform permanent magnetic fields into conventional motors and direct-drive actuators could enhance the energy efficiency of robotic systems.

关键词： Actuators Energy consumption Limbs Systematics Prototypes Motors Minimization Magnetic fields Springs Standards

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Evaluation of an artificial intelligence-based model in diagnosing periodontal radiographic bone loss

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Clinical Oral Investigations 2025年第4期29卷 1-8页

作者： Cassiano, Luanny de Brito Avelino da Silva, Jordão Paulino Cassiano Martins, Agnes Andrade Barbosa, Matheus Targino Rodrigues, Katryne Targino Barbosa, Ádylla Rominne Lima da Silva Gomes, Gabriela Ellen Maia, Paulo Raphael Leite de Oliveira, Patrícia Teixeira de Sousa Lopes, Maria Luiza Diniz da Silva, Ivanovitch Medeiros Dantas de Aquino Martins, Ana Rafaela Luz Department of Dentistry Federal University of Rio Grande do Norte - UFRN Rio Grande do Norte Natal Brazil Postgraduate Program in Electrical and Computer Engineering Center of Technology Rio Grande do Norte Natal Brazil Department of Dentistry Federal University of Rio Grande do Norte Av. Senador Salgado Filho 1787 Rio Grande do Norte Natal 59056-000 Brazil

Objective: To develop an artificial intelligence model based on convolutional neural network for detecting and measuring periodontal radiographic bone loss (RBL). Materials and methods: Keypoint annotations were carried out in 595 digital bitewing radiographic images using a computer Vision Annotation Tool. The dataset was splitted: 416 of these images were trained using the You Only Look Once version 8 architecture with pose estimation (YOLO-v8-pose), 119 images were destined for the validation set, and 60 images were used for the test set, resulting in a model capable of detecting keypoints related to the cementoenamel junction (CEJ) and alveolar bone crest (ABC). In order to evaluate the performance of the obtained model, the following metrics were analyzed: F1-Score, precision, sensitivity and mean average precision (mAP). Then, an algorithm was implemented to measure the RBL by calculating the Euclidean distance between CEJ and ABC. Results: The model achieved an F1-Score of 66,89%, precision of 61,1%, a sensitivity of 73,9% and an mAP of 73.8%. Conclusions: The developed model and its algorithm for identifying and measuring periodontal radiographic bone loss demonstrated promising performance, thereby presenting a potential tool for assisting in periodontal diagnosis. Further studies comparing the developed model with manual measurements performed by specialists are necessary for its validation. Clinical relevance: Applying artificial intelligence in clinical dental practice can support diagnosis, streamline clinical workflows, and inform treatment planning, representing a significant advancement in dental automation. © The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature 2025.

关键词： Alveolar bone loss computer neural networks Deep learning Periodontitis Radiography

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Contract-Inspired Contest Theory for Controllable Image Generation in Mobile Edge Metaverse

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IEEE Transactions on Mobile Computing 2025年

作者： Liu, Guangyuan Du, Hongyang Wang, Jiacheng Niyato, Dusit Kim, Dong In Nanyang Technological University College of Computing and Data Science Energy Research Institute @ NTU Interdisciplinary Graduate Program Singapore University of Hong Kong Department of Electrical and Electronic Engineering Hong Kong Hong Kong Nanyang Technological University College of Computing and Data Science Singapore Sungkyunkwan University Department of Electrical and Computer Engineering Korea Republic of

The rapid advancement of immersive technologies has propelled the development of the Metaverse, where the convergence of virtual and physical realities necessitates the generation of high-quality, photorealistic images to enhance user experience. However, generating these images, especially through Generative Diffusion Models (GDMs), in mobile edge computing environments presents significant challenges due to the limited computing resources of edge devices and the dynamic nature of wireless networks. This paper proposes a novel framework that integrates contract-inspired contest theory, Deep Reinforcement Learning (DRL), and GDMs to optimize image generation in these resource-constrained environments. The framework addresses the critical challenges of resource allocation and semantic data transmission quality by incentivizing edge devices to efficiently transmit high-quality semantic data, which is essential for creating realistic and immersive images. The use of contest and contract theory ensures that edge devices are motivated to allocate resources effectively, while DRL dynamically adjusts to network conditions, optimizing the overall image generation process. Experimental results demonstrate that the proposed approach not only improves the quality of generated images but also achieves superior convergence speed and stability compared to traditional methods. This makes the framework particularly effective for optimizing complex resource allocation tasks in mobile edge Metaverse applications, offering enhanced performance and efficiency in creating immersive virtual environments. © 2002-2012 IEEE.

关键词： Resource allocation

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engineering dimensionality of collective dipole-dipole interactions using a nanophotonic environment

Engineering dimensionality of collective dipole-dipole inter...

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2023 Conference on Lasers and Electro-Optics, CLEO 2023

作者： Boddeti, Ashwin K. Wang, Yi Juarez, Xitlali Boltasseva, Alexandra Alaeian, Hadiseh Odom, Teri W. Jacob, Zubin Elmore Family School of Electrical and Computer Engineering Birck Nanotechnology Center Purdue University West LafayetteIN47907 United States Graduate Program in Applied Physics Northwestern University EvanstonIL60208 United States Department of Materials Science and Engineering Northwestern University EvanstonIL60208 United States Department of Chemistry Department of Materials Science and Engineering Northwestern University EvanstonIL60208 United States

ISBN: (纸本)9781957171258

We experimentally demonstrate reduced dimensionality in a interacting ensemble of emitters. The well-known stretched exponential decay dynamics, (Equation presented) with β = 0.5 in 3D geometries, is strikingly modified in a nanophotonic environment that supports long-range interaction to β ~ 0.3. © Optica Publishing Group 2023.

关键词： Nanophotonics

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Modular Self-Lock Origami: design, modeling, and simulation to improve the performance of a rotational joint

arXiv

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arXiv 2023年

作者： Zare, Samira Spaeth, Alex Suresh, Sandya Teodorescu, Mircea Department of Electrical and Computer Engineering University of California Santa Cruz United States SIP program University of California Santa Cruz United States Department of Computer Science and Engineering United States

Origami structures have been widely explored in robotics due to their many potential advantages. Origami robots can be very compact, as well as cheap and efficient to produce. In particular, they can be constructed in a flat format using modern manufacturing techniques. Rotational motion is essential for robotics, and a variety of origami rotational joints have been proposed in the literature. However, few of these are even approximately flat-foldable. One potential enabler of flat origami rotational joints is the inclusion of lightweight pneumatic pouches which actuate the origami’s folds;however, pouch actuators only enable a relatively small amount of rotational displacement. The previously proposed Four-Vertex Origami is a flat-foldable structure which provides an angular multiplier for a pouch actuator, but suffers from a degenerate state. This paper presents a novel rigid origami, the Self-Lock Origami, which eliminates this degeneracy by slightly relaxing the assumption of flat-foldability. This joint is analysed in terms of a trade-off between the angular multiplier and the mechanical advantage. Furthermore, the Self-Lock Origami is a modular joint which can be connected to similar or different joints to produce complex movements for various applications;three different manipulator designs are introduced as a proof of concept. Copyright © 2023, The Authors. All rights reserved.

关键词： Manipulators

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Global distortions from local rewards: neural coding strategies in path-integrating neural systems 24

Global distortions from local rewards: neural coding strateg...

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Proceedings of the 38th International Conference on Neural Information Processing Systems

作者： Francisco Acosta Fatih Dinc William T. Redman Manu Madhav David Klindt Nina Miolane Department of Physics UC Santa Barbara CNC Program Stanford University Applied Physics Laboratory Johns Hopkins University Biomedical Engineering University of British Columbia NeuroAI CSHL Electrical & Computer Engineering UC Santa Barbara

ISBN: (纸本)9798331314385

Grid cells in the mammalian brain are fundamental to spatial navigation, and therefore crucial to how animals perceive and interact with their environment. Traditionally, grid cells are thought support path integration through highly symmetric hexagonal lattice firing patterns. However, recent findings show that their firing patterns become distorted in the presence of significant spatial landmarks such as rewarded locations. This introduces a novel perspective of dynamic, subjective, and action-relevant interactions between spatial representations and environmental cues. Here, we propose a practical and theoretical framework to quantify and explain these interactions. To this end, we train path-integrating recurrent neural networks (piRNNs) on a spatial navigation task, whose goal is to predict the agent's position with a special focus on rewarded locations. Grid-like neurons naturally emerge from the training of piRNNs, which allows us to investigate how the two aspects of the task, space and reward, are integrated in their firing patterns. We find that geometry, but not topology, of the grid cell population code becomes distorted. Surprisingly, these distortions are global in the firing patterns of the grid cells despite local changes in the reward. Our results indicate that after training with location-specific reward information, the preserved representational topology supports successful path integration, whereas the emergent heterogeneity in individual responses due to global distortions may encode dynamically changing environmental cues. By bridging the gap between computational models and the biological reality of spatial navigation under reward information, we offer new insights into how neural systems prioritize environmental landmarks in their spatial navigation code.

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A Novel Wavy Channel Gate-All-Around FETs for Next-Generation CMOS Applications

A Novel Wavy Channel Gate-All-Around FETs for Next-Generatio...

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IEEE Conference on Nanotechnology

作者： Ranita Halder Uttam Kumar Das Md. Hasan Raza Ansari Nazek El-Atab Smart Advanced Memory Devices and Applications (SAMA) Labs Electrical and Computer Engineering Program Computer Electrical and Mathematical Science and Engineering Division (CEMSE) King Abdullah University of Science and Technology (KAUST) Thuwal Saudi Arabia

The work presents a novel wavy channel nanosheet field effect transistor (WCNSFET) and its circuit-level performance. In this work, a single nanosheet is transformed into a wave-like structure to enhance the physical device area, thus showing an improvement in device performance. The device and circuit level performances are analyzed using 3D TCAD simulation tools. Furthermore, the wavy channel nanosheet FETs are analyzed with different number of waves in a single sheet and compared with flat sheet-based transistors for different channel materials (Ge and GaAs). The results reveal the improvement in drive current, low propagation delay, a smooth voltage transfer characteristic, high noise margin, and low energy. The results achieved with this novel device make the device a promising candidate for next-generation low power CMOS applications.

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Prior-Guided Parallel Residual Bi-Fusion Network in USV Obstacle Detection

Prior-Guided Parallel Residual Bi-Fusion Network in USV Obst...

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IEEE International Conference on Consumer Electronics-Taiwan (ICCE-TW)

作者： Chih-Chung Hsu Sophia Yang Xiu-Yu Hou Yu-An Jhang Institute of Data Science National Cheng Kung University Interdisciplinary Program of Electrical Engineering and Computer Science National Tsing Hua University

In this paper, we propose a novel Prior-Guided Parallel Residual Bi-Fusion Feature Pyramid Network (PPRB-FPN) for accurate obstacle detection in unmanned surface vehicle (USV) sailing. Our method tackles the challenge of detecting small objects, which are prone to information vanishing. To the end, we leverage the PRB-FPN for small object detection and YOLOv7 as a single-stage object detector to effectively identify obstacles. Our experimental results on the Obstacle Detection Challenge dataset at the 1st Workshop on Maritime computer Vision (MaCVi) demonstrate that our method outperforms both Mask R-CNN (mrcnn) and YOLOv7, achieving an F_avg score of 0.514.

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Efficient Diffusion-Driven Corruption Editor for Test-Time Adaptation

arXiv

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arXiv 2024年

作者： Oh, Yeongtak Lee, Jonghyun Choi, Jooyoung Jung, Dahuin Hwang, Uiwon Yoon, Sungroh Department of Electrical and Computer Engineering Seoul National University Korea Republic of Interdisciplinary Program in Artificial Intelligence Seoul National University Korea Republic of School of Computer Science and Engineering Soongsil University Korea Republic of Division of Digital Healthcare Yonsei University Korea Republic of

Test-time adaptation (TTA) addresses the unforeseen distribution shifts occurring during test time. In TTA, performance, memory consumption, and time consumption are crucial considerations. A recent diffusion-based TTA approach for restoring corrupted images involves image-level updates. However, using pixel space diffusion significantly increases resource requirements compared to conventional model updating TTA approaches, revealing limitations as a TTA method. To address this, we propose a novel TTA method that leverages an image editing model based on a latent diffusion model (LDM) and fine-tunes it using our newly introduced corruption modeling scheme. This scheme enhances the robustness of the diffusion model against distribution shifts by creating (clean, corrupted) image pairs and fine-tuning the model to edit corrupted images into clean ones. Moreover, we introduce a distilled variant to accelerate the model for corruption editing using only 4 network function evaluations (NFEs). We extensively validated our method across various architectures and datasets including image and video domains. Our model achieves the best performance with a 100 times faster runtime than that of a diffusion-based baseline. Furthermore, it is three times faster than the previous model updating TTA method that utilizes data augmentation, making an image-level updating approach more feasible. ∗ © 2024, CC BY.

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