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25th IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2025

作者： Poleselo, Henrique N. Conceição, Andre G. S. Federal University of Bahia Postgraduate Program in Electrical Engineering Salvador Brazil Federal University of Bahia Department of Electrical and Computer Engineering Salvador Brazil

ISBN: (纸本)9798331538606

Object segmentation is one of the main activities for the robot to create a sense of its environment. This task is a precursor to other activities, such as autonomous navigation in a given environment. Through sensors such as LiDAR, it's possible to generate high-resolution three-dimensional maps of the environment in which the robot is located, thus enabling their interpretation so that tasks such as object segmentation can be performed. In this article, the DBSCAN and HDBSCAN unsupervised clustering methods are explored. Results in a simulated environment in Gazebo together with Robot Operating System ROS framework for capturing sensory data from LiDAR Livox Mid-70 coupled to a mobile robot show the performance of such techniques through comparisons. © 2025 IEEE.

关键词： Autonomous navigation DB-SCAN HDBSCAN Segmentation Unsupervised Clustering

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Control of an Underactuated Quadrotor Using LQR and Visual Markers 25

Control of an Underactuated Quadrotor Using LQR and Visual M...

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25th IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2025

作者： Fernandes, Gabriel Conceição, Andre G. S. De Araujo, Humberto X. Postgraduate Program in Electrical Engineering Federal University of Bahia Salvador Brazil Federal University of Bahia Department of Electrical and Computer Engineering Salvador Brazil

ISBN: (纸本)9798331538606

In this study, a robust Linear Quadratic Regulator (LQR) controller was developed and evaluated for the Bebop 2 quadrotor drone. Polytopic uncertainties in the dynamic model were taken into account in the control design, ensuring robustness. The drone's localization was achieved using fiducial markers and a Kalman Filter for state estimation, integrating visual and positional data. The controller design utilized Linear Matrix Inequalities (LMIs) to optimize performance while accounting for system constraints. A circular trajectory in three-dimensional space was employed to assess the controller's effectiveness in simulation. Results demonstrated precise trajectory tracking, stability, and robust performance despite parameter uncertainties. These findings highlight the applicability of the proposed framework for real-world scenarios involving underactuated UAVs. © 2025 IEEE.

关键词： Linear Matrix Inequalities (LMIs) Linear Quadratic Regulator (LQR) Modeling and identification Robust Control Unmanned Aerial Vehicles (UAVs) Visual Localization

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Designed harmonic step filter automatic control system to improve power quality and electric efficiency

Designed harmonic step filter automatic control system to im...

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2024 International Conference on Power Electronics and Energy System, ICPEES 2024

作者： Pasaribu, Faisal Irsan Sara, Ira Devi Tarmizi, Tarmizi Nasaruddin, Nasaruddin Doctoral Program School of Engineering Universitas Syiah Kuala Aceh23111 Indonesia Department Electrical and Computer Engineering Universitas Syiah Kuala Aceh23111 Indonesia

Good power quality and high-power efficiency are important aspects of power system management. Harmonic, as an unwanted frequency component in electrical signals, can interfere with power quality and reduce electrical efficiency. A passive harmonic filter is a device used to reduce or filter harmonics in electrical power systems. This research proposes technology Internet of Things with an automatic control system that moves the step filter to solve the harmonic problem, with the aim of improving the quality of power and electrical efficiency. The step filter functions to identify and isolate the harmonic, thus enabling appropriate controls to suppress the impact of the harmonic. The proposed system uses sophisticated control algorithms using sensors that can read current, voltage, frequency, and power factor to adjust the step filter parameters dynamically, following changes in load conditions and harmonizing. Simulation of the control network using the proteus software is subsequently undertaken in further research to design the control device. Using an automatic control set in the control simulation results reduced the need for manual intervention and let the system adjust the step filter automatically in response to changing network conditions. This showed that this method worked to lower harmonic distortion, increases the power factor through the filter used, and make the system more energy efficient overall. The study emphasizes the importance of applying sophisticated control strategies to manage harmonics efficiently, which ultimately paves the way to a cleaner and more reliable power grid. © Published under licence by IOP Publishing Ltd.

关键词： Power quality

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Giant phonon-skyrmion coupling in ferromagnet/heavy metal heterostructures

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Physical Review B 2024年第6期110卷 064423-064423页

作者： Egor Savostin Vitaliy Lomakin Program in Materials Science and Engineering Center for Memory and Recording Research Department of Electrical and Computer Engineering

The strong impact of the strain-induced Dzyaloshinskii-Moriya interaction (SIDMI) on the magnetization dynamics of skyrmions in nanomagnetic structures is demonstrated. The effects of SIDMI are characterized by skyrmion equations (SEs) of motion and magnetoelastic (ME) equations. The study is performed on a model system of MgO/CoFe/Pt stacked on a piezoelectric substrate. The results demonstrate a major nonlinear amplification in both the first- and higher-harmonic magnitudes of the skyrmion breathing mode due to SIDMI. Remarkably, this enhancement can trigger a skyrmion collapse, enabling its deletion with ultraweak strain-induced excitations. The SIDMI effect is shown to be much more significant than the conventional ME effect. These findings open different avenues for the efficient manipulation of nanomagnetic structures through strain.

关键词： Exchange interaction Magnetic interactions Magnetization dynamics Magnetoacoustic effect Micromagnetism Spin dynamics

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Overview of Versatile Video Coding (H.266/VVC) and Its Coding Performance Analysis

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IEIE Transactions on Smart Processing and Computing 2023年第2期12卷 122-154页

作者： Lee, Minhun Song, HyeonJu Park, Jeeyoon Jeon, Byeungwoo Kang, Jungwon Kim, Jae-Gon Lee, Yung-Lyul Kang, Je-Won Sim, Donggyu Department of Computer Engineering Kwangwoon University Seoul Korea Republic of Department of Computer Engineering Sejong University Seoul Korea Republic of Department of Electrical and Computer Engineering Sungkyunkwan University Kyunggi-do Korea Republic of Communication and Media Research Laboratory Electronics and Telecommunications Research Institute Deajeon Korea Republic of School of Electronics and Information Engineering Korea Aerospace University Kyunggi-do Korea Republic of Department of Electronic and Electrical Engineering Graduate Program in Smart Factory Ewha Womans University Seoul Korea Republic of

Versatile Video Coding (H.266/VVC) is the newest video coding standard jointly developed by the Joint Video Experts Team (JVET), which is organized by the ITU-T Video Coding Experts Group (VCEG) and the ISO/IEC Moving Picture Experts Group (MPEG). H.266/VVC provides about 40% bitrate reduction compared with High Efficiency Video Coding (H.265/HEVC) for the same visual quality. This paper introduces in detail the core structure of H.266/VVC by highlighting its features within block partitioning structure, intra/inter prediction, transform, quantization, and in-loop filtering, compared to its predecessor (H.265/HEVC). H.266/VVC yields significantly improved the coding performance, but it increased the computational complexity, particularly for the encoder side, which remains a problem to be tackled for successful commercialization in the future. This paper examined the statistical performance of H.266/VVC coding tools from the bitstreams encoded by the VVC test model (VTM12.0) encoder through rate-distortion optimization under the JVET common test conditions. In addition, the complexity and performance analyses are conducted on the block partitioning structure and group of picture structure. It is expected that an optimized H.266/VVC encoder can be designed and developed by minimizing the coding loss based on the analysis data. © 2023 Institute of Electronics and Information Engineers. All rights reserved.

关键词： Image compression

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ConvNeXt Model for Breast Cancer Image Classification 6

ConvNeXt Model for Breast Cancer Image Classification

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6th International Conference on Cybernetics and Intelligent System, ICORIS 2024

作者： Setiawan, Devin Karnyoto, Andrea Stevens Intan, Indo Pardamean, Bens Department of Electrical Engineering and Computer Science University of Kansas Lawrence United States Bioinformatics and Data Science Research Center Bina Nusantara University Jakarta Indonesia Department of Informatics Engineering Universitas Dipa Makassar Makassar Indonesia Computer Science Department BINUS Graduate Program Computer Science Program Bina Nusantara University Jakarta Indonesia

ISBN: (纸本)9798331539603

Breast cancer is an occurrence of cancer that attacks breast tissue and is the most common cancer among women worldwide, affecting one in eight women. In this modern world, breast cancer image classification simplifies the process of analyzing, providing objective and accurate results. By leveraging machine learning algorithms and computer vision techniques, we developed breast cancer detection. The dataset is histopathology dataset from BreakHis and UNHAS Hospital. We chose the ConvNeXt-Tiny model then modified the classifier head as the proposed method. Before the dataset is processed by the model, we augment the images by applying random horizontal and vertical flips, adjustments to brightness, contrast, saturation, and hue using color jitter. The augmentation process simulates real-world variance and enhances the model's ability to generalize to unseen data. Our proposed model gained better performance (accuracy, F1-Score) results compared two other techniques to VGG16 and SVM. According to our experiments, the F1-Score for the ConvNeXt-Tiny model with classifier head modification is higher at 0.9516, than the gain for VGG16 at 0.9292, and the gain for the SVM at 0.83. © 2024 IEEE.

关键词： Lung cancer

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Enhancing Local Area Power Stability: Integrative Oscillation Damping with PV Systems and BESS

Enhancing Local Area Power Stability: Integrative Oscillatio...

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2024 International Conference on Technology and Policy in Energy and Electric Power, ICT-PEP 2024

作者： Akbar, Ilham Zakaria, Ariesa Budi Muljadi, Eduard Graduate Program PLN ITB PLN Corporate University Auburn United States Electrical and Computer Engineering Auburn University Auburn United States

ISBN: (纸本)9798331518646

This research delves into enhancing local area power stability by integrating battery energy storage systems (BESS) with photovoltaic (PV) systems to address and accelerate the damping of post-fault oscillations following short-circuit disturbances within power grids incorporating variable renewable energy sources. Focused on implementing a power oscillation damping (POD) mechanism within PV plants, this study aims to mitigate post-fault oscillations effectively within a specified timeframe. The proposed POD within the PV plant is strategically designed to augment the grid's resilience by supplying additional active and reactive power in response to system demands post-disturbance. The integration of a 25 MW BESS has demonstrated a significant enhancement in the system's recovery speed, reducing oscillation duration from 60 seconds to 45 seconds. Moreover, a configuration with double PV systems and a 50 MW BESS further reduced the oscillation duration to 42 seconds. Utilizing PSCAD software, this study presents an innovative approach to visualize the system's behavior post-short-circuit disturbances, confirming the efficacy of BESS integration in improving system stability and reliability. These results pave the way for further exploration of optimal BESS sizing and placement strategies to maximize grid resilience. © 2024 IEEE.

关键词： Renewable energy

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Wigner non-negative states that verify the Wigner entropy conjecture

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Physical Review A 2024年第1期110卷 012228-012228页

作者： Qipeng Qian Christos N. Gagatsos Program in Applied Mathematics The Department of Electrical and Computer Engineering The Wyant College of Optical Sciences The

We present further progress, in the form of analytical results, on the Wigner entropy conjecture set forth by Van Herstraeten and Cerf [Phys. Rev. A 104, 042211 (2021)] and Hertz et al. [J. Phys. A: Math. Theor. 50, 385301 (2017)]. Said conjecture asserts that the differential entropy defined for non-negative, yet physical, Wigner functions is minimized by pure Gaussian states while the minimum entropy is equal to 1+lnπ. We prove this conjecture for the qubits formed by Fock states |0〉 and |1〉 that correspond to non-negative Wigner functions. In particular, we derive an explicit form of the Wigner entropy for those states lying on the boundary of the set of Wigner non-negative qubits. We then consider general mixed states and derive a sufficient condition for the conjecture's validity. Lastly, we elaborate on the states which are in accordance with our condition.

关键词： Quantum foundations Quantum information theory

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Optimum classical beam-position sensing

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Physical Review Applied 2024年第4期22卷 L041004页

作者： Wenhua He Christos N. Gagatsos Dalziel J. Wilson Saikat Guha Wyant College of Optical Sciences Department of Electrical and Computer Engineering Program in Applied Mathematics

Beam-displacement measurements are widely used in optical sensing and communications; however, their performance is affected by numerous intrinsic and extrinsic factors, including beam profile, propagation loss, and receiver architecture. Here we present a framework for designing a classically optimal beam-displacement transceiver, using quantum estimation theory. We consider the canonical task of estimating the position of a diffraction-limited laser beam after passing through an apertured volume characterized by Fresnel-number product DF. As a rule of thumb, higher-order Gaussian modes provide more information about beam displacement, but are more sensitive to loss. Applying quantum Fisher information, we design mode combinations that optimally leverage this trade-off, and show that a greater than tenfold improvement in precision is possible, relative to the fundamental mode, for a practically relevant DF=100. We also show that this improvement is realizable with a variety of practical receiver architectures. Our findings extend previous works on lossless transceivers, may have immediate impact on applications, such as atomic force microscopy and near-field optical communication, and pave the way towards globally optimal transceivers using nonclassical laser fields.

关键词： Classical optics Metrology Quantum Fisher information Quantum optics Quantum parameter estimation Devices Wireless communication networks Atomic force microscopy

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High resolution and high sensitivity imaging magnetometer with magnetic nanoparticle and optical heterodyne detection

High resolution and high sensitivity imaging magnetometer wi...

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2024 Frontiers in Optics, FiO 2024

作者： Bartos, Jan Tis, Taleb Ba Park, Wounjhang Huang, Shu-Wei Department of Electrical Computer and Energy Engineering University of Colorado Boulder80309 United States Material Science and Engineering Program University of Colorado Boulder80309 United States

We present progress towards an imaging magnetometer using a magneto-optical polymer nanocomposite thin film, experimentally demonstrating 29nT/√Hz sensitivity with © Optica Publishing Group 2024, © 2024 The... 详细信息

关键词： Heterodyne detection

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