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Guest Editorial: Special Issue on Human-Machine Fusion Decision-Making for Emergency Handling

IEEE Transactions on Automation Science and engineering 2025年 22卷 4427-4433页

作者： Wu, Edmond Q. Li, Jianqiang Chen, Guimin Yuce, Mehmet R. Islam, Shafiqul Ser, Javier Del Yu, Hui Liu, Peter Xiaoping Department of Computer Science and Engineering Shanghai Jiao Tong University Shanghai200240 China College of Computer and Software Engineering Shenzhen University Shenzhen518060 China State Key Laboratory for Manufacturing Xi'an Jiaotong University Xi'an710049 China Department of Electrical and Computer Systems Engineering Monash University MelbourneVIC3800 Australia Xavier University of Louisiana New OrleansLA70125 United States Tecnalia Institute Bizkaia48160 Spain School of Creative Technologies University of Portsmouth PortsmouthPO1 2UP United Kingdom Department of Systems and Computer Engineering Carleton University OttawaONKIS 5B6 Canada

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Design of Intelligent Ship Wireless Charging System 19th

Design of Intelligent Ship Wireless Charging System

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19th Annual Conference of China Electrotechnical Society, ACCES 2024

作者： Yu, Chunlai Ding, Haolun Wang, Shiqing Wang, Zhikai Zhu, Hao Zhu, Junkang Zhang, Chenxi Luo, Zhanpeng Marine Engineering College Dalian Maritime University Dalian116026 China CSSC Systems Engineering Research Institute Beijing100094 China College of Electrical Automation and Information Engineering Tianjin University Tianjin300072 China

ISBN: (纸本)9789819613823

With the implementation of greenhouse gas emission reduction strategy, energy saving and emission reduction in the shipping industry is imperative. As a kind of clean energy, ship wireless charging, which can not only provide auxiliary electricity to ships, but also charge electric ships, has been increasingly emphasized by the industry. However, the existing ship wireless charging system has the problems of low berthing accuracy, low number of degrees of freedom of charging mechanism, cumbersome charging process, low charging power and so on. In this paper, an intelligent ship wireless charging system is proposed and realized. It mainly includes: firstly, developing a multi-degree-of-freedom robotic arm as a charging carrier, and designing a visual control system to realize the charging robotic arm automatically docking with the ship’s receiving end. Secondly, an under driven electric unmanned ship is developed as the receiving ship, and the PTESO-LOS algorithm should be utilized to control the unmanned ship to berth automatically;once again, wireless charging based on coupled magnetic field is used to realize wireless energy transmission. Finally, the wireless charging system for ships proposed in this paper is experimentally verified to meet the wireless charging demand of ships in the state of sea movement, which improves the safety and convenience of wireless charging. © Beijing Paike Culture Commu. Co., Ltd. 2025.

关键词： Robotic arms

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Toward better semantic segmentation by retaining spectral information using matched wavelet pooling

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Neural Computing and Applications 2025年第10期37卷 7049-7066页

作者： El-Khamy, Said El-Bana, Shimaa Al-Kabbany, Ahmad Elragal, Hassan Department of Electrical Engineering Alexandria University Alexandria21544 Egypt Intelligent Systems Lab Arab Academy for Science Technology and Maritime Transport Alexandria21937 Egypt Department of Research and Development VRapeutic Inc. Cairo11613 Egypt Alexandria Higher Institute of Engineering and Technology Alexandria21311 Egypt

Pooling operations, such as average pooling, strided convolution, and max pooling, have become fundamental components of convolutional neural networks (CNNs) due to their ability to capture local features, expand receptive fields, and reduce computational costs. However, in the context of semantic segmentation, these pooling techniques can lead to the loss of crucial spatial details that are necessary for accurate pixel-level predictions. To tackle this issue, extensive research has focused on refining deep CNN models through architectural adaptations and novel training methods. Recent studies have demonstrated the importance of pooling layers, exemplified by innovations like the introduction of wavelet pooling. In our study, we highlight the value of incorporating our previously proposed matched wavelet pooling (MWP) into CNNs to enhance semantic segmentation pipelines. The core concept of MWP challenges the notion that including all sub-bands generated from wavelet decomposition consistently improves accuracy. Instead, we advocate for selecting specific sub-bands for the pooling process in each image during both training and testing. This approach introduces sub-band selection protocols customized for image-specific pooling, designed specifically for semantic segmentation CNN architectures, with a particular focus on the UNet and SegNet models. Across three widely used datasets, our proposed MWP- based pipeline, featuring the MWP-UNet architecture, consistently outperforms conventional pooling methods. It achieves a significant average improvement in intersection over union (IoU) of over 25% compared to recent literature. Additionally, our MWP-SegNet model outperformed the standard SegNet by 12.5% mIoU, further demonstrating the effectiveness of our matched wavelet pooling approach across different network architectures. © The Author(s) 2025.

关键词： Semantic Segmentation

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Smart Hybrid Mini-Xception Model and Eyebrow Displacement-Based Stress Level and Emotion Detection System 12th

Smart Hybrid Mini-Xception Model and Eyebrow Displacement-Ba...

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12th International Conference on Recent Trends in Computing, ICRTC 2024

作者： Bhuvana, S. Anantha Prabha, P. Deva Priya, M. Christy Jeba Malar, A. Karthick, S. School of Computer Science Engineering and Information Systems Vellore Institute of Technology Vellore India Department of Computer Science and Engineering PSG Institute of Technology and Applied Research Tamilnadu Coimbatore India Department of Computer Science and Engineering Karpagam College of Engineering Tamilnadu Coimbatore India Department of Information Technology Sri Krishna College of Technology Tamilnadu Coimbatore India Department of Computer Science and Engineering Delhi - NCR Campus SRM Institute of Science and Technology Uttar Pradesh Ghaziabad India

ISBN: (纸本)9789819789450

Stress is a state of mental or emotional strain due to adversative or challenging situations. A human may undergo bad life experiences or events, and it is a significant issue to be dealt in today's society. It comes as a result of family situations, health concerns, work environments and people's behavior among other things. It affects people of various ages, including children, teenagers, middle-aged people and senior citizens. It has serious consequences affecting human body and life. These problems can be addressed by detecting mental stress at an early stage. The main goal of the propounded system is to identify human stress using a pre-trained Mini-Xception model. Additional measures such as eye moments, mouth activity and head motion are employed for determining the level of human stress. FER2013 dataset is used and the system is tested for all kinds of emotions. Human stress level is experimented by capturing video using webcam. From the experimental outcomes, it is evident that the proposed system offers better performance in terms of Precision, Accuracy, Specificity and Sensitivity in contrast to traditional methods. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Eyebrow displacement FER2013 dataset Mini-Xception model Stress detection

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Enhancing modulation bandwidth of parallel microLED arrays for visible light communication

IEEE Electron Device Letters

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IEEE Electron Device Letters 2025年第6期46卷 944-947页

作者： Guo, Wen-An Wan, Ming-He Liu, Shi-Biao Liu, Zhong Lu, Ting-Wei Chen, Guo-Long Lu, Yi-Jun Kuo, HaoChung Wu, Ting-Zhu Chen, Zhong Xiamen University National Integrated Circuit Industry and Education Integration Innovation Platform Department of Electronic Science Xiamen361005 China National Yang Ming Chiao Tung University College of Electrical and Computer Engineering Department of Photonics Graduate Institute of Electro-Optical Engineering Hsinchu30010 Taiwan Hon Hai Research Institute Semiconductor Research Center Taipei11492 Taiwan

In this letter, parallel micro-LED arrays with numbers of 1×1, 1×2, 2×2 and 2×3 were fabricated and the p-electrode patterns of arrays were optimized. The results show that both the light output power (LOP) and modulation bandwidth increase with the parallel array numbers. Moreover, optimizing the p-electrode pattern can effectively facilitate current spreading, mitigate thermal crowding, and enhance the LOP. Under combined with the LOP and thermal effect, the 2×2 ring-electrode parallel array achieved the highest modulation bandwidth of 172 MHz and maximum LOP of 5.70 mW, which were improved by 17.28% and 13.98%, respectively. This work provides a reference to design micro-LED chip for high bandwidth. © 1980-2012 IEEE.

关键词： Bandwidth

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Multimodal Pain Assessment Βased on Physiological Biosignals: The Impact of Demographic Factors on Perception and Sensitivity 11

Multimodal Pain Assessment Βased on Physiological Biosignal...

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11th International Conference on Information and Communication Technologies for Ageing Well and e-Health, ICT4AWE 2025

作者： Pavlidou, Elisavet Tsiknakis, Manolis Department of Electrical and Computer Engineering Hellenic Mediterranean University Estavromenos Heraklion71410 Greece Computational BioMedicine Laboratory Institute of Computer Science Foundation for Research & Technology-Hellas Vassilika Vouton Heraklion70013 Greece

ISBN: (纸本)9789897587436

Pain is a multidimensional and highly personalized sensation that affects individuals’ physical and emotional state. Visual analog scales, numeric rate indicators, and various questionnaires, all relying on patient-reported outcome measurements, are considered the "gold" standard methods for assessing the severity of pain. Nevertheless, self-report tools require cognitive, linguistic, and social abilities, which may manifest variations in certain populations such as neonates, individuals with intellectual disabilities, and those affected by dementia. The purpose of this study is to automate the process through multimodal physiological-data-driven machine-learning models in order to gain deeper insights into pain sensation. We developed a pipeline using electrocardiogram (ECG), galvanic skin response (GSR), and electromyogram (EMG), along with demographic information from the BioVid dataset. The Pan & Tompkins algorithm was applied for ECG signal processing, while statistical analysis was used for feature extraction across all signals. Our study achieved 82.83% accuracy in the SVM classification task of baseline (BL) vs the highest level of pain (PA4) for females aged 20-35. Copyright © 2025 by SCITEPRESS - Science and Technology Publications, Lda.

关键词： Sensory perception

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Ultimate Boundedness and Output Convergence of Prioritized Output Tracking Control Under Nonsmooth and Imperfect Feedback Linearization

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IEEE Transactions on Automatic Control 2025年

作者： An, Sang-Ik Lee, Dongheui Park, Gyunghoon University of Seoul School of Electrical and Computer Engineering Korea Republic of Tu Wien Autonomous Systems at Institute of Computer Technology Faculty of Electrical Engineering and Information Technology Austria Institute of Robotics and Mechatronics Germany

The concept of priority has been introduced to the robotic systems in 1980 s as an effort to overcome problems caused by singularity and it has attracted considerable attention from both the robotics and control societies. However, none of the previous works have successfully addressed two fundamental degenerate properties of singularity: nonsmoothness and imperfect inversion. This technical note proposes a prioritized output tracking control method that guarantees the ultimate boundedness and the convergence of higher priority outputs when the input-output feedback linearization becomes nonsmooth and imperfect by singularity. For that purpose, we firstly prioritize the input-output feedback linearization and discuss how two degenerate properties can occur when the system becomes singular. Then, we introduce the differential inclusion to deal with the nonsmooth internal dynamics and establish a condition using the upper Dini derivative for asymptotically stable zero dynamics. Also, we propose a strictly positive realness-based feedback gain design and find a condition related to an M-matrix in order to handle nonlinearities that appear in the imperfect feedback linearization. Finally, we combine these two results and show the ultimate boundedness and the output convergence. Additionally, we provide a motivational example with a planar four-link manipulator to illustrate the effectiveness and limitations of the proposed method. © 1963-2012 IEEE.

关键词： Feedback linearization

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Tolerant Tracking Control Protocol for PMSM Based on Policy Iteration Algorithm and Fault Compensation 16th

Tolerant Tracking Control Protocol for PMSM Based on Polic...

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16th International Conference on Social Robotics, ICSR + InnoBiz 2024

作者： Yan, Shuya Li, Xiaocong Qian, Huaming Ma, Jun Al Mamun, Abdullah College of Intelligent Systems Science and Engineering Harbin Engineering University Harbin150001 China Department of Electrical and Computer Engineering National University of Singapore Singapore117583 Singapore Guangzhou China Information Science and Technology Eastern Institute of Technology Ningbo China

ISBN: (纸本)9789819611508

In robotics applications, ensuring reliable performance in the presence of actuator faults is essential for maintaining system safety and reliability. This paper presents a tolerant tracking control method for permanent magnet synchronous motors (PMSMs) based on adaptive dynamic programming and fault compensation. The method simultaneously considers tracking accuracy and energy consumption through a policy iteration algorithm. In the optimality analysis of the algorithm, more relaxed conditions are provided to demonstrate that the performance function can converge to a near-optimal value within a finite number of iterations. In practical implementation, an actor-critic network is used to approximate the performance function and control protocol, alongside a fault detection mechanism based on an expanded time horizon, which achieves fault detection from arbitrary initial values. The effectiveness of the proposed algorithm is verified using a high-fidelity PMSM model in Simulink. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Permanent magnets

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From Simulation to Reality with Random Noise

From Simulation to Reality with Random Noise

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AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Luo, Steven Lipkis, Rory López-Francos, Ignacio Vlastos, Pavlo Agogino, Adrian Department of Electrical Engineering and Computer Sciences University of California BerkeleyCA94720 United States Intelligent Systems Division NASA Ames Research Center Moffett FieldCA94035 United States

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

The challenging environment of autonomous vehicle (AV) navigation necessitates certain functions be performed by deep neural networks. Optimizing these models involves collecting vast quantities of domain-specific training data and ensuring that the dataset is representative of expected conditions. High-fidelity simulation plays a vital role in making this process feasible, allowing a wide range of scenarios to be explored at relatively low cost. However, learning from simulation introduces subtle biases into models, which can degrade real-world performance in unpredictable ways. This effect can be mitigated with learning schemes specialized to bridge distributional shifts (transfer learning). Given the complex nature of these methods, the underlying models, and their environments, meaningfully evaluating performance is not straightforward. Many unrelated factors can effect an improvement in generalization accuracy, but a full ablation analysis is often difficult to perform. To tease out signal from noise, it is necessary to understand how transfer learning performance is affected by noise itself. The goals of this paper are (i) to establish a domain randomization baseline for a simple classification transfer learning task and (ii) to validate the RRAV testbed as a platform for further research in sim-to-real learning. We generate imagery from a simulation of NASA Ames research Center and train a small convolutional neural network to classify camera position of an ego vehicle relative to a center line. Further models are trained with different types of noise progressively added to the data. In our experiments, we find that naive domain randomization raises sim-to-real accuracy from 64% to 79%, while training directly on real data yields an 89% accuracy ceiling. These results suggest that the isolated mechanism of domain randomization can significantly improve generalization. © 2025, American institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： NASA

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Design of a Rat Robotic Forelimb 13th

Design of a Rat Robotic Forelimb

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13th International Conference on Biomimetic and Biohybrid systems, Living Machines 2024

作者： Pham, Huy Jackson, Clayton B. Armstead, Benjamin Nourse, William R. P. Andrada, Emanuel Quinn, Roger D. Department of Mechanical and Aerospace Engineering Case Western Reserve University ClevelandOH44106 United States Institute of Zoology and Evolutionary Research Friedrich-Schiller University Jena Germany Department of Electrical Computer and Systems Engineering Case Western Reserve University ClevelandOH44106 United States

ISBN: (纸本)9783031725968

This paper presents the design of robotic rat forelimbs, scaled to 2.5 times the size of a female Sprague-Dawley rat. Based on a previous rat hindlimb model, significant enhancements were implemented to facilitate manufacturing, robustness, improve overall performance, and enhance biological accuracy. The two front legs are each equipped with five motors to enable sagittal rotations of the scapula, elbow, and wrist joints, along with scapula abduction and adduction. The leg segment dimensions are based on a scanned rat bones model, but the shapes are modified for 3D printing and assembly. Parts are printed using micro carbon fiber filled nylon, strengthened by various amounts of continuously inlaid carbon fiber. Revolute joints are driven by motors, and a pulley-belt transmission system is incorporated to move wrist and elbow motors higher up in order to reduce the inertia of the leg. Furthermore, the foot structure comprises two segments that are passively controlled by two torsion springs to enhance flexibility and facilitate a more naturalistic movement. Additionally, a new electrical board is integrated to enhance operational smoothness and align with the control scheme. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Machine design

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