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

作者： Dmytro Kuzmenko Oleksii Tsepa Andrew Garrett Kurbis Alex Mihailidis Brokoslaw Laschowski Department of Mathematics National University of Kyiv-Mohyla Academy Kyiv Ukraine Department of Mathematical Methods of System Analysis Igor Sikorsky Kyiv Polytechnic Institute Kyiv Ukraine Department of Computer Science University of Toronto Toronto Canada Department of Systems Design Engineering University of Waterloo Waterloo Canada Temerty Faculty of Medicine University of Toronto Toronto Canada Institute of Biomedical Engineering University of Toronto Toronto Canada Toronto Rehabilitation Institute Toronto Canada Department of Mechanical and Industrial Engineering Robotics Institute University of Toronto Toronto Canada

Convolutional neural networks trained using supervised learning can improve visual perception for human-robot walking. These advances have been possible due to largescale datasets like ExoNet and StairNet - the largest open-source image datasets of real-world walking environments. However, these datasets require vast amounts of manually annotated data, the development of which is time consuming and labor intensive. Here we present a novel semi-supervised learning system (ExoNet-SSL) that uses over 1.2 million unlabelled images from ExoNet to improve training efficiency. We developed a deep learning model based on mobile vision transformers and trained the model using semi-supervised learning for image classification. Compared to standard supervised learning (98.4%), our ExoNet-SSL system was able to maintain high prediction accuracy (98.8%) when tested on previously unseen environments, while requiring 35% fewer labelled images during training. These results show that semi-supervised learning can improve training efficiency by leveraging large amounts of unlabelled data and minimize the size requirements for manually annotated images. Future research $\text{will}$ focus on model deployment for onboard real-time inference and control of human-robot walking.

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SI-YOLO: A Deep Learning Algorithm Suitable for Surgical Instrument Detection

SSRN

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SSRN 2022年

作者： Liu, Zhenzhong Zhou, Yifan Sun, Qiyuan Wang, Yan Polat, Kemal Nour, Majid Alenezi, Fayadh Alhudhaif, Adi Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China Tianjin300384 China Department of Electrical and Electronics Engineering Bolu Abant Izzet Baysal University Bolu14280 Turkey Department of Electrical and Computer Engineering Faculty of Engineering King Abdulaziz University Jeddah21589 Saudi Arabia Department of Electrical Engineering College of Engineering Jouf University 72238 Saudi Arabia Department of Computer Science College of Computer Engineering and Sciences in Al-kharj Prince Sattam bin Abdulaziz University P.O. Box 151 Al-Kharj 11942 Saudi Arabia

Surgical instrument detection and tracking is one of the core technologies of surgical robots, which can assist clinicians in completing operations. However, existing methods need further improvement in terms of real-time performance and accuracy. We propose a deep learning algorithm, SI-YOLO, for detection of surgical instruments. SimAM attention mechanism is used to improve the feature extraction ability of YOLOv5. Replacing PANet with BiFPN in the neck network improves the feature fusion strategy. The α-IoU loss function is used to improve the regression accuracy of detection boxes. The mAP and FPS of the SI-YOLO reach 99.2% and 120 frames/sec, respectively. Aiming at the problem of ID transformation in the disappearance and occlusion of surgical instruments, the Inception-ResNet-v2 structure is added on the basis of the appearance feature extraction network Cosine of the DeepSort tracking algorithm. Combining SI-YOLO with the improved DeepSort implements the Tracking by Detection (TBD) algorithm. In the case of device disappearance or occlusion, the frequency of ID transitions is reduced by approximately 30%. Finally, we built a simulated surgery experimental platform, established our own data set, and realized the preliminary application of the proposed algorithm. © 2022, The Authors. All rights reserved.

关键词： Object detection

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AI-based sensor layout for predicting thermal deformations of CFRP machine tools

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CIRP Annals 2025年

作者： Finkeldey, Felix Kato, Makoto Wiederkehr, Petra Kakinuma, Yasuhiro Virtual Machining Department of Computer Science TU Dortmund University Dortmund Germany Lamarr Institute for Machine Learning and Artificial Intelligence Dortmund Germany Department of System Design Engineering Faculty of Science & Technology Keio University Yokohama Kohoku-ku Japan

Using data-based approaches, accurate predictions of thermal deformations, which can significantly affect the quality of manufactured components, can be enabled. However, a sufficient amount of data with maximised information content is necessary for efficient training. In this paper, an approach for optimising sensor configurations for predicting thermal deformations is presented. From initially 300 temperature sensors, the number of required sensors was significantly reduced while maintaining predictive accuracy. Furthermore, a pattern for sensor placement was identified, providing the potential for an efficient sensor layout that enables cost-effective data acquisition and improved monitoring of machining and wear progression of machine tool components. © 2025 The Authors

关键词： Metal working tools

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ASBSO: An improved brain storm optimization with flexible search length and memory-based selection

arXiv

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arXiv 2021年

作者： Yu, Yang Gao, Shangce Wang, Yirui Cheng, Jiujun Todo, Yuki The Faculty of Engineering University of Toyama Toyama930-8555 Japan Key Laboratory of Embedded System and Service Computing Ministry of Education Department of Computer Science and Technology Tongji University Shanghai200092 China The School of Electrical and Computer Engineering Kanazawa University Kanazawa-shi920-1192 Japan

Brain storm optimization (BSO) is a newly proposed population-based optimization algorithm which uses a logarithmic sigmoid transfer function to adjust its search range during the convergent process. However, this adjustment only varies with the current iteration number, and lacks of flexibility and variety which makes a poor search efficiency and robustness of BSO. To alleviate this problem, an adaptive step length structure together with a success memory selection strategy are proposed to be incorporated into BSO. This proposed method, adaptive step length based on memory selection BSO, namely ASBSO, applies multiple step lengths to modify the generation process of new solutions, thus supplying a flexible search according to corresponding problems and convergent periods. The novel memory mechanism which is capable of evaluating and storing the degree of improvements of solutions is used to determine the selection possibility of step lengths. A set of 57 benchmark functions are used to test ASBSO's search ability, and four real-world problems are adopted to show its application value. All these test results indicate the remarkable improvement in solution quality, scalability and robustness of ASBSO. Copyright © 2021, The Authors. All rights reserved.

关键词： Swarm intelligence

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Instance-based Deep Transfer Learning on Cross-domain Image Captioning 21

Instance-based Deep Transfer Learning on Cross-domain Image ...

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21st International Electronics Symposium, IES 2019

作者： Perdana, Rizal Setya Ishida, Yoshiteru Toyohashi University of Technology Department of Computer Science and Engineering Toyohashi Japan Department of Information System Faculty of Computer Science Brawijaya University Malang Indonesia

ISBN: (纸本)9781728144498

Image captioning task achieves imposing result in generating text description of image by training on the large image and sentence pairs dataset (e.g., MSCOCO). Applied the large publicly available datasets to the specific new task will lead to the problem known as domain shifting due to the different probability distribution. In this research, we propose a Multimodal Instance-based Deep Transfer Learning (MIBTL) for cross-domain image captioning. Generally, transferring knowledge from the source domain into the target domain is pertinent due to the limited number of the dataset from the target domain. The limited number of the dataset also lead to a problem called overfitting. The instance-based strategy intuitively takes into account the influence of data by selecting the most representative data from source domain as the supplement for training on the target domain. We employ deep hash binary code representation of image and text pair to determine the distance between two data points. The experiment conducted by two types of transfer condition includes a slight shift (from MSCOCO to Flickr30k) and significant shift (from MSCOCO to CUB-200 and Oxford-102). The result shows that MIBTL can outperform other baselines to achieve state-of-the-art performance in cross-domain image captioning transfer learning. © 2019 IEEE.

关键词： Probability distributions

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Evidence-Based Quality-Aware Agile Software Development Process: Design and Evaluation

SSRN

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SSRN 2023年

作者： Karhapää, Pertti Behutiye, Woubshet Seppänen, Pertti Rodríguez, Pilar Oivo, Markku Franch, Xavier Martinez-Fernandez, Silverio López, Lidia Choraś, Michal Bagnato, Alessandra Aaramaa, Sanja Partanen, Jari University of Oulu Oulu90014 Finland Department of Service and Information System Engineering UPC-BarcelonaTech Barcelona08034 Spain Kaiserslautern67663 Germany ITTI Sp. z o.o Poznan61-612 Poland University of Science and Technology UTP Univerisy of Science and Technology Bydgoszcz5-796 Poland Softeam Paris75016 France Nokia Oy Oulu90620 Finland Bittium Wireless Ltd. Oulu90590 Finland University of Puget Sound United States Dep. Of Languages Computer Systems and Software Engineering Faculty of Computer Science Universidad Politécnica de Madrid Spain Dep. ESSI GESSI Research Group UPC-BarcelonaTech Barcelona08034 Spain Centro Nacional de Supercomputacíon Barcelona08034 Spain

Context Agile software development (ASD) aims to deliver high-quality software. However, software quality often gets less attention due to focus on *** an evidence-based quality-aware ASD process that organizations can use to create a more quality-aware development process and improve software *** methodUsing design science research, we collaborated with four organizations applying ASD in different contexts. Involving a total of 35 practitioners, we designed company-specific evidence-based quality-aware ASD processes, which were validated through simulated scenarios, implemented, and evaluated by the practitioners. ResultsA general ASD process model, derived from the company-specific models, was created, which shows the specific activities, frequencies, roles, and development phases where evidence can be used to improve software quality. The new process model contributed towards improved bottleneck identification, release readiness, and quality issues prioritization. We also learned that companies must be mindful of the rules that determine the use of evidence. Conclusion Integrating the use of quality related evidence into the ASD process can make it quality-aware, supporting software quality management, and enabling timely reaction through fast feedback loops. The evidence-based quality-aware ASD process is applicable in any Scrum-like ASD process. Applicability in other forms of ASD, however, requires further research. © 2023, The Authors. All rights reserved.

关键词： Quality control

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Advances in Dry Etch Processing for High-Density Vertical Interconnects in Fan-Out Panel-Level Packaging and IC Substrates

Advances in Dry Etch Processing for High-Density Vertical In...

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Electronic Components and Technology Conference (ECTC)

作者： Friedrich-Leonhard Schein Mohammed Elghazzali Christian Voigt Ioannis Tsigaras Hirofumi Sawamoto Ewald Strolz Roland Rettenmeier Lars Böttcher Faculty IV - Electrical Engineering and Computer Science TU Berlin Berlin Germany Business Unit Advanced Packaging Evatec AG Trübbach Switzerland System Integration & Interconnection Technologies Fraunhofer IZM Berlin Germany

Within the advanced packaging technologies there is an increasing demand for very high I/O count solutions to fulfill requirements of high performance computing applications like big data analysis. Thus, the density of lateral and vertical interconnects is being pushed to its limits to achieve a minimum delay in communication between chips or chiplets from different technology nodes. Here we focus on dry etch technology as an approach to overcome the difficulties of currently used processes for the formation of vertical interconnects (vias) in organic buildup films. Nowadays, laser drilling into the organic dielectric is the state-of-the-art technology to prepare vertical interconnects between the Cu layers. However, drawbacks like sequential processing, limited control of sidewall smoothness or registration accuracy become extremely challenging when millions of sub-vias have to be realized on 600 mm2 panels. One alternative technique to address the need of forming steep microstructures in various materials is deep reactive-ion etching (DRIE). In this paper we analyze how DRIE could be applied for via formation in silica-filled organic dielectric build-up films. Our approach included a metallic hard mask for material-selective etching and for generating various via diameters. For our experiments, a dual frequency capacitive coupled plasma (CCP) tool was used. The plasma etch module was designed for panel-level substrates up to size and was integrated into a high volume manufacturing system. We investigated the influence of different gas mixtures, power settings on etch rate, selectivity (e.g. on silica and organic), directionality, uniformity and homogeneity. The overall compatibility and implications of the dry etching approach for the semi-additive process and redistribution layer formation have been discussed.

关键词： Silicon compounds Films Lasers Process control Tools Packaging Plasmas

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Weather Data Analysis Using Hadoop: Applications and Challenges

Weather Data Analysis Using Hadoop: Applications and Challen...

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International Conference on Green engineering Technology and Applied Computing 2019, IConGETech2 019 and International Conference on Applied Computing 2019, ICAC 2019

作者： Adam Ibrahim Fakherldin, Mohammed Adam, Khalid Akma Abu Bakar, Noor Abdul Majid, Mazlina Faculty of Computer System and Software Engineering Universiti Malaysia Pahang Malaysia Faculty of Electric and Electronic Engineering Universiti Malaysia Pahang Malaysia Faculty of Computer Science and Information Systems Jazan University Malaysia

Weather data is very crucial in every aspect of human daily life. It plays an important role in many sectors such as agriculture, tourism, government planning, industry and so on. Weather has a variety of parameters like temperature, pressure, humidity and wind speed. The meteorological department deployed sensors for each weather parameter at different geographical locations to collect data. This data is stored mostly in the unstructured format. Thus, a big amount of data has been collected and archived. Therefore, storage and processing of this big data for accurate weather prediction is a huge challenge. Hadoop an apache product it used to support big data sets in a distributed environment. Hadoop has greatest advantages over scalable and fault-tolerant distributed processing technologies. This paper explains a system that uses the historical weather data of a region and apply the MapReduce and Hadoop techniques to analysis these historical data. © 2019 Published under licence by IOP Publishing Ltd.

关键词： Digital storage

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Recent Advances in Triboelectric Nanogenerators: From Technological Progress to Commercial Applications

引用

ACS Nano 2023年第12期17卷 11087-11219页

作者： Choi, Dongwhi Lee, Younghoon Lin, Zong-Hong Cho, Sumin Kim, Miso Ao, Chi Kit Soh, Siowling Sohn, Changwan Jeong, Chang Kyu Lee, Jeongwan Lee, Minbaek Lee, Seungah Ryu, Jungho Parashar, Parag Cho, Yujang Ahn, Jaewan Kim, Il-Doo Jiang, Feng Lee, Pooi See Khandelwal, Gaurav Kim, Sang-Jae Kim, Hyun Soo Song, Hyun-Cheol Kim, Minje Nah, Junghyo Kim, Wook Menge, Habtamu Gebeyehu Park, Yong Tae Xu, Wei Hao, Jianhua Park, Hyosik Lee, Ju-Hyuck Lee, Dong-Min Kim, Sang-Woo Park, Ji Young Zhang, Haixia Zi, Yunlong Guo, Ru Cheng, Jia Yang, Ze Xie, Yannan Lee, Sangmin Chung, Jihoon Oh, Il-Kwon Kim, Ji-Seok Cheng, Tinghai Gao, Qi Cheng, Gang Gu, Guangqin Shim, Minseob Jung, Jeehoon Yun, Changwoo Zhang, Chi Liu, Guoxu Chen, Yufeng Kim, Suhan Chen, Xiangyu Hu, Jun Pu, Xiong Guo, Zi Hao Wang, Xudong Chen, Jun Xiao, Xiao Xie, Xing Jarin, Mourin Zhang, Hulin Lai, Ying-Chih He, Tianyiyi Kim, Hakjeong Park, Inkyu Ahn, Junseong Huynh, Nghia Dinh Yang, Ya Wang, Zhong Lin Baik, Jeong Min Choi, Dukhyun Kyung Hee University Gyeonggi Yongin17104 Korea Republic of Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology 77 Massachusetts Avenue CambridgeMA02139 United States Department of Mechanical Engineering Soft Robotics Research Center Seoul National University Seoul08826 Korea Republic of Department of Mechanical Engineering Gachon University Seongnam13120 Korea Republic of Department of Biomedical Engineering National Taiwan University Taipei10617 Taiwan Frontier Research Center on Fundamental and Applied Sciences of Matters National Tsing Hua University Hsinchu30013 Taiwan School of Advanced Materials Science & Engineering Sungkyunkwan University Suwon16419 Korea Republic of Sungkyunkwan University 2066 Seobu-ro Gyeonggi Suwon16419 Korea Republic of Department of Chemical and Biomolecular Engineering National University of Singapore 4 Engineering Drive 4 117585 Singapore Division of Advanced Materials Engineering Jeonbuk National University 567 Baekje-daero Jeonbuk Jeonju54896 Korea Republic of Jeonbuk National University 567 Baekje-daero Jeonbuk Jeonju54896 Korea Republic of Department of Physics Inha University 100 Inha-ro Incheon22212 Korea Republic of School of Materials Science & Engineering Yeungnam University Gyeongbuk Gyeongsan38541 Korea Republic of 291 Daehak-ro Daejeon34141 Korea Republic of School of Materials Science and Engineering Nanyang Technological University 50 Nanyang Avenue 639798 Singapore Institute of Flexible Electronics Technology of Tsinghua Zhejiang Jiaxing314000 China Nanomaterials and System Lab Major of Mechatronics Engineering Faculty of Applied Energy System Jeju National University Jeju632-43 Korea Republic of School of Engineering University of Glasgow GlasgowG128QQ United Kingdom Seoul02792 Korea Republic of Department of Physics Inha University Incheon22212 Korea Republic of Suwon16419 Korea Republic of Department of

Serious climate changes and energy-related environmental problems are currently critical issues in the world. In order to reduce carbon emissions and save our environment, renewable energy harvesting technologies will serve as a key solution in the near future. Among them, triboelectric nanogenerators (TENGs), which is one of the most promising mechanical energy harvesters by means of contact electrification phenomenon, are explosively developing due to abundant wasting mechanical energy sources and a number of superior advantages in a wide availability and selection of materials, relatively simple device configurations, and low-cost processing. Significant experimental and theoretical efforts have been achieved toward understanding fundamental behaviors and a wide range of demonstrations since its report in 2012. As a result, considerable technological advancement has been exhibited and it advances the timeline of achievement in the proposed roadmap. Now, the technology has reached the stage of prototype development with verification of performance beyond the lab scale environment toward its commercialization. In this review, distinguished authors in the world worked together to summarize the state of the art in theory, materials, devices, systems, circuits, and applications in TENG fields. The great research achievements of researchers in this field around the world over the past decade are expected to play a major role in coming to fruition of unexpectedly accelerated technological advances over the next decade. © 2023 The Authors. Published by American Chemical Society

关键词： Nanogenerators

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The Bankable Economic Potential of Utility-Scale Solar Pv: A Novel Gis-Based Framework with Application to Indonesia

SSRN

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SSRN 2023年

作者： Langer, Jannis Ashqar, Ziad Zhou, Yilong Isabella, Olindo Praktiknjo, Aaron Quist, Jaco Kwee, Zenlin Blok, Kornelis Delft University of Technology Faculty of Technology Policy and Management Department of Engineering Systems and Services Jaffalaan 5 Delft2628 BX Netherlands Delft University of Technology Faculty of Electrical Engineering Mathematics and Computer Science Department of Electrical Sustainable Energy Photovoltaic Materials and Devices group Mekelweg 4 Delft2628 CD Netherlands RWTH Aachen University Energy System Economics Institute for Future Energy Consumer Needs and Behavior E.ON Energy Research Center Mathieustraße 10 Aachen52074 Germany Delft University of Technology Faculty of Technology Policy and Management Department of Values Technology and Innovation Jaffalaan 5 Delft2628 BX Netherlands

Geospatial analysis is useful to calculate and map solar photovoltaic’s (PV) economic potential. However, recent studies do not address PV’s bankable potential for practical implementation and show limitations in (1) potential and input reporting, (2) studied metrics, (3) uncertainty analysis, and (4) policy analysis. To tackle these limitations, we propose a novel framework for utility-scale PV’s bankable potential, which combines geospatial analysis and project finance. The framework involves 20 years of hourly solar electricity production, a debt sizing and cash flow analysis model, and Monte Carlo simulation. We report a conservative technical potential of 9.3 TWpeak and 12.1 PWh/year in Indonesia. Considering expected 2030 demand, PV’s bankable potential is up to 40.8 TWh/year mostly situated in East Indonesia where population and demand are low. PV’s bankability is currently limited by strict loan maturities and low electricity tariffs, and could be improved to up to 232 TWh/year (52% of 2030 demand) via a feed-in tariff of 11.5 US¢(2021)/kWh and a temporary lift of local content for solar panels. Despite their effectiveness, policymakers should be aware of possible side effects of PV policies, e.g. for local coal-based industries and rural communities with limited electricity access. © 2023, The Authors. All rights reserved.

关键词： Economic analysis

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