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arXiv 2025年

作者： Tubul, Sapir Tamar, Aviv Solovey, Kiril Salzman, Oren Faculty of Computer Science Technion - Israel Institute of Technology Israel Faculty of Electrical and Computer Engineering Technion - Israel Institute of Technology Israel

Motion planning is a central challenge in robotics, with learning-based approaches gaining significant attention in recent years. Our work focuses on a specific aspect of these approaches: using machine-learning techniques, particularly Support Vector Machines (SVM), to evaluate whether robot configurations are collision free, an operation termed "collision detection". Despite the growing popularity of these methods, there is a lack of theory supporting their efficiency and prediction accuracy. This is in stark contrast to the rich theoretical results of machine-learning methods in general and of SVMs in particular. Our work bridges this gap by analyzing the sample complexity of an SVM classifier for learning-based collision detection in motion planning. We bound the number of samples needed to achieve a specified accuracy at a given confidence level. This result is stated in terms relevant to robot motion-planning such as the system’s clearance. Building on these theoretical results, we propose a collision-detection algorithm that can also provide statistical guarantees on the algorithm’s error in classifying robot configurations as collision-free or not. Copyright © 2025, The Authors. All rights reserved.

关键词： Motion planning

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CanSat: Design, Development, and Deployment of Open-Source Weather Monitoring Nano-Satellite 4

CanSat: Design, Development, and Deployment of Open-Source W...

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4th International Conference on Digital Futures and Transformative Technologies, ICoDT2 2024

作者： Alam, Talha Javed, Mazhar Qureshi, Abdur Rahman Anik, Abdullah All Mamun University of Engineering and Technology Peshawar Electronic Engineering Abbottabad Pakistan Ghulam Ishaq Khan Institute of Engineering Science and Technology Faculty of Electrical Engineering Topi Pakistan The University of Haripur Computer science Haripur Pakistan University of Huddersfield Mechanical Engineering Queensgate United Kingdom

ISBN: (纸本)9798350391862

Environmental monitoring and educational accessibility face significant challenges due to the complexity and high cost of traditional satellite systems. Addressing these issues requires a cost-effective solution that enables comprehensive study and intervention to improve environmental conditions. In this paper, we introduce CanSat, a compact satellite designed for educational and research purposes, utilizing off-the-shelf components and a 3D-printed frame to streamline operations and focus on critical processes such as modeling and communication. Equipped with a microcontroller (Esp32) and an RF communication (LoRa Module). CanSat efficiently processes and transmits data, including real-time video, temp, and %RH (% Relative humidity), to ground stations. The CanSat's performance was observed through successful data transmission and global accessibility of data visualization and analysis. The results indicated reliable operation, with data visualization and analysis accessible worldwide through customized web pages and real-time tracking capabilities, demonstrating CanSat's potential as a user-friendly and cost-effective platform for near-space exploration © 2024 IEEE.

关键词： Space research

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A highly integrated flexible array non-contact ECG sensing electrode based on FPC 8

A highly integrated flexible array non-contact ECG sensing e...

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8th International Conference on Intelligent Computing and Signal Processing, ICSP 2023

作者： Wu, Gang Wang, Kaikai Feng, Baoliang Shi, Binjun Liu, Zhen Zuo, Guokun Shi, Changcheng Faculty of Electrical Engineering & Computer Science Ningbo University Ningbo China Ningbo Institute of Materials Technology & Engineering Cas Ningbo China Ningbo Cixi Institute of Biomedical Engineering Ningbo China

ISBN: (纸本)9798350302455

The existing array non-contact ECG sensing technology mostly uses rigid electrode or conductive fabric electrode, in which the rigid electrode is too hard to make the electrode difficult to close to the human body well, and the conductive fabric electrode is too soft to cause the electrodes to be wrinkled, both of which will lead to poor ECG signal quality. In order to overcome the problem that it is difficult to obtain high-quality ECG signals due to electrode materials, this study combined the manufacturing process of Flexible Printed Circuit (FPC) with the surface treatment process of Electroless Nickel/Immersion (ENIG) and adopted polyimide (PI) and rolled copper as electrode materials, which makes the array electrode electrodes extremely flexible, tough, and flat. At the same time, in terms of electrode design, the test and verification of the electrode unit also ensured the rationality of the array electrode. Subsequently, the electrode was verified by electrode test and human experiment, and the results showed that the electrode could receive ECG signals well, and compared with the ECG signals obtained by the traditional Ag/AgCl electrodes, the signal-to-noise ratio (SNR) of the signals obtained by the two types of electrodes reached above 38 dB and the waveform characteristics were highly consistent. © 2023 IEEE.

关键词： Electrocardiograms

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On the System Performance of Mobile Edge Computing in an Uplink NOMA WSN With a Multiantenna Access Point Over Nakagami-m Fading

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IEEE/CAA Journal of Automatica Sinica 2022年第4期9卷 668-685页

作者： Van-Truong Truong Van Nhan Vo Dac-Binh Ha Chakchai So-In the Faculty of Electrical-Electronic Engineering Duy Tan University the Institute of Research and Development Duy Tan University the Faculty of Information Technology Duy Tan University IEEE the Applied Network Technology(ANT)Laboratory Department of Computer ScienceCollege of ComputingKhon Kaen University

In this paper,we study the system performance of mobile edge computing(MEC)wireless sensor networks(WSNs)using a multiantenna access point(AP)and two sensor clusters based on uplink nonorthogonal multiple access(NOMA).Due to limited computation and energy resources,the cluster heads(CHs)offload their tasks to a multiantenna AP over Nakagami-m *** proposed a combination protocol for NOMA-MEC-WSNs in which the AP selects either selection combining(SC)or maximal ratio combining(MRC)and each cluster selects a CH to participate in the communication process by employing the sensor node(SN)*** derive the closed-form exact expressions of the successful computation probability(SCP)to evaluate the system performance with the latency and energy consumption constraints of the considered *** results are provided to gain insight into the system performance in terms of the SCP based on system parameters such as the number of AP antennas,number of SNs in each cluster,task length,working frequency,offloading ratio,and transmit power ***,to determine the optimal resource parameters,i.e.,the offloading ratio,power allocation of the two CHs,and MEC AP resources,we proposed two algorithms to achieve the best system *** approach reveals that the optimal parameters with different schemes significantly improve SCP compared to other similar *** use Monte Carlo simulations to confirm the validity of our analysis.

关键词： Mobile edge computing(MEC) Nakagami-m fading offloading selection combining(SC)/maximal ratio combining(MRC) successful computation probability(SCP) uplink nonortho-gonal multiple access(NOMA) wireless sensor networks(WSNs)

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Sentiment Analysis using Machine Learning and Deep Learning Models

Sentiment Analysis using Machine Learning and Deep Learning ...

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2024 IEEE International Conference on Machine Learning and Applied Network Technologies, ICMLANT 2024

作者： Vu, Hoang-Dieu Pham, Quang-Tu Solanki, Vijender Kumar Hoang, Trong-Minh Tran, Duc-Tan Faculty of Electrical and Electronic Engineering Phenikaa University Hanoi Viet Nam Department of Computer Science and Enginnering Stanley College Of Engineering & Technology For Women TG Hyderabad India Posts and Telecommunications Institute of Technology Hanoi Viet Nam

ISBN: (纸本)9798350389180

This study investigates sentiment analysis methodologies using two distinct datasets: the IMDb Movie Reviews corpus and a novel Financial Sentiment dataset. Employing a comprehensive approach, the research integrates traditional Machine Learning algorithms and Deep Learning models to analyze and interpret sentiments. The preprocessing phase incorporates techniques such as punctuation removal, text lowercasing, and specialized considerations for financial symbols. Machine Learning models, including Logistic Regression and Random Forest, are applied to the IMDb dataset, with Naive Bayes demonstrating superior performance at 89% accuracy. The Deep Learning model achieves 82% accuracy on the testing set. In the Financial Sentiment dataset, Naive Bayes emerges as the optimal model, despite reduced overall performance due to dataset limitations and imbalance. This research contributes valuable insights into sentiment analysis methodologies, offering a nuanced understanding of model performance across diverse datasets and enhancing our comprehension of sentiment classification in various contexts. © 2024 IEEE.

关键词： Adversarial machine learning

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Construction, modeling, and control of a three-beam prototype using interactive fiber rubber composites

Construction, modeling, and control of a three-beam prototyp...

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93rd Annual Meeting of the International Association of Applied Mathematics and Mechanics, GAMM 2023

作者： Acevedo-Velazquez, Aline Iobana Keshtkar, Najmeh Mersch, Johannes Katzer, Konrad Cherif, Chokri Zimmermann, Martina Gerlach, Gerald Röbenack, Klaus Institute of Control Theory Faculty of Electrical and Computer Engineering TUD Dresden University of Technology Dresden Germany Institute of Solid-State Electronics Faculty of Electrical and Computer Engineering TUD Dresden University of Technology Dresden Germany Fraunhofer Institute for Material and Beam Technology IWS Dresden Germany Institute for Material Science Faculty of Mechanical Engineering TUD Dresden University of Technology Dresden Germany Institute of Textile Machinery and High Performance Material Technology Faculty of Mechanical Engineering TUD Dresden University of Technology Dresden Germany

In this contribution, we discuss the construction, modeling, and control of a three-beam prototype that utilizes interactive fiber rubber composites integrated with shape memory alloys (SMAs) as actuators. These actuators are integrated into a textile layer and covered with an elastomer layer, providing flexibility and protection to the prototype. A mathematical model was developed to describe the behavior of the prototype, employing system identification techniques. However, precise position control of systems actuated by SMAs is challenging due to their inherent nonlinearities and hysteretic behavior. To tackle this challenge, a proportional-integral (PI) controller was designed based on robust stability conditions. The effectiveness of the designed PI controller was validated through both numerical simulations and real experiments. © 2023 The Authors. Proceedings in Applied Mathematics & Mechanics published by Wiley-VCH GmbH.

关键词： Actuators

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Tensile Testing Based on the Polarization-maintaining Fiber Powered by an SM Optical Fibre 4

Tensile Testing Based on the Polarization-maintaining Fiber ...

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4th International Conference on electrical, computer, Communications and Mechatronics engineering, ICECCME 2024

作者： Kyselak, Martin Vavra, Jiri Vylezich, Zdenek Grenar, David Slavicek, Karel University of Defense Faculty of Military Technology Department of Electrical Engineering Brno Czech Republic University of Technology Faculty of Electrical Eng. and Communication Dept. of Telecommunications Brno Czech Republic Institute of Computer Science Masaryk University IT Infrastructure Division Brno Czech Republic

ISBN: (纸本)9798350391183

Optical fibre sensors are currently used to detect many non-electrical phenomena. The latest sensors analyze the polarization properties of light inside an optical fiber. Unlike interferometric methods, this method uses the interference of two planes of polarization at the output of the optical fibre. The sensors are divided into linear polarizer sensors or multi-fibre interference sensors based on different ways of converting the polarization state into a change in the intensity of the optical radiation. These sensors are particularly suitable for low frequency vibration measurements due to the transformation of beats into the longitudinal deformation of the optical fibre. The aim of the presented measurements was to demonstrate that these polarization vibration sensors have excellent sensitivity and are thus suitable for vibration detection. This paper demonstrates that polarization sensors have excellent sensitivity, are convenient and inexpensive to install, and, due to their non-electric nature, are suitable for hazardous environments. In addition, it is possible to employ these sensors as intrusion detection and prevention systems and remotely power them at a distance of tens of kilometers. The motivation for this research was the lack of information and equipment for vibration testing of optical fibres and the associated polarization changes. © 2024 IEEE.

关键词： Tensile testing

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Exploring the Influence of Digital Media on Secondary School Students' Daily Lives 7

Exploring the Influence of Digital Media on Secondary School...

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7th IEEE International Conference and Workshop Obuda on electrical and Power engineering, CANDO-EPE 2024

作者： Gogh, Elod Kovari, Attila Eszterházy Károly Catholic University Institute of Digital Technology Faculty of Computer Science Eger Hungary Obuda University Institute of Electronics and Communication Systems Kandó Kálmán Faculty of Electrical Engineering Budapest Hungary Institute of Computer Science University of Dunaujvaros Dunaujvaros Hungary

ISBN: (纸本)9798331531119

The focus of this study is to investigate how digital media use affects the daily activities, emotional well-being, and general lifestyle of high school students in relation to education amidst concerns about a 'new terrain or venue' for learning in an era moving full swing towards digitization. The study, conducted with students from grades 9-11, seeks to identify overall trends and associations involving digital media interactions: considering both byproducts of using new technology as an educational tool- in addition discursive aspects allowing for different forms of distraction. In summary, the results showed that digital media use is common and often regarded as educationally beneficial or a positive form of relaxation;however, daily activities are it affected by substantial adverse impacts on everyday life and time management. Suggestions focus on supporting healthy digital media habits, including content-wise engagement and time management tools. © 2024 IEEE.

关键词： Daily Activities Digital Media Digital Media Impact

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Analysis of the Characteristics of a Dualchannel Three-phase Induction Motor 36

Analysis of the Characteristics of a Dualchannel Three-phase...

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36th International Conference on electrical Drives and Power Electronics, EDPE 2023

作者： Korkosz, Mariusz Kutsyk, Andriy Krzywdzinska-Kornak, Krystyna Suliga, Mateusz Semeniuk, Mykola Rzeszow University of Technology Faculty of Electrical and Computer Engineering Rzeszow Poland Lviv Polytechnic National University Institute of Power Engineering and Control System Lviv Ukraine

ISBN: (纸本)9798350322750

The paper analyzes the characteristics of a dual-channel three-phase induction motor. Motors designed for multi-channel power supply are dedicated to applications requiring greater reliability. Each channel allows a certain degree of increase in the ability to continue operation after the failure states. The use of a dual channel power supply is the most common way to increase drive train redundancy. This paper presents the tests of the behaviour of a dual-channel three-phase induction motor in the event of loss of power to one of the phases (in one or two channels) and single-channel operation. A correctly designed motor allows for continuous operation in single-channel power mode. Numerical and laboratory tests confirmed this assumption. It has been demonstrated that the loss of power to one phase of a channel should result in the channel being turned off. © 2023 IEEE.

关键词： Fault tolerance

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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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