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SSRN 2023年

作者： Silvestre, Daniel Rosa, Paulo Hespanha, João P. Silvestre, Carlos Caparica2829-516 Portugal COPELABS The Lusófona University Portugal The Institute for Systems and Robotics Instituto Superior Técnico University of Lisbon Portugal Deimos Engenharia Lisbon Portugal The Department of Electrical and Computer Engineering The Faculty of Science and Technology The University of Macau China The Dept. of Electrical and Computer Eng. University of California Santa BarbaraCA93106-9560 United States

This paper deals with the problem of deciding which inputs or parameters in a dynamic model have the greatest impact on the state or output of a linear system. In over-parameterized models or Multi-Agent Systems (MAS), a sensitivity analysis tool would allow for reduced representations of the same system or to decide which agents should be monitored. The proposed approach consists in constructing the exact reachable set for a linear system (uncertain in the case of parameter sensitivity) and projecting onto the desired coordinates associated with the state or output in question. Given the exact representation, under mild assumptions, sensitivity values are optimal for the proposed functions, although others can be specified using the same sets. Illustrative examples are presented in order to provide insights on the proposed method. © 2023, The Authors. All rights reserved.

关键词： Sensitivity analysis

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CelesTE, theomorphic device for cognitive support of older adults

CelesTE, theomorphic device for cognitive support of older a...

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IEEE Workshop on Advanced robotics and its Social Impacts, ARSO

作者： Gabriele Trovato Yegang Du Scean Mitchell Franco Pariasca Trevejo Rodrigo Lopez Condori Masao Katagiri Rio Obe Manishk Gawande Sarah Cosentino Mehrbod Manavi Felix Carros Rainer Wieching Innovative Global Program Shibaura Institute of Technology Tokyo Japan Future Robotics Organization Waseda University Tokyo Japan Facultad de Ciencias e Ingeniería (Faculty of Science and Engineering) Pontificia Universidad Catolica del Peru (Pontifical Catholic University of Perú PUCP) School of International Liberal Studies Waseda University Tokyo Japan International Research Center for Neurointelligence The University of Tokyo Japan University of Siegen Germany University of Siegen Germany and Fraunhofer FIT Germany

ISBN: (数字)9798350344639

ISBN: (纸本)9798350344646

Healthy ageing is a challenge in societies that can be coped with the help of socially assistive robots. This study introduces CelesTE, a theomorphic device designed to support the well-being of older adults. Building upon the foundations laid by SanTO, the Catholic robot, CelesTE takes the form of an angel in prayer and aims to engage users, particularly those of the Christian Catholic faith. The paper delves into CelesTE’s conceptual evolution, addressing challenges related to religious perceptions, fallibility, and user interaction. Quantitative and qualitative feedback was collected from 14 participants across three European countries. Results indicate generally positive acceptance, although limitation were found. Negative responses are considered particularly valuable for CelesTE’s future development.

关键词： Buildings Europe Aging Assistive robots Older adults Robots

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Constructing a capacitive rotating angle sensing system using a hand-made oscillator and testers

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Physics Education 2021年第3期56卷 035014页

作者： Sakon, Takuo Noissiki, Sota Yamazaki, Junya Mechanical Engineering and Robotics Course Faculty of Advanced Science and Technology Ryukoku University Seta Ooemachi Yokatani 1-5 Otsu Shiga 520-2194 Japan

In this study, we develop a capacitive rotating angle sensing system using a hand-made 1 kHz oscillator, field-effect transistor (FET) amplifier, and tester through a physics experiment conducted in Ryukoku University. Physics majors of the university can study the fundamentals of electronics through this system because it uses electronic elements, such as transistors and FETs. We fabricated the circuit of a rotation angle sensor system using a fan-type and coaxial variable capacitor. The capacitance of the variable capacitors varied linearly with the rotation angle. Owing to the CR high-pass filter, constructed by capacitors and a 100 kΩ resistor, the output voltage of the system was linear with capacitors and the rotation angle. Not only can this system be used to teach university-level physics, but its applications could extend to various industries. © 2021 IOP Publishing Ltd.

关键词： field-effect transistor amplifier twin-T oscillator variable capacitor

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Trust Model Experimental Validation to Improve the Digital Twin Recommendation System

Trust Model Experimental Validation to Improve the Digital T...

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Industrial Cyber-Physical Systems (ICPS)

作者： Flá via Pires Bilal Ahmad Antó nio Paulo Moreira Paulo Leitã o Research Centre in Digitalization and Intelligent Robotics (CeDRI) Instituto Polit&#x00E9 cnico de Bragan&#x00E7 a Campus de Santa Apol&#x00F3 nia Bragan&#x00E7 a Portugal Warwick Manufacturing Group (WMG) University of Warwick Coventry UK INESC TEC - INESC Technology and Science Faculty of Engineering University of Porto Porto Portugal

In the manufacturing domain, the digital twin has become an emerging concept for decision-making through the integration of what-if simulation capabilities. In such systems, the processing of the entire space of alternative solutions is very time-consuming; recommendation systems are used to solve this; however, these suffer from several problems, namely data sparsity and cold-start. The application of trust-based models can mitigate these problems, particularly the cold-start problems, by providing valuable background for the recommendation system. This paper presents the implementation and experimental validation of a trust-based model for improving the digital twin based what-if simulation recommendation system, addressing the cold-start problems. The proposed trust model was applied in an assembly line case study to recommend the best configurations for the optimal number of AGVs (Autonomous Guided Vehicles). The results show that applying the trust-based model with similarity metrics improved the mitigation of the cold-start problem.

关键词： Measurement Conferences Decision making Digital twins Manufacturing

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Revealing preference in popular music through familiarity and brain response

arXiv

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arXiv 2021年

作者： Sangnark, Soravitt Autthasan, Phairot Ponglertnapakorn, Puntawat Chalekarn, Phudit Sudhawiyangkul, Thapanun Trakulruangroj, Manatsanan Songsermsawad, Sarita Assabumrungrat, Rawin Amplod, Supalak Ounjai, Kajornvut Wilaiprasitporn, Theerawit Bio-inspired Robotics and Neural Engineering Lab. School of Information Science and Technology Vidyasirimedhi Institute of Science & Technology Rayong Thailand Vision and Learning Lab. School of Information Science and Technology Vidyasirimedhi Institute of Science & Technology Rayong Thailand School of Energy Science and Engineering Vidyasirimedhi Institute of Science & Technology Rayong Thailand Biological Engineering program Faculty of Engineering Neuroscience Center for Research and Innovation Learning Institute King Mongkut’s University of Technology Thonburi Thailand Faculty of Electrical Engineering Sirindhorn International Institute of Technology Thammasat University Thailand School of Engineering Tohoku University Japan

Music preference was reported as a factor, which could elicit innermost music emotion, entailing accurate ground-truth data and music therapy efficiency. This study executes statistical analysis to investigate the distinction of music preference through familiarity scores, response times (response rates), and brain response (EEG). Twenty participants did self-assessment after listening to two types of popular music’s chorus section: music without lyrics (Melody) and music with lyrics (Song). We then conduct a music preference classification using a support vector machine, random forest, and k-nearest neighbors with the familiarity scores, the response rates, and EEG as the feature vectors. The statistical analysis and F1-score of EEG are congruent, which is the brain’s right side outperformed its left side in classification performance. Finally, these behavioral and brain studies support that preference, familiarity, and response rates can contribute to the music emotion experiment’s design to understand music, emotion, and listener. Not only to the music industry, the biomedical and healthcare industry can also exploit this experiment to collect data from patients to improve the efficiency of healing by music. © 2021, CC BY-NC-ND.

关键词： Decision trees

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Experimental Validation of Sensitivity-Aware Trajectory Planning for a Quadrotor UAV Under Parametric Uncertainty

Experimental Validation of Sensitivity-Aware Trajectory Plan...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Ali Srour Salvatore Marcellini Tommaso Belvedere Marco Cognetti Antonio Franchi Paolo Robuffo Giordano CNRS Univ Rennes Inria IRISA Rennes Cedex France Department of Electrical Engineering and Information Technology PRISMA Lab University of Naples Federico II Naples Italy Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy LAAS-CNRS Université de Toulouse CNRS UPS Toulouse France LAAS-CNRS Robotics and Mechatronics Department Electrical Engineering Mathematics Computer Science (EEMCS) Faculty University of Twente Enschede The Netherlands

ISBN: (数字)9798350357882

ISBN: (纸本)9798350357899

In this work, we provide an experimental vali-dation of the recent concepts of closed-loop state and input sensitivity in the context of robust flight control for a quadrotor (UAV) equipped with the popular PX4 1 1 https://***/ controller. Our objective is to experimentally assess how the optimization of the reference trajectory w.r.t. these sensitivity metrics can improve the closed-loop system performance against model uncertainties commonly affecting the quadrotor systems. To accomplish this, we present a series of experiments designed to validate our optimization approach on two distinct trajectories, with the primary aim of assessing its precision in guiding the quadrotor through the center of a window at relatively high speeds. This approach provides some interesting insights for increasing the closed-loop robustness of the robot state and inputs against physical parametric uncertainties that may degrade the system's performance.

关键词： Uncertainty Sensitivity Target tracking Trajectory planning Perturbation methods Autonomous aerial vehicles Robustness

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Large Models Defining a New Era in Intelligence Testing: A Short Discussion and Exploration

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年第8期9卷 5247-5249页

作者： Rui Zhou Jingwei Ge Jing Yang Peijun Ye Yuchen Li Levente Kovács Macau University of Science and Technology Macau China Waytous Inc. Shenzhen China Department of Automation BNRist Tsinghua University Beijing China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China Department of Informatics Technische Universität München München Germany Robotics College of Óbuda University Budapest Hungary John von Neumann Faculty of Informatics Obuda University Budapest Hungary

This perspective presents a short yet comprehensive discussion on the rapid advancements in the field of intelligent system testing enhancing by large models. We delve into the pivotal aspects of testing, elucidating the roles of the Testing Operating System (TOS), Testing Foundational Intelligence (TFI), and Testing Scenario Engineering (TSE), and also the challenges they face from a testing perspective.

关键词： Testing Germanium Operating systems Data models Large language models Hardware Vehicle dynamics Biological system modeling Accuracy Scenario generation

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High-efficiency and chemical-free microplastic recovery from laundry effluent using parallel and series acoustic focusing systems

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Chemical Engineering Journal 2025年 517卷

作者： Ohori, Yuimaru Iwadare, Yuki Nakayama, Akemi Akiyama, Yoshitake Department of Biomedical Engineering of Science and Technology Shinshu University 3-15-1 Tokida Ueda Nagano386-8567 Japan Department of Mechanical Engineering and Robotics Faculty of Textile Science and Technology Shinshu University 3-15-1 Tokida Ueda Nagano386-8567 Japan

Microplastic fibers (MPFs) released from synthetic textiles during laundering are recognized as a dominant contributor to microplastic (MP) pollution in aquatic environments. Conventional wastewater treatment systems are not designed to capture low-density, fiber-shaped MPs, leading to their widespread environmental release. This study introduces a compact and scalable MP recovery system based on acoustic focusing, designed for chemical-free, continuous, and high-throughput separation. The system integrates a 10-tube parallel separation unit with a three-stage serial concentration module. This configuration achieves a flow rate of 100 mL/min and over 1000-fold enrichment of MP particles. Acoustic radiation forces focus MPs to the centerline of each stainless steel tube, enabling selective extraction without the need for filters, coagulants, or surfactants. Experiments using polystyrene and polyethylene particles, synthetic fibers, and actual laundry effluent confirmed the robustness and versatility of the system. Recovery efficiencies exceeded 90 % across a wide range of particle sizes (13–100 µm), including flexible fibrous MPs. The compact footprint of the device—approximately half the size of an A4 sheet and 2 cm thick—facilitates modular integration and on-site deployment. Compared to existing MP removal methods, this approach offers low maintenance, continuous operation, and high compatibility with domestic wastewater. Overall, this work demonstrates the technical feasibility of acoustic focusing for MP recovery and provides a practical platform for decentralized or household-scale wastewater treatment applications. These results suggest that the developed system could serve as an effective solution for mitigating MP pollution, thereby contributing to sustainable water treatment technologies at both household and industrial scales. © 2025 The Author(s)

关键词： Laundering

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Deep Learning for Brain Age Estimation: A Systematic Review

arXiv

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arXiv 2022年

作者： Tanveer, M. Ganaie, M.A. Beheshti, Iman Goel, Tripti Ahmad, Nehal Lai, Kuan-Ting Huang, Kaizhu Zhang, Yu-Dong Ser, Javier Del Lin, Chin-Teng Department of Mathematics Indian Institute of Technology Indore Simrol Indore453552 India Department of Robotics University of Michigan Ann ArborMI48109 United States Department of Human Anatomy and Cell Science Rady Faculty of Health Sciences Max Rady College of Medicine University of Manitoba WinnipegMB Canada Biomedical Imaging Lab National Institute of Technology Assam Silchar788010 India Department of Electrical Engineering and Computer Science National Taipei University of Technology Taipei Taiwan Department of Electronic Engineering National Taipei University of Technology Taipei Taiwan Data Science Research Center Duke Kunshan University China School of Computing and Mathematical Sciences University of Leicester United Kingdom Derio48160 Spain Bilbao48013 Spain School of Computer Science Faculty of Engineering and Information Technology University of Technology Sydney Sydney Australia

Over the years, Machine Learning models have been successfully employed on neuroimaging data for accurately predicting brain age. Deviations from the healthy brain aging pattern are associated to the accelerated brain aging and brain abnormalities. Hence, efficient and accurate diagnosis techniques are required for eliciting accurate brain age estimations. Several contributions have been reported in the past for this purpose, resorting to different data-driven modeling methods. Recently, deep neural networks (also referred to as deep learning) have become prevalent in manifold neuroimaging studies, including brain age estimation. In this review we offer a comprehensive analysis of the literature related to the adoption of deep learning for brain age estimation with neuroimaging data. We detail and analyze different deep learning architectures used for this application, pausing at research works published to date quantitatively exploring their application. We also examine different brain age estimation frameworks, comparatively exposing their advantages and weaknesses. Finally, the review concludes with an outlook towards future directions that should be followed by prospective studies. The ultimate goal of this paper is to establish a common and informed reference for newcomers and experienced researchers willing to approach brain age estimation by using deep learning models. Copyright © 2022, The Authors. All rights reserved.

关键词： Deep neural networks

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MRPB 1.0: A Unified Benchmark for the Evaluation of Mobile Robot Local Planning Approaches

MRPB 1.0: A Unified Benchmark for the Evaluation of Mobile R...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jian Wen Xuebo Zhang Qingchen Bi Zhangchao Pan Yanghe Feng Jing Yuan Yongchun Fang Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin China School of Marine Science and Technology Northwestern Polytechnical University Xi’an China Faculty of Robot Science and Engineering Northeastern University Shenyang China College of Systems Engineering National University of Defense Technology Changsha China

Local planning is one of the key technologies for mobile robots to achieve full autonomy and has been widely investigated. To evaluate mobile robot local planning approaches in a unified and comprehensive way, a mobile robot local planning benchmark called MRPB 1.0 is newly proposed in this paper. The benchmark facilitates both motion planning researchers who want to compare the performance of a new local planner relative to many other state-of-the-art approaches as well as end users in the mobile robotics industry who want to select a local planner that performs best on some problems of interest. We elaborately design various simulation scenarios to challenge the applicability of local planners, including large-scale, partially unknown, and dynamic complex environments. Furthermore, three types of principled evaluation metrics are carefully designed to quantitatively evaluate the performance of local planners, wherein the safety, efficiency, and smoothness of motions are comprehensively considered. We present the application of the proposed benchmark in two popular open-source local planners to show the practicality of the benchmark. In addition, some insights and guidelines about the design and selection of local planners are also provided. The benchmark website [1] contains all data of the designed simulation scenarios, detailed descriptions of these scenarios, and example code.

关键词： Measurement Industries Service robots Dynamics Benchmark testing Planning Safety

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