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arXiv 2024年

作者： Santina, Cosimo Della Corbato, Carlos Hernandez Sisman, Burak Leiva, Luis A. Arapakis, Ioannis Vakalellis, Michalis Vanderdonckt, Jean D’Haro, LuisFernando Manzi, Guido Becchio, Cristina Elamrani, Aïda Alirezaei, Mohsen Castellano, Ginevra Dimarogonas, Dimos V. Ghosh, Arabinda Haesaert, Sofie Soudjani, Sadegh Stroeve, Sybert Verschure, Paul Bacciu, Davide Deroy, Ophelia Bahrami, Bahador Gallicchio, Claudio Hauert, Sabine Sanz, Ricardo Lanillos, Pablo Iacca, Giovanni Sigg, Stephan Gasulla, Manel Steels, Luc Sierra, Carles Department of Cognitive Robotics Delft University of Technology Delft Netherlands Oberpfaffenhofen Germany Department of Computer Science University of Luxembourg Luxembourg 4 Telefónica I+D Spain AEGIS IT Research GmbH Germany Université catholique de Louvain Belgium Speech Technology and Machine Learning Group ETSI de Telecomunicación Universidad Politécnica de Madrid Madrid Spain Alien Venture Studio Alien Technology Transfer Rome Italy Hamburg Germany Institut Jean Nicod École Normale Supérieure Paris France Research Technology and Development Department Digital Industry Software Helmond Netherlands Department of Information Technology Uppsala University Uppsala Sweden Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Max Planck Institute for Software Systems Kaiserslautern Germany Department of Electrical Engineering Control Systems Group Eindhoven University of Technology Eindhoven Netherlands Amsterdam Netherlands Donders Centre for Neuroscience Radboud University Nijmegen Netherlands Computer Science Department University of Pisa Pisa Italy Faculty of Philosophy Philosophy of Science The Study of Religion Ludwig Maximilian University of Munich Munich Germany School of Engineering Mathematics and Technology University of Bristol Bristol United Kingdom Autonomous Systems Laboratory Universidad Politécnica de Madrid Spain Madrid Spain Department of Information Engineering and Computer Science University of Trento Trento Italy Department of Information and Communications Engineering Aalto University Espoo Finland Department of Electronic Engineering Universitat Politècnica de Catalunya Barcelona Spain Studio Stelluti Brussels Belgium Barcelona Spain

Consciousness has been historically a heavily debated topic in engineering, science, and philosophy. On the contrary, awareness had less success in raising the interest of scholars in the past. However, things are changing as more and more researchers are getting interested in answering questions concerning what awareness is and how it can be artificially generated. The landscape is rapidly evolving, with multiple voices and interpretations of the concept being conceived and techniques being developed. The goal of this paper is to summarize and discuss the ones among these voices that are connected with projects funded by the EIC Pathfinder Challenge called "Awareness Inside", a nonrecurring call for proposals within Horizon Europe that was designed specifically for fostering research on natural and synthetic awareness. In this perspective, we dedicate special attention to challenges and promises of applying synthetic awareness in robotics, as the development of mature techniques in this new field is expected to have a special impact on generating more capable and trustworthy embodied systems. © 2024, CC BY.

关键词： robotics

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Computer Vision-Based Intrusion Detection System for Internet of Things

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Wireless Communications and Mobile Computing 2023年第1期2023卷

作者： Shema Alosaimi Saad M. Almutairi Fekadu Ashine Chamato Industrial Innovation & Robotics Center Faculty of Computers and Information Technology University of Tabuk Tabuk Saudi Arabiaut.edu.sa Department of Chemical Engineering College of Biological and Chemical Engineering Addis Ababa Science and Technology University Ethiopia

The Internet of Things (IoT) contributes to improving and automating the quality of our lives via devices and applications that progressively become more interconnected without user intervention in many areas such as smart homes, smart cities, smart transportation, and smart environment. However, IoT devices are vulnerable to cyberattacks. We cannot prevent all attacks, but they can be detected and resolved with the least damage. Moreover, they are connected for long periods of time without user intervention. Additionally, since they remain connected for long periods of time without user intervention, creative solutions must be devised to keep them safe, such as machine learning. The reach goal is to evaluate different machine learning algorithms to detect IoT network attacks quickly and effectively. The Bot-IoT dataset, which is derived from the original dataset, is used to evaluate various detection algorithms. Five different machine learning algorithms were tested on the two databases, and the results of the tests revealed high and accurate performance at all levels of the dataset.

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Online support for research activities by high school and junior high school students 38

Online support for research activities by high school and ju...

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38th International Cosmic Ray Conference, ICRC 2023

作者： Enomoto, H. Abe, H. Hoashi, R. Kimura, M. Kita, R. Kobayashi, N. Kono, R. Kumagai, K. Maruta, K. Nakagawa, R. Nose, C. Saito, R.J. Sasaki, M. Takanashi, M. Tanaka, K.S. Accel Kitchen LLC 6-3 Aramaki Aza-Aoba Aoba-ku Sendai Japan Tokyo Institute of Technology Department of Earth and Planetary Science 2-12-1 Ookayama Meguro-ku Tokyo Japan Tohoku University Department of Mechanical and Aerospace Engineering 6-3 Aramaki Aza-Aoba Aoba-ku Sendai Japan Tohoku University Department of Earth Science 6-3 Aramaki Aza-Aoba Aoba-ku Sendai Japan Tokyo Denki University Department of Robotics and Mechatronics 5 Senju Asahi-cho Adachi-ku Tokyo Japan University of Tokyo Natural Sciences I 3-8-1 Komaba Meguro-ku Tokyo Japan Tohoku University Department of Quantum Science and Energy Engineering 6-3 Aramaki Aza-Aoba Aoba-ku Sendai Japan Tohoku University Department of Chemistry 6-3 Aramaki Aza-Aoba Aoba-ku Sendai Japan Tohoku University Planetary Plasma and Atmospheric Research Center 6-3 Aramaki Aza-Aoba Aoba-ku Sendai Japan Tohoku University Department of Physics 6-3 Aramaki Aza-Aoba Aoba-ku Sendai Japan Tohoku University Department of Health Sciences 2-1 Seiryo-machi Aoba-ku Miyagi Sendai Japan 1-5-1 Chofugaoka Chofu Tokyo Japan Waseda University Faculty of Science and Engineering 3-4-1 Okubo Shinjuku-ku Tokyo Japan

Accel Kitchen LLC has launched Japan largest cosmic-ray outreach network providing handy cosmic-ray detectors to more than 100 high school and junior high school students and supporting their research activities remotely with online communication tools. There are over 30 various and unique research topics conducted by students e.g. measurement of the cosmic-ray flux at Japan’s highest mountain Mt. Fuji to investigate the relationship with altitude, comparison of cosmic-ray flux with sunspot counts observed by the school’s telescope, collaboration with students in Argentina to compare the cosmic-ray flux between Japan and Argentina to observe the effect of the South Atlantic Anomaly. Online research support by undergraduate and graduate students enables them to conduct scientific research and some of their progress has been published in peer-review *** this presentation, we will introduce their research activities. © Copyright owned by the author(s) under the terms of the Creative Commons.

关键词： Cosmic ray detectors

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6G communications through sub-Terahertz CMOS power amplifiers: Design challenges and trends

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Heliyon 2025年第10期11卷

作者： Lee, Jun Yan Wu, Duo Guo, Xuanrui Tan, Jian Ding Yew, Teh Jia Ng, Zi Neng Bhuiyan, Mohammad Arif Sobhan Miraz, Mahdi H. School of Artificial Intelligence and Robotics Xiamen University Malaysia Selangor Malaysia School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai China School of Computing and Data Science Xiamen University Malaysia Selangor Malaysia School of Computing Faculty of Arts Science and Technology Wrexham University Wrexham United Kingdom Faculty of Computing Engineering and Science University of South Wales Pontypridd United Kingdom

The fifth-generation (5G) network faces limitations in supporting emerging applications, such as artificial intelligence (AI), virtual reality (VR) and digital twins. To overcome these confines, sub-Terahertz (sub-THz) and Terahertz (THz) technologies are considered to be key enablers of effective 6G wireless communications, offering higher transmission speeds, longer range and wider bandwidth. Achieving these capabilities requires careful engineering of 6G transceivers, with a focus on efficient power amplifiers (PAs) in the front-end, which play a critical role in effectively amplifying and transmitting signals over long distances. Complimentary metal-oxide-semiconductor (CMOS) technology-based PA in sub-THz suffers severe parasitic and limited maximum frequency, however, this has eventually been solved by different design architectures and scaling down of CMOS technology to break through the frequency limitations. In this article, we reviewed the potentials and capabilities of CMOS technology for designing 6G hardware, identified the state-of-art PA designs in the sub-THz band and then examined as well as compared the designs to identify the suitable design strategies for better performance. The circuit optimisation techniques, such as coupled-line, passive gain boosting method, zero-degree power splitting, load-pull matching, diode and capacitor linearisation for better gain, saturated output power and power added efficiency, are considered for the PA design architectures at different sub-THz bands. Furthermore, these methods are summarised and discussed with their advantages and disadvantages in lieu with their performances. The PA design trends, challenges and future perspectives are also presented and discussed. Therefore, this comprehensive review article will serve as a comparative study and reference for future PA designs for radio frequency integrated circuits (RFIC). © 2025 The Authors

关键词： 6G CMOS Front-end Power amplifier Sub-THz Transceiver Transmitter

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Determining the Fault Position in the Power System

Determining the Fault Position in the Power System

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International Conference on Smart Systems and Technologies (SST)

作者： Mario Šipoš Zvonimir Klaić Emmanuel Karlo Nyarko Krešimir Fekete Mario Primorac Damir Sljivac Croatian Armed Forces Zagreb Croatia Faculty of Electrical Engineering Computer Science and Information Technology Osijek Osijek Croatia Chair of Automation and Robotics Faculty of Electrical Engineering Computer Science and Information Technology Osijek Osijek Croatia

ISBN: (数字)9781728197593

ISBN: (纸本)9781728197609

This paper describes the determination of the fault location in the power system. This problem is solved in two steps: by determining the line on which the fault occurred using the classification algorithm of the decision tree and determining the fault location on the line by linear regression. In the first step, the decision tree algorithm is used to classify the short circuit and to determine the faulted line based on the information about the residual voltages (voltage dips) on the buses due to the occurrence of a short circuit. In the second step, linear regression is used to find the fault location on the faulted line. The algorithm is tested using the 39-bus IEEE test system.

关键词： Decision trees Voltage fluctuations Fault location Voltage measurement Linear regression Meters Measurement uncertainty

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GauSS-MI: Gaussian Splatting Shannon Mutual Information for Active 3D Reconstruction

arXiv

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arXiv 2025年

作者： Xie, Yuhan Cai, Yixi Zhang, Yinqiang Yang, Lei Pan, Jia School of Computing and Data Science The University of Hong Kong Hong Kong Division of Robotics Perception and Learning KTH Royal Institute of Technology Stockholm Sweden Faculty of Engineering The University of Hong Kong Hong Kong Centre for Transformative Garment Production Hong Kong

This research tackles the challenge of real-time active view selection and uncertainty quantification on visual quality for active 3D reconstruction. Visual quality is a critical aspect of 3D reconstruction. Recent advancements such as Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS) have notably enhanced the image rendering quality of reconstruction models. Nonetheless, the efficient and effective acquisition of input images for reconstruction—specifically, the selection of the most informative viewpoint—remains an open challenge, which is crucial for active reconstruction. Existing studies have primarily focused on evaluating geometric completeness and exploring unobserved or unknown regions, without direct evaluation of the visual uncertainty within the reconstruction model. To address this gap, this paper introduces a probabilistic model that quantifies visual uncertainty for each Gaussian. Leveraging Shannon Mutual Information, we formulate a criterion, Gaussian Splatting Shannon Mutual Information (GauSS-MI), for real-time assessment of visual mutual information from novel viewpoints, facilitating the selection of next best view. GauSS-MI is implemented within an active reconstruction system integrated with a view and motion planner. Extensive experiments across various simulated and real-world scenes showcase the superior visual quality and reconstruction efficiency performance of the proposed system. Copyright © 2025, The Authors. All rights reserved.

关键词： Gaussian distribution

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Risk Assessment for the Prevention of Managed Aquifer Recharge (MAR) Facility Failure During the Operation and the Expansion Phases

SSRN

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SSRN 2022年

作者： Sitek, Slawomir Janik, Krzysztof Dąbrowska, Dominika Różkowski, Jacek Wojtal, Grzegorz Mukawa, Jakub Witkowski, Andrzej Jaroslaw Jakóbczyk-Karpierz, Sabina Institute of Earth Sciences Faculty of Natural Sciences University of Silesia in Katowice Będzińska Str. 60 Sosnowiec41-200 Poland Tarnów Waterworks Ltd. Narutowicza Str. 37 Tarnów 33-100 Poland Department of Power Systems and Environmental Protection Facilities The Faculty of Mechanical Engineering and Robotics AGH University of Science And Technology al. Mickiewicza 30 Kraków30-059 Poland

This comprehensive risk assessment, done for a MAR facility, covers two MAR techniques: induced bank filtration and infiltration ditches during the operation and planned potential expansion phases. For this purpose, the semi-quantitative risk assessment matrix and the probabilistic risk assessment – fault tree analysis (PRA-FTA) – methods were used, and their advantages and limitations are analysed. Both methods examine various technical and non-technical risks that may pose a threat to the efficient functioning of the MAR facility in Tarnów, which supplies about 25% of the city’s population with drinking water. This study indicates that the predominant risks potentially reducing MAR efficiency or leading to MAR failure are technical ones. According to the PRA-FTA method, if no preventive measures are taken, there is a 99 and 98% probability of the MAR system's failure during the operational and expansion phases, respectively. The results indicate that the most serious basic risk is associated with the insufficient initial removal from the recharge river water of suspended solids, which clog infiltration ditches. In the future, the negative impacts on the MAR facility may increase as a result of climate change risks – the more frequent occurrence of drought periods and intense short-term rainfall events, and risks associated with the specificity of the study area, i.e. the immediate vicinity of a large industrial zone, where groundwater contamination has been recorded. On the basis of the present results, a detailed risk management plan is to be developed in the next stages of this research. © 2022, The Authors. All rights reserved.

关键词： Infiltration

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Analysis of the impact of oil viscosity on the vibroacoustic signal of a planetary gearbox operating at variable load

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Diagnostyka 2020年第4期21卷 43-49页

作者： Pawlik, Pawel AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Mechanics and Vibroacoustics al. A. Mickiewicza 30 Kraków30-059 Poland

The paper presents the analysis of the impact of oil viscosity on the vibroacoustic signal generated by a planetary gearbox operating at variable load. A diagnostic experiment was conducted at the laboratory rig for testing planetary gearbox which was lubricated with a dedicated ISO 150 viscosity class oil and much lower viscosity class 5W40 oil. The gearbox was subjected to two types of sinusoidal load and to a random load corresponding to the load of the main gearbox of the KWK 1500s bucket wheel excavator used in opencast mining. The diagnostic method was proposed based on the analysis of the dependence of the gearbox characteristic orders amplitudes on the load. The effectiveness of the method in detecting the changes in vibration acceleration signals caused by the oil viscosity changes was proved. © 2020 Polish Society of Technical Diagnostics. All rights reserved.

关键词： Viscosity

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Gaussian Process Gradient Maps for Loop-Closure Detection in Unstructured Planetary Environments

arXiv

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arXiv 2020年

作者： Le Gentil, Cedric Vayugundla, Mallikarjuna Giubilato, Riccardo Stürzl, Wolfgang Vidal-Calleja, Teresa Triebel, Rudolph Centre for Autonomous Systems Faculty of Engineering and IT University of Technology Sydney Australia Institute of Robotics and Mechatronics Germany Department of Computer Science Germany

The ability to recognize previously mapped locations is an essential feature for autonomous systems. Unstructured planetary-like environments pose a major challenge to these systems due to the similarity of the terrain. As a result, the ambiguity of the visual appearance makes state-of-the-art visual place recognition approaches less effective than in urban or man-made environments. This paper presents a method to solve the loop closure problem using only spatial information. The key idea is to use a novel continuous and probabilistic representations of terrain elevation maps. Given 3D point clouds of the environment, the proposed approach exploits Gaussian Process (GP) regression with linear operators to generate continuous gradient maps of the terrain elevation information. Traditional image registration techniques are then used to search for potential matches. Loop closures are verified by leveraging both the spatial characteristic of the elevation maps (SE(2) registration) and the probabilistic nature of the GP representation. A submap-based localization and mapping framework is used to demonstrate the validity of the proposed approach. The performance of this pipeline is evaluated and benchmarked using real data from a rover that is equipped with a stereo camera and navigates in challenging, unstructured planetary-like environments in Morocco and on Mt. Etna. Copyright © 2020, The Authors. All rights reserved.

关键词： Gaussian noise (electronic)

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Hearing tester - Mobile application for hearing loss screening

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Diagnostyka 2019年第3期20卷 87-95页

作者： Krzyżek, Krzysztof Maciej, Klaczyński GE Healthcare IT CoE AVIA Building Zyczkowskiego 20 Krakow31-864 Poland AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Adama Mickiewicza 30 Kraków30-059 Poland

The article presents results of the work on creation of an application for Android mobile devices to perform hearing screening using pure-tone air conduction audiometry. The application was created in accordance with the procedure defined in the ISO 8253-1: 2010 standard and is to serve the widest possible group of people in a domestic environment, using headphones included with mobile devices. The effectiveness of the application was verified by performing comparative hearing tests on a representative group of patients with different hearing status. Validation was performed using the Interacoustics AD629 clinical audiometer and procedures adopted in the standards. The results of the test comparison were satisfactory. The mean error of the hearing threshold tested using the mobile application, compared to the clinical audiometer was 5.2 dBHL. In addition, the hearing threshold curves for the mobile application are similar in shape to the hearing thresholds for the clinical audiometer and coincide with the auditory experiences of the patients. © 2019 Polish Society of Technical Diagnostics. All rights reserved.

关键词： Audition

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