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4th International Conference on Big Data, Artificial Intelligence and Internet of Things engineering, ICBAIE 2023

作者： Teng, Zi Wang, Huan Yu, Xiaosheng Wu, Chengdong Northeastern University Faculty of Robotics Science and Engineering Shenyang110167 China

ISBN: (纸本)9798350343618

In real-world long-range surveillance systems, thermal face images captured from a distance suffer from low resolution and noise, posing challenges for thermal-to-visible face image translation. Current methods assume similar resolutions and noise-free conditions between thermal and visible images, limiting their applicability. To address these issues, we propose the Degradation Adaption Network (DANet), which synthesizes high-quality visible images from low-quality thermal images. DANet combines pretrained Generative Adversarial Network (GAN) blocks with a U-shaped deep neural network (DNN) to incorporate faithful facial priors, including geometry, facial textures, and colors. Additionally, an unsupervised degradation representation learning scheme is developed to capture abstract degradation representations of degraded thermal images in a representation space. This approach allows DANet to adapt spatial features based on the degradation representation, striking a balance between fidelity and texture faithfulness using degradation-aware feature fusion (DAFF) blocks. Experimental results demonstrate that DANet outperforms state-of-the-art methods, showing its effectiveness in handling real-world low-quality thermal images across diverse practical applications. © 2023 IEEE.

关键词： Generative adversarial networks

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Optimal Control for Minimizing Inescapable Ellipsoids in Linear Periodically Time-Varying Systems Under Bounded Disturbances

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IEEE Control Systems Letters 2025年 9卷 228-233页

作者： Dogadin, Egor Peregudin, Alexey ITMO University Faculty of Control Systems and Robotics St. Petersburg Russia University of Sheffield School of Electrical and Electronic Engineering Sheffield United Kingdom

This letter addresses optimal controller design for periodic linear time-varying systems under unknown-but-bounded disturbances. We introduce differential Lyapunov-type equations to describe time-varying inescapable ellipsoids and define an integral-based measure of their size. To minimize this measure, we develop a differential Riccati equation-based approach that provides exact solutions for state-feedback, observer synthesis, and output-feedback control. A key component is a systematic procedure for determining the optimal time-varying parameter, reducing an infinite-dimensional optimization to a simple iterative process. A numerical example validates the method’s effectiveness. © 2017 IEEE.

关键词： State feedback

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Exploring the Effect of Attachment Position of Electrodes for EMG-Based Detection of Minimum Effective Load on Muscles

Exploring the Effect of Attachment Position of Electrodes fo...

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2025 IEEE/SICE International Symposium on System Integration, SII 2025

作者： Miyake, Tamon Sugano, Shigeki Waseda University Future Robotics Organization Tokyo Japan Waseda University Faculty of Science and Engineering Tokyo Japan

ISBN: (纸本)9798331531614

Isokinetic training leads to rapid skeletal muscle hypertrophy, while slow-speed resistance training is effective for promoting muscle hypertrophy. It is essential to use an effective resistance load that minimizes injury risk in skeletal muscle hypertrophy interventions. Previous studies have indicated that surface electromyogram (EMG) measurements are useful for detecting the load threshold (minimum effective load). However, the attachment position of the electrodes affects the characteristics of the EMG signal readings. It remains unclear whether the system for detecting the load threshold functions correctly when the electrode attachment position shifts. The objective of this study is to explore how the attachment position of EMG electrodes affects the detection of the load threshold. We hypothesized that frequency analysis of EMG signals might be a reliable method for checking the electrode attachment position, given the alternating current nature of EMG signals. As a result, as long as the EMG electrode is placed on the muscle, slight positional shifts are not very critical for detecting the load threshold. In addition, results show that we can verify whether the electrode attachment position is appropriate for detecting the load threshold and make adjustments by examining the magnitude data of the EMG signal frequency bands. © 2025 IEEE.

关键词： Electromyography

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Enhancing robotics Performance: Exploring the Role of Cloud Computing in Planning Tasks 29

Enhancing Robotics Performance: Exploring the Role of Cloud ...

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29th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2024

作者： Melo, Eduardo Pinto, Rui Tavares, Pedro University of Porto Dept. of Electrical and Computer Engineering Faculty of Engineering Porto Portugal Faculty of Engineering University of Porto Systec Arise Porto Portugal Sarkkis Robotics Porto Portugal

ISBN: (纸本)9798350361230

The rapid growth of the robotics field is driven by increasing demand for enhanced performance, characterized by high reliability and repeatability capabilities. As industries strive to maintain elevated quality performance throughout their production pipelines, the complexity of the challenges they face grows in tandem. This complexity extends to processing algorithms, needing greater computational power for faster and more effective solutions. In this context, emerging technologies such as Cloud Computing present promising opportunities to augment planning tasks in robotics. This literature review explores the intersection of robotics and Cloud Computing, investigating how leveraging cloud resources can enhance planning performance in response to evolving industry demands. © 2024 IEEE.

关键词： Cloud platforms

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Evaluation of a Finger Dummy with a Built-in Sensor System for Safety Assessment

Evaluation of a Finger Dummy with a Built-in Sensor System f...

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2024 IEEE/SICE International Symposium on System Integration, SII 2024

作者： Li, Fengyu Toyama Prefectural University Faculty of Engineering Department of Intelligent Robotics 5180 Kurokawa Toyama Imizu Japan

ISBN: (纸本)9798350312072

Labor shortages and low productivity demand more collaborative operation systems using industrial robots in the current global manufacturing industry. Injuries will possibly occur due to the closer interaction between the robot system and humans. In the field of skin contact safety, the techniques and methods of quantitative assessment are expected. A human dummy consisting of built-in sensors is a solution to obtain the internal physical field. In this study, a dummy finger equipped with a built-in film sensor for contact safety assessment is proposed and evaluated by experiment. The strain measurement model and strain energy sensing principle, which are the most general assessment indexes, are explained. Two kinds of contact conditions on the finger dummy, press and press with slip, are conducted for evaluation. Shear strain and vibration are both successfully measured and reflected in the signal. Measurement of the strain energy transformed from the strain is validated by comparing it with the work result obtained from the force sensor. This sensor system combined with the human body model is evaluated as potentially feasible for assessing physical contact safety. © 2024 IEEE.

关键词： Shear strain

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An Enhanced Ensemble-Based Long Short-Term Memory Approach for Traffic Volume Prediction

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Computers, Materials & Continua 2024年第3期78卷 3585-3602页

作者： Duy Quang Tran Huy Q.Tran Minh Van Nguyen Faculty of Civil Engineering Nha Trang UniversityNha Trang650000Vietnam Robotics and Mechatronics Research Group Faculty of Engineering and TechnologyNguyen Tat Thanh UniversityHo Chi Minh City700000Vietnam Department of Civil Engineering Ho Chi Minh City University of Technology and EducationHo Chi Minh City700000Vietnam

With the advancement of artificial intelligence,traffic forecasting is gaining more and more interest in optimizing route planning and enhancing service *** volume is an influential parameter for planning and operating traffic *** study proposed an improved ensemble-based deep learning method to solve traffic volume prediction problems.A set of optimal hyperparameters is also applied for the suggested approach to improve the performance of the learning *** fusion of these methodologies aims to harness ensemble empirical mode decomposition’s capacity to discern complex traffic patterns and long short-term memory’s proficiency in learning temporal ***,a dataset for automatic vehicle identification is obtained and utilized in the preprocessing stage of the ensemble empirical mode decomposition *** second aspect involves predicting traffic volume using the long short-term memory ***,the study employs a trial-and-error approach to select a set of optimal hyperparameters,including the lookback window,the number of neurons in the hidden layers,and the gradient descent ***,the fusion of the obtained results leads to a final traffic volume *** experimental results show that the proposed method outperforms other benchmarks regarding various evaluation measures,including mean absolute error,root mean squared error,mean absolute percentage error,and *** achieved R-squared value reaches an impressive 98%,while the other evaluation indices surpass the *** findings highlight the accuracy of traffic pattern ***,this offers promising prospects for enhancing transportation management systems and urban infrastructure planning.

关键词： Ensemble empirical mode decomposition traffic volume prediction long short-term memory optimal hyperparameters deep learning

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Low-Cost High Gain Sea Pimp-Shaped Dual Band Monopole Antenna for Mobile 4G/5G/LTE41/WLAN Application

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Progress In Electromagnetics Research C 2024年 140卷 41-51页

作者： Sakulchat, Suwat Ruengwaree, Amnoiy Naktong, Watcharaphon Unahalekhaka, Pramuk Promput, Sommart Department of Electrical Engineering Faculty of Engineering and Architecture Rajamangala University of Technology Suvarnabhumi Phranakhon Si Ayutthaya13000 Thailand Department of Electronics and Telecommunication Engineering Faculty of Engineering Rajamangala University of Technology Thanyaburi Pathum Thani 12110 Thailand Department of Telecommunications Engineering Faculty of Engineering and Technology Rajamangala University of Technology Isan Nakhon Ratchasima30000 Thailand Department of Electrical Engineering Faculty of Engineering and Architecture Rajamangala University of Technology Suvarnabhumi Nonthaburi11000 Thailand Department of Mechatronics and Robotics Engineering School of Engineering and Innovation Rajamangala University of Technology Tawan-ok Chonburi 20110 Thailand

This research aimed to design a sea pimp-shaped monopole antenna by using etching and cutting techniques, combined with the addition of reflector, to modify the antenna structure to support the bandwidth standard according to GSM-850 (0.82–0.90 GHz), GSM900 (0.88–0.96 GHz), DCS (1.72–1.88 GHz), PCS (1.85–1.99 GHz), UMTS (1.92–2.17 GHz), 5G Band40 (2.30–2.40 GHz), LTE41 (2.496–2.690 GHz), and WLAN IEEE 802.11b/g/n (2.4–2.48 GHz). This antenna used a galvanized metal sheet with a conductivity of 3.56 × 107 s/m to fabricate the structure of the radiator, ground plane, and reflector. The reflector modifies radiation patterns and increases the gain of the antenna. The antenna structure used the CST program for simulation to determine the optimal parameters and property values. As a result of replication, the antenna had dual bands with a reflection coefficient (S11) at 915 MHz (736–1040 MHz) of −26.70 dB and a frequency at 2.28 GHz (1.68–2.94 GHz) of −20.15 dB. The antenna gains are 6.70 and 8.47 dBi, an increase of 83.56% and 44.04% over the antenna without a reflector, respectively. The antenna had a unidirectional pattern in all the frequency ranges which can be utilized for the purpose of RF energy-harvesting (RF-EH) systems to provide power to low-power electronic systems. © 2024, Electromagnetics Academy. All rights reserved.

关键词： Monopole antennas

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Position-aware pushing and grasping synergy with deep reinforcement learning in clutter

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CAAI Transactions on Intelligence Technology 2024年第3期9卷 738-755页

作者： Min Zhao Guoyu Zuo Shuangyue Yu Daoxiong Gong Zihao Wang Ouattara Sie Intelligent Robotics Laboratory Faculty of Information TechnologyBeijing University of TechnologyBeijingChina Beijing Key Laboratory of Computational Intelligence and Intelligent Systems BeijingChina Laboratory of Biomechatronics and Intelligent Robotics(BIRO) Department of Mechanical and Aerospace EngineeringNorth Carolina State UniversityRaleighNorth CarolinaUSA

The positional information of objects is crucial to enable robots to perform grasping and pushing manipulations in *** effectively perform grasping and pushing manipu-lations,robots need to perceive the position information of objects,including the co-ordinates and spatial relationship between objects(e.g.,proximity,adjacency).The authors propose an end-to-end position-aware deep Q-learning framework to achieve efficient collaborative pushing and grasping in ***,a pair of conjugate pushing and grasping attention modules are proposed to capture the position information of objects and generate high-quality affordance maps of operating positions with features of pushing and grasping *** addition,the authors propose an object isolation metric and clutter metric based on instance segmentation to measure the spatial re-lationships between objects in cluttered *** further enhance the perception capacity of position information of the objects,the authors associate the change in the object isolation metric and clutter metric in cluttered environment before and after performing the action with reward function.A series of experiments are carried out in simulation and real-world which indicate that the method improves sample efficiency,task completion rate,grasping success rate and action efficiency compared to state-of-the-art end-to-end *** that the authors’system can be robustly applied to real-world use and extended to novel *** material is available at https://***/NhG\_k5v3NnM}{https://***/NhG\_k5v3NnM.

关键词： deep learning deep neural networks intelligent robots

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A Head-Mounted Assistive Device for Visually Impaired People with Warning System from Object Detection and Depth Estimation 4

A Head-Mounted Assistive Device for Visually Impaired People...

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4th International Conference on Emerging Electrical Energy, Electronics and Computing, ICE4CT 2022

作者： Sae-Jia, Boonthicha Paderon, Rodolfo Lian Srimuninnimit, Thatchai Dept. of Robotics and Artificial Intelligence Engineering Faculty of Engineering Chulalongkorn University Thailand Faculty of Medicine Chulalongkorn University Thailand

People with visual impairment use white cane as their traditional method for perceiving the surroundings. However, the utilization of a cane is limited by its length and orientation. In Thailand, the obstacles on paveway in daily life are not located only on the floor but also above knee level which sometimes could be harmful to pedestrians, especially blind people. A head-mounted assistive device is developed to be an enhancement used with a cane for the visually impaired to comprehend their environment both lower and higher the knee level. The assistive device is designed to be compact and light-weight. It could also send the tactile feedback as a warning from vibration motors mounted on the device. To generate a warning signal, YOLOv4 is used to detect the location of obstacles and depth map from the stereo camera is used to estimate the distance mapping into 4 defined ranges: dangerous, very close, close and fine. The results indicate that the head-mounted assistive device has the ability to perceive obstacles locating farther than 0.9 m. The prediction returned 9.23%, 14.63% and 7.86% error when estimating the depth of obstacles at 1.3 m., 2.8 m. and 4.2 m. respectively. The average execution time for the device to return the command controlling vibration motors is 0.13 second and the maximum estimated time for the motor to send the haptic feedback is 1.05 second. © Published under licence by IOP Publishing Ltd.

关键词： Object detection

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A study on design and control of Omni-directional mecanum wheels based AGV system 14

A study on design and control of Omni-directional mecanum wh...

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14th International Conference on Computing Communication and Networking Technologies, ICCCNT 2023

作者： Bhargava, Ankur Singholi, Ajay S. Suhaib, Mohd. Jamia Millia Islamia Faculty of Engineering and Technology Delhi India University School of Robotics & Automation Robotics & Automation Delhi India

ISBN: (纸本)9798350335095

Automated guided vehicles (AGVs) have emerged as crucial equipment in sectors that demand reliable and effective transportation and material handling systems. The design and control features of AGV systems are discussed in general terms in this study, with an emphasis on important factors and recent developments. The vehicle platform, sensing and perception systems, navigational algorithms, and control architecture are all essential parts of the design of an AGV system. To fit the application's unique requirements, the vehicle platform must be properly developed, taking into account elements like load capacity, maneuverability, and power supply. The AGV can sense its surroundings and maneuver on its own thanks to the choice and integration of sensors including LiDAR, cameras, and encoders. Simultaneous Localization and Mapping (SLAM), one of the most sophisticated perception algorithms, is essential for precisely mapping the environment and locating the AGV within it. Because of navigation algorithms, AGVs can efficiently plan their routes, avoid dangers, and reach their targets. Methods for establishing a path enable smooth, collision-free travel by accounting for factors including distance, time, and dynamic restrictions. Real-time control systems regulate the AGV's speed, acceleration, and steering, enabling accurate and secure operation in a variety of situations. The controls design should enable monitoring of the system and detection of problems in along with enabling integration of perception, navigating, and control modules. This paper examines the mechanical and electrical design of a test prototype autonomous guided vehicle (AGV). The SLAM technique apply in the present work successfully resolves the localization problem in conjunction with the navigation algorithm. © 2023 IEEE.

关键词： Electric loads

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