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2024 International Automatic Control Conference, CACS 2024

作者： Song, Kai-Tai Ou, Szu-Chen National Yang Ming Chiao Yang Ming Chiao Tung University Institute of Electrical and Control Engineering College of Electrical and Computer Engineering Hsinchu300093 Taiwan National Yang Ming Chiao Tung University Graduate Degree Program of Robotics Hsinchu300093 Taiwan

ISBN: (纸本)9798350354904

This paper presents a programming system for a robot manipulator using a hand-held demonstration tool. In this system, a user holds the self-designed tool to demonstrate a desired motion path, and the robot arm replicates the learned trajectory. The path-demonstration tool, including optical tags (OT) and an IMU, is designed to collect trajectory data from hand motion. Sensor data fusion allows the system to track accurately the demonstrated trajectory. A calibration procedure is proposed to transform the trajectory from tool's coordinate system to robot's coordinate system. A cubic spline-based trajectory planning method is proposed to ensure smooth reproduction of the learned trajectory in both time and space. Experimental results show that the robot is able to replicate squared and curved trajectories collected from the path-demonstration tool. The average position error is within 2.435 mm in XYZ directions and the average orientation error is within 0.65 degrees. © 2024 IEEE.

关键词： Demonstrations

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Correntropy-Based Data Selective Adaptive Filtering

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IEEE Transactions on Circuits and Systems I: Regular Papers 2024年第2期71卷 754-766页

作者： Chien, Ying-Ren Wu, Sheng-Teng Tsao, Hen-Wai Diniz, Paulo S.R. Adaptive and Autonomous Communication Laboratory Department of Electrical Engineering National Ilan University Yilan City260007 Taiwan College of Electrical Engineering and Computer Science Graduate Institute of Communication Engineering National Taiwan University Taipei10617 Taiwan Program of Electrical Engineering Department of Electronics and Computer Engineering COPPE/Poli Universidade Federal do Rio de Janeiro Rio de Janeiro68504 Brazil

Data selection can be used in conjunction with adaptive filtering algorithms to avoid unnecessary weight updating and thereby reduce computational overhead. This paper presents a novel correntropy-based data selection method as an alternative to conventional data selection mechanisms based on squared error values. We developed a variable correntropy sensing algorithm to maximize the instantaneous correntropy function for the Gaussian kernel function to mitigate the impact of impulse noise and other forms of noise that can be disregarded in data selection. The proposed data selection mechanism can be implemented with any adaptive filtering algorithm. In simulations, the proposed method (implemented with the least mean squared algorithm) outperformed comparable error-based data selection schemes in terms of hit rate and miss rate, and the resulting weight updating ratio was close to the expected weight updating ratio. © 2023 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.

关键词： Adaptive filters

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A Design for Improvement of Visual SLAM in Dynamic Environments Using Feature-Point Removal of Moving Persons

A Design for Improvement of Visual SLAM in Dynamic Environme...

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2023 International Automatic Control Conference, CACS 2023

作者： Song, Kai-Tai Meng, Ching-Hao National Yang Ming Chiao Tung University Institute of Electrical and Control Engineering College of Electrical and Computer Engineering Hsinchu886-3-5731865 Taiwan National Yang Ming Chiao Tung University Graduate Degree Program of Robotics College of Engineering Hsinchu Taiwan

ISBN: (纸本)9798350306354

This paper presents a design to improve the robustness of visual SLAM(vSLAM). A processing step of feature-removal is added to the tracking thread of the conventional ORB-SLAM2 algorithm to improve the localization accuracy of a mobile robot in an environment with moving persons. Instance segmentation and motion tracking are intergrated to identify motion state of people in an image. ORB feature points belonging to moving persons are removed for further processing of the vSLAM pipeline. The advantage of this method is that the vSLAM can remove feature points of moving people, while retain those belonging to static people in the environment, which improves the accuracy of robot pose estimation. The improved ORB-SLAM2 algorithm has been implemented in a NVIDIA Xavier embedded system, which is integrated to a mobile robot. In practical robot navigation experiments, the average positioning error of the proposed method is within 4cm for 22.4m travel distance. Compared with conventional ORB-SLAM2, the average accuracy of our vSLAM method improves 97% in a dynamic environment with moving people. © 2023 IEEE.

关键词： Mobile robots

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Temperature-Dependent Hydrogen Modulations of Ultra-Scaled a-IGZO Thin Film Transistor Under Gate Bias Stress

IEEE Open Journal of Nanotechnology

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IEEE Open Journal of Nanotechnology 2024年 5卷 9-16页

作者： Aslam, Muhammad Chang, Shu-Wei Chuang, Min-Hui Chen, Yi-Ho Lee, Yao-Jen Li, Yiming Parallel and Scientific Computing Laboratory National Yang Ming Chiao Tung University Hsinchu300093 Taiwan Electrical Engineering and Computer Science International Graduate Program National Yang Ming Chiao Tung University Hsinchu300093 Taiwan Department of Electrical Engineering National Cheng Kung University Tainan701401 Taiwan Institute of Communications Engineering National Yang Ming Chiao Tung University Hsinchu300093 Taiwan Graduate Degree Program of College of Electrical and Computer Engineering National Yang Ming Chiao Tung University Hsinchu300093 Taiwan Institute of Pioneer Semiconductor Innovation National Yang Ming Chiao Tung University Hsinchu300093 Taiwan Institute of Biomedical Engineering National Yang Ming Chiao Tung University Hsinchu300093 Taiwan Department of Electronics and Electrical Engineering National Yang Ming Chiao Tung University Hsinchu300093 Taiwan

Recently, a-IGZO has advanced toward the next-generation electronics system because of its compatibility with complementary metal oxide semiconductor (CMOS) and back-end-of-line (BOEL) based systems. A systematic electrical characterization of a-IGZO TFT related to reliability issues, such as positive bias temperature stress (PBTS) and negative bias temperature stress (NBTS), would entitle its integration into novel electronics systems. Unexpectedly, PBTS is characterized by the transition of positive Vth shift to negative Vth shift (ΔVth, the positive shift followed by the stress and temperature activated negative shift). This transition is attributed to charge trapping/trap-site generations and hydrogen migration to the active layer. The ΔVth shift mechanism depends on the temperature and voltage stress. On the other hand, a negative ΔVth shift has been observed during the NBTS operation and could be attributed to the hole trapping at the interface of GI/IGZO. An effective suppression of the gate leakage current has also been observed during reliability tests. Simulation results reveal a pronounced potential at the edges of source and drain regions, and considered the origin of hydrogen migration into the IGZO layer. Thermal image results also reveal the strong temperature/potential distribution at the edges of the source/drain regions, indorsing the simulation results. © 2020 IEEE.

关键词： Oxide semiconductors

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Asynchronous Multi-Task Learning Based on One Stage YOLOR Algorithm 32

Asynchronous Multi-Task Learning Based on One Stage YOLOR Al...

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32nd IEEE International Symposium on Industrial Electronics, ISIE 2023

作者： Liou, Cheng-Fu Lee, Tsung-Han Guo, Jiun-In National Yang Ming Chiao Tung University Graduate Degree Program of College of Electrical and Computer Engineering Hsinchu Taiwan Wistron-NCTU Embedded Artificial Intelligence Research Center National Yang Ming Chiao Tung University Hsinchu Taiwan

ISBN: (纸本)9798350399714

The You Only Learn One Representation (YOLOR) approach is an object detector that can encode implicit knowledge and explicit knowledge of multiple tasks simultaneously. However, the requirement of jointly feeding data is not a friendly setting for an edge device due to the high computational cost. A better strategy is to learn the concept of the new task on the device individually, one by one, without access to the old data. In other words, the model has to deal with multiple tasks asynchronously. In this work, we extend the multi-purpose network YOLOR to asynchronous multi-task learning to learn domain invariant features, which focus on capturing the relatedness between the weight of the previous task and data of the subsequent task. Further, as the number of tasks gradually increases, we accumulate significant weights by introducing task-specific masks and expert modules;the former can automatically identify important filters to prevent modification caused by new tasks, and the latter address the kernel space misalignment problem to perform multi-task feature selection. We experimentally demonstrate that the proposed training strategy significantly outperforms the traditional solution in learning multiple tasks at different times on a public dataset, which supports that the proposed approach is more competitive for resource-limited edge devices. © 2023 IEEE.

关键词： Object detection

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Predicting Microsatellite Instability from Histology Images with Dilated Neighborhood Attention Transformer in Colorectal Cancer 24

Predicting Microsatellite Instability from Histology Images ...

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24th IEEE International Conference on Bioinformatics and Bioengineering, BIBE 2024

作者： Chen, Yun-Chi Chao, Tung Phandita, Wimaya Nitya Sun, Tzu-Yu Wang, Huai-Zhi Hsieh, Yi-Hsien Hsu, Le-Yin Lin, Che Taipei Taiwan College of Bioresources and Agriculture NTU Taipei Taiwan National Taiwan University of Science and Technology Department of Computer Science and Information Engineering Taipei Taiwan Graduate Institute of Communication Engineering NTU Taipei Taiwan NTU Data Science Degree Program Taipei Taiwan NTU Department of Electrical Engineering Taipei Taiwan Center for Advanced Computing and Imaging in Biomedicine NTU Taipei Taiwan NTU Smart Medicine and Health Informatics Program Taipei Taiwan

ISBN: (纸本)9798331518622

Microsatellite instability (MSI) is a pivotal genetic marker influencing the efficacy of immunotherapy in colorectal cancer. Traditional MSI examination often requires additional genetic or immunohistochemical tests, whereas histology images, widely available in colorectal cancer diagnosis, offer a valuable alternative for MSI prediction. Although Transformer-based models have demonstrated promising outcomes in predicting MSI from histology images, they are hampered by traditional local attention mechanisms that struggle to capture long-range interdependencies and establish a comprehensive global receptive field. In this study, we introduce DiNAT-MSI, a novel framework for histology-based MSI prediction that incorporates the Dilated Neighborhood Attention Transformer (DiNAT). This model enhances global context recognition and substantially expands receptive fields, all without additional computational burden. Our results demonstrate that DiNAT-MSI achieves a superior patientwise AUROC compared to ResNet18 and Swin Transformer, along with commendable explainability. Our work not only illustrates a more accessible diagnostic tool for leveraging histological data but also underscores the potential of Transformerbased models with sophisticated attention designs in advancing precision medicine for colorectal cancer patients. © 2024 IEEE.

关键词： Diseases

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Enhancing the Performance of E-Mode AlGaN/GaN HEMTs With Recessed Gates Through Low-Damage Neutral Beam Etching and Post-Metallization Annealing

IEEE Open Journal of Nanotechnology

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IEEE Open Journal of Nanotechnology 2023年 4卷 150-155页

作者： Chen, Yi-Ho Ohori, Daisuke Aslam, Muhammad Lee, Yao-Jen Li, Yiming Samukawa, Seiji National Yang Ming Chiao Tung University Parallel and Scientific Computing Laboratory Graduate Degree Program of College of Electrical and Computer Engineering Hsinchu300093 Taiwan Tohoku University Institute of Fluid Science Sendai980-8577 Japan National Yang Ming Chiao Tung University Parallel and Scientific Computing Laboratory Electrical Engineering and Computer Science International Graduate Program Hsinchu300093 Taiwan National Yang Ming Chiao Tung University Institute of Pioneer Semiconductor Innovation Hsinchu300093 Taiwan National Yang Ming Chiao Tung University Parallel and Scientific Computing Laboratory Institute of Communications Engineering Institute of Biomedical Engineering Hsinchu300093 Taiwan National Yang Ming Chiao Tung University Department of Electronics and Electrical Engineering Hsinchu300093 Taiwan National Yang Ming Chiao Tung University Institute of Communications Engineering Hsinchu300093 Taiwan

This study investigated the electrical properties of AlGaN/GaN high-electron-mobility transistors (HEMTs) with varied recess depths under the gate electrode. We demonstrated a recess depth of approximately 6 nm, which was achieved through neutral beam etching (NBE) technique with a low etch rate of 1.8 nm/min, resulting in device enhancement-mode (E-mode) behavior with threshold voltage (Vth) of 0.49 V. The effects of post-metallization annealing (PMA) on the device performance were also examined. The results revealed that PMA treatment improves the DC characteristics of the devices, including maximum drain current (IDMAX), transconductance (gm), subthreshold swing (SS), on-off ratio, and off-state leakage current, with maximum enhancement percentage of 18.3% for IDMAX, 3758% for on-off ratio, and 54.3% for SS. Moreover, this study compared the recess depths of metal-insulator-semiconductor high-electron-mobility transistors (MIS-HEMTs) with the SiN dielectric layer. The results showed that MIS-HEMTs exhibit more negative Vth values, which can be attributed to the controlled surface states achieved through passivation. © 2020 IEEE.

关键词： Etching

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BAQET: BRAM-aware Quantization for Efficient Transformer Inference via Stream-based Architecture on an FPGA 25

BAQET: BRAM-aware Quantization for Efficient Transformer Inf...

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Proceedings of the 2025 ACM/SIGDA International Symposium on Field programmable Gate Arrays

作者： Ling-Chi Yang Chi-Jui Chen Trung Le Bo-Cheng Lai Scott Hauck Shih-Chieh Hsu Institute of Electronics National Yang Ming Chiao Tung University Hsinchu Taiwan Graduate Degree Program of College of Electrical and Computer Engineering in National Yang Ming Chiao Tung University Hsinchu Taiwan Electrical and Computer Engineering in University of Washington Seattle USA Electrical and Computer Engineering University of Washington Seattle USA Physics University of Washington Seattle USA

ISBN: (纸本)9798400713965

FPGAs are a compelling substrate for supporting machine learning inference. Tools such as High-Level Synthesis and hls4ml can shorten the development cycle for deploying ML algorithms on FPGAs, but can struggle to handle the large on-chip storage needed for many of these models. In particular the high BRAM usage found in many of these flows can cause Place & Route failures during synthesis. In this paper we propose using a Simulated-Annealing based flow to perform BRAM-aware quantization. This approach trades off inference accuracy with BRAM usage, to provide a high-quality inference engine that still meets on-chip resource constraints. We demonstrate this flow for Transformer-based machine learning algorithms, which include Flash Attention in a Stream-based Dataflow architecture. Our system imposes minimal accuracy drops, yet can reduce BRAM usage by 20%-50%, and improve power efficiency by 264%-812% compared to existing Transformer-based accelerators on FPGAs

关键词： efficient transformer

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Data Alignment Design for Robotic programming by Demonstration Based on IMU and Optical Tracker

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IEEE Transactions on Instrumentation and Measurement 2023年 72卷 1页

作者： Song, Kai-Tai Li, Bing-Yi Ou, Szu-Chen National Yang Ming Chiao Tung University Institute of Electrical and Control Engineering College of Electrical and Computer Engineering Hsinchu300093 Taiwan National Yang Ming Chiao Tung University Graduate Degree Program of Robotics Hsinchu300093 Taiwan

This study proposes a data alignment design for sensor fusion of an optical target (OT) and an inertial measurement unit (IMU) to track the trajectory of a handheld tool for robot programming by demonstration (PbD). A novel method is proposed for coordinate and temporal alignment between the OT and the IMU sensor to increase tracking accuracy. The IMU measurements are aligned with the corresponding angular velocities and accelerations derived from the OT to calibrate the IMU-OT relationship. Global and local optimizations are combined to reduce the computation time for the temporal alignment and coordinate calibration. Experimental results show that the proposed method provides improved calibration results with shorter calculation time compared with the two existing methods. The sensor fusion experiments verify the accuracy of trajectory tracking of 1.3 mm using the calibration result, an improvement from 1.4 mm of the data alignment using ruler measurement. Integrated PbD experiments using a 6-DOF manipulator were carried out to evaluate the proposed method. The manipulator imitated the hand motion of a bottle transfer task with a trajectory error of 0.66 mm. Practical robotic experiments demonstrate that the method is suitable for robot programming applications. © 1963-2012 IEEE.

关键词： Calibration

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Accumulating Curriculum Knowledge Based on Neural Network Isolated Algorithm

Accumulating Curriculum Knowledge Based on Neural Network Is...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Cheng-Fu Liou Yi-Cheng Yu Meta Zen Artificial Intelligence Research Labs (MZAIR Labs) Tainan Taiwan Graduate Degree Program of College of Electrical and Computer Engineering National Yang Ming Chiao Tung University Hsinchu Taiwan

ISBN: (数字)9798350394085

ISBN: (纸本)9798350394092

Feeding the training data to neural networks in a specific sequence, from the simple data to the difficult data, utilizing curriculum learning can enhance performance improvements over the typical learning strategy based on shuffling training samples randomly, without any additional computational costs. This training approach has been successfully applied in all fields of machine learning. However, the current curriculum learning will gradually introduce difficult samples until the model eventually performs joint training. In addition, our experimental results find and demonstrate how the order of training tasks arranged according to the difficulty of different tasks influences the reuse percentage of model capacity, allowing us to observe the impact of curriculum learning on model performance from different perspectives. Finally, we also separately conduct three ablations analyses of our model to comprehensively enhance the understanding of the impacts of the proposed approach and further demonstrate its scalability to a standard large-scale dataset, i.e., the ImageNet dataset.

关键词： Training Industrial electronics Scalability Knowledge based systems Training data Machine learning Multitasking

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