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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Vinícius Pacheco Bacheti Daniel Khéde Dourado Villa Alexandre Santos Brandão Mário Sarcinelli-Filho The Graduate Program on Electrical Engineering Federal University of Espírito Santo Vitória ES Brazil The Department of Electrical Engineering Federal University of Viçosa Viçosa MG Brazil

This paper addresses the problem of controlling a system composed of a unmanned aerial vehicle and a payload attached to it via a cable, while compensating for the payload effects on the drone. This work considers that many off-the-shelf UAVs have their own low-level controller which the user cannot access, and attempts to merge the classical approach of modeling a drone-mass system with controllers previously developed for use with drones equipped with low-level controllers. In order to test such an approach the robot Anafi, from Parrot Drones SAS, was used with a mass attached to it. The experiments show a consistent reduction on navigation errors, which helps validate the proposed method.

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Hybrid Full-Bridge Phase-Shift and Half-Bridge LLC Resonant Converter Based on Dual Transformers 10

Hybrid Full-Bridge Phase-Shift and Half-Bridge LLC Resonant ...

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10th International Conference on Applied System Innovation, ICASI 2024

作者： Hua, Chih-Chiang Chuang, Ching-Chun Hong, Min-Rui Wang, Jian-Min National Yunlin University of Science and Technology Department of Electrical Engineering 123 University Road Section 3 Yunlin Douliou64002 Taiwan National Kaohaiung University of Science and Technology Department of Electrical Engineering No. 415 Jiangong Rd. Sanmin Dist Kaohsiung City807618 Taiwan National Formosa University Computer Science and Information Engineering No.64 Wunhua Rd. Huwei Township Yunlin County632 Taiwan Graduate Institute of Vehicle Engineering National Formosa University No.64 Wunhua Rd. Huwei Township Yunlin County632 Taiwan

ISBN: (纸本)9798350394924

This paper proposes a hybrid full-bridge phase-shift and half-bridge LLC resonant converter based on dual transformers with different output voltages. In the proposed LLC resonant circuit, the power switches can achieve zero-voltage switching, which reduces power losses caused by traditional hard switching. Additionally, the converter continuously operates at the resonant frequency, enabling zero-current switching for the rectifier diodes and enhancing overall converter efficiency. The prototype circuit operates at an input voltage of 400V and fixed frequency with a constant duty ratio. By adjusting the phase shift between PWM square waves to change the output power, the proposed converter achieves a wide range of output voltages from 250V to 450V and a rated capacity of 1kW. The experimental results show that the proposed converter achieves a maximum conversion efficiency of 92.01% at an output voltage of 250V and a maximum conversion efficiency of 93.78% at an output voltage of 450V. © 2024 IEEE.

关键词： Zero voltage switching

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The effect of visual advanced driver assistance systems on a following human driver in a mixed-traffic condition

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Procedia computer Science 2023年 216卷 221-229页

作者： Dedy Ariansyah Bens Pardamean Giandomenico Caruso Bioinformatics and Data Science Research Centre Bina Nusantara University Jakarta 11480 Indonesia Computer Science Department BINUS Graduate Program Master of Computer Science Program Bina Nusantara University Jakarta 11480 Indonesia Department of Mechanical Engineering Politecnico di Milano Milan 20156 Italy

Rapid development in vehicular technology has caused more automated vehicle control to increase on the roads. Studies showed that driving in mixed traffic with an autonomous vehicle (AV) had a negative impact on the time headway (THW) of conventional vehicles (CVs) (i.e., driven by humans). To address this issue, there is a need to equip CV with visual advanced driver assistance systems (ADASs) that helps the driver maintain safe headway when driving near AVs. This study examines the perception of drivers using visual ADAS and their associated risk while driving behind the AV at constant and varying speeds. The preliminary results showed that while visual ADAS could help drivers keep the safe THW, it could affect drivers’ ability to react to emergencies. This implies that visual modality alone might not be sufficient and therefore requires some other feedback or intelligent transport systems to help drivers maintain safe driving in a mixed-traffic condition.

关键词： sustainable transport management platooning car-following visual advanced driver assistance system virtual realtiy

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Physarum Route Optimization: Bio-inspired Strategies for Mobile Robot Navigation

Physarum Route Optimization: Bio-inspired Strategies for Mob...

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IEEE Latin American Robotics Symposium, LARS

作者： Dieisson Martinelli André Schneider de Oliveira Vivian Cremer Kalempa Graduate Program in Electrical and Computer Engineering Universidade Tecnológica Federal do Paraná (UTFPR) Curitiba Brazil Department of Information Systems Universidade do Estado de Santa Catarina (UDESC) São Bento do Sul Brazil

ISBN: (数字)9798331508807

ISBN: (纸本)9798331508814

The objective of this project is to explore the applicability of a bioinspired approach, derived from the behavior of the Physarum polycephalum fungus, in optimizing trajectory navigation for mobile robot structures. The precise organism Physarum, which has the capability to quick locate efficient paths among factors in complicated environments, serves as a herbal version for constructing inspired trajectory algorithms. In this project, the development of a trajectory set of rules is proposed, that’s as compared to conventional trajectory introduction techniques, aiming to introduce a novel approach to cellular robot navigation. This work is presented thru a aggregate of experimental observations and computational simulations that show the effectiveness of this bioinspired approach in trajectory choice. As a end result, an set of rules is developed that mimics the behavior of the Physarum and, similarly to conventional navigation algorithms, paves the manner for research and improvement.

关键词： Shortest path problem Navigation Heuristic algorithms Memory management MIMICs Dynamic scheduling Organisms Trajectory Mobile robots Resource management

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Transfer Learning for Keypoint Detection in Low-Resolution Thermal TUG Test Images

arXiv

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arXiv 2025年

作者： Chen, Wei-Lun Hsieh, Chia-Yeh Kao, Yu-Hsiang Liu, Kai-Chun Peng, Sheng-Yu Tsao, Yu Research Center for Information Technology Innovation Academic Sinica Taiwan Graduate Institute of Electrical Engineering National Taiwan University Taiwan Bachelor’s Program in Medical Informatics and Innovative Applications Fu Jen Catholic University Taiwan Department of Electrical Engineering National Taiwan University Taiwan College of Information and Computer Sciences University of Massachusetts AmherstMA01003 United States Department of Electrical Engineering National Taiwan University of Science of Technology Taiwan

This study presents a novel approach to human keypoint detection in low-resolution thermal images using transfer learning techniques. We introduce the first application of the Timed Up and Go (TUG) test in thermal image computer vision, establishing a new paradigm for mobility assessment. Our method leverages a MobileNetV3-Small encoder and a ViTPose decoder, trained using a composite loss function that balances latent representation alignment and heatmap accuracy. The model was evaluated using the Object Keypoint Similarity (OKS) metric from the COCO Keypoint Detection Challenge. The proposed model achieves better performance with AP, AP50, and AP75 scores of 0.861, 0.942, and 0.887 respectively, outperforming traditional supervised learning approaches like Mask R-CNN and ViTPose-Base. Moreover, our model demonstrates superior computational efficiency in terms of parameter count and FLOPS. This research lays a solid foundation for future clinical applications of thermal imaging in mobility assessment and rehabilitation monitoring. Copyright © 2025, The Authors. All rights reserved.

关键词： Thermography (imaging)

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Adaptive prescribed performance based on recursive nonsingular terminal sliding mode control for quad-rotor systems under uncertainty and disturbance: Real-time validation

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Aerospace Science and Technology 2024年 147卷

作者： Han, Gao Mofid, Omid Mobayen, Saleh Khooban, Mohammad Hassan School of Aerospace Science and Technology Xidian University Xi'an710071 China Department of Electrical Engineering University of Zanjan Zanjan Iran Graduate School of Intelligent Data Science National Yunlin University of Science and Technology Yunlin Douliou Taiwan Department of Electrical and Computer Engineering Aarhus University Aarhus8200 Denmark

In this paper, at the aim of the fast trajectory-following control of the Unmanned Aerial Vehicle (UAV) systems subject to uncertainty and disturbance, the adaptive prescribed performance control based recursive nonsingular terminal sliding mode control is suggested. Afterward, for the fast trajectory-following control of the uncertain and perturbed quad-rotor system, a recursive nonsingular terminal sliding mode strategy is recommended. Since the better transient and steady-state response of the sliding mode surface is of the utmost importance in the design of the controller, the prescribed performance control scheme is proposed in which the transformed prescribed form of the previously proposed recursive nonsingular terminal sliding surface is obtained to prove that the recursive nonsingular terminal sliding surface can converge to a preset region. Whereas unknown bounded uncertainty and disturbance always exist in the UAV system's dynamical model which decreases its performance and efficiency, the adaptive mechanism is applied to approximate uncertain bounds of uncertainty and disturbance to advance the implementation of the UAV system. Later, quick reachability of the prescribed form switching surface is demonstrated using Lyapunov concept. Ultimately, simulation results using MATLAB/Simulink over a quad-rotor system and real-time simulation using the Speedgoat Real-Time Target Machine platform are conducted to validate the feasibility and performance of the proposed method. © 2024 Elsevier Masson SAS

关键词： Unmanned aerial vehicles (UAV)

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Adversarial Environment Design via Regret-Guided Diffusion Models

arXiv

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arXiv 2024年

作者： Chung, Hojun Lee, Junseo Kim, Minsoo Kim, Dohyeong Oh, Songhwai Interdisciplinary Program in Artificial Intelligence and ASRI Seoul National University Korea Republic of Department of Electrical and Computer Engineering and ASRI Seoul National University Korea Republic of

Training agents that are robust to environmental changes remains a significant challenge in deep reinforcement learning (RL). Unsupervised environment design (UED) has recently emerged to address this issue by generating a set of training environments tailored to the agent’s capabilities. While prior works demonstrate that UED has the potential to learn a robust policy, their performance is constrained by the capabilities of the environment generation. To this end, we propose a novel UED algorithm, adversarial environment design via regret-guided diffusion models (ADD). The proposed method guides the diffusion-based environment generator with the regret of the agent to produce environments that the agent finds challenging but conducive to further improvement. By exploiting the representation power of diffusion models, ADD can directly generate adversarial environments while maintaining the diversity of training environments, enabling the agent to effectively learn a robust policy. Our experimental results demonstrate that the proposed method successfully generates an instructive curriculum of environments, outperforming UED baselines in zero-shot generalization across novel, out-of-distribution environments. Project page: https://***/projects/ADD © 2024, CC BY-NC-SA.

关键词： Adversarial machine learning

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Towards the Improvement of the Cognitive Process of the Synthesized Speech of Mathematical Expression in MathML: An Eye-Tracking 2

Towards the Improvement of the Cognitive Process of the Synt...

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2nd International Conference on Interactive Media, Smart Systems and Emerging Technologies, IMET 2022

作者： Souza, Adriana Freitas, Diamantino Bahia Federal Institute of Education Science and Technology Bahia Brazil Doctoral Program in Digital Media Faculty of Engineering of the University of Porto Porto Portugal Faculty of Engineering of the University of Porto Speech Processing Laboratory Electrical and Computer Engineering Department Porto Portugal

ISBN: (数字)9781665470162

ISBN: (纸本)9781665470162

Being one essential part of the solutions we are developing to provide accessibility for blind persons, synthesized speech of mathematical content, although having evolved in naturalness in recent years, still keeps a characteristic of generating very long outputs, which makes it difficult for a person who uses a screen reader to memorize. Eye-gaze tracking has been useful for studying cognitive processes and student's effort in performing tasks therefore it seems attractive as a means to understand how people analyze, process, and break down extensive math expressions into smaller ones. This understanding can help to build a similar model of auditory rendering of MathML capable of avoiding cognitive overload. Therefore, we carried out an experiment to do a gaze-based analysis of reading and memorizing mathematical expressions. Our sample consisted of fourteen participants, and seven mathematical expressions were used in the experiment. The results showed that the computed complexity of the expressions and the average duration of eye-gaze fixations have a strong and significant relationship. Therefore, we conclude that the complexity variable must always be considered in the speech synthesis process of mathematical expressions. However, when considering why participants requested the repetition of an expression with not larger complexity during the memorization process, a tentative interpretation based on the number of MathML tree nodes and the computed complexity of the expressions was not enough to explain it, indicating that other factors need to be investigated. Although some answers to the research questions were not yet conclusive, we consider this research relevant because it points to directions for the work in order to minimize the cognitive processing and mental load of the synthesized speech rendering of mathematical expressions. © 2022 IEEE.

关键词： Eye tracking

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A Computational Model of Children's Learning and Use of Probabilities Across Different Ages

arXiv

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arXiv 2023年

作者： Wang, Zilong Shultz, Thomas R. Nobandegani, Ardavan S. Integrated Program in Neuroscience McGill University Canada Department of Psychology School of Computer Science McGill University Canada Department of Psychology Department of Electrical & Computer Engineering McGill University Canada

Recent empirical work has shown that human children are adept at learning and reasoning with probabilities. Here, we model a recent experiment investigating the development of school-age children's non-symbolic probability reasoning ability using the Neural Probability Learner and Sampler (NPLS) system. We demonstrate that NPLS can accurately simulate children's probability judgments at different ages, tasks and difficulty levels to discriminate two probabilistic choices through accurate probability learning and sampling. An extension of NPLS using a skewed heuristic distribution can also model children's tendency to wrongly select the outcome with more favorable items but less likely to draw the favorable ones when the probabilistic choices are similar. We discuss the roles of two model parameters that can be adjusted to simulate the probability matching versus probability maximization phenomena in children, and why frequency biases children's probabilistic judgments. Copyright © 2023, The Authors. All rights reserved.

关键词： Probability distributions

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Spleen-preserving distal pancreatectomy from multi-port to reducedport surgery approach

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World Journal of Gastrointestinal Surgery 2023年第7期15卷 1501-1511页

作者： Ching-Lung Hsieh Tung-Sheng Tsai Cheng-Ming Peng Teng-Chieh Cheng Yi-Jui Liu Department of Computer Science and Information Engineering Feng Chia UniversityTaichung 40724TaiwanChina Department of Surgery Chung Shan Medical University HospitalTaichung 40201TaiwanChina PhD Program of Electrical and Communications Engineering Feng Chia UniversityTaichung 40724Taiwan School of Medicine Chung Shan Medical UniversityTaichung 40201Taiwan Da Vinci Minimally Invasive Surgery Center Chung Shan Medical University HospitalTaichung 40201Taiwan Department of Automatic Control Engineering Feng Chia UniversityTaichung 407Taiwan

BACKGROUND Minimally invasive pancreatic surgery via the multi-port approach has become a primary surgical method for distal pancreatectomy(DP)due to its advantages of lower wound pain and superior cosmetic *** studies have applied reduced-port techniques for DP in an attempt to enhance cosmetic outcomes due to the minimally invasive *** recent review studies have compared multi-port laparoscopic DP(LDP)and multi-port robotic DP(RDP);most of these studies concluded multi-port RDP is more beneficial than multi-port LDP for spleen ***,there have been no comprehensive reviews of the value of reduced-port LDP and reduced-port *** To search for and review the studies on spleen preservation and the clinical outcomes of minimally invasive DP that compared reduced-port DP surgery with multi-port DP *** The PubMed medical database was searched for articles published between 2013 and *** search terms were implemented using the following Boolean search algorithm:(“distal pancreatectomy”OR“left pancreatectomy”OR“peripheral pancreatic resection”)AND(“reduced-port”OR“single-site”OR“single-port”OR“dual-incision”OR“single-incision”)AND(“spleen-preserving”OR“spleen preservation”OR“splenic preservation”).A literature review was conducted to identify studies that compared the perioperative outcomes of reduced-port LDP and reduced-port *** Fifteen articles published in the period from 2013 to 2022 were retrieved using three groups of search *** studies were added after manually searching the related ***,10 papers were selected after removing case reports(n=3),non-English language papers(n=1),technique papers(n=1),reviews(n=1),and animal studies(n=1).The common items were defined as items reported in more than five papers,and data on these common items were extracted from all *** ten studies included a total of 337 patients(females/males:231/106)who underwent *** total,166 patients(females/male

关键词： Minimally invasive surgery Robotic distal pancreatectomy Laparoscopic distal pancreatectomy Spleen preservation Reduced-port Multi-port

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