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2019 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Luis Santos Rui Cortesão João Quintas Luís Santos is with the Institute of Systems and Robotics University of Coimbra Portugal Rui Cortesão is with the Electrical and Computer Engineering Department Institute of Systems and Robotics University of Coimbra Portugal João Quintas is with the Instituto Pedro Nunes Coimbra Portugal

This paper discusses a new teleoperation approach for robotic-assisted tele-echography. A teleoperation architecture in the joint space is presented, taking advantage of kinematic similarity between master and slave manipulators. Haptic force feedback is provided based on the slave control command torque, without using force/torque sensing data. The slave manipulator is controlled in the joint space using computed torque techniques and featuring Kalman Active Observers (AOBs). Experiments in a typical telemedice scenario, assess and validate the teleoperation architecture in a clinical context, with a radiologist performing a robotic-assisted abdominal ultrasound examination on a healthy volunteer.

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Age of Information for Single Buffer systems with Vacation Server

arXiv

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arXiv 2020年

作者： Xu, Jin Hou, I-Hong Gautam, Natarajan School of Science and Engineering The Chinese University of Hong Kong Shenzhen China Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen China University of Science and Technology of China Anhui Hefei China Department of Electrical and Computer Engineering Texas A&M University College StationTX United States Department of Industrial and Systems Engineering Texas A&M University College StationTX United States

In this research, we study the information freshness in M/G/1 queueing system with a single buffer and the server taking multiple vacations. This system has wide applications in communication systems. We aim to evaluate the information freshness in this system with both i.i.d. and non-i.i.d. vacations under three different scheduling policies, namely Conventional Buffer System (CBS), Buffer Relaxation System (BRS), and Conventional Buffer System with Preemption in Service (CBS-P). For the systems with i.i.d. vacations, we derive the closed-form expressions of information freshness metrics such as the expected Age of Information (AoI), the expected Peak Age of Information (PAoI), and the variance of peak age under each policy. For systems with non-i.i.d. vacations, we use the polling system as an example and provide the closed-form expression of its PAoI under each policy. We explore the conditions under which one of these policies has advantages over the others for each information freshness metric. We further perform numerical studies to validate our results and develop insights. Copyright © 2020, The Authors. All rights reserved.

关键词： Electric circuit breakers

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Robot-Assisted Navigation for a Robotic Walker with Aided User Intent

Robot-Assisted Navigation for a Robotic Walker with Aided Us...

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IEEE International Symposium on Robot and Human Interactive Communication

作者： Luis Garrote Joao Paulo Joao Perdiz Paulo Peixoto Urbano J. Nunes Institute of Systems and Robotics (ISR-UC) Electrical and Computer Engineering Department (DEEC-UC) University of Coimbra

ISBN: (纸本)9781538679814

This paper presents an approach to robot-assisted navigation on a mobility assistance context, by learning from the user while helping him navigate efficiently and safely in complex environments. Assistive robots such as robotic walkers provide the ability to support a user's body weight on the upper limbs while walking. However, walkers can add an extra layer of distress due to their specific manipulation constraints. For the users of such devices, lack of dexterous upper limb control can be a considerable problem as it means they may be unable to operate these devices efficiently;users may also have visual impairments that reduce their navigational efficiency. The proposed approach uses a Reinforcement Learning (RL) model and a dynamic window-based local motion planning algorithm. It aims to learn needed corrections in the motion command based on the surrounding environment and the user's intent. The proposed solution handles corrections and guides the user through the environment without collisions while learning and aiding the user when he is unable to operate the device efficiently. The RL based approach was tested in indoor scenarios with a robotic walker platform showing preliminary promising results.

关键词： Consumers Walkers Learning Upper Extremity Visual Impairment ambient environment navigation Pedestrians Distress Stressing Environments

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SmartAlert: Machine learning-based patient-ventilator asynchrony detection system in intensive care units

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computer Methods and Programs in Biomedicine 2025年 269卷

作者： Jaroslav Pažout Milan Němý Jakub Mikeš Jan Jirman Jan Kubr Eliška Niebauerová Miroslav Macík Michal Pech Michal Štajnrt Jakub Vaněk Petr Waldauf Václav Zvoníček Lenka Vysloužilová Robert Babuška František Duška Department of Anesthesiology and Intensive Care 3rd Faculty of Medicine Charles University and Kralovske Vinohrady University Hospital in Prague Šrobárova 50 Prague 100 34 Czech Republic Division of Clinical Geriatrics Center for Alzheimer Research Department of Neurobiology Care Sciences and Society Karolinska Institute Blickagången 16 Huddinge 14183 Sweden Department of Cognitive Systems and Neurosciences Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Jugoslávských partyzánů 1580/3 Prague 160 00 Czech Republic Department of Computer Graphics and Interaction Faculty of Electrical Engineering Czech Technical University in Prague Karlovo náměstí 13 Prague 121 35 Czech Republic Department of Artificial Intelligence Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Jugoslávských partyzánů 1580/3 Prague 160 00 Czech Republic Cognitive Robotics Faculty of 3mE Delft University of Technology Mekelweg 2 Delft CD 2628 The Netherlands

Background and Objective Patient-ventilator asynchronies (PVA) are associated with ventilator-induced lung injury and increased mortality. Current detection methods rely on static thresholds, extensive preprocessing, or proprietary ventilator data. This study aimed to develop and validate a fully online, real-time system that detects and classifies PVAs directly from ventilator screen data while alerting clinicians based on severity. Methods The SmartAlert system was developed using ventilator screen recordings from ICU patients. It extracts pressure and flow waveforms from video recordings, converts them into time-series data, and employs deep neural networks to classify asynchronies and assign alarm levels from no urgency to most urgent. A dataset of 381,280 double-breath units was independently annotated by two expert intensivists. Two deep learning models were trained: one for alarm prediction and another for asynchrony classification (ineffective triggering, double cycling, high inspiratory effort, no asynchrony). Performance was evaluated using accuracy, sensitivity, specificity, and AUC-ROC, compared to expert consensus. Results SmartAlert demonstrated strong performance for alarm level prediction (overall accuracy: 83.8 %, weighted AUC-ROC: 0.943 [95 % CI: 0.941–0.945]) and PVA classification (weighted accuracy: 89.3 %, weighted AUC-ROC: 0.951 [95 % CI: 0.950–0.953]). It showed high specificity for urgent alarms (99.9 % for level 3) and PVA types (98.5 % for ineffective triggering, 96.9 % for double cycling, 94.8 % for high inspiratory effort). Conclusions We developed and internally validated SmartAlert, an automated system that detects PVAs, classifies severity, and alerts clinicians in real time. Its potential to reduce alarm fatigue, optimize ventilator settings, and improve patient outcomes remains to be tested in clinical trials.

关键词： Patient-ventilator asynchrony Mechanical ventilation Real-time monitoring Deep neural networks

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An Interference Cancellation Approach for MIMO Orthogonal Signal-Division Multiplexing in Time-Varying Channels

An Interference Cancellation Approach for MIMO Orthogonal Si...

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OCEANS - Europe

作者： José Ribeiro João Gomes Rui Dinis Institute for Systems and Robotics — Instituto Superior Técnico Universidade de Lisboa Portugal Department of Electrical and Computer Engineering FCT — Universidade Nova de Lisboa Portugal

This work aims to explore Orthogonal Signal-Division Multiplexing, an existing modulation format that was recently introduced in underwater communications [1], [2], [3], with flexible spectrum management and relatively simple equalization techniques. The matrix interpretation of the modulation allows a turbo like receiver to be implemented. A MIMO extension based on interference cancellation is developed to increase the spectral efficiency of the system. The effectiveness of MIMO OSDM is studied here through simulation, to characterize the efficiency of the link as a function of the time-frequency partitioning, as well as the impact of several parameters that control the iterative decoding process at the receiver.

关键词： Transmitters Receivers Doppler effect Modulation OFDM MIMO communication Channel estimation

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Existence and uniqueness of global Koopman eigenfunctions for stable fixed points and periodic orbits

arXiv

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arXiv 2019年

作者： Kvalheim, Matthew D. Revzen, Shai Department of Electrical and Systems Engineering University of Pennsylvania PhiladelphiaPA19104 United States Department of Electrical Engineering and Computer Science Ecology and Evolutionary Biology Department Robotics Institute University of Michigan Ann ArborMI48109 United States

We consider C1 dynamical systems having an attracting hyperbolic fixed point or periodic orbit and prove existence and uniqueness results for Ck (actually Clock,α) linearizing semiconjugacies-of which Koopman eigenfunctions are a special case-defined on the entire basin of attraction. Our main results both generalize and sharpen Sternberg's Ck linearization theorem for hyperbolic sinks, and in particular our corollaries include uniqueness statements for Sternberg linearizations and Floquet normal forms. Using our main results we also prove new existence and uniqueness statements for Ck Koopman eigenfunctions, including a complete classification of C∞ eigenfunctions assuming a C∞ dynamical system with semisimple and nonresonant linearization. We give an intrinsic definition of "principal Koopman eigenfunctions" which generalizes the definition of Mohr and Mezić for linear systems, and which includes the notions of "isostables" and "isostable coordinates" appearing in work by Ermentrout, Mauroy, Mezić, Moehlis, Wilson, and others. Our main results yield existence and uniqueness theorems for the principal eigenfunctions and isostable coordinates and also show, e.g., that the (a priori non-unique) "pullback algebra" defined in [MM16b] is unique under certain conditions. We also discuss the limit used to define the "faster" isostable coordinates in [WE18, MWMM19] in light of our main *** Codes 37C05, 37C10, 37C15, 37C27, 34C15, 34C20, 37D99 Copyright © 2019, The Authors. All rights reserved.

关键词： Eigenvalues and eigenfunctions

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Understanding metric-related pitfalls in image analysis validation

arXiv

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arXiv 2023年

作者： Reinke, Annika Tizabi, Minu D. Baumgartner, Michael Eisenmann, Matthias Heckmann-Nötzel, Doreen Kavur, A. Emre Rädsch, Tim Sudre, Carole H. Acion, Laura Antonelli, Michela Arbel, Tal Bakas, Spyridon Benis, Arriel Blaschko, Matthew B. Buettner, Florian Cardoso, M. Jorge Cheplygina, Veronika Chen, Jianxu Christodoulou, Evangelia Cimini, Beth A. Collins, Gary S. Farahani, Keyvan Ferrer, Luciana Galdran, Adrian van Ginneken, Bram Glocker, Ben Godau, Patrick Haase, Robert Hashimoto, Daniel A. Hoffman, Michael M. Huisman, Merel Isensee, Fabian Jannin, Pierre Kahn, Charles E. Kainmueller, Dagmar Kainz, Bernhard Karargyris, Alexandros Karthikesalingam, Alan Kenngott, Hannes Kleesiek, Jens Kofler, Florian Kooi, Thijs Kopp-Schneider, Annette Kozubek, Michal Kreshuk, Anna Kurc, Tahsin Landman, Bennett A. Litjens, Geert Madani, Amin Maier-Hein, Klaus Martel, Anne L. Mattson, Peter Meijering, Erik Menze, Bjoern Moons, Karel G.M. Müller, Henning Nichyporuk, Brennan Nickel, Felix Petersen, Jens Rafelski, Susanne M. Rajpoot, Nasir Reyes, Mauricio Riegler, Michael A. Rieke, Nicola Saez-Rodriguez, Julio Sánchez, Clara I. Shetty, Shravya Summers, Ronald M. Taha, Abdel A. Tiulpin, Aleksei Tsaftaris, Sotirios A. van Calster, Ben Varoquaux, Gaël Yaniv, Ziv R. Jäger, Paul F. Maier-Hein, Lena Faculty of Mathematics and Computer Science Heidelberg University Heidelberg Germany Heidelberg Division of Intelligent Medical Systems Germany NCT Heidelberg A Partnership Between DKFZ University Medical Center Heidelberg Germany Heidelberg Division of Medical Image Computing Germany Heidelberg Division of Intelligent Medical Systems Germany MRC Unit for Lifelong Health and Ageing UCL Centre for Medical Image Computing Department of Computer Science University College London London United Kingdom School of Biomedical Engineering and Imaging Science King’s College London London United Kingdom Instituto de Cálculo CONICET – Universidad de Buenos Aires Buenos Aires Argentina Centre for Medical Image Computing University College London London United Kingdom McGill University Montreal Canada Division of Computational Pathology Dept of Pathology & Laboratory Medicine Indiana University School of Medicine IU Health Information and Translational Sciences Building Indianapolis United States University of Pennsylvania Richards Medical Research Laboratories FL7 PhiladelphiaPA United States Department of Digital Medical Technologies Holon Institute of Technology Holon Israel European Federation for Medical Informatics Le Mont-sur-Lausanne Switzerland Center for Processing Speech and Images Department of Electrical Engineering KU Leuven Leuven Belgium partner site Frankfurt/Mainz a partnership between DKFZ and UCT Frankfurt Marburg Germany Heidelberg Germany Goethe University Frankfurt Department of Medicine Germany Goethe University Frankfurt Department of Informatics Germany and Frankfurt Cancer Insititute Germany Department of Computer Science IT University of Copenhagen Copenhagen Denmark Leibniz-Institut für Analytische Wissenschaften – ISAS – e.V. Dortmund Germany Imaging Platform Broad Institute of MIT and Harvard CambridgeMA United States Centre for Statistics in Medicine University of Oxford Oxford United Kingdom Center for Biomedical In

Validation metrics are key for tracking scientific progress and bridging the current chasm between artificial intelligence (AI) research and its translation into practice. However, increasing evidence shows that particularly in image analysis, metrics are often chosen inadequately. While taking into account the individual strengths, weaknesses, and limitations of validation metrics is a critical prerequisite to making educated choices, the relevant knowledge is currently scattered and poorly accessible to individual researchers. Based on a multi-stage Delphi process conducted by a multidisciplinary expert consortium as well as extensive community feedback, the present work provides the first reliable and comprehensive common point of access to information on pitfalls related to validation metrics in image analysis. While focused on biomedical image analysis, the addressed pitfalls generalize across application domains and are categorized according to a newly created, domain-agnostic taxonomy. The work serves to enhance global comprehension of a key topic in image analysis validation. © 2023, CC BY.

关键词： computer vision

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Smart decentralised energy management

Smart decentralised energy management

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CIRED 2020 Berlin Workshop (CIRED 2020)

作者： Stefan Werner Thomas Walter Christian Wiezorek Christian Backe Miguel Bande Firvida Thomas Vögele Peter Conradi Samrat Bose Enrique Kremers Easy Smart Grid GmbH (ESG) Karlsruhe Germany Technical University of Berlin (TUB) Department of Electrical Engineering and Computer Sciences Berlin Germany German Research Center for Artificial Intelligence (DFKI) Robotics Innovation Center Bremen Germany ALL4IP Technologies Darmstadt Germany European Institute for Energy Research (EIFER) Department of Complex Systems Research Karlsruhe Germany

The German–Finnish research project FUture Smart Energy shows, how flexible devices, consuming or producing electricity in electric grids, can be self-organised in a fully decentralised way, using autonomous algorithms integrated with the devices' controllers. By shifting operation time, existing flexible devices are hereby utilised as ‘virtual batteries’, providing high storage capacity and power. To gain sufficient flexibility, a large number of devices like combined heat and power generators, heat pumps (HP), heaters, coolers, charging stations, pumps, household appliances and industrial plants, has to be coordinated. This results in a high system complexity for which the evaluated method provides an easy, resilient, cyber-secure and cost-effective solution. This novel technology uses a new market approach for electric energy systems. A real-time price signal is generated directly out of grid state variables, like frequency, voltage, power or current, and broadcast to the flexible devices. Without a need for central control, the flexible devices react like a natural swarm to the price signal. The system is easily and highly scalable, as adding and removing flexibilities does not imply adapting a central control system. The system can be operated parallel or in addition to existing energy markets.

关键词： Internet of Things smart power grids energy management systems decentralised control power distribution control decision making pricing

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Precision of sung notes in carnatic music 19

Precision of sung notes in carnatic music

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19th International Society for Music Information Retrieval Conference, ISMIR 2018

作者： Viraraghavan, Venkata Subramanian Murthy, Hema A. Aravind, R. TCS Research and Innovation Embedded Systems and Robotics Bangalore India Department of Electrical Engineering Indian Institute of Technology Madras India Department of Computer Science and Engineering Indian Institute of Technology Madras India

ISBN: (纸本)9782954035123

Carnatic music is replete with continuous pitch movement called gamakas and can be viewed as consisting of constant-pitch notes (CPNs) and transients. The stationary points (STAs) of transients – points where the pitch curve changes direction – also carry melody information. In this paper, the precision of sung notes in Carnatic music is studied in detail by treating CPNs and STAs separately. There is variation among the nineteen musicians considered, but on average, the precision of CPNs increases exponentially with duration and settles at about 10 cents for CPNs longer than 0.5 seconds. For analyzing STAs, in contrast to Western music, rāga (melody) information is found to be necessary, and errors in STAs show a significantly larger standard deviation of about 60 cents. To corroborate these observations, the music was automatically transcribed and re-synthesized using CPN and STA information using two interpolation techniques. The results of perceptual tests clearly indicate that the grammar is highly flexible. We also show that the precision errors are not due to poor pitch tracking, singer deficiencies or delay in auditory feedback. © V S Viraraghavan, H A Murthy, R Aravind.

关键词： Music

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Cooperative Intelligence for Autonomous Driving

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ZTE Communications 2019年第2期17卷 44-50页

作者： CHENG Xiang DUAN Dongliang YANG Liuqing ZHENG Nanning State Key Laboratory of Advanced Optical Communication Systems and Networks School of Electronics Engineering and Computer SciencePeking UniversityBeijing 100871China Department of Electrical and Computer Engineering University of WyomingLaramieWY 82071USA Department of Electrical and Computer Engineering Colorado State UniversityFort CollinsCO 80523USA Institute of Artificial Intelligence and Robotics Xi’an Jiaotong UniversityXi’anShaanxi 710049China

Autonomous driving is an emerging technology attracting interests from various sectors in recent *** of existing work treats autonomous vehicles as isolated individuals and has focused on developing separate intelligent *** this paper,we attempt to exploit the connectivity among vehicles and propose a systematic framework to develop autonomous driving *** first introduce a general hierarchical information fusion framework for cooperative sensing to obtain global situational awareness for *** this,a cooperative intelligence framework is proposed for autonomous driving *** general framework can guide the development of data collection,sharing and processing strategies to realize different intelligent functions in autonomous driving.

关键词： autonomous driving cooperative intelligence information fusion vehicular communications and networking

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