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arXiv 2025年

作者： Zhang, Zhong-Yi Xu, Chen-Yang Zhao, Li-Xuan Hou, Hui-Rang Meng, Qing-Hao Tianjin Key Laboratory of Process Measurement and Control Institute of Robotics and Autonomous Systems School of Electrical and Information Engineering Tianjin University Tianjin300072 China

Electroencephalogram (EEG) is a non-invasive tool for real-time neural monitoring, widely used in depression detection via deep learning. However, existing models primarily focus on binary classification (depression/normal), lacking granularity for severity assessment. To address this, we proposed the DepL-GCN, i.e., Depression Level classification based on GCN model. This model tackles two key challenges: (1) subjectivity in depression-level labeling due to patient self-report biases, and (2) class imbalance across severity categories. Inspired by the model learning patterns, we introduced two novel modules: the sample confidence module and the minority sample penalty module. The former leverages the L2-norm of prediction errors to progressively filter EEG samples with weak label alignment during training, thereby reducing the impact of subjectivity;the latter automatically upweights misclassified minority-class samples to address imbalance issues. After testing on two public EEG datasets, DepL-GCN achieved accuracies of 81.13% and 81.36% for multi-class severity recognition, outperforming baseline models. Ablation studies confirmed both modules’ contributions. We further discussed the strengths and limitations of regression-based models for depression-level recognition. Copyright © 2025, The Authors. All rights reserved.

关键词： Electroencephalography

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Modular Cyber-Physical System for Smart Industry: A case study on energy load disaggregation

Modular Cyber-Physical System for Smart Industry: A case stu...

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2023 International Conference on Control, Automation and Diagnosis, ICCAD 2023

作者： Alves, Jorge Sousa, Pedro Matos, Barbara Mendes, Jerome Souza, Francisco Matias, Tiago University of Coimbra Institute of Systems and Robotics Department of Electrical and Computer Engineering Coimbra3030-290 Portugal Oncontrol Technologies Coimbra3000-108 Portugal Radboud University Dept. Analytical Chemistry & Chemometrics AJ Nijmegen6525 Netherlands

ISBN: (纸本)9798350347074

Constant changes have marked the industry, and cyber-physical systems have offered great potential in Industry 4.0 on production processes, allowing the integration of computational intelligence and real-time processing. In this context, this paper proposes a modular hardware system for industrial applications according to a plug & play concept. The proposed system comprises a processing module (mPP) and specific expansion modules (mEXs). The mPP is responsible for administrating the network/communication. It collects data from the mEXs, extracts features, processes the features through artificial intelligence, and interacts with the production process. The mEXs comprise sensors, conditioning circuits, and an analog/digital converter. They are responsible for acquiring field signals and their transmission to the mPP. The proposed system is designed for operating with electrical protection, allowing reliable operation of the mPP and mEXs. For evaluating and demonstrating the proposed system in a real scenario, we applied it in a case study for non-intrusive energy load disaggregation. © 2023 IEEE.

关键词： Cyber Physical System

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State-of-Charge (SOC) Estimation of Lithium-Ion Battery Based on Unscented Kalman Filtering 6

State-of-Charge (SOC) Estimation of Lithium-Ion Battery Base...

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6th IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference, IMCEC 2024

作者： Miao, Mengfan Li, Ligang Wang, Zhongfeng Jiang, Jing Shenyang Ligong University College of Automation and Electrical Engineering Liaoning China Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang China Chinese Academy of Sciences Shenyang Institute of Automation Shenyang China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang China

ISBN: (纸本)9798350316520

Real-time estimation of State of Charge (SOC) for lithium-ion batteries is one of the core technologies in Battery Management systems (BMS). Accurate SOC estimation is fundamental for managing lithium-ion batteries. In this study, a second-order RC equivalent circuit model is established, and parameter identification methods are employed to determine the model parameters. The identified parameters are then incorporated back into the second-order RC model. The accuracy of these parameters and the model is validated through Hybrid Pulse Power Characteristic (HPPC) tests. Finally, the Unscented Kalman Filtering algorithm (UKF) is utilized to estimate battery SOC. Experimental results demonstrate that SOC estimation based on UKF exhibits high precision and stability. © 2024 IEEE.

关键词： Lithium-ion batteries

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A New Approach for Long-Term Demand Forecasting

SSRN

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SSRN 2024年

作者： Paulos, José Pedro Azevedo, Filipe Fidalgo, José Nuno INESC TEC - Institute for Systems and Computer Engineering Technology and Science Porto Portugal The Department of Electrical Engineering ISEP IPP - School of Engineering Polytechnic Institute of Porto Portugal The Department of Electrical Engineering and Computers of the Faculty of Engineering of the University of Porto Portugal INESC TEC Porto Portugal

The methodology adopted in this article is based on the principle that load diagrams to be forecasted have two distinct components: shape and magnitude. The present work was focused on the shape component, which was essentially defined by historic data and calendar information. The implemented approach was applied to five European countries using four years for training and one year for testing. The goal was to forecast the hourly demand diagram for an entire future year. The forecasting models were based on three forecasting techniques: General Regression Neural Networks (GRNN), Multiple Linear Regression (MLR), and Artificial Neural Networks (ANN). The performance analysis showed a mean absolute percentage error roughly between 2% and 6%, depending on the country and year being forecasted. Investigating the effect of temperature on predictions was the aim of a second study, which allows us to define uncertainty margins around the forecasted demand curve. This outcome is an essential element for power system planning. © 2024, The Authors. All rights reserved.

关键词： Multiple linear regression

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Wireless modulation classification based on Radon transform and convolutional neural networks

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Journal of Ambient Intelligence and Humanized Computing 2023年第5期14卷 6263-6272页

作者： Ghanem, Hanan S. Al-Makhlasawy, Rasha M. El-Shafai, Walid Elsabrouty, Maha Hamed, Hesham F. A. Salama, Gerges M. El-Samie, Fathi E. Abd Department of Electrical Engineering Faculty of Engineering Minia University Minia61111 Egypt Department of Computers and Systems Electronics Research Institute Cairo Egypt Security Engineering Lab Computer Science Department Prince Sultan University Riyadh11586 Saudi Arabia Department of Electronics and Electrical Communications Engineering Faculty of Electronic Engineering Menoufia University Menouf32952 Egypt Department of Electronics and Communications Engineering Egypt-Japan University of Science and Technology Alexandria Egypt Faculty of Engineering Egyptian-Russian University Cairo Egypt Department of Information Technology College of Computer and Information Sciences Princess Nourah Bint Abdulrahman University P.O. Box 84428 Riyadh11671 Saudi Arabia

Convolutional Neural Networks (CNNs) are efficient tools for pattern recognition applications. They have found applications in wireless communication systems such as modulation classification from constellation diagrams. Unfortunately, noisy channels may render the constellation points deformed and scattered, which makes the classification a difficult task. This paper presents an efficient modulation classification algorithm based on CNNs. Constellation diagrams are generated for each modulation type and used for training and testing of the CNNs. The proposed work depends on the application of Radon Transform (RT) to generate more representative patterns for the constellation diagrams to be used for training and testing. The RT has a good ability to represent discrete points in the spatial domain as curved lines. Several pre-trained networks including AlexNet, VGG-16, and VGG-19 are used as classifiers for modulation type from the spatial-domain constellation diagrams or their RTs. Several simulation experiments are presented in this paper to compare different scenarios for modulation classification at different Signal-to-Noise Ratios (SNRs) and fading channel conditions. © 2022, The Author(s).

关键词： Fading channels

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Online Prediction of Novel Trajectories Using a Library of Movement Primitives

Online Prediction of Novel Trajectories Using a Library of M...

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IEEE International Conference on Development and Learning, ICDL

作者： Paris Oikonomou Athanasios Dometios Mehdi Khamassi Costas S. Tzafestas School of Electrical and Computer Engineering National Technical University of Athens Greece Sorbonne Université CNRS Institute of Intelligent Systems and Robotics Paris France

ISBN: (数字)9798350348552

ISBN: (纸本)9798350348569

Learning to anticipate other agents' future movements has gained increased interest in robotics, especially in situations requiring interaction. Such a prediction allows the robotic systems to plan their actions as a task evolves and before its completion. Specifically, in case of active robot collaboration, early decision making might ensure smoothness during motion and collision avoidance. While previous work has addressed prediction and recognition of primitive actions, to our knowledge little attention has been paid to the aspect of unseen ones. In this paper, we introduce a method for online continuous prediction of the evolution of previously unseen trajectories based on a recency weighting of past observations using a library of trained probabilistic movement primitives (ProMPs). The proposed method makes the assumption that parts of any novel trajectory could be considered as a combination of simpler ones. A probability distribution is derived across the evolution of the trajectory, and is updated in a recursive manner. We present a set of simulation experiments to showcase the new method, and compare it with a state-of-the-art method.

关键词： Decision making Collaboration Probabilistic logic Libraries Probability distribution Trajectory Collision avoidance

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Approaching Test Time Augmentation in the Context of Uncertainty Calibration for Deep Neural Networks

arXiv

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arXiv 2023年

作者： Conde, Pedro Barros, Tiago Lopes, Rui L. Premebida, Cristiano Nunes, Urbano J. The Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Portugal Critical Software South Africa

With the rise of Deep Neural Networks, machine learning systems are nowadays ubiquitous in a number of real-world applications, which bears the need for highly reliable models. This requires a thorough look not only at the accuracy of such systems, but also at their predictive uncertainty. Hence, we propose a novel technique (with two different variations, named M-ATTA and V-ATTA) based on test time augmentation, to improve the uncertainty calibration of deep models for image classification. By leveraging an adaptive weighting system, M/V-ATTA improves uncertainty calibration without affecting the model’s accuracy. The performance of these techniques is evaluated by considering diverse metrics related to uncertainty calibration, demonstrating their robustness. Empirical results, obtained on CIFAR-10, CIFAR-100, Aerial Image Dataset, as well as in two different scenarios under distribution-shift, indicate that the proposed methods outperform several state-of-the-art post-hoc calibration techniques. Furthermore, the methods proposed also show improvements in terms of predictive entropy on out-of-distribution samples. Code for M/V-ATTA available at: https://***/pedrormconde/MV-ATTA Copyright © 2023, The Authors. All rights reserved.

关键词： Calibration

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Risk Assessment Based Time-adjusted Optimization for Safe and Fast Flight of Quadrotor UAVs

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IEEE Transactions on Vehicular Technology 2025年

作者： Zhu, Hai Li, Baoquan Yin, Haolin Zhang, Xuebo Tiangong University School of Control Science and Engineering The Tianjin Key Laboratory of Intelligent Control of Electrical Equipment Tianjin300387 China Nankai University Institute of Robotics and Automatic Information Systems The Tianjin Key Laboratory of Intelligent Robotics Tianjin300071 China

Generating an executable reference trajectory in realtime is a core of autonomous navigation for a quadrotor unmanned aerial vehicle (UAV). In the paper, a timeadjusted optimization method is proposed for UAV motion planning to achieve safe and fast flight. Firstly, based on parameterization for uniform B-spline trajectories, relationship of knot spans and UAV speeds is analyzed, and an iterative velocity restrict algorithm is introduced to tackle nonexecutable flight. Subsequently, combining start and target points in local planning, an evaluation criterion function is designed with control points of the above trajectory and directions of collision avoidance. On this basis, risk assessment is conducted according to surrounding environments, where four phases of passing obstacles is constructed by considering risk level variation. Then, the weight function in each phase is determined by relationship of obstacle and planned local trajectory. Moreover, time intervals of B-spline trajectories are adjusted to obtain nonuniform trajectories, so as to affect UAV speeds. Simulation and experiment are conducted with comparison to verify performance of the proposed method. © 2025 IEEE.

关键词： Risk assessment

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Camera-based light source localization for precise luminous intensity measurement of airport lamps

Camera-based light source localization for precise luminous ...

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Signal Processing Algorithms, Architectures, Arrangements and Applications (SPA)

作者： Kacper Podbucki Tomasz Marciniak Faculty of Automatic Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Division of Electronic Systems and Signal Processing Jana Pawła II 24 Poznan University of Technology Poznań Poland

ISBN: (数字)9788362065486

ISBN: (纸本)9798350373806

Measuring luminous intensity using electronic sensors requires their precise positioning. In the case of mobile measurement platforms, it is important to detect the light source and thus determine the correct direction of movement of the measuring device. This article presents research on a solution for the initial detection of glowing airport lamps based on camera images. The impact of the selection of parameters and image processing methods on the prepared data set was assessed. The histogram filtration method was introduced to improve the effectiveness of airport lamp localization. The proposed solution was investigated in different weather and daytime conditions. The overall accuracy of the proposed solution is more than ${9 0 \%}$.

关键词： Location awareness Histograms Accuracy Filtration Signal processing algorithms Airports Sensors Meteorology Light sources Erosion

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Digital Twin Development for a Quality Control Cell

Digital Twin Development for a Quality Control Cell

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International Conference on Control, Decision and Information Technologies (CoDIT)

作者： Marcella Cavalcanti Hugo Costelha Carlos Neves André Martins Luís Perdigoto School of Technology and Engineering Polytechnic of Leiria Leiria Portugal Institute for Systems Engineering and Computers - Coimbra (INESCC) Leiria Portugal Technological University of the Shannon: Midlands Midwest Limerick Ireland Institute of Systems and Robotics (ISR) Coimbra Portugal

The Digital Twin is one of the enabling technologies of Industry 4.0, Cyber-Physical systems and Smart Factories. In this context, Digital Twins can be developed for being employed through the entire lifecycle of a system, for design, operation, monitoring, maintenance, and even fault prediction and reconfiguration. This paper describes the development of a Digital Twin for a Quality Control cell that is part of a larger manufacturing process in the automotive industry. The virtual environment was built using ABB RobotStudio, the communication between devices in the cell was implemented with OPC UA (UA. NET and open62541), and the process data are registered in a database using MySQL. The results show a fully functional simulation of the cell's behaviour and future development will include the connection of the Digital Twin with the real system.

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