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16th International Conference on Electromechanics and robotics "Zavalishin’s Readings", ERZR 2021

作者： Kononov, Kirill Lavrenov, Roman Gavrilova, Lilia Tsoy, Tatyana Intelligent Robotics Department Institute of Information Technology and Intelligent Systems Kazan Federal University Kazan Russia

ISBN: (纸本)9789811628139

In previous work, we successfully studied the possibility of a mobile robot localization using an external RGB-D camera. We conducted virtual experiments in a Gazebo simulator using ROS with a Turtlebot3 Waffle Pi as a mobile robot. find_object_2d package was used to localize the Turtlebot3 and send its computed position to ROS. Thus, we extended our research and ratchet that result up by implementing the algorithm for filtering and smoothing the computed mobile robot position. Our task was to develop a thin library that is a wrapper over the find_object_2d package. The filtering algorithm and smoothing can compute the supposed robot position or predict it in cases when the robot disappears from the camera‘s field of view. We conducted virtual experiments over again and draw a comparison between previous results (without filtering and smoothing algorithm) and current results (using filtering and smoothing algorithm with slight improvements). © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Mobile robots

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Joint Task Offloading and Resource Allocation for Streaming Applications in Cooperative Mobile Edge Computing

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IEEE Transactions on Vehicular technology 2025年第6期74卷 9549-9564页

作者： Li, Xiang Fan, Rongfei Hu, Han Li, Xiangming Gong, Shimin Yang, Jian China Mobile Research Institute Beijing100053 China Beijing Institute of Technology School of Information and Electronics Beijing100081 China Beijing Institute of Technology School of Cyberspace Science and Technology Beijing100081 China Beijing Institute of Technology Zhuhai519088 China Shenzhen Campus of Sun Yat-sen University School of Intelligent Systems Engineering Shenzhen518000 China Guangdong Provincial Key Laboratory of Fire Science and Intelligent Emergency Technology China University of Science and Technology of China School of Information Science and Technology Hefei230027 China

Streaming applications like smart monitoring and real-time data processing are characterized by long data-collecting duration and delay stringent computation. Mobile edge computing can enable mobile devices to execute such applications more smoothly. However, achieving timely completion of streaming applications necessitates processing a flow of computation tasks in an assembly-line fashion, which requires an unprecedented system model and thus needs further study. This work addresses the above concern by investigating a scenario where multiple mobile devices run streaming tasks and offload them to a nearby BS for edge computing through a cooperative node. In this system, the duration of data collection, task offloading and edge computation together with multiuser offloading ratio and bandwidth allocation are jointly optimized to achieve low power consumption of the mobile devices and the cooperative node. The introduction of streaming tasks and cooperation mechanisms turns the task execution into multi-stage process and thus greatly exacerbate the complexity of overall solution. To this end, Dinkelbach method is first utilized for problem transformation. Subsequently, a hybrid approach of block coordinate descent (BCD) and Lagrangian multiplier method is employed to find local optimal solution when the BS has abundant computation capacity and difference of convex algorithm (DCA) is leveraged to attain convergent solution when the BS has finite computation capacity. Finally, numerical results are demonstrated to verify the effectiveness of the proposed methods and offer some insightful results about our proposed strategy. © 1967-2012 IEEE.

关键词： Mobile edge computing

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Learning Rat-Like Behavior for a Small-Scale Biomimetic Robot

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Engineering 2022年第10期17卷 232-243页

作者： Zihang Gao Guanglu Jia Hongzhao Xie Qiang Huang Toshio Fukuda Qing Shi Key Laboratory of Biomimetic Robots and Systems(Beijing Institute of Technology) Ministry of EducationBeijing 100081China Intelligent Robotics Institute School of Mechatronical EngineeringBeijing Institute of TechnologyBeijing 100081China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of TechnologyBeijing 100081China

Existing biomimetic robots can perform some basic rat-like movement primitives(MPs)and simple behavior with stiff combinations of these *** mimic typical rat behavior with high similarity,we propose parameterizing the behavior using a probabilistic model and movement ***,an analysis of fifteen 10 min video sequences revealed that an actual rat has six typical behaviors in the open field,and each kind of behavior contains different bio-inspired combinations of eight *** used the softmax classifier to obtain the behavior-movement hierarchical probability ***,we specified the MPs using movement parameters that are static and *** obtained the predominant values of the static and dynamic movement parameters using hierarchical clustering and fuzzy C-means clustering,*** predominant parameters were used for fitting the rat spinal joint trajectory using a second-order Fourier series,and the joint trajectory was generalized using a back propagation neural network with two hidden ***,the hierarchical probability model and the generalized joint trajectory were mapped to the robot as control policy and commands,*** implemented the six typical behaviors on the robot,and the results show high similarity when compared with the behaviors of actual rats.

关键词： Biomimetic Bio-inspired robot Neural network learning system Behavior generation

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Synthesis of Human-Inspired intelligent Fonts Using Conditional-DCGAN

Synthesis of Human-Inspired Intelligent Fonts Using Conditi...

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International Conference on Computer Vision and Machine Intelligence, CVMI 2022

作者： Kalingeri, Ranjith Kushwaha, Vandana Kala, Rahul Nandi, G.C. Center of Intelligent Robotics Indian Institute of Information Technology Allahabad UP Prayagraj211015 India

ISBN: (纸本)9789811978661

Despite numerous fonts already being designed and easily available online, the desire for new fonts seems to be endless. Previous methods focused on extracting style, shape, and stroke information from a large set of fonts, or transforming and interpolating existing fonts to create new fonts. The drawback of these methods is that generated fonts look-alike fonts of training data. As fonts are created from human handwriting documents, they have uncertainty and randomness incorporated into them, giving them a more authentic feel than standard fonts. Handwriting, like a fingerprint, is unique to each individual. In this paper, we have proposed GAN-based models that automate the entire font generation process, removing the labor involved in manually creating a new font. We extracted data from single-author handwritten documents and developed and trained class-conditioned DCGAN models to generate fonts that mimic the author’s handwriting style. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： BCFID cGAN DCGAN FID intelligent fonts Random fonts WCFID

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MMAG: Mutually Motivated Attention Gates for Simultaneous Extraction of Contextual and Spatial information from a Monocular Image 14

MMAG: Mutually Motivated Attention Gates for Simultaneous Ex...

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14th Indian Conference on Computer Vision, Graphics and Image Processing, ICVGIP 2023

作者： Singh, Aditya Mohan, Saloni Kushwaha, Vandana Nandi, G.C. Center of Intelligent Robotics Indian Institute of Information Technology Allahabad Uttar Pradesh Prayagraj India

ISBN: (纸本)9798400716256

In order to effectively interact with its environment, an agent must possess the ability to comprehend the'what' and the'where.' Two vision-based approaches, namely semantic segmentation and depth estimation, can be employed to provide this information. This paper introduces a unified model that combines these two tasks and utilizes a shared latent space. The chosen approach for the model involves an encoder-decoder architecture accompanied by a novel attention gate mechanism called MMAG, which has been proven to be highly effective. Furthermore, a common skip connection method, in conjunction with the proposed attention gate, is included to emphasize crucial features for both prediction purposes. By leveraging the complementary information within the shared representations, the model is capable of generating more accurate predictions compared to other joint-prediction models, all while utilizing fewer network parameters. To enhance performance, dilated layers are incorporated, allowing for focused attention through different receptive fields. The model's performance has been evaluated on the NYU Depth v2 and Camvid datasets, demonstrating improved results on both tasks when compared to other state-ofthe-art models. With its reduced parameter count, this model is particularly suitable for low-cost robots and has undergone successful testing for inference on the LoCoBot robot. © 2023 Copyright held by the owner/author(s). Publication rights licensed to ACM.

关键词： Semantic Segmentation

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Reliable observer-based control against sensor failures for fractional order systems 41

Reliable observer-based control against sensor failures for ...

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第41届中国控制会议

作者： Bingxin Li Xiangfei Zhao Yaowei Liu Xin Zhao Institute of Robotics and Automatic Information System and the Tianjin Key Laboratory of Intelligent Robotics Nankai University Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In the paper,the state and sensor failure observer for fractional order systems with order 0 <α <1 and 1 <α<2 is proposed to estimate the system state and sensor failures at the same *** general,unbounded sensor faults will inevitably lead to system ***,it is very necessary to study the reliable controller for fractional order systems against sensor *** the linear matrix inequality concept and the augmented system method,the sensor faults can be in any form,even unbounded.A reliable observer-based controller based on the state and sensor failures estimation is proposed,which can make the system work well regardless of whether the sensor *** α=1,methods proposed in the paper are equivalent to these of the integer order systems,scilicet,our methods can be extended to integer order ***,a simulation example is used to demonstrate the efficiency of the present methods.

关键词： Fractional order systems state and sensor failures linear matrix inequality reliable observer-based controller

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IIITDWD-zk@DravidianLangTech-2024: Leveraging the Power of Language Models for Hate Speech Detection in Telugu-English Code-Mixed Text 4

IIITDWD-zk@DravidianLangTech-2024: Leveraging the Power of L...

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4th Workshop on Speech, Vision, and Language Technologies for Dravidian Languages, DravidianLangTech 2024

作者： Shaik, Zuhair Hasan Kasu, Sai Kartheek Reddy Saumya, Sunil Biradar, Shankar Department of Data Science and Intelligent Systems Indian Institute of Information Technology Dharwad Karnatka Dharwad India

ISBN: (纸本)9798891760783

Hateful online content is a growing concern, especially for young people. While social media platforms aim to connect us, they can also become breeding grounds for negativity and harmful language. This study tackles this issue by proposing a novel framework called HOLD-Z, specifically designed to detect hate and offensive comments in Telugu-English code-mixed social media content. HOLD-Z leverages a combination of approaches, including three powerful models: LSTM architecture, Zypher, and openchat_3.5. The study highlights the effectiveness of prompt engineering and Quantized Low-Rank Adaptation (QLoRA) in boosting performance. Notably, HOLD-Z secured the 9th place in the prestigious HOLD-Telugu DravidianLangTech@EACL-2024 shared task, showcasing its potential for tackling the complexities of hate and offensive comment classification. © 2024 Association for Computational Linguistics.

关键词： Classification (of information)

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Reliable Observer-Based Control Against Sensor Failures for Fractional Order systems 42

Reliable Observer-Based Control Against Sensor Failures for ...

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42nd Chinese Control Conference, CCC 2023

作者： Li, Bingxin Zhang, Yujie Liu, Yaowei Zhao, Xin Nankai University Institute of Robotics and Automatic Information System The Tianjin Key Laboratory of Intelligent Robotics Tianjin300071 China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen518083 China

ISBN: (纸本)9789887581543

In the paper, stability analysis of a class of incommensurate fractional-order systems (IFOS) is studied. These sufficient conditions are based on the linear matrix inequality (LMI) and straightforwardly used to solve the feasible solutions with the LMI toolbox. Finally, two examples including a circuit example are given to illustrate the effectiveness of the proposed method, and the comparison with the previous results shows that the proposed method is less conservative. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Linear matrix inequalities

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Modeling and Simulation of an Elastic Passive Joint for Non-flipping Jumping Robot

Modeling and Simulation of an Elastic Passive Joint for Non-...

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2024 IEEE International Conference on Real-Time Computing and robotics, RCAR 2024

作者： Li, Qi Peng, Liang Wu, Zhiyuan Ye, Pengda Zhang, Weitao Xu, Yi Shi, Qing Beijing Institute of Technology Intelligent Robotics Institute School of Mechatronical Engineering Beijing100081 China Beijing Institute of Technology Ministry of Education Key Laboratory of Biomimetic Robots and Systems Beijing100081 China

ISBN: (纸本)9798350372601

To enhance the environmental adaptability of small-sized robots, jumping is commonly employed to achieve high mobility and obstacle-clearing capabilities. However, the prevalent problem of flipping in jumping robots limits their practical applications. Instead of adding extra control mechanisms and actuators, we propose an elastic passive joint (EPJ) to mitigate flipping. By incorporating a revolute joint, a switch, and a spring at the base of the hindleg, the leg can rotate around the body during the take-off phase, with the spring absorbing angular kinetic energy to reduce excessive angular velocity. We conducted dynamic modeling and a series of simulations to optimize the EPJ's position and stiffness. The simulation results indicate that with the EPJ in operation, adjusting the axis position slightly results in a zero-point for angular velocity. Additionally, the optimal spring stiffness of 1566 N/m ensures a non-flipping jump, which decreases the jumping height but improves the jumping distance. © 2024 IEEE.

关键词： Kinetic energy

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GSAC: A Gujarati Sentiment Analysis Corpus from Twitter 13

GSAC: A Gujarati Sentiment Analysis Corpus from Twitter

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13th Workshop on Computational Approaches to Subjectivity, Sentiment and Social Media Analysis, WASSA 2023

作者： Gokani, Monil Mamidi, Radhika Kohli Center on Intelligent Systems International Institute of Information Technology Hyderabad India

ISBN: (纸本)9781959429876

Sentiment Analysis is an important task for analysing online content across languages for tasks such as content moderation and opinion mining. Though a significant amount of resources are available for Sentiment Analysis in several Indian languages, there do not exist any large-scale, open-access corpora for Gujarati. Our paper presents and describes the Gujarati Sentiment Analysis Corpus (GSAC), which has been sourced from Twitter and manually annotated by native speakers of the language. We describe in detail our collection and annotation processes and conduct extensive experiments on our corpus to provide reliable baselines for future work using our dataset. © 2023 Association for Computational Linguistics.

关键词： Sentiment analysis

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