检索结果-内蒙古大学图书馆

Analyzing the behaviors of pedestrians and cyclists in interactions with autonomous systems using controlled experiments: A literature review

引用

Transportation Research Part F: Traffic Psychology and Behaviour 2025年 114卷 270-307页

作者： Danya Li Wencan Mao Francisco C. Pereira Yu Xiao Xiang Su Rico Krueger Department of Technology Management and Economics Technical University of Denmark (DTU) Denmark Information Systems Architecture Science Research Division National Institute of Informatics (NII) Japan Department of Information and Communications Engineering Aalto University Finland Department of Computer Science and Department of Agricultural Sciences University of Helsinki Finland

Urban transportation is set to undergo a profound transformation with the advent of autonomous systems such as autonomous vehicles, automated buses, and sidewalk delivery robots. To promote safe, sustainable, and inclusive urban mobility, understanding and predicting the behaviors of pedestrians and cyclists, including their intentions, decisions, and movements, when they interact with autonomous systems becomes crucial. Gaining a thorough understanding of these complex interactions can not only improve the safety, efficiency, and acceptance of autonomous systems but also enhance the design and implementation of these technologies. Through a comprehensive review of the literature spanning the years 2014 to 2023, we identify 99 articles that empirically investigate the interactions of humans and autonomous systems. Based on our overview of progress and challenges within this field, we further identify five research gaps that future research should address to enhance human-autonomous system interactions, including: (1) scaling up experimental scenarios to multi-user and multi-modal setups to better represent real-world challenges, (2) emphasizing safety-critical scenarios that are difficult to achieve in real-world environments by applying virtual reality, (3) incorporating diverse behavioral data from the human perspective to deepen the understanding of vulnerable road user behavior and decisions, (4) embracing continuous and real-time interaction to better predict dynamic future environments, and (5) enhancing the generalization ability to ensure realism and broad applicability. This review article offers valuable insights for the growing human-autonomous system research community, specifically those interested in leveraging controlled experiments to enhance the understanding and prediction of pedestrians' and cyclists' behaviors in future urban environments.

关键词： Human-autonomous system interaction Human behavioral modeling Autonomous vehicles Virtual reality Controlled experiment

来源：评论

学校读者我要写书评

暂无评论

Self-Supervised Learning of Grasping Arbitrary Objects On-the-Move

Self-Supervised Learning of Grasping Arbitrary Objects On-th...

引用

IEEE/SICE International Symposium on System Integration

作者： Takuya Kiyokawa Eiki Nagata Yoshihisa Tsurumine Yuhwan Kwon Takamitsu Matsubara Division of Information Science Robot Learning Laboratory Nara Institute of Science and Technology (NAIST) Ikoma Nara Japan Department of Systems Innovation Graduate School of Engineering Science Osaka University Toyonaka Osaka Japan

ISBN: (数字)9798331531614

ISBN: (纸本)9798331531621

Mobile grasping enhances manipulation efficiency by utilizing robots’ mobility. This study aims to enable a commercial off-the-shelf robot for mobile grasping, requiring precise timing and pose adjustments. Self-supervised learning can develop a generalizable policy to adjust the robot’s velocity and determine grasp position and orientation based on the target object’s shape and pose. Due to mobile grasping’s complexity, action primitivization and step-by-step learning are crucial to avoid data sparsity in learning from trial and error. This study simplifies mobile grasping into two grasp action primitives and a moving action primitive, which can be operated with limited degrees of freedom for the manipulator. This study introduces three fully convolutional neural network (FCN) models to predict static grasp primitive, dynamic grasp primitive, and residual moving velocity error from visual inputs. A two-stage grasp learning approach facilitates seamless FCN model learning. The ablation study demonstrated that the proposed method achieved the highest grasping accuracy and pick-and-place efficiency. Furthermore, randomizing object shapes and environments in the simulation effectively achieved generalizable mobile grasping.

关键词： Visualization Accuracy Shape Grasping Self-supervised learning Timing Complexity theory Trajectory Convolutional neural networks Manipulator dynamics

来源：评论

学校读者我要写书评

暂无评论

Self-Adjusting Network Slicing for Dynamic Heterogeneous Task Offloading in UAV-Enabled Mobile Edge Computing

引用

IEEE Transactions on Cognitive Communications and Networking 2025年

作者： Li, Xulong Mao, Wencan Xu, Xinyi Liu, Yaxi Zhang, Huifeng Huangfu, Wei Long, Keping University of Science and Technology Beijing School of Computer and Communication Engineering Beijing100083 China National Institute of Informatics Information Systems Architecture Science Research Division Tokyo101-8430 Japan Zhejiang Lab Hangzhou311500 China

Unmanned aerial vehicle (UAV)-enabled mobile edge computing (MEC) has received wide attention for its ability to significantly reduce latency with flexible mobile aerial nodes. However, the existing works merely consider a fixed periodic network slicing and usually neglect the characterization of computing tasks in practical applications. Motivated by this, we envision a novel scenario where the dynamics and heterogeneity of users and tasks are considered in UAV-enabled MEC networks. We propose a novel self-adjusting two-timescale network slicing scheme based on the internal mechanism in deep reinforcement learning (DRL) to automatically determine whether and when network slicing needs to be reconstructed. Such a novel scheme balances reconstruction cost and system performance compared with traditional fixed schemes. We build an optimization to minimize total system cost for joint UAV trajectory planning and resource allocation at both network and user slice levels. To tackle this problem, we design a novel self-adjusting two-timescale proximal policy optimization (PPO) algorithm that utilizes the property of the critic network, referred to as SaTPPO. Experiment results manifest the effectiveness of the proposed SaTPPO, and it has a lower system cost than the traditional fixed schemes. Moreover, the proposed SaTPPO outperforms the state-of-the-art baselines concerning effectiveness and efficiency. © 2015 IEEE.

关键词： Micro air vehicle (MAV)

来源：评论

学校读者我要写书评

暂无评论

Basic Approach to Estimation of Blood Oxygen Saturation Using an RGB Color Camera without Infrared Light 4

Basic Approach to Estimation of Blood Oxygen Saturation Usin...

引用

4th IEEE Global Conference on Life sciences and Technologies, LifeTech 2022

作者： Yoshizawa, Makoto Sugita, Norihiro Tanaka, Akira Togashi, Atsushi Kaji, Isao Yambe, Tomoyuki Tohoku University Center for Promotion of Innovation Strategy Sendai Japan Tohoku University Graduate School of Engineering Sendai Japan Fukushima University Faculty of Symbiotic Systems Science Fukushima Japan Shizuoka Institute of Science and Technology Faculty of Informatics Fukuroi Japan Sendai Foundation for Applied Information Sciences Sendai Japan

ISBN: (纸本)9781665419048

A method for estimating SPO2 using only an ordinary RGB color camera without using infrared light required by general pulse oximeters has been developed. In the method, first, three video pulse waves based on RGB video signals obtained by photographing the palm with a white LED light source were acquired as accurately as possible, and then their AC and DC components were obtained. SPO2 was estimated from the interrelationship among the three types of ratios. In the experiment, healthy 91 participants were made to hold their breath for 20s to create changes in SPO2. True values of SPO2 obtained from the fingertip photoelectric pulse wave meter was compared with estimated values from the palm video image. The results performed from five trials of cross-validation demonstrated that the multiple regression model was superior to the optimization method for absorption coefficients. © 2022 IEEE.

关键词： Oxygen

来源：评论

学校读者我要写书评

暂无评论

Distributed Prescribed-Time Observer for Nonlinear systems in Block-Triangular Form

arXiv

引用

arXiv 2025年

作者： de Heij, Vincent Niazi, M.B. Umar Johansson, Karl H. Ahmed, Saeed Faculty of Science and Engineering University of Groningen Groningen9747 AG Netherlands Division of Decision and Control Systems Digital Futures KTH Royal Institute of Technology StockholmSE-100 44 Sweden Division of Decision and Control Systems Digital Futures KTH Royal Institute of Technology StockholmSE-100 44 Sweden Laboratory for Information and Decision Systems Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology CambridgeMA02139 United States

This paper proposes a distributed prescribed-time observer for nonlinear systems representable in a block-triangular observable canonical form. Using a weighted average of neighbor estimates exchanged over a strongly connected digraph, each observer estimates the system state despite the limited observability of local sensor measurements. The proposed design guarantees that distributed state estimation errors converge to zero at a user-specified convergence time, irrespective of observers’ initial conditions. To achieve this prescribed-time convergence, distributed observers implement time-varying local output injection gains that monotonically increase and approach infinity at the prescribed time. The theoretical convergence is rigorously proven and validated through numerical simulations, where some implementation issues due to increasing gains have also been clarified. Copyright © 2025, The Authors. All rights reserved.

关键词： Digital arithmetic

来源：评论

学校读者我要写书评

暂无评论

Certificate-Less Healthcare Signature Scheme for Secure Consumer technology-Centric Wireless Medical Sensor Devices

引用

IEEE Transactions on Consumer Electronics 2025年

作者： Vimal, Vrince Raina, Vikas Alghamdi, Azzah Majumdar, Parijata Shabaz, Mohammad Rao, G Siva Nageswara Nimma, Divya Keshta, Ismail Soni, Mukesh Mody University of Science and technology Department of CSE SET Laxmangarh Rajasthan SikarNH-52 India Imam Abdalrhman Bin Faisal University College of Computer Science and Information Technology Computer Information Systems Department Khobar Saudi Arabia Indian Institute of Information Technology Department of Computer Science and Engineering Agartala India Model Institute of Engineering and Technology J and K Jammu India Koneru Lakshmaiah Education Foundation Department of Computer Science and Engineering AP Vaddeswaram India The University of Southern Mississippi United States AlMaarefa University College of Applied Sciences Computer Science and Information Systems Department Riyadh Saudi Arabia Lovely Professional University Division of Research and Development Phagwara India

The application of Consumer-Centric Wireless Medical Sensor Devices in the medical field has brought great convenience to doctors and patients. However, the transmission process may compromise patient privacy, making the authenticity and integrity of medical data a significant challenge in the healthcare industry. To address this issue, a certificate-less Healthcare Signature scheme is proposed to protect patient privacy. However, most schemes are unable to resist fully selective cipher text attacks and suffer from key exposure problems. To mitigate these issues, a scheme is proposed to resist fully selective attacks in real-time processing of Consumer-Centric Wireless Medical Sensor Devices with high latency issues, while utilizing parallel key isolation methods to address key exposure problems. The scheme's enforceability is proven based on the random oracle model and the computational Diffie-Hellman assumption, and its resistance to fully selective key attacks is proven based on hash-based collision resistance. It is shown that this plan works well for wireless sensor networks in the medical field. Sensor nodes have limited resources, and sending vast volumes of patient medical data online significantly raises processing and communication costs. The low processing power of edge devices limits the effectiveness and performance of medical services. Efficiency analysis using the MIRACL library demonstrates that the proposed scheme outperforms other relevant schemes in terms of efficiency at each stage, while also having lower communication overhead. © 1975-2011 IEEE.

关键词： Sensor nodes

来源：评论

学校读者我要写书评

暂无评论

Distributed Optimization with Finite Bit Adaptive Quantization for Efficient Communication and Precision Enhancement 63

Distributed Optimization with Finite Bit Adaptive Quantizati...

引用

63rd IEEE Conference on Decision and Control, CDC 2024

作者： Rikos, Apostolos I. Jiang, Wei Charalambous, Themistoklis Johansson, Karl H. Artificial Intelligence Thrust of the Information Hub Guangzhou China The Hong Kong University of Science and Technology Department of Computer Science and Engineering Clear Water Bay Hong Kong Aalto University School of Electrical Engineering Department of Electrical Engineering and Automation Espoo Finland University of Cyprus School of Engineering Department of Electrical and Computer Engineering Nicosia1678 Cyprus Kth Royal Institute of Technology Division of Decision and Control Systems StockholmSE-100 44 Sweden

ISBN: (纸本)9798350316339

In realistic distributed optimization scenarios, individual nodes possess only partial information and communicate over bandwidth constrained channels. For this reason, the development of efficient distributed algorithms is essential. In our paper we addresses the challenge of unconstrained distributed optimization. In our scenario each node's local function exhibits strong convexity with Lipschitz continuous gradients. The exchange of information between nodes occurs through 3-bit bandwidth-limited channels (i.e., nodes exchange messages represented by a only 3 -bits). Our proposed algorithm respects the network's bandwidth constraints by leveraging zoom-in and zoom-out operations to adjust quantizer parameters dynamically. We show that during our algorithm's operation nodes are able to converge to the exact optimal solution. Furthermore, we show that our algorithm achieves a linear convergence rate to the optimal solution. We conclude the paper with simulations that highlight our algorithm's unique characteristics. © 2024 IEEE.

关键词： Bandwidth

来源：评论

学校读者我要写书评

暂无评论

FadePrint - Satellite Spoofing Detection via Fading Fingerprinting

FadePrint - Satellite Spoofing Detection via Fading Fingerpr...

引用

Consumer Communications and Networking Conference, CCNC IEEE

作者： Gabriele Oligeri Savio Sciancalepore Alireza Sadighian Division of Information and Computing Technology (ICT) College of Science and Engineering (CSE) Hamad Bin Khalifa University (HBKU) Doha Qatar Eindhoven University of Technology and Eindhoven Artificial Intelligence Systems Institute (EAISI) Netherlands

While various methods exist to implement message authentication in different communication layers, the physical layer offers some unique and beneficial features for this purpose. Existing solutions authenticate transmitters at the physical layer by merging deep learning with physical-layer attributes, protecting against impersonation attacks. This approach requires a lengthy and resource-intensive training phase for every new transmitter that joins the network. However, for some scenarios (e.g. satellite communications), characterizing the channel experienced by the received signal might be effective in detecting impersonation. In this work, we propose FadePrint, a solution capable of detecting satellite spoofing attacks by fingerprinting the noise-fading process associated with the satellite communication channel. The fading characteristics of a satellite link differ significantly from terrestrial links (e.g., indoor), making it possible to distinguish between the two. Unlike other systems, FadePrint does not require retraining when new transducers are added to the network. We tested FadePrint with real satellite and indoor radio measurements and proved that FadePrint can effectively discriminate between a satellite transmitter and a fake indoor one, with an accuracy higher than 0.99 for all the considered configurations.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Data-Driven Nonconvex Reachability Analysis using Exact Multiplication

arXiv

引用

arXiv 2025年

作者： Zhang, Zhen Niazi, M. Umar B Chong, Michelle S. Johansson, Karl H. Alanwar, Amr School of Computation Information and Technology Technical University of Munich Germany Division of Decision and Control Systems Digital Futures School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Department of Mechanical Engineering Eindhoven University of Technology Netherlands

This paper addresses a fundamental challenge in data-driven reachability analysis: accurately representing and propagating non-convex reachable sets. We propose a novel approach using constrained polynomial zonotopes to describe reachable sets for unknown LTI systems. Unlike constrained zonotopes commonly used in existing literature, constrained polynomial zonotopes are closed under multiplication with constrained matrix zonotopes. We leverage this property to develop an exact multiplication method that preserves the non-convex geometry of reachable sets without resorting to approximations. We demonstrate that our approach provides tighter over-approximations of reachable sets for LTI systems compared to conventional methods. © 2025, CC BY.

关键词： Geometry

来源：评论

学校读者我要写书评

暂无评论

Learning Feasibility Constraints for Control Barrier Functions

Learning Feasibility Constraints for Control Barrier Functio...

引用

European Control Conference (ECC)

作者： Wei Xiao Christos G. Cassandras Calin A. Belta Computer Science and Artificial Intelligence Lab Massachusetts Institute of Technology Division of Systems Engineering and Center for Information and Systems Engineering Boston University Brookline MA USA

It has been shown that optimizing quadratic costs while stabilizing affine control systems to desired (sets of) states subject to state and control constraints can be reduced to a sequence of Quadratic Programs (QPs) by using Control Barrier Functions (CBFs) and Control Lyapunov Functions (CLFs). In this paper, we employ machine learning techniques to ensure the feasibility of these QPs, which is a challenging problem, especially for high relative degree constraints where High Order CBFs (HOCBFs) are required. To this end, we propose a sampling-based learning approach to learn a new feasibility constraint for CBFs; this constraint is then enforced by another HOCBF added to the QPs. The accuracy of the learned feasibility constraint is recursively improved by a recurrent training algorithm. We demonstrate the advantages of the proposed learning approach to constrained optimal control problems with specific focus on a robot control problem and on autonomous driving in an unknown environment.

关键词：

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：