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IEEE-RAS International Conference on Humanoid Robots

作者： Petr Svarny Mazin Hamad Alexander Kurdas Matej Hoffmann Saeed Abdolshah Sami Haddadin Department of Cybernetics Faculty of Electrical Engineering Czech Technical University in Prague Department of Computer Engineering Chair of Robotics and Systems Intelligence Munich Institute of Robotics and Machine Intelligence School of Computation Information and Technology Technische Universität München (TUM)

ISBN: (纸本)9798350309805

Various approaches can ascertain the safety and efficiency of physical human-robot collaboration. This paper presents the concept of robot functional mode switching to efficiently ensure human safety during collaborative tasks based on biomechanical pain and injury data and task information. Besides the robot's reflected inertial properties summarizing its impact dynamics, our concept also integrates safe and smooth velocity shaping that respects human partner motion, interaction type, and task knowledge. We further discuss different approaches to safely shape the robot velocity without sacrificing the overall task execution time and motion smoothness. The experimental results showed that our proposed approaches could decrease jerk level during functional mode switching and limit the impact of safety measures on productivity, especially when guided with additional task knowledge.

关键词： Robot motion Service robots Human-robot interaction Humanoid robots Switches Interference Safety

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RecGS: Removing Water Caustic with Recurrent Gaussian Splatting

arXiv

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arXiv 2024年

作者： Zhang, Tianyi Zhi, Weiming Huang, Kaining Mangelson, Joshua Barbalata, Corina Johnson-Roberson, Matthew Robotics Institute School of Computer Science Carnegie Mellon University PittsburghPA15213 United States Department of Mechanical & Industrial Engineering Louisiana State University Baton RougeLA70803 United States Department of Electrical and Computer Engineering Brigham Young University ProvoUT84602 United States

Water caustics are commonly observed in seafloor imaging data from shallow-water areas. Traditional methods that remove caustic patterns from images often rely on 2D filtering or pre-training on an annotated dataset, hindering the performance when generalizing to real-world seafloor data with 3D structures. In this paper, we present a novel method Recurrent Gaussian Splatting (RecGS), which takes advantage of today’s photorealistic 3D reconstruction technology, 3D Gaussian Splatting (3DGS), to separate caustics from seafloor imagery. With a sequence of images taken by an underwater robot, we build 3DGS recurrently and decompose the caustic with low-pass filtering in each iteration. In the experiments, we analyze and compare with different methods, including joint optimization, 2D filtering, and deep learning approaches. The results show that our proposed RecGS paradigm can effectively separate the caustic from the seafloor, improving the visual appearance, and can be potentially applied on more problems with inconsistent illumination. Our videos and code are released at https://***/proj/*** © 2024, CC BY.

关键词： Iterative methods

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A Multi-Layer Software Architecture for Aerial Cognitive Multi-Robot systems in Power Line Inspection Tasks

A Multi-Layer Software Architecture for Aerial Cognitive Mul...

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2021 International Conference on Unmanned Aircraft systems, ICUAS 2021

作者： Silano, Giuseppe Bednar, Jan Nascimento, Tiago Capitan, Jesus Saska, Martin Ollero, Anibal Czech Technical University Faculty of Electrical Engineering Prague Czech Republic Universidade Federal da Paraiba Department of Computer Systems Brazil Grvc Robotics Laboratory University of Seville Spain

ISBN: (纸本)9780738131153

This paper presents a multi-layer software architecture to perform cooperative missions with a fleet of quad-rotors providing support in electrical power line inspection operations. The proposed software framework guarantees the compliance with safety requirements between drones and human workers while ensuring that the mission is carried out successfully. Besides, cognitive capabilities are integrated in the multi-vehicle system in order to reply to unforeseen events and external disturbances. The feasibility and effectiveness of the proposed architecture are demonstrated by means of realistic simulations. © 2021 IEEE.

关键词： Inspection

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Enhancing Power Quality through Harmonic Reduction: A Triple-Memristor Hopfield Neural Network Approach

Enhancing Power Quality through Harmonic Reduction: A Triple...

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International Conference on I-SMAC (IoT in Social, Mobile, Analytics and Cloud) (I-SMAC)

作者： Varaprasad K S B Sukhi Y Shanmugapriya Subramaniyan Ramya Dhandapani Rajendiran M S. Kaliappan Department of Electrical and Electronics Engineering Visakha Institute of Engineering & Technology Visakhapatnam Andhra Pradesh India Department of Electrical and Electronics Engineering R.M.K. Engineering College Tiruvallur Tamil Nadu India Department of Electrical and Electronics Engineering SRM Institute of Science & Technology Tamil Nadu India Department of Computer Science and Business Systems Sri Eshwar College of Engineering Coimbatore Tamil Nadu India Department of Computer Science and Engineering Panimalar Engineering College Chennai Tamil Nadu India Division of Research and Development Lovely Professional University Jalandhar Delhi India

ISBN: (数字)9798350376425

ISBN: (纸本)9798350376432

Harmonic distortion in power systems is a significant concern that impacts the efficiency, reliability, and safety of electrical networks. Implementing effective harmonic distortion mitigation solutions, such as filters or advanced control systems, can be expensive and may necessitate substantial changes to existing infrastructure. This paper proposes a Triple-Memristor Hopfield Neural Network (TMHNN) as a novel method for mitigating harmonic distortion in power systems. The main objective of the proposed approach is to improve the quality of power by mitigating the harmonics. The TMHNN is used to predict the actual harmonic current injected by specific harmonic sources within a power system. The results demonstrate the significant advantages of the proposed TMHNN method over existing techniques such as Artificial Neural Network (ANN), Adaptive Neuro-Fuzzy Inference System (ANFIS), and Recurrent Neural Network (RNN). TMHNN achieves the highest efficiency at 96.3%, lowest error rate at 4.16% and minimizing total harmonic distortion (THD), with the lowest value of 3.74%. These results highlight TMHNN's superior performance in terms of efficiency, harmonic distortion reduction, and accuracy.

关键词： Total harmonic distortion Error analysis System dynamics Prevention and mitigation Hopfield neural networks Artificial neural networks Harmonic analysis Smart grids Safety Power harmonic filters

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Decentralized Multi-Robot Line-of-Sight Connectivity Maintenance under Uncertainty

arXiv

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arXiv 2024年

作者： Yang, Yupeng Lyu, Yiwei Zhang, Yanze Yi, Sha Luo, Wenhao The Department of Computer Science University of North Carolina at Charlotte CharlotteNC28223 United States The Department of Electrical and Computer Engineering Carnegie Mellon University PittsburghPA15213 United States The Robotics Institute Carnegie Mellon University PittsburghPA15213 United States

In this paper, we propose a novel decentralized control method to maintain Line-of-Sight connectivity for multirobot networks in the presence of Guassian-distributed localization uncertainty. In contrast to most existing work that assumes perfect positional information about robots or enforces overly restrictive rigid formation against uncertainty, our method enables robots to preserve Line-of-Sight connectivity with high probability under unbounded Gaussian-like positional noises while remaining minimally intrusive to the original robots’ tasks. This is achieved by a motion coordination framework that jointly optimizes the set of existing Line-of-Sight edges to preserve and control revisions to the nominal task-related controllers, subject to the safety constraints and the corresponding composition of uncertainty-aware Line-of-Sight control constraints. Such compositional control constraints, expressed by our novel notion of probabilistic Line-of-Sight connectivity barrier certificates (PrLOS-CBC) for pairwise robots using control barrier functions, explicitly characterize the deterministic admissible control space for the two robots. The resulting motion ensures Line-of-Sight connectedness for the robot team with high probability. Furthermore, we propose a fully decentralized algorithm that decomposes the motion coordination framework by interleaving the composite constraint specification and solving for the resulting optimization-based controllers. The optimality of our approach is justified by the theoretical proofs. Simulation and real-world experiments results are given to demonstrate the effectiveness of our method. Copyright © 2024, The Authors. All rights reserved.

关键词： Controllers

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Enhancing URLLC Availability in Multi-Connectivity Scenarios Using Deep Reinforcement Learning

Enhancing URLLC Availability in Multi-Connectivity Scenarios...

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European Conference on Networks and Communications (EuCNC)

作者： Sheikh Tawsiful Islam Milad Ganjalizadeh Hossein Shokri Ghadikolaei Mustafa Ozger School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Ericsson Research Ericsson AB Stockholm Sweden Department of Electronic Systems Aalborg University Copenhagen Denmark

ISBN: (数字)9798350391800

ISBN: (纸本)9798350391817

Ultra-reliable low-latency communication (URLLC) services are essential for real-time control applications, such as industrial automation and autonomous vehicles, where stringent performance and reliability are paramount. Traditional diversity techniques-employing time, frequency, or spatial domains-enhance communication service availability. In bandwidth-constrained systems, these techniques often result in redundant transmissions and excessive resource consumption, limiting the efficient utilization of available resources. This paper investigates the potential of dynamic spatial diversity to enhance the availability of URLLC services in multi-connectivity scenarios. To this end, we propose to employ an entropybased deep reinforcement learning framework. This framework leverages the soft actor-critic algorithm to dynamically optimize spatial diversity by selecting transmission paths and determining the optimal number of packet instances for transmission. The proposed approach, implemented in a 3 GPP-compliant simulator, is evaluated in a factory automation scenario employing dual connectivity and packet duplication. The experiments demonstrate that our framework significantly outperforms conventional singlepath and static packet duplication strategies, achieving superior efficiency in packet duplication and load balancing.

关键词： Time-frequency analysis Spatial diversity Heuristic algorithms Telecommunication traffic Ultra reliable low latency communication Deep reinforcement learning Resource management Reliability Vehicle dynamics Manufacturing automation

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Sequential fusion estimation for multisensor systems with non-Gaussian noises

引用

Science China(Information Sciences) 2020年第12期63卷 153-165页

作者： Liping YAN Chenying DI Q.M.Jonathan WU Yuanqing XIA Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology Department of Electrical and Computer Engineering University of Windsor

The sequential fusion estimation for multisensor systems disturbed by non-Gaussian but heavytailed noises is studied in this paper. Based on multivariate t-distribution and the approximate t-filter,the sequential fusion algorithm is presented. The performance of the proposed algorithm is analyzed and compared with the t-filter-based centralized batch fusion and the Gaussian Kalman filter-based optimal centralized fusion. Theoretical analysis and exhaustive experimental analysis show that the proposed algorithm is effective. As the generalization of the classical Gaussian Kalman filter-based optimal sequential fusion algorithm, the presented algorithm is shown to be superior to the Gaussian Kalman filter-based optimal centralized batch fusion and the optimal sequential fusion in estimation of dynamic systems with non-Gaussian noises.

关键词： state estimation sequential fusion non-Gaussian disturbance heavy-tailed noise multivariate t-distribution

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SPL: A Socratic Playground for Learning Powered by Large Language Model

SPL: A Socratic Playground for Learning Powered by Large Lan...

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2024 Joint of the Human-Centric eXplainable AI in Education and the Leveraging Large Language Models for Next Generation Educational Technologies Workshops, HEXED-L3MNGET 2024

作者： Zhang, Liang Lin, Jionghao Kuang, Ziyi Xu, Sheng Hu, Xiangen Institute for Intelligent Systems University of Memphis MemphisTN38152 United States Department of Electrical and Computer Engineering University of Memphis MemphisTN38152 United States School of Computer Science Carnegie Mellon University PittsburghPA15213 United States School of Psychology Shaanxi Normal University Xi’an710062 China School of Psychology Central China Normal University Wuhan430079 China Department of Applied Social Sciences Hong Kong Polytechnic University Hong Kong

Dialogue-based Intelligent Tutoring systems (ITSs) have significantly advanced adaptive and personalized learning by automating sophisticated human tutoring strategies within interactive dialogues. However, replicating the nuanced patterns of expert human communication remains a challenge in Natural Language Processing (NLP). Recent advancements in NLP, particularly Large Language Models (LLMs) such as OpenAI’s GPT-4, offer promising solutions by providing human-like and context-aware responses based on extensive pre-trained knowledge. Motivated by the effectiveness of LLMs in various educational tasks (e.g., content creation and summarization, problem-solving, and automated feedback provision), our study introduces the Socratic Playground for Learning (SPL), a dialogue-based ITS powered by the GPT-4 model, which employs the Socratic teaching method to foster critical thinking among learners. Through extensive prompt engineering, SPL can generate specific learning scenarios and facilitates efficient multi-turn tutoring dialogues. The SPL system aims to enhance personalized and adaptive learning experiences tailored to individual needs, specifically focusing on improving critical thinking skills. Our pilot experimental results from essay writing tasks demonstrate SPL has the potential to improve tutoring interactions and further enhance dialogue-based ITS functionalities. Our study, exemplified by SPL, demonstrates how LLMs enhance dialogue-based ITSs and expand the accessibility and efficacy of educational technologies. © 2024 Copyright for this paper by its authors.

关键词： Problem solving

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Hybrid Blockchain and IoT Driven Framework for Supply Chain Optimization by Enhancing Transparency, Efficiency and Cost Reduction

Hybrid Blockchain and IoT Driven Framework for Supply Chain ...

引用

Electronics and Renewable systems (ICEARS), International Conference on

作者： Pradeep Kumar S CH Hussaian Basha C. Arun Prasath G. Amirthayogam Syed Ismail Abdul Lathif R. Leelavathi Computer Science Design Department Rajalakshmi Engineering College Thandalam Chennai Department of Electrical and Electronics Engineering SR University Warangal Department of ECE Mahendra Engineering College Namakkal Department of Computer Science and Engineering School of Computing Vel Tech Rangarajan Dr. Sagunthala R&D Institute of Science and Technology Chennai Department of Data Science and Business Systems SRM Institute of Science and Technology Chennai Department of Biomedical Engineering Velalar College of Engineering and Technology Erode

ISBN: (数字)9798331509675

ISBN: (纸本)9798331509682

Blockchain technology represents a modern supply chain management revolution which fixes operational challenges while providing enhanced transparency at reduced costs. The research develops HB-SCOF (Hybrid Blockchain-Enabled Supply Chain Optimization Framework) which combines blockchain self-verification databases with automatic smart contracts to maintain continuous supply chain observation and evaluate data credibility. The framework integrates tamper-proof transaction tracking mechanisms with unified supply chain network connectivity for securing data transmission as a trust delivery method through unbreakable shared databases. The retail-industry case study demonstrated a 25% decrease in expenses stemming from agency elimination alongside enhanced flow management and better stock distribution. The system demonstrates its effectiveness through assessments of key performance indicators including transaction speed and data accuracy together with business cost efficiency. This part looks at implementation methods through training stakeholders in addition to transforming organizational policies which produce successful outcomes. Blockchain technology labs verify its capability to enhance supply chain management efficiency while showing realistic deployment methods.

关键词： Training Costs Supply chain management Supply chains Smart contracts Key performance indicator Blockchains Stakeholders Internet of Things Optimization

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ProgressLabeller: Visual Data Stream Annotation for Training Object-Centric 3D Perception

arXiv

引用

arXiv 2022年

作者： Chen, Xiaotong Zhang, Huijie Yu, Zeren Lewis, Stanley Jenkins, Odest Chadwicke The Department of Electrical Engineering and Computer Science Robotics Institute The University of Michigan Ann ArborMI48109 United States

Visual perception tasks often require vast amounts of labelled data, including 3D poses and image space segmentation masks. The process of creating such training data sets can prove difficult or time-intensive to scale up to efficacy for general use. Consider the task of pose estimation for rigid objects. Deep neural network based approaches have shown good performance when trained on large, public datasets. However, adapting these networks for other novel objects, or fine-tuning existing models for different environments, requires significant time investment to generate newly labelled instances. Towards this end, we propose ProgressLabeller as a method for more efficiently generating large amounts of 6D pose training data from color images sequences for custom scenes in a scalable manner. ProgressLabeller is intended to also support transparent or translucent objects, for which the previous methods based on depth dense reconstruction will fail. We demonstrate the effectiveness of ProgressLabeller by rapidly create a dataset of over 1M samples with which we fine-tune a state-of-the-art pose estimation network in order to markedly improve the downstream robotic grasp success rates. Progresslabeller is open-source at https://***/huijieZH/ProgressLabeller. © 2022, CC BY.

关键词： Deep neural networks

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