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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Rifa Rahmayanti Juan C. Alvarez Diego Alvarez Antonio M. López Department of Electrical Electronic Computer and Systems Engineering Multisensor Systems and Robotics Group (SiMuR) University of Oviedo Gijón Spain

ISBN: (数字)9781728188591

ISBN: (纸本)9781665406802

This paper presents a complete design and validation of a specific case of a Human-Robot collaborative workspace consisting of a robot arm and a human operator working in a pick & place task in close proximity. The human motion monitoring is made with IMU-based wearables and optical markers, and the robot motion planning method considers safety distance criteria as prescribed in ISO/TS 15066. This case study is meant to illustrate the design of collaborative environments by using the Model-based Design approach. The goal is to systematically address the problems of safety assurance and performance optimization, allowing the use of optimization and machine learning approaches.

关键词： Wearable computers Collaboration Machine learning Manipulators Safety Planning Task analysis

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ADD 2023: the Second Audio Deepfake Detection Challenge

ADD 2023: the Second Audio Deepfake Detection Challenge

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2023 Workshop on Deepfake Audio Detection and Analysis, DADA 2023

作者： Yi, Jiangyan Tao, Jianhua Fu, Ruibo Yan, Xinrui Wang, Chenglong Wang, Tao Zhang, Chu Yuan Zhang, Xiaohui Zhao, Yan Ren, Yong Xu, Le Zhou, Junzuo Gu, Hao Wen, Zhengqi Liang, Shan Lian, Zheng Nie, Shuai Li, Haizhou State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China Department of Automation Tsinghua University Beijing China Department of Electrical and Computer Engineering National University of Singapore Singapore The Chinese University of Hong Kong Hong Kong

Audio deepfake detection is an emerging topic in the artificial intelligence community. The second Audio Deepfake Detection Challenge (ADD 2023) aims to spur researchers around the world to build new innovative technologies that can further accelerate and foster research on detecting and analyzing deepfake speech utterances. Different from previous challenges (e.g. ADD 2022), ADD 2023 focuses on surpassing the constraints of binary real/fake classification, and actually localizing the manipulated intervals in a partially fake speech as well as pinpointing the source responsible for generating any fake audio. Furthermore, ADD 2023 includes more rounds of evaluation for the fake audio game sub-challenge. The ADD 2023 challenge includes three subchallenges: audio fake game (FG), manipulation region location (RL) and deepfake algorithm recognition (AR). This paper describes the datasets, evaluation metrics, and protocols. Some findings are also reported in audio deepfake detection tasks. © 2023 CEUR-WS. All rights reserved.

关键词： Fake detection

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Two-Player Incomplete Games of Resilient Multiagent systems

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IFAC-PapersOnLine 2023年第2期56卷 258-263页

作者： Yurid E. Nugraha Tomohisa Hayakawa Hideaki Ishii Ahmet Cetinkaya Quanyan Zhu Department of Electrical Engineering Institut Teknologi Sepuluh Nopember Surabaya 60111 Indonesia Department of Systems and Control Engineering Tokyo Institute of Technology Tokyo 152-8552 Japan Department of Computer Science Tokyo Insitute of Technology Yokohama 226-8502 Japan Department of Functional Control Systems Shibaura Institute of Technology Tokyo 135-8548 Japan Department of Electrical and Computer Engineering New York University Brooklyn NY 11201 USA

Evolution of agents’ dynamics of multiagent systems under consensus protocol in the face of jamming attacks is discussed, where centralized parties are able to influence the control signals of the agents. In this paper we focus on a game-theoretical approach of multiagent systems where the players have incomplete information on their opponents’ strength. We consider repeated games with both simultaneous and sequential player actions where players update their beliefs of each other over time. The effect of the players’ optimal strategies according to Bayesian Nash Equilibrium and Perfect Bayesian Equilibrium on agents’ consensus is examined. It is shown that an attacker with incomplete knowledge may fail to prevent consensus despite having sufficient resources to do so.

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Wearable Robots for Human Underwater Movement Ability Enhancement:A Survey

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IEEE/CAA Journal of Automatica Sinica 2022年第6期9卷 967-977页

作者： Haisheng Xia Muhammad Alamgeer Khan Zhijun Li MengChu Zhou IEEE Department of Automation University of Science and Technology of ChinaHefei 230026China Institute of Artificial Intelligence Hefei Comprehensive National Science CenterHefei 230026China Helen and John C.Hartmann Department of Electrical and Computer Engineering New Jersey Institute of TechnologyNewark NJ 07102 USA Department of Cyber-Physical Systems St.Petersburg State Marine Technical UniversitySt.Petersburg 198262Russia

Underwater robot technology has shown impressive results in applications such as underwater resource *** underwater applications that require extremely high flexibility,robots cannot replace skills that require human dexterity yet,and thus humans are often required to directly perform most underwater *** robots(exoskeletons)have shown outstanding results in enhancing human movement on *** are expected to have great potential to enhance human underwater *** purpose of this survey is to analyze the state-of-the-art of underwater exoskeletons for human enhancement,and the applications focused on movement assistance while excluding underwater robotic devices that help to keep the temperature and pressure in the range that people can *** work discusses the challenges of existing exoskeletons for human underwater movement assistance,which mainly includes human underwater motion intention perception,underwater exoskeleton modeling and human-cooperative *** research should focus on developing novel wearable robotic structures for underwater motion assistance,exploiting advanced sensors and fusion algorithms for human underwater motion intention perception,building up a dynamic model of underwater exoskeletons and exploring human-in-theloop control for them.

关键词： Cyborg intelligence diving exoskeleton intention perception modeling and control swimming underwater exoskeletons underwater robots wearable robots

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A review: Challenges and opportunities for artificial intelligence and robotics in the offshore wind sector

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Energy and AI 2022年第2期8卷 177-212页

作者： Daniel Mitchell Jamie Blanche Sam Harper Theodore Lim Ranjeetkumar Gupta Osama Zaki Wenshuo Tang Valentin Robu Simon Watson David Flynn Smart Systems Group Institute of SensorsSignals and SystemsSchool of Engineering and Physical SciencesHeriot-Watt UniversityEdinburghEH144ASUnited Kingdom Centre for Mathematics and Computer Science Intelligent and Autonomous Systems GroupCWIAmsterdam1098 XG Netherlands Algorithms Group Faculty of Electrical EngineeringMathematics and Computer Science(EEMCS)Delft University of Technology(TU Delft)Delft2628 XE Netherlands The University of Manchester Department of Electrical and Electronic EngineeringOxford RoadManchesterM139PL United Kingdom James Watt School of Engineering University of GlasgowG128QQUnited Kingdom

The UK has set plans to increase offshore wind capacity from 22GW to 154GW by 2030. With such tremendous growth, the sector is now looking to robotics and Artificial Intelligence (RAI) in order to tackle lifecycle service barriers as to support sustainable and profitable offshore wind energy production. Today, RAI applications are predominately being used to support short term objectives in operation and maintenance. However, moving forward, RAI has the potential to play a critical role throughout the full lifecycle of offshore wind infrastructure, from surveying, planning, design, logistics, operational support, training and decommissioning. This paper presents one of the first systematic reviews of RAI for the offshore renewable energy sector. The state-of-the-art in RAI is analyzed with respect to offshore energy requirements, from both industry and academia, in terms of current and future requirements. Our review also includes a detailed evaluation of investment, regulation and skills development required to support the adoption of RAI. The key trends identified through a detailed analysis of patent and academic publication databases provide insights to barriers such as certification of autonomous platforms for safety compliance and reliability, the need for digital architectures for scalability in autonomous fleets, adaptive mission planning for resilient resident operations and optimization of human machine interaction for trusted partnerships between people and autonomous assistants. Our study concludes with identification of technological priorities and outlines their integration into a new ‘symbiotic digital architecture’ to deliver the future of offshore wind farm lifecycle management.

关键词： Artificial intelligence Autonomous systems Digitalization Offshore renewable energy Offshore wind farms robotics

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Nanophotonic-structured front contact for high-performance perovskite solar cells

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Science China Materials 2022年第7期65卷 1727-1740页

作者： Md.Akhtaruzzaman Mohammad Ismail Hossain Mohammad Aminul Islam Md.Shahiduzzaman Ghulam Muhammad A.K.Mahmud Hasan Yuen Hong Tsang Kamaruzzaman Sopian Solar Energy Research Institute(SERI) Universiti Kebangsaan Malaysia43600 BangiSelangorMalaysia Department of Applied Physics Hong Kong Polytechnic University(PolyU)KowloonHong KongChina Centre for Integrated Systems Engineering and Advanced Technologies(Integra) Faculty of Engineering and Built EnvironmentUniversiti Kebangsaan Malaysia(UKM)43600 BangiSelangorMalaysia Graduate School of Pure and Applied Sciences University of TsukubaTsukubaIbaraki 305-8573Japan Department of Electrical Engineering Faculty of EngineeringUniversity of MalayaJalan Universiti50603 Kuala LumpurSelangorMalaysia Nanomaterials Research Institute(NanoMaRi) Kanazawa UniversityKakumaKanazawa 920-1192Japan Department of Computer Engineering College of Computer and Information SciencesKing Saud University11543 RiyadhSaudi Arabia Department of Electrical and Computer Engineering University of CaliforniaDavisCA 95616USA Institute of Sustainable Energy Universiti Tenaga Nasional(@The National Energy University)Jalan IKRAM-UNITEN43000 KajangSelangorMalaysia

We report the design of a nanophotonic metaloxide front contact aimed at perovskite solar cells(PSCs)to enhance optoelectronic properties and device stability in the presence of ultraviolet(UV)***-quality Cr-doped ZnO film was prepared by industrially feasible magnetron sputter deposition for the electron transport layer of *** a means,the influence of the Cr content on the film and device was systematically ***-depth device optics and electrical effects were studied using advanced three-dimensional opto-electrical multiphysics rigorous simulations,optimizing the front contact for realizing high *** numerical simulation was validated by fabricating PSCs optimized to reach high performance,energy conversion efficiency(ECE)=17.3%,open-circuit voltage(V_(OC))=1.08 V,short-circuit current density(J_(SC))=21.1 mA cm^(-2),and fillfactor(FF)=76%.Finally,a realistic front contact of nanophotonic architecture was proposed while improving broadband light absorption of the solar spectrum and light harvesting,resulting in enhanced quantum efficiency(QE).The nanophotonic PSC enables J_(SC)improvement by~17%while reducing the reflection by 12%,resulting in an estimated conversion efficiency over 23%.It is further demonstrated how the PSCs’UV-stability can be improved without considerably sacrificing optoelectronic *** of nanophotonic designed ZnO:Cr front contact,PSCs device,and fabrication process are described.

关键词： ZnO:Cr front contact magnetron sputtering perovskite solar cells UV stability optics and electrical effects

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Implementing the Practically-Oriented Curricular in the Field of Cyber-Physical systems: A Case Study of the School for Ukrainian Students 25th

Implementing the Practically-Oriented Curricular in the Fiel...

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25th International Conference on Interactive Collaborative Learning, ICL 2022

作者： Zabasta, Anatolijs Peuteman, Joan Kunicina, Nadezda Kazymyr, Volodymyr Hnatov, Andrii Sistuk, Volodymyr Bisenieks, Martins Institute of Industrial Electronics and Electrical Engineering Riga Technical University Riga1048 Latvia Faculty of Engineering Technology Department of Electrical Engineering KU Leuven Bruges8200 Belgium Information and Computer Systems Department Chernihiv National Technological University Chernihiv14035 Ukraine Vehicle Electronics Department Kharkiv National Automobile and Highway University Kharkiv61002 Ukraine Kryvyi Ryh National University Kryvyi Rih50027 Ukraine

ISBN: (纸本)9783031261893

The ERASMUS + project "Development of practically-oriented student-centered education in the field of modeling of Cyber-Physical systems" (CybPhys) focuses on curricula modernizations in close cooperation with potential employers. Since the CybPhys project pursues to develop practically-oriented student-centered curricula, we involved industry representatives in the creation of new courses from the very beginning of the project. In the paper, we describe the curriculum development stages and obtain feedback from the main stakeholders. As part of the practically-oriented education, European partners in Riga Technical University, KU Leuven, and the University of Cyprus should arrange three schools for Ukrainian students. In this research, we focus on implementing practically-oriented and student-centered training methods at the school for Ukrainian students arranged at the RTU in January 2022. We describe novel methods and approaches applied in the students’ school, such as transversal skills, Design Thinking, involvement of industry representatives in the teacher team, etc. The survey of Ukrainian students and teachers revealed the presence or absence of correlations between students’ general perception of the school and teaching/ learning methods, e.g. developments of creative thinking, practical application of theory, etc. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Students

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Dimensionality and dynamics for next-generation artificial neural networks

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Patterns 2025年

作者： Wang, Ge Fan, Feng-Lei Department of Biomedical Engineering Department of Electrical Computer and Systems Engineering Department of Computer Science Center for Computational Innovations Biomedical Imaging Center Center for Biotechnology and Interdisciplinary Studies Rensselaer Polytechnic Institute TroyNY United States Department of Data Science City University of Hong Kong Kowloon Hong Kong

The recent awarding of the Nobel Prize in Physics to Geoffrey E. Hinton and John J. Hopfield highlights their profound impact on artificial neural networks. In this perspective, we explore how their foundational insights can drive the advancement of next-generation artificial intelligence (AI) models. We propose expanding beyond conventional architectures by introducing dimensionality through intra-layer links and dynamics via feedback loops. Network height and additional dimensions, alongside traditional width and depth, enhance learning capabilities, while entangled loops across scales induce emergent behaviors akin to phase transitions in physics. We discuss how these principles extend beyond transformers, fostering a new paradigm of intelligence inspired by physics-driven models and biological cognition mechanisms. © 2025 The Author(s)

关键词： Neural network models

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Adaptive Control of Euler-Lagrange systems under Time-varying State Constraints without a Priori Bounded Uncertainty

arXiv

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arXiv 2023年

作者： Sankaranarayanan, Viswa Narayanan Satpute, Sumeet Gajanan Roy, Spandan Nikolakopoulos, George Robotics and Artificial Intelligence Group Department of Computer Science Electrical and Space Engineering Luleå University of Technology Sweden Robotics Research Center International Institute of Information Technology Hyderabad India

In this article, a novel adaptive controller is designed for Euler-Lagrangian systems under predefined time-varying state constraints. The proposed controller could achieve this objective without a priori knowledge of system parameters and, crucially, of state-dependent uncertainties. The closed-loop stability is verified using the Lyapunov method, while the overall efficacy of the proposed scheme is verified using a simulated robotic arm compared to the state of the art. © 2023, CC BY-NC-ND.

关键词： Lyapunov methods

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Adaptive Manoeuvring Control for Planar Snake Robots in Uncertain Friction Environments

Adaptive Manoeuvring Control for Planar Snake Robots in Unce...

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American Control Conference (ACC)

作者： Hareesh Chitikena Irja Gravdahl Kristin Ytterstad Pettersen Alireza Mohammadi Filippo Sanfilippo Øyvind Stavdahl Shugen Ma Department of Engineering Sciences University of Agder (UiA) Grimstad Norway Department of Engineering Cybernetics Norwegian University of Science and Technology (NTNU) Trond-heim Norway Department of Electrical and Computer Engineering University of Michigan - Dearborn Dearborn MI United States Robotics & Autonomous Systems Thrust Systems Hub HKUST (GZ) China

ISBN: (数字)9798350382655

ISBN: (纸本)9798350382662

The locomotion dynamics of a snake robot are greatly influenced by the way it interacts with its surroundings, particularly in terms of friction. Given the variable frictional characteristics of the environments in which holonomic snake robots locomote, this paper introduces a novel friction-adaptive body-shape controller that dynamically adjusts the robot's locomotion parameters in response to changes in friction. One of this paper's contributions is based on deriving a novel linear regression-based representation of the ground friction forces acting on the snake robot, which results in coupled dynamics between the gait tracking and friction parameter estimation errors. Using these coupled dynamics and our proposed friction adaptation law, we prove practical stability of the gait tracking and friction parameter estimation errors in the general case, as well as asymptotic convergence of the gait tracking errors and boundedness of the friction parameter estimation errors in a special case. Simulation results show that the proposed controller is stable and that the gait tracking error and friction parameter estimation errors are converging and bounded.

关键词： Asymptotic stability Parameter estimation Friction Simulation Snake robots Dynamics Stability analysis

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