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IEEE International Conference on robotics and Automation (ICRA)

作者： Katelyn King Shai Revzen Department of Biomedical Engineering Robotics Institute University of Michigan Ann Arbor Department of Electrical Engineering and Computer Science Department of Ecology and Evolutionary Biology University of Michigan Ann Arbor

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Decimeter scale robots in human environments are small relative to obstacles they encounter, making them prone to flipping over and needing to self-right. We present a multifaceted shell that by its geometry alone enables the hexapedal robot MediumANT to passively self-right without the need for additional sensory feedback. We designed the shell by specifying the cross-sectional geometry in the yz and xy planes such that the robot returns to an upright position by rolling around the longitudinal (x) axis, and then tweaked the design to reduce the number of faces. We then attached the shell to the robot by modifying some of its chassis structural plates to extend to and support the shell. We evaluated the effectiveness of the shell in two experimental scenarios: passive righting – balancing the robot on each face of the shell before releasing the robot – and an intentional fall – walking the robot off a ledge at various approach angles. As intended by our design, the robot recovered the upright orientation from all starting faces in the passive righting test and righted itself and continued walking in all falling trials. This work presents an example of using biologically inspired simplicity to solve what would otherwise be a technically challenging problem.

关键词： Legged locomotion Geometry Structural plates Robot sensing systems Biology Faces

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OPTIMAL MULTI-OBJECTIVE BEST ARM IDENTIFICATION WITH FIXED CONFIDENCE

arXiv

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arXiv 2025年

作者： Chen, Zhirui Karthik, P.N. Chee, Yeow Meng Tan, Vincent Y.F. Department of Electrical and Computer Engineering Department of Industrial Systems Engineering and Management National University of Singapore Singapore Department of Industrial Systems Engineering and Management National University of Singapore Singapore Department of Mathematics Department of Electrical and Computer Engineering National University of Singapore Singapore Department of Artificial Intelligence Indian Institute of Technology Hyderabad India

We consider a multi-armed bandit setting with finitely many arms, in which each arm yields an M-dimensional vector reward upon selection. We assume that the reward of each dimension (a.k.a. objective) is generated independently of the others. The best arm of any given objective is the arm with the largest component of mean corresponding to the objective. The end goal is to identify the best arm of every objective in the shortest (expected) time subject to an upper bound on the probability of error (i.e., fixed-confidence regime). We establish a problem-dependent lower bound on the limiting growth rate of the expected stopping time, in the limit of vanishing error probabilities. This lower bound, we show, is characterised by a max-min optimisation problem that is computationally expensive to solve at each time step. We propose an algorithm that uses the novel idea of surrogate proportions to sample the arms at each time step, eliminating the need to solve the max-min optimisation problem at each step. We demonstrate theoretically that our algorithm is asymptotically optimal. In addition, we provide extensive empirical studies to substantiate the efficiency of our algorithm. While existing works on pure exploration with multi-objective multi-armed bandits predominantly focus on Pareto frontier identification, our work fills the gap in the literature by conducting a formal investigation of the multi-objective best arm identification problem. Copyright © 2025, The Authors. All rights reserved.

关键词： Pareto principle

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Assessment of Energy Management Strategies in Buildings Equipped with Modulating Heat Pumps 2

Assessment of Energy Management Strategies in Buildings Equi...

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2nd International Conference on Energy Transition in the Mediterranean Area, SyNERGY MED 2022

作者： Efkarpidis, Nikolaos A. Christoforidis, Georgios C. Papagiannis, Grigoris K. University of Applied Sciences and Arts Northwestern Switzerland Institute of Electric Power Systems Windisch Switzerland University of Western Macedonia Department of Electrical and Computer Engineering Kozani Greece Aristotle University of Thessaloniki Power Systems Laboratory School of Electrical & Computer Engineering Thessaloniki Greece

ISBN: (数字)9781665461078

ISBN: (纸本)9781665461078

Buildings equipped with battery energy storages (BES), thermal energy storages (TES), Photovoltaics (PV), solar thermal collectors (STC) and modulating heat pumps (HP) can significantly enhance the energy management potential. The energy management systems are mainly based on self-consumption maximization (SCM) and time-of-use arbitrage (ToUA). In terms of electricity pricing, dynamic pricing policies with two, three tariff zones or real-time pricing (RTP) are mostly applied. In this study, different control algorithms based on the concepts of SCM and ToUA are evaluated for a complex energy system consisted of BES, TES, PV, STC and HPs with variable-speed compressors. The performance of the proposed energy management strategies is assessed under ToU and RTP pricing regimes. © 2022 IEEE.

关键词： Costs

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IRS Channel Estimation in Cell-free MIMO Network: A Coalition Formation Guided Federated Learning Approach

IRS Channel Estimation in Cell-free MIMO Network: A Coalitio...

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2025 IEEE Wireless Communications and Networking Conference, WCNC 2025

作者： Liu, Haoxuan Qi, Nan Li, Xiaojie Boulogeorgos, Alexandros A. A. Tsiftsis, Theodoros A. Xiao, Ming Röning, Juha Nanjing University of Aeronautics and Astronautics Nanjing China Southeast University National Mobile Communications Research Laboratory Nanjing210096 China University of Western Macedonia Department of Electrical and Computer Engineering Kozani50100 Greece University of Thessaly Department of Informatics and Telecommunications Lamia35100 Greece University of Nottingham Ningbo China Department of Electrical and Electronic Engineering Ningbo315100 China School of Electrical Engineering KTH Royal Institute of Technology Stockholm Sweden University of Oulu Biomimetics and Intelligent Systems Group Finland

ISBN: (纸本)9798350368369

The downlink channel estimation is currently a critical bottleneck for IRS-assisted cell-free multiple input multiple output communication. Conventionally, most studies have employed deep learning methods to estimate the high-dimensional, complex cascaded channels generated by IRS, necessitating data collection from all users for centralized model training, which results in excessively large overheads, and data privacy problems. To tackle this challenge, a federated learning (FL)-based channel estimation framework incorporates coalition formation to guide the formation of FL user groups. We propose a coalition formation-enabled federated learning framework for channel estimation, utilizing a deep reinforcement learning (DRL) approach to intelligently group users into multiple coalitions, thereby improving channel estimation accuracy. Moreover, considering that nodes with similar distances to the base station and similar received signal power have a strong likelihood that they experience similar channel fading, we designed a transfer learning method that incorporates both received reference signal power and distance similarity metrics. The transfer learning technique is designed to accelerate the convergence of DRL-federated learning process. Simulations reveal that the proposed algorithms significantly reduce communication overhead for local users and improve data privacy while maintaining commendable channel estimation accuracy. © 2025 IEEE.

关键词： Deep reinforcement learning

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A robust multi-objective optimization algorithm for accurate parameter estimation for solar cell models

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Soft Computing 2024年第19期28卷 11265-11277页

作者： Singla, Manish Kumar Gupta, Jyoti Alsharif, Mohammed H. Kim, Mun-Kyeom Aljaidi, Mohammad Safaraliev, Murodbek Department of Interdisciplinary Courses in Engineering Chitkara University Institute of Engineering & ampTechnology Chitkara University Punjab India Applied Science Research Center Applied Science Private University Amman11931 Jordan School of Engineering and Technology K. R. Mangalam University Gurgaon Haryana122003 India Department of Electrical Engineering College of Electronics and Information Engineering Sejong University 209 Neungdong-Ro Gwangjin-Gu Seoul05006 Korea Republic of School of Energy System Engineering Chung-Ang University 84 Heukseok-Ro Dongjak-Gu Seoul06974 Korea Republic of Department of Computer Science Zarqa University Zarqa13110 Jordan Department of Automated Electrical Systems Ural Federal University Yekaterinburg620002 Russia

The accuracy of solar cell models is crucial for enhancing the performance of solar photovoltaic (PV) systems. However, existing solar cell models lack precise parameters, and the manufacturer's datasheet does not provide the required information for reliable modeling. Consequently, accurate parameter estimation becomes necessary. This paper presents a simple multi-objective optimization algorithm (Hybrid Particle Swarm Optimization and Rat Search Algorithm (PSORSA)) designed to estimate cell parameters based on this observation. Unlike other optimization algorithms addressing this issue, the proposed algorithm aims to overcome challenges related to local minima and premature convergence, which often lead to suboptimal results. The paper focuses on assessing the reliability of the proposed algorithm by comparing its performance with other well-known optimization algorithms. The proposed optimizing algorithm is tested on the CEC 2019 benchmark function. Experimental results (RMSE), including statistical analysis, validate the algorithm's effectiveness by comparing them with other algorithms. At the end, non-parametric test is performed to justify the outcomes, vouching for the better performance of the proposed algorithm. The findings demonstrate that the proposed algorithms are particularly well-suited for estimating solar PV models. With its simple structure and high accuracy, the proposed algorithm exhibits great potential for various applications in the field of solar energy. Moreover, its computational efficiency and ease of implementation further contribute to its practicality. © The Author(s) 2024.

关键词： Solar cells

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Left and Right Lung-Specific Method of Segmentation in Chest Radiographs

Left and Right Lung-Specific Method of Segmentation in Chest...

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Applications of Machine Learning 2024

作者： Marsh, John J. Narayanan, Barath Narayanan Hardie, Russell C. Electrical and Computer Engineering Department University of Dayton 300 College Park DaytonOH45469 United States Sensor and Software Systems Division University of Dayton Research Institute 300 College Park DaytonOH45469 United States

ISBN: (纸本)9781510679368

Lung segmentation supports essential functionality within the realm of computer-aided detection and diagnosis using chest radiographs. In this research, we present a novel bifurcation approach of segmenting the lungs by separating them down the spinal column and having separate networks for the right and the left lungs respectively. Results from the right lung and left lung networks are then merged to form the overall lung. We utilize DeepLabV3+ network with ResNet50 as the backbone for both left and right lung networks. Results are presented for publicly available datasets such as Shenzhen Dataset and Japanese Society of Radiological Technology (JSRT) dataset. Our proposed bifurcation approach achieved an overall accuracy of 98.8% and an IoU (Intersection over Union) of 0.977 for a set of 100 cases in Shenzhen dataset. We conducted an additional robustness study of this method by training and testing on an independent dataset utilizing a hold-out methodology. We utilize a private dataset for the training and testing occurs on an independent JSRT dataset comprising 140 cases and our algorithm achieved an overall IoU of 0.945 thereby demonstrating its efficacy against other whole lung models and setting a new benchmark for future research works. © 2024 SPIE.

关键词： Image segmentation

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A Manta Ray-Inspired Biosyncretic Robot with Stable Controllability by Dynamic Electric Stimulation

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Cyborg and Bionic systems 2022年第1期2022卷 314-326页

作者： Chuang Zhang Yiwei Zhang Wenxue Wang Ning Xi Lianqing Liu State Key Laboratory of Robotics Shenyang Inst itute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China School of Automation and Electrical Engineering Shenyang Ligong University Shenyang 110159China Emerging Technologies Institute Department of Industrial Manufacturing Systems Engineering University of Hong KongPokfulamChina

Biosyncretic robots,which are new nature-based robots in addition to bionic robots,that utilize biological materials to realize their core function,have been supposed to further promote the progress in *** as the main operation mechanism relates to the robotic overall ***,biosyncretic robots actuated by living biological actuators have attracted increasing ***,innovative propelling modes and control methods are still necessary for the further development of controllable motion performance of biosyncretic *** this work,a muscle tissue-based biosyncretic swimmer with a manta *** propelling mode has been *** is more,to improve the stable controllability of the biosyncretic swimmer,a dynamic control method based on circularly distributed multiple electrodes(CDME)has been *** this method,the direction of the electric field generated by the CDME could be real-time controlled to be parallel with the adtuation tissue of the dynamic ***,the instability of the tissue actuation induced by the dynamic included angle between the tissue axis and electric field direction could be ***,the biosyncretic robot has demonstrated stable,controllable,and efective swimming,by adjusting the electric stimulation pulse direction,amplitude,and *** work may be beneficial for not only the development of biosyncretic robots but also other related studies including bionic design of soft robots and muscle tissue engineering.

关键词： Robot robot Dynamic

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A 74.8-88.8 GHz Wideband CMOS LNA Achieving +4.73 dBm OP1dB and 6.39 dB Minimum NF

A 74.8-88.8 GHz Wideband CMOS LNA Achieving +4.73 dBm OP1dB ...

引用

2023 IEEE/MTT-S International Microwave Symposium, IMS 2023

作者： Zou, Linfeng Zhao, Kangjie Fang, Zonghua Huang, Leilei Liu, Boxiao Shi, Chunqi Chen, Guangsheng Chen, Jinghong Zhang, Runxi East China Normal University Institute of Microelectronic Circuits and Systems China Shanghai Eastsoft Microelectronics Co. Ltd. China University of Houston Department of Electrical and Computer Engineering United States

ISBN: (纸本)9798350347647

This paper presents a 74.8-88.8 GHz low-noise amplifier (LNA) in a 55-nm CMOS technology. The LNA employs one common-gate (CG) stage, one common-source (CS) stage, and two cascode stages. A hybrid broadband interstage network (HBIN) is developed to extend the amplifier bandwidth. An inductor-feedback common-gate-shorting (IFCGS) technique is proposed to improve the gain and output 1dB compression point (OP1dB). An out-of-phase-dual-coupling (OPDC) transformer structure is also developed to achieve gm-boost and reduce the noise of the CG stage. Benefiting from the proposed techniques, the LNA achieves a measured -3dB bandwidth of 14 GHz, a 17.1 dB peak gain, a minimum noise figure of 6.39 dB, and 4.73 dBm OP1dB at 80 GHz while consuming 72.4 mW of power. © 2023 IEEE.

关键词： Millimeter waves

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Sensing Metric-Based Hybrid Underlay/Overlay Transmission Framework for CR-IoT Networks for Smart City Applications 7

Sensing Metric-Based Hybrid Underlay/Overlay Transmission Fr...

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7th IET Smart Cities Symposium, SCS 2023

作者： Bala, Indu Mijwil, Maad M. Abotaleb, Mostafa El-Kenawy, El-Sayed M. Ibrahim, Abdelhameed School of Electrical and Electronics Engineering Lovely Professional University Punjab India Computer Techniques Engineering Department Baghdad College of Economic Sciences University Baghdad Iraq Department of System Programming South Ural State University Chelyabinsk Russia Department of Communications and Electronics Delta Higher Institute of Engineering and Technology Egypt Computer Engineering and Control Systems Department Faculty of Engineering Mansoura University Mansoura Egypt

ISBN: (纸本)9781839539831

With the increasing number of IoT devices, there is a growing need for bandwidth to support their communication. Unfortunately, there is a shortage of available bandwidth due to preallocated bands for various services. To address this issue, Cognitive Internet of Things (CR-IoT) enables devices to optimize their efficiency and enhance their communication capabilities by intelligently accessing available bandwidth. This is achieved through the use of soft sensing metrics, where devices continuously monitor the RF environment and transmit data opportunistically in overlay mode if a free channel is detected, or in underlay mode if not. In this paper, a soft sensing metric based hybrid transmission framework is proposed for CR-IoT devices to meet the data rate requirement for the smart city applications. The efficacy of this approach is demonstrated through simulation results. © The Institution of engineering & Technology 2023.

关键词： Smart city

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Development of Mutal Recognition of Education Approach in Advanced computer-Oriented engineering Technologies in the Baltic Region 64

Development of Mutal Recognition of Education Approach in Ad...

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64th IEEE Annual International Scientific Conference on Power and electrical engineering of Riga Technical University, RTUCON 2023

作者： Kunicina, Nadezhda Rassolkin, Anton Bruzgiene, Rasa Plonis, Darius Caiko, Jelena Riga Technical University Institute of Electrical Engineering and Electronics Feee Riga Latvia Tallinn University of Technology Department of Electrical Power Engineering and Mechatronics Tallinn Estonia Kaunas University of Technology Faculty of Informatics Department of Computer Sciences Kaunas Lithuania Vilnius Gediminas Technical University Department of Electronic Systems Vilnius Lithuania

ISBN: (纸本)9798350317732

The continued improvement and development of study programmes content for mutual recognition of study programmes among the largest technical universities in the Baltic region provides a very good opportunity for regional development as it brings a good advancement in academics and research at the involved universities, allows for more flexible and reliable collaboration with industrial partners, and provides an opportunity to develop new technologies and implement them for regional support. The goal of the development is to promote the involvement of students in the design of adaptive systems by providing them with the necessary set of skills that will allow them to immediately engage in the design of innovative adaptive systems and successfully solve technological challenges that have been identified through the cooperation of educational and research institutions. The adoption of an innovative educational strategy will aid in the creation of new technology and creative solutions even before students begin their studies. Collaboration between academic personnel and industry will help students build their abilities. © 2023 IEEE.

关键词： Students

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