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IEEE BITS the Information Theory Magazine 2023年第3期3卷 6-49页

作者： Garani, Shayan Srinivasa Vasic, Bane Indian Institute of Science Department of Electronics Systems Engineering Bengaluru560012 India University of Arizona Department of Electrical and Computer Engineering TucsonAZ85721 United States

Information theory, coding theory, and signal processing have significantly shaped magnetic read/write channels engineering through a chronological sequence of innovations and research advancements, cognizant of the underlying physical processes. In this magazine article, we provide an overview of magnetic recording technologies leading to the channels engineering aspects, central to this article. We survey important coding and signal processing algorithms along with some design architectures that have made it to practice within hard disk drives for magnetic recording channels. The push toward realizing ultrahigh densities (> 4 Tb/in2>) on magnetic disks with ultrahigh throughput rates (>10 Gb /s) necessitates the development of native two-dimensional (2-D) coding and signal processing algorithms and architectures within the framework of 2-D magnetic recording (TDMR) along with read head engineering and changes to the recording physics. We also provide an overview of novel channels engineering solutions covering all aspects of TDMR channels driven from a systems science perspective. The innovations and research advances described in this article may serve a broad engineering audience in other areas as well. © 2021 IEEE.

关键词： Magnetic recording

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Improving Grasping Performance of Underactuated Two Finger Robotic Hands Using Variable Stiffness

Improving Grasping Performance of Underactuated Two Finger R...

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Iberian robotics Conference (ROBOT)

作者： Dylan Denizon Sedat Dogru Lino Marques Department of Electrical and Computer Engineering Institute of Systems and Robotics University of Coimbra Coimbra Portugal

ISBN: (数字)9798350376364

ISBN: (纸本)9798350376371

In this work, we aim to improve the performance of an underactuated anthropomorphic tendon driven robotic gripper with two fingers by allowing the stiffness of the finger joints to change as a function of the object shape. An optimization problem requiring that the gripper apply a constant total contact force with a minimum actuation force was formulated using a Genetic Algorithm (GA) approach in order to obtain a set of designs with geometrical parameters such as position and size of various elements of the fingers as well as stiffness of the joints. The optimization process was also repeated for the fixed stiffness case to compare the two approaches, demonstrating that the addition of variable stiffness allowed to achieve the same grasp with less actuation force.

关键词： Torque Shape Friction Force Grasping Grippers Joining processes Robots Tendons Genetic algorithms

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Reward-Based Energy-Aware Routing Protocols in Wireless Sensor Networks

Reward-Based Energy-Aware Routing Protocols in Wireless Sens...

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International Conference on Smart Applications and Sustainability in the Artificial Intelligence of Things, SAS-AIoT 2024

作者： Salama, Ramiz Alturjman, Sinem Altrjman, Chadi Al-Turjman, Fadi Department of Computer Engineering AI and Robotics Institute Research Center for AI and IoT Near East University Nicosia Cyprus Artificial Intelligence Software and Information Systems Engineering Departments AI and Robotics Institute Near East University Nicosia Cyprus

ISBN: (纸本)9783031782756

Smart cities, industrial automation, healthcare, and environmental monitoring are just a few of the industries that have seen revolutionary changes as a result of Wireless Sensor Networks’ (WSNs) explosive growth. WSNs are significantly hampered by the limited energy resources of their sensor nodes, which are usually battery-powered and placed in inaccessible locations, despite their wide-ranging applications. As a result, energy efficiency is now a crucial component of these networks’ operation and design. Though these protocols frequently fail to adjust to the dynamic and unpredictable nature of WSNs, traditional energy-aware routing methods have been created to decrease energy consumption by choosing the best paths for data transfer. By allowing sensor nodes to learn from their surroundings and make wise routing decisions, the machine learning field of reinforcement learning (RL) provides a viable answer to these problems. In contrast to conventional techniques, RL-based protocols provide continuous energy optimization by dynamically modifying their routing strategies in response to real-time feedback. This paper investigates how to include RL methods—specifically, Q-learning and SARSA—into WSN energy-aware routing protocols. The suggested method creates a more distributed and scalable solution by enabling each node to independently learn and modify its routing choices. The effectiveness of RL-based routing protocols is compared to traditional methods through comprehensive simulations. The findings show that by slowing down the rate at which energy is being used up by each node, RL not only increases energy efficiency but also lengthens the network's operational life. In particular, Q-learning demonstrates a notable improvement in sustaining data delivery rates and network connectivity under various circumstances. Although a little more computationally demanding, the SARSA algorithm offers greater flexibility in situations where network topology changes often. Th

关键词： Multi agent systems

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Exploiting 3D Grids for Indoor SLAM in Featureless Scenarios

Exploiting 3D Grids for Indoor SLAM in Featureless Scenarios

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IEEE International Conference on Autonomous Robot systems and Competitions (ICARSC)

作者： Luís Garrote Ulisses Reverendo Urbano J. Nunes Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal

ISBN: (数字)9798350352344

ISBN: (纸本)9798350352351

Accurate multi-sensor localization is a challenging task in the navigation of AMRs. Precise localization strategies are essential for AMRs to be able to perform with safety their missions in their surrounding environments. This work proposes a novel ROS-based modular 3D grid-based particle filter-based framework that can be used for Simultaneous Localization and Mapping (SLAM) or as a standalone robust localization strategy. The framework uses odometry and 3D LiDAR data as inputs for localization and SLAM. To further improve localization and representation alignment, a pose refinement stage is employed using Levenberg-Marquardt minimization. The refinement stage considers keypoints in the environment to improve localization and uses the raw 3D point cloud for map maintenance. A pyramid-like 3D grid resolution is used to aid the refinement of the representation, improving pose estimates in featureless scenarios. Experimental validation was carried out with data acquired using an in-house platform, in a set of indoor and semi-structured scenarios comprised of critical featureless areas. The obtained results highlight the robustness of the proposed framework in both SLAM and localization tasks. The code (ROS package) is made available in a GitHub repository 1 .

关键词： Location awareness Point cloud compression Three-dimensional displays Simultaneous localization and mapping Navigation Robustness Safety

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Point Cloud Classification Using Content-Based Transformer via Clustering in Feature Space

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IEEE/CAA Journal of Automatica Sinica 2024年第1期11卷 231-239页

作者： Yahui Liu Bin Tian Yisheng Lv Lingxi Li Fei-Yue Wang the State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190 the School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100190 IEEE the Transportation and Autonomous Systems Institute(TASI)and the Department of Electrical and Computer Engineering Purdue School of Engineering and TechnologyIndiana University-Purdue University Indianapolis(IUPUI)Indianapolis 46202 USA

Recently, there have been some attempts of Transformer in 3D point cloud classification. In order to reduce computations, most existing methods focus on local spatial attention,but ignore their content and fail to establish relationships between distant but relevant points. To overcome the limitation of local spatial attention, we propose a point content-based Transformer architecture, called PointConT for short. It exploits the locality of points in the feature space(content-based), which clusters the sampled points with similar features into the same class and computes the self-attention within each class, thus enabling an effective trade-off between capturing long-range dependencies and computational complexity. We further introduce an inception feature aggregator for point cloud classification, which uses parallel structures to aggregate high-frequency and low-frequency information in each branch separately. Extensive experiments show that our PointConT model achieves a remarkable performance on point cloud shape classification. Especially, our method exhibits 90.3% Top-1 accuracy on the hardest setting of ScanObjectN N. Source code of this paper is available at https://***/yahuiliu99/PointC onT.

关键词： Content-based Transformer deep learning feature aggregator local attention point cloud classification

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Hyper-Drive: Visible-Short Wave Infrared Hyperspectral Imaging Datasets for Robots in Unstructured Environments 13

Hyper-Drive: Visible-Short Wave Infrared Hyperspectral Imagi...

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13th Workshop on Hyperspectral Imaging and Signal Processing: Evolution in Remote Sensing, WHISPERS 2023

作者： Hanson, Nathaniel Pyatski, Benjamin Hibbard, Samuel Dimarzio, Charles Padir, Taskin Institute for Experiential Robotics United States Northeastern University Electrical and Computer Engineering Department BostonMA United States

ISBN: (纸本)9798350395570

Hyperspectral sensors have enjoyed widespread use in the realm of remote sensing;however, they require additional considerations for reliable functionality onboard mobile robots. In this work, we introduce a first-of-its-kind system architecture with snapshot hyperspectral cameras and point spectrometers to efficiently generate composite datacubes from a moving robot base. Our system collects and registers datacubes spanning the visible to shortwave infrared (660-1700 nm) spectrum while simultaneously capturing the ambient solar spectrum reflected off a white reference tile. We collect and disseminate a large dataset of more than 500 labeled datacubes from on-road and off-road terrain compliant with the ATLAS ontology to further the integration hyperspectral imaging (HSI). Our analysis of these data demonstrates that HSI is beneficial in terrain class separability and is a significant opportunity to increase understanding of scene composition from a robot-centric context. All code and data are open source online: https://***/hyper_drive_data © 2023 IEEE.

关键词： Hyperspectral imaging

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iLIAC: An approach of identifying dissimilar groups on unstructured numerical image dataset using improved agglomerative clustering technique

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Multimedia Tools and Applications 2024年第39期83卷 86359-86381页

作者： S, Sreedhar Kumar Ahmed, Syed Thouheed Fathima, Afifa Salsabil Mathivanan, Sandeep Kumar Jayagopal, Prabhu Saif, Abdu Gupta, Sachin Kumar Sinha, Garima Department of Computer Science and Engineering School of Engineering and Technology CMR University Karnataka Bengaluru India Department of Electrical Engineering Indian Institute of Technology Hyderabad Telangana Kandi India School of Computer Science and Engineering REVA University Bangalore India School of Computer Science and Engineering Galgotias University Uttar Pradesh Greater Noida203201 India School of Computer Science Engineering and Information Systems Vellore Institute of Technology Tamil Nadu Vellore632014 India Department of Communication and Computer Engineering Faculty of Engineering and IT Taiz University Taiz Yemen Katra India Department of Computer Science Engineering Jain University Bangalore India

Unstructured Numerical Image Dataset Separation (UNIDS) method employing an enhanced unsupervised clustering technique. The objective is to delineate an optimal number of distinct groups within the input grayscale (G-S) image content, utilizing the improved limited iteration agglomerative clustering (iLIAC) clustering technique for the separation and enhancement of picture elements. The UNIDS method is structured into two primary stages: partitioning and validation. In the partitioning stage, the UNIDS method identifies an appropriate number of discrete clusters within the grayscale image using the iLIAC technique, eliminating the need for predetermined procedures. Subsequently, the method evaluates the similarity and deviation among data elements within the same group in the resultant image dataset. Additionally, it assesses the proximity and inters severance among clusters in the outcome of the image dataset through the partitioning process. Empirical results indicate that the UNIDS system excels in the spontaneous identification of an optimal number of discrete clusters within the input G-S image. The system demonstrates superior thickness, reduced deviation among data elements within the same cluster, increased inter-separation, and diminished inter-closeness between cluster elements. Furthermore, empirical analysis establishes the superior performance of the UNIDS approach compared to existing clustering techniques. © The Author(s), under exclusive licence to Springer Science+Business Media, LLC, part of Springer Nature 2024.

关键词： Iterative methods

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Next Generation Memristor Reservoir Computing 3

Next Generation Memristor Reservoir Computing

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3rd IEEE International Conference on Metrology for eXtended Reality, Artificial Intelligence and Neural engineering, MetroXRAINE 2024

作者： Nikiruy, K. Ivanov, T. Ziegler, M. Rossetti, D. Corinto, F. Ascoli, A. Tetzlaff, R. Demirkol, A.S. Schmitt, N. Micro-and Nanoelectronic Systems Tu Ilmenau Department of Electrical Engineering and Information Technology Ilmenau Germany Turin Italy Institute of Circuits and Systems Tu Dresden Faculty of Electrical and Computer Engineering Dresden Germany

ISBN: (纸本)9798350378009

The nonlinear transformation used in reservoir computing can be effectively replaced by nonlinear vector autoregression (NVAR) for data prediction. In such a method, also known as next generation reservoir computing (NGRC), the input signal consists of a linear part, including several previous data points, and their nonlinear combinations. Here we show that the application of this method to a network with memristive weights (memristors) can be used to predict signals, depending on the nature of the nonlinear functions and the number of memristors. The network allows an accurate prediction of chaotic time series of Mackey-Glass and Duffing oscillators. © 2024 IEEE.

关键词： Memristors

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Using Gamification to Increase Healthcare Professionals’ Cybersecurity Awareness

Using Gamification to Increase Healthcare Professionals’ Cy...

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International Conference on Smart Applications and Sustainability in the Artificial Intelligence of Things, SAS-AIoT 2024

作者： Salama, Ramiz Alturjman, Sinem Altrjman, Chadi Al-Turjman, Fadi Department of Computer Engineering AI and Robotics Institute Research Center for AI and IoT Near East University Nicosia Cyprus Artificial Intelligence Software Information Systems Engineering Departments AI and Robotics Institute Near East University Nicosia Cyprus

ISBN: (纸本)9783031782756

Cybersecurity knowledge is essential in today’s increasingly digital healthcare environment to protect sensitive patient data and guarantee the integrity of healthcare systems. But conventional cybersecurity training approaches frequently fail to hold healthcare professionals’ attention, which results in inadequate application and retention of the material. In order to increase cybersecurity awareness among healthcare professionals, this study investigates the use of gamification—a technological technique that incorporates game design aspects into non-gaming contexts—as an innovative method. A mixed-methods research methodology is used in the study to assess the effectiveness of a cybersecurity training program that is gamified. To encourage user involvement and motivation, the program incorporates aspects like leaderboards, interactive scenarios, badges, and points. The study included a total of 100 healthcare professionals from various departments, offering a thorough understanding of the program’s effects across a range of positions and experience levels. Pre- and post-training surveys were used to gather quantitative data on participant changes in knowledge, attitudes, and behaviors pertaining to cybersecurity procedures. Furthermore, semi-structured interviews yielded qualitative insights that further elucidated the participants’ perspectives and experiences with the gamified training method. Comparing gamification to conventional training approaches, the results show that gamification dramatically improves engagement and knowledge retention. The willingness of the participants to acquire and use cybersecurity techniques in their daily lives has reportedly increased. Additionally, the gamified components strengthened the training objectives by fostering a competitive yet cooperative learning environment. The potential of gamification as a game-changing instrument for cybersecurity education in healthcare settings is highlighted by this study. Healthcare busines

关键词： Cybersecurity

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Development of a Bias Compensating Q-Learning Controller for a Multi-Zone HVAC Facility

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IEEE/CAA Journal of Automatica Sinica 2023年第8期10卷 1704-1715页

作者： Syed Ali Asad Rizvi Amanda J.Pertzborn Zongli Lin IEEE the Department of Electrical and Computer Engineering Tennessee Technological UniversityCookevilleTN 38505 USA the Mechanical Systems and Controls Group in the Building Energy and Environment Division at the National Institute of Standards and Technology(NIST) GaithersburgMD 20899 USA the Charles L.Brown Department of Electrical and Computer Engineering University of VirginiaCharlottesvilleVA 22904-4743 USA

We present the development of a bias compensating reinforcement learning(RL)algorithm that optimizes thermal comfort(by minimizing tracking error)and control utilization(by penalizing setpoint deviations)in a multi-zone heating,ventilation,and air-conditioning(HVAC)lab facility subject to unmeasurable disturbances and unknown *** is shown that the presence of unmeasurable disturbance results in an inconsistent learning equation in traditional RL controllers leading to parameter estimation bias(even with integral action support),and in the extreme case,the divergence of the learning *** demonstrate this issue by applying the popular Q-learning algorithm to linear quadratic regulation(LQR)of a multi-zone HVAC environment and showing that,even with integral support,the algorithm exhibits bias issue during the learning phase when the HVAC disturbance is unmeasurable due to unknown heat gains,occupancy variations,light sources,and outside weather *** address this difficulty,we present a bias compensating learning equation that learns a lumped bias term as a result of disturbances(and possibly other sources)in conjunction with the optimal control *** results show that the proposed scheme not only recovers the bias-free optimal control parameters but it does so without explicitly learning the dynamic model or estimating the disturbances,demonstrating the effectiveness of the algorithm in addressing the above challenges.

关键词： HVAC control optimal tracking Q-learning reinforcement learning(RL)

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