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arXiv 2023年

作者： Shi, Zhaoyuan Lu, Huabing Xie, Xianzhong Yang, Helin Huang, Chongwen Cai, Jun Ding, Zhiguo The Key Laboratory of Intelligent Perception and Computing of Anhui Province Anqing Normal University Anqing China The Key Laboratory of Intelligent Control and Optimization for Industrial Equipment Ministry of Education Dalian University of Technology Dalian116024 China Chongqing Key Lab of Computer networks and Communication Technology Chongqing University of Posts and Telecommunications Chongqing China The Department of Information and Communication Engineering School of Informatics Xiamen University Xiamen361005 China The College of Information Science and Electronic Engineering Zhejiang University Hangzhou310027 China Department of Electrical and Computer Engineering Concordia University MontrealQCH3G 1M8 Canada The Department of Electrical Engineering Princeton University PrincetonNJ08544 United States The School of Electrical and Electronic Engineering The University of Manchester Manchester United Kingdom

An active reconfigurable intelligent surface (RIS)-aided multi-user downlink communication system is investigated, where non-orthogonal multiple access (NOMA) is employed to improve spectral efficiency, and the active RIS is powered by energy harvesting (EH). The problem of joint control of the RIS’s amplification matrix and phase shift matrix is formulated to maximize the communication success ratio with considering the quality of service (QoS) requirements of users, dynamic communication state, and dynamic available energy of RIS. To tackle this non-convex problem, a cascaded deep learning algorithm namely long short-term memory-deep deterministic policy gradient (LSTM-DDPG) is designed. First, an advanced LSTM based algorithm is developed to predict users’ dynamic communication state. Then, based on the prediction results, a DDPG based algorithm is proposed to joint control the amplification matrix and phase shift matrix of the RIS. Finally, simulation results verify the accuracy of the prediction of the proposed LSTM algorithm, and demonstrate that the LSTM-DDPG algorithm has a significant advantage over other benchmark algorithms in terms of communication success ratio performance. Copyright © 2023, The Authors. All rights reserved.

关键词： Energy harvesting

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Multi-Robot System for Autonomous Cooperative Counter-UAS Missions: Design, Integration, and Field Testing

Multi-Robot System for Autonomous Cooperative Counter-UAS Mi...

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IEEE International Workshop on Safety, Security, and Rescue robotics (SSRR)

作者： Antonella Barisic Marlan Ball Noah Jackson Riley McCarthy Nasib Naimi Luca Strässle Jonathan Becker Maurice Brunner Julius Fricke Lovro Markovic Isaac Seslar David Novick Jonathan Salton Roland Siegwart Stjepan Bogdan Rafael Fierro Laboratory for Robotics and Intelligent Control Systems (LAR-ICS) Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Electrical and Computer Engineering Department University of New Mexico Albuquerque NM USA ETH Zurich Autonomous Systems Lab (ASL) Zurich Switzerland Sandia National Laboratories Albuquerque New Mexico USA

ISBN: (纸本)9781665456814

With the rapid development of technology and the proliferation of uncrewed aerial systems (UAS), there is an immediate need for security solutions. Toward this end, we propose the use of a multi-robot system for autonomous and cooperative counter-UAS missions. In this paper, we present the design of the hardware and software components of different complementary robotic platforms: a mobile uncrewed ground vehicle (UGV) equipped with a LiDAR sensor, an uncrewed aerial vehicle (UAV) with a gimbal-mounted stereo camera for air-to-air inspections, and a UAV with a capture mechanism equipped with radars and camera. Our proposed system features 1) scalability to larger areas due to the distributed approach and online processing, 2) long-term cooperative missions, and 3) complementary multimodal perception for the detection of multirotor UAVs. In field experiments, we demonstrate the integration of all subsystems in accomplishing a counter-UAS task within an unstructured environment. The obtained results confirm the promising direction of using multi-robot and multi-modal systems for C-UAS.

关键词： Scalability Robot vision systems Autonomous aerial vehicles Cameras Software Safety Security

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Restoration of User Videos Shared on Social Media

arXiv

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arXiv 2022年

作者： Luo, Hongming Zhou, Fei Lam, Kin-Man Qiu, Guoping College of Electronics and Information Engineering Shenzhen University China Department of Electronic and Information Engineering The Hong Kong Polytechnic University China Peng Cheng Laboratory Shenzhen China Guangdong Key Laboratory of Intelligent Information Processing Shenzhen China Shenzhen Key Laboratory of Digital Creative Technology China Shenzhen Institute for Artificial Intelligence and Robotics for Society China Guangdong-Hong Kong Joint Laboratory for Big Data Imaging and Communication China

User videos shared on social media platforms usually suffer from degradations caused by unknown proprietary processing procedures, which means that their visual quality is poorer than that of the originals. This paper presents a new general video restoration framework for the restoration of user videos shared on social media platforms. In contrast to most deep learning-based video restoration methods that perform end-to-end mapping, where feature extraction is mostly treated as a black box, in the sense that what role a feature plays is often unknown, our new method, termed Video restOration through adapTive dEgradation Sensing (VOTES), introduces the concept of a degradation feature map (DFM) to explicitly guide the video restoration process. Specifically, for each video frame, we first adaptively estimate its DFM to extract features representing the difficulty of restoring its different regions. We then feed the DFM to a convolutional neural network (CNN) to compute hierarchical degradation features to modulate an end-to-end video restoration backbone network, such that more attention is paid explicitly to potentially more difficult to restore areas, which in turn leads to enhanced restoration performance. We will explain the design rationale of the VOTES framework and present extensive experimental results to show that the new VOTES method outperforms various state-of-the-art techniques both quantitatively and qualitatively. In addition, we contribute a large scale real-world database of user videos shared on different social media platforms. Codes and datasets are available at https://***/luohongming/***. Copyright © 2022, The Authors. All rights reserved.

关键词： Restoration

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Optimization of Simulation Parameters of Input Shaper Based on Genetic Algorithm

Optimization of Simulation Parameters of Input Shaper Based ...

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Advanced Technologies in intelligent control, Environment, Computing & Communication engineering (ICATIECE), International Conference on

作者： Tao Yi Quanshen Pei Deying Li Shugong Wei Danping Jia Hualiang Zhang Hunan University of Information Changsha China School of Information Science and Engineering Shenyang University of Technology Shenyang China College of Physics and Electronic Engineering Guangxi Normal University for Nationalities Chongzuo China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9781665493970

In the motion control system, input shaper is often used to suppress the residual oscillation of high-precision positioning system, but the selection of input shaper parameters is difficult. In view of the difficulty of selecting input shaper parameters, this paper proposes to use genetic algorithm to select the parameters of input shaper. Firstly, the input shaper is designed in the light of the three-loop mathematical model of motor; Secondly, because the genetic algorithm directly optimizes the output of the motor and the algorithm can reduce the influence of the deviation of generator parameters on the parameter selection of the input shaper to a certain extent, the parameters of the input shaper are selected by the genetic algorithm to optimize the output of the motor; In the finish, a comparative experiment between a system with input shaper and a system with simple PID control is carried out. The results show that the optimized system can obtain higher robustness and smaller tracking deviation.

关键词： Vibrations Tracking Mathematical models Robustness Decoding Rigidity Motion control

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Fabrication of translucent graded dental crown using zirconia-yttrium multi-slurry tape casting 3D printer

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Journal of the Mechanical Behavior of Biomedical Materials 2024年 152卷 106406页

作者： Romario, Yulius Shan Bhat, Chinmai Ramezani, Maziar Pasang, Tim Chen, Zhangwei Jiang, Cho-Pei Graduate Institute of Manufacturing Technology National Taipei University of Technology 1 Sec. 3 Zhongxiao E. Rd. Taipei10608 Taiwan High-value Biomaterials Research and Commercialization Center National Taipei University of Technology 1 Sec. 3 Zhongxiao E. Rd. Taipei10608 Taiwan Department of Mechanical Engineering Auckland University of Technology Auckland1010 New Zealand Department of Engineering Design Manufacturing and Management Systems Western Michigan University KalamazooMI4900-5200 United States Additive Manufacturing Institute Shenzhen University Shenzhen518060 China Guangdong Key Laboratory of Electromagnetic Control and Intelligent Robotics College of Mechatronics and Control Engineering Shenzhen University Shenzhen518060 China Department of Mechanical Engineering National Taipei University of Technology 1 Sec. 3 Zhongxiao E. Rd. Taipei10608 Taiwan

This paper aims to fabricate functionally graded dental crown using a multi-slurry tape casting additive manufacturing technology. The different luminescence of the dental crown was obtained with different composition of zirconia and yttria. Zirconia with tunable mechanical properties and translucency are obtained by adding 3, 3.5, 4, 4.5, and 5 mol% of yttrium oxide to zirconia powder. After obtaining the printable slurry with maximum solid loading, the green bodies are prepared using the in-house built high-speed multi-ceramic tape casting technology. They are later sintered with two-stage sintering method. After the successful fabrication, the mechanical properties and translucency of the specimens were evaluated with Vickers hardness, three-point bending and translucency parameter tests. Finally, an FGM tooth crown with five photocurable slurries is proposed to demonstrate the translucent gradient effect of sintered part. The solid loading of 80% zirconia and 20% resin delivered samples without any surface cracks. The shrinkage ratio analysis showed that the sintered sample dimension was reduced by 20%, 20%, and 23% along X, Y, and Z directions. The samples fabricated with 3% yttrium oxide to zirconia delivered excellent hardness (1687 HV) and flexural strength (650.6 MPa). However, the relative luminescence increased with increasing the yttrium oxide for 3–5 mol%. With the optimized process parameters, the proposed dental crown is fabricated and analyzed for their shrinkage ratio, mechanical, and translucency properties. The study proposes the potential of fabricating customized dental crown with gradient translucent appearance. © 2024

关键词： Zirconia

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Force-based Feedback for Haptic Device of Mobile Assembly Robot 27

Force-based Feedback for Haptic Device of Mobile Assembly Ro...

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27th International Workshop on Electric Drives: MPEI department of Electric Drives 90th Anniversary, IWED 2020

作者： Lukin, Aleksandr Demidova, Galina L. Rassolkin, Anton Vaimann, Toomas Roozbahani, Hamid ITMO University Faculty of Control System and Robotics Saint Petersburg Russia Tallinn University of Technology Department of Electrical Power Engineering and Mechatronics Tallin Estonia Lappeenranta University of Technology Laboratory of Intelligent Machines Lappeenranta Finland

ISBN: (纸本)9781728141589

This paper describes the control system for twin serial robot manipulators, installed on TIERA mobile robot, focusing in Robot Operating System (ROS) based control network and haptic feedback. Forward and inverse kinematics were used to translate the angular positions of Geomagic touch into joint angles of both UR10 manipulators. Force feedback allows the operator to sense forces applied to both grippers of robotic arms simultaneously using two Geomagic touch. Field tests of TIERA have shown that haptic feedback was established accurately, directions of forces inside the haptic device correspond with directions of forces affecting the gripper, and the current scaling coefficient is enough to sense forces on the haptic device. © 2020 IEEE.

关键词： Mobile robots

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Graph Convolutional Networks Based Muti-Label Deep Cross-Modal Hashing

Graph Convolutional Networks Based Muti-Label Deep Cross-Mod...

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International Conference on Information Science and Technology (ICIST)

作者： Yi Peng Xin Jiang Nian Zhang Jiang Xiong School of Electronic and Information Engineering Chongqing Three Gorges University Chongqing China Key Laboratory of Intelligent Information Processing and Control of Chongqing Municipal Institutions of Higher Education Chongqing Three Gorges University Chongqing China Department of Electrical and Computer Engineering University of the District of Columbia Washington D.C. USA College of Mathematics and Statistics Chongqing Three Gorges University Chongqing China

Recently, multi-label deep cross-modal hashing (MDCH), which incorporates deep neural networks, hashing and multi-label learning for cross-modal retrieval tasks, has achieved excellent cross-modal retrieval results and thus became a highly popular area of research. Nevertheless, many existing MDCH methods concentrate on extracting information from multi-modal data, while neglecting the abundant semantic information in multiple labels. Few MDCH methods incorporate multi-label information, but they often treat labels as independent entities, ignoring the relationships between categories, which hinders the establishment of semantic connections among multi-modal data. In order to tackle the aforementioned challenges, we propose a graph convolutional networks based multi-label deep cross-modal hashing method (GMCH) in this paper. GMCH leverages two deep neural networks to generate hash representations from the original image-text pairs, during this process, a graph convolutional network is introduced to capture the category correlations of multi-labels and supervise the training of hash mapping. Experimental results on two commonly employed datasets validate the efficacy of the proposed GMCH method. You can find the code for our proposed GCMH at https://***/licher12/***.

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Design and Implementation of a Two-Limbed 3T1R Haptic Device

Design and Implementation of a Two-Limbed 3T1R Haptic Device

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IEEE/RSJ International Conference on intelligent Robots and Systems (IROS)

作者： Long Kang Yang Yang Byung-Ju Yi PCA Lab Key Laboratory of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education School of Computer Science and Engineering Nanjing University of Science and Technology Nanjing China Xi'an Modern Control Technology Research Institute Xi'an China School of Automation Nanjing University of Information Science and Technology Nanjing China Department of the Electronic Systems Engineering Hanyang University Ansan South Korea

This paper presents a haptic device with a simple architecture of only two limbs that can provide translational motion in three degrees of freedom (DOF) and one-DOF rotational motion. Actuation redundancy eliminates all forward-kinematic singularities and improves the motion-force transmission property. Thanks to the special structure of the kinematic chains, all actuators are close to the base and full gravity compensation is achieved passively by using springs. Force producibility analysis shows that this haptic device is able to produce long-term continuous force feedback of 15–30 N in each direction. By developing a prototype of the haptic device and a virtual three-dimensional simulator, a preliminary performance evaluation of the haptic device was conducted. In addition, a torque distribution algorithm considering a relaxed form of actuator-torque saturation was experimentally evaluated, and a comparison with other algorithms reveals that this algorithm offers several advantages.

关键词：

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Deep learning-based distributionally robust joint chance constrained distribution networks PV hosting capacity assessment

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Applied Energy 2025年 394卷

作者： Wang, Zihui Jia, Yanbing Han, Xiaoqing Wang, Peng Liu, Jiajie Key Laboratory of Cleaner Intelligent Control on Coal & Electricity Ministry of EducationShanxi Key Laboratory of Power System Operation and Control Taiyuan University of Technology Taiyuan China Department of Electrical and Electronic Engineering Nanyang Technology University Singapore

As distributed photovoltaic (PV) penetration in distribution networks (DNs) is increasing, it is essential to assess the PV hosting capacity (PVHC) to ensure the safe operation of DNs. This paper proposes a data-driven distributionally robust joint chance constrained (DRJCC) distribution networks PVHC assessment framework. Firstly, the spatiotemporal attention, projection, supervision, and Transformer architecture-based generative adversarial blocks are introduced to develop an augmented time series generative adversarial network (ATS-GAN), which, by integrating both supervised and unsupervised learning during the joint training process, better captures the spatiotemporal characteristics of PV and load power. Subsequently, leveraging the ATS-GAN, a Wasserstein metrics-based ambiguity set of PV and load power probability distributions is constructed, centered on the distributions induced by the generator neural network. Secondly, the DRJCC PVHC assessment model is proposed. A combination of the Bonferroni inequality and conditional value-at-risk approximation is adopted to transform the multivariate DRJCC model into a tractable conic formulation for efficient computation. Numerical results demonstrate that the proposed method effectively captures the spatiotemporal characteristics and uncertainties of multivariate distributions under multiple constraints, significantly reducing the conservatism typically associated with distributionally robust individual chance constraints. © 2025

关键词： Normal distribution

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Nearest-Better Network for Fitness Landscape Analysis of Continuous Optimization Problems

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IEEE Transactions on Evolutionary Computation 2024年

作者： Diao, Yiya Li, Changhe Zeng, Sanyou Yang, Shengxiang Coello, Carlos A. Coello China University of Geosciences School of Automation Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Ministry of Education Engineering Research Center of Intelligent Technology for Geo-Exploration Wuhan China Anhui University of Sciences and Technology School of Artificial Intelligence Hefei China China University of Geosciences School of Mechanical Engineering and Electronic Information Wuhan China De Montfort University School of Computer Science and Informatics LeicesterLE1 9BH United Kingdom Department of Computer Science CINVESTAV-IPN 07360 Mexico Tecnologico de Monterrey Faculty of Excellence The School of Engineering and Sciences N.L. Monterrey Mexico

Fitness landscape analysis (FLA) is quite important in evolutionary computation. In this paper, we propose a novel FLA method, the nearest-better network (NBN), which uses the nearest-better relationship to simplify the original fitness landscape of continuous optimization problems. We introduce an efficient algorithm to calculate NBN for continuous problems. We also propose four numerical measurements and a 3D visualization method based on NBN. Experiments show that compared to the other main FLA methods, the four numerical measurements proposed here can effectively measure the four intended features: neutrality, ruggedness, modality, and basin of attraction, respectively, and common features of the fitness landscape can be maintained in 3D NBN visualization, regardless of the scale of the problem. NBN also provides a view of how algorithms search in high-dimensional problems with the help of the 3D NBN visualization. © 1997-2012 IEEE.

关键词： Optimization algorithms

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