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2023 IEEE Symposium Series on Computational Intelligence, SSCI 2023

作者： Wu, Guotong Shu, Tianye Nan, Yang Shang, Ke Ishibuchi, Hisao Guangdong Provincial Key Laboratory of Brain-inspired Intelligent Computation Southern University of Science and Technology Department of Computer Science and Engineering Shenzhen China

ISBN: (纸本)9781665430654

The hypervolume-based multi-objective evolutionary algorithms (HV-MOEAs) have proven to be highly effective in solving multi-objective optimization problems. However, the computation time of the hypervolume calculation increases significantly as the number of objectives increases. To address this issue, an R2-based hypervolume contribution approximation (R2-HVC) method was proposed. Nevertheless, the original R2-HVC generates a large number of vectors and computes the HVC only once. In this study, we propose an ensemble method based on the R2-HVC method. By using a small number of vectors for repetitive computation and majority voting, the ensemble method can reduce the probability of making incorrect choices. Experimental results show that the proposed method can improve the approximation accuracy while maintaining a similar computation time to the original R2-HVC method. © 2023 IEEE.

关键词： Ensemble Method Hypervolume Contribution Majority Voting Multi-objective Optimization

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Accelerated Informed RRT*: Fast and Asymptotically Path Planning Method Combined with RRT*-Connect and APF 16th

Accelerated Informed RRT*: Fast and Asymptotically Path Pla...

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16th International Conference on intelligent robotics and Applications, ICIRA 2023

作者： Tu, Zhixin Zhuang, Wenbing Leng, Yuquan Fu, Chenglong Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen518055 China Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen518055 China

ISBN: (纸本)9789819965007

In recent years, path planning algorithms have played a crucial role in addressing complex navigation problems in various domains, including robotics, autonomous vehicles, and virtual simulations. This abstract introduces a improved path planning algorithm called Informed RRT*-connect based on APF, which combines the strengths of the fast bidirectional rapidly-exploring random tree (RRT-connect) algorithm and the informed RRT* algorithm. The proposed algorithm aims to efficiently find collision-free paths with less iterations and time while minimizing the path length. Unlike traditional RRT-based algorithms, Informed RRT*-connect based on Artificial Potential Fields (APF) incorporates a bidirectional connection and rewiring of a new sampling point to explore the search space. This enables the algorithm to connect both the start and goal nodes more effectively and quickly to find a initial solution, reducing the search time and provide a better initial heuristics sapling for the next optimal steps. Furthermore, Informed RRT*-connect introduces an informed sampling strategy that biases the sampling towards areas of the configuration space likely to yield better paths. This approach significantly reduces the exploration time to find a path and enhances the ability to discover optimal paths efficiently. To evaluate the effectiveness of the Informed RRT*-connect algorithm, we conducted the simulation experiments on two different experiment protocol. The results demonstrate that our approach outperforms existing state-of-the-art algorithms in terms of both planning efficiency and solution optimality. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Motion planning

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Normalization in R2-Based Hypervolume and Hypervolume Contribution Approximation

Normalization in R2-Based Hypervolume and Hypervolume Contri...

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2023 IEEE Symposium Series on Computational Intelligence, SSCI 2023

作者： Wu, Guotong Shu, Tianye Shang, Ke Ishibuchi, Hisao Southern University of Science and Technology Guangdong Provincial Key Laboratory of Brain-inspired Intelligent Computation Department of Computer Science and Engineering Shenzhen China

ISBN: (纸本)9781665430654

In this paper, we examine the effect of normalization in R2-based hypervolume and hypervolume contribution approximation. The fact is that the region with different scales on objective space brings approximation bias. The basic idea of normalization is to perform a coordinate transformation to make the shape of the approximated region more regular, and then transform it to obtain the final value according to the property of hypervolume and hypervolume contribution. The performance of normalization is evaluated on different datasets by comparing it with the original R2-based method. We use two different metrics to evaluate hypervolume and hypervolume contribution separately, and the results indicate that normalization does exactly improve the approximation accuracy and outperforms the original R2-based method. © 2023 IEEE.

关键词： Hypervolume Normalization ─Multi-objective Optimization

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Analysis of Partition Methods for Dominated Solution Removal from Large Solution Sets

Analysis of Partition Methods for Dominated Solution Removal...

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2023 IEEE Symposium Series on Computational Intelligence, SSCI 2023

作者： Shu, Tianye Nan, Yang Shang, Ke Ishibuchi, Hisao Southern University of Science and Technology Guangdong Provincial Key Laboratory of Brain-inspired Intelligent Computation Department of Computer Science and Engineering Shenzhen China

ISBN: (纸本)9781665430654

In evolutionary multi-objective optimization (EMO), one important issue is to efficiently remove dominated solutions from a large number of solutions examined by an EMO algorithm. An efficient approach to remove dominated solutions from a large solution set is to partition it into small subsets. Dominated solutions are removed from each subset independently. This partition method is fast but cannot guarantee to remove all dominated solutions. To further remove remaining dominated solutions, a simple idea is to iteratively perform this approach. In this paper, we first examine three partition methods (random, objective value-based and cosine similarity-based methods) and their iterative versions through computational experiments on artificial test problems (DTLZ and WFG) and real-world problems. Our results show that the choice of an appropriate partition method is problem dependent. This observation motivates us to use a hybrid approach where different partition methods are used in an iterative manner. The results show that all dominated solutions are removed by the hybrid approach in most cases. Then, we examine the effects of the following factors on the computation time and the removal performance: the number of objectives, the shape of the Pareto front, and the number of subsets in each partition method. © 2023 IEEE.

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A piezoresistive-based 3-axial MEMS tactile sensor and integrated surgical forceps for gastrointestinal endoscopic minimally invasive surgery

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Microsystems & Nanoengineering 2024年第5期10卷 71-83页

作者： Cheng Hou Huxin Gao Xiaoxiao Yang Guangming Xue Xiuli Zuo Yanqing Li Dongsheng Li Bo Lu Hongliang Ren Huicong Liu Lining Sun School of Mechanical and Electrical Engineering Jiangsu Provincial Key Laboratory of Advanced RoboticsSoochow UniversitySuzhouChina Faculty of Mechanical and Electrical Engineering Kunming University of Science and TechnologyJingming South RoadKunmingChina Yunnan Key Laboratory of Intelligent Control and Application KunmingChina Department of Electronic Engineering The Chinese University of Hong Kong(CUHK)Hong KongChina. Department of Gastroenterology Qilu HospitalShandong UniversityJinanShandongChina

In robotic-assisted surgery(RAS),traditional surgical instruments without sensing capability cannot perceive accurate operational forces during the task,and such drawbacks can be largely intensified when sophisticated tasks involving flexible and slender arms with small end-effectors,such as in gastrointestinal endoscopic surgery(GES).In this study,we propose a microelectromechanical system(MEMS)piezoresistive 3-axial tactile sensor for GES forceps,which can intuitively provide surgeons with online force feedback during robotic *** MEMS fabrication process facilitates sensor chips with miniaturized *** fully encapsulated tactile sensors can be effortlessly integrated into miniature GES forceps,which feature a slender diameter of just 3.5 mm and undergo meticulous calibration procedures via the least squares *** experiments,the sensor's ability to accurately measure directional forces up to 1.2 N in the Z axis was validated,demonstrating an average relative error of only 1.18%compared with the full-scale *** results indicate that this tactile sensor can provide effective 3-axial force sensing during surgical operations,such as grasping and pulling,and in ex vivo testing with a porcine *** compact size,high precision,and integrability of the sensor establish solid foundations for clinical application in the operating theater.

关键词： axial surgery intensified

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KT-Imitation: Efficient Visual Imitation for Autonomous Navigation Based on Keypoint Timeline

KT-Imitation: Efficient Visual Imitation for Autonomous Navi...

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IEEE Latin American robotics Symposium, LARS

作者： Karen Li Hanqing Qi Jiawei Xu Edward Jeffs David Saldaña Department of Computer Science and Engineering Lehigh University Bethlehem PA USA Autonomous and Intelligent Robotics Laboratory (AIRLab) Lehigh University

ISBN: (数字)9798331508807

ISBN: (纸本)9798331508814

We introduce Keypoint Timeline (KT-) Imitation, a vision-only imitation algorithm for autonomous navigation. The algorithm is both data- and computation-efficient, as it only requires a single video demonstration. Different from methods in the literature, it does not require extensive action-observation information or an iterative learning process. The algorithm creates a timeline from a video demonstration to evaluate and fine-tune parameters for both the demonstrations and motion controls. This optimization improves the reliability and continuity of the ORB keypoints used in imitation tasks. We present an egocentric action-generation procedure that guides the imitator to carry the camera autonomously to follow the demonstration using the detected keypoints of the onboard camera. Our experiments validate the proposed approaches on a ground robot and an aerial vehicle against ground-truth recordings.

关键词： Visualization Navigation Robot vision systems Cameras Recording Reliability Iterative methods Motion control Optimization Autonomous robots

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Inductive Relation Prediction by Disentangled Subgraph Structure

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Tsinghua science and Technology 2024年第5期29卷 1566-1579页

作者： Guiduo Duan Rui Guo Wenlong Luo Guangchun Luo Tianxi Huang Laboratory of Intelligent Collaborative Computing University of Electronic Science and Technology of ChinaChengdu 611731Chinaand also with Trusted Cloud Computing and Big Data Key Laboratory of Sichuan ProvinceChengdu 611731China School of Computer Science and Engineering University of Electronic Science and Technology of ChinaChengdu 611731China Hangzhou NetEase Cloud Music Technology Co. Ltd.Hangzhou 310052China Department of Fundamental Courses Chengdu Textile CollegeChengdu 611700China

Currently,most existing inductive relation prediction approaches are based on subgraph structures,with subgraph features extracted using graph neural networks to predict ***,subgraphs may contain disconnected regions,which usually represent different semantic *** not all semantic information about the regions is helpful in relation prediction,we propose a relation prediction model based on a disentangled subgraph structure and implement a feature updating approach based on relevant semantic *** indirectly achieve the disentangled subgraph structure from a semantic perspective,the mapping of entity features into different semantic spaces and the aggregation of related semantics on each semantic space are *** disentangled model can focus on features having higher semantic relevance in the prediction,thus addressing a problem with existing approaches,which ignore the semantic differences in different subgraph ***,using a gated recurrent neural network,this model enhances the features of entities by sorting them by distance and extracting the path information in the ***,it is shown that when there are numerous disconnected regions in the subgraph,our model outperforms existing mainstream models in terms of both Area Under the Curve-Precision-Recall(AUC-PR)and Hits@*** prove that semantic differences in the knowledge graph can be effectively distinguished and verify the effectiveness of this method.

关键词： disentangled subgraph structure knowledge graph completion Gated Recurrent Unit(GRU) feature updating

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A quantum‐like approach for text generation from knowledge graphs

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CAAI Transactions on Intelligence Technology 2023年第4期8卷 1455-1463页

作者： Jia Zhu Xiaodong Ma Zhihao Lin Pasquale De Meo Key Laboratory of Intelligent Education Technology and Application of Zhejiang Province Zhejiang Normal UniversityJinhuaChina School of Computer Science South China Normal UniversityGuangzhouChina DICAM Department University of MessinaMessinaItaly

Recent text generation methods frequently learn node representations from graph‐based data via global or local aggregation,such as knowledge *** all nodes are connected directly,node global representation encoding enables direct communication between two distant nodes while disregarding graph *** local representation encoding,which captures the graph structure,considers the connections between nearby nodes but misses out onlong‐range relations.A quantum‐like approach to learning bettercontextualised node embeddings is proposed using a fusion model that combines both encoding *** methods significantly improve on two graph‐to‐text datasets compared to state‐of‐the‐art models in various experiments.

关键词： data mining knowledge‐based vision machine learning natural language processing text analysis

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Polarization-induced photocurrent switching effect in heterojunction photodiodes

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Nano Research 2023年第4期16卷 5503-5510页

作者： Dingbo Chen Yu-Chang Chen Guang Zeng Yu-Chun Li Xiao-Xi Li Dong Li Chao Shen Nan Chi Boon S.Ooi David Wei Zhang Hong-Liang Lu State Key Laboratory of ASIC and System Shanghai Institute of Intelligent Electronics&SystemsSchool of MicroelectronicsFudan UniversityShanghai 200433China Key Laboratory for Information Science of Electromagnetic Waves Department of Communication Science and EngineeringFudan UniversityShanghai 200433China Photonics Laboratory Division of ComputerElectricaland Mathematical Sciences and EngineeringKing Abdullah University of Science and Technology(KAUST)Thuwal 23955-6900Kingdom of Saudi Arabia

The unipolar photocurrent in conventional photodiodes(PDs)based on photovoltaic effect limits the output modes and potential versatility of these devices in *** photodiodes with photocurrent switching are emerging as a promising solution for obtaining photoelectric devices with unique and attractive functions,such as optical logic ***,we design an all-solid-state chip-scale ultraviolet(UV)PD based on a hybrid GaN heterojunction with engineered bipolar polarized electric *** introducing the polarization-induced photocurrent switching effect,the photocurrent direction can be switched in response to the wavelength of incident light at 0 V *** particular,the photocurrent direction exhibits negative when the irradiation wavelength is less than 315 nm,but positive when the wavelength is longer than 315 *** device shows a responsivity of up to−6.7 mA/W at 300 nm and 5.3 mA/W at 340 nm,*** particular,three special logic gates in response to different dual UV light inputs are demonstrated via a single bipolar PD,which may be beneficial for future multifunctional UV photonic integrated devices and systems.

关键词： GaN heterostructure ultraviolet(UV)photodiodes bipolar photocurrent optical logic device

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Human-Robot Interaction Studies with Adults in Health and Wellbeing Contexts - Outcomes and Challenges 15th

Human-Robot Interaction Studies with Adults in Health and...

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15th International Conference on Social robotics, ICSR 2023

作者： Ghafurian, Moojan Dautenhahn, Kerstin Teka, Arsema Chandra, Shruti Rasouli, Samira Baliyan, Ishan Hutchinson, Rebecca Social and Intelligent Robotics Research Laboratory Faculty of Engineering University of Waterloo WaterlooON Canada David R. Cheriton School of Computer Science University of Waterloo WaterlooON Canada Davis Centre Library University of Waterloo WaterlooON Canada

ISBN: (纸本)9789819987146

Social robots have great potential to support individuals’ health and wellbeing. We did a follow up study based on previous work of a 2021 systematic review following PRISMA guidelines that identified 443 research articles evaluating social robots in health/wellbeing contexts with adult participants. In this paper we performed a new analysis that showed that while the vast majority of the articles reported positive outcomes related to the use of social robots in these contexts, only half of those articles supported the results by statistical tests and comparisons, highlighting a need for future studies with robust methodologies that can further study and inform the use of social robots for supporting adults in health/wellbeing. We discuss that different qualitative and quantitative methodologies are equally valuable, as long as the conclusions are based on the data collected. We also encourage publication of studies with well designed and executed methodologies that lead to neutral or negative outcomes. This is in line with other scientific research fields that emphasize the need to report on such results to avoid needless replication of studies that have already been done and could provide important lessons for the field, but never got published. © 2024, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Human robot interaction

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