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50th Annual Conference of the IEEE Industrial Electronics Society, IECON 2024

作者： Zou, Bowei Huang, Zhicong Iam, Io-Wa Chi-Seng, Lam Shien-Ming Wu School of Intelligent Engineering South China University of Technology Guangzhou China State Key Laboratory of Analog and Mixed-Signal VLSI University of Macau China Institute of Microelectronics University of Macau China Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau China

ISBN: (纸本)9781665464543

For inductive power transfer (IPT) systems, the loosely coupled transformer (LCT) is a crucial component. Variations in the air gap can lead to fluctuations in the parameters of the LCT, such as self-inductance and mutual inductance, caused by positional deviations of the ferrite cores on both sides. However, such variable LCT parameters can damage the resonant tank, thus impacting transmission efficiency and output stability. To address this issue, this paper proposes a self-tuning S/S IPT system based on switch-controlled capacitors (SCCs). The system utilizes gradient descent methods independently on double-side to achieve decoupled tuning control. This approach effectively mitigates the impact of LCT parameter fluctuations without requiring wireless communication. Furthermore, all switches in the system operate at fixed frequencies and implement soft switching. Finally, a prototype is constructed to validate the effectiveness of the proposed system. © 2024 IEEE.

关键词： Energy transfer

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Mitigating Misleading Chain-of-Thought Reasoning with Selective Filtering 30

Mitigating Misleading Chain-of-Thought Reasoning with Select...

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Joint 30th International Conference on Computational Linguistics and 14th International Conference on Language Resources and Evaluation, LREC-COLING 2024

作者： Wu, Yexin Zhang, Zhuosheng Zhao, Hai College of Zhiyuan Shanghai Jiao Tong University China School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University China Department of Computer Science and Engineering Shanghai Jiao Tong University China Key Laboratory of Shanghai Education Commission for Intelligent Interaction and Cognitive Engineering Shanghai Jiao Tong University China

ISBN: (纸本)9782493814104

Large language models have manifested remarkable capabilities by leveraging chain-of-thought (CoT) reasoning techniques to solve intricate questions through step-by-step reasoning chains. Despite its success, the efficacy of such reasoning is inherently contingent upon the quality of CoT. However, flawless CoT reasoning cannot be guaranteed due to the presence of indecomposable questions and the potential for erroneous reasoning chains, particularly in the case of small-scale language models. To tackle this challenge, we propose a novel approach called the selective filtering reasoner (SelF-Reasoner) that assesses the entailment relationship between the question and the candidate reasoning chain. Then, we proceed with CoT reasoning when the reasoning chain demonstrates confidence;otherwise, we opt to predict the answer directly. SelF-Reasoner improves the fine-tuned T5 baseline consistently over the ScienceQA, ECQA, and LastLetter tasks. Code is available at https://***/LibroWu/SelF-Reasoner. © 2024 ELRA Language Resource Association: CC BY-NC 4.0.

关键词： Computational linguistics

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Towards High-resolution 3D Anomaly Detection via Group-Level Feature Contrastive Learning 24

Towards High-resolution 3D Anomaly Detection via Group-Level...

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32nd ACM International Conference on Multimedia, MM 2024

作者： Zhu, Hongze Xie, Guoyang Hou, Chengbin Dai, Tao Gao, Can Wang, Jinbao Shen, Linlin National Engineering Laboratory for Big Data System Computing Technology Shenzhen University Shenzhen China Department of Computer Science City University of Hong Kong Hong Kong Hong Kong Department of Intelligent Manufacturing CATL Ningde China Fuzhou Fuyao Institute for Advanced Study Fuyao University of Science and Technology Fuzhou China College of Computer Science and Software Engineering Shenzhen University Shenzhen China Guangdong Provincial Key Laboratory of Intelligent Information Processing Shenzhen China Shenzhen University Shenzhen China Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen China

ISBN: (纸本)9798400706868

High-resolution point clouds (HRPCD) anomaly detection (AD) plays a critical role in precision machining and high-end equipment manufacturing. Despite considerable 3D-AD methods that have been proposed recently, they still cannot meet the requirements of the HRPCD-AD task. There are several challenges: i) It is difficult to directly capture HRPCD information due to large amounts of points at the sample level;ii) The advanced transformer-based methods usually obtain anisotropic features, leading to degradation of the representation;iii) The proportion of abnormal areas is very small, which makes it difficult to characterize. To address these challenges, we propose a novel group-level feature-based network, called Group3AD, which has a significantly efficient representation ability. First, we design an Intercluster Uniformity Network (IUN) to present the mapping of different groups in the feature space as several clusters, and obtain a more uniform distribution between clusters representing different parts of the point clouds in the feature space. Then, an Intracluster Alignment Network (IAN) is designed to encourage groups within the cluster to be distributed tightly in the feature space. In addition, we propose an Adaptive Group-Center Selection (AGCS) based on geometric information to improve the pixel density of potential anomalous regions during inference. The experimental results verify the effectiveness of our proposed Group3AD, which surpasses Reg3D-AD by the margin of 5% in terms of object-level AUROC on Real3D-AD. We provide the code and supplementary information on our website: https://***/M-3LAB/Group3AD. © 2024 ACM.

关键词： Contrastive Learning

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Not so griddy: Internal representations of RNNs path integrating more than one agent 38

Not so griddy: Internal representations of RNNs path integra...

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38th Conference on Neural Information Processing Systems, NeurIPS 2024

作者： Redman, William T. Acosta, Francisco Acosta-Mendoza, Santiago Miolane, Nina Intelligent Systems Center Johns Hopkins Applied Physics Laboratory United States Department of Physics University of California Santa Barbara United States Dynamical Neuroscience University of California Santa Barbara United States Department of Electrical & Computer Engineering University of California Santa Barbara United States

Success in collaborative and competitive environments, where agents must work with or against each other, requires individuals to encode the position and trajectory of themselves and others. Decades of neurophysiological experiments have shed light on how brain regions [e.g., medial entorhinal cortex (MEC), hippocampus] encode the self's position and trajectory. However, it has only recently been discovered that MEC and hippocampus are modulated by the positions and trajectories of others. To understand how encoding spatial information of multiple agents shapes neural representations, we train a recurrent neural network (RNN) model that captures properties of MEC to path integrate trajectories of two agents simultaneously navigating the same environment. We find significant differences between these RNNs and those trained to path integrate only a single agent. At the individual unit level, RNNs trained to path integrate more than one agent develop weaker grid responses, stronger border responses, and tuning for the relative position of the two agents. At the population level, they develop more distributed and robust representations, with changes in network dynamics and manifold topology. Our results provide testable predictions and open new directions with which to study the neural computations supporting spatial navigation. © 2024 Neural information processing systems foundation. All rights reserved.

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High-precision Calibration of Camera and IMU on Manipulator for Bio-inspired Robotic System

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Journal of Bionic engineering 2022年第2期19卷 299-313页

作者： Yinlong Zhang Wei Liang Sichao Zhang Xudong Yuan Xiaofang Xia Jindong Tan Zhibo Pang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China The School of Computer Science and Technology Xidian UniversityXi’an 710071China Department of Mechanical Aerospace and Biomedical EngineeringUniversity of TennesseeKonxville 37996USA Department of Automation Technology ABB Corporate Research Sweden72178 VästerasSweden

Inspired by box jellyfish that has distributed and complementary perceptive system,we seek to equip manipulator with a camera and an Inertial Measurement Unit(IMU)to perceive ego motion and surrounding unstructured *** robot perception,a reliable and high-precision calibration between camera,IMU and manipulator is a critical *** paper introduces a novel calibration ***,we seek to correlate the spatial relationship between the sensing units and manipulator in a joint ***,the manipulator moving trajectory is elaborately designed in a spiral pattern that enables full excitations on yaw-pitch-roll rotations and x-y-z translations in a repeatable and consistent *** calibration has been evaluated on our collected visual inertial-manipulator *** systematic comparisons and analysis indicate the consistency,precision and effectiveness of our proposed calibration method.

关键词： Bio-inspired robotic system Monocular camera IMU Manipulator Calibration

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Robust Control of Feeding Speed in Coal Seam Drilling Process Considering Borehole Friction

Robust Control of Feeding Speed in Coal Seam Drilling Proces...

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2024 China Automation Congress, CAC 2024

作者： Liu, Xiao Chen, Luefeng Lu, Chengda Fan, Haipeng Wu, Min Pedrycz, Witold School of Automation The Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems The Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education China University of Geosciences Wuhan430074 China Department of Electrical and Computer Engineering University of Alberta EdmontonABT6G 2R3 Canada Systems Research Institute Polish Academy of Sciences Warsaw00-901 Poland Department of Computer Engineering Istinye University Sariyer Istanbul34396 Turkey

ISBN: (纸本)9798350368604

During the coal seam drilling process, the drill string is subject to compressive deformation, compounded by unpredictable variations in formation hardness and borehole wall friction, leading to challenges in maintaining a stable feeding speed. This paper presents a novel approach by introducing uncertain parameters to describe the effects of formation hardness and borehole wall friction. Drill string axial movement model is modeled as a polyhedral system based on a lumped parameter representation. To meet industrial performance requirements, we design a robust H∞ controller to achieve consistent feeding speed control. Our simulation results demonstrate the controller’s effectiveness in ensuring system stability despite fluctuations in formation hardness and drill string friction. © 2024 IEEE.

关键词： Coal deposits

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Fuzzy Object Ambiguity Determination and Human Attention Assessment for Domestic Service Robots

Fuzzy Object Ambiguity Determination and Human Attention Ass...

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International Conference on Soft Computing and Machine Intelligence (ISCMI)

作者： Kevin Fan Melanie Jouaiti Kerstin Dautenhahn Chrystopher L. Nehaniv Department of Electrical & Computer Engineering and Systems Design Engineering Social and Intelligent Robotics Research Laboratory (SIRRL) University of Waterloo Waterloo Canada Departments of Electrical & Computer Engineering and Systems Design Engineering Social and Intelligent Robotics Research Laboratory (SIRRL) University of Waterloo Waterloo Canada

Domestic service robots have the promising potential of bringing significant services to the general population, and more importantly, successful applications of universal domestic service robots can potentially help mitigate critical societal issues such as senior care. In order to do so, domestic service robots need to integrate seamlessly into home environments. However, home environments are dynamic, complex and filled with personal items. Therefore, ambiguity can quickly arise for robots operating in such rich environments. In this paper, we propose an object ambiguity determination system that can determine the level of ambiguity in robot object selection tasks with fuzzy logic data integration. Additionally, we propose a functional human attention assessment system with fuzzy logic that enables the robot to determine user attention before committing to general disambiguation processes. Our preliminary results show that the proposed fuzzy logic inference systems can reliably estimate the robot object selection task ambiguity from object confidence level and the number of potential target objects that satisfy the user's command. Furthermore, fuzzy inference is applied to decide human eye gaze direction robustly. These subsystems can be utilized in the context of human-robot interaction to guide the robot when to seek feedback from a human partner in order to disambiguate reference in domestic service tasks. The source code of all proposed systems is available publicly on GitHub. 1

关键词： Fuzzy logic Service robots Source coding Sociology Human-robot interaction Data integration Reliability

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Skeleton-based Action Recognition Using Two-stream Graph Convolutional Network with Pose Refinement 41

Skeleton-based Action Recognition Using Two-stream Graph Con...

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第41届中国控制会议

作者： Biao Zheng Luefeng Chen Min Wu Witold Pedrycz Kaoru Hirota School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Department of Electrical and Computer Engineering University of Alberta Tokyo Institute of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

With the development of science and technology,graph convolutional network has made great progress in improving the accuracy of action ***,there still exists some deficiencies in current ***,the human skeleton point coordinates entering into the network are barely refined,which may cause large ***,the second-order information(the length and direction of bones),which can reflect action characteristics discriminatively,is rarely *** solve the above issues,a two stream graph convolutional network with pose refinement for skeleton based action recognition is ***,we use an adaptive block to to help improve the *** test our method on Kinetics dataset and the experiment show it can get better results than some recent methods,which plays a positive role in future research.

关键词： Graph convolutional network Pose refinement Skeleton based action recognition Adaptive block

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Coupled Transformed Induced Tensor Nuclear Norm for Robust Tensor Completion

Coupled Transformed Induced Tensor Nuclear Norm for Robust T...

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Asia-Pacific Signal and Information Processing Association Annual Summit and Conference (APSIPA)

作者： Mengjie Qin Zheyuan Lin Minhong Wan Chunlong Zhang Jason Gu Te Li Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Lab Hangzhou China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou China Department of Electrical and Computer Engineering Dalhousie University Halifax

This study focuses on exploring the problem of low-rank tensor completion (LRTC), where the main challenge lies in accurately representing the inherent structures of the underlying data. Typical approaches exhibit either suboptimal performance due to the lack of suitable priors or combine many constraints, resulting in increased model complexity. In this paper, we propose a robust transformed t-SVD by utilizing the discrete cosine transform in conjunction with a unitary transformation matrix. Nonetheless, the t-SVD-based framework exhibits a deficiency in its capacity to flexibly explore diverse correlations across tensor modes. To address this issue, we employ the representation of the tensor as a series of multi-dimensional unfolding tensors, which fully capture the embedded structure in the original data. Moreover, on the basis of this tensor representation, we construct a transformed t-SVD method within the LRTC model and solve it by the alternating-direction method of multiplier (ADMM) approach. Extensive experiments demonstrate that the proposed model outperforms existing state-of-the-art methods.

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Latest Innovations in intelligent Network-on-Chip Architectures: A Systematic Review

Latest Innovations in Intelligent Network-on-Chip Architectu...

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International Workshop on Network on Chip Architectures, NoCArc

作者： Elena Kakoulli Department of Computer Science Intelligent Systems Laboratory Neapolis University Pafos Pafos Cyprus Electrical Engineering and Computer Engineering and Informatics Cyprus University of Technology Limassol Cyprus

ISBN: (数字)9798331506421

ISBN: (纸本)9798331506438

This review investigates the latest advancements in intelligent Network-on-Chip (NoC) architectures, focusing on innovations from 2022 to 2024. The integration of Artificial Intelligence (AI) and Machine Learning (ML) into NoC designs has driven significant improvements in performance, scalability, energy efficiency, and security. Key contributions include AI/ML-driven techniques to optimize routing, reduce latency, manage power consumption, and enhancing security against emerging threats. Despite these advancements, challenges such as computational overhead and integration complexities remain. This review consolidates these findings, addresses existing challenges, and proposes future research directions to further leverage AI and ML for developing robust and adaptable NoC architectures.

关键词： Technological innovation Scalability Power system management computer architecture Network-on-chip Predictive models Routing Energy efficiency Complexity theory Security

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