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arXiv 2023年

作者： Rysbek, Zhanibek Li, Siyu Shervedani, Afagh Mehri Žefran, Miloš The Robotics Laboratory Department of Electrical and Computer Engineering The University of Illinois Chicago ChicagoIL60607 United States

Collaborative manipulation task often requires negotiation using explicit or implicit communication. An important example is determining where to move when the goal destination is not uniquely specified, and who should lead the motion. This work is motivated by the ability of humans to communicate the desired destination of motion through back- and-forth force exchanges. Inherent to these exchanges is also the ability to dynamically assign a role to each participant, either taking the initiative or deferring to the partner's lead. In this paper, we propose a hierarchical robot control framework that emulates human behavior in communicating a motion destination to a human collaborator and in responding to their actions. At the top level, the controller consists of a set of finite-state machines corresponding to different levels of commitment of the robot to its desired goal configuration. The control architecture is loosely based on the human strategy observed in the human-human experiments, and the key component is a real-time intent recognizer that helps the robot respond to human actions. We describe the details of the control framework, and feature engineering and training process of the intent recognition. The proposed controller was implemented on a UR10e robot (Universal Robots) and evaluated through human studies. The experiments show that the robot correctly recognizes and responds to human input, communicates its intent clearly, and resolves conflict. We report success rates and draw comparisons with human-human experiments to demonstrate the effectiveness of the approach. Copyright © 2023, The Authors. All rights reserved.

关键词： Controllers

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Gait Optimization for Legged Systems Through Mixed Distribution Cross-Entropy Optimization

Gait Optimization for Legged Systems Through Mixed Distribut...

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IEEE-RAS International Conference on Humanoid Robots

作者： Ioannis Tsikelis Konstantinos Chatzilygeroudis Computer Engineering and Informatics Department University of Patras Patras Greece Department of Electrical & Computer Engineering Laboratory of Automation and Robotics (LAR) University of Patras Patras Greece Department of Mathematics Computational Intelligence Laboratory (CILab) University of Patras Patras Greece

ISBN: (数字)9798350373578

ISBN: (纸本)9798350373585

Legged robotic systems can play an important role in real-world applications due to their superior load-bearing capabilities, enhanced autonomy, and effective navigation on uneven terrain. They offer an optimal trade-off between mobility and payload capacity, excelling in diverse environments while maintaining efficiency in transporting heavy loads. However, planning and optimizing gaits and gait sequences for these robots presents significant challenges due to the complexity of their dynamic motion and the numerous optimization variables involved. Traditional trajectory optimization methods address these challenges by formulating the problem as an optimization task, aiming to minimize cost functions, and to automatically discover contact sequences. Despite their structured approach, optimization-based methods face substantial difficulties, particularly because such formulations result in highly nonlinear and difficult to solve problems. To address these limitations, we propose CrEGOpt, a bi-level optimization method that combines traditional trajectory optimization with a black-box optimization scheme. CrEGOpt at the higher level employs the Mixed Distribution Cross-Entropy Method to optimize both the gait sequence and the phase durations, thus simplifying the lower level trajectory optimization problem. This approach allows for fast solutions of complex gait optimization problems. Extensive evaluation in simulated environments demonstrates that CrEGOpt can find solutions for biped, quadruped, and hexapod robots in under 10 seconds. This novel bi-level optimization scheme offers a promising direction for future research in automatic contact scheduling.

关键词： Pipelines Closed box Humanoid robots Graphics processing units Real-time systems Planning Quadrupedal robots Optimization Trajectory optimization Convergence

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A Comprehensive SLAM Dataset for Indoor Exhibition Environments: Data Collection, Processing, and Comparative Evaluation

A Comprehensive SLAM Dataset for Indoor Exhibition Environme...

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IEEE International Conference on robotics and Biomimetics

作者： Songyu Yuan Jing Zhang Chen Pan Chunlong Zhang Minhong Wan Tao Zheng Jason Gu 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 Canada

The field of Simultaneous Localization and Mapping(SLAM) has witnessed significant advancements in recent years. However, due to the difficulty of data obtains and ground-truth makes, there is a lack of real indoor scenarios datasets, especially the scenarios with less-texture, repeat-texture, extreme light condition, causing the slowly progress in indoor SLAM. In this paper, we present a dataset captured in a real indoor exhibition hall with diverse type of sensor data. Which contributes to diverse school of SLAM that using different sensors. We provide ground-truth 6DoF pose captured by motion capture devices, RGB-D data captured by a RealSense D455 camera. Laser-data captured by Ouster. And a high-resolution color point cloud captured by a laser scanner. This dataset offers three distinct sources of ground truth from real-world scenarios. It combines motion capture, ICP based laser localization, and visual localization methods to provide comprehensive and accurate reference data. This dataset is designed for evaluating positioning methods that employ various types of sensors, moving beyond a singular matrix-based evaluation approach. Besides, We show results of several state-of-the-art SLAM method in our datasets, illustrates the utility of our dataset and served as a reference for other researcher. We converge LiDAR-based SLAM with ground truth, made a good closure. An ensemble approach-based Visual SLAM, achieves results of odometry errors of 4% and loop closure position errors of 40 cm. Additionally, visual localization demonstrated an absolute position error of 21 cm using high-resolution point clouds. We highlight the potentials of our indoor datasets in LiDAR SLAM, RGB-D SLAM, and visual localization and combines method. The datasets are available at https://***/IMBAfarmer09/ExhibitionDataset

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Data-Efficient Control Barrier Function Refinement

Data-Efficient Control Barrier Function Refinement

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American Control Conference (ACC)

作者： Bolun Dai Heming Huang Prashanth Krishnamurthy Farshad Khorrami Electrical & Computer Engineering Department Control/Robotics Research Laboratory Tandon School of Engineering New York University Brooklyn NY

Control barrier functions (CBFs) have been widely used for synthesizing controllers in safety-critical applications. When used as a safety filter, a CBF provides a simple and computationally efficient way to obtain safe controls from a possibly unsafe performance controller. Despite its conceptual simplicity, constructing a valid CBF is well known to be challenging, especially for high-relative degree systems under nonconvex constraints. Recently, work has been done to learn a valid CBF from data based on a handcrafted CBF (HCBF). Even though the HCBF gives a good initialization point, it still requires a large amount of data to train the CBF network. In this work, we propose a new method to learn more efficiently from the collected data through a novel prioritized data sampling strategy. A priority score is computed from the loss value of each data point. Then, a probability distribution based on the priority score of the data points is used to sample data and update the learned CBF. Using our proposed approach, we can learn a valid CBF that recovers a larger portion of the true safe set using a smaller amount of data. The effectiveness of our method is demonstrated in simulation on a two-link arm.

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Uplink Control Information Based Clustered Access and Discontinuous Reception Management for mMTC

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IEEE Communications Letters 2025年第6期29卷 1380-1384页

作者： Wang, Shao-Di Wang, Chang-Long Wang, Hui-Ming Zhou, Feng Leung, Victor C. M. Xidian University Key Laboratory of Electronic Information Countermeasure and Simulation Technology of Ministry of Education Xi’an710071 China Xi’an Jiaotong University School of Information and Communication Engineering Ministry of Education Key Lab for Intelligent Networks and Network Security Xi’an710049 China Shenzhen MSU BIT University Artificial Intelligence Research Institute Shenzhen518172 China Shenzhen University College of Computer Science and Software Engineering Shenzhen518060 China The University of British Columbia Department of Electrical and Computer Engineering VancouverBCV6T 1Z4 Canada

Uplink control information (UCI) and discontinuous reception (DRX) play important roles for massive machine type communication (mMTC). Despite their standalone significance, a conspicuous gap exists in comprehensively exploring the synergy between UCI and DRX concerning both energy conservation and latency reduction for mMTC. In this letter, we propose a UCI-based clustered access and DRX management (UCADM) scheme that strikes a balance between these two critical performance metrics, reducing energy usage while preserving low latency in uplink-downlink interaction for mMTC. Specifically, we present a strictly feasible solution for the proposed UCADM scheme by using the spectral radius and the constraint projection, which can effectively solve DRX switching operations as indicated by scheduling information from UCI. Simulation results confirm the effectiveness of our scheme. © 1997-2012 IEEE.

关键词： Information management

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UAV Forest Fire Detection based on RepVGG-YOLOv5

UAV Forest Fire Detection based on RepVGG-YOLOv5

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Song, Kang Zhang, Yueyuan Lu, Bo Chi, Wenzheng Sun, Lining Department of Automation Engineering School of Mechanical and Electrical Engineering Soochow University Suzhou215137 China Ningbo Institute of Materi-als Technology & Engineering Chinese Academy of Sciences Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology Ningbo315201 China Soochow University Robotics and Microsystems Center School of Mechanical and Electrical Engineering Suzhou215137 China

ISBN: (纸本)9781665481090

The safety of forest resources is of great im-portance to natural and public safety, and the efficient and accurate detection of forest fires is an issue of close concern. Considering the limitations of traditional forest fire detection methods, such as the limited range of view from watchtowers and insufficient resolution of satellite images, a deep learning-based Unmanned Aerial Vehicle (UAV) fire detection system has been proposed. With its high mobility, images of forest fires can be captured by camera-equipped UAV and transmitted to the ground station in real time. The ground station uses a deep learning object detection algorithm to achieve the recognition of fire. In this paper, we choose the state-of-the-art object detection algorithm YOLOv5 for the UAV forest fire detection scenario, and to further improve the detection performance of YOLOv5, we propose RepVGG-YOLOv5 by drawing on the RepVGG network, a training-time multi-branch topology with an inference-time plain architecture. Then we test the models on a self-built dataset, and the experimental results show that the improved RepVGG-YOLOv5 model outperforms the YOLOv5 model in terms of detection performance and detection speed, which proves the feasibility of this paper's model in the UAV forest fire detection systems and the effectiveness of the model improvement. Furthermore, the great potential of this paper's object detection model for real-time applications of accurate forest fire detection has also been demonstrated. © 2022 IEEE.

关键词： Object detection

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Efficient Deep Learning Modalities for Object Detection from Infrared Images

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computers, Materials & Continua 2022年第8期72卷 2545-2563页

作者： Naglaa F.Soliman E.A.Alabdulkreem Abeer D.Algarni Ghada M.El Banby Fathi E.Abd El-Samie Ahmed Sedik Department of Information Technology College of Computer and Information SciencesPrincess Nourah Bint Abdulrahman UniversityRiyadh84428Saudi Arabia Department of Electronics and Communications Faculty of EngineeringZagazig UniversityZagazig44519Egypt Department of Computer Sciences College of Computer and Information SciencesPrincess Nourah Bint Abdulrahman UniversityRiyadh84428Saudi Arabia Department of Industrial Electronics and Control Engineering Faculty of Electronic EngineeringMenoufia UniversityMenouf32952Egypt Department of Electronics and Electrical Communications Faculty of Electronic EngineeringMenoufia UniversityMenouf32952Egypt Department of the Robotics and Intelligent Machines Faculty of Artificial IntelligenceKafrelSheikh UniversityKafr el-sheikhEgypt

For military warfare purposes,it is necessary to identify the type of a certain weapon through video stream tracking based on infrared(IR)video *** vision is a visual search trend that is used to identify objects in images or video *** military applications,drones take a main role in surveillance tasks,but they cannot be confident for longtime ***,there is a need for such a system,which provides a continuous surveillance task to support the drone *** a system can be called a Hybrid Surveillance System(HSS).This system is based on a distributed network of wireless sensors for continuous *** addition,it includes one or more drones to make short-time missions,if the sensors detect a suspicious *** paper presents a digital solution to identify certain types of concealed weapons in surveillance applications based on Convolutional Neural Networks(CNNs)and Convolutional Long Short-Term Memory(ConvLSTM).Based on initial results,the importance of video frame enhancement is obvious to improve the visibility of objects in video *** accuracy of the proposed methods reach 99%,which reflects the effectiveness of the presented *** addition,the experimental results prove that the proposed methods provide superior performance compared to traditional ones.

关键词： Deep learning object detection military applications OFDM SPIHT IoT

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Boosting Monolayer Transition Metal Dichalcogenides Growth by Hydrogen-Free Ramping during Chemical Vapor Deposition

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Nano Letters 2024年第27期24卷 8277-8286页

作者： Liu, Hongwei Zhang, Tianyi Wu, Peng Lee, Hae Won Liu, Zhenjing Tang, Tsz Wing Tang, Shin-Yi Kang, Ting Park, Ji-Hoon Wang, Jun Zhang, Kenan Zheng, Xudong Peng, Yu-Ren Chueh, Yu-Lun Liu, Yuan Palacios, Tomás Kong, Jing Luo, Zhengtang Department of Chemical and Biological Engineering Guangdong-Hong Kong-Macao Joint Laboratory for Intelligent Micro-Nano Optoelectronic Technology William Mong Institute of Nano Science and Technology and Hong Kong Branch of Chinese National Engineering Research Center for Tissue Restoration and Reconstruction The Hong Kong University of Science and Technology Kowloon999077 Hong Kong Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology CambridgeMA02139 United States Department of Materials Science and Engineering Massachusetts Institute of Technology CambridgeMA02139 United States Department of Materials Science and Engineering National Tsing-Hua University Hsinchu30013 Taiwan Department of Materials Science and Engineering Korea University Seoul02841 Korea Republic of Key Laboratory for Micro-Nano Optoelectronic Devices of Ministry of Education School of Physics and Electronics Hunan University Changsha410082 China

The controlled vapor-phase synthesis of two-dimensional (2D) transition metal dichalcogenides (TMDs) is essential for functional applications. While chemical vapor deposition (CVD) techniques have been successful for transition metal sulfides, extending these methods to selenides and tellurides often faces challenges due to uncertain roles of hydrogen (H2) in their synthesis. Using CVD growth of MoSe2 as an example, this study illustrates the role of a H2-free environment during temperature ramping in suppressing the reduction of MoO3, which promotes effective vaporization and selenization of the Mo precursor to form MoSe2 monolayers with excellent crystal quality. As-synthesized MoSe2 monolayer-based field-effect transistors show excellent carrier mobility of up to 20.9 cm2/(V·s) with an on-off ratio of 7 × 107. This approach can be extended to other TMDs, such as WSe2, MoTe2, and MoSe2/WSe2 in-plane heterostructures. Our work provides a rational and facile approach to reproducibly synthesize high-quality TMD monolayers, facilitating their translation from laboratory to manufacturing. © 2024 American Chemical Society.

关键词： Monolayers

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Assessing the Viability of AC to DC Microgrid Conversion: A Comprehensive Analysis of Technical and Economic Factors

Assessing the Viability of AC to DC Microgrid Conversion: A ...

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International Universities Power engineering Conference (UPEC)

作者： Chrysanthos Charalambous Alexis Polycarpou Venizelos Efthymiou George E. Georghiou Department of Electrical and Computer Engineering PV Technology Laboratory University of Cyprus PHAETHON Centre of Excellence for Intelligent Efficient and Sustainable Energy Solutions Nicosia Cyprus Department of Electrical Computer Engineering and Informatics Frederick University Nicosia Cyprus

ISBN: (数字)9798350379730

ISBN: (纸本)9798350379747

In the face of global warming and the acceleration of climate changes, urgent and decisive measures must be taken to mitigate these phenomena. This study addresses this urgent need by exploring the transition from traditional AC distribution systems to more efficient DC and hybrid AC/DC systems, recognizing the utmost importance of both technical developments and economic considerations. Through a thorough overview of existing literature and empirical knowledge gathered from the nanogrid of FOSS Research Centre for Sustainable Energy of University of Cyprus, this research clarifies the inherent advantages of DC and AC/DC hybrid systems. In addition, it presents a detailed case study for the comprehensive assessment of the feasibility and effectiveness of these systems. The preliminary economic analysis carried out in this study demonstrates the cost-effectiveness and performance improvements offered by hybrid AC/DC microgrids compared to conventional AC configurations. According to the findings of this work it is obvious that the ROI increases with the increase of DC loads over AC loads until the case where DC loads reach the 75% of the total load (ROI=13.9%). However, even in the case of Full DC microgrid, the ROI is higher by 1% compared to the case of Full AC microgrid thus significantly reducing the payback period. These findings not only underline the urgency of the transition to more efficient and sustainable energy distribution systems, but also provide valuable information for policymakers, industry stakeholders and researchers. By embracing these innovative technologies, a more resilient and environmentally responsive energy infrastructure can be promoted that is in line with the demands of a rapidly changing global climate.

关键词： Power engineering Scalability Systems architecture Microgrids Hybrid power systems Software Production facilities Stakeholders Sustainable development Meteorology

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Self-Prompting Large Language Models for Zero-Shot Open-Domain QA

Self-Prompting Large Language Models for Zero-Shot Open-Doma...

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2024 Conference of the North American Chapter of the Association for Computational Linguistics: Human Language Technologies, NAACL 2024

作者： Li, Junlong Wang, Jinyuan Zhang, Zhuosheng Zhao, Hai Department of Computer Science and Engineering Shanghai Jiao Tong University China SJTU-Paris Elite Institute of Technology Shanghai Jiao Tong University China School of Electronic Information and Electrical 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)9798891761148

Open-Domain Question Answering (ODQA) aims to answer questions without explicitly providing specific background documents. This task becomes notably challenging in a zero-shot setting where no data is available to train tailored retrieval-reader models. While recent Large Language Models (LLMs) like GPT-3 have demonstrated their effectiveness in zero-shot ODQA using direct prompting methods, these methods still fall short of fully harnessing the potential of LLMs when implicitly invoked. In this paper, we propose a Self-Prompting framework to explicitly utilize the massive knowledge encoded in the parameters of LLMs and their strong instruction understanding abilities. Concretely, we prompt LLMs step by step to generate multiple pseudo QA pairs with background passages and explanations entirely from scratch. These generated elements are then utilized for in-context learning. Experimental results show that our method significantly surpasses previous state-of-the-art zero-shot methods on three widely-used ODQA datasets and even achieves comparable performance with various customized fine-tuned models on full training data. ©2024 Association for Computational Linguistics.

关键词： Zero-shot learning

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