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6th International Symposium on Autonomous systems, ISAS 2023

作者： Li, Johnny Shang, Bo Jayawardana, Iresh Chen, Genda University of Idaho Precision Agriculture and Intelligent Robotics Laboratory Department of Soil and Water Systems MoscowID83844 United States Department of Electrical Engineering New YorkNY10031 United States Missouri University of Science and Technology Center for Intelligent Infrastructure RollaMO65409-0810 United States

ISBN: (纸本)9798350316155

Empowered by the advanced 3D sensing, computer vision and AI algorithm, autonomous robotics provide an unprecedented possibility for close-up infrastructure environment inspection in an efficient and reliable fashion. Deep neural network (DNN) learning algorithms, pretrained on the large database can empower real-time object detection as well as fully autonomous, safe robotic navigation in unstructured environments while avoiding the potential obstacle. However, the development and deployment of the robots, inspection planning and operation procedures are still tedious and segmented with tremendous manual intervention during environmental inspection and anomaly monitoring. The proposed digital twin approach is able to provide a virtual representation model of the target environment either from a build-design or from 3D scanning of the real-world physical assets at high resolution in the Unity simulation environment, a transverse drone robot model and test its robotics Operating System(ROS) autonomous navigation and obstacle avoidance software stack, and the hardware-in-the-loop test can thus be conducted for the flight control algorithm effectiveness and real-time object detection performance evaluation. The preliminary result shows that VGG16-UNet deep learning algorithm was able to use only a small amount of guidance and time from experienced inspection pilots to successfully identify the critical elements and defects and real-time navigate around the unstructured environment. The proposed digital twin framework and methodology is promising to be utilized for developing and testing fully autonomous inspection robots and its path planning and navigation and detection operation with greater cost- and time-efficiency. © 2023 IEEE.

关键词： Crack detection

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Coverage analysis and handover strategy in RF/VLC heterogeneous networks

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Applied Optics 2025年第15期64卷 4160-4173页

作者： Feng, Renhai Guo, Yatong Yousaf, Muhammad Zain Khan, Baseem Luo, Liping School of Electrical and Information Engineering Tianjin University Tianjin300072 China School of Physics and Electronic Engineering Xinjiang Normal University Ürümqi830054 China Center for Renewable Energy and Microgrids Huanjiang Laboratory Zhejiang University Zhejiang Zhuji311816 China School of Electrical and Information Engineering Hubei University of Automotive Technology Shiyan China School of Aeronautics and Astronautics Zhejiang University Hangzhou310027 China Department of Electrical and Computer Engineering Hawassa University Hawassa Ethiopia School of Electronics and Information Guangxi Minzu University Nanning530006 China Guangxi Colleges Universities Engineering Research Center for Multi-modal Information Intelligent Sensing Processing and Application Nanning530006 China

Coverage analysis in heterogeneous networks (HetNets) remains insufficient, especially under user mobility and diverse association strategies. To address this, this paper proposes a contact probability and coverage approximation based on association strategy (CPCA-AS) to analyze the coverage probability (CPr) in visible light communication (VLC) and radio frequency (RF) HetNets. Based on the proposed stochastic geometry framework, CPCA-AS evaluates coverage performance under various configurations, including RF-only, VLC-only, and hybrid RF/VLC scenarios. The model incorporates a contact probability mechanism and considers two strategies: opportunistic VLC and maximum received signal power (MRSP). For VLC networks, CPCA-AS utilizes the Gil-Pelaez inversion theorem, and Laplace transforms to efficiently approximate CPr. For RF networks, Markov and Gamma inequalities form conservative accurate approximations and lower bounds. CPCA-AS effectively captures the influence of the photodetector’s field-of-view (FoV) on interference and association behavior. Monte Carlo simulations validate the accuracy of the CPCA-AS. Results demonstrate that CPCA-AS improves CPr. The opportunistic VLC strategy performs better in high-interference and large FoV scenarios. In contrast, the MRSP strategy is more effective in low-interference and low-rate environments. © 2025 Optica Publishing Group. All rights, including for text and data mining (TDM), Artificial Intelligence (AI) training, and similar technologies, are reserved.

关键词： Markov processes

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Analysis on D2D Heterogeneous Networks with State-Dependent Priority Traffic

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computers, Materials & Continua 2023年第2期74卷 2981-2998页

作者： Guangjun Liang Jianfang Xin Linging Xia Xueli Ni Yi Cao Department of Computer Information and Cyber Security Jiangsu Police InstituteNanjingChina National and Local Joint Engineering Laboratory of Radio Frequency Integration and Microassembly Technology Nanjing University of Posts and TelecommunicationsNanjingChina School of Intelligent Engineering Nanjing Institute of Railway TechnologyNanjingChina Jiangsu Province Electronic Data Forensics and Analysis Engineering Research Center NanjingChina Department of Electrical and Computer Engineering University of WindsorWindsorONN9B 3P4Canada

In this work,we consider the performance analysis of state dependent priority traffic and scheduling in device to device(D2D)heterogeneous *** are two priority transmission types of data in wireless communication,such as video or telephone,which always meet the requirements of high priority(HP)data transmission *** there is a large amount of low priority(LP)data,there will be a large amount of LP data that cannot be *** situation will cause excessive delay of LP data and packet dropping *** order to solve this problem,the data transmission process of high priority queue and low priority queue is *** the priority jump strategy to the priority queuing model,the queuing process with two priority data is modeled as a two-dimensionalMarkov chain.A state dependent priority jump queuing strategy is proposed,which can improve the discarding performance of low priority *** quasi birth and death process method(QBD)and fixed point iterationmethod are used to solve the causality,and the steady-state probability distribution is further ***,performance parameters such as average queue length,average throughput,average delay and packet dropping probability for both high and low priority data can be *** simulation results verify the correctness of the theoretical ***,the proposed priority jump queuing strategy can significantly improve the drop performance of low-priority data.

关键词： Stochastic geometry queuing theory D2D heterogeneous networks quasi-birth and death process

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SMIRK: 3D Facial Expressions through Analysis-by-Neural-Synthesis

arXiv

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arXiv 2024年

作者： Retsinas, George Filntisis, Panagiotis P. Daněček, Radek Abrevaya, Victoria F. Roussos, Anastasios Bolkart, Timo Maragos, Petros Institute of Robotics Athena Research Center Maroussi15125 Greece School of Electrical & Computer Engineering National Technical University of Athens Greece MPI for Intelligent Systems Tübingen Germany Greece

While existing methods for 3D face reconstruction from in-the-wild images excel at recovering the overall face shape, they commonly miss subtle, extreme, asymmetric, or rarely observed expressions. We improve upon these methods with SMIRK (Spatial Modeling for Image-based Reconstruction of Kinesics), which faithfully reconstructs expressive 3D faces from images. We identify two key limitations in existing methods: shortcomings in their self-supervised training formulation, and a lack of expression diversity in the training images. For training, most methods employ differentiable rendering to compare a predicted face mesh with the input image, along with a plethora of additional loss functions. This differentiable rendering loss not only has to provide supervision to optimize for 3D face geometry, camera, albedo, and lighting, which is an ill-posed optimization problem, but the domain gap between rendering and input image further hinders the learning process. Instead, SMIRK replaces the differentiable rendering with a neural rendering module that, given the rendered predicted mesh geometry, and sparsely sampled pixels of the input image, generates a face image. As the neural rendering gets color information from sampled image pixels, supervising with neural rendering-based reconstruction loss can focus solely on the geometry. Further, it enables us to generate images of the input identity with varying expressions while training. These are then utilized as input to the reconstruction model and used as supervision with ground truth geometry. This effectively augments the training data and enhances the generalization for diverse expressions. Our qualitative, quantitative and particularly our perceptual evaluations demonstrate that SMIRK achieves the new state-of-the art performance on accurate expression reconstruction. For our method’s source code, demo video and more, please visit our project webpage: https://***/smirk/. © 2024, CC BY.

关键词： Mesh generation

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M3ED: Multi-Robot, Multi-Sensor, Multi-Environment Event Dataset

M3ED: Multi-Robot, Multi-Sensor, Multi-Environment Event Dat...

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2023 IEEE/CVF Conference on computer Vision and Pattern Recognition Workshops, CVPRW 2023

作者： Chaney, Kenneth Cladera, Fernando Wang, Ziyun Bisulco, Anthony Hsieh, M. Ani Korpela, Christopher Kumar, Vijay Taylor, Camillo J. Daniilidis, Kostas University of Pennsylvania GRASP Laboratory PA19104 United States Robotics Research Center Department of Electrical Engineering and Computer Science United States Military Academy West PointNY10996 United States

ISBN: (纸本)9798350302493

We present M3ED, the first multi-sensor event camera dataset focused on high-speed dynamic motions in robotics applications. M3ED provides high-quality synchronized and labeled data from multiple platforms, including ground vehicles, legged robots, and aerial robots, operating in challenging conditions such as driving along off-road trails, navigating through dense forests, and performing aggressive flight maneuvers. Our dataset also covers demanding operational scenarios for event cameras, such as scenes with high egomotion and multiple independently moving objects. The sensor suite used to collect M3ED includes high-resolution stereo event cameras (1280×720), grayscale imagers, an RGB imager, a high-quality IMU, a 64-beam LiDAR, and RTK localization. This dataset aims to accelerate the development of event-based algorithms and methods for edge cases encountered by autonomous systems in dynamic environments. © 2023 IEEE.

关键词： Cameras

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Water droplets play a role in Internet of Things applications

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Droplet 2024年第3期3卷 27-48页

作者： Feng Wen Chengkuo Lee Department of Electrical and Computer Engineering National University of SingaporeSingapore Center for Intelligent Sensors and MEMS(CISM) National University of SingaporeSingapore i-Lab Key Laboratory of Multifunctional Nanomaterials and Smart SystemsSuzhou Institute of Nano-Tech and Nano-Bionics(SINANO)Chinese Academy of Sciences(CAS)SuzhouChina NUS Graduate School—Integrative Sciences and Engineering Programme(ISEP) National University of SingaporeSingapore

Water droplets help life in nature survive,thrive,and *** water droplet serv-ing as one of the indispensable elements in the Internet of Things(IoT),many droplet-oriented technologies,such as microfluidics,droplet manipulation,electrowetting,and energy harvesting,make rapid progress driven by material science,computer science,and ***-based wearable devices are endowed with advantages such as flexibility,sensing ability,and automation for various parameter ***,the continuous exploration of droplet manipulation has led to the emergence of a wide variety of manipulation ***,electrowetting that utilizes exter-nal fields modifying liquid–solid surfaces has found its applications in various areas,including droplet transportation,microfabrication,and *** energy gener-ation from water droplets also presents exciting opportunities for the development of novel electricity *** approaches for droplet utilization underscore the immense potentials and versatilities of droplet-based technologies in the IoT ***,this mini review presents the fundamental droplet-based technologies by summarizing their working mechanisms and methods,device structures,and *** the challenges in materials,fabrication,and system integration,this review shows the overall development roadmap in terms of improved functionality and performance and highlights the opportunities toward multifunctional,self-sustainable,and intelligent systems,which is called for IoT construction.

关键词： IoT utilize fabrication

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A bionic approach for the mechanical and electrical decoupling of an MEMS capacitive sensor in ultralow force measurement

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Frontiers of Mechanical engineering 2023年第2期18卷 297-317页

作者： Wendi GAO Bian TIAN Cunlang LIU Yingbiao MI Chen JIA Libo ZHAO Tao LIU Nan ZHU Ping YANG Qijing LIN Zhuangde JIANG Dong SUN State Key Laboratory for Manufacturing Systems Engineering International Joint Laboratory for Micro/Nano Manufacturing and Measurement TechnologiesOverseas Expertise Introduction Center for Micro/Nano Manufacturing and Nano Measurement Technologies Discipline InnovationXi’an Jiaotong University(Yantai)Research Institute for Intelligent Sensing Technology and SystemSchool of Mechanical EngineeringXi’an Jiaotong UniversityXi’an 710049China Shandong Laboratory of Yantai Advanced Materials and Green Manufacturing Yantai 265599China State Key Laboratory of Robotics and Systems(HIT) Harbin 150006China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of TechnologyBeijing 100081China Department of Biomedical Engineering City University of Hong KongHong KongChina

Capacitive sensors are efficient tools for biophysical force measurement,which is essential for the exploration of cellular ***,attention has been rarely given on the influences of external mechanical and internal electrical interferences on capacitive *** this work,a bionic swallow structure design norm was developed for mechanical decoupling,and the influences of structural parameters on mechanical behavior were fully analyzed and optimized.A bionic feather comb distribution strategy and a portable readout circuit were proposed for eliminating electrostatic *** instability was evaluated,and electrostatic decoupling performance was verified on the basis of a novel measurement method utilizing four complementary comb arrays and applicationspecific integrated circuit *** electrostatic pulling experiment showed that the bionic swallow structure hardly moved by 0.770 nm,and the measurement error was less than 0.009% for the area-variant sensor and 1.118% for the gap-variant sensor,which can be easily compensated in *** proposed sensor also exhibited high resistance against electrostatic rotation,and the resulting measurement error dropped below 0.751%.The rotation interferences were less than 0.330 nm and(1.829×10^(-7))°,which were 35 times smaller than those of the traditional differential *** on the proposed bionic decoupling method,the fabricated sensor exhibited overwhelming capacitive sensitivity values of 7.078 and 1.473 pF/μm for gap-variant and area-variant devices,respectively,which were the highest among the current *** immunity to mechanical disturbances was maintained simultaneously,i.e.,less than 0.369% and 0.058% of the sensor outputs for the gap-variant and area-variant devices,respectively,indicating its great performance improvements over existing devices and feasibility in ultralow biomedical force measurement.

关键词： micro-electro-mechanical system capacitive sensor bionics operation instability mechanical and electrical decoupling biomedical force measurement

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Real-time Architecture for Audio-Visual Active Speaker Detection

Real-time Architecture for Audio-Visual Active Speaker Detec...

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IEEE International Conference on robotics and Biomimetics

作者： Min Huang Wen Wang Zheyuan Lin Fiseha B. Tesema Shanshan Ji Jason Gu Minhong Wan Wei Song Te Li Shiqiang Zhu Intelligent Robotics Research Center Zhejiang Lab and Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou China Department of Electrical And Computer Engineering Dalhousie University Canada

ISBN: (纸本)9781665481106

Continuously measuring the speaking state of users with robot in a human-robot Interaction(HRI) system improves metrics of interaction quality. Meanwhile, mainstream active speaker detection (ASD) algorithms emphasize achieving high AUCs at frame level in the AVA-Active Speaker dataset and pay less attention to get real-time performance in robotic systems. In this paper, we propose a model named FSDNet to keep a high AUC score in the AVA-Active Speaker dataset while reducing time cost, our model increase AUC score by 0.1% compared with the State-Of-The-Art and need only 75% running time. Furthermore, we put forward an architecture with a time-related prediction function to make our algorithm more effective and generative in interactive robotic systems. The code is released at https://***/huangmin9966/FSDNet_RealTimeArch.

关键词： Measurement Visualization Costs Codes Biological system modeling Transformers Feature extraction

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TGRMPT: A Head-Shoulder Aided Multi-Person Tracker and a New Large-Scale Dataset for Tour-Guide Robot

TGRMPT: A Head-Shoulder Aided Multi-Person Tracker and a New...

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IEEE International Conference on robotics and Biomimetics

作者： Wen Wang Zheyuan Lin Min Huang Shunda Hu Tianlei Jin Te Li Minhong Wan Jason Gu Shiqiang Zhu Research Center for Intelligent Robotics Zhejiang Lab and Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou China Department of Electrical and Computer Engineering Dalhousie University Canada

ISBN: (纸本)9781665481106

A service robot serving safely and politely needs to track the surrounding people robustly, especially for Tour-Guide Robot (TGR). However, existing multi-object tracking (MOT) or multi-person tracking (MPT) methods are not applicable to TGR for the following reasons: 1. lacking relevant large-scale datasets; 2. lacking applicable metrics to evaluate trackers. In this work, we target the visual perceptual tasks for TGR and present the TGRDB dataset, a novel large-scale multi-person tracking dataset containing roughly 5.6 hours of annotated videos and over 450 long-term trajectories. Besides, we propose a more applicable metric to evaluate trackers using our dataset. As part of our work, we present TGRMPT, a novel MPT system that incorporates information from head shoulder and whole body, and achieves state-of-the-art performance. We have released our codes and dataset in https://***/wenwenzju/TGRMPT.

关键词： Measurement Visualization Target tracking Codes Service robots Biomimetics Trajectory

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Neural-Network-Based Inverse Dynamic Solutions of an Asymmetric Parallel Robot 3

Neural-Network-Based Inverse Dynamic Solutions of an Asymmet...

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3rd International Conference on Innovations and Development of Information Technologies and robotics, IDITR 2024

作者： Zou, Qi Zhang, Dan Zhang, Shuo Shi, Yuancheng Huang, Guanyu Li, Lijian Robotics Engineering Columbus State University ColumbusGA United States The Hong Kong Polytechnic University Department of Mechanical Engineering Hong Kong Lassonde School of Engineering York University Toronto Canada School of Electrical Engineering Hanyang University Ansan-si Korea Republic of Intelligent Robotics Research Center Zhejiang Lab Hangzhou China School of Mechanical Engineering North China University of Water Resources and Electric Power Zhengzhou China

ISBN: (纸本)9798350385694

The dynamic models of parallel robots are more complicated due to the highly coupled kinematic chains compared with those of their counterparts-serial robot. The approximate dynamic models can be considered if the analytical solutions high cost in time due to the sophisticated calculations. To address this issue, this paper presents an alternative approach-the dynamic model based on the neural network. A three degrees-of-freedom parallel manipulator is introduced, followed by a detailed mathematical inverse dynamic model, which is replicated by three feedforward neural networks with various performance goals. A cascade forward neural network is also constructed to be compared with the feedforward neural network. The simulation results demonstrate the effectiveness of these proposed neural networks. © 2024 IEEE.

关键词： Feedforward neural networks

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