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2021 International Conference on Unmanned Aircraft systems, ICUAS 2021

作者： Larkin, Dominic Novitzky, Michael Kim, Jinho Korpela, Christopher M. Robotics Research Center United States Military Academy Department of Electrical Engineering and Computer Science West PointNY10996 United States

ISBN: (纸本)9780738131153

This work introduces a methodology to interact with a heterogeneous team of autonomous robots performing a search and rescue mission. The autonomous robot team consists of a quadrotor and an unmanned ground vehicle. The robot team's human interface is the Android Team Awareness Kit (ATAK), which both military and emergency management first responders have found useful. This work's contribution is creating a platform-agnostic robot operating system (ROS) node used by the various autonomy stacks of each platform. This node is called atak_bridge. In order to limit the need to modify the ATAK client applications, atak_bridge leverages currently available standard messages within the ATAK framework. This eliminated the need for any specific ATAK plugin. A robot using atak_bridge shares its location and the locations of any objects of interest it detects to a user's ATAK device. Using the same ATAK device, the user can send waypoints to the robot, which the atak_bridge interprets into appropriate autonomy stack representations. We demonstrate the feasibility of integrating ATAK, using atak_bridge, into an air-ground team of autonomous robots for a search and rescue mission. The first responder sends the aerial platform to search an area and relays to the ATAK user any possible victims' locations. Upon receiving these locations, a first responder can dispatch an autonomous ground vehicle to confirm a victim and deliver food, water, and a first aid kit. © 2021 IEEE.

关键词： Robots

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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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Chinese Automation Congress (CAC)

作者： Xiao Liu Luefeng Chen Chengda Lu Haipeng Fan Min Wu Witold Pedrycz School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems School of Automation China University of Geosciences Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China Department of Electrical and Computer Engineering University of Alberta Edmonton AB Canada Systems Research Institute Polish Academy of Sciences Warsaw Poland Department of Computer Engineering Istinye University Istanbul Turkey

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

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 $H_{\infty}$ 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.

关键词： Drilling Robust control Friction Simulation Geology Velocity control Stability criteria Process control Coal Output feedback

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Optimizing One-Stage Object Detection for URLLC: A Two-Stage Pipeline with Oculi SPU

Optimizing One-Stage Object Detection for URLLC: A Two-Stage...

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Information Technology (ACIT)

作者： Adam Bou Moghlebey Abdallah Moubayed MohammadNoor Injadat Electrical & Computer Engineering Department Lebanese American University Byblos Lebanon Computer Engineering Department and Interdisciplinary Research Center for Intelligent Secure Systems King Fahd University of Petroleum & Minerals Dhahran Saudi Arabia Data Science & Artificial Intelligence Department Zarqa University Zarqa Jordan University of Business and Technology Jeddah Saudi Arabia

ISBN: (数字)9798331540012

ISBN: (纸本)9798331540029

Pedestrian-related accidents account for an estimated 20-25% of the approximately 1.19 million road fatalities occurring annually, highlighting the urgent need for enhanced detection systems in surveillance and smart transportation to mitigate such incidents. The escalating demand for Ultra-Reliable Low-Latency Communications (URLLC) in modern surveillance and transportation systems has become a solution to that problem but highlighted significant challenges in reducing inference times of machine learning models, particularly on constrained hardware. The maximum permissible latency for most vehicular applications ranges from 6 to 20 milliseconds based on the application. When tested on an 8GB RAM setup using the NTU, LLVIP, and VIRAT datasets, YOLOv8n achieved a minimum inference time of approximately 200 milliseconds per frame, making it unsuitable for URLLC applications despite 8GB RAM being an adequate hardware setup for edge devices. This research introduces a new two-stage pipeline that integrates Oculi’s Sensing and Processing Unit (SPU) simulation with the YOLOv8n one-stage object detection model to enhance pedestrian detection, thereby addressing these challenges. By leveraging Regions of Interest (ROIs) generated by Oculi’s SPU, our approach optimizes the input data for the YOLO model, substantially reducing computational overhead and thus making it suitable for URLLC applications. This integration can lead to a reduction in inference time by up to 93% in the tested frames when being compared to YOLOv8n pre-trained model.

关键词： YOLO Pedestrians Computational modeling Surveillance Pipelines Random access memory Ultra reliable low latency communication Hardware Smart transportation Sensors

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Multi-omics graph convolutional networks for digestive system tumour classification and early-late stage diagnosis

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CAAI Transactions on Intelligence Technology 2024年第6期9卷 1572-1586页

作者： Lin Zhou Zhengzhi Zhu Hongbo Gao Chunyu Wang Muhammad Attique Khan Mati Ullah Siffat Ullah Khan School of Information Science and Technology University of Science and Technology of ChinaHefeiAnhuiChina Anhui Engineering Research Center on Information Fusion and Control of Intelligent Robot WuhuAnhuiChina Department of Breast Center West District of The Affiliated Hospital of University of Science and Technology of ChinaDivision of Life Sciences and MedicineUniversity of Science and Technology of ChinaHefeiAnhuiChina Institute of Advanced Technology University of Science and Technology of ChinaHefeiAnhuiChina School of Electrical and Electronic Engineering Nanyang Technological UniversitySingaporeSingapore School of Biological and Environmental Engineering Chaohu UniversityChaohu Regional Collaborative Technology Service Center for Rural RevitalizationHefeiChina Department of Artificial Intelligence College of Computer Engineering and SciencePrince Mohammad Bin Fahd UniversityAl-KhobarSaudi Arabia School of Automation Northwestern Polytechnical UniversityXi'anShaanxiChina Institute of Engineering and Computing Science University of Science and Technology of BannuKPKBannuPakistan

The prevalence of digestive system tumours(DST)poses a significant challenge in the global crusade against *** neoplasms constitute 20%of all documented cancer diagnoses and contribute to 22.5%of cancer-related *** accurate diagnosis of DST is paramount for vigilant patient monitoring and the judicious selection of optimal *** this challenge,the authors introduce a novel methodology,denominated as the Multi-omics Graph Transformer Convolutional Network(MGTCN).This innovative approach aims to discern various DST tumour types and proficiently discern between early-late stage tumours,ensuring a high degree of *** MGTCN model incorporates the Graph Transformer Layer framework to meticulously transform the multi-omics adjacency matrix,thereby illuminating potential associations among diverse samples.A rigorous experimental evaluation was undertaken on the DST dataset from The Cancer Genome Atlas to scrutinise the efficacy of the MGTCN *** outcomes unequivocally underscore the efficiency and precision of MGTCN in diagnosing diverse DST tumour types and successfully discriminating between early-late stage DST *** source code for this groundbreaking study is readily accessible for download at https://***/bigone1/MGTCN.

关键词： digestive system tumors early-late stage multi-omics tumor types

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Aluminum Scandium Nitride Lamb Wave Acoustic Delay Lines with Over 6% Fractional Bandwidth 22

Aluminum Scandium Nitride Lamb Wave Acoustic Delay Lines wit...

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22nd International Conference on Solid-State Sensors, Actuators and Microsystems, Transducers 2023

作者： Luo, Zhifang Shao, Shuai Lee, Chengkuo Wu, Tao School Of Information Science And Technology ShanghaiTech University China Shanghai Institute Of Microsystem And Information Technology Chinese Academy Of Sciences China University Of Chinese Academy Of Sciences China Shanghai Engineering Research Center Of Energy Efficient And Custom Ai Ic China Department Of Electrical & Computer Engineering National University Of Singapore Singapore Center For Intelligent Sensors And Mems National University Of Singapore Singapore

ISBN: (纸本)9784886864352

We report the low loss and broad fractional bandwidth (FBW) Acoustic Delay Lines (ADLs) based on 16% Sc-doped Aluminum Scandium Nitride (Al0.84Sc0.16N) Thin film. The fabricated ADLs show 3-dB FBW of 6.3% and minimum insertion loss (IL) of 5.6 dB at approximately 808 MHz. The ADLs with delay ranges from 20 ns to 41 ns have been demonstrated. A high group velocity of 9116 m/s is extracted utilizing fundamental symmetric (S0) mode Lamb wave. The simultaneous high-speed and broadband illustrate the great potential of AlScN ADLs for signal processing in the future. © 2023 IEEJ.

关键词： Acoustic delay lines AlScN SPUDT

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Loss-induced phase transition in mid-infrared plasmonic metamaterials for ultrasensitive vibrational spectroscopy

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InfoMat 2022年第12期4卷 85-102页

作者： Hong Zhou Dongxiao Li Zhihao Ren Xiaojing Mu Chengkuo Lee Department of Electrical and Computer Engineering National University of SingaporeSingaporeSingapore Key Laboratory of Optoelectronic Technology&Systems of Ministry of Education International R&D center of Micro-nano Systems and New Materials TechnologyChongqing UniversityChongqingPeople's Republic of China Center for Intelligent Sensors and MEMS(CISM) National University of SingaporeSingaporeSingapore National University of Singapore Suzhou Research Institute(NUSRI) SuzhouPeople's Republic of China NUS Graduate School—Integrative Sciences and Engineering Programme(ISEP) National University of SingaporeSingaporeSingapore

Metamaterials have proven their ability to possess extraordinary physical properties distinct from naturally available materials,leading to exciting sensing functionalities and ***,metamaterial-based sensing applications suffer from severe performance limitations due to noise interference and design ***,we propose a dual-phase strategy that leverages loss-induced different Fano-resonant phases to access both destructive and constructive signals of molecular *** the two reverse signals are innovatively combined,the noise in the detection system is effectively suppressed,thereby breaking through the noise-related ***,by utilizing loss optimization of the plasmon-molecule coupling system,our dual-phase strategy enhances the efficiency of infrared energy transfer into the molecule without any additional fabrication complex,thereby overcoming the trade-off dilemma between performance and fabrication *** to the pioneering breakthroughs in the limitations,our dual-phase strategy possesses an overwhelming competitive advantage in ultrasensitive vibrational spectroscopy over traditional metamaterial technology,including strong signal strength(×4),high sensitivity(×4.2),effective noise suppression(30%),low detection limit(13 ppm),and excellent selectivity among CO_(2),NH_(3),and CH_(4) *** work not only opens the door to various emerging ultrasensitive detection applications,including ultrasensitive in-breath diagnostics and high-information analysis of molecular information in dynamic reactions,but also gains new insights into the plasmon-molecule interactions in advanced metamaterials.

关键词： Fano resonance IR vibrational spectroscopy metamaterials phase transition ultrasensitive sensing

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User Selection for Simple Passive Beamforming in Multi-RIS-Aided Multi-User Communications

User Selection for Simple Passive Beamforming in Multi-RIS-A...

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IEEE Conference on Vehicular Technology (VTC)

作者： Wei Jiang Hans D. Schotten Intelligent Networking Research Group German Research Center for Artificial Intelligence (DFKI) Germany Department of Electrical and Computer Engineering Technische Universität (TU) Kaiserslautern Germany

This paper focuses on multi-user downlink signal transmission in a wireless system aided by multiple reconfigurable intelligent surfaces (RISs). In such a multi-RIS, multi-user, multi-antenna scenario, determining a set of RIS phase shifts to maximize the sum throughput becomes intractable. Hence, we propose a novel scheme that can substantially simplify the optimization of passive beamforming. By opportunistically selecting a user with the best channel condition as the only active transmitter in the system, it degrades to single-user passive beamforming, where two methods, i.e., joint optimization based on the semidefinite relaxation approach and alternating optimization, are applicable. The superiority of the proposed scheme is demonstrated through Monte-Carlo simulations.

关键词：

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Towards the Influence of Human Observer Eye-Movements on Discriminating Between Perceived Sociability of Different Robots 54

Towards the Influence of Human Observer Eye-Movements on Dis...

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54th International Symposium on robotics, ISR Europe 2022

作者： Kühnlenz, Kolja Kühnlenz, Barbara Robotics Research Lab Department of Electrical Engineering and Computer Science Coburg University of Applied Sciences and Arts CoburgD-96450 Germany Academic Center for Sciences and Humanities Coburg University of Applied Sciences and Arts CoburgD-96450 Germany

ISBN: (纸本)9783800758920

Results from a study on Perceived Sociability of a robot dependent on different gaze behaviors of human observers are presented. A 2x2 between-subjects design is used with independent variables’gaze-behavior’ (static/dynamic) and’robot’ (appearance) of a displayed robot head. Participants are told to fixate a point on a screen, which is either static or moving linearly, while a picture of one of two robot heads is shown in the covert visual attention region of the human observer. The robots differ in the level of human-likeness (mechanistic vs. anthropomorphic). Significant results show, that Perceived Sociability depends on the interaction of gaze-behavior and robot appearance. The findings show, that eye-movements influence covert perception of robot attributes and contribute to a better understanding of gaze dependent perception of robot appearance with potential practical implications of situational perception of anthropomorphic attributes like sociability situationally impacting interaction with the robot. © VDE VERLAG GMBH ∙ Berlin ∙ Offenbach.

关键词： Eye movements

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Capacity Analysis and Rate Maximization Design in RIS-Aided Uplink Multi-User MIMO

Capacity Analysis and Rate Maximization Design in RIS-Aided ...

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IEEE Conference on Wireless Communications and Networking

Reconfigurable intelligent surface (RIS) has recently drawn intensive attention due to its potential of simultaneously realizing high spectral and energy efficiency in a sustainable way. This paper focuses on the design of efficient transmission methods to maximize the uplink sum throughput in a RIS-aided multi-user multi-input multi-output (MU-MIMO) system. To provide an insightful basis, the channel capacity of RIS-aided MU-MIMO is theoretically analyzed. Then, the conventional transmission schemes based on orthogonal multiple access are presented as the baseline. From the information-theoretic perspective, we propose two novel schemes, i.e., joint transmission based on the semidefinite relaxation of quadratic optimization problems and opportunistic transmission relying on the best user selection. The superiority of the proposed schemes over the conventional ones in terms of achievable rates is justified through simulation results.

关键词： Monte Carlo methods Channel capacity Simulation Throughput Energy efficiency Complexity theory Uplink

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Decentralized Acceleration-Based Bird-Inspired Flocking

Decentralized Acceleration-Based Bird-Inspired Flocking

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

作者： Luca Iacone Erwin Lejeune Tiziano Manoni Sabato Manfredi Dario Albani Autonomous Robotics Research Center Technology Innovation Institute Abu Dhabi UAE Department of Computer Science Vrije Universiteit Amsterdam The Netherlands Department Electrical Engineering and Information Technology Federico II University Naples Italy

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

In the following, we analyze and discuss the implementation of a novel approach for distributed flocking behavior applied to a group of Uncrewed Aerial Vehicle (UAV)s, also referred to as drones. Inspired by natural flocking phenomena observed in birds, which demonstrate coordinated movement in response to internal and external stimuli, we tackle the problem of robust and dynamic aerial motion for robots and design a control law based on a novel physical model. In contrast to previous works that rely on velocity or position-based references, this approach leverages an acceleration-based law to describe the collective dynamics of many interacting particles. As observed in the following, a third-order control possesses several advantages compared to first or second-order control, such as smoother transitions, better force balancing, and more responsive and dynamic behaviors. These advantages are thoroughly analyzed in the following, thanks to physics-based realistic simulations and field experiments with medium-sized UAVs in an unstructured outdoor environment.

关键词： Navigation Robot kinematics Perturbation methods Dynamics Life estimation Autonomous aerial vehicles Trajectory Vehicle dynamics Drones Testing

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