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arXiv 2024年

作者： Yadav, Rishabh Dev Dantu, Swati Pan, Wei Sun, Sihao Roy, Spandan Baldi, Simone Department of Computer Science The Univerity of Manchester United Kingdom Multi-robot systems group Faculty of Electrical Engineering Czech Technical University Prague Czech Republic Department of Cognitive Robotics Delft Univesrity of Technology Netherlands Robotics Research Center International Institute of Information Technology Hyderabad India School of Mathematics Southeast University Nanjing China

Successful aerial manipulation largely depends on how effectively a controller can tackle the coupling dynamic forces between the aerial vehicle and the manipulator. However, this control problem has remained largely unsolved as the existing control approaches either require precise knowledge of the aerial vehicle/manipulator inertial couplings, or neglect the state-dependent uncertainties especially arising during the interaction phase. This work proposes an adaptive control solution to overcome this long standing control challenge without any a priori knowledge of the coupling dynamic terms. Additionally, in contrast to the existing adaptive control solutions, the proposed control framework is modular, that is, it allows independent tuning of the adaptive gains for the vehicle position sub-dynamics, the vehicle attitude sub-dynamics, and the manipulator sub-dynamics. Stability of the closed loop under the proposed scheme is derived analytically, and real-time experiments validate the effectiveness of the proposed scheme over the state-of-the-art approaches. © 2024, CC BY.

关键词： Adaptive control systems

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Diff9D: Diffusion-Based Domain-Generalized Category-Level 9-DoF Object Pose Estimation

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IEEE Transactions on Pattern Analysis and Machine Intelligence 2025年第7期47卷 5520-5537页

作者： Jian Liu Wei Sun Hui Yang Pengchao Deng Chongpei Liu Nicu Sebe Hossein Rahmani Ajmal Mian National Engineering Research Center for Robot Visual Perception and Control Technology College of Electrical and Information Engineering School of Robotics and the State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body Hunan University Changsha China Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Xi’an China Department of Information Engineering and Computer Science University of Trento Trento Italy School of Computing and Communications Lancaster University Lancaster U.K. Department of Computer Science The University of Western Australia Crawley WA Australia

Nine-degrees-of-freedom (9-DoF) object pose and size estimation is crucial for enabling augmented reality and robotic manipulation. Category-level methods have received extensive research attention due to their potential for generalization to intra-class unknown objects. However, these methods require manual collection and labeling of large-scale real-world training data. To address this problem, we introduce a diffusion-based paradigm for domain-generalized category-level 9-DoF object pose estimation. Our motivation is to leverage the latent generalization ability of the diffusion model to address the domain generalization challenge in object pose estimation. This entails training the model exclusively on rendered synthetic data to achieve generalization to real-world scenes. We propose an effective diffusion model to redefine 9-DoF object pose estimation from a generative perspective. Our model does not require any 3D shape priors during training or inference. By employing the Denoising Diffusion Implicit Model, we demonstrate that the reverse diffusion process can be executed in as few as 3 steps, achieving near real-time performance. Finally, we design a robotic grasping system comprising both hardware and software components. Through comprehensive experiments on two benchmark datasets and the real-world robotic system, we show that our method achieves state-of-the-art domain generalization performance.

关键词： Shape Solid modeling Three-dimensional displays Pose estimation Training Robots Grasping Diffusion models Real-time systems Point cloud compression

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Binding in hippocampal-entorhinal circuits enables compositionality in cognitive maps 38

Binding in hippocampal-entorhinal circuits enables compositi...

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38th Conference on Neural Information Processing systems, NeurIPS 2024

作者： Kymn, Christopher J. Mazelet, Sonia Thomas, Anthony Kleyko, Denis Frady, E. Paxon Sommer, Friedrich T. Olshausen, Bruno A. Redwood Center for Theoretical Neuroscience Helen Wills Neuroscience Institute UC Berkeley Berkeley United States Université Paris-Saclay ENS Paris-Saclay Gif-sur-Yvette France Department of Electrical and Computer Engineering UC Davis Davis United States Centre for Applied Autonomous Sensor Systems Örebro University Örebro Sweden Intelligent Systems Lab Research Institutes of Sweden Kista Sweden Intel Labs Santa Clara United States Herbert Wertheim School of Optometry & Vision Science UC Berkeley Berkeley United States

We propose a normative model for spatial representation in the hippocampal formation that combines optimality principles, such as maximizing coding range and spatial information per neuron, with an algebraic framework for computing in distributed representation. Spatial position is encoded in a residue number system, with individual residues represented by high-dimensional, complex-valued vectors. These are composed into a single vector representing position by a similarity-preserving, conjunctive vector-binding operation. Self-consistency between the representations of the overall position and of the individual residues is enforced by a modular attractor network whose modules correspond to the grid cell modules in entorhinal cortex. The vector binding operation can also associate different contexts to spatial representations, yielding a model for entorhinal cortex and hippocampus. We show that the model achieves normative desiderata including superlinear scaling of patterns with dimension, robust error correction, and hexagonal, carry-free encoding of spatial position. These properties in turn enable robust path integration and association with sensory inputs. More generally, the model formalizes how compositional computations could occur in the hippocampal formation and leads to testable experimental predictions. © 2024 Neural information processing systems foundation. All rights reserved.

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Adaptive Block Elevation Mapping for Large-scale Scene

Adaptive Block Elevation Mapping for Large-scale Scene

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IEEE International Conference on robotics and Biomimetics

作者： Yang Zhou Shiqiang Zhu Huang Huang Yuehua Li Jason Gu Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Laboratory Hangzhou China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou China Beijing Institute of Control Engineering Beijing China Beijing Research Institute of Zhejiang Laboratory Beijing China Department of Electrical and Computer Engineering Dalhousie University Halifax NS Canada

ISBN: (纸本)9781665481106

Dense map that contains the surrounding geometry and vision information of a robot is widely used for path planning, navigation, obstacle avoidance and other applications. Considering the performance of the processing unit mounted on the robot is limited, mapping algorithm has to make compromise by sacrificing speed and precision. It will be more challenging when the dense mapping scene is very large because the memory consumption will be greatly increased and the map is difficult to be extended if beyonding the initial map. To suppress the negative impact from the increased map scale, we proposed a novel block mapping approach to generate the dense map in large scale of scene. In this work, the elevation map is selected as the base dense map. The entire elevation map is segmented into numerous block maps of which size is much smaller than that of the entire map. The present moment of lidar and vision measurements are used to generate the local elevation map. The local elevation map is used to update block maps which are adaptively generated along the motion trajectory. A memory-disk interaction mechanism, which the block maps will be loaded to memory or saved to local disk when needed, is introduced. Our block mapping approach is tested on the KITTI datasets, and the results demonstrate that the mapping approach can stably operate in a large scale of scene with a much smaller consumption of memory.

关键词： Geometry Laser radar Navigation Motion segmentation Memory management Robot sensing systems Trajectory

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Beam-Based Multiple Access for IRS-Aided Millimeter-Wave and Terahertz Communications

Beam-Based Multiple Access for IRS-Aided Millimeter-Wave and...

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IEEE Conference on Wireless Communications and Networking

作者： Wei Jiang Hans Dieter Schotten Intelligent Networking Research Group German Research Center for Artificial Intelligence (DFKI) Kaiserslautern Germany Department of Electrical and Computer Engineering Rheinland-Pfälzische Technische Universität Kaiserslautern-Landau (RPTU) Kaiserslautern Germany

ISBN: (数字)9798350303582

ISBN: (纸本)9798350303599

Recently, intelligent reflecting surface (IRS)-aided millimeter-wave (mmWave) and terahertz (THz) communications are considered in the wireless community. This paper aims to design a beam-based multiple-access strategy for this new paradigm. Its key idea is to make use of multiple sub-arrays over a hybrid digital-analog array to form independent beams, each of which is steered towards the desired direction to mitigate inter-user interference and suppress unwanted signal reflection. The proposed scheme combines the advantages of both orthogonal multiple access (i.e., no inter-user interference) and non-orthogonal multiple access (i.e., full time-frequency resource use). Consequently, it can substantially boost the system capacity, as verified by Monte-Carlo simulations.

关键词： Wireless communication Time-frequency analysis NOMA Monte Carlo methods Digital-analog conversion Interference Reflection

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Unsupervised Muscle Fatigue Clustering Based on sEMG Signals using DeepCNN Autoencoders

Unsupervised Muscle Fatigue Clustering Based on sEMG Signals...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Mohammad Javad Javanbakht Mohammad Reza Fouji Amin Akhavan Saffar Mohammad- R. Akbarzadeh-T Alireza Akbarzadeh Dept. of Electrical Engineering Center of Advanced Rehabilitation and Robotics Research (FUM CARE) Ferdowsi University of Mashhad Mashhad Iran Dept. of Computer Engineering Center of Advanced Rehabilitation and Robotics Research (FUM CARE) Ferdowsi University of Mashhad Mashhad Iran Dept. of Electrical Engineering Center of Excellence on Soft Computing and Intelligent Information Processing Ferdowsi University of Mashhad Mashhad Iran Dept. of Mechanical Engineering Center of Advanced Rehabilitation and Robotics Research (FUM CARE) Ferdowsi University of Mashhad Mashhad Iran

Muscle fatigue assessment is key for optimizing physiotherapy, rehabilitation, and exercise. Muscle fatigue detection not only helps in reducing rehabilitation discomfort but also assists athletes in working out efficiently. The main motivation behind this research is to address the pressing need for a precise and reliable tool to assess muscle fatigue during physical activities. In addition to enhancing therapeutic interventions, this approach improves microtears-induced muscle strengthening by advancing the understanding of muscle fatigue levels. Previous studies have mainly employed supervised approaches to detect fatigue by processing surface electromyography (sEMG) signals through traditional methods in the Time, Frequency, and Time-Frequency domains. These approaches are vulnerable to challenges, such as signal sensitivity, noise interference, and inter-individual variability. Thus, the proposed method uses the spring energy model of the sEMG signal because of its excellent approximation with muscle characteristics. In order to handle noisy and ambiguous data, this paper employs a self-supervised Deep Convolutional Neural Network (DeepCNN) Autoencoder for feature extraction and K-means clustering due to their strong performance. Five healthy participants carried out two experiments using a knee rehabilitation robot (FUM-Physio). The results showcase a well-ordered clustering that closely mirrors the progression of muscle fatigue during these experiments. This indicates the robustness and generality of the proposed method.

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Reconfigurable intelligent Surfaces: A Physical Layer Security Perspective 4

Reconfigurable Intelligent Surfaces: A Physical Layer Securi...

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4th International Conference on Data Intelligence and Security, ICDIS 2022

作者： Lipps, Christoph Herbst, Jan Reddy, Rekha Franke, Lars Becker, Sven Rahm, Marco Dieter Schotten, Hans German Research Center for Artificial Intelligence Intelligent Networks Research Group KaiserslauternD-67663 Germany Institute for Wireless Communication and Radio Positioning Technische Universitt Kaiserslautern KaiserslauternD-67663 Germany Research Center OPTIMAS Technische Universit Kaiserslautern Department of Electrical and Computer Engineering KaiserslauternD-67663 Germany

ISBN: (数字)9781665459686

ISBN: (纸本)9781665459686

The conceptual design of the Sixth Generation (6G) wireless systems include, among others, Reconfigurable intelligent Surfaces (RISs), arrays of elements that are capable of manipulating and reconfiguring the wireless propagation environment. Thereby, they are claimed to have advantages in different subjects, such as coverage, energy efficiency and localization. Therefore, this work discusses five use-cases of how RISs could contribute to Physical Layer Security (PhySec) concepts. By actively influencing the scattering, reflection and refraction characteristics of electromagnetic waves, beamforming and - splitting, as well as by adding individual information to the transmitted signals, they can increase the environmental wireless security. In addition to the description and discussion of the applicability of conceivable use-cases the RIS behaviour is demonstrated by full-wave simulations of the electric far-field. © 2022 IEEE.

关键词： Wireless networks

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Hand Gesture Recognition from an Open-Set Perspective

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IEEE Transactions on Multimedia 2025年

作者： Zhou, Jun Xu, Chi Cheng, Li China University of Geosciences School of Automation Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems China Ministry of Education Engineering Research Center of Intelligent Technology for Geo-Exploration Wuhan430074 China University of Alberta Vision and Learning Laboratory Department of Electrical and Computer Engineering EdmontonABT6G 2R3 Canada

Existing hand gesture recognition methods predominantly rely on a close-set assumption, which in essence limits the viewpoints, gesture categories, and hand shapes at test time to closely resemble those seen during training. This requirement is however rarely met in practice, as images are often captured from unconstrained viewpoints, with novel gestures and unseen hand shapes that can differ significantly from the training data. This motivates us to investigate an open-set hand gesture recognition problem, where hand gestures are still recognizable from unconstrained viewpoints, and novel gesture classes and hand shapes can be incrementally learned with just a few examples. To address this, we propose a viewpoint influence elimination network that extracts view-independent features, significantly improving performance in scenarios with unconstrained viewpoints. Moreover, a joint-weighted classification scheme is introduced to augment the cosine similarity metric for evaluating few-shot incremental learning of novel gestures and shapes. Finally, as existing hand gesture recognition datasets primarily adhere to the close-set assumption, a new hand gesture recognition dataset, OHG, is introduced in this paper, that includes a wide range of viewpoints, diverse gesture classes, and distinct hand shapes. Experimental hand gesture recognition results demonstrate the superior performance of our approach in both unconstrained viewpoint and few-shot incremental learning scenarios. The source code and the OHG dataset are to be made available at https://***/zhoujun-7/OSHGR. © 1999-2012 IEEE.

关键词： Palmprint recognition

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Evaluation of Chest CT-Scan Anomaly Detection Models Using Principal Component Analysis

Evaluation of Chest CT-Scan Anomaly Detection Models Using P...

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Information Technology (ACIT)

作者： Ala’ Alyabrodi Shrouq Al-Daja MohammadNoor Injadat Abdallah Moubayed Ali Elrashidi Cyber Security Department Zarqa University Zarqa Jordan Data Science & AI Department Zarqa University Zarqa Jordan Computer Engineering Department and Interdisciplinary Research Center for Intelligent Secure Systems King Fahd University of Petroleum & Minerals Dhahran Saudi Arabia Department of Electrical Engineering University of Business and Technology Jeddah Saudi Arabia

ISBN: (数字)9798331540012

ISBN: (纸本)9798331540029

Machine learning-based improvements in anomaly detection, visualization, and segmentation are made possible by the growing digitization of medical imaging, which reduces the workload for medical specialists. Nevertheless, trustworthy labeled data is necessary for supervised machine learning and is sometimes expensive, time-consuming, or impossible to get. Consequently, techniques that need either little labeling (unsupervised methods) or partial labeling (semi-supervised methods) have been used increasingly been used. One approach that can be used to tackle medical imaging tasks like segmentation and classification is anomaly detection, which makes use of both unsupervised and semi-supervised methods. This study investigates the anomaly detection capabilities of deep learning and machine learning models trained on chest CT scans. To adopt this approach, firstly, by evaluating several feature extraction techniques (Principal Component Analysis (PCA), Autoencoder, and variance threshold), PCA achieves the best results on the selected dataset. After that, different machine learning and deep learning models (Isolation Forest, K-means, feed-forward neural networks, and convolutional neural networks) are assessed to detect anomalies using PCA for dimensionality reduction. The experiments show that the NN-Feedforward model with PCA outperformed the other models, also attains remarkably low false alarm rate, demonstrating its effectiveness in reducing false positives and precisely detecting anomalies.

关键词： Deep learning Image segmentation Forestry Feature extraction Feedforward neural networks Labeling Information technology Anomaly detection Principal component analysis Biomedical imaging

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Criteria-based Unsupervised Feature Selection Techniques: A Comparative Study Over Chest CT Scan

Criteria-based Unsupervised Feature Selection Techniques: A ...

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Information Technology (ACIT)

作者： Shrouq Al-Daja Ala’ Alyabrodi Abdallah Moubayed MohammadNoor Injadat Ali Elrashidi Data Science & AI Department Zarqa University Zarqa Jordan Cyber Security Department Zarqa University Zarqa Jordan Computer Engineering Department Interdisciplinary Research Center for Intelligent Secure Systems King Fahd University of Petroleum & Minerals Dhahran Saudi Arabia Department of Electrical Engineering University of Business and Technology Jeddah Saudi Arabia

ISBN: (数字)9798331540012

ISBN: (纸本)9798331540029

research on classifying chest CT scans as normal or abnormal using machine learning and deep learning has garnered significant attention. To address this, various feature selection (FS) methods are employed to reduce dimensionality and identify key features. This paper evaluates criteria tailored to unsupervised binary datasets, such as feature subsets, redundancy, and diversity, by comparing Mutual Information-Based Methods (MI) with Clustering-Based Feature Selection (Agglomerative Clustering) ones. Additionally, it examines Graph Structure, Spectral Properties, and Quality criteria by comparing Graph-Based Methods with Spectral Feature Selection-be (SPEC). For feature reduction, Agglomerative Clustering may offer a slight advantage due to better handling of diversity and redundancy, though the difference is minimal. If these aspects are crucial, Agglomerative Clustering might be preferred. Conversely, for Graph-Based vs. SPEC, SPEC Method is more suitable for feature reduction due to its coherent feature selection and focus on capturing significant patterns related to medical interventions.

关键词： Deep learning Computed tomography Termination of employment Feature extraction Information technology

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