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A New Look for Outage and Ergodic Improvements in Coordinated IoT Paradigms with Hybrid Multiple Access

IEEE Transactions on Vehicular Technology 2025年

作者： Vu, Thai-Hoc Le, Anh-Tu Huynh-The, Thien da Costa, Daniel Benevides Kim, Sunghwan Kyonggi University School of Electronic Engineering Korea Republic of VSB-Technical University of Ostrava Faculty of Electrical Engineering and Computer Science 17. Listopadu 2172/15 Ostrava708 00 Czech Republic Ho Chi Minh City University of Technology and Education Department of Computer and Communications Engineering Viet Nam Interdisciplinary Research Center for Communication Systems and Sensing Department of Electrical Engineering Dhahran31261 Saudi Arabia

As spectrum utilization becomes increasingly scarce due to the exponential growth of intelligent connected devices in the Internet of Things (IoT), developing efficient communication protocols with simultaneous improvements in energy and spectrum usage is critical in response to the demands of cost-effective IoT devices. In this work, we propose a hybrid orthogonal and non-orthogonal multiple-access protocol in coordinated direct uplink/downlink and relay transmission for low-cost IoT paradigms, where a source node engages in direct transmission with proximate IoT users and relies on a relay node for distant connections. This protocol offers a successive interference cancellation–free approach and does not require any channel disparity for power allocation. Exact and asymptotic analytical expressions for the outage probability (OP) and ergodic capacity (EC) are derived. Numerical results demonstrate that the proposed protocol significantly improves OP–by 8 folds for the respective proximate users while maintaining the same OP for distant users over classical coordinated non-orthogonal multiple access–and delivers superior EC performance for proximate IoT users at low to moderate signal-to-noise ratios (SNRs) and distant users at most SNR. Moreover, critical tasks for minimizing the maximal OP and maximizing the ergodic sum capacity have been undertaken to achieve outage fairness and enhance the overall system's capacity. These non-convex problems are efficiently addressed by applying the analytical asymptotic-inspired alternative optimization. © 1967-2012 IEEE.

关键词： Signal to noise ratio

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Modelling with NGSI-LD: the VALLPASS project case study

Modelling with NGSI-LD: the VALLPASS project case study

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IEEE International Conference on Industrial Informatics (INDIN)

作者： Tiago Ribeiro João Paulo Coelho Luísa Jorge Joaquim Sardão José Gonçalves Higor Rosse CeDRI - Research Center for Digitization and Intelligent Robotics SusTEC - Associate Laboratory for Sustainability and Technology in Mountains Regions Bragança Portugal Department of Electrical and Computer Engineering INESC Coimbra University of Coimbra Polo 2 Coimbra Portugal Valled Lda Bragança Portugal Intelligent Technologies Collaborative Laboratory Mountains of Research Bragança Portugal

The smart cities paradigm covers multiple domains which span from citizens’ accessibility and mobility to general infrastructures and services. Hence, smart cities can be seen as an excellent showcase of heterogeneity, namely at the data level. For this reason, they are a perfect candidate for linked data and semantic web concept applications. This powerful combination leads to interoperability at the data level which is one of the ultimate goals of the Internet of Things (IoT). In this reference frame, NGSI-LD is an open framework for context information processing consisting of both a semantic information model and a RESTful Application Programming Interface (API). This paper proposes a methodology for creating semantic data models in the context of IoT, namely to represent and describe data associated with digital twins. The methodology is presented in a practical way, through the process of creating an NGSI-LD semantic data model for the VALLPASS project, inserted in the traffic domain, which is one of the most popular in smart cities.

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Creating Own AI Datasets from Different Language Sources Efficiently: Advantages, Disadvantages and Best Pracitces to Make Own Datasets 6

Creating Own AI Datasets from Different Language Sources Eff...

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6th IEEE International Conference and Workshop Obuda on electrical and Power engineering, CANDO-EPE 2023

作者： Molnar, Gyorgy Cserko, Jazsef Nagy, Eniko Balogh, Zoltan Óbuda University Kandó Kálmán Faculty of Electrical Engineering Budapest Hungary Széchenyi University János Csere Apáczai Faculty Győr Hungary John von Neumann University Gamf Faculty of Engineering and Computer Science Kecskemét Hungary Győr Hungary Institute of Cyberphysical Systems Óbuda University Antal Bejczy Center for Intelligent Robotics John von Neumann Faculty Budapest Hungary Constantine the Philosopher University in Nitra Faculty of Natural Sciences and Informatics Department of Informatics Nitra94901 Slovakia

ISBN: (纸本)9798350328752

Artificial Intelligence (AI) has become a ubiquitous technology that has the potential to revolutionize many industries. However, AI requires access to vast amounts of data to achieve its full potential. By understanding these data sources and the best practices for working with them, we can unlock the full potential of AI and create groundbreaking solutions that benefit society as a whole. Data sources can be utilized to train AI algorithms, including structured and unstructured data, but finding relevant datasets is challenging. The main problem is the international sources. Most of the datasets are available only in English or other common languages. However these are good sources, but translating them is expensive and time-consuming. This paper shows how to generate own datasets from open-source data with translation. © 2023 IEEE.

关键词： Artificial intelligence

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Proposal of Axial-gap type Magnetic Multiple Spur Gear for In-wheel Motor System of Electric Vehicle

Proposal of Axial-gap type Magnetic Multiple Spur Gear for I...

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IEEE International Conference on Electric Machines and Drives (IEMDC)

作者： Taiga Kamijo Kohei Aiso Kan Akatsu Yasuaki Aoyama Electrical Engineering and Computer Science Shibaura Institute of Technology Tokyo Japan Department of Electrical Engineering Shibaura Institute of Technology Tokyo Japan Department of Faculty of Engineering Division of Intelligent Systems Engineering Yokohama National University Yokohama Japan Center for Technology Innovation - Materials Hitachi Ltd. Research & Development Group Ibaraki Japan

Magnetic gears have the characteristics of maintenance-free, low noise, and low vibration due to non-contact power transmission. By taking advantage of the non-contact power transmission, the motor system can be made smaller and lighter by further increasing the motor speed. Magnetic Multiple Spur Gear (MMSG) has been proposed, the drive system of MMSG and multiple high-speed motors can reduce the size and weight of the drive system by converting the total power of multiple high-speed motors. Applying this drive system to in-wheel motors will increase the available interior space in electric vehicles. However, there is a risk that the high-speed rotor and low-speed rotor contact with each other due to the radial structure in the in-wheel motor system. In this research, an axial-gap MMSG is proposed to solve the problem and to obtain higher torque density, the performances such as torque density and efficiency are evaluated by finite element analysis.

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A Novel Vectorization Tracking Algorithm for Maritime Emission Monitoring Assisted with E-Nose Enabled Unmanned Aerial Vehicle

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IEEE Sensors Journal 2024年 1-1页

作者： Yuan, Haiwen Xiao, Changshi Wang, Yanfeng Wen, Yuanqiao Li, Qiliang School of Electrical and Information Engineering Wuhan Institute of Technology Wuhan 430205 China the Intelligent Transport Systems Center Wuhan University of Technology Wuhan 430063 China and National Engineering Research Center for Water Transport Safety Wuhan University of Technology Wuhan 430063 China School of Navigation Wuhan University of Technology Wuhan 430063 China and National Engineering Research Center for Water Transport Safety Wuhan University of Technology Wuhan 430063 China School of Navigation Wuhan University of Technology Wuhan 430063 China and Wuhan Technical College of Communications Wuhan 430063 China Intelligent Transport Systems Center Wuhan University of Technology Wuhan 430063 China and National Engineering Research Center for Water Transport Safety Wuhan University of Technology Wuhan 430063 China Department of Electrical & Computer Engineering George Mason University Fairfax VA 22030 USA

Monitoring the gas emission of maritime vessels is very challenging as the fields are almost inaccessible and the dispersion is very susceptible to the surrounding environment. In ultra-large-scale maritime scenes, general emission detection and tracking frameworks based on infotaxis will most likely fall into local turbulence traps. In this work, a novel vectorization tracking algorithm assisted with E-nose enabled unmanned aerial vehicle (UAV) is proposed for efficient monitoring the vessel emission. Firstly, a new prediction model using AIS data is developed to estimate globally vessel emission. Then, real-time measurements by the onboard E-nose are fused with the emission prediction in the vectorization framework. Based on the proposed tracking algorithm, the UAV’s flight velocity and heading can be adjusted towards the vessel emissions accurately and efficiently. Another contribution of the paper is that a series of real-world maritime experiments with a developed were carried out in order to evaluate the algorithm. The acquired results indicated that the proposed tracking algorithm and the developed E-nose enabled UAV are very efficient for such a maritime environment. IEEE

关键词： Forecasting

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Investigation on Structures of Axial Gap Type Magnetic Multiple Spur Gear for In-Wheel Motor System of Electric Vehicle

Investigation on Structures of Axial Gap Type Magnetic Multi...

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IEEE Conference and Expo Transportation Electrification Asia-Pacific (ITEC Asia-Pacific)

A novel drive system using Magnetic Multiple Spur Gear (MMSG) and multiple high-speed motors is characterized by small size, lightweight, and high efficiency even at high-speed region, it is expected to apply to in-wheel motor systems. However, there is a risk of contact between the rotors when applied to in-wheel motor system. In this study, a novel axial-gap MMSG is proposed to solve this problem, stabilize the air gap between the high-speed and low-speed rotors, and effectively utilize the magnets, and its performance is evaluated by finite element analysis.

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FogROS2-LS: A Location-Independent Fog robotics Framework for Latency Sensitive ROS2 Applications

FogROS2-LS: A Location-Independent Fog Robotics Framework fo...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Kaiyuan Chen Michael Wang Marcus Gualtieri Nan Tian Christian Juette Liu Ren Jeffrey Ichnowski John Kubiatowicz Ken Goldberg Department of Electrical Engineering and Computer Science University of California Berkeley CA USA Robert Bosch Research and Technology Center North America Sunny-Vale CA USA Robotics Institute Carnegie Mellon University Department of Industrial Engineering and Operations Research University of California Berkeley CA USA

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

In Cloud robotics, long system latency due to varying network conditions can cause instability and collisions. However, this can be minimized in the almost univeral case where there are multiple sources available for cloud servers. By extending anycast routing, we introduce FogROS2-Latency-Sensitive, a Fog robotics framework that offers secure, location-independent connections between robots and latency-sensitive cloud-based servers. FogROS2-LS offloads conventional on-board state estimators and feedback controllers to Cloud and Edge compute hardware without modifying existing applications in ROS2. In the presence of multiple identical services, FogROS2-LS dynamically identifies and transitions to the optimal service deployment that meets latency requirements, thereby empowering robots with limited on-board computing capacity to safely and efficiently navigate dynamic, human-dense environments. We evaluate FogROS2-LS with two latency sensitive case studies: (1) Collision Avoidance: a robot arm guided by visual feedback from consistent distance estimation and collision checking on Cloud and Edge. FogROS2-LS reduces collision failures by up to 8.5x by selecting the best available server, and (2) Target Tracking: FogROS2-LS enables robust and continuous target following and can recover from network failures. Videos and code are available on the website https://***/view/fogros2-ls.

关键词： Visualization Target tracking Navigation Robot sensing systems Routing Manipulators Hardware

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Intent-Guided Trajectory Prediction for E-Scooter Riders and Bicyclists

Intent-Guided Trajectory Prediction for E-Scooter Riders and...

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International Conference on intelligent Transportation

作者： Zhengming Zhang Zhengming Ding Yaobin Chen Stanley Chien Lingxi Li Rini Sheroy Joshua Domeyer Renran Tian School of Industrial Engineering Purdue University USA Department of Computer Science Tulane University USA School of Electrical and Computer Engineering Purdue University USA Toyota Collaborative Safety Research Center (CSRC) USA Department of Industrial and Systems Engineering North Carolina State University USA

ISBN: (数字)9798331505929

ISBN: (纸本)9798331505936

The rapidly increasing popularity of micromobility devices, such as e-scooters and bicycles, in urban environments underscores the critical need for advanced trajectory prediction models to enhance road safety and facilitate seamless integration into intelligent transportation systems. This study introduces a novel approach to predicting the movements of bicyclists and e-scooter riders by leveraging a unique dataset that combines bird's-eye and egocentric views, collected from diverse urban settings across the United States. Employing state-of-the-art deep learning techniques, our model significantly outperforms traditional linear and polynomial regression models in terms of Average Displacement Error (ADE) and Final Displacement Error (FDE), demonstrating superior accuracy in forecasting the trajectories of vulnerable road users. Furthermore, our approach incorporates cognitive annotations to predict crossing intentions, enriching the model's predictive capabilities. The findings highlight the potential of our method to contribute to the development of proactive safety measures and collision avoidance systems, ultimately fostering safer urban mobility landscapes for all road users.

关键词： Deep learning Accuracy Urban areas Predictive models Traffic control Birds Trajectory Forecasting Vehicle dynamics Micromobility

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AR/VR Digital Twin for Simulation and Data Collection of Robotic Environments

AR/VR Digital Twin for Simulation and Data Collection of Rob...

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IEEE International Conference on Autonomous Robot systems and Competitions (ICARSC)

作者： João G. Martins Karle Nutonen Paulo Costa Vladimir Kuts Tauno Otto Armando Sousa Marcelo R. Petry CRIIS - Centre for Robotics in Industry and Intelligent Systems INESC TEC - Institute for Systems and Computer Engineering Technology and Science Porto Portugal Faculty of Engineering University of Porto (FEUP) Porto Portugal ViruTech - Virumaa innovation center of digitalization and green technologies Taltech Virumaa College Kohtla-Jarve Estonia Department of Mechanical and Indusrial Taltech Tallinn Estonia

ISBN: (数字)9798331538606

ISBN: (纸本)9798331538613

Digital twins enable real-time modeling, simulation, and monitoring of complex systems, driving advancements in automation, robotics, and industrial applications. This study presents a large-scale digital twin-testing facility for evaluating mobile robots and pilot robotic systems in a research laboratory environment. The platform integrates high-fidelity physical and environmental models, providing a controlled yet dynamic setting for analyzing robotic behavior. A key feature of the system is its comprehensive data collection framework, capturing critical parameters such as position, orientation, and velocity, which can be leveraged for machine learning, performance optimization, and decision-making. The facility also supports the simulation of discrete operational systems, using predictive modeling to bridge informational gaps when real-time data updates are unavailable. The digital twin was validated through a matrix manufacturing system simulation, with an Augmented Reality (AR) interface on the HoloLens 2 to overlay digital information onto mobile platform controllers, enhancing situational awareness. The main contributions include a digital twin framework for deploying data-driven robotic systems and three key AR/VR integration optimization methods. Demonstrated in a laboratory setting, the system is a versatile tool for research and industrial applications, fostering insights into robotic automation and digital twin scalability while reducing costs and risks associated with real-world testing.

关键词： Service robots Navigation Metaverse Databases Scalability Digital representation Real-time systems Digital twins Mobile robots Robots

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Extension Principle and Controller Design for Nonlinear systems

Extension Principle and Controller Design for Nonlinear Syst...

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European Control Conference (ECC)

作者： Altuğ İftar Farshad Khorrami Department of Electrical and Electronics Engineering Eskişehir Technical University Eskişehir Turkey Department of Electrical and Computer Engineering Control/Robotics Research Laboratory (CRRL) New York University 5 Metrotech Center Brooklyn NY U.S.A.

We generalize the principle of extension and controller design using this principle for nonlinear systems. We first define principles of inclusion and extension for nonlinear time-invariant (NLTI) systems. Thereafter, we present the necessary and sufficient conditions for a system to be an extension of another and show that when the expanded system is an extension of the original system, any controller designed for the expanded system can be contracted for implementation on the original system. Subsequently, we demonstrate how an overlappingly decomposed NLTI system can be expanded so that the expanded system is an extension of the original system, how decentralized controllers can be designed for the expanded system, and how these controllers can be contracted for implementation on the original system. An example is also provided to illustrate the extension and contraction concepts and show controller design using the proposed principles.

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