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

作者： Mohammad Olyai Khalil Alipour Bahram Tarvirdizadeh Majid Sorouri Mohammad Ghamari Department of Mechatronics Eng. Advanced Service Robots (ASR) Laboratory School of Intelligent Systems Engineering College of Interdisciplinary Science and Technology University of Tehran Tehran Iran Department of Electronic Engineering Maynooth University Maynooth Co. Kildare Ireland Department of Computer and Mechatronics Engineering Science and Research Branch Islamic Azad University Tehran Iran Electrical Engineering Department California Polytechnic State University San Luis Obispo CA USA

ISBN: (数字)9798331529734

ISBN: (纸本)9798331529741

Tractor-trailer wheeled robots (TTWRs) have gained significant attention across various industries and control studies due to their complex dynamics and non-minimum phase behavior, which pose substantial control challenges. This study investigates the control of a differentially-driven tractor to follow a specified path under pure rolling conditions in both forward and backward motion. Notably, it has been established that using static feedback linearization (SFL) leads to instability during backward motion. In contrast, this research uses dynamic feedback linearization (DFL), also known as dynamic extension, for controlling the tractor-trailer system in both directions for the first time. Our findings demonstrate that the internal dynamics of the system remain stable in both forward and backward motions, enabling successful adherence to the desired path.

关键词： Industries Mechatronics Service robots Dynamics Wheels Optimal control Reinforcement learning Agricultural machinery Feedback linearization Mobile robots

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

arXiv

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arXiv 2025年

作者： Liu, Jian Sun, Wei Yang, Hui Deng, Pengchao Liu, Chongpei Sebe, Nicu Rahmani, Hossein Mian, Ajmal National Engineering Research Center for Robot Visual Perception and Control Technology College of Electrical and Information Engineering School of Robotics State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body Hunan University Changsha410082 China Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Xi’an710049 China Department of Information Engineering and Computer Science University of Trento Trento38123 Italy School of Computing and Communications Lancaster University LA1 4YW United Kingdom Department of Computer Science The University of Western Australia WA6009 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. Our code will be made public at https://***/CNJianLiu/Diff9D. Copyright © 2025, The Authors. All rights reserved.

关键词： Augmented reality

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Adaptive Robust Invariant Extended Kalman filtering for Biped Robot*

Adaptive Robust Invariant Extended Kalman filtering for Bipe...

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IEEE International Conference on robotics and Biomimetics

作者： Chengzhi Gao Ye Xie Shiqiang Zhu Guanyu Huang Lingyu Kong Anhuan Xie Jason Gu Dan Zhang Jun Shao Haofu Qian Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Laboratory Hangzhou China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou China Zhejiang University Hangzhou Zhejiang China Department of Electrical and Computer Engineering Dalhousie University Halifax NS Canada B3H 4R2 York University North York Toronto M3J 1P3 Canada School of Mechanical Engineering Zhejiang University Hangzhou China

ISBN: (纸本)9781665481106

The precise estimation of system states is essential for the locomotion control of biped robots to maintain balance. Currently, the estimation of system states is either based on vision data that is susceptible to the environment, or fusing data from Inertial Measurement Unit (IMU) and the kinematic calculation. Invariant Extended Kalman Filtering (IEKF) is one of the most successful fusing algorithms to estimate system state. Generally, in IEKF, the noise covariance of system state is assumed to be known. However, the noise covariance of contact point for biped is not available since the ground-contact situation normally varies and not previously known. This paper presents a new fusing algorithm-Adaptive Robust Invariant Extended Kalman Filtering (ARIEKF) to adaptively adjust the noise parameter of contact point. The proposed algorithm applied the principle of robust estimation to resist outlier effects of state, and introduced an adaptive factor for the noise covariance of state to control its outlying disturbance influences. This paper firstly completed the full state estimation of biped robot using the theory of Lie groups and invariant observer. Then, the adaptive scale factor evaluated by three-segment approach was adopted to adjust the noise covariance of contact point. Finally, both IEKF and proposed ARIEKF are applied to our biped robot-Cosmos and the accuracy of two algorithms are compared. The mean square errors of the velocity of two algorithms were evaluated using the measurements from motion capture system. Experiments demonstrated that the mean square errors of the velocity are decreased 50 percent when compared with IEKF.

关键词： Measurement units Filtering Mean square error methods Resists Observers Motion capture Kalman filters

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Towards 6G wireless communication networks:vision, enabling technologies, and new paradigm shifts

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Science China(Information Sciences) 2021年第1期64卷 5-78页

作者： Xiaohu YOU Cheng-Xiang WANG Jie HUANG Xiqi GAO Zaichen ZHANG Mao WANG Yongming HUANG Chuan ZHANG Yanxiang JIANG Jiaheng WANG Min ZHU Bin SHENG Dongming WANG Zhiwen PAN Pengcheng ZHU Yang YANG Zening LIU Ping ZHANG Xiaofeng TAO Shaoqian LI Zhi CHEN Xinying MA Chih-Lin I Shuangfeng HAN Ke LI Chengkang PAN Zhimin ZHENG Lajos HANZO Xuemin (Sherman) SHEN Yingjie Jay GUO Zhiguo DING Harald HAAS Wen TONG Peiying ZHU Ganghua YANG Jun WANG Erik G.LARSSON Hien Quoc NGO Wei HONG Haiming WANG Debin HOU Jixin CHEN Zhe CHEN Zhangcheng HAO Geoffrey Ye LI Rahim TAFAZOLLI Yue GAO H.Vincent POOR Gerhard P.FETTWEIS Ying-Chang LIANG National Mobile Communications Research Laboratory School of Information Science and EngineeringSoutheast University Purple Mountain Laboratories Shanghai Institute of Fog Computing Technology (SHIFT) ShanghaiTech University Research Center for Network Communication Peng Cheng Laboratory State Key Laboratory of Networking and Switching Technology Beijing University of Posts and Telecommunications National Engineering Laboratory for Mobile Network Technologies Beijing University of Posts and Telecommunications National Key Laboratory of Science and Technology on Communications University of Electronic Science and Technology of China (UESTC) China Mobile Research Institute School of Electronics and Computer Science University of Southampton Department of Electrical and Computer Engineering University of Waterloo Global Big Data Technologies Centre (GBDTC) University of Technology Sydney School of Electrical and Electronic Engineering The University of Manchester LiFi Research and Development Centre Institute for Digital CommunicationsSchool of EngineeringThe University of Edinburgh Huawei Technologies Canada Co. Ltd. Huawei Technologies Department of Electrical Engineering (ISY) Link?ping University Institute of Electronics Communications & Information Technology (ECIT)Queen's University Belfast State Key Laboratory of Millimeter Waves School of Information Science and EngineeringSoutheast University School of Electrical and Computer Engineering Georgia Institute of Technology 5G Innovation Centre University of Surrey Princeton University Vodafone Chair Mobile Communications Systems Technische Universit?t Dresden Center for Intelligent Networking and Communications (CINC) University of Electronic Science and Technology of China (UESTC)

The fifth generation(5G) wireless communication networks are being deployed worldwide from 2020 and more capabilities are in the process of being standardized, such as mass connectivity, ultra-reliability,and guaranteed low latency. However, 5G will not meet all requirements of the future in 2030 and beyond, and sixth generation(6G) wireless communication networks are expected to provide global coverage, enhanced spectral/energy/cost efficiency, better intelligence level and security, etc. To meet these requirements, 6G networks will rely on new enabling technologies, i.e., air interface and transmission technologies and novel network architecture, such as waveform design, multiple access, channel coding schemes, multi-antenna technologies, network slicing, cell-free architecture, and cloud/fog/edge computing. Our vision on 6G is that it will have four new paradigm shifts. First, to satisfy the requirement of global coverage, 6G will not be limited to terrestrial communication networks, which will need to be complemented with non-terrestrial networks such as satellite and unmanned aerial vehicle(UAV) communication networks, thus achieving a space-airground-sea integrated communication network. Second, all spectra will be fully explored to further increase data rates and connection density, including the sub-6GHz, millimeter wave(mmWave), terahertz(THz),and optical frequency bands. Third, facing the big datasets generated by the use of extremely heterogeneous networks, diverse communication scenarios, large numbers of antennas, wide bandwidths, and new service requirements, 6G networks will enable a new range of smart applications with the aid of artificial intelligence(AI) and big data technologies. Fourth, network security will have to be strengthened when developing 6G networks. This article provides a comprehensive survey of recent advances and future trends in these four aspects. Clearly, 6G with additional technical requirements beyond those of 5G will enable f

关键词： 6G vision network architecture air interface and transmission technologies space-air-ground-sea integrated network all spectra artificial intelligence network security.

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LLM-enabled Incremental Learning Framework for Hand Exoskeleton Control

TechRxiv

引用

TechRxiv 2023年

作者： Chen, Wenyuan Li, Guangyong Li, Mingwei Wang, Wenxue Li, Peng Xue, Xiujuan Zhao, Xingang Liu, Lianqing Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China The University of the Chinese Academy of Sciences Beijing100049 China Department of Electrical and Computer Engineering Swanson School of Engineering University of Pittsburgh United States Beijing100124 China Rehabilitation Center for the Disabled Shenyang110015 China

It remains a formidable challenge to accurately recognize patients’ motion intentions to flexibly control hand exoskeletons. Current methods primarily focus on recognition of limited patient’s motion intentions, with the purpose of controlling preconfigured gestures of a hand exoskeleton for grasping objects. These methods exhibit a marked shortfall when encountering scenarios that are unexpected or not designed in advance, such as non-preprogrammed hand movements and object manipulation tasks. This paper proposes a large language model (LLM)-enabled incremental learning framework for controlling hand exoskeletons. The framework enables patients to perform both predefined and non-predefined operation tasks with hand exoskeletons through a hand exoskeleton controller and LLM-based learners via voice interaction. Specifically, the framework embeds LLMs as expert modules that are capable of inferring appropriate hand motions and formulating corresponding control commands in accordance with human experiences to fulfill tasks that are unknown to be completed by the hand exoskeleton controller. At the same time, the hand exoskeleton controller incrementally learns to perform these non-predefined tasks by updating the control command set. Therefore, with the framework, the hand exoskeleton can incrementally expand its control command set so as to enhance patients’ adaptability to complex activities over daily use until the hand exoskeleton controller no longer needs to consult the LLM-based expert modules. This study is a pioneering work in the field of hand exoskeletons, which will revolutionize the way to control hand exoskeletons by patients. © 2023, CC BY.

关键词： Exoskeleton (robotics)

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Jamming Mitigation in JRC systems via Deep Reinforcement Learning and Backscatter-supported intelligent Deception Strategy 6

Jamming Mitigation in JRC Systems via Deep Reinforcement Lea...

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6th IEEE International Conference on computer and Communication systems, ICCCS 2021

作者： Ismail, Lotfi Niyato, Dusit Sun, Sumei Hoang, Dinh Thai Kim, Dong In Liang, Ying-Chang School of Computer Science and Engineering Nanyang Technological University Singapore Singapore Institute for Infocomm Research Astar Singapore Singapore School of Electrical and Data Engineering University of Technology Sydney SydneyNSW Australia Sungkyunkwan University Department of Electrical and Computer Engineering Suwon Korea Republic of Center for Intelligent Networking and Communications University of Electronic Science and Technology of China Chengdu China

ISBN: (纸本)9780738126043

In this paper, we develop a framework to optimize the trade-off between radar sensing and data transmission in Joint Radar-Communication (JRC) systems under smart and reactive jamming attacks. First, we propose a novel JRC design architecture that uses backscatter technology and deception strategy to leverage jamming attacks for a JRC system. The deception strategy is used to predict the jammer's action and adopt appropriate counterattack instantaneously, while backscatter technology is used to transmit data on the jamming signals. To deal with the jamming strategy uncertainty (e.g., jamming capability), we then develop a deep reinforcement learning algorithm to quickly find the optimal defense policy for the JRC system. Our in-depth investigation reveals that the proposed design not only significantly undermines the jamming attacks, but also utilises jamming signals to improve the system performances. Compared with conventional anti-jamming methods, our proposed design significantly improves data throughput while maintaining a satisfactory radar sensing performance in dynamic environments. Moreover, the proposed deep reinforcement learning based solution can converge four times faster than a conventional deep Q- Learning based solution. © 2021 IEEE.

关键词： Deep learning

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Technoeconomic Analysis of Photovoltaic systems for Promoting Clean and Affordable Energy in Vulnerable Communities

Technoeconomic Analysis of Photovoltaic Systems for Promotin...

引用

IEEE Conference Photovoltaic Specialists (PVSC)

作者： Elizabeth A. Trader Alejandro Aparcedo Thomas Wahl Kelly A. Stevens Christopher T. Emrich Zhihua Qu Bo Tu Siddiqur Rahman Herbert Longenecker Kristopher O. Davis Mengjie Li Department of Electrical and Computer Engineering University of Central Florida (UCF) Orlando FL USA Resilient Intelligent and Sustainable Energy Systems (RISES) Cluster UCF Orlando FL USA Florida Solar Energy Center (FSEC) UCF Cocoa FL USA Department of Civil Environmental and Construction Engineering UCF Orlando FL USA National Center for Integrated Coastal Research UCF Orlando FL USA School of Public Administration UCF Orlando FL USA Department of Materials Science and Engineering UCF Orlando FL USA

ISBN: (数字)9781665464260

ISBN: (纸本)9781665475822

Extreme weather events resulting from climate change can have diverse impacts on the energy sector. Factors such as extreme heat, cold spells, strong winds, or flooding can lead to heightened energy demand, decreased energy production, and infrastructure failures, causing power outages. Underserved communities, with lower infrastructure investments, are disproportionately affected by these outages. To tackle the social and technical challenges arising from these phenomena, we propose a novel transdisciplinary framework. This framework integrates perspectives from engineering, economics, climatology, and policy studies to explore solutions for delivering clean, affordable, and resilient energy systems to vulnerable communities. Our approach focuses on expanding the use of solar energy production coupled with increased storage capacities in areas where power outages and social vulnerability intersect. This paper focuses on the techno-economic component of the framework and describes the process of determining which technological solutions are economically feasible for a given area.

关键词： Social factors Climate change Photovoltaic systems Solar power generation Power system reliability Economics Technology management Energy management Government policies

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A Multiple Ant Colony System for the Electric Vehicle Routing Problem with Time Windows

A Multiple Ant Colony System for the Electric Vehicle Routin...

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IEEE Symposium Series on Computational Intelligence (SSCI)

作者： Michalis Mavrovouniotis Georgios Ellinas Changhe Li Marios Polycarpou Department of Electrical and Computer Engineering KIOS Research and Innovation Center of Excellence University of Cyprus Nicosia Cyprus School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China

ISBN: (纸本)9781665487696

Ant colony optimization (ACO) has been found to be useful on several vehicle routing problem variations. In this work, ACO is applied to the electric vehicle routing problem with time windows (E-VRPTW). The E-VRPTW has a hierarchical multiple objective function, which is to minimize the number of electric vehicles and the total distance traveled. A multiple ACO is applied to E-VRPTW in which two colonies cooperate to minimize the objectives in parallel. A local search is embedded in ACO to improve the quality of the output. The experimental results on a set of benchmark instances show that the multiple ACO is competitive with existing methods.

关键词： Ant colony optimization Vehicle routing Benchmark testing Electric vehicles Routing Search problems Linear programming

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Machine Learning based Design of Energy Management System using Non-Intrusive Load Monitoring Strategy

Machine Learning based Design of Energy Management System us...

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International Conference on Control, Automation and Diagnosis (ICCAD)

作者： Kamal Shahid Muhammad Majid Gulzar Muhammad Ali Raza Salman Habib Hasnain Ahmad Institute of Electrical Electronics and Computer Engineering University of the Punjab Lahore Pakistan Department of Control & Instrumentation Engineering King Fahd University of Petroleum & Minerals Dhahran Saudi Arabia Interdisciplinary Research Center for Sustainability Energy Systems (IRC-SES) King Fahd University of Petroleum & Minerals Dhahran Saudi Arabia Interdisciplinary Research Center for Smart Mobility and Logistics (IRC-SML) King Fahd University of Petroleum & Minerals Dhahran Saudi Arabia Department of Electrical Engineering Pakistan Institute of Engineering and Applied Sciences (PIEAS) Islamabad Pakistan

ISBN: (数字)9798350361025

ISBN: (纸本)9798350361032

In this work, a Non-Intrusive Load Monitoring (NILM) system is designed for smart homes based on smart energy meters. The proposed solution simplifies the monitoring process by using a single set of sensors, in contrast to conventional systems that call for several sensors. From different appliances and their combinations, crucial electrical information, such as voltage, current, active power, reactive power, apparent power, power factor, and frequency was gathered. Proposed intelligent data analysis employing machine learning methods, particularly Artificial Neural Networks (ANN) and Deep Neural Networks (DNN), is the key innovation. These methods accurately categorize various appliance kinds, with DNN performing best in real-time circumstances. Additionally, there is a built-in email alert system that activates whenever there are odd electrical surges. The streamlined user interface, offers accurate identification of individual appliances and combinations in real-time forecasts based on past data. Future developments include a larger appliance data-set, improved categorization methods, load forecasting, and the creation of a smartphone app for real-time energy consumption data and automatic control, among other things. In a net-shell, this study offers an effective, single-sensorbased solution for load monitoring in smart homes, representing a substantial development in NILM technology. This technology claims to improve resource utilization and energy management in both domestic and commercial settings.

关键词： Meters Load monitoring Reactive power Artificial neural networks Smart homes Machine learning User interfaces

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Performance Evaluation of Communication Requirements of Smart Inverter and Distributed Energy Resource Management System

Performance Evaluation of Communication Requirements of Smar...

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IEEE Global Conference on Consumer Electronics (GCCE)

作者： S. M. Suhail Hussain Abdul Jabbar Siddiqui Mohammad A. Abido Electrical Engineering Department King Fahd University of Petroleum & Minerals (KFUPM) Dhahran Saudi Arabia Interdisciplinary Research Center for Renewable Energy and Power Systems(IRC-REPS) King Fahd University of Petroleum & Minerals (KFUPM) Dhahran Saudi Arabia Computer Enginnering Department King Fahd University of Petroleum & Minerals (KFUPM) Dhahran Saudi Arabia Interdisciplinary Research Center for Intelligent Secure Systems (IRC-ISS) King Fahd University of Petroleum & Minerals (KFUPM) Dhahran Saudi Arabia

The increasing integration of renewable energy resources into the distribution system is facilitated by smart inverters (SI). These inverters not only contribute to the grid but also fulfill the grid support functions mandated by the recent amendment in the IEEE 1547 standard. One of these grid support functions is Frequency-Watt (FW) control, which requires SIs to respond promptly during under or over frequency grid events. To ensure effective FW control, SIs must aid the grid frequency within a specified time limit. Coordinated FW control necessitates communication between the SIs and Distributed Energy Resource Management systems (DERMS). Therefore, evaluating the performance of the communication architecture for FW control is crucial to guarantee desired outcomes. By implementing the IEC 61850 communication protocol, which employs an object-oriented approach and promotes interoperability, the benefits of such a design can be realized. This paper develops a network emulation setup based on the IEC 61850 communication model and assesses its performance in terms of latency for different communication technologies.

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