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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Xiang, Tian Meng, Qiwei Zhang, Ji Zhang, Beibei Song, Wei Xie, Anhuan Gu, Jason Research Institute of Interdisciplinary Innovation Zhejiang Laboratory Research Center for Intelligent Robotics Hangzhou311100 China The Chinese University of Hong Kong T Stone Robotics Institute Department of Mechanical and Automation Engineering Hong Kong Research Institute of Intelligent Computing Zhejiang Laboratory Research Center for Intelligent Computing Software Hangzhou311100 China Dalhousie University Electrical and Computer Engineering Halifax Canada

ISBN: (纸本)9798350325706

In recent years, the global robot market has witnessed substantial growth, particularly in the domain of service robots. Despite their expanding presence, service robots encounter limitations when operating autonomously in unstructured environments, primarily due to their constrained computational capacities. As a solution, the fusion of cloud and edge computing resources becomes imperative to expedite task inference and enhance scenario perception capabilities. The integration of cloud-edge-device models holds significant promise in bolstering the operational efficiency of robots. This entails the dynamic partitioning of intricate robotic tasks, executed collaboratively across cloud, edge, and device resources. In this landscape, deep neural network (DNN) models play a pivotal role in facilitating a wide array of robotic tasks. The inference time for each layer of a DNN model in actual deployment, emerges as a critical determinant in the model's partitioning strategy. It also serves as an important metric influencing the model's suitability for a specific hardware platform. This article presents an overview of recent advancements in predicting inference and training time of DNN models, summarizes the related methods, and finally discusses the challenges in this field and the research that can be studied in the future. © 2023 IEEE.

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Lightweight Design and Property Analysis of Humanoid Robot Thigh Integrated Structure with Appearance 16th

Lightweight Design and Property Analysis of Humanoid Robot T...

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16th International Conference on intelligent robotics and Applications, ICIRA 2023

作者： Nie, Daming Gu, Jason Zhang, Yu Jiang, Hongjian Research Center for Intelligent Robotics Zhejiang Lab Hangzhou310058 China Department of Electrical and Computer Engineering Dalhousie University HalifaxB3M 1A2 Canada

ISBN: (纸本)9789819964949

The lightweight and high stiffness leg structure of humanoid robots can effectively reduce rotational inertia and energy consumption, improving the robot's ability to quickly switch motion states. Based on the lightweight requirements of robots, this article proposes an innovative design method for humanoid robot legs based on the "structure-appearance" integration of light-alloy additive manufacturing technology. The load-bearing part of the leg structure is designed as a "shell + density-variable lattice" configuration, and the appearance part is set as a thin shell with equal thickness. The load-bearing part and the appearance one are combined together, resulting in a 20% weight reduction compared to traditional legs. The leg structure sample was processed using metal additive manufacturing method, and tested by a set of personalized fixture. When applying 200 Nm loading under pure torsion conditions, the local strain did not exceed 0.0175%, indicating that it meets the usage requirements. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Anthropomorphic robots

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Whole Body Balance Control for Bipedal Robots Based on Virtual Model Control 16th

Whole Body Balance Control for Bipedal Robots Based on Virtu...

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16th International Conference on intelligent robotics and Applications, ICIRA 2023

作者： Gao, Chengzhi Xie, Ye Zhu, Yiting Liang, Dingkun Kong, Lingyu Wang, Xin Xie, Anhuan Gu, Jianjun Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Laboratory Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China Zhejiang University Zhejiang Hangzhou311100 China Department of Electrical and Computer Engineering Dalhousie University HalifaxNSB3H 4R2 Canada

ISBN: (纸本)9789819964918

Due to the lack of accurate stability theoretical basis, the dynamic balance control of bipedal robots is a challenging topic. In this paper, we propose a controller that combines virtual model control and whole body control. In our framework, the whole system is simplified into a spring inverted pendulum model. Decoupling control is carried out for this model, and a virtual model is introduced to establish the relationship between the joint torque of the support leg and the state of the center of mass. The distribution of reaction force is obtained through decoupling closed-loop control. The whole body control part first uses multi task whole body control to determine the kinematics information, and then solves the joint feedforward torque through dynamical model, thus obtaining the desired force position hybrid control. Proposed algorithm improved the problem of incomplete decoupling between states and increased the stiffness of the support leg. The newly designed control framework was tested in Simscape dynamic simulation and verified the anti-interference ability and fast walking ability of Whole Body Balance Control for bipedal robots based on Virtual Model Control. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2023.

关键词： Inverted pendulum

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Fast Walking of Position-Controlled Biped Robot Based on Whole-Body Compliance Control 16th

Fast Walking of Position-Controlled Biped Robot Based on Who...

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16th International Conference on intelligent robotics and Applications, ICIRA 2023

作者： Zhu, Yiting Xie, Ye Gao, Chengzhi Liang, Dingkun Kong, Lingyu Wang, Xin Xie, Anhuan Gu, Jianjun Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Laboratory Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China Zhejiang University Zhejiang Hangzhou311100 China Department of Electrical and Computer Engineering Dalhousie University HalifaxNSB3H 4R2 Canada

ISBN: (纸本)9789819964918

When a biped robot walks at a high speed, only relying on the open-loop gait trajectory based on the linear inverted pendulum model (LIPM), the robot cannot maintain stability. Sudden contact with the ground when landing may cause the robot to be unstable. Simultaneously, when the robot walks faster, the horizontal position of the center of mass (CoM) varies greatly during a walk cycle, and the expected CoM trajectory cannot be accurately tracked, resulting in a deviation from the zero-moment point (ZMP). Aiming at the above situation that may occur in fast walking, a whole-body compliance controller with emphasis on making robot’s walking more stable and faster is presented in this paper. The whole-body compliance controller consists of three parts: the CoM compliance controller, the vertical compliance controller and the foot compliance controller, which are used to improve the tracking effect of CoM, reduce the force impact of foot, and adjust the posture of the foot respectively. The simulation results show that with the whole-body compliance controller proposed in this paper, the tracking accuracy of the CoM becomes better, the posture of the robot is more stable during walking, and the landing compliance during landing are greatly improved. Finally, the walking speed of the robot can reach 1.8m/s. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2023.

关键词： Compliance control

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Introduction of hydrogen technologies to mitigate the impact of thermal consumption in a university campus 3

Introduction of hydrogen technologies to mitigate the impact...

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3rd International Conference on Energy Transition in the Mediterranean Area, SyNERGY MED 2024

作者： Bracho, Jorge Charalambous, Chrysanthos Efthimiou, Venizelos Lagos, Dimitrios Samotyjak, Tomasz Askeland, Magnus Georghiou, George E. University of Cyprus PV Technology Laboratory Department of Electrical and Computer Engineering Nicosia Cyprus Efficient and Sustainable Energy Solutions PHAETHON Centre of Excellence for Intelligent Nicosia Cyprus Energy Systems Analytics Group Barcelona Spain Instytut Energetyki Gdansk Poland SINTEF Energy Research Energy Systems Trondheim Norway

ISBN: (纸本)9798350375923

It is imperative for energy systems to reduce their environmental footprint in a cost-efficient manner, for which renwable energy sources (RES) and complementary technologies become desirable options to achieve said task. This is particularly the case for systems with different energy sources, as they'd be able to either address one specific type of energy demand and/or allow for the coupling of different energy carriers that would allow for technologies that normally don't interact to start complementing each other. Therefore, this paper proposes various scenarios for the UCY campus in which hydrogen technologies would allow for the electrification of thermal demand while harnessing the surplus production coming from a solar park, which is modelled through the Integrate optimization tool and validated through DidSILENT PowerFactory. The results showcased a rise of up to 58% in self-sufficiency while the annual energy costs and CO2 emissions were reduced by 45% and 48% respectively. © 2024 IEEE.

关键词： Clean energy

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Marine Predators Algorithm with Deep Learning-Based Leukemia Cancer Classification on Medical Images

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computer Modeling in engineering & Sciences 2024年第10期141卷 893-916页

作者： Sonali Das Saroja Kumar Rout Sujit Kumar Panda Pradyumna Kumar Mohapatra Abdulaziz S.Almazyad Muhammed Basheer Jasser Guojiang Xiong Ali Wagdy Mohamed Department of Computer Science&Engineering Gandhi Institute for TechnologyBPUTBhubaneswar752054India Department of Information Technology Vardhaman College of Engineering(Autonomous)Hyderabad501218TelanganaIndia Department of Electronic&Communication Engineering Vedang Institute of TechnologyBhubaneswar752010India Department of Computer Engineering College of Computer and Information SciencesKing Saud UniversityRiyadh11543Saudi Arabia Department of Computing and Information Systems School of Engineering and TechnologySunway UniversityJalan UniversitiBandar SunwaySelangor Darul Ehsan47500Malaysia Research Centre for Human-Machine Collaboration(HUMAC) School of Engineering and TechnologySunway UniversityJalan UniversitiBandar SunwaySelangor Darul Ehsan47500Malaysia Guizhou Key Laboratory of Intelligent Technology in Power System College of Electrical EngineeringGuizhou UniversityGuiyang550025China Operations Research Department Faculty of Graduate Studies for Statistical ResearchCairo UniversityGiza12613Egypt Applied Science Research Center Applied Science Private UniversityAmman11931Jordan

In blood or bone marrow,leukemia is a form of cancer.A person with leukemia has an expansion of white blood cells(WBCs).It primarily affects children and rarely affects *** depends on the type of leukemia and the extent to which cancer has established throughout the *** leukemia in the initial stage is vital to providing timely patient *** image-analysis-related approaches grant safer,quicker,and less costly solutions while ignoring the difficulties of these invasive *** can be simple to generalize computer vision(CV)-based and image-processing techniques and eradicate human *** researchers have implemented computer-aided diagnosticmethods andmachine learning(ML)for laboratory image analysis,hopefully overcoming the limitations of late leukemia detection and determining its *** study establishes a Marine Predators Algorithm with Deep Learning Leukemia Cancer Classification(MPADL-LCC)algorithm onMedical *** projectedMPADL-LCC system uses a bilateral filtering(BF)technique to pre-process medical *** MPADL-LCC system uses Faster SqueezeNet withMarine Predators Algorithm(MPA)as a hyperparameter optimizer for feature ***,the denoising autoencoder(DAE)methodology can be executed to accurately detect and classify leukemia *** hyperparameter tuning process using MPA helps enhance leukemia cancer classification *** results are compared with other recent approaches concerning various measurements and the MPADL-LCC algorithm exhibits the best results over other recent approaches.

关键词： Leukemia cancer medical imaging image classification deep learning marine predators algorithm

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Impact of an electric vehicle, solar PV, and battery energy storage system in a distribution system 33

Impact of an electric vehicle, solar PV, and battery energy ...

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33rd Southern African Universities Power engineering Conference, SAUPEC 2025

作者： Gbadamosi, Saheed Lekan Emmanuel Okafor, Chukwuemeka Krishnamurthy, Senthil Ratshitanga, Mukovhe Moodley, Prathaban Cape Peninsula University of Technology Centre for Intelligent Systems and Emerging Technologies Department of Electrical Electronics and Computer Engineering P.O. BOX 1906 Bellville7535 South Africa Upper Grayston Office Park Sandton2146 South Africa

ISBN: (纸本)9798331535162

The modern distribution power system has witnessed a tremendous increase in integrating renewable energy sources (wind and solar photovoltaic), electric vehicles, and battery energy storage systems. This is consequent upon the commitment of many countries (around the world) to reduce global carbon emissions and ensure an acceptable global temperature increase. This research focuses on the impacts of the integration of solar photovoltaic (PV) systems, electric vehicles (EVs), and battery energy storage systems (BESS) on the distribution system while minimizing the voltage deviations and power losses of the considered distribution network. Through a time-based Power System Simulation tool, the study evaluates four configurations to assess the technical impacts on the distribution network. The Simulation results showed that electric vehicle integration leads to increased power losses and a reduction in voltage deviations. Integrating battery energy storage systems into the distribution system increases the power losses (from 0.9222 MW to 1.602 MW) depending on the location of the battery energy storage system in the distribution network. Therefore, the study reveals the need for optimal sizing and placement of battery energy storage systems in the distribution network for optimal system performance. © 2025 IEEE.

关键词： battery energy storage Electric vehicle power loss solar PV voltage deviation

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Retinal disorder diagnosis based on hybrid deep learning models

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Multimedia Tools and Applications 2025年 1-25页

作者： Sedik, Ahmed El-Shafai, Walid El-Hag, Noha A. El-Banby, Ghada M. Abd El-Samie, Fathi E. Smart Systems Engineering Laboratory College of Engineering Prince Sultan University Riyadh11586 Saudi Arabia Department of the Robotics and Intelligent Machines Faculty of Artificial Intelligence Kafrelsheikh University Kafr el-Sheikh Egypt Computer Science Department Prince Sultan University Riyadh11586 Saudi Arabia Department of Electronics and Electrical Communications Engineering Faculty of Electronic Engineering Menoufia University Menouf32952 Egypt The Higher Institute of Commercial Sciences Algarbia Al Mahalla Al Kubra31951 Egypt Department of Industrial Electronics and Control Engineering Faculty of Electronic Engineering Menoufia University Menouf32952 Egypt Department of Information Technology College of Computer and Information Sciences Princess Nourah Bint Abdulrahman University P.O. Box 84428 Riyadh11671 Saudi Arabia

Anomaly detection from medical images is badly needed for automated diagnosis. For example, medical images obtained with several modalities, such as magnetic resonance (MR) and confocal microscopy, need to be classified for anomaly detection. The MR images may contain tumors that need to be detected with anomaly detection techniques. In MR imaging, brain tumors are represented as areas composed of abnormal cells that need to be detected. On the other hand, confocal microscopy can be used for retinal imaging. Hence, there is a need to apply classification techniques for diagnosing diseases of the eye, such as Diabetic Retinopathy (DR), which leads to exudates in different regions of the retina. The detection of exudates is necessary for the diagnosis of DR. In this paper, two models are presented for the classification of MR and retinal images. Much research has been done in this area, but it did not achieve high accuracy of classification in an acceptable time. In addition, the previous models did not consider both types of image modalities considered in this paper. The suggested models are Convolutional Neural Network (CNN) and Convolutional Long Short-Term Memory (Conv-LSTM). They are used to classify normal and abnormal cases of both brain tumor and DR diseases. The CNN model is composed of six convolutional layers and six max-pooling layers. A soft-max activation function takes the classification decision. The proposed Conv-LSTM model is composed of three stages: pre-processing, feature extraction, and classification. The deep learning model performance is better than those of traditional networks. The CNN gives an accuracy of 94.26% for DR classification and 95.8% for brain tumor classification, while the Conv-LSTM gives the maximum accuracy of 96.41% for DR classification and 97.4% for brain tumor classification. © The Author(s), under exclusive licence to Springer Science+Business Media, LLC, part of Springer Nature 2025.

关键词： Confocal microscopy

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Total Harmonics Distortion Prediction at the Point of Common Coupling of industrial load with the grid using Artificial Neural Network

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Energy and AI 2023年第4期14卷 294-303页

作者： Emenike Ugwuagbo Adeola Balogun Biplob Ray Adnan Anwar Chikodili Ugwuishiwu Centre for Space Transport and Propulsion (CSTP)Epe1 LASU Epe driveLagos106101Nigeria Department of Electrical&Electronics Engineering University of LagosAkoka101017LagosNigeria Centre for Intelligent Systems(CIS) School of Engineering and TechnologyCQ UniversityNorman Gardens4701RockhamptonAustralia Strategic Centre for Cyber Security Research Institute(CSRI) School of Information TechnologyDeakin UniversityGeelong3216MelbourneAustralia Department of Computer Science University of NigeriaNsukka410001EnuguNigeria

Power quality challenges have generated a lot of disputes between utilities,customers,network operators,and equipment manufacturers around the world as regards the share of responsibility for power quality solutions,this results in different levels of financial and technical losses for both the network operators and the *** of the major consequences of the operation of heavy-duty factories globally is the corruption of power quality at the point of common coupling(PCC).In order to quantify the harmonics contribution at the PCC by industrial consumers,this paper presents three-phase total harmonics distortion of current(THDi)prediction model at the *** proposed artificial neural network(ANN)models use a multilayer perceptron neural network(MLPN)to predict three-phase total harmonic *** input parameter used in the models is easily measured with basic power *** model was trained with input parameters captured at 33 kV and 132 kV voltage levels using power quality meters at five(5)different steel manufacturing ***(8)different models were designed,trained,validated,and tested with different combinations of input parameters,number of hidden layers,and number of neurons in the hidden *** results show that the model with two hidden layers which uses four major power parameters(Current,apparent power,reactive and active power)as input parameters in the training model had the best performance with a 95.5%coefficient of correlation between the measured THDi and the predicted THDi.

关键词： Total harmonics distortion(THD) Power quality(PQ) Artificial neural network(ANN)

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Reducing the Computational Cost of Transformers for Person Re-identification

Reducing the Computational Cost of Transformers for Person R...

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IEEE International Conference on robotics and Biomimetics

作者： Wen Wang Zheyuan Lin Shanshan Ji Te Li Jason Gu Minhong Wan Chunlong Zhang Zhejiang Lab and Zhejiang Engineering Research Center for Intelligent Robotics Research Center for Intelligent Robotics Hangzhou China Department of Electrical and Computer Engineering Dalhousie University Canada

Transformer-based visual technologies have witnessed remarkable progress in recent years, and person re-identification (ReID) is one of the active research areas that adopts transformers to improve the performance. However, a major challenge of applying transformers to ReID is the high computational cost, which hinders the real-time deployment of such methods. To address this issue, this paper proposes two simple yet effective techniques to reduce the computation of transformers for ReID. The first technique is to eliminate the invalid patches that do not contain any person information, thereby reducing the number of tokens fed into the transformer. Considering that computational complexity is quadratic with respect to input tokens, the second technique partitions the image into multiple windows, applies separate transformers to each window, and merges class tokens from each window, which can reduce the complexity of the self-attention mechanism. By combining these two techniques, our proposed method reduces the SOTA baseline model by 12.2% FLOPs, while slightly improving the rank-1 accuracy and only sacrificing 1.1% mAP on DukeMTMC-ReID dataset.

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