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IEEE International Conference on robotics and Biomimetics

作者： Shanshan Ji Qiwei Meng Wen Wang Zheyuan Lin Te Li Minhong Wan Chunlong Zhang Jason Gu Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Laboratory Hangzhou China Department of Electrical and Computer Engineering Dalhousie University Halifax NS Canada

In human-robot interaction (HRI), human pose estimation is a necessary technology for the robot to perceive the dynamic environment and make interactive actions. Recently, graph convolutional networks (GCNs) have been increasingly used for 2D to 3D pose estimation tasks since the skeleton topologies can be viewed as graph structures. In this paper, we propose a novel graph convolutional network architecture, Multi-scale Multi-branch Fusion Graph Convolutional Networks (MSMB-GCN), for 3D Human Pose Estimation(3D HPE) task. The proposed model consists of multiple GCN blocks with a multi-branch architecture. This multi-branch architecture enables the model to get multi-scale features for human skeletal representations. The group of GCN blocks, which has strong multi-level feature extraction capabilities, allows the model to learn global and local features, lower-level and higher-level features. Experiment results on the HumanPose benchmark demonstrate that our model outperforms the state-of-the-art and ablation studies validate the effectiveness of our approach.

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FRAME: Fast and Robust Autonomous 3D Point Cloud Map-Merging for Egocentric Multi-Robot Exploration

FRAME: Fast and Robust Autonomous 3D Point Cloud Map-Merging...

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IEEE International Conference on robotics and automation (ICRA)

作者： Nikolaos Stathoulopoulos Anton Koval Ali-akbar Agha-mohammadi George Nikolakopoulos Department of Computer Electrical and Space Engineering Robotics and AI Group Luleå University of Technology Luleå Sweden Jet Propulsion Laboratory California Institute of Technology Pasadena CA

This article presents a 3D point cloud map-merging framework for egocentric heterogeneous multi-robot exploration, based on overlap detection and alignment, that is independent of a manual initial guess or prior knowledge of the robots' poses. The novel proposed solution utilizes state-of-the-art place recognition learned descriptors, that through the framework's main pipeline, offer a fast and robust region overlap estimation, hence eliminating the need for the time-consuming global feature extraction and feature matching process that is typically used in 3D map integration. The region overlap estimation provides a homogeneous rigid transform that is applied as an initial condition in the point cloud registration algorithm Fast-GICP, which provides the final and refined alignment. The efficacy of the proposed framework is experimentally evaluated based on multiple field multi-robot exploration missions in underground environments, where both ground and aerial robots are deployed, with different sensor configurations.

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Safety-Critical Control of Euler-Lagrange Systems Subject to Multiple Obstacles and Velocity Constraints

arXiv

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arXiv 2024年

作者： Liu, Zhi Wu, Si Liu, Tengfei Jiang, Zhong-Ping State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang110004 China Department of Electrical and Computer Engineering New York University BrooklynNY11201 United States

This paper studies the safety-critical control problem for Euler-Lagrange (EL) systems subject to multiple ball obstacles and velocity constraints in accordance with affordable velocity ranges. A key strategy is to exploit the underlying inner-outer-loop structure for the design of a new cascade controller for the class of EL systems. In particular, the outer-loop controller is developed based on quadratic programming (QP) to avoid ball obstacles and generate velocity reference signals fulfilling the velocity limitation. Taking full advantage of the conservation-of-energy property, a nonlinear velocity-tracking controller is designed to form the inner loop. One major difficulty is caused by the possible non-Lipschitz continuity of the standard QP algorithm when there are multiple constraints. To solve this problem, we propose a refined QP algorithm with the feasible set reshaped by an appropriately chosen positive basis such that the feasibility is retained while the resulting outer-loop controller is locally Lipschitz. It is proved that the constraint-satisfaction problem is solvable as long as the ball obstacles satisfy a mild distance condition. The proposed design is validated by numerical simulation and an experiment based on a 2-link planar manipulator. Copyright © 2024, The Authors. All rights reserved.

关键词： Quadratic programming

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IEEE T-BIOM Editorial Board Changes

IEEE Transactions on Biometrics, Behavior, and Identity Scie...

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IEEE Transactions on Biometrics, Behavior, and Identity Science 2024年第1期7卷 1-2页

作者： Naser Damer Weihong Deng Jianjiang Feng Vishal M. Patel Ajita Rattani Mark Nixon Smart Living & Biometric Technologies Fraunhofer Institute for Computer Graphics Research IGD Darmstadt Germany Pattern Recognition and Intelligent System Laboratory Beijing University of Posts and Telecommunications Beijing China Department of Automation Tsinghua University Beijing China Department of Electrical and Computer Engineering Johns Hopkins University Baltimore MD USA Department of Computer Science and Engineering College of Engineering University of North Texas Denton TX USA

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LQG Control Over SWIPT-enabled Wireless Communication Network

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IFAC-PapersOnLine 2023年第2期56卷 3824-3829页

作者： Huiwen Yang Lingying Huang Yuzhe Li Subhrakanti Dey Ling Shi Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong China School of Electrical and Electronic Engineering Nanyang Technological University Singapore State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang 110004 China Department of Electrical Engineering Uppsala University Uppsala Sweden

In this paper, we consider using simultaneous wireless information and power transfer (SWIPT) to recharge the sensor in the LQG control, which provides a new approach to prolonging the network lifetime. We analyze the stability of the proposed system model and show that there exist two critical values for the power splitting ratio α. Then, we propose an optimization problem to derive the optimal value of α. This problem is non-convex but its numerical solution can be derived by our proposed algorithm efficiently. Moreover, we provide the feasible condition of the proposed optimization problem. Finally, simulation results are presented to verify and illustrate the main theoretical results.

关键词： Networked control systems SWIPT packet drop stability

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Fuzzy Object Ambiguity Determination and Human Attention Assessment for Domestic Service Robots

Fuzzy Object Ambiguity Determination and Human Attention Ass...

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International Conference on Soft Computing and Machine Intelligence (ISCMI)

作者： Kevin Fan Melanie Jouaiti Kerstin Dautenhahn Chrystopher L. Nehaniv Department of Electrical & Computer Engineering and Systems Design Engineering Social and Intelligent Robotics Research Laboratory (SIRRL) University of Waterloo Waterloo Canada Departments of Electrical & Computer Engineering and Systems Design Engineering Social and Intelligent Robotics Research Laboratory (SIRRL) University of Waterloo Waterloo Canada

Domestic service robots have the promising potential of bringing significant services to the general population, and more importantly, successful applications of universal domestic service robots can potentially help mitigate critical societal issues such as senior care. In order to do so, domestic service robots need to integrate seamlessly into home environments. However, home environments are dynamic, complex and filled with personal items. Therefore, ambiguity can quickly arise for robots operating in such rich environments. In this paper, we propose an object ambiguity determination system that can determine the level of ambiguity in robot object selection tasks with fuzzy logic data integration. Additionally, we propose a functional human attention assessment system with fuzzy logic that enables the robot to determine user attention before committing to general disambiguation processes. Our preliminary results show that the proposed fuzzy logic inference systems can reliably estimate the robot object selection task ambiguity from object confidence level and the number of potential target objects that satisfy the user's command. Furthermore, fuzzy inference is applied to decide human eye gaze direction robustly. These subsystems can be utilized in the context of human-robot interaction to guide the robot when to seek feedback from a human partner in order to disambiguate reference in domestic service tasks. The source code of all proposed systems is available publicly on GitHub. 1

关键词： Fuzzy logic Service robots Source coding Sociology Human-robot interaction Data integration Reliability

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Resilient control under denial-of-service and uncertainty: An adaptive dynamic programming approach

arXiv

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arXiv 2024年

作者： Gao, Weinan Jiang, Zhong-Ping Chai, Tianyou State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang110819 China Department of Electrical and Computer Engineering Tandon School of Engineering New York University BrooklynNY11201 United States

In this paper, a new framework for the resilient control of continuous-time linear systems under denial-of-service (DoS) attacks and system uncertainty is presented. Integrating techniques from reinforcement learning and output regulation theory, it is shown that resilient optimal controllers can be learned directly from real-time state and input data collected from the systems subjected to attacks. Sufficient conditions are given under which the closed-loop system remains stable given any upper bound of DoS attack duration. Simulation results are used to demonstrate the efficacy of the proposed learning-based framework for resilient control under DoS attacks and model uncertainty. © 2024, CC BY.

关键词： Denial-of-service attack

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Learning a Better Control Barrier Function

Learning a Better Control Barrier Function

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IEEE Conference on Decision and Control

作者： Bolun Dai Prashanth Krishnamurthy Farshad Khorrami Electrical & Computer Engineering Department Control/Robotics Research Laboratory Tandon School of Engineering New York University Brooklyn NY

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

Control barrier functions (CBFs) are widely used in safety-critical controllers. However, constructing a valid CBF is challenging, especially under nonlinear or non-convex constraints and for high relative degree systems. Meanwhile, finding a conservative CBF that only recovers a portion of the true safe set is usually possible. In this work, starting from a "conservative" handcrafted CBF (HCBF), we develop a method to find a CBF that recovers a reasonably larger portion of the safe set. Since the learned CBF controller is not guaranteed to be safe during training iterations, we use a model predictive controller (MPC) to ensure safety during training. Using the collected trajectory data containing safe and unsafe interactions, we train a neural network to estimate the difference between the HCBF and a CBF that recovers a closer solution to the true safe set. With our proposed approach, we can generate safe controllers that are less conservative and computationally more efficient. We validate our approach on two systems: a second-order integrator and a ball-on-beam.

关键词： Training Heuristic algorithms Neural networks Predictive models Data collection Data models Safety

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An exact active sensing strategy for a class of bio-inspired systems

arXiv

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arXiv 2024年

作者： Biswas, Debojyoti Sontag, Eduardo D. Cowan, Noah J. Laboratory for Computational Sensing and Robotics Johns Hopkins University BaltimoreMD United States Department of Electrical and Computer Engineering Department of Bioengineering Northeastern University BostonMA United States Department of Mechanical Engineering Johns Hopkins University BaltimoreMD United States

We consider a general class of translation-invariant systems with a specific category of output nonlinearities motivated by biological sensing. We show that no dynamic output feedback can stabilize this class of systems to an isolated equilibrium point. To overcome this fundamental limitation, we propose a simple control scheme that includes a low-amplitude periodic forcing function akin to so-called "active sensing" in biology, together with nonlinear output feedback. Our analysis shows that this approach leads to the emergence of an exponentially stable limit cycle. These findings offer a provably stable active sensing strategy and may thus help to rationalize the active sensing movements made by animals as they perform certain motor behaviors. © 2024, CC BY-NC-SA.

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Short-Term Photovoltaic Power Forecasting-Based Kernel Ridge Regression

Short-Term Photovoltaic Power Forecasting-Based Kernel Ridge...

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Artificial Intelligence, Applications, Innovation and Ethics (AI2E), International Conference for

作者： Manel Marweni Majdi Mansouri Mansour Hajji Mohamed Faouzi Mimouni Research Laboratory of Automation Signal Processing and Image National Engineering School of Monastir Tunisia Department of Electrical and Computer Engineering College of Engineering Sultan Qaboos University Muscat Oman Laboratory of Advanced Materials and Nanotechnologies Higher Institute of Applied Sciences and Technology of Kasserine Kairouan University Kasserine Tunisia

ISBN: (数字)9798331513733

ISBN: (纸本)9798331513740

The modern energy landscape is undergoing a seismic change from traditional, finite energy sources and toward cleaner, renewable alternatives. The restrictions faced by traditional sources, which are not only finite but increasingly shrink in the face of burgeoning global energy demands driven by population increase and industrial expansion, are driving this change. Although promising, renewable energy poses complications, particularly the reliance on climatic conditions. An important aspect of addressing these difficulties is effective energy management within distribution systems, which includes forecasting and optimization phases. This research focuses on forecasting using an advanced machine learning (ML) approach. Accurately forecasting renewable energy generation over time is critical for improving energy management. This technique is evaluated using a variety of performance indicators, including Mean Error (ME), Mean Absolute Error (MAE), Root Mean Square Error (RMSE), and the Coefficient of Determination (R 2 ). Empirical studies support the method's usefulness, demonstrating noteworthy performance with low error rates.

关键词： Photovoltaic systems Renewable energy sources Technological innovation Accuracy Machine learning Predictive models Forecasting Kernel Energy management Optimization

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