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arXiv 2022年

作者： Wang, Yuntao Su, Zhou Xu, Qichao Li, Ruidong Luan, Tom H. Wang, Pinghui The School of Cyber Science and Engineering Xi'an Jiaotong University Xi'An China The School of Mechatronic Engineering and Automation Shanghai University China The Department of Electrical and Computer Engineering Kanazawa University Japan Moe Klinns Laboratory Xi'an Jiaotong University China

Unmanned aerial vehicles (UAVs) have the potential to establish flexible and reliable emergency networks in disaster sites when terrestrial communication infrastructures go down. Nevertheless, potential security threats may occur on UAVs during data transmissions due to the untrusted environment and open-access UAV networks. Moreover, UAVs typically have limited battery and computation capacity, making them unaffordable for heavy security provisioning operations when performing complicated rescue tasks. In this paper, we develop RescueChain, a secure and efficient information sharing scheme for UAV-assisted disaster rescue. Specifically, we first implement a lightweight blockchain-based framework to safeguard data sharing under disasters and immutably trace misbehaving entities. A reputation-based consensus protocol is devised to adapt the weakly connected environment with improved consensus efficiency and promoted UAVs' honest behaviors. Furthermore, we introduce a novel vehicular fog computing (VFC)-based off-chain mechanism by leveraging ground vehicles as moving fog nodes to offload UAVs' heavy data processing and storage tasks. To offload computational tasks from the UAVs to ground vehicles having idle computing resources, an optimal allocation strategy is developed by choosing payoffs that achieve equilibrium in a Stackelberg game formulation of the allocation problem. For lack of sufficient knowledge on network model parameters and users' private cost parameters in practical environment, we also design a two-tier deep reinforcement learning-based algorithm to seek the optimal payment and resource strategies of UAVs and vehicles with improved learning efficiency. Simulation results show that RescueChain can effectively accelerate consensus process, improve offloading efficiency, reduce energy consumption, and enhance user payoffs. Copyright © 2022, The Authors. All rights reserved.

关键词： Reinforcement learning

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Learning-based Event-triggered Adaptive Optimal Output Regulation of Linear Discrete-time Systems 10

Learning-based Event-triggered Adaptive Optimal Output Regul...

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10th IEEE Data Driven Control and Learning Systems Conference, DDCLS 2021

作者： Zhao, Fuyu Gao, Weinan Liu, Tengfei Jiang, Zhong-Ping State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang110819 China College of Engineering and Science Florida Institute of Technology Department of Mechanical and Civil Engineering MelbourneFL32901 United States New York University Six MetroTech Center Department of Electrical and Computer Engineering BrooklynNY11201 United States

ISBN: (纸本)9781665424233

In this paper, a data-driven event-triggered output-feedback control approach is proposed to solve the problem of adaptive optimal output regulation for uncertain discrete-time linear systems when only the output information is available. A crucial strategy is to develop a novel co-design scheme for the event-triggering mechanism and the data-driven optimal controller. Theoretical analysis and an application to a LCL coupled inverter-based distributed generation system demonstrate the effectiveness of the proposed learning-based, event-triggered, adaptive optimal controller design with output-feedback. © 2021 IEEE.

关键词： Digital control systems

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Metafruit Meets Foundation Models: Leveraging a Comprehensive Multi-Fruit Dataset for Advancing Agricultural Foundation Models

SSRN

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SSRN 2024年

作者： Li, Jiajia Lammers, Kyle Yin, Xunyuan Yin, Xiang He, Long Lu, Renfu Li, Zhaojian Department of Electrical and Computer Engineering Michigan State University East LansingMI United States School of Chemical and Biomedical Engineering Nanyang Technological University Singapore Department of Automation Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Shanghai China Department of Agricultural and Biological Engineering Pennsylvania State University United States United States Department of Agriculture Agricultural Research Service East LansingMI United States Department of Mechanical Engineering Michigan State University East LansingMI United States

Fruit harvesting poses a significant labor and financial burden for the industry, highlighting the critical need for advancements in robotic harvesting solutions. Machine vision-based fruit detection has been recognized as a crucial component for robust identification of fruits to guide robotic manipulation. Despite considerable progress in leveraging deep learning and machine learning techniques for fruit detection, a common shortfall is the inability to swiftly extend the developed models across different orchards and/or various fruit species. Additionally, the limited availability of pertinent data further compounds these challenges. In this work, we introduce MetaFruit, the largest publicly available multi-class fruit dataset, comprising 4,248 images and 248,015 manually labeled instances across diverse U.S. orchards. Furthermore, this study proposes an innovative open-set fruit detection system leveraging advanced Vision Foundation Models (VFMs) for fruit detection that can adeptly identify a wide array of fruit types under varying orchard conditions. This system not only demonstrates remarkable adaptability in learning from minimal data through few-shot learning but also shows the ability to interpret human instructions for subtle detection tasks. The performance of the developed foundation model is comprehensively evaluated using several metrics, which outperforms the existing state-of-the-art algorithms in both our MetaFruit dataset and other open-sourced fruit datasets, thereby setting a new benchmark in the field of agricultural technology and robotic harvesting. The MetaFruit dataset and detection framework are open-sourced to foster future research in vision-based fruit harvesting, marking a significant stride toward addressing the urgent needs of the agricultural sector. © 2024, The Authors. All rights reserved.

关键词： Fruits

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MetaFruit Meets Foundation Models: Leveraging a Comprehensive Multi-Fruit Dataset for Advancing Agricultural Foundation Models

arXiv

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arXiv 2024年

Fruit harvesting poses a significant labor and financial burden for the industry, highlighting the critical need for advancements in robotic harvesting solutions. Machine vision-based fruit detection has been recognized as a crucial component for robust identification of fruits to guide robotic manipulation. Despite considerable progress in leveraging deep learning and machine learning techniques for fruit detection, a common shortfall is the inability to swiftly extend the developed models across different orchards and/or various fruit species. Additionally, the limited availability of pertinent data further compounds these challenges. In this work, we introduce MetaFruit, the largest publicly available multi-class fruit dataset, comprising 4,248 images and 248,015 manually labeled instances across diverse U.S. orchards. Furthermore, this study proposes an innovative open-set fruit detection system leveraging advanced Vision Foundation Models (VFMs) for fruit detection that can adeptly identify a wide array of fruit types under varying orchard conditions. This system not only demonstrates remarkable adaptability in learning from minimal data through few-shot learning but also shows the ability to interpret human instructions for subtle detection tasks. The performance of the developed foundation model is comprehensively evaluated using several metrics, which outperforms the existing state-of-the-art algorithms in both our MetaFruit dataset and other open-sourced fruit datasets, thereby setting a new benchmark in the field of agricultural technology and robotic harvesting. The MetaFruit dataset (https://***/datasets/jiajiali/metafruit) and detection framework (https://***/JiajiaLi04/FMFruit) are open-sourced to foster future research in vision-based fruit harvesting, marking a significant stride toward addressing the urgent needs of the agricultural sector. © 2024, CC BY-NC-SA.

关键词： Fruits

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Wireless Hallucination in Generative AI-enabled Communications: Concepts, Issues, and Solutions

arXiv

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arXiv 2025年

作者： Wang, Xudong Wang, Jiacheng Feng, Lei Niyato, Dusit Zhang, Ruichen Kang, Jiawen Xiong, Zehui Du, Hongyang Mao, Shiwen State Key Laboratory of Networking and Switching Technology Beijing University of Posts and Telecommunications Beijing100876 China College of Computing and Data Science Nanyang Technological University Singapore School of Automation Guangdong University of Technology Guangzhou510006 China Pillar of Information Systems Technology and Design Singapore University of Technology and Design Singapore Department of Electrical and Electronic Engineering University of Hong Kong Pok Fu Lam Hong Kong Department of Electrical and Computer Engineering Auburn University Auburn United States

Generative AI (GenAI) is driving the intelligence of wireless communications. Due to data limitations, random generation, and dynamic environments, GenAI may generate channel information or optimization strategies that violate physical laws or deviate from actual real-world requirements. We refer to this phenomenon as wireless hallucination, which results in invalid channel information, spectrum wastage, and low communication reliability but remains underexplored. To address this gap, this article provides a comprehensive concept of wireless hallucinations in GenAI-driven communications, focusing on hallucination mitigation. Specifically, we first introduce the fundamental, analyze its causes based on the GenAI workflow, and propose mitigation solutions at the data, model, and post-generation levels. Then, we systematically examines representative hallucination scenarios in GenAI-enabled communications and their corresponding solutions. Finally, we propose a novel integrated mitigation solution for GenAI-based channel estimation. At the data level, we establish a channel estimation hallucination dataset and employ generative adversarial networks (GANs)-based data augmentation. Additionally, we incorporate attention mechanisms and large language models (LLMs) to enhance both training and inference performance. Experimental results demonstrate that the proposed hybrid solutions reduce the normalized mean square error (NMSE) by 0.19, effectively reducing wireless hallucinations. Copyright © 2025, The Authors. All rights reserved.

关键词： Generative adversarial networks

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Learning Probabilistic Coordinate Fields for Robust Correspondences

arXiv

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arXiv 2023年

作者： Zhao, Weiyue Lu, Hao Ye, Xinyi Cao, Zhiguo Li, Xin Key Laboratory of Image Processing and Intelligent Control Ministry of Education School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China The Lane Department of Computer Science and Electrical Engineering West Virginia University MorgantownWV26506-6109 United States

We introduce Probabilistic Coordinate Fields (PCFs), a novel geometric-invariant coordinate representation for image correspondence problems. In contrast to standard Cartesian coordinates, PCFs encode coordinates in correspondence-specific barycentric coordinate systems (BCS) with affine invariance. To know when and where to trust the encoded coordinates, we implement PCFs in a probabilistic network termed PCF-Net, which parameterizes the distribution of coordinate fields as Gaussian mixture models. By jointly optimizing coordinate fields and their confidence conditioned on dense flows, PCF-Net can work with various feature descriptors when quantifying the reliability of PCFs by confidence maps. An interesting observation of this work is that the learned confidence map converges to geometrically coherent and semantically consistent regions, which facilitates robust coordinate representation. By delivering the confident coordinates to keypoint/feature descriptors, we show that PCF-Net can be used as a plug-in to existing correspondence-dependent approaches. Extensive experiments on both indoor and outdoor datasets suggest that accurate geometric invariant coordinates help to achieve the state of the art in several correspondence problems, such as sparse feature matching, dense image registration, camera pose estimation, and consistency filtering. Further, the interpretable confidence map predicted by PCF-Net can also be leveraged to other novel applications from texture transfer to multi-homography classification. Copyright © 2023, The Authors. All rights reserved.

关键词： Textures

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Observability Analysis and Reduced-Order Observer Design for a Super-Coiled Polymer-Driven Robotic Eye

Observability Analysis and Reduced-Order Observer Design for...

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IEEE Conference on Decision and Control

作者： Sunil Kumar Rajendran Qi Wei Ningshi Yao Feitian Zhang Department of Electrical and Computer Engineering George Mason University Fairfax VA USA Department of Bioengineering George Mason University Fairfax VA USA Department of Advanced Manufacturing and Robotics and the State Key Laboratory of Turbulence and Complex Systems College of Engineering Peking University Beijing China

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

With the aid of a robotic eye platform, several ocular motor disorders such as strabismus can be studied by ophthalmologists and biomedical researchers to better under-stand the biomechanisms of the human eye. Our previous work modeled a 2-DOF robotic eye driven by Super-Coiled Polymer (SCP) artificial muscles and presented a Deep Deterministic Policy Gradient (DDPG) learning-based controller. The control policy requires access to the full system states that include the orientation of the robotic eye and temperature changes of the SCPs. While the angular orientations of the robotic eye can be determined using embedded sensors or image-processing of the visual feed, it is quite laborious and expensive to measure the temperatures of the slender SCP muscles without affecting robot dynamics. To address this problem, this paper designs a linear reduced-order state observer based on the linearization of the nonlinear dynamics of the robotic eye. The linearized model is analytically shown to be fully observable along any trajectory within the operation range. To quantify the local observability of the dynamical system, local unobservability indices and local estimation condition numbers are determined along trajectories of the system states. The performance of the designed observer is tested through simulation in both open-loop and closed-loop foveation control of the robotic eye.

关键词： Temperature sensors Temperature measurement Visualization Observers Robot sensing systems Trajectory Nonlinear dynamical systems

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Kombucha electronics

arXiv

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arXiv 2023年

作者： Adamatzky, Andrew Tarabella, Giuseppe Phillips, Neil Chiolerio, Alessandro D’Angelo, Passquale Nicolaidou, Anna Sirakoulis, Georgios Ch. Unconventional Computing Laboratory University of the West of England Bristol United Kingdom Parma Italy Istituto Italiano di Tecnologia Center for Converging Technologies Soft Bioinspired Robotics Via Morego 30 Genova16165 Italy Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece

A kombucha is a tea and sugar fermented by over sixty kinds of yeasts and bacteria. This symbiotic community produces kombucha mats, which are cellulose-based hydrogels. The kombucha mats can be used as an alternative to animal leather in industry and fashion once they have been dried and cured. Prior to this study, we demonstrated that living kombucha mats display dynamic electrical activity and distinct stimulating responses. For use in organic textiles, cured mats of kombucha are inert. To make kombucha wearables functional, it is necessary to incorporate electrical circuits. We demonstrate that creating electrical conductors on kombucha mats is possible. After repeated bending and stretching, the circuits maintain their functionality. In addition, the abilities and electronic properties of the proposed kombucha, such as being lighter, less expensive, and more flexible than conventional electronic systems, pave the way for their use in a diverse range of applications. Copyright © 2023, The Authors. All rights reserved.

关键词： Timing circuits

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A2B: Anchor to Barycentric Coordinate for Robust Correspondence

arXiv

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arXiv 2023年

作者： Zhao, Weiyue Lu, Hao Cao, Zhiguo Li, Xin The Key Laboratory of Image Processing and Intelligent Control Ministry of Education School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China Lane Department of Computer Science and Electrical Engineering West Virginia University Commonwealth of Virginia Morgantown 15461 United States

There is a long-standing problem of repeated patterns in correspondence problems, where mismatches frequently occur because of inherent ambiguity. The unique position information associated with repeated patterns makes coordinate representations a useful supplement to appearance representations for improving feature correspondences. However, the issue of appropriate coordinate representation has remained unresolved. In this study, we demonstrate that geometric-invariant coordinate representations, such as barycentric coordinates, can significantly reduce mismatches between features. The first step is to establish a theoretical foundation for geometrically invariant coordinates. We present a seed matching and filtering network (SMFNet) that combines feature matching and consistency filtering with a coarse-to-fine matching strategy in order to acquire reliable sparse correspondences. We then introduce DEGREE, a novel anchor-to-barycentric (A2B) coordinate encoding approach, which generates multiple affine-invariant correspondence coordinates from paired images. DEGREE can be used as a plug-in with standard descriptors, feature matchers, and consistency filters to improve the matching quality. Extensive experiments in synthesized indoor and outdoor datasets demonstrate that DEGREE alleviates the problem of repeated patterns and helps achieve state-of-the-art performance. Furthermore, DEGREE also reports competitive performance in the third Image Matching Challenge at CVPR 2021. This approach offers a new perspective to alleviate the problem of repeated patterns and emphasizes the importance of choosing coordinate representations for feature correspondences. Copyright © 2023, The Authors. All rights reserved.

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Design and Grasping Experiments of Soft Humanoid Hand with Variable Stiffness 5th

Design and Grasping Experiments of Soft Humanoid Hand with V...

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5th International Conference on Cognitive Systems and Signal Processing, ICCSIP 2020

作者： Du, Shulin Wang, Qingchao Zhao, Yan Sun, Fuchun Lu, Xiao Fang, Bin Hou, Shoucheng College of Electrical Engineering and Automation Shandong University of Science and Technology Qingdao Shandong China Department of Computer Science and Technology Tsinghua National Laboratory for Information Science and Technology Tsinghua University Beijing China Shanghai Institute of Satellite Engineering Shanghai China China University of Geosciences Beijing China

ISBN: (纸本)9789811623356

To improve the safety and adaptability of the human–machine and environment–machine interactions, the research of soft grippers has attracted much attention. In this study a novel Soft Humanoid Hand with Variable Stiffness (SHH-VS) is presented. The SHH-VS has 6 degrees of freedom, and the design of the soft finger with variable stiffness adopts the principle of layer jamming. The SHH-VS can complete grasping, pinching, holding, lifting and other multi-skill grasping operations, using the tendon-driven mechanism. Tactile sensors are installed at the fingertips, which can realize real-time feedback of tactile information. The SHH-VS has better flexibility, greater grasping power, and multi-skill grasping ability. Through a number of grasping experiments, it has been verified that the SHH-VS has greater reliability and safety, and can be used in various daily situations. © 2021, Springer Nature Singapore Pte Ltd.

关键词： Stiffness

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