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IEEE Transactions on intelligent Vehicles 2024年 1-15页

作者： Liu, Weimin Li, Qingkun Wang, Wenjun Wang, Zhenyuan Zeng, Chao Cheng, Bo State Key Laboratory of Automotive Safety and Energy Center for Intelligent Connected Vehicles and Transportation School of Vehicle and Mobility Tsinghua University Beijing China Beijing Key Laboratory of Human-Computer Interaction Institute of Software Chinese Academy of Sciences Beijing China College of Information Science and Engineering Henan University of Technology Zhengzhou China

Take-over performance plays a significant role in evaluating drivers' state, and serves as a crucial reference for enhancing control transitions in the context of conditionally automated driving. In this study, we aim to predict minimum anticipated collision time (min ACT), an indicator of drivers' take-over performance, in expectation of promoting safer take-overs via deep learning, so that drivers' state detriment of take-over safety could be adjusted accordingly with intelligent human-machine interaction algorithms predictably. By incorporating multi-source information including drivers' state, drivers' demographics, surrounding traffic features as well as driver-vehicle interaction characteristics, network model “ACTNet” was proposed to facilitate continuous estimation. Depthwise separable convolution and non-local self-attention were utilized to prevent overfitting and establish spatial dependency over fixation heatmap, respectively. To overcome data distribution imbalance, class balanced loss was used in conjunction with regression loss to realize more accurate predictions. Driving simulator experiment was conducted with dataset collected for the subsequent verification of the proposed algorithm. Potentialities of deep learning methods were highlighted for take-over studies, contributing to the design of intelligent human-machine interaction systems in conditional automation. Our findings present a valid method of deep learning in predicting drivers' take-over performance and meanwhile have implications for the development of intelligent adaptive take-over time budget regulation and dynamic drivers' state adjustment algorithms. IEEE

关键词： Automation

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Simulating the Dilution of Sulfuric Acid on Mixed Reality Platform 8

Simulating the Dilution of Sulfuric Acid on Mixed Reality Pl...

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8th International Conference on Virtual Reality, ICVR 2022

作者： Pan, Zhipeng Miao, Jinda Cai, Ning Luo, Tianren Zhang, Mingmin Pan, Zhigeng Research Institute of Virtual Reality and Intelligent Systems Hangzhou Normal University Hangzhou China Zhejiang University College of Computer Science and Technology Hangzhou China Institute of Software Chinese Academy of Sciences State Key Laboratory of Computer Science and Beijing Key Lab of Human-Computer Interaction Beijing China Nanjing University of Information Science and Technology School of Artificial Intelligence Nanjing China

ISBN: (数字)9781665479110

ISBN: (纸本)9781665479110

Augmented reality technology has been widely used in experimental education. Augmented reality provides virtual-real integration, real-Time interaction and three-dimensional immersion, which provides a new development direction for simulating the teaching environment and promoting learning interaction. We have developed an MR experiment of diluting concentrated sulfuric acid, which helps students learn experimental manipulations and scientific concepts before conducting real chemical experiments. Virtual experiments can avoid the risks of real chemical experiments and reduce the waste of chemical materials. At the same time, we correctly render the occlusion relationship between the hand, the beaker and the virtual liquid, providing a realistic experimental effect. The tracking of multiple cameras allows students to interact more naturally. We compared the availability and students' attitudes of three virtual experiments about diluting concentrated sulfuric acid. The results show that the usability of the MR experimental system reaches the level of user satisfaction. The realistic visual effects and natural interaction method of the MR experiment have been recognized by the students. © 2022 IEEE.

关键词： Students

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Model-Free Dynamic Control of a 3-DoF Delta Parallel Robot for Pick-and-Place Application based on Deep Reinforcement Learning

Model-Free Dynamic Control of a 3-DoF Delta Parallel Robot f...

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

作者： Hasan Jalali Saba Samadi Ahmad Kalhor Mehdi Tale Masouleh Human and Robot Interaction Laboratory School of Electrical and Computer Engineering University of Tehran Tehran Iran Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran Iran

ISBN: (纸本)9781665454537

This article investigates the performance of the Delta robot using model-free controller. Since it is difficult to obtain an accurate dynamic model of the robot and identification methods are complex and challenging. Therefore, in this article, a new approach is presented which checks the performance of the Delta robot in pick-and-place operation using model-free dynamic controllers. For the purposes of this paper, Deep Reinforcement Learning (DRL) and also the Deep Deterministic Policy Gradient (DDPG) network is used. The DDPG algorithm is implemented for the first time on the Delta robot, and according to the obtained results, it reveals that it can provide a favorable approach for the pick-and-place operation. In this method, based on the science of DRL, a reward function based on the pick-and-place operation is also defined, which gives negative reward (punishment) or a positive reward according to the way the robot performs. It is noteworthy that according to the obtained results, it is possible to generalize other points for the pick-and-place operation. It should be noted that the robot was able to learn the target after a long episode and its graph converged after approximately 18,000 episodes.

关键词： Training Deep learning Parallel robots Actuators Mechatronics Heuristic algorithms Reinforcement learning

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Natural human Skin‑Inspired Wearable and Breathable Nanofiber‑based Sensors with Excellent Thermal Management Functionality

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Advanced Fiber Materials 2024年第6期6卷 1955-1968页

作者： Peng Wang Xiaodan Li Guifen Sun Guoqing Wang Qing Han Chuizhou Meng Zhonghe Wei Yang Li School of Mechanical Engineering University of JinanJinan 250022China School of Information and Control Engineering China University of Mining and TechnologyXuzhou 221116China State Key Laboratory for Reliability and Intelligence of Electrical Equipment Engineering Research Center of Ministry of Education for Intelligent Rehabilitation Device and Detection TechnologyHebei Key Laboratory of Smart Sensing and Human‑Robot InteractionSchool of Mechanical EngineeringHebei University of TechnologyTianjin 300401China Shandong Provincial Key Laboratory of Network‑Based Intelligent Computing School of Information Science and EngineeringUniversity of JinanJinan 250022China Network Information Center Department of Computer ScienceQilu University of Technology(Shandong Academy of Sciences)Jinan 250353China School of Integrated Circuits Shandong UniversityJinan 250101China

Wearable sensors have been rapidly developed for application in various human monitoring ***,the wearing comfort and thermal properties of these devices have been largely ignored,and these characteristics urgently need to be ***,we develop a wearable and breathable nanofiber-based sensor with excellent thermal management functionality based on passive heat preservation and active Joule heating *** multifunctional device consists of a micropatterned carbon nanotube(CNT)/thermoplastic polyurethane(TPU)nanofiber electrode,a microporous ionic aerogel electrolyte and a microstructured Ag/TPU nanofiber *** to the presence of a supercapacitive sensing mechanism and the appli-cation of microstructuration,the sensor shows excellent sensing performance,with a sensitivity of 24.62 ***,due to the overall porous structure and hydrophobicity of TPU,the sensor shows good breathability(62 mm/s)and water repellency,with a water contact angle of 151.2°.In addition,effective passive heat preservation is achieved by combining CNTs with high solar absorption rates(85%)as the top layer facing the outside,aerogel with a low thermal conductivity(0.063 W m-1 k-1)as the middle layer for thermal insulation,and Ag with a high infrared reflectance rate as the bottom layer facing the *** warming,this material yields a higher temperature than ***,the active Joule heat-ing effect is realized by applying current through the bottom resistive electrode,which can quickly increase the temperature to supply controlled warming on *** proposed wearable and breathable sensor with tunable thermal properties is promising for monitoring and heat therapy applications in cold environments.

关键词： Wearable sensor Breathable Personal thermal management Electrospun nanofibers Joule heating

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VAction: A Lightweight and Integrated VR Training System for Authentic Film-Shooting Experience 25

VAction: A Lightweight and Integrated VR Training System for...

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Proceedings of the 2025 CHI Conference on human Factors in Computing Systems

作者： Shaocong Wang Che Qu Minjing Yu Chao Zhou Yuntao Wang Yu-Hui Wen Yuanchun Shi Yong-Jin Liu Department of Computer Science and Technology Tsinghua University Beijing China Film & TV Technology Department Beijing Film Academy Beijing Beijing China College of Intelligence and Computing Tianjin University Tianjin China Human Computer Interaction Technology and Intelligent Information Processing Laboratory Institute of Software Chinese Acadamy of Sciences Beijing China School of Computer Science and Technology Beijing Jiaotong University Beijing China Department of Computer science and Technology Tsinghua University Beijing China Computer Science and Technology Tsinghua University Beijing Beijing China

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Isoform Function Prediction Based on Heterogeneous Graph Attention Networks

Isoform Function Prediction Based on Heterogeneous Graph Att...

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IEEE International Conference on Bioinformatics and Biomedicine (BIBM)

作者： Kuo Guo Yifan Li Hao Chen Hong-Bin Shen Yang Yang Department of Computer Science and Engineering Shanghai Jiao Tong University and Key Laboratory of Shanghai Education Commission for Intelligent Interaction and Cognitive Engineering Shanghai China Institute of Image Processing and Pattern Recognition Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Computational Biology Department School of Computer Science Carnegie Mellon University Pittsburgh PA USA

Isoforms refer to different mRNA molecules transcribed from the same gene, which can be translated into proteins with varying structures and functions. Predicting the functions of isoforms is an essential topic in bioinformatics as it can provide valuable insights into the intricate mechanisms of gene regulation and biological processes. Conventionally, gene function labels are standardized in Gene Ontology (GO) terms. However, traditional methods for predicting isoform function are largely limited by the absence of isoform-specific labels, sparse annotations, and the vast number of GO terms. To address these issues, we propose HANIso, a deep learning-based method for isoform function prediction. HANIso leverages a pretrained protein language model to extract features from protein sequences. It also integrates heterogeneous information, such as isoform sequence features, GO annotations, and isoform interaction data, using a Heterogeneous Graph Attention Network (HAN). This allows the model to learn the importance of different sources of information and their semantic relationships through the attention mechanism. Our method can predict function labels at both the gene level and isoform level. We conduct experiments on two species datasets, and the results demonstrate that our method outperforms existing methods on both AUROC and AUPRC. HANIso has the potential to overcome the limitations of traditional methods and provide a more accurate and comprehensive understanding of isoform function.

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RAS2P: Remote Attestation via Self-Measurement for SGX-based Platforms

RAS2P: Remote Attestation via Self-Measurement for SGX-based...

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2022 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2022

作者： Ren, Zhengwei Li, Xueting Deng, Li Tong, Yan Xu, Shiwei Tang, Jinshan Wuhan University of Science and Technology School of Computer Science and Technology Key Laboratory of Intelligent Information Processing and Real-time Industrial System Wuhan China Wuhan University of Science and Technology School of Computer Science and Technology Wuhan China Agricultural University College of Informatics Huazhong Wuhan China George Mason University College of Health and Human Services Department of Health Administration and Policy Fairfax United States

ISBN: (数字)9781665452588

ISBN: (纸本)9781665452588

Remote Attestation (RA) is a security service by which a Verifier (Vrf) can verify the platform state of a remote Prover (Prv). However, in most existing RA schemes, the Prv might be vulnerable to denial of service (DoS) attacks due to the interactive challenge-response methodology while there is no authentication about the challenge. Worse, many schemes cannot effectively detect mobile malware that can be inactive during the on-demand attestation launched by the Vrf. In this paper, we propose a self-measurement RA for SGX-based platforms, which can effectively mitigate DoS attacks and defend against mobile malware. To this end, a two-way identity authentication is first enforced between the Prv and Vrf with the help of a blockchain system, in which a shared session key is also generated. Secondly, trigger conditions of measurements on the Prv's side are time points generated by the Prv self instead of Vrf's requests. The Vrf can retrieve multiple self-measurement results during one execution of the protocol to monitor the Prv's platform over a period of time continuously, which can detect mobile malware effectively. Our scheme utilizes SGX to provide the runtime protection for sensitive information such as session key, self-measurement code, time points of self-measurements, and self-measurement results, making a higher security guarantee. In addition, the session key, time points of self-measurements, and self-measurement code can be changed or upgraded, making our scheme more flexible and scalable. The simulation implementation and results show that our scheme is feasible and practical. © 2022 IEEE.

关键词： Denial-of-service attack

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SliceProp: A Slice-Wise Bidirectional Propagation Model for Interactive 3D Medical Image Segmentation

SliceProp: A Slice-Wise Bidirectional Propagation Model for ...

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Medical Artificial Intelligence (MedAI), IEEE International Conference on

作者： Xin Xu Wenjing Lu Jiahao Lei Peng Qiu Hong-Bin Shen Yang Yang Department of Computer Science and Engineering Key Laboratory of Shanghai Education Commission for Intelligent Interaction and Cognitive Engineering Shanghai Jiao Tong University Shanghai China Department of Vascular Surgery Shanghai Ninth People's Hospital Shanghai Jiao Tong University School of Medicine Institute of Image Processing and Pattern Recognition and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Jiao Tong University Shanghai China

Interactive medical image segmentation methods have become increasingly popular in recent years. These methods combine manual labeling and automatic segmentation, reducing the workload of annotation while maintaining high accuracy. However, most current interactive segmentation frameworks are limited to 2D image data, and are not suitable for 3D image data due to the large size and high complexity of 3D data, as well as the challenges posed by information asymmetry and sparse annotation. In this paper, we propose SliceProp, an interactive segmentation framework that implements slice-wise Label Bidirectional Propagation (LBP) for 3D medical image segmentation. SliceProp extends the interactive 2D image segmentation algorithm to 3D image segmentation, and can handle 3D data with large size and high complexity. Moreover, equipped with a Backtracking Feedback Check (BFC) module, SliceProp effectively addresses the issues of information asymmetry and spatial sparse annotation in 3D medical image segmentation. Additionally, we adopt an uncertainty-based criterion to pri-oritize the slices to be refined interactively, which enhances the efficiency of the interaction process by enabling the model to focus on the regions with the most unreliable predictions. SliceProp is evaluated on two datasets and achieves promising results compared to state-of-the-art methods.

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Energy Efficiency Optimization for Full-Duplex D2D Communications Underlaying Distributed Antenna Systems

IEEE Transactions on Green Communications and Networking

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IEEE Transactions on Green Communications and Networking 2024年

作者： Liu, Zhan Liao, Zhiyuan Li, Chunquan Zhang, Zhijun Yu, Junzhi Liu, P.X. Hunan University of Humanities Science and Technology School of Information Loudi417000 China Nanchang University School of Information Engineering Nanchang330031 China Jiangxi Provincial Key Laboratory of Intelligent Systems and Human-Machine Interaction Nanchang330031 China South China University of Technology School of Automation Science and Engineering Guangzhou510640 China Peking University State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and Robotics College of Engineering Beijing100871 China Carleton University Department of Systems and Computer Engineering OttawaONK1S 5B6 Canada

In this paper, we investigate the total system energy efficiency (EE) of full-duplex (FD) device-to-device (D2D) communications underlaying distributed antenna systems (DAS), where remote access units (RAUs), D2D users (DUs), and cellular users (CUs) are all capable of FD operation. Specifically, we jointly optimize subcarrier assignment and power allocation under the quality of service (QoS) requirements of CUs and DUs and the maximum power constraints of RAUs, CUs, and DUs. In addition, we propose a novel spectrum sharing strategy that allows each subcarrier to be assigned to multiple CUs and/or multiple D2D pairs (DPs) for flexibility. To solve the formulated non-convex optimization problem, we first employ fractional programming to transform the objective function in the optimization problem from the fractional form into the equivalent subtractive form. Then, an efficient iterative resource allocation algorithm is proposed, which needs to solve an inner problem in each iteration. After relaxing the variables and introducing penalty factors, the non-convex inner problem is transformed into a convex problem through the successive convex approximation (SCA) method and solved by iterative algorithm. Simulation results demonstrate that the proposed algorithm can considerably improve the system EE compared to other benchmark schemes. Furthermore, the proposed spectrum sharing strategy is superior to the existing sharing strategies. © 2017 IEEE.

关键词： Convex optimization

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Experimental Study on Neural Network-ARX and ARMAX Actuation Identification of a 3-DoF Delta Parallel Robot for Accurate Motion Controller Design

Experimental Study on Neural Network-ARX and ARMAX Actuation...

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

作者： Saeed Rahimi Hasan Jalali Mohammad Reza Hairi Yazdi Ahmad Kalhor Mehdi Tale Masouleh Human and Robot Interaction Laboratory School of Mechanical Engineering University of Tehran Tehran Iran Human and Robot Interaction Laboratory School of Electrical and Computer Engineering University of Tehran Tehran Iran School of Mechanical Engineering College of Engineering University of Tehran Tehran Iran Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran Iran

ISBN: (纸本)9781665420952

This paper investigates the problem of actuator identification of a 3-DoF Delta parallel robot, by means of linear AutoRegressive Moving Average with eXogenous input (ARMAX) and nonlinear dynamic Neural Network AutoRegressive with eXogenous input (NN-ARX) methods. To this end, the ARMAX and NN-ARX approaches are used to develop a scheme which is capable of identifying a model for each actuator. Based on the ARMAX structure, an accurate model of the actuation system is derived. The model is then trained and tested using the data collected from a real robotic setup. Using a dynamic neural network capabilities, an identification and prediction scheme is designed for modeling the nonlinear dynamic behavior of the system. The NN-ARX is trained based on the collected data from the system, and the new trajectory data is used to validate both methods. By considering the results of experimental implementations, three servo motors are demonstrated to have different dynamical behavior which was expected to happen from the outset, due to uncertainty in fabrication of motors component and gearbox. In the identification and prediction stages, the Root Mean Square Errors (RMSE) index is used to validate and analyze the performance of each method using the validation data from new trajectories. In terms of predicting the output of the system, NN-ARX performed better than ARMAX with RMSE of 0.001441, compared to ARMAX with RMSE of 0.0886. Due to the high accuracy of the obtained models. thus they can be used in the design of motion controllers and modelling disturbances in the system.

关键词： Actuators Parallel robots Artificial neural networks Predictive models Mathematical models Trajectory Nonlinear dynamical systems

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