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arXiv 2025年

作者： Kaypak, Ali Umut Wei, Shiqing Krishnamurthy, Prashanth Khorrami, Farshad Control/Robotics Research Laboratory Electrical and Computer Engineering Department Tandon School of Engineering New York University BrooklynNY11201 United States

Inter-robot collisions pose a significant safety risk when multiple robotic arms operate in close proximity. We present an online collision avoidance methodology leveraging 3D convex shape-based High-Order Control Barrier Functions (HOCBFs) to address this issue. While prior works focused on using Control Barrier Functions (CBFs) for human–robotic arm and single-arm collision avoidance, we explore the problem of collision avoidance between multiple robotic arms operating in a shared space. In our methodology, we utilize the proposed HOCBFs as centralized and decentralized safety filters. These safety filters are compatible with any nominal controller and ensure safety without significantly restricting the robots’ workspace. A key challenge in implementing these filters is the computational overhead caused by the large number of safety constraints and the computation of a Hessian matrix per constraint. We address this challenge by employing numerical differentiation methods to approximate computationally intensive terms. The effectiveness of our method is demonstrated through extensive simulation studies and real-world experiments with Franka research 3 robotic arms. © 2025, CC BY.

关键词： Robotic arms

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Transferring fashion to surveillance with weak labels

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Neural Computing and Applications 2023年第18期35卷 13021-13035页

作者： Zheng, Qi He, Zheng Liang, Chao Chen, Jun Lin, Chia-Wen Tao, Dapeng National Engineering Research Center for Multimedia Software School of Computer Science Wuhan University Wuhan430072 China Hubei Key Laboratory of Multimedia and Network Communication Engineering Wuhan University Wuhan430072 China Collaborative Innovation Center of Geospatial Technology Wuhan430079 China Department of Electrical Engineering National Tsing Hua University Hsinchu Taiwan School of Information Science and Engineering Yunnan University Yunnan Kunming650504 China

In this paper, we address the problem of automatic clothing parsing in surveillance images using the information from user-generated tags, such as "jeans" and "T-shirt." Although clothing parsing has achieved great success in the fashion domain, it is quite challenging to parse target under practical surveillance conditions due to the presence of complex environmental interference, such as that from low resolution, viewpoint variations and lighting changes. Our method is developed to capture target information from the fashion domain and apply this information to a surveillance domain by weakly supervised transfer learning. Most target tags convey strong location information (e.g., "T-shirt" is always shown in the upper region), which can be used as weak labels for our transfer method. Both quantitative and qualitative experiments conducted on practical surveillance datasets demonstrate the effectiveness of the proposed surveillance data enhancing method. © 2020, Springer-Verlag London Ltd., part of Springer Nature.

关键词： Monitoring

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Emergence of composite many-body exciton states in WS2 and MoSe2 monolayers

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Physical Review B 2024年第4期109卷 L041304-L041304页

作者： J. Choi J. Li D. Van Tuan H. Dery S. A. Crooker National High Magnetic Field Laboratory Los Alamos New Mexico 87545 USA Advanced Instrumentation Institute Korea Research Institute of Standards and Science Daejeon 34113 Korea Wuhan National High Magnetic Field Center and School of Physics Huazhong University of Science and Technology Hubei 430074 China Department of Electrical and Computer Engineering University of Rochester Rochester New York 14627 USA Department of Physics and Astronomy University of Rochester Rochester New York 14627 USA

When doped with a high density of mobile charge carriers, monolayer transition-metal dichalcogenide (TMD) semiconductors can host new types of composite many-particle exciton states that do not exist in conventional semiconductors. Such multiparticle bound states arise when a photoexcited electron-hole pair couples not to just a single Fermi sea that is quantum-mechanically distinguishable (as in the case of conventional charged excitons or trions), but rather couples simultaneously to multiple Fermi seas, each having distinct spin and valley quantum numbers. Composite six-particle “hexciton” states were recently identified in electron-doped WSe2 monolayers, but under suitable conditions they should also form in all other members of the monolayer TMD family. Here we present spectroscopic evidence demonstrating the emergence of many-body hexcitons in charge-tunable WS2 monolayers (at the A-exciton) and MoSe2 monolayers (at the B-exciton). The roles of distinguishability and carrier screening on the stability of hexcitons are discussed.

关键词： Excitons Trions Transition metal dichalcogenides Two-dimensional electron system

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Market Conditions and their Effect on Market Clearing Price Forecasting 2

Market Conditions and their Effect on Market Clearing Price ...

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2nd International Conference on Energy Transition in the Mediterranean Area, SyNERGY MED 2022

作者： Loizidis, Stylianos Konstantinidis, Georgios Theocharidis, Spyros Kyprianou, Andreas Georghiou, George E. University of Cyprus Pv Technology Laboratory Foss Research Centre for Sustainable Energy Department of Electrical and Computer Engineering Nicosia Cyprus University of Cyprus Pv Technology Laboratory Foss Research Centre for Sustainable Energy Department of Mechanical and Manufacturing Engineering Nicosia Cyprus

ISBN: (数字)9781665461078

ISBN: (纸本)9781665461078

High volatility in deregulated electricity markets is that characteristic that exposes its participants to higher risks. Volatility is due to many, and most of the times unpredictable, factors, ranging from fuel prices, production from renewable energy sources, electricity demand to Covid-19 and energy crisis. This article describes the initial stages of the work that combines signalling with market conditions in order to analyse the factors affecting the clearing prices of the day ahead market in view of enhancing the forecasting of these prices. The proposed forecasting methodology is based on the extreme learning machine (ELM) and it is tested on the German and Finnish markets. © 2022 IEEE.

关键词： Forecasting

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Two-Stage Robust Optimization Under Decision Dependent Uncertainty

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IEEE/CAA Journal of Automatica Sinica 2022年第7期9卷 1295-1306页

作者： Yunfan Zhang Feng Liu Yifan Su Yue Chen Zhaojian Wang João P.S.Catalão State Key Laboratory of Power System and Generation Equipment the Department of Electrical EngineeringTsinghua UniversityBeijing 100084China Department of Mechanical and Automation Engineering the Chinese University of Hong KongHong Kong SARChina Ministry of Education Key Laboratory of System Control and Information Processing the Department of AutomationShanghai Jiao Tong Universityand also with Shanghai Engineering Research Center of Intelligent Control and ManagementShanghai 200240China Faculty of Engineering of the University of Porto and Institute for Systems and Computer Engineering Technology and Science(INESC TEC)Porto 4200-465Portugal IEEE

In the conventional robust optimization(RO)context,the uncertainty is regarded as residing in a predetermined and fixed uncertainty *** many applications,however,uncertainties are affected by decisions,making the current RO framework *** paper investigates a class of two-stage RO problems that involve decision-dependent *** introduce a class of polyhedral uncertainty sets whose right-hand-side vector has a dependency on the here-and-now decisions and seek to derive the exact optimal wait-and-see decisions for the second-stage problem.A novel iterative algorithm based on the Benders dual decomposition is proposed where advanced optimality cuts and feasibility cuts are designed to incorporate the uncertainty-decision *** computational tractability,robust feasibility and optimality,and convergence performance of the proposed algorithm are guaranteed with theoretical *** motivating application examples that feature the decision-dependent uncertainties are ***,the proposed solution methodology is verified by conducting case studies on the pre-disaster highway investment problem.

关键词： Benders decomposition decision-dependent uncertainty endogenous uncertainty robust optimization(RO)

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Free-form acoustic topological waveguides enabled by topological lattice defects

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Physical Review B 2024年第18期109卷 L180101-L180101页

作者： Yin Wang Yong Ge Yu-Jing Lu Shuai Gu Yi-Jun Guan Qiao-Rui Si Shou-Qi Yuan Qiang Wang Hong-Xiang Sun Haoran Xue Research Center of Fluid Machinery Engineering and Technology School of Physics and Electrical Engineering School of Computer Science and Communication Engineering School of Physics Collaborative Innovation Center of Advanced Microstructures State Key Laboratory of Acoustics Department of Physics The

The emerging field of topological acoustics provides exciting possibilities for controlling sound propagation with extraordinary robustness. Conventional topological acoustic waveguides built from topological edge states, which arise solely from the nontrivial topology in the momentum space, usually have restricted shapes due to their crystalline structures. Here, we show that, using an acoustic topological system with both nontrivial topologies in the real and momentum spaces, free-form acoustic topological waveguides can be constructed. These topological waveguides support disclination-localized states, caused by the interplay between topological lattice defects and the valley-Hall topology. As demonstrated in our simulations and experiments, such disclination waveguides can take arbitrary shapes and form open arcs within the lattice, which are not possible for previous crystalline acoustic topological waveguides. Furthermore, by increasing the number of topological lattice defects, we can realize more than one topological waveguide in one lattice. They join at the topological lattice defect and form a topological waveguide network, enabling more complicated functionalities such as beam splitting. Our results point to a promising direction for free-form acoustic topological devices with the advantages of embedded forms, easy cascading, and high robustness.

关键词： Acoustics Defects Topological phase transition Topological phases of matter

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Differentiating structure of in situ and ex situ formation of laser-induced graphene hybrids

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Rare Metals 2022年第9期41卷 3035-3044页

作者： Li-Bei Huang Wei-Hua Guo Le Cheng Jian-Jun Su Yun Song Fei-Jun Hu Ying Lo Law Zheng Yan Jian Lin Ru-Quan Ye State Key Laboratory of Marine Pollution Department of ChemistryCity University of Hong KongHong Kong999077China Department of Mechanical and Aerospace Engineering University of MissouriColumbiaMO65211USA Department of Biomedical Biological&Chemical EngineeringUniversity of MissouriColumbiaMO65211USA Department of Electrical Engineering and Computer Science University of MissouriColumbiaMO65211USA City University of Hong Kong Shenzhen Research Institute Shenzhen518057China

Laser-induced graphene(LIG)has been exploited in various fields,such as batteries,water treatment,and flexible actuators and sensors,with the advantages of ease in patternable fabrication and graphene/metal hybrid *** in situ method which includes a single lase step and the ex situ method which uses two lase steps are both widely implemented to synthesize graphene/metal ***,the differences in the structures and properties of the resulting hybrids are not fully ***,we investigate the advantages of ex situ and in situ methods for preparing LIG hybrids using NiFe/LIG as an *** morphology,elemental composition,resistance to strong acid,and application in electrocatalysis and dye adsorption of ex situ and in situ NiFe/LIG hybrids were systematically studied and ***-dispersive X-ray spectrometry(EDS)and vibrating sample magnetometry(VSM)results confirmed the structural differences between the NiFe/LIG *** nanoparticles are mostly wrapped by carbon layers in the in situ NiFe/LIG hybrid,while the ex situ NiFe/LIG hybrid largely exposes the metal *** structural differences are significant for tailoring performance in applications,such as wastewater treatment and *** work provides insights into the synthesis and properties of LIGs and has important implications for future applications.

关键词： Ex situ In situ Laser-induced graphene Metal-containing hybrids Oxygen evolution reaction Dye adsorption

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OSAP‐Loss:Efficient optimization of average precision via involving samples after positive ones towards remote sensing image retrieval

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CAAI Transactions on Intelligence Technology 2023年第4期8卷 1191-1212页

作者： Xin Yuan Xin Xu Xiao Wang Kai Zhang Liang Liao Zheng Wang Chia‐Wen Lin School of Computer Science and Technology Wuhan University of Science and TechnologyWuhanChina Hubei Province Key Laboratory of Intelligent Information Processing and Real‐time Industrial System Wuhan University of Science and TechnologyWuhanChina Nanyang Technological University SingaporeSingapore School of Computer Science Wuhan UniversityWuhanChina Department of Electrical Engineering Industrial Technology Research InstituteNational Tsing Hua UniversityHsinchuChina

In existing remote sensing image retrieval(RSIR)datasets,the number of images among different classes varies dramatically,which leads to a severe class imbalance *** studies propose to train the model with the ranking‐based metric(e.g.,average precision[AP]),because AP is robust to class ***,current AP‐based methods overlook an important issue:only optimising samples ranking before each positive sample,which is limited by the definition of AP and is prone to local *** achieve global optimisation of AP,a novel method,namely Optimising Samples after positive ones&AP loss(OSAP‐Loss)is proposed in this ***,a novel superior ranking function is designed to make the AP loss differentiable while providing a tighter upper ***,a novel loss called Optimising Samples after Positive ones(OSP)loss is proposed to involve all positive and negative samples ranking after each positive one and to provide a more flexible optimisation strategy for each ***,a graphics processing unit memory‐free mechanism is developed to thoroughly address the non‐decomposability of AP *** experimental results on RSIR as well as conventional image retrieval datasets show the superiority and competitive performance of OSAP‐Loss compared to the state‐of‐the‐art.

关键词： computer vision image retrieval metric learning

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Uplink Control Information Based Clustered Access and Discontinuous Reception Management for mMTC

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IEEE Communications Letters 2025年第6期29卷 1380-1384页

作者： Wang, Shao-Di Wang, Chang-Long Wang, Hui-Ming Zhou, Feng Leung, Victor C. M. Xidian University Key Laboratory of Electronic Information Countermeasure and Simulation Technology of Ministry of Education Xi’an710071 China Xi’an Jiaotong University School of Information and Communication Engineering Ministry of Education Key Lab for Intelligent Networks and Network Security Xi’an710049 China Shenzhen MSU BIT University Artificial Intelligence Research Institute Shenzhen518172 China Shenzhen University College of Computer Science and Software Engineering Shenzhen518060 China The University of British Columbia Department of Electrical and Computer Engineering VancouverBCV6T 1Z4 Canada

Uplink control information (UCI) and discontinuous reception (DRX) play important roles for massive machine type communication (mMTC). Despite their standalone significance, a conspicuous gap exists in comprehensively exploring the synergy between UCI and DRX concerning both energy conservation and latency reduction for mMTC. In this letter, we propose a UCI-based clustered access and DRX management (UCADM) scheme that strikes a balance between these two critical performance metrics, reducing energy usage while preserving low latency in uplink-downlink interaction for mMTC. Specifically, we present a strictly feasible solution for the proposed UCADM scheme by using the spectral radius and the constraint projection, which can effectively solve DRX switching operations as indicated by scheduling information from UCI. Simulation results confirm the effectiveness of our scheme. © 1997-2012 IEEE.

关键词： Information management

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A Privacy Preserving Method for IoT Forensics

A Privacy Preserving Method for IoT Forensics

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2024 IEEE Global Communications Conference, GLOBECOM 2024

作者： Zhang, Wenzheng Chen, Boxi Fu, Xiao Gu, Qing Shi, Jin Du, Xiaojiang Zhou, Xiaoyang Nanjing University State Key Laboratory for Novel Software Technology Nanjing China Nanjing University School of Information Management Nanjing China Stevens Institute of Technology Department of Electrical and Computer Engineering HobokenNJ United States Innovation Research Institute Nanjing China

ISBN: (纸本)9798350351255

The diversity of the Internet of Things (IoT) poses challenges to privacy protection, especially in the field of digital forensics. How to ensure that only the private information of the suspect is provided, and not the irrelevant information of other users is disclosed is crucial, especially when obtaining evidence in the complex IoT environment. To the best of our knowledge, there are few studies on protecting the privacy of irrelevant users in the IoT forensics. However, it is very important to ensure that the evidence does not violate the privacy of other users when collecting evidence, because it directly determines whether the evidence is legal and whether it can be admissible in court. In this paper, a new method based on data provenance graph is designed to solve the privacy protection problem of IoT forensics. The key idea of this method is to protect privacy by dividing multi-user information and protecting it from an encryption perspective. The method consists of three main phrases: distinguishing different users' data provenance graphs using traversal search, node abstraction, and hiding techniques, utilizing pseudo-random dual-key negotiation methods tailored for the scenario to enhance privacy protection for unrelated users, and employing identity authentication technology to facilitate better investigation and extraction of data provenance graph information of criminal accomplices in specific scenarios. Example proves that this method has practical significance and promising application prospects in protecting the privacy of unrelated users in IoT forensics while ensuring evidence accessibility in special criminal scenarios. © 2024 IEEE.

关键词： Differential privacy

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