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3rd International Conference on Advancement in Electronics and Communication engineering, AECE 2023

作者： Salama, Ramiz Altrjman, Chadi Al-Turjman, Fadi Yadav, Satya Prakash Vats, Satvik Ai and Robotics Institute Research Center for Ai and IoT Near East University Department of Computer Engineering Near East Boulevard TRNC Mersin 10 Nicosia99138 Turkey Waterloo University Department of Chemical Engineering ONN2L 3G1 Canada Ai and Robotics Institute Near East University Artificial Intelligence Engineering Dept Mersin10 Nicosia Turkey Department of Computer Science and Engineering Greater Noida201306 India Graphic Era Hill University Department of Computer Science and Engineering Dehradun India

ISBN: (纸本)9798350330724

Sustainability is a key factor in the context of smart cities. In smart cities, promoting sustainable energy is one strategy for achieving sustainability and lowering greenhouse gas emissions. Different energy sources are needed to meet the need for affordable and dependable electrical energy, where the environmental impact typically outweighs the cost of generation. In order to increase sustainability in the electrical industry, smart cities are examined in this article. The methodological strategy for this involved conducting a systematic literature review utilizing the PRISMA procedure. 154 journal articles were examined in-depth for this review. Energy efficiency, renewable energy, and energy and urban planning were the themes that the results were organized into. The results of the study showed that: (a) there is a global academic publication landscape for research on smart cities and energy sustainability;(b) publications are unbalanced when comparing the results of studies on the energy use intensity of different continents to those on the energy sustain ability of smart cities;and (c) there is a strong focus on technology-related issues related to energy sustainability, efficiency, and renewables topics in the literature, but much less attention is given to these issues. Urban and energy authorities are informed by the insights produced, and scholars are given ideas for future research directions. © 2023 IEEE.

关键词： Smart city

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Heterogeneous Wireless Access Networks for IoT and E-Health-A Survey 3

Heterogeneous Wireless Access Networks for IoT and E-Health-...

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3rd International Conference on Advancement in Electronics and Communication engineering, AECE 2023

ISBN: (纸本)9798350330724

In a heterogeneous wireless environment, there are many different radio access technologies (RATs), such as Wi-Fi and 2G, 3G, 4G, and 5G, which each have a different degree of coverage and processing power to meet various service requirements. A mobile user may have access to various access networks in such a situation. On the PC of each user, numerous programs with varied Quality of Service (QoS) requirements can operate simultaneously. It would be advantageous for a multi-interface terminal to use two or more interfaces simultaneously in order to improve performance. However, using multiple networks at once could use up more energy than just using one interface. Therefore, energy use must to be taken into account when analyzing the Flow/Interface Relationship (FIA). This paper presents a novel method for choosing the ideal FIA that achieves the best trade-off between all the characteristics taken into account, dubbed Smart Tabu Search (STS). STS considers user preferences, network circumstances, network expenses, application QoS specifications, and battery life of mobile devices. We use simulations and testbed experiments to validate our concept. Professionals are now able to diagnose and monitor patients remotely because to the growing use of healthcare monitoring devices. One of the most frequent occurrences that affects the reliability of information transmission in any network is congestion, which is defined as the unchecked increase in traffic relative to network capacity. With the use of a mesh network, wireless sensors, and some of the most significant models for vital signs, the article aims to provide a realistic simulation environment for a healthcare system. The simulator environment is a helpful tool for assessing the dependability and effectiveness of the healthcare system in a realistic setting. However, the system is not appropriate for real-time applications due to the sluggish network adaption caused by the end-to-end based traffic regulation deci

关键词： Electrocardiograms

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Trajectory Tracking Control of an Underwater Swimming Manipulator with System Constraints and Uncertainties 42

Trajectory Tracking Control of an Underwater Swimming Manipu...

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42nd Chinese Control Conference, CCC 2023

作者： Lv, Feiyang Wu, Lili Ma, Taisheng Ren, Chao Ma, Shugen School of Electrical and Information Engineering Tianjin University Tianjin300072 China Beijing Electro-Mechanical Engineering Institute Beijing100074 China Pilot National Laboratory for Marine Science and Thechnology QingDao266237 China Ritsumeikan University Department of Robotics Shiga525-8577 Japan

ISBN: (纸本)9789887581543

The underwater swimming manipulator is a new type of underwater vehicle manipulator composed of an underwater snake robot and several thrusters. In this paper, trajectory tracking control is considered for the underwater swimming manipulator with system constraints and uncertainties. Firstly, a linear model predictive controller with control input constraints is designed via feedback linearization to realize the constraints on joint torque and thruster forces. Secondly, the system uncertainties are estimated in real time based on the off-line Gaussian process regression and an adaptive extended state observer, and the estimated results are applied to the closed-loop control system for compensation. Finally, the stability of the closed-loop system is proved, and the simulation shows that the proposed method can realize the high-precision trajectory tracking control of the underwater swimming manipulator and meet the actual constraints when considering the system uncertainties. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Manipulators

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Optimal intensity and duration of cupping for minimizing possible mechanical skin deformation

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Journal of Traditional Chinese Medicine 2021年第5期41卷 817-825页

作者： Bummo Ahn Soobyeong Kim Robotics R&BD Group Korea Institute of Industrial TechnologyAnsan 15588Republic of Korea Department of Robotics and Virtual Engineering University of Science and TechnologyAnsan 15588Republic of Korea Wellness Technology R&D Center Natural Arin Medi CorporationSejongsi 30127Republic of Korea

OBJECTIVE:To identify the optimal intensity and duration of cupping that would minimize mechanical skin ***:We developed an optical measurement probe and system for measuring skin color values in real *** applied cupping at the following five Bladder Meridian *** investigate optimal intensity,negative pressure intensity was increased every 2 min up to 80 k *** investigate optimal time,10 measurement sites were selected and negative pressure intensities of 30,60,and 80 k Pa were applied for 5 min *** color information was analyzed by the following skin color values:red color saturation,erythema index,and melanin ***:The red color saturation and erythema index increased steadily up to 60 kpa negative pressure intensity,then decreased between 60 and 80 k ***,maximal values were observed at 60 k *** melanin index consistently increased with increasing negative pressure *** red color saturation and erythema index did not change after 20 s at 60 k Pa negative pressure *** negative pressure intensities below 80 k Pa,significant changes in melanin index were not observed after 20 *** 80 k Pa negative pressure intensity,the melanin index exhibited an increasing pattern for200 s,then showed no ***:To minimize skin deformation,60 k Pa and 20 s were the appropriate intensity and duration when using red color saturation and erythema index as diagnostic *** of the increasing pattern up to 80 k Pa negative pressure intensity,the optimal intensity of melanin index could not be *** applying 80 k Pa negative pressure intensity and using melanin index as the diagnostic index,we recommend a duration of 200 s.

关键词： ecchymosis petechiae pigmentation erythema melanins

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Unraveling Incomplete Multiview Data: An Information-Theoretic Framework

SSRN

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SSRN 2024年

作者： Zhang, Qi Lu, Mingfei Xin, Jingmin Chen, Badong National Key Laboratory of Human-Machine Hybrid Augmented Intelligence National Engineering Research Center for Visual Information and Applications Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Shaanxi Xi’an710049 China

This paper tackles two significant challenges in incomplete multiview learning. The first issue is how to comprehensively extract both consistent and view-specific information from incomplete multiview data. The second issue concerns eliminating irrelevant information that either exists in the original data or arises when imputing missing views. To address these issues, we introduce an information-theoretic framework tailored for incomplete multiview learning. Inspired by the concept of common information in information theory, our framework precisely defines what constitutes consistent information across incomplete views. We employ the Hilbert-Schmidt Independence Criterion to maintain the independence between view-specific and consistent information. Moreover, we utilize the information bottleneck principle to compress representations by removing extraneous information. Our method adopts a matrix-based Rényi's α-order entropy functional, facilitating direct optimization of our objectives without resorting to variational approximations. We demonstrate the efficacy of our approach through comprehensive experiments on real-world datasets. © 2024, The Authors. All rights reserved.

关键词： Matrix algebra

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Online Prediction of Novel Trajectories Using a Library of Movement Primitives

Online Prediction of Novel Trajectories Using a Library of M...

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IEEE International Conference on Development and Learning, ICDL

作者： Paris Oikonomou Athanasios Dometios Mehdi Khamassi Costas S. Tzafestas School of Electrical and Computer Engineering National Technical University of Athens Greece Sorbonne Université CNRS Institute of Intelligent Systems and Robotics Paris France

ISBN: (数字)9798350348552

ISBN: (纸本)9798350348569

Learning to anticipate other agents' future movements has gained increased interest in robotics, especially in situations requiring interaction. Such a prediction allows the robotic systems to plan their actions as a task evolves and before its completion. Specifically, in case of active robot collaboration, early decision making might ensure smoothness during motion and collision avoidance. While previous work has addressed prediction and recognition of primitive actions, to our knowledge little attention has been paid to the aspect of unseen ones. In this paper, we introduce a method for online continuous prediction of the evolution of previously unseen trajectories based on a recency weighting of past observations using a library of trained probabilistic movement primitives (ProMPs). The proposed method makes the assumption that parts of any novel trajectory could be considered as a combination of simpler ones. A probability distribution is derived across the evolution of the trajectory, and is updated in a recursive manner. We present a set of simulation experiments to showcase the new method, and compare it with a state-of-the-art method.

关键词： Decision making Collaboration Probabilistic logic Libraries Probability distribution Trajectory Collision avoidance

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OAFuser: Towards Omni-Aperture Fusion for Light Field Semantic Segmentation

arXiv

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arXiv 2023年

作者： Teng, Fei Zhang, Jiaming Peng, Kunyu Wang, Yaonan Stiefelhagen, Rainer Yang, Kailun The School of Robotics The National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University Changsha410082 China The Institute for Anthropomatics and Robotics Karlsruhe Institute of Technology Karlsruhe76131 Germany The Institute for Visual Computing ETH Zurich Zurich8092 Switzerland

Light field cameras are capable of capturing intricate angular and spatial details. This allows for acquiring complex light patterns and details from multiple angles, significantly enhancing the precision of image semantic segmentation. However, two significant issues arise: (1) The extensive angular information of light field cameras contains a large amount of redundant data, which is overwhelming for the limited hardware resources of intelligent agents. (2) A relative displacement difference exists in the data collected by different micro-lenses. To address these issues, we propose an Omni-Aperture Fusion model (OAFuser) that leverages dense context from the central view and extracts the angular information from sub-aperture images to generate semantically consistent results. To simultaneously streamline the redundant information from the light field cameras and avoid feature loss during network propagation, we present a simple yet very effective Sub-Aperture Fusion Module (SAFM). This module efficiently embeds sub-aperture images in angular features, allowing the network to process each sub-aperture image with a minimal computational demand of only (∼1GFlops). Furthermore, to address the mismatched spatial information across viewpoints, we present a center Angular Rectification Module (CARM) to realize feature resorting and prevent feature occlusion caused by misalignment. The proposed OAFuser achieves state-of-the-art performance on four UrbanLF datasets in terms of all evaluation metrics and sets a new record of 84.93% in mIoU on the UrbanLF-Real Extended dataset, with a gain of +3.69%. The source code for OAFuser is available at https://***/FeiBryantkit/OAFuser. Impact Statement-To solve the data abundance problem, we have reduced the significant computational consumption of light field cameras while not introducing any additional parameters. The proposed method has practical value for the deployment and application of light field cameras. The proposed

关键词： Semantic Segmentation

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HetSwarm: Cooperative Navigation of Heterogeneous Swarm in Dynamic and Dense Environments through Impedance-based Guidance

arXiv

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arXiv 2025年

作者： Zafar, Malaika Khan, Roohan Ahmed Fedoseev, Aleksey Jaiswal, Kumar Katyayan Tsetserukou, Dzmitry Intelligent Space Robotics Laboratory Center for Digital Engineering Skolkovo Institute of Science and Technology Moscow Russia Multi-Robot Autonomy Laboratory Center for Digital Engineering IISER Bhopal Bhopal India

With the growing demand for efficient logistics and warehouse management, unmanned aerial vehicles (UAVs) are emerging as a valuable complement to automated guided vehicles (AGVs). UAVs enhance efficiency by navigating dense environments and operating at varying altitudes. However, their limited flight time, battery life, and payload capacity necessitate a supporting ground station. To address these challenges, we propose HetSwarm, a heterogeneous multi-robot system that combines a UAV and a mobile ground robot for collaborative navigation in cluttered and dynamic conditions. Our approach employs an artificial potential field (APF)-based path planner for the UAV, allowing it to dynamically adjust its trajectory in real time. The ground robot follows this path while maintaining connectivity through impedance links, ensuring stable coordination. Additionally, the ground robot establishes temporal impedance links with low-height ground obstacles to avoid local collisions, as these obstacles do not interfere with the UAV’s flight. Experimental validation of HetSwarm in diverse environmental conditions demonstrated a 90% success rate across 30 test cases. The ground robot exhibited an average deviation of 45 cm near obstacles, confirming effective collision avoidance. Compared to the Conflict-Based Search (CBS) algorithm, our approach enables agents to navigate within 25 cm of obstacles, whereas CBS maintains a minimum clearance of 73 cm, highlighting our method’s efficiency in utilizing space in real-time. Extensive simulations in the Gym PyBullet environment further validated the robustness of our system for real-world applications, demonstrating its potential for dynamic, real-time task execution in cluttered environments. © 2025, CC BY-NC-ND.

关键词： Efficiency

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3D Semantic Mapping based on RGB-D Camera and LiDAR Sensor in Beach Environment

3D Semantic Mapping based on RGB-D Camera and LiDAR Sensor i...

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robotics, engineering, Science, and Technology (RESTCON), International Conference on

作者： Chi Jie Tan Shintaro Ogawa Takamasa Hayashi Titan Janthori Ayumu Tominaga Eiji Hayashi Department of Creative Informatics Kyushu Institute of Technology Fukuoka Japan Department of Creative Engineering Robotics and Mechatronics National Institute of Technology Kitakyushu College Kitakyushu Japan

The increasing amount of sea garbage proving to be a huge problem not only for marine life but also causing a tremendous number of troubles to humans living along the coastlines. Especially Japan, that is surrounded by the ocean which has a long coastline that spans thousands of kilometers, and this provides ample opportunities for marine debris to accumulate. This paper proposes a 3D mapping system utilizing the semantic information from the RGBD sensor extracted from a specifically trained state-of-art deep learning neural network to merge with the spatial information from the LiDAR sensor using Max Fusion Technique. This paper also aims to contribute to the implementation of deep learning and autonomous driving in beach cleaning-related robots and spark interest and raise awareness of the public in beach clean-up activities. It is also shown that the proposed system can achieve a mean accuracy of 98% approximately with the uniquely trained deep learning model.

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Cross-cultural comparison of the neural correlates of true and false memory retrieval

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Memory 2024年第10期32卷 1323-1340页

作者： Leger, Krystal R. Cho, Isu Valoumas, Ioannis Schwartz, Danielle Mair, Ross W. Goh, Joshua Oon Soo Gutchess, Angela Department of Psychology Brandeis University Waltham MA United States Center for Brain Science Harvard University Cambridge MA United States Athinoula A. Martinos Center for Biomedical Imaging Massachusetts General Hospital Boston MA United States Graduate Institute of Brain and Mind Sciences College of Medicine National Taiwan University Taipei City Taiwan Department of Psychology National Taiwan University Taipei City Taiwan Neurobiology and Cognitive Sciences Center National Taiwan University Taipei City Taiwan Center of Artificial Intelligence and Advanced Robotics National Taiwan University Taipei City Taiwan

Prior work has shown Americans have higher levels of memory specificity than East Asians. Neuroimaging studies have not investigated mechanisms that account for cultural differences at retrieval. In this study, we use fMRI to assess whether mnemonic discrimination, distinguishing novel from previously encountered stimuli, accounts for cultural differences in memory. Fifty-five American and 55 Taiwanese young adults completed an object recognition paradigm testing discrimination of old targets, similar lures and novel foils. Mnemonic discrimination was tested by comparing discrimination of similar lures from studied targets, and results showed the relationship between activity in right fusiform gyrus and behavioural discrimination between target and lure objects differed across cultural groups. Parametric modulation analyses of activity during lure correct rejections also indicated that groups differed in left superior parietal cortex response to variations in lure similarity. Additional analyses of old vs. new activity indicated that Americans and Taiwanese differ in the neural activity supporting general object recognition in the hippocampus, left inferior frontal gyrus and middle frontal gyrus. Results are juxtaposed against comparisons of the regions activated in common across the two cultures. Overall, Americans and Taiwanese differ in the extent to which they recruit visual processing and attention modulating brain regions. © 2024 Informa UK Limited, trading as Taylor & Francis Group.

关键词： Cross-cultural fMRI long-term memory mnemonic discrimination old vs. new pattern separation true vs. false memory

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