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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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Attitude Takeover Control for Noncooperative Space Targets Based on Gaussian Processes with Online Model Learning

arXiv

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arXiv 2023年

作者： Liu, Yuhan Wang, Pengyu Lee, Chang-Hun Tóth, Roland The Control Systems Group Department of Electrical Engineering Eindhoven University of Technology Eindhoven Netherlands The Flight Dynamics and Control Laboratory Department of Aerospace Engineering Korea Advanced Institute of Science and Technology Daejeon Korea Republic of The Systems and Control Laboratory Institute for Computer Science and Control Budapest Hungary

One major challenge for autonomous attitude takeover control for on-orbit servicing of spacecraft is that an accurate dynamic motion model of the combined vehicles is highly nonlinear, complex and often costly to identify online, which makes traditional model-based control impractical for this task. To address this issue, a recursive online sparse Gaussian Process (GP)-based learning strategy for attitude takeover control of noncooperative targets with maneuverability is proposed, where the unknown dynamics are online compensated based on the learnt GP model in a semi-feedforward manner. The method enables the continuous use of on-orbit data to successively improve the learnt model during online operation and has reduced computational load compared to standard GP regression. Next to the GP-based feedforward, a feedback controller is proposed that varies its gains based on the predicted model confidence, ensuring robustness of the overall scheme. Moreover, rigorous theoretical proofs of Lyapunov stability and boundedness guarantees of the proposed method-driven closed-loop system are provided in the probabilistic sense. A simulation study based on a high-fidelity simulator is used to show the effectiveness of the proposed strategy and demonstrate its high performance. © 2023, CC BY-NC-SA.

关键词： Maneuverability

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Voiceprint Division Multiplexing for Parallel Speech Transmission

Voiceprint Division Multiplexing for Parallel Speech Transmi...

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Future Communications and Networks (FCN), International Conference on

作者： Zhen Gao Lini Yuan Xiaodong Xu Zhu Han School of Electrical and Information Engineering Tianjin Univeristy Tianjin P.R. China State Key Laboratory of Networking and Switching Technology University of Posts and Telecommunications Beijing P.R. China Department of Electrical and Computer Engineering University of Houston Houston TX USA

ISBN: (数字)9798350396034

ISBN: (纸本)9798350396041

Fast development of mobile communication makes spectrum resources getting increasingly scarce, and the growing number of user accesses can lead to network congestion. On the other hand, speech separation is a classic research topic in the field of natural language processing. With the fast development of deep learning, the performance of speech separation technology has been continuously improved. In this study, we introduce the speech separation technology into the mobile communication system to improve spectrum efficiency. In particular, Voiceprint Division Multiplexing (VDM) is proposed to utilize the same physical channel for parallel transmission of multiple speech signals. We first introduce the system structure and working procedure of VDM, and then established a simulation platform with the classic speech separation model and multi-bitrate voice codec to validate the effectiveness of the proposed scheme. Experimental results on the LibriSpeech dataset indicate that the proposed parallel speech transmission method outperforms the normal separate transmission scheme in terms of Scale-Invariant Source-To-Noise Ratio (SI-SNR) when the bitrate is below 9 kbps, and the maximum improvement can be 4.4 dB. This improvement can be further improved to 6.6 dB for low bitrate by smart grouping of multiple speech signals, which demonstrates the rationality and feasibility of VDM.

关键词： Multiplexing Deep learning Codecs Speech coding Bit rate Mobile communication Natural language processing

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An integrated microfluidic platform for nucleic acid testing

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Microsystems & Nanoengineering 2024年第3期10卷 181-194页

作者： Antao Sun Petra Vopařilová Xiaocheng Liu Bingqian Kou TomášŘezníček TomášLednický Sheng Ni JiříKudr Ondřej Zítka Zdenka Fohlerová Petr Pajer Haoqing Zhang Pavel Neužil Ministry of Education Key Laboratory of Micro and Nano Systems for Aerospace School of Mechanical EngineeringNorthwestern Polytechnical University127 West Youyi RoadXi’anShaanxi 710072P.R.China Department of Chemistry and Biochemistry Mendel University in BrnoZemědělská161300 BrnoCzech Republic ITD Tech s.r.o Osvoboditelů100573581 BohumínCzech Republic Central European Institute of Technology Brno University of TechnologyPurkyňova 123Brno 61200Czech Republic Department of Electronic and Computer Engineering The Hong Kong University of Science and TechnologyClear Water BayKowloonHong Kong SARChina Department of Microelectronics Faculty of Electrical Engineering and CommunicationBrno University of TechnologyTechnická3058/10Brno 61600Czech Republic Military Health Institute U Vojenskénemocnice 120016200 Praha 6Czech Republic The Key Laboratory of Biomedical Information Engineering of Ministry of Education School of Life Science and TechnologyXi’an Jiaotong UniversityXi’anShaanxi 710049P.R.China Bioinspired Engineering and Biomechanics Center(BEBC) Xi’an Jiaotong UniversityXi’an 710049P.R.China

This study presents a rapid and versatile low-cost sample-to-answer system for SARS-CoV-2 *** system integrates the extraction and purification of nucleic acids,followed by amplification via either reverse transcriptionquantitative polymerase chain reaction(RT–qPCR)or reverse transcription loop-mediated isothermal amplification(RT–LAMP).By meeting diverse diagnostic and reagent needs,the platform yields testing results that closely align with those of commercial RT-LAMP and RT‒qPCR *** advantages of our system include its speed and *** assay is completed within 28 min,including sample loading(5 min),ribonucleic acid(RNA)extraction(3 min),and RT-LAMP(20 min).The cost of each assay is≈$9.5,and this pricing is competitive against that of Food and Drug Administration(FDA)-approved commercial *** some RNA loss during on-chip extraction is observed,the platform maintains a potential limit of detection lower than 297 *** makes the system particularly useful in environments where centralized laboratories are either unavailable or inconveniently *** key feature is the platform’s versatility,allowing users to choose between RT‒qPCR or RT‒LAMP tests based on specific requirements.

关键词： testing maintain versatile

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Stability Analysis and Performance Evaluation of Delayed Bilateral Telerobotic systems over a Lossy Communication Channel

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Journal of systems Science & Complexity 2021年第1期34卷 157-179页

作者： BAKHSHI Ali ALFI Alireza TALEBI Heidar Ali SOURATGAR Amir Aboulfazl YOUSEFI Mahdi Faculty of Electrical and Robotic Engineering Shahrood University of TechnologyShahrood 36199-95161Iran Power Plants Control Systems Technology Development Plan Department of monitoring and ControlNiroo Research InstituteTehran 14665-517Iran Real-Time and Robotics system Laboratory Faculty of Electrical EngineeringAmirkabir University of TechnologyHafez AvenueTehran 15914Iran Electrical and Computer Engineering Department The University of British Columbia2385East MallVan couverBC V6T 1Z4Canada

The focus of this paper is to address a novel control technique for stability and transparency analysis of bilateral telerobotic systems in the presence of data loss and time delay in the communication channel. Different control strategies have been reported to compensate the effects of time delay in the communication channel;however, most of them result in poor performance under data loss. First, a model for data loss is proposed using a finite series representation of a set of periodic continuous *** improve the performance and data reconstruction, a holder circuits is also introduced. The passivity of the overall system is provided via the wave variable technique based on the proposed model for the data loss. The stability analysis of the system is then derived using the Lyapunov theorem under the time delay and the data loss. Finally, experimental results are given to illustrate the capability of the proposed control technique.

关键词： Lossy channel passivity stability telerobotic transparency

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Joint Precoding and Reflection Optimization for IRS-Assisted MU-MIMO-OTFS Downlink systems

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IEEE Transactions on Vehicular Technology 2025年

作者： Zou, Tingting Wang, Fengyu Xu, Wenjun Zhang, Yimeng Pan, Miao Han, Zhu Beijing University of Posts and Telecommunications State Key Laboratory of Network and Switching Technology Beijing100876 China Beijing University of Posts and Telecommunications School of Artificial Intelligence Beijing100876 China Beijing University of Posts and Telecommunications State Key Laboratory of Networking and Switching Technology China Mobile Research Institute Beijing100876 China University of Houston Department of Electrical and Computer Engineering HoustonTX77004 United States Kyung Hee University Department of Computer Science and Engineering Seoul446-701 Korea Republic of

Orthogonal time frequency space (OTFS) modulation has been proposed as a promising technique to achieve high-reliability communications in high-mobility scenarios. In this paper, we consider a multi-user (MU) multiple-input multiple-output (MIMO)-OTFS downlink communication scenario, where an intelligent reflecting surface (IRS) is deployed to enhance the performance. Specifically, the delay- Doppler (DD) domain input-output relationship of such a system is first derived, based on which, the joint optimization of the precoding matrices and IRS reflection phase is studied to maximize the weighted sum rate (WSR) considering user fairness. Note that the corresponding optimization problem is non-convex. To tackle this challenge, we first reformulate the problem into a more traceable equivalent form by the weighted mean minimum square error (WMMSE) approach. Utilizing the characteristics of the DD domain signal relationship, we then decouple the reformulated problem and further transform it into two subproblems, which are solved by the Lagrangian function method and the project-descent-retracting (PDR) algorithm, respectively. The precoding matrices and reflection phase are jointly optimized by alternative optimization to maximize WSR. Simulation results demonstrate that, compared with benchmark schemes, the proposed WMMSE-ALT can improve the rate more than 85% in IRS-assisted MU-MIMO-OTFS systems. © 1967-2012 IEEE.

关键词： Mean square error

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Multisensor fusion estimation of nonlinear systems with intermittent observations and heavy-tailed noises

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Science China(Information Sciences) 2022年第09期65卷 173-190页

作者： Bo XIAO Q.M.Jonathan WU Liping YAN School of Artificial Intelligence Beijing University of Posts and Telecommunications Department of Electrical and Computer Engineering University of Windsor Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

Inspired by the robust student t-distribution based nonlinear filter(RSTNF), a student tdistribution and unscented transform(UT) based filter for state estimation of heavy-tailed nonlinear dynamic systems, a modified RSTNF for intermittent observations is derived. The fusion estimation for nonlinear multisensor systems with intermittent observations and heavy-tailed measurement and process noises is *** this work, the centralized fusion, the sequential fusion, and the na¨?ve distributed fusion algorithms are presented, respectively. Theoretical analysis shows that the presented algorithms are effective, which are the efficient extension of the classical unscented Kalman filter(UKF) or the cubature Kalman filter(CKF) based algorithms with Gaussian noises. Simulation results show that the presented algorithms are effective and feasible.

关键词： state fusion estimation nonlinear systems heavy-tailed noise intermittent observations multivariate t-distribution

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Deflection Shape Balancing: An Alternative to Modal Balancing 38th

Deflection Shape Balancing: An Alternative to Modal Balancin...

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38th IMAC, A Conference and Exposition on Structural Dynamics, 2020

作者： Morrell, W. Jason Damiano, B. Hylton, K. Jordan, C. Department of Electrical Engineering and Computer Science College of Engineering The University of Tennessee KnoxvilleTN United States Dynamic Systems Analysis Group Electrical and Electronics Systems Research Division Oak Ridge National Laboratory Oak RidgeTN United States

ISBN: (纸本)9783030477165

Rotor balancing is the final step in the rotor manufacturing process and may be necessary during rotor refurbishment. The process can be time consuming and costly, especially for supercritical monolithic rotors, impacting schedule and increasing costs. Modal balancing is a commonly used practice and is effective but requires multiple runs and at least one high-speed run. Deflection shape balancing is introduced as an alternative that may offer a more efficient method of balancing making the process faster with potentially fewer balancing runs. This paper explores the performance of the deflection shape fit balancing technique by utilizing MATLAB code simulations. © 2021, The Society for Experimental Mechanics, Inc.

关键词： MATLAB

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Optimal Power Control Based-Metaheuristic Algorithm Based Variable Speed Wind Energy System of DFIG

Optimal Power Control Based-Metaheuristic Algorithm Based Va...

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International Smart Grid Workshop and Certificate Program (ISGWCP)

作者： Boussaid Ibrahim Harrouz Abdelkader Merahi Farid Ibrahim Yaichi Ilhami Colak Korhan Kayisli Virgil Dumbrava Electrical Engineering Department Laboratory of sustainable development and computer science (LDDI) University of Adrar Adrar Algeria Laboratory of sustainable development and computer science (LDDI) University of Adrar Adrar Algeria Electrical Engineering Department Automatic Laboratory of Setif University of Ferhat Abbas Setif1 Setif Algeria Department of Electrical Electronics Eng. Faculty of Engineering Architecture Nisantasi University Istanbul Turkey Department of Electric Power Systems Polytechnic University of Bucharest Bucharest Romania

This article presents a novel method for controlling a doubly fed induction generator (DFIG) wind energy system in the presence of variable wind speeds. In order to achieve decoupling control of the active and reactive power, the rotor-side converter (RSC) of the DFIG is controlled using field-oriented control (FOC). The system is very complicated and nonlinear, making it challenging to adjust the PI gains appropriately. The present research proposes the utilization of the Grey Wolf Optimization (GWO) algorithm as an approach to optimize the gains of a Proportional-Integral (PI) regulator. The simulation results demonstrate that the GWO-PI provides a lower criterion value and an improved response than the conventional PI.

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Trikarenos: Design and Experimental Characterization of a Fault-Tolerant 28nm RISC-V-based SoC

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IEEE Transactions on Nuclear Science 2025年

作者： Rogenmoser, Michael Wiese, Philip Forlin, Bruno Endres Gurkaynak, Frank K. Rech, Paolo Menicucci, Alessandra Ottavi, Marco Benini, Luca Integrated Systems Laboratory ETH Zurich Switzerland Computer Architecture for Embedded Systems University of Twente Netherlands Department of Industrial Engineering University of Trento Italy Delft University of Technology Department of Space Engineering Netherlands University of Rome Department of Electronic Engineering Tor Vergata Italy Information Engineering at the University of Bologna Department of Electrical Electronic Italy

RISC-V-based fault-tolerant system-on-chip (SoC) designs are critical for the new generation of automotive and space SoC architectures. However, reliability assessment requires characterization under controlled radiation doses to accurately quantify the fault tolerance of the fabricated designs. This work analyzes the Trikarenos design, a SoC implemented in TSMC 28nm, for single event upset (SEU) vulnerability under atmospheric neutron and 200MeV proton radiation, comparing these results to simulation-based fault injection. All faults in error correction codes (ECC) protected memory are corrected by a scrubber, showing an estimated cross-section per bit of up to 1.09 × 10−14 cm2 bit−1. Furthermore, the triple-core lockstep (TCLS) mechanism implemented in Trikarenos is validated and is shown to correct errors affecting a cross-section up to 3.23 × 10−11 cm2, with the remaining uncorrectable vulnerability below 5.36 × 10−12 cm2. When augmenting the experimental analysis of fabricated chips with gate-level fault injection in simulation, 99.10% of injections into the SoC produced correct results, while 100% of injections in the TCLS-protected cores were handled *** 12.28%of all injected faults leading to a TCLS recovery, this indicates an approximate effective flip-flop cross-section of up to 1.28 × 10−14 cm2/FF. © 1963-2012 IEEE.

关键词： Radiation damage

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