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arXiv 2023年

作者： Zhou, Zishun Ma, Liping Liu, Xilong Cao, Zhiqiang Yu, Junzhi The Institute of Automation Chinese Academy of Sciences Beijing100190 China The College of Electrical Engineering and Computer Science Australian National University Canberra2601 Australia The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China The School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China The State Key Laboratory for Turbulence and Complex System Department of Advanced Manufacturing and Robotics BIC-ESAT College of Engineering Peking University Beijing100871 China

Precise calibration is the basis for the vision-guided robot system to achieve high-precision operations. systems with multiple eyes (cameras) and multiple hands (robots) are particularly sensitive to calibration errors, such as micro-assembly systems. Most existing methods focus on the calibration of a single unit of the whole system, such as poses between hand and eye, or between two hands. These methods can be used to determine the relative pose between each unit, but the serialized incremental calibration strategy cannot avoid the problem of error accumulation in a large-scale system. Instead of focusing on a single unit, this paper models the multi-eye and multi-hand system calibration problem as a graph and proposes a method based on the minimum spanning tree and graph optimization. This method can automatically plan the serialized optimal calibration strategy in accordance with the system settings to get coarse calibration results initially. Then, with these initial values, the closed-loop constraints are introduced to carry out global optimization. Simulation experiments demonstrate the performance of the proposed algorithm under different noises and various hand-eye configurations. In addition, experiments on real robot systems are presented to further verify the proposed method. © 2023, CC BY-SA.

关键词： Multipurpose robots

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Ferroelectrets:Heterogenous polymer electrets with high piezoelectric sensitivity for transducers

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Journal of Advanced Dielectrics 2023年第4期13卷 3-26页

作者： Xunlin Qiu Peng Fang Axel Mellinger Ruy Alberto Pisani Altafim Werner Wirges Gunnar Gidion Dmitry Rychkov Shanghai Key Laboratory of Intelligent Sensing and Detection Technology School of Mechanical and Power Engineering East China University of Science and Technology Shanghai 200237P.R.China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Shenzhen 518055P.R.China Department of Physics Central Michigan University 223 Dow Science ComplexMount PleasantMI 48859USA Computer Systems Department Informatics Center Federal University of ParáıbaJoão Pessoa-PBBrazil Department of Physics and Astronomy University of Potsdam PotsdamBrandenburgGermany Laboratory for Electrical Instrumentation Department of Microsystems Engineering-IMTEK University of FreiburgGeorges-Köhler-Allee 106Freiburg 79110Germany Technology and Study Center Weissenburg Deggendorf Institute of Technology WeissenburgBavariaGermany

Nowadays,the demand for advanced functional materials in transducer technology is growing *** materials transform mechanical variables(displacement or force)into electrical signals(charge or voltage)and vice *** are interesting from both fundamental and application points of ***(also called piezoelectrets)are a relatively young group of piezo-,pyro-and ferroelectric *** exhibit ferroic behavior phenomenologically undistinguishable from that of traditional ferroelectrics,although the materials per se are essentially non-polar space-charge electrets with artificial macroscopic dipoles(i.e.,internally charged cavities).A lot of work has been done on ferroelectrets and their applications up to *** this paper,we review and discuss mostly the work done at University of Potsdam on the research and development of *** will,however,also mention important results from other teams,and prospect the challenges and future progress trend of the field of ferroelectret research.

关键词： Ferroelectret piezoelectret space-charge electret transducer advanced functional materials

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LocalViT: Analyzing Locality in Vision Transformers

LocalViT: Analyzing Locality in Vision Transformers

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Yawei Li Kai Zhang Jiezhang Cao Radu Timofte Michele Magno Luca Benini Luc Van Goo Computer Vision Lab D-ITET ETH Zurich Switzerland Center for Artificial Intelligence and Data Science (CAIDAS) University of Wurzburg Germany Center for Project-Based Learning D-ITET ETH Zurich Switzerland Integrated Systems Laboratory D-ITET ETH Zurich Switzerland Department of Electrical Electronic and Information Engineering University of Bologna Italy Processing Speech and Images (PSI) KU Leuven Belgium

The aim of this paper is to study the influence of locality mechanisms in vision transformers. Transformers originated from machine translation and are particularly good at modelling long-range dependencies within a long sequence. Although the global interaction between the token embeddings could be well modelled by the self-attention mechanism of transformers, what is lacking is a locality mechanism for infor-mation exchange within a local region. In this paper, locality mechanism is systematically investigated by carefully designed controlled experiments. We add locality to vision transformers into the feed-forward network. This seemingly simple solution is inspired by the comparison between feed-forward networks and inverted residual blocks. The importance of locality mechanisms is validated in two ways: 1) A wide range of design choices (activation function, layer placement, expansion ratio) are available for incorporating locality mechanisms and proper choices can lead to a performance gain over the baseline, and 2) The same locality mechanism is successfully applied to vision transformers with different architecture designs, which shows the generalization of the locality concept. For ImageNet2012 classification, the locality-enhanced transformers outperform the baselines Swin-T [1], DeiT-T [2] and PVT-T [3] by 1.0%, 2.6 % and 3.1 % with a negligible increase in the number of parameters and computational effort. Code is available at https://***/ofsoundof/LocalViT.

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Phase retrieval of programmable photonic integrated circuits based on an on-chip fractional-delay reference path

arXiv

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arXiv 2022年

作者： Xu, Xingyuan Ren, Guanghui Dubey, Aditya Feleppa, Tim Liu, Xumeng Boes, Andreas Mitchell, Arnan Lowery, Arthur J. Electro-Photonics Laboratory Department of Electrical and Computer Systems Engineering Monash University ClaytonVIC3800 Australia State Key Laboratory of Information Photonics and Optical Communications Beijing University of Posts and Telecommunications Beijing100876 China Integrated Photonics and Applications Centre School of Engineering RMIT University MelbourneVIC3000 Australia University of Adelaide Adelaide5005 SA Australia School of Electrical and Electronic Engineering University of Adelaide Adelaide5005 SA Australia

Programmable photonic integrated circuits (PICs), offering diverse signal processing functions within a single chip, are promising solutions for applications ranging from optical communications to artificial intelligence. While the scale and complexity of programmable PICs is increasing, the characterization, and thus calibration, of them becomes increasingly challenging. Here we demonstrate a phase retrieval method for programmable PICs using an on-chip fractional-delay reference path. The impulse response of the chip can be uniquely and precisely identified from only the insertion loss using a standard complex Fourier transform. We demonstrate our approach experimentally with a 4-tap finite-impulse-response chip. The results match well with expectations and verifies our approach as effective for individually determining the taps' weights without the need for additional ports and photodiodes. © 2022, CC BY.

关键词： Impulse response

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A Hybrid Adaptive Filter for Head Tracking in Augmented Reality (AR)-based Flight Simulators

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IEEE Transactions on computers 2025年

作者： Nwobodo, Onyeka J. Kuaban, Godlove Suila Nkemeni, Valery Wereszczynski, Kamil Cyran, Krzysztof A. Silesian University of Technology Department of Computer Graphics Vision and Digital Systems Faculty of Automatic Control Electronics and Computer Science Gliwice Poland Polish Academy of Sciences Institute of Theoretical and Applied Informatics Poland University of Buea Laboratory of Electrical Engineering and Computing Faculty of Engineering and Technology Buea Cameroon

This paper presents a novel approach for head tracking in augmented reality (AR) flight simulators using an adaptive fusion of Kalman and particle filters. This fusion dynamically balances the strengths of both algorithms, leveraging Kalman filters for computational efficiency and particle filters for handling non-linearities based on real-time factors such as sensor noise and head movement patterns. Our method demonstrates superior tracking precision and reduced latency, making it particularly effective for immersive pilot training in AR-based flight simulations. While focused on flight simulation, our approach holds high potential for broader applications in other AR and virtual reality (VR) environments where precise, real-time head tracking is crucial. These results provide actionable design guidance for developers optimizing tracking systems in environments that require fast response times and high accuracy. Future extensions of this research could explore the generalization of our approach across diverse AR applications, including human-computer interaction (HCI), medical simulations, and gaming. © 1968-2012 IEEE.

关键词： Flight simulators

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Adjustable and distributionally robust chance-constrained economic dispatch considering wind power uncertainty

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Journal of Modern Power systems and Clean Energy 2019年第3期7卷 658-664页

作者： Xin FANG Bri-Mathias HODGE Fangxing LI Ershun DU Chongqing KANG National Renewable Energy Laboratory GoldenCO80401USA Department of Electrical Engineering and Computer Science The University of TennesseeKnoxvilleTN37996USA State Key Laboratory of Power Systems Department of Electrical EngineeringTsinghua UniversityBeijing100084China

This paper proposes an adjustable and distributionally robust chance-constrained(ADRCC) optimal power flow(OPF) model for economic dispatch considering wind power forecasting uncertainty. The proposed ADRCC-OPF model is distributionally robust because the uncertainties of the wind power forecasting are represented only by their first-and second-order moments instead of a specific distribution assumption. The proposed model is adjustable because it is formulated as a second-order cone programming(SOCP) model with an adjustable *** coefficient can control the robustness of the chance constraints, which may be set up for the Gaussian distribution, symmetrically distributional robustness, or distributionally robust cases considering wind forecasting uncertainty. The conservativeness of the ADRCC-OPF model is analyzed and compared with the actual distribution data of wind forecasting error. The system operators can choose an appropriate adjustable coefficient to tradeoff between the economics and system security.

关键词： Economic dispatch Adjustable and distributionally robust chance-constrained(ADRCC) optimization Wind power forecasting Uncertainty

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Specialty optical fibers for advanced sensing applications

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Opto-Electronic Science 2023年第2期2卷 1-26页

作者： Huanhuan Liu Dora Juan Juan Hu Qizhen Sun Lei Wei Kaiwei Li Changrui Liao Bozhe Li Cong Zhao Xinyong Dong Yuhan Tang Yihong Xiao Gerd Keiser Perry Ping Shum Guangdong Key Laboratory of Integrated Optoelectronics Intellisense Department of Electronic and Electrical EngineeringSouthern University of Science and TechnologyShenzhen 518055China Institute for Infocomm Research(I2R) Agency for ScienceTechnology and Research(A*STAR)1 Fusionopolis Way#21-01Connexis South TowerSingapore 138632Singapore School of Electrical and Electronic Engineering Nanyang Technological University50 Nanyang AvenueSingapore 639798Singapore School of Optical and Electronic Information National Engineering Laboratory for Next Generation Internet Access SystemWuhan National Laboratory for OptoelectronicsHuazhong University of Science and TechnologyWuhan 430074China Key Laboratory of Bionic Engineering of Ministry of Education Jilin UniversityChangchun 130022China Key Laboratory of Optoelectronic Devices and Systems of Ministry of Education/Guangdong Province College of Physics and Optoelectronic EngineeringShenzhen UniversityShenzhen 518060China Shenzhen Key Laboratory of Photonic Devices and Sensing Systems for Internet of Things Guangdong and Hong Kong Joint Research Centre for Optical Fibre SensorsShenzhen UniversityShenzhen 518060China Guangdong Laboratory of Artificial Intelligence and Digital Economy(SZ) Shenzhen 518107China Guangdong Provincial Key Laboratory of Information Photonics Technology School of Information EngineeringGuangdong University of TechnologyGuangzhou 510006China Department of Electrical&Computer Engineering Boston UniversityBoston 02215USA Pengcheng Laboratory Shenzhen 518055China

Optical fiber technology has changed the world by enabling extraordinary growth in world-wide communications and *** rapid development and wide deployment of optical fiber sensors are driven by their excellent sensing performance with outstanding flexibility,functionality,and ***,the research on specialty optical fibers is playing a critical role in enabling and proliferating the optical fiber sensing *** paper overviews recent developments in specialty optical fibers and their sensing *** specialty optical fibers are reviewed based on their innovations in special structures,special materials,and technologies to realize lab in/on a *** overview of sensing applications in various fields is *** prospects and emerging research areas of specialty optical fibers are also discussed.

关键词： specialty optical fibers photonic crystal fiber multifunctional multi-material fibers lab in/on fiber

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A Zeroth-Order Momentum Method for Risk-Averse Online Convex Games

arXiv

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arXiv 2022年

作者： Wang, Zifan Shen, Yi Bell, Zachary I. Nivison, Scott Zavlanos, Michael M. Johansson, Karl H. Division of Decision and Control Systems School of Electrical Enginnering and Computer Science KTH Royal Institute of Technology StockholmSE-10044 Sweden The Department of Mechanical Engineering and Materials Science Duke University DurhamNC United States The Air Force Research Laboratory Eglin AFB FL United States

We consider risk-averse learning in repeated unknown games where the goal of the agents is to minimize their individual risk of incurring significantly high cost. Specifically, the agents use the conditional value at risk (CVaR) as a risk measure and rely on bandit feedback in the form of the cost values of the selected actions at every episode to estimate their CVaR values and update their actions. A major challenge in using bandit feedback to estimate CVaR is that the agents can only access their own cost values, which, however, depend on the actions of all agents. To address this challenge, we propose a new risk-averse learning algorithm with momentum that utilizes the full historical information on the cost values. We show that this algorithm achieves sub-linear regret and matches the best known algorithms in the literature. We provide numerical experiments for a Cournot game that show that our method outperforms existing methods. © 2022, CC BY.

关键词： Learning algorithms

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A Pricing Rule for Third-Party Platoon Coordination Service Provider

A Pricing Rule for Third-Party Platoon Coordination Service ...

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Asian Control Conference

作者： Ting Bai Alexander Johansson Shaoyuan Li Karl Henrik Johansson Jonas Må rtensson Integrated Transport Research Lab Digital Futures and Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiao Tong University Shanghai China

We model a platooning system including trucks and a third-party service provider that performs platoon coordination, distributes the platooning profit within platoons, and charges the trucks in exchange for its services. This paper studies one class of pricing rules, where the third-party service provider keeps part of the platooning profit each time a platoon is formed. Furthermore, we propose a platoon coordination solution based on distributed model predictive control in which the pricing rule is integrated. To evaluate the effect of the pricing on the platooning system, we perform a simulation over the Swedish road network. The simulation shows that the platooning rate and profit highly depend on the pricing. This suggests that pricing needs to be set carefully to obtain a satisfactory platooning system in the future.

关键词： Roads Pricing Predictive control

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parallel Planning:A New Motion Planning Framework for Autonomous Driving

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IEEE/CAA Journal of Automatica Sinica 2019年第1期6卷 236-246页

作者： Long Chen Xuemin Hu Wei Tian Hong Wang Dongpu Cao Fei-Yue Wang IEEE School of Data and Computer Science Sun Yat-sen University the School of Computer Science and Information Engineering Hubei University Institute of Measurement and Control Systems Karlsruhe Institute of Technology Department of Mechanical and Mechatronics Engineering University of Waterloo the State Key Laboratory of Management and Control for Complex Systems.Institute of Automation Chinese Academy of Sciences the Research Center for Military Computational Experiments and Parallel Systems Technology National University of Defense Technology

Motion planning is one of the most significant technologies for autonomous driving. To make motion planning models able to learn from the environment and to deal with emergency situations, a new motion planning framework called as"parallel planning" is proposed in this paper. In order to generate sufficient and various training samples, artificial traffic scenes are firstly constructed based on the knowledge from the reality.A deep planning model which combines a convolutional neural network(CNN) with the Long Short-Term Memory module(LSTM) is developed to make planning decisions in an end-toend mode. This model can learn from both real and artificial traffic scenes and imitate the driving style of human ***, a parallel deep reinforcement learning approach is also presented to improve the robustness of planning model and reduce the error rate. To handle emergency situations, a hybrid generative model including a variational auto-encoder(VAE) and a generative adversarial network(GAN) is utilized to learn from virtual emergencies generated in artificial traffic scenes. While an autonomous vehicle is moving, the hybrid generative model generates multiple video clips in parallel, which correspond to different potential emergency scenarios. Simultaneously, the deep planning model makes planning decisions for both virtual and current real scenes. The final planning decision is determined by analysis of real observations. Leveraging the parallel planning approach, the planner is able to make rational decisions without heavy calculation burden when an emergency occurs.

关键词： Autonomous driving artificial traffic scene deep learning emergencies motion planning parallel planning

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