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IEEE Conference on Decision and Control

作者： Tiancheng Qin S. Rasoul Etesami Cesár A. Uribe Department of Industrial and Enterprise Systems Engineering Coordinated Science Laboratory University of Illinois at Urbana-Champaign Urbana IL USA Department of Electrical and Computer Engineering Rice University Houston TX USA

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

Modern machine learning, especially deep learning, features models that are often highly expressive and over-parameterized. They can interpolate the data by driving the empirical loss close to zero. We analyze the convergence rate of decentralized stochastic gradient descent (SGD), which is at the core of decentralized federated learning (DFL), for these over-parameterized models. Our analysis covers the setting of decentralized SGD with time-varying networks, local updates and heterogeneous data. We establish strong convergence guarantees with or without the assumption of convex objectives that either improves upon the existing literature or is the first for the regime.

关键词： Deep learning Analytical models Federated learning Stochastic processes Numerical models Convergence

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End-to-end Semantic Segmentation Network for Low-Light Scenes

End-to-end Semantic Segmentation Network for Low-Light Scene...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Hongmin Mu Gang Zhang MengChu Zhou Zhengcai Cao College of Information Science and Technology Beijing University of Chemical Technology Beijing China Department of Macao Institute of Systems Engineering Macau University of Science and Technology Macao China Helen and John C. Hartmann Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ USA State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

In the fields of robotic perception and computer vision, achieving accurate semantic segmentation of low-light or nighttime scenes is challenging. This is primarily due to the limited visibility of objects and the reduced texture and color contrasts among them. To address the issue of limited visibility, we propose a hierarchical gated convolution unit, which simultaneously expands the receptive field and restores edge texture. To address the issue of reduced texture among objects, we propose a dual closed-loop bipartite matching algorithm to establish a total loss function consisting of the unsupervised illumination enhancement loss and supervised intersection-over-union loss, thus enabling the joint minimization of both losses via the Hungarian algorithm. We thus achieve end-to-end training for a semantic segmentation network especially suitable for handling low-light scenes. Experimental results demonstrate that the proposed network surpasses existing methods on the Cityscapes dataset and notably outperforms state-of-the-art methods on both Dark Zurich and Nighttime Driving datasets.

关键词： Training computer vision Accuracy Convolution Semantic segmentation Lighting Logic gates

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Continual Reinforcement Learning for Digital Twin Synchronization Optimization

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IEEE Transactions on Mobile Computing 2025年

作者： Tong, Haonan Chen, Mingzhe Zhao, Jun Hu, Ye Yang, Zhaohui Liu, Yuchen Yin, Changchuan Beijing University of Posts and Telecommunications Beijing Key Laboratory of Network System Architecture and Convergence Beijing Advanced Information Network Laboratory Beijing China College of Computing and Data Science Singapore University of Miami Department of Electrical and Computer Engineering Frost Institute for Data Science and Computing Coral Gables33146 United States University of Miami Department of Industrial and Systems Engineering Coral Gables33146 United States Zhejiang University College of Information Science and Electronic Engineering Hangzhou310027 China North Carolina State University Department of Computer Science RaleighNC27695 United States Beijing Key Laboratory of Network System Architecture and Convergence China Beijing University of Posts and Telecommunications Beijing Advanced Information Network Laboratory Beijing100876 China

This article investigates the adaptive resource allocation scheme for digital twin (DT) synchronization optimization over dynamic wireless networks. In our considered model, a base station (BS) continuously collects factory physical object state data from wireless devices to build a real-time virtual DT system for factory event analysis. Due to continuous data transmission, maintaining DT synchronization must use extensive wireless resources. To address this issue, a subset of devices is selected to transmit their sensing data, and resource block (RB) allocation is optimized. This problem is formulated as a constrained Markov process (CMDP) problem that minimizes the long-term mismatch between the physical and virtual systems. To solve this CMDP, we first transform the problem into a dual problem that refines RB constraint impacts on device scheduling strategies. We then propose a continual reinforcement learning (CRL) algorithm to solve the dual problem. The CRL algorithm learns a stable policy across historical experiences for quick adaptation to dynamics in physical states and network capacity. Simulation results show that the CRL can adapt quickly to network capacity changes and reduce normalized root mean square error (NRMSE) between physical and virtual states by up to 55.2%, using the same RB number as traditional methods. © 2025 IEEE. All rights reserved.

关键词： Markov processes

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Data-mechanism-driven Product Performance Optimization with Multiple Parameters Under Uncertainties in Manufacturing Automation systems

Data-mechanism-driven Product Performance Optimization with ...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Kaiyue Cui Zhaoxi Hong Xiuju Song Mengchu Zhou Zhiwu Li Yixiong Feng Jianrong Tan State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University Hangzhou China Ningbo Innovation Center Zhejiang University Ningbo China Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ USA Institute of Systems Engineering Macau University of Science and Technology Macau China State Key Laboratory of Public Big Data Guizhou University Guiyang China

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

High-end equipment with robust and excellent performance is of great significance to manufacturing automation systems. Product parameters are the foundation of performance. Usually, there is a lack of clear physical models to reveal the relationship between parameters and performance. Simulation is an important way to understand the design results of product performance parameters. However, simulations are often particularly time and resource-consuming. To address these issues, this work proposes a data-mechanism-driven product performance optimization method, which introduces Taguchi' method, nonparametric correlation testing, and multiple attribute decision making (MADM), to efficiently obtain the optimal parameter scheme. A novel MADM method is designed, which is combined with the Multi-Objective Optimization on the basis of a Ratio Analysis plus the full MULTIplicative form (MULTIMOORA) and the Variable Neighborhood Search. It has been proven that it performs better than the MULTIMOORA based on the well-known Simulated Annealing and Tabu search. Finally, taking the cutting unit of EBZ200i as a case study, we have successfully obtained the optimal parameter scheme that comprehensively performs better in terms of wear performance, robustness, and environmental economic performance.

关键词： Uncertainty Correlation computer aided software engineering Decision making Simulated annealing Robustness Environmental economics Optimization Manufacturing automation Testing

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The Evolution of Applications, Hardware Design, and Channel Modeling for Terahertz (THz) Band Communications and Sensing: Ready for 6G?

arXiv

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arXiv 2024年

作者： Jornet, Josep M. Petrov, Vitaly Wang, Hua Popovic, Zoya Shakya, Dipankar Siles, Jose V. Rappaport, Theodore S. Institute for the Wireless Internet of Things Northeastern University United States Division of Communication Systems KTH Royal Institute of Technology Sweden Department of Information Technology and Electrical Engineering ETH Zurich Switzerland Department of Electrical Computer and Energy Engineering University of Colorado Bouldar United States NYU Wireless New York University United States NASA Jet Propulsion Laboratory United States

For decades, the terahertz (THz) frequency band had been primarily explored in the context of radar, imaging, and spectroscopy, where multi-gigahertz (GHz) and even THz-wide channels and the properties of terahertz photons offered attractive target accuracy, resolution, and classification capabilities. Meanwhile, the exploitation of the terahertz band for wireless communication had originally been limited due to several reasons, including (i) no immediate need for such high data rates available via terahertz bands and (ii) challenges in designing sufficiently high power terahertz systems at reasonable cost and efficiency, leading to what was often referred to as "the terahertz gap." Over the recent decade, advances on many fronts have drastically changed the terahertz landscape. First, the evolution from 5Ggrade to 6G-grade wireless systems dictates the need to support novel bandwidth-hungry applications and services for both data transfer (i.e., eXtended Reality (XR), the Metaverse, and vast modeling needs of artificial intelligence (AI) and machine learning (ML)), as well as centimeter-precision sensing and classification (i.e., for standalone position location, vehicle-to-everything (V2X) or unmanned aerial vehicle (UAV) tracking). Second, substantial progress in terahertz hardware has been achieved, offering promise that the terahertz technology gap will be closed. Hence, terahertz-band wireless communication seems inevitably an essential part of the future networking technology landscape in coming decades. To design efficient terahertz systems, the peculiarities of terahertz hardware and terahertz channels need to be understood and accounted for. This roadmap paper first reviews the evolution of the hardware design approaches for terahertz systems, including electronic, photonic, and plasmonic approaches, and the understanding of the terahertz channel itself, in diverse scenarios, ranging from common indoors and outdoors scenarios to intra-body and outer-space

关键词： Data transfer

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Intelligent Soft Robotic Gripper Enabled by Multimodal Sensors and Deep Learning

Intelligent Soft Robotic Gripper Enabled by Multimodal Senso...

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IEEE International Conference on Nano/Micro Engineered and Molecular systems (NEMS)

作者： Qiongfeng Shi Zhongda Sun Xianhao Le Jin Xie Chengkuo Lee Joint International Research Laboratory of Information Display and Visualization School of Electronic Science and Engineering Southeast University Nanjing China Department of Electrical and Computer Engineering National University of Singapore Singapore Singapore State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University Hangzhou China

Here we report an intelligent soft robotic gripper enabled by the integration of an ultrasonic remote sensor and triboelectric sensors. Due to the noncontact distance sensing ability, the ultrasonic sensor is used to find the object’s visual information including position and height by lateral scanning. The information is then used for adjusting the robotic gripper to an appropriate grasp location, after which grasp operation is performed to obtain the object’s tactile information through triboelectric bending and tactile sensors. To efficiently analyze the multimodal information, a deep-learning neural network based on feature-level data fusion is constructed, which is able to achieve a high accuracy of 99.3% in classifying 14 objects, enabling the intelligent soft robotic gripper for various smart applications.

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Quantum Optimisation of Reconfigurable Surfaces in Complex Propagation Environments

Quantum Optimisation of Reconfigurable Surfaces in Complex P...

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European Conference on Antennas and Propagation, EuCAP

作者： Emanuel Colella Luca Bastianelli Mohsen Khalily Franco Moglie Zhen Peng Gabriele Gradoni Dipartimento di Ingegneria dell'Informazione Universit à Politecnica delle Marche Ancona Italy Department of Electrical and Electronic Engineering 6G/5G Innovation Centre Institute for Communication Systems University of Surrey Guildford UK Department of Electrical and Computer Engineering Electromagnetics Laboratory and Center for Computational Electromagnetics University of Illinois at Urbana-Champaign Urbana IL USA

The design and analysis of reconfigurable meta-surfaces operating within rich multi-path propagation fading is of crucial importance for the development of real-life programmable electromagnetic environments. We incorporate the effect of multi-path fading in an impedance-based model of wireless communication links assisted by reconfigurable surfaces. Previous work has shown that impedance-based channel models under rich multi-path propagation have an isomorphism with Sherrington-Kirkpatrick (SK) Hamiltonians. We focus on received power minimisation, which is equivalent to the hard-to-solve task task of finding the ground state of the SK Hamiltonian. It has been recently discovered that the Quantum Approximate Optimisation Algorithm (QAOA) predicts the ground state of SK Hamiltonians accurately. However, the landscape parameters of QAOA are dependent on the specific realisation of the random SK Hamiltonian, which hinders the full usage of quantum hardware to optimise reconfigurable surfaces dynamically. We show by Montecarlo simulations that a concentration property cures this impediment thus making QAOA an excellent candidate for surface optimisation under fast multi-path fading.

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Exploring the Economic Feasibility of Advanced Air Mobility in the Early Stages

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年第5期9卷 4826-4830页

作者： Jingqiu Guo Long Chen Lingxi Li Xiaoxiang Na Ljubo Vlacic Fei-Yue Wang Key Laboratory of Road and Traffic Engineering of the Ministry of Education Tongji University Shanghai China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Department of Electrical and Computer Engineering Purdue School of Engineering and Technology Indiana University–Purdue University Indianapolis (IUPUI) Indianapolis IN USA Department of Engineering University of Cambridge Cambridge U.K. Institute of Intelligent and Integrated Systems and the School of Engineering and Built Environment Griffith University Nathan QLD Australia State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Institute of Engineering Macau University of Science and Technology Macau China

Advanced Air Mobility (AAM) envisages a sustainable, safe, convenient, and affordable air transport system. In socio-technical transition of AAM, there are a number of trade-offs in ecosystem that need to be studied. Three perspectives on economic feasibility are explored: first, based on history of VTOL services and value of time estimates, we discuss whether AAM can provide customers with competitive mobility services; second, what are the stakeholders’ insights on the deployment of AAM; last, the experience in the development of autonomous driving technology, such as parallel intelligence, can inform future AAM research.

关键词： Active appearance model Costs Economics Transportation Helicopters Aircraft propulsion Public transportation

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Green Routing Game: Strategic Logistical Planning using Mixed Fleets of ICEVs and EVs

Green Routing Game: Strategic Logistical Planning using Mixe...

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IEEE Conference on Decision and Control

作者： Hampei Sasahara György Dán Saurabh Amin Henrik Sandberg Department of Systems and Control Engineering School of Engineering Tokyo Institute of Technology Tokyo Japan Division of Network and Systems Engineering School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Laboratory for Information and Decision Systems Massachusetts Institute of Technology Cambridge MA USA Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

This paper introduces a “green” routing game between multiple logistic operators (players), each owning a mixed fleet of internal combustion engine vehicle (ICEV) and electric vehicle (EV) trucks. Each player faces the cost of delayed delivery (due to charging requirements of EVs) and a pollution cost levied on the ICEVs. This cost structure models: 1) limited battery capacity of EVs and their charging requirement; 2) shared nature of charging facilities; 3) pollution cost levied by regulatory agency on the use of ICEVs. We characterize Nash equilibria of this game and derive a condition for its uniqueness. We also use the gradient projection method to compute this equilibrium in a distributed manner. Our equilibrium analysis is useful to analyze the trade-off faced by players in incurring higher delay due to congestion at charging locations when the share of EVs increases versus a higher pollution cost when the share of ICEVs increases. A numerical example suggests that to increase marginal pollution cost can reduce inefficiency of equilibria.

关键词： Costs Pollution Green products Internal combustion engines Games Routing Planning

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Neural-Network-Based Recursive State Estimation for Nonlinear Networked systems With Binary-Encoding Mechanisms

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IEEE Transactions on Neural Networks and Learning systems 2025年第6期36卷 10072-10083页

作者： Yuhan Zhang Zidong Wang Lei Zou Wei Qian Shuxin Du College of Electrical Engineering and Automation Shandong University of Science and Technology Qingdao China Department of Computer Science Brunel University of London Middlesex Uxbridge U.K. College of Information Science and Technology Donghua University Shanghai China Engineering Research Center of Digitalized Textile and Fashion Technology Ministry of Education Shanghai China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo China Huzhou Key Laboratory of Intelligent Sensing and Optimal Control for Industrial Systems School of Engineering Huzhou University Huzhou China

This work addresses the problem of recursive state estimation for networked control systems with unknown nonlinearities and binary-encoding mechanisms (BEMs). To enhance transmission reliability and reduce network resource consumption, BEMs are used to convert measurement signals into binary bit strings (BBSs) of limited length, which are then transmitted to the estimator through noisy communication channels. During transmission, random bit errors may occur in the BBSs due to channel noise. For the considered nonlinear networked control systems affected by random bit errors, a neural-network (NN)-based recursive estimation strategy is proposed, where an NN with a time-varying tuning scalar is employed to approximate the unknown nonlinearity of the networked control systems. By using the proposed strategy, the upper bounds of the estimation error of the system state and the trace of the estimation error of the NN weight (NNW) are first derived. These bounds are then minimized by recursively designing both the estimator gain matrix and the tuning scalar of the NNW. Finally, the effectiveness of the proposed estimation strategy is demonstrated through a numerical example.

关键词： Artificial neural networks State estimation Encoding Noise Networked control systems Electronic mail Symmetric matrices Estimation error Tuning Recursive estimation

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