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Asynchronous Brain-computer Interface Shared Control of Robotic Grasping

Tsinghua science and technology 2019年第3期24卷 360-370页

作者： Wenchang Zhang Fuchun Sun Hang Wu Chuanqi Tan Yuzhen Ma the Department of Computer Science and Technology Tsinghua University State Key Lab.of Intelligent Technology and Systems Institute of Medical Support Technology Academy of Military Sciences Drugs Control of PAP

The control of a high Degree of Freedom(DoF) robot to grasp a target in three-dimensional space using Brain-computer Interface(BCI) remains a very difficult problem to solve. Design of synchronous BCI requires the user perform the brain activity task all the time according to the predefined paradigm; such a process is boring and fatiguing. Furthermore, the strategy of switching between robotic auto-control and BCI control is not very reliable because the accuracy of Motor Imagery(MI) pattern recognition rarely reaches 100%. In this paper, an asynchronous BCI shared control method is proposed for the high DoF robotic grasping task. The proposed method combines BCI control and automatic robotic control to simultaneously consider the robotic vision feedback and revise the unreasonable control commands. The user can easily mentally control the system and is only required to intervene and send brain commands to the automatic control system at the appropriate time according to the experience of the user. Two experiments are designed to validate our method: one aims to illustrate the accuracy of MI pattern recognition of our asynchronous BCI system; the other is the online practical experiment that controls the robot to grasp a target while avoiding an obstacle using the asynchronous BCI shared control method that can improve the safety and robustness of our system.

关键词： asynchronous Brain-computer Interface (BCI) shared control motor imagery robotic grasping

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CellCilk: Extending cilk for heterogeneous multicore platforms

CellCilk: Extending cilk for heterogeneous multicore platfor...

引用

24th International Workshop on Languages and Compilers for Parallel Computing, LCPC 2011

作者： Werth, Tobias Schreier, Silvia Philippsen, Michael Computer Science Department Programming Systems Group University of Erlangen-Nuremberg Germany Faculty of Mathematics and Computer Science Data Processing Technology University of Hagen Germany

ISBN: (纸本)9783642360350

The potential of heterogeneous multicores, like the Cell BE, can only be exploited if the host and the accelerator cores are used in parallel and if the specific features of the cores are considered. Parallel programming, especially when applied to irregular task-parallel problems, is challenging itself. However, heterogeneous multicores add to that complexity due to their memory hierarchy and specialized accelerators. As a solution for these issues we present CellCilk, a prototype implementation of Cilk for heterogeneous multicores with a host/accelerator design, using the Cell BE in particular. CellCilk introduces a new keyword (spu-spawn) for task creation on the accelerator cores. Task scheduling and load balancing are done by a novel dynamic cross-hierarchy work-stealing regime. Furthermore, the CellCilk runtime employs a garbage collection mechanism for distributed data structures that are created during scheduling. On benchmarks we achieve a good speedup and reasonable runtimes, even when compared to manually parallelized codes. © 2013 Springer-Verlag.

关键词： Parallel programming

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Development of Multi-Agent-Based Indoor 3D Reconstruction

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computers, Materials & Continua 2024年第10期81卷 161-181页

作者： Hoi Chuen Cheng Frederick Ziyang Hong Babar Hussain Yiru Wang Chik Patrick Yue Optical Wireless Lab Department of Electronic and Computer EngineeringThe Hong Kong University of Science and TechnologyHong KongChina

Large-scale indoor 3D reconstruction with multiple robots faces challenges in core enabling *** work contributes to a framework addressing localization,coordination,and vision processing for multi-agent reconstruction.A system architecture fusing visible light positioning,multi-agent path finding via reinforcement learning,and 360°camera techniques for 3D reconstruction is *** visible light positioning algorithm leverages existing lighting for centimeter-level localization without additional ***,a decentralized reinforcement learning approach is developed to solve the multi-agent path finding problem,with communications among agents *** 3D reconstruction pipeline utilizes equirectangular projection from 360°cameras to facilitate depth-independent reconstruction from posed monocular images using neural *** validation demonstrates centimeter-level indoor navigation and 3D scene reconstruction capabilities of our *** challenges and limitations stemming from the above enabling technologies are discussed at the end of each corresponding *** summary,this research advances fundamental techniques for multi-robot indoor 3D modeling,contributing to automated,data-driven applications through coordinated robot navigation,perception,and modeling.

关键词： Multi-agent system multi-robot human collaboration visible light communication visible light positioning 3D reconstruction reinforcement learning multi-agent path finding

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ADAT: Time-Series-Aware Adaptive Transformer Architecture for Sign Language Translation

arXiv

引用

arXiv 2025年

作者： Shahin, Nada Ismail, Leila Lab Department of Computer Science and Software Engineering College of Information Technology United Arab Emirates University Abu Dhabi Al Ain United Arab Emirates National Water and Energy United Arab Emirates University Abu Dhabi Al Ain United Arab Emirates Emirates Center for Mobility Research United Arab Emirates University Abu Dhabi Al Ain United Arab Emirates

Current sign language machine translation systems rely on recognizing hand movements, facial expressions and body postures, and natural language processing, to convert signs into text. Recent approaches use Transformer architectures to model long-range dependencies via positional encoding. However, they lack accuracy in recognizing fine-grained, short-range temporal dependencies between gestures captured at high framerates. Moreover, their high computational complexity leads to inefficient training. To mitigate these issues, we propose an Adaptive Transformer (ADAT), which incorporates components for enhanced feature extraction and adaptive feature weighting through a gating mechanism to emphasize contextually relevant features while reducing training overhead and maintaining translation accuracy. To evaluate ADAT, we introduce MedASL, the first public medical American Sign Language dataset. In sign-to-gloss-to-text experiments, ADAT outperforms the encoder-decoder transformer, improving BLEU-4 accuracy by 0.1% while reducing training time by 14.33% on PHOENIX14T and 3.24% on MedASL. In sign-to-text experiments, it improves accuracy by 8.7% and reduces training time by 2.8% on PHOENIX14T and achieves 4.7% higher accuracy and 7.17% faster training on MedASL. Compared to encoder-only and decoder-only baselines in sign-to-text, ADAT is at least 6.8% more accurate despite being up to 12.1% slower due to its dual-stream structure. © 2025, CC BY.

关键词： Neural machine translation

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Compiling pattern matching 2nd

引用

2nd International Conference on Functional programming Languages and computer Architecture, 1985

作者： Augustsson, Lennart Programming Methodology Group Department of Computer Science Chalmers University of Technology GöteborgS-412 96 Sweden

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Dynamical output feedback stabilization for neutral systems with mixed delays

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Journal of Zhejiang University-science A(Applied Physics & Engineering) 2008年第8期9卷 1043-1049页

作者： Wei QIAN Guo-jiang SHEN You-xian SUN State Key Lab of Industrtal Control Technology Zhejiang University Hangzhou 310027 China Department of Computer Science and Technology Henan Polytechnic University Jiaozuo 454000 China

This paper is concerned with the issue of stabilization for the linear neutral systems with mixed delays. The attention is focused on the design of output feedback controllers which guarantee the asymptotical stability of the closed-loop systems. Based on the model transformation of neutral type, the Lyapunov-Krasovskii functional method is employed to establish the delay-dependent stability criterion. Then, through the controller parameterization and some matrix transformation techniques, the desired parameters are determined under the delay-dependent design condition in terms of linear matrix inequalities (LMIs), and the desired controller is explicitly formulated. A numerical example is given to illustrate the effectiveness of the proposed method.

关键词： Neutral systems Mixed delays Output feedback stabilization Linear matrix inequality （LMI）

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Efficient Zero-Trust Data Transmission for Consumer Electronic Using Holographic Counterparts in Internet of Things: Ciphertext-Policy Attribute-Based Signcryption With Equality Test

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IEEE Transactions on Consumer Electronics 2025年

作者： Kuang, Ping Zhang, Xiyue Yang, Mengheng Xiong, Hu Feng, Chaosheng Wu, Deyan Wang, Weizheng Wahaballa, Abubaker University of Electronic Science and Technology of China Intelligent Information Technologies and Applications Lab Chengdu 610054 China University of Electronic Science and Technology of China Network and Data Security Lab Chengdu 610054 China Sichuan Normal University School of Computer Science Chengdu 610101 China Sichuan Institute of Computer Sciences Chengdu 610000 China City University of Hong Kong Department of Computer Science Hong Kong The University of Aizu Aizuwakamatsu Japan Arab East Colleges Department of Computer Science Riyadh 53354 Saudi Arabia

Secure communication in consumer electronic devices, such as health monitoring systems, is essential as they process sensitive medical data. This paper proposes a Ciphertext-Policy Attribute-Based Signcryption with Equality Test (CP-ABSC-ET) scheme to address these security challenges. The scheme controls who can access data and ensures both encryption and signature verification are done together, keeping the data secure. The integration of equality test enables secure ciphertext verification without decryption, ensuring both data integrity and confidentiality. Compared to existing schemes, the proposed approach reduces the computational overhead. Comprehensive security analysis and performance evaluations demonstrate the scheme’s suitability for dynamic and resource-constrained environments. The CP-ABSC-ET scheme ensures strong data protection, better access control, and efficient communication, making it ideal for consumer electronics like health monitoring devices. © 1975-2011 IEEE.

关键词： attribute-based encryption data confidentiality and integrity equality test holographic counterparts IoT consumer electronics real-time monitoring signcryption zero-trust

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Efficient compilation of lasy evaluation

Efficient compilation of lasy evaluation

引用

1984 SIGPLAN Symposium on Compiler Construction, SIGPLAN 1984

作者： Johnsson, Thomas Programming Methodology Group Department of Computer Science Chalmers University of Technology GöteborgS-412 96 Sweden

ISBN: (纸本)0897911393

This paper describes the principles underlying an efficient implementation of a lazy functional language, compiling to code for ordinary computers. It is baaed on combinator-like graph reduction: the user defined functions are used as rewrite rules in the graph. Each function is compiled into an instruction sequence for an abstract graph reduction machine, called the G-machine, the code reduces a function application graph to its value. The G-machine instructions are then translated into target code-Speed improvements by almost two orders of magnitude over previous lazy evaluators have been measured;we provide some performance figures. © 1984 ACM.

关键词： Functional programming

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A distributed garbage collection algorithm 2nd

引用

2nd International Conference on Functional programming Languages and computer Architecture, 1985

作者： Hughes, John Programming Methodology Group Department of Computer Science Chalmers University of Technology GöteborgS-412 96 Sweden

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Comparative Study for Classification Methods to Predict and Detect Epilepsy Seizure 5

Comparative Study for Classification Methods to Predict and ...

引用

5th IEEE Middle East and Africa Conference on Biomedical Engineering, MECBME 2020

作者： El Halabi, Nashaat Abi Zeid Daou, Roy Achkar, Roger Hayek, Ali Boercsoek, Josef American University of Science and Technology Department of Computer and Communications Engineering Faculty of Engineering Beirut Lebanon Faculty of Public Health Biomedical Technologies Department Jounieh Lebanon American University of Science and Technology Department of Computer and Communications Engineering Faculty of Engineering Beirut Lebanon Computer Science University of Kassel Department of Computer Architecture and System Programming Faculty of Electrical Engineering Germany Computer Science University of Kassel Department of Computer Architecture and System Programming Faculty of Electrical Engineering Germany

ISBN: (纸本)9781728123585

Epilepsy is a medical problem that tackles lots of patients. It limits the life activity of such patients due to the seizures that occur anytime and anywhere. Thus, creating a monitoring system that could make their life easier and allow them to perform daily life activities as safe as possible has been studied. This paper is a continuity for a project where a system monitors epileptic patients using a set of wearable sensors connected to several processing units, the main sensors are Electroencephalogram (EEG) for the electrical activity of the brain, electrocardiogram (ECG) for the electrical activity of the heart, and accelerometers to monitor the posture of the patient, features extracted from EEG and ECG signals are used for prediction/detection of seizures. Thus, the objective of this paper is to present a comparative study in order to choose the appropriate classification method for seizure prediction and detection. Five classification methods were studied: Decision Trees, Discriminant Analysis, Support Vector Machine (SVM), K-Nearest Neighbor (KNN), and Ensemble Learning. For each of the classification methods, the accuracy, the specificity, the sensitivity, the precision, the false detection rate and the Fmeasure were studied and compared. The results for seizure prediction system show that the highest accuracy, specificity and F-Measure, and lowest false detection rate were achieved with Bagged Trees Ensemble Learning, the highest sensitivity and precision were achieved with Quadratic Support Vector Machine. However, for seizure detection system, the highest accuracy and F-Measure were achieved with Linear Support Vector, the highest sensitivity and specificity were achieved with Fine Gaussian Support Vector Machine, and the highest precision and lowest false detection rate were achieved with Subspace Discriminant Ensemble Learning. © 2020 IEEE.

关键词： Support vector machines

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