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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Meng, Qiwei Zhu, Shiqiang Gu, Jianjun Lin, Zheyuan Zhong, Ling Song, Wei Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Laboratory Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China Dalhousie University Department of Electrical and Computer Engineering HalifaxNSB3H 4R2 Canada

ISBN: (纸本)9781665481090

In this paper, we present FEIF, a novel framework for 6D object pose estimation from a single RGBD image. Compared with previous approaches, this model fully leverages the complementary RGB and depth information through lay-erwise feature excitation and interactive fusion, thus improving the effectiveness and robustness of extracted features. The representative RGBD features can be subsequently applied for object keypoints prediction and pose computation. In addition, our FEIF includes a self-evaluation module to make robots aware of the confidence of pose estimation, so they are flexible to take the corresponding strategy for following tasks. Experiment results prove the SOTA performance of our model on LineMOD, Occlusion-LineMOD and YCB-Video datasets, and we also demonstrate its applicability and robustness in real-world robotic manipulation. © 2022 IEEE.

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Confidence-Aware Safe and Stable Control of Control-Affine Systems

arXiv

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arXiv 2024年

作者： Wei, Shiqing Krishnamurthy, Prashanth Khorrami, Farshad Control/Robotics Research Laboratory Department of Electrical and Computer Engineering NYU Tandon School of Engineering 5 Metrotech Center BrooklynNY11201 United States

Designing control inputs that satisfy safety requirements is crucial in safety-critical nonlinear control, and this task becomes particularly challenging when full-state measurements are unavailable. In this work, we address the problem of synthesizing safe and stable control for control-affine systems via output feedback (using an observer) while reducing the estimation error of the observer. To achieve this, we adapt control Lyapunov function (CLF) and control barrier function (CBF) techniques to the output feedback setting. Building upon the existing CLF-CBF-QP (Quadratic Program) and CBF-QP frameworks, we formulate two confidence-aware optimization problems and establish the Lipschitz continuity of the obtained solutions. To validate our approach, we conduct simulation studies on two illustrative examples. The simulation studies indicate both improvements in the observer’s estimation accuracy and the fulfillment of safety and control requirements. © 2024, CC BY.

关键词： Lyapunov functions

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Technical and economic feasibility assessment for hybrid energy system electricity and hydrogen generation: A case study

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Global Energy Interconnection 2025年第1期8卷 62-81页

作者： Paul C.Okonkwo Samuel Chukwujindu Nwokolo El Manaa Barhoumi Ibrahim B.Mansir Usman Habu Taura Barun Kumar Das Ahmed Bahgat Radwan Wilfred Emori Ephraim Bonah Agyekum Khalid Al Kaaf Mechanical&Mechatronics Engineering Department Dhofar UniversitySalalah 211the Sultanate of Oman Department of Physics Faculty of Physical SciencesUniversity of CalabarCalabar PMB 1115Nigeria Electrical&Computer Engineering Department Dhofar UniversitySalalah 211the Sultanate of Oman Department of Mechanical Engineering Prince Sattam bin Abdulaziz UniversityAl-Kharj 11942Saudi Arabia Centre for Energy Research and Training Ahmadu Bello UniversityPMB 1045ZariaNigeria Oil&Gas Research Center Sultan Qaboos UniversityMuscat 123the Sultanate of Oman Department of Mechanical Engineering Rajshahi University of Engineering&TechnologyRajshahi 6204Bangladesh Center for Advanced Materials Qatar UniversityDoha 2713Qatar School of Materials Science and Engineering Sichuan University of Science and EngineeringZigong 643000PR China Department of Nuclear and Renewable Energy Ural Federal University Named after the First President of Russia BorisEkaterinburg 620002Russia Western Caspian University Baku AZ1001Azerbaijan Department of Civil and Environmental Engineering Dhofar UniversitySalalah 211the Sultanate of Oman

Hydrogen is emerging as a promising alternative to fossil fuels in the transportation *** study evaluated the feasibility of estab-lishing hydrogen refueling stations in five cities in Oman,Duqm,Haima,Sur,Al Buraymi,and Salalah,using Hybrid Optimization of Multiple Electric Renewables(HOMER)*** hybrid energy systems,photovoltaic-wind turbine-battery,photovoltaic-battery,and wind turbine-battery were analyzed for each *** indicated that Duqm offers the lowest net present cost(NPC),levelized cost of energy,and levelized cost of hydrogen,making it the most cost-effective ***,Sensitivity analysis showed that as the life of electrolyzer increases during operation,the initial capital expenditure is distributed over a longer operational period,leading to a reduction in the *** so,renewable energy systems produced no emissions which supports Oman’s mission *** comprehensive analysis confirms the feasibility of establishing a hydrogen refueling station in Duqm,Oman,and highlights advanced optimization techniques’superior capability in designing cost-effective,sustainable energy systems.

关键词： Cities Economic indicator Hydrogen production Optimization Solar

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Acoustic Beamforming via Interference-Plus-Noise Covariance Matrix Construction for Interferences and Noise Attenuation

Acoustic Beamforming via Interference-Plus-Noise Covariance ...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Xiao, Yongxiong Zhu, Shiqiang Song, Wei Wan, Minhong Gu, Jason Li, Te Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Lab Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China Department of Electrical and Computer Engineering Dalhousie University HalifaxNSB3H 4R2 Canada

ISBN: (纸本)9781665481090

The interference-plus-noise covariance matrix (INCM) is essential in improving an acoustic beamformer's interference and noise attenuation performance. In practical implementation, INCM reconstruction is required to remove the signal of interest (SOI) components from the sample covariance matrix. However, some of the interference and noise components are inevitably removed during the INCM reconstruction process to avoid distortion of the desired speech, which deteriorates the interference and noise attenuation performance of the beamformer. This paper proposes constructing an INCM with as much information on the interferences and noise as possible by adding covariance matrices of the spherically diffuse noise, background noise, and interferences. The final INCM is reconstructed by using the principal eigenvector and definition of INCM. The beamformer's weight coefficients are computed by the linearly constrained minimum variance (LCMV) formulation. The proposed method is validated by experiments using a circular microphone array mounted on a tour robot in an exhibition hall. The results show that the proposed beamformer improves the robustness of automatic speech recognition and the performance of robot audition. © 2022 IEEE.

关键词： Beamforming

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HSMR: A Head-Shoulder Mask Aided ResNet to Guide Focus of Re-Identification Implemented on Tour-Guide Robot

HSMR: A Head-Shoulder Mask Aided ResNet to Guide Focus of Re...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Lin, Zheyuan Huang, Min Wang, Wen Qin, Mengjie Li, Te Wan, Minhong Gu, Jason Zhu, Shiqiang Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Laboratory Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China Dalhousie University Department of Electrical and Computer Engineering HalifaxNSB3H 4R2 Canada

ISBN: (纸本)9781665481090

For service robots, person re-identification (ReID) and multi-pedestrian tracking (MPT) are vital to get a person's location and link identities across frames. Though their accuracy keeps improving, most work lacks consideration of the application scenario, haunted by limited space, constrained power supply, and demands of the real-time response during human-robot interaction. Some ReID models learn trivial or unrelated features, inhibiting the downstream tasks. To solve these issues, the efficient and light-weighted Head-Shoulder Mask aided ResNet (HSMR) is proposed. This model applies multi-task learning to enhance the feature extraction performance in the training stage without extra computational load during inference. The auxiliary task fully uses head-shoulder information to guide the network and focuses on the head region, which contains the identity information. In experiments on the Tour-Guide Robot Data Base (TGRDB), HSMR earned results better than ResNet-18 on the ReID task and was superior to the recent two-stream method on the MPT task. On the mobile hardware, inference reaches an average of 15.2 FPS, three times faster than the two-stream method. The code is released at https://***/ZhYLin99/HSMR. © 2022 IEEE.

关键词： Human robot interaction

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LSTM Based Neural Network Model for Anomaly Event Detection in Care-Independent Smart Homes

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computer Modeling in engineering & sciences 2024年第9期140卷 2689-2706页

作者： Brij B.Gupta Akshat Gaurav Razaz Waheeb Attar Varsha Arya Ahmed Alhomoud Kwok Tai Chui Department of Computer Science and Information Engineering Asia UniversityTaichung413TaiwanChina Symbiosis Centre for Information Technology(SCIT) Symbiosis International UniversityPune411057India Center for Interdisciplinary Research University of Petroleum and Energy Studies(UPES)Dehradun248007India Computer Engineering Ronin InstituteMontclairNJ 07043USA Management Department College of Business AdministrationPrincess Nourah bint Abdulrahman UniversityP.O.Box 84428Riyadh11671Saudi Arabia Department of Business Administration Asia UniversityTaichung413TaiwanChina Department of Electrical and Computer Engineering Lebanese American UniversityBeirut1102Lebanon Department of Computer Sciences Faculty of Computing and Information TechnologyNorthern Border UniversityRafha91911Saudi Arabia School of Science and Technology Hong Kong Metropolitan University(HKMU)Hong KongChina

This study introduces a long-short-term memory(LSTM)-based neural network model developed for detecting anomaly events in care-independent smart homes,focusing on the critical application of elderly fall *** balances the dataset using the Synthetic Minority Over-sampling Technique(SMOTE),effectively neutralizing bias to address the challenge of unbalanced datasets prevalent in time-series classification *** proposed LSTM model is trained on the enriched dataset,capturing the temporal dependencies essential for anomaly *** model demonstrated a significant improvement in anomaly detection,with an accuracy of 84%.The results,detailed in the comprehensive classification and confusion matrices,showed the model’s proficiency in distinguishing between normal activities and *** study contributes to the advancement of smart home safety,presenting a robust framework for real-time anomaly monitoring.

关键词： LSTM neural networks anomaly detection smart home health-care elderly fall prevention

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Preliminary Design and Performance Analysis of A Solar-Powered Jumping-Gliding Martian Aircraft

Preliminary Design and Performance Analysis of A Solar-Power...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Lou, Bin Xie, Anhuan Zhu, Shiqiang Liu, Yaru Gu, Jason Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Lab Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China Dalhousie University Department of Electrical and Computer Engineering HalifaxNSB3H 4R2 Canada

ISBN: (纸本)9781665481090

A solar-powered jumping-gliding Martian aircraft is proposed as a new tool for Mars exploration, designed especially to perform long-term wide-range detection. A completely new way of continues detection performed by aircraft is created. A preliminary design of the jumping-gliding Martian aircraft is carried out while its flight performance is analyzed afterwards. The conceptual design of a large-aspect ratio foldable wing with a thin fuselage and a jumping device is put forward. The solar energy model, aerodynamic model and weight mode are all built. The energy balance models are established for the periods of detecting mission that the aircraft lands on the ground for harvesting solar energy and flies in the sky. The gliding performance of this aircraft is particularly discussed here. © 2022 IEEE.

关键词： Aspect ratio

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Low-cost Mars Terrain Classification System Based on Coarse-grained Annotation

Low-cost Mars Terrain Classification System Based on Coarse-...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Zhang, Jian Chen, Yeheng Zhu, Shiqiang Li, Yuehua Xie, Tian Gu, Jason Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Laboratory Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China Dalhousie University Department of Electrical and Computer Engineering HalifaxNSB3H 4R2 Canada

ISBN: (纸本)9781665481090

Due to communication latency with remote ground sites, automatic recognition of Mars terrain is essential for the path-planning of rovers. Currently, most vision-based terrain classification require thousands of fine-grained training samples, while the undefined terrains on Mars are difficult to be classified or fine-grained labeled. Actually, most of the terrain categories can only be coarse-grained labeled due to several limitations, such as overlapped sub-regions, blurred borders, etc. To solve this problem, CACMT (Coarse-grained Annotation-based Classification for Mars Terrain) is proposed to generate the global fine-grained classification map from the local coarse-grained data. Specifically, the complete pipeline is decomposed into (i) annotation rules with unique design, (ii) hierarchical feature fusion network for predicting sub-features of terrain (iii) and a generator for outputting dense terrain categories of Mars. Finally, the results of actual data on Mars demonstrate that the terrain sub-features can be successfully recognized and a dense terrain classification map can be generated applying only coarse-grained labeled images. © 2022 IEEE.

关键词： Motion planning

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Design and Analysis of Printed Conformal Antenna System for Inter and Intra Vehicular (V2V) Communication Utilizations

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Progress In Electromagnetics research C 2024年 142卷 143-150页

作者： Raju, Padmanabha Rao, Bathula Sadasiva Jackson, Beulah Islam, Tanvir Madhav, Boddapati Taraka Phani Das, Sudipta Devi, Yalavarthi Usha Department of ECE Sri Vishnu Engineering College for Women AP Vishnupur Bhimavaram India Department of ECE Swarnandhra College of Engineering and Technology Seetarampuram AP Narsapur India Department of Electronics and Communication Engineering Vel Tech Rangarajan Dr. Sagunthala R&D Institute of Science and Technology Tamil Nadu Chennai India Department of Electrical and Computer Engineering University of Houston HoustonTX77204 United States Antennas and Liquid Crystal Research Center Department of ECE Koneru Lakshmaiah Education Foundation AP India Department of Electronics and Communication Engineering IMPS College of Engineering and Technology West Bengal Malda732103 India

A multiple antenna placement system analysis for the improvement of efficiency and capacity for inter and intra vehicular communication is proposed in this article. Four antennas are placed in the four locations of the vehicular body which includes roof, side mirror, rear screen, and dashboard. The constituted antenna occupying the dimension of 40×38.5×0.2 mm3 on flexible substrate material of photo paper and the bending analysis of the model as per the conformal nature on vehicular body is also analyzed and presented in this work. The received power from each receiving antenna response with respect to the transmitter has been analyzed. The channel capacity with respect to the antenna position for V2V communication is analyzed in different areas and in different environmental conditions. © 2024, Electromagnetics Academy. All rights reserved.

关键词： Receiving antennas

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Digital Twin Driven Intelligent Systems and Emerging Metaverse 1

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2023年

作者： Enis Karaarslan Ömer Aydin Ümit Cali Moharram Challenger

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