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Robust Beamforming Design and Antenna Selection for Dynamic HRIS-aided MISO systems

IEEE Transactions on Vehicular Technology 2025年

作者： Wang, Jintao Zhou, Binggui Ma, Chengzhi Gong, Shiqi Yang, Guanghua Ma, Shaodan University of Macau State Key Laboratory of Internet of Things for Smart City Department of Electrical and Computer Engineering Macau999078 China Beijing Institute of Technology School of Information and Electronics Beijing100081 China Jinan University School of Intelligent Systems Science and Engineering Zhuhai519070 China

In this paper, we propose a dynamic hybrid active-passive reconfigurable intelligent surface (HRIS) to enhance multiple-input-single-output (MISO) communications, leveraging the property of dynamically placing active elements. Specifically, considering the impact of hardware impairments (HWIs), we investigate channel-aware configurations of the receive antennas at the base station (BS) and the active/passive elements at the HRIS to improve transmission reliability. To this end, we propose a penalty-based exact block coordinate descent (PEBCD) algorithm to address the mean-square-error (MSE) minimization problem for the dynamic HRIS-aided MISO system by jointly optimizing the BS receive antenna selection matrix, the reflection phase coefficients, the reflection amplitude matrix, and the mode selection matrix of the HRIS. Numerical simulations demonstrate the significant superiority of our proposed scheme over conventional benchmark schemes. © 1967-2012 IEEE.

关键词： Rectennas

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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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Spatial Attention-Enhanced Encoder-Decoder Network for Accurate Segmentation of the Prostate’s Transition Zone

Spatial Attention-Enhanced Encoder-Decoder Network for Accur...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Dimitrios I. Zaridis Eugenia Mylona Nikolaos S. Tachos Charalampos Kalantzopoulos Kostas Marias Manolis Tsiknakis Dimitrios I. Fotiadis Biomedical Engineering Laboratory School of Electrical & Computer Engineering and Biomedical Research Institute National Technical University of Athens and FORTH Athens & Ioannina Greece Biomedical Research Institute FORTH Ioannina Greece Computational Biomedicine Laboratory FORTH Heraklion Greece Biomedical Research Institute and Unit of Medical Technology and Intelligent Information Systems FORTH University of Ioannina Ioannina Greece

ISBN: (数字)9798350371499

ISBN: (纸本)9798350371505

Accurate segmentation of the prostate and its substructures consist the most important component for reliable localization and characterization of prostate cancer. In this study a Spatial Attention Residual U-Net (Spatial ResU-Net) deep learning (DL) network is proposed for segmenting the transitional zone of the prostate, by leveraging the learning capacity of spatial attention modules and residual connections. Spatial attention modules efficiently extract features in intra-channel manner and boost the performance of encoder and decoder while residual connections facilitate the information flow within the different network’s levels. The proposed model was compared against 8 state-of-the-art DL segmentation models demonstrating a superior performance. The improvement in terms of Sensitivity, Dice Score, Hausdorff distance and Average surface distance was at least 1%, 1%, 0.05 mm and 0.09 mm, respectively.

关键词： Location awareness Deep learning Accuracy Sensitivity Feature extraction Decoding Reliability Prostate cancer engineering in medicine and biology Testing

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Lower Limb Trajectory Prediction for Exoskeleton with AutoEncoder-Deep Gaussian Process

Lower Limb Trajectory Prediction for Exoskeleton with AutoEn...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Pingping Lv Chi Zhang Feng Yi Ting Yuan Shupei Li Meitong Zhang Faculty of Electrical Engineering and Computer Science Ningbo University Ningbo China Ningbo Institute of Materials Technology and Engineering Chinese Academy of Sciences Ningbo China Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology Chinese Academy of Sciences Ningbo China College of Materials Science and Opto-Electronic Technology University of Chinese Academy of Sciences Ningbo China

ISBN: (数字)9798350360868

ISBN: (纸本)9798350360875

Gait trajectory prediction is a crucial component in compensating control system delays, reducing interactive resistance, and achieving real-time assistance in exoskeleton robotics. In this paper, an adaptive gait prediction model based on the autoencoder deep Gaussian process (AE-DGP) is proposed for joint angle estimation using measurement data from inertial measurement units (IMUs). The DGP process involves stochastic gradient Hamiltonian Monte Carlo (SGHMC) calculations and Monte Carlo Expectation-maximization (MCEM) optimization at a lower computational cost. The kernel of the model is the multi-feature fusion input based on autoencoder and the construction of the DGP model with an adaptive sliding window. To suppress spikes in predicted deviations, a weighted averaging strategy is employed to estimate future stable gait trajectories. Benefiting from the design, the proposed model can enhance the accuracy and adaptability of gait prediction at different speeds. Experiments involving four participants at four speeds indicate that the proposed method achieves hip and knee joint prediction with less than 0.16° and 0.35° root mean squared errors respectively. Compared to the Gaussian process (GP) and long short-term memory (LSTM) models, the proposed method exhibits superior performance in adaptive gait trajectory prediction at different speeds.

关键词： Adaptation models Monte Carlo methods Computational modeling Exoskeletons Gaussian processes Predictive models Real-time systems

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Crossbreeding in random forest

arXiv

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arXiv 2021年

作者： Nadi, Abolfazl Moradi, Hadi Taheri, Khalil Advanced Robotics and Intelligent Systems Laboratory School of Electrical and Computer Engineering College of Engineering University of Tehran Tehran11155-4563 Iran SKKU Suwon16419 Korea Republic of

Ensemble learning methods are designed to benefit from multiple learning algorithms for better predictive performance. The tradeoff of this improved performance is slower speed and larger size of ensemble learning systems compared to single learning systems. In this paper, we present a novel approach to deal with this problem in Random Forest (RF) as one of the most powerful ensemble methods. The method is based on crossbreeding of the best tree branches to increase the performance of RF in space and speed while keeping the performance in the classification measures. The proposed approach has been tested on a group of synthetic and real datasets and compared to the standard RF approach. Several evaluations have been conducted to determine the effects of the Crossbred RF (CRF) on the accuracy and the number of trees in a forest. The results show better performance of CRF compared to RF. © 2021, CC BY-NC-ND.

关键词： Learning systems

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Multimodal Emotion Recognition Based on Multi-Scale Facial Features and Cross-Modal Attention

Multimodal Emotion Recognition Based on Multi-Scale Facial F...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Chengao Bao Luefeng Chen Min Li Min Wu Witold Pedrycz Kaoru Hirota School of Automation China University of Geosciences Wuhan China the Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems School of Automation and the Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education China University of Geosciences Wuhan China Department of Electrical and Computer Engineering University of Alberta Edmonton Canada Tokyo Institute of Technology Yokohama Japan Tokyo Institute of Technology Tokyo Japan

ISBN: (数字)9798331521950

ISBN: (纸本)9798331521967

A multi-modal emotion recognition method based on facial multi-scale features and cross-modal attention (MS-FCA) network is proposed. The MSFCA model improves the traditional single-branch ViT network into a two-branch ViT architecture by using classification tokens in each branch to interact with picture embeddings in the other branch, which facilitates effective interactions between different scales of information. Subsequently, audio features are extracted using ResNet18 network. The cross-modal attention mechanism is used to obtain the weight matrices between different modal features, making full use of inter-modal correlation and effectively fusing visual and audio features for more accurate emotion recognition. Two datasets are used for the experiments: eNTERFACE'05 and REDVESS dataset. The experimental results show that the accuracy of the proposed method on the eNTERFACE'05 and REDVESS datasets is 85.42% and 83.84% respectively, which proves the effectiveness of the proposed method.

关键词： Emotion recognition Visualization Accuracy Service robots Semantics Human-robot interaction Speech recognition Feature extraction Data mining Facial features

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SVM-based Extended Kalman Filter State Estimation of Biped Robot

SVM-based Extended Kalman Filter State Estimation of Biped R...

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IEEE International Conference on robotics and Biomimetics

作者： Chengzhi Gao Ye Xie Shiqiang Zhu Guanyu Huang Lingyu Kong Anhuan Xie Jianjun Gu Dan Zhang Zhejiang Laboratory Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Hangzhou China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou China Zhejiang University Hangzhou Zhejiang China Department of Electrical and Computer Engineering Dalhousie University Halifax NS Canada York University North York Toronto Canada

ISBN: (纸本)9781665481106

At present, more and more attention has been paid to the exploration of biped robots. As the precondition of biped stable walking, the state estimation of robot has also received the attention of many experts. Biped robot has special motion characteristics, has a hybrid dynamic system and belongs to a floating base, so it must obtain the contact information of two feet before realizing the motion state estimation of the robot. The contribution of this paper is to introduce soft support vector machine to detect contact phase. This method based on support vector machine (SVM) eliminates the need for force sensors on two feet because they are vulnerable to the impact between the foot and the contact surface. In addition, precise dynamic modeling is not required. Furthermore, this paper uses SVM to obtain the touchdown information, and proposes a state estimation method using extended Kalman filter to combine motion estimation with IMU data. Finally, the touchdown detection algorithm and the state estimation algorithm are verified through experiments, and the accuracy and feasibility of the SVM method are proved through the touchdown detection experiments. Based on this, the full state estimation of the robot is realized through the state estimation experiments.

关键词： Support vector machines Legged locomotion Technological innovation Motion estimation Switches Robot sensing systems Kalman filters

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A Multi-Player Potential Game Approach for Sensor Network Localization with Noisy Measurements

A Multi-Player Potential Game Approach for Sensor Network Lo...

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IEEE Conference on Decision and Control

作者： Gehui Xu Guanpu Chen Baris Fidan Yiguang Hong Hongsheng Qi Thomas Parisini Karl H. Johansson Department of Electrical and Electronic Engineering Imperial College London London UK Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Department of Mechanical and Mechatronics Engineering University of Waterloo Waterloo ON Canada Department of Control Science and Engineering Tongji University shanghai China Shanghai Research Institute for Intelligent Autonomous Systems Shanghai China Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Beijing China School of Mathematical Sciences University of Chinese Academy of Sciences Beijing China Department of Electronic Systems Aalborg University Denmark Department of Engineering and Architecture University of Trieste Italy

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

Sensor network localization (SNL) is a challenging problem due to its inherent non-convexity and the effects of noise in inter-node ranging measurements and anchor node position. We formulate a non-convex SNL problem as a multiplayer non-convex potential game and investigate the existence and uniqueness of a Nash equilibrium (NE) in both the ideal setting without measurement noise and the practical setting with measurement noise. We first show that the NE exists and is unique in the noiseless case, and corresponds to the precise network localization. Then, we study the SNL for the case with errors affecting the anchor node position and the inter-node distance measurements. Specifically, we establish that in case these errors are sufficiently small, the NE exists and is unique. It is shown that the NE is an approximate solution to the SNL problem, and that the position errors can be quantified accordingly. Based on these findings, we apply the results to case studies involving only inter-node distance measurement errors and only anchor position information inaccuracies.

关键词： Location awareness Noise Games Position measurement Nash equilibrium Distance measurement Noise measurement

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Ascl: Accelerating Semi-Supervised Learning Via Contrastive Learning

SSRN

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SSRN 2024年

作者： Liu, Haixiong Li, Zuoyong Wu, Jiawei Zeng, Kun Hu, Rong Zeng, Wei Fujian Provincial Key Laboratory of Big Data Mining and Applications School of Computer Science and Mathematics Fujian University of Technology Fuzhou350118 China Fujian Provincial Key Laboratory of Information Processing and Intelligent Control College of Computer and Data Science Minjiang University Fuzhou350121 China School of Intelligent Systems Engineering Shenzhen Campus of Sun Yat-sen University Guangdong Shenzhen518107 China The Key Laboratory of Cognitive Computing and Intelligent Information Processing of Fujian Education Institutions Wuyi University Wuyishan354300 China School of Physics and Mechanical and Electrical Engineering Longyan University Longyan364012 China

SSL(Semi-supervised learning) is widely used in machine learning, which leverages labeled and unlabeled data to improve model performance. SSL aims to optimize class mutual information, but noisy pseudo-labels introduce false class information due to the scarcity of labels. Therefore, these algorithms often need significant training time to refine pseudo-labels for performance improvement iteratively. To tackle this challenge, we propose a novel plug-and-play method named ASCL(Accelerating Semi-Supervised Learning via Contrastive Learning). This method combines contrastive learning with uncertainty-based selection for performance improvement and accelerates the convergence of SSL algorithms. Contrastive learning initially emphasizes the mutual information between samples as a means to decrease dependence on pseudo-labels. Subsequently, it gradually turns to maximizing the mutual information between classes, aligning with the objective of semi-supervised learning. Uncertainty-based selection provides a robust mechanism for acquiring pseudo-labels. The combination of the contrastive learning module and the uncertainty-based selection module forms a virtuous cycle to improve the performance of the proposed model. Extensive experiments demonstrate that ASCL outperforms state-of-the-art methods in terms of both convergence efficiency and performance. In the experimental scenario where only one label is assigned per class in the CIFAR-10 dataset, the application of ASCL to Pseudo-label, UDA (Unsupervised Data Augmentation for Consistency Training), and Fixmatch benefits substantial improvements in classification accuracy. Specifically, the results demonstrate notable improvements in respect of 16.32%, 6.9%, and 24.43% when compared to the original outcomes. Moreover, the required training time is reduced by almost 50%. © 2024, The Authors. All rights reserved.

关键词： Image classification

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Modelling the Dependence of Chlorophyll Leaf-Clip Measures on Vegetation Indices Derived from Multispectral UAS Images in Vineyards Parcels

Modelling the Dependence of Chlorophyll Leaf-Clip Measures o...

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IEEE International Symposium on Geoscience and Remote Sensing (IGARSS)

作者： Gil Gonçalves Umberto Andriolo Lúcio Paiva Cristiano Premebida António Ferraz Department of Mathematics University of Coimbra Coimbra Portugal Department of Electrical and Computer Engineering INESC Coimbra Coimbra Portugal Research Centre for Natural Resources Environment and Society Polytechnic Institute of Coimbra Coimbra Agrarian Technical School Coimbra Portugal Department of Electrical and Computer Engineering Institute of Systems and Robotics University of Coimbra Coimbra Portugal NASA Jet Propulsion Laboratory Pasadena United States

Multispectral images and leaf-clip measurements were used for evaluating the Chlorophyll (Chl) content on grapevine leaves through the use of vegetation indices. The multispectral leaf images were taken by a sensor onboard an UAS, which was placed over a table at a height of 70 cm. Images were radiometrically and geometrically processed to obtain accurate coregistered five band image stacks. Using a Kmeans segmentation, each leaf imaged in a multispectral image was automatically detected and the mean leaf reflectance values were used to compute three vegetation indices: NDVI, NDRE, and GLI. When compared to leaf-clip measurements, the results indicated that the NDRE index was the best predictor of Chl leaf content (R2=0.81). The obtained NDRE regression model can be used in UAS-based multispectral orthomosaics to generate canopy Chl maps at vine-row scale, which can assist vine growers in monitoring the spatial and temporal variability of grapevine vigor.

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