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International Symposium on computers in Education (SIIE)

作者： Miguel Á. Conde Francisco J. Rodríguez-Sedano Francisco J. García-Peñalvo Jose Gonçalves Ilkka Jormanainen Andrea Anzanello Jonny Filipe Ribeiro Alves Raquel Fernández Hernáandez Alina- Andreia Ailincai Dept. of Mechanics Computer Science and Aerospace Engineering Universidad de Leon Leon Spain Dept. Electrical Systems and Automation Engineering Universidad de Leon Leon Spain Dpto. de Informatica y Autormatica - IUCE Universidad de Salamanca Salamanca Espana Research Centre in Digitalization and Intelligent Robotics (CeDRI) Instituto Politecnico de Braganca Braganca Portugal School of Computing University of Eastern Finland Joensuu Finland Dept of Project Management Pixel Florence Italy Colegio Internato Dos Carvalhos Carvalhos Portugal Colegio de Educacion Especial Ntra. Sra. del Sagrado Corazon de Leon Leon Spain EuroEd Primary School Lasi Romania

ISBN: (数字)9798350376616

ISBN: (纸本)9798350376623

Our contemporary society necessitates professionals equipped with 21st-century skills. Disciplines within Science, Technology, engineering, Arts, and Mathematics (known as STEAM) have been particularly effective in fostering these skills. However, when considering students with disabilities, especially those with intellectual or developmental disabilities (IDD), this assertion often falls short. In this context, the RoboSTEAMSEN project emerges as an initiative designed to enhance educational processes by providing teachers of IDD students with the necessary resources to promote STEAM engagement. The project proposes the use of active learning methodologies and robotics to achieve this goal. The primary objective of the project is realized through several strategies: understanding the needs of students with disabilities and adapting the use of robotics and active learning methodologies accordingly; training teachers in the use of these resources; and creating a platform to exchange experiences, resources, lessons learned, tools, case scenarios, etc., while reaching other potential stakeholders such as caregivers and policymakers. The main outcomes of the project are teacher training programs and the development of associated competencies, tools to identify and classify resources for the students, and technological platforms to ensure the sustain ability of the project once it concludes.

关键词： Training computers Ecosystems Collaboration Fasteners People with disabilities Mathematics

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Awareness in robotics: An early perspective from the viewpoint of the EIC Pathfinder Challenge "Awareness Inside"

arXiv

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arXiv 2024年

作者： Santina, Cosimo Della Corbato, Carlos Hernandez Sisman, Burak Leiva, Luis A. Arapakis, Ioannis Vakalellis, Michalis Vanderdonckt, Jean D’Haro, LuisFernando Manzi, Guido Becchio, Cristina Elamrani, Aïda Alirezaei, Mohsen Castellano, Ginevra Dimarogonas, Dimos V. Ghosh, Arabinda Haesaert, Sofie Soudjani, Sadegh Stroeve, Sybert Verschure, Paul Bacciu, Davide Deroy, Ophelia Bahrami, Bahador Gallicchio, Claudio Hauert, Sabine Sanz, Ricardo Lanillos, Pablo Iacca, Giovanni Sigg, Stephan Gasulla, Manel Steels, Luc Sierra, Carles Department of Cognitive Robotics Delft University of Technology Delft Netherlands Oberpfaffenhofen Germany Department of Computer Science University of Luxembourg Luxembourg 4 Telefónica I+D Spain AEGIS IT Research GmbH Germany Université catholique de Louvain Belgium Speech Technology and Machine Learning Group ETSI de Telecomunicación Universidad Politécnica de Madrid Madrid Spain Alien Venture Studio Alien Technology Transfer Rome Italy Hamburg Germany Institut Jean Nicod École Normale Supérieure Paris France Research Technology and Development Department Digital Industry Software Helmond Netherlands Department of Information Technology Uppsala University Uppsala Sweden Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Max Planck Institute for Software Systems Kaiserslautern Germany Department of Electrical Engineering Control Systems Group Eindhoven University of Technology Eindhoven Netherlands Amsterdam Netherlands Donders Centre for Neuroscience Radboud University Nijmegen Netherlands Computer Science Department University of Pisa Pisa Italy Faculty of Philosophy Philosophy of Science The Study of Religion Ludwig Maximilian University of Munich Munich Germany School of Engineering Mathematics and Technology University of Bristol Bristol United Kingdom Autonomous Systems Laboratory Universidad Politécnica de Madrid Spain Madrid Spain Department of Information Engineering and Computer Science University of Trento Trento Italy Department of Information and Communications Engineering Aalto University Espoo Finland Department of Electronic Engineering Universitat Politècnica de Catalunya Barcelona Spain Studio Stelluti Brussels Belgium Barcelona Spain

Consciousness has been historically a heavily debated topic in engineering, science, and philosophy. On the contrary, awareness had less success in raising the interest of scholars in the past. However, things are changing as more and more researchers are getting interested in answering questions concerning what awareness is and how it can be artificially generated. The landscape is rapidly evolving, with multiple voices and interpretations of the concept being conceived and techniques being developed. The goal of this paper is to summarize and discuss the ones among these voices that are connected with projects funded by the EIC Pathfinder Challenge called "Awareness Inside", a nonrecurring call for proposals within Horizon Europe that was designed specifically for fostering research on natural and synthetic awareness. In this perspective, we dedicate special attention to challenges and promises of applying synthetic awareness in robotics, as the development of mature techniques in this new field is expected to have a special impact on generating more capable and trustworthy embodied systems. © 2024, CC BY.

关键词： robotics

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Optimal Estimator Design and Properties Analysis for Interconnected systems with Asymmetric Information Structure

arXiv

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arXiv 2021年

作者： Wang, Yan Xiong, Junlin Yang, Zaiyue Su, Rong School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Shenzhen518055 China School of Electrical and Electronic Engineering Nanyang Technological University Nanyang Avenue 50 Singapore Department of Automation University of Science and Technology of China Hefei230026 China Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China

This paper studies the optimal state estimation problem for interconnected systems. Each subsystem can obtain its own measurement in real time, while, the measurements transmitted between the subsystems suffer from random delay. The optimal estimator is analytically designed for minimizing the conditional error covariance. The boundedness of the expected error covariance (EEC) is analyzed. In particular, a new condition that is easy to verify is established for the boundedness of EEC. Further, the properties of EEC with respect to the delay probability are studied. We found that there exists a critical probability such that the EEC is bounded if the delay probability is below the critical probability. Also, a lower and upper bound of the critical probability is derived. Finally, the proposed results are applied to a power system, and the effectiveness of the designed methods is illustrated by simulations. © 2021, CC BY-SA.

关键词： Errors

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Continuous-time fitted value iteration for robust policies

arXiv

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arXiv 2021年

作者： Lutter, Michael Belousov, Boris Mannor, Shie Fox, Dieter Garg, Animesh Peters, Jan Intelligent Autonomous Systems group Computer Science Department Technical University of Darmstadt Darmstadt Germany Andrew and Erna Viterbi Faculty of Electrical & Computer Engineering Technion – Israel Institute of Technology and a Distinguished Scientist at NVIDIA Tel Aviv Israel Allen School of Computer Science & Engineering University of Washington and Senior Director of Robotics Research NVIDIA Washington Seattle United States Computer Science Department University of Toronto NVIDIA Toronto Canada

Solving the Hamilton-Jacobi-Bellman equation is important in many domains including control, robotics and economics. Especially for continuous control, solving this differential equation and its extension the Hamilton-Jacobi-Isaacs equation, is important as it yields the optimal policy that achieves the maximum reward on a give task. In the case of the Hamilton-Jacobi-Isaacs equation, which includes an adversary controlling the environment and minimizing the reward, the obtained policy is also robust to perturbations of the dynamics. In this paper we propose continuous fitted value iteration (cFVI) and robust fitted value iteration (rFVI). These algorithms leverage the non-linear control-affine dynamics and separable state and action reward of many continuous control problems to derive the optimal policy and optimal adversary in closed form. This analytic expression simplifies the differential equations and enables us to solve for the optimal value function using value iteration for continuous actions and states as well as the adversarial case. Notably, the resulting algorithms do not require discretization of states or actions. We apply the resulting algorithms to the Furuta pendulum and cartpole. We show that both algorithms obtain the optimal policy. The robustness Sim2Real experiments on the physical systems show that the policies successfully achieve the task in the real-world. When changing the masses of the pendulum, we observe that robust value iteration is more robust compared to deep reinforcement learning algorithm and the non-robust version of the algorithm. Videos of the experiments are shown at https://***/view/rfvi Copyright © 2021, The Authors. All rights reserved.

关键词： Dynamic programming

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An Accelerated Iterative Learning Control Approach for X-Y precision plane motion stage

An Accelerated Iterative Learning Control Approach for X-Y p...

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作者： Tao Zhang Hongyu Yan Danping Jia Hualiang Zhang Bingjie Zhao Xu Lu Yang Liu Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences School of Electrical Engineering Dalian University of Technology School of Artificial Intelligence Shenyang University of Technology School of Information Science and Engineering Shenyang University of Technology

X-Y precision plane motion stage is widely used in precision motion control fields such as lithography machine workpiece stage,CNC machine tool,Laser measuring system,etc.,which requires high accuracy of the position *** X-Y precision plane motion stage uses two permanent magnet linear synchronous motors(PMLSM) as drivers to drive the motion table to perform XY two-degree-of-freedom *** open-closedloop PD-type iterative learning controller(ILC) approach based on accelerated convergence was proposed to improve trajectory tracking performance of *** interval was changed by real-time correction of the exponential gain matrix in the interval to accelerate the convergence *** to the λ norm,the monotone convergence of the proportion differentiation(PD) was developed for the *** controller consists of two terms:a PID controller which enhances robustness to disturbances and system parameter variability and an ILC which generally improves the performance in the repetitive tasks by using the information from previous *** experimental results show that tracking precision and convergence speed of PMLSM can be effectively improved by the scheme.

关键词： X-Y precision plane motion stage Iterative learning control tracking precision convergence rate

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Dense r-robust formations on lattices

Dense r-robust formations on lattices

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Luis Guerrero-Bonilla David Saldaña Vijay Kumar Division of Decision and Control Systems in the School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Autonomous and Intelligent Robotics Laboratory (AIRLab) Lehigh University Bethlehem PA USA GRASP Laboratory University of Pennsylvania

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

Robot networks are susceptible to fail under the presence of malicious or defective robots. Resilient networks in the literature require high connectivity and large communication ranges, leading to high energy consumption in the communication network. This paper presents robot formations with guaranteed resiliency that use smaller communication ranges than previous results in the literature. The formations can be built on triangular and square lattices in the plane, and cubic lattices in the three-dimensional space. We support our theoretical framework with simulations.

关键词： Lattices Robot kinematics Communication networks Robustness Robot sensing systems Energy consumption

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Modeling and prediction of human driver behavior: A survey

arXiv

引用

arXiv 2020年

作者： Brown, Kyle Driggs-Campbell, Katherine Kochenderfer, Mykel J. Stanford Intelligent Systems Laboratory Department of Aeronautics and Astronautics Stanford University Department of Electrical and Computer Engineering University of Illinois at Urbana-Champaign

We present a review and taxonomy of 200 models from the literature on driver behavior modeling. We begin by introducing a mathematical formulation based on the partially observable stochastic game, which serves as a common framework for comparing and contrasting different driver models. Our taxonomy is constructed around the core modeling tasks of state estimation, intention estimation, trait estimation, and motion prediction, and also discusses the auxiliary tasks of risk estimation, anomaly detection, behavior imitation and microscopic traffic simulation. Existing driver models are categorized based on the specific tasks they address and key attributes of their approach. Copyright © 2020, The Authors. All rights reserved.

关键词： Stochastic models

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MatchMesh: Knowledge-based 3D Point Cloud Meshing Using Divide-and-conquer Deformation

MatchMesh: Knowledge-based 3D Point Cloud Meshing Using Divi...

引用

2020 IEEE International Conference on Networking, Sensing and Control, ICNSC 2020

作者： Tang, Ying Sun, Shengtao Wu, Ben Department of Electrical and Computer Engineering Rowan University GlassboroNJ08028 United States State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Institute of Smart Education Qingdao Academy of Intelligent Industries Qingdao China

ISBN: (纸本)9781728168531

The reconstruction of surface mesh from point cloud is compute-intensive but also very important step in the remanufacturing and personalization industries. With more 3D scanners providing lower cost and higher resolution, further detailed point clouds can be gathered without so much effort as before. In manufacturing, there are databases which contain the origin 3D design models of the products. How to utilize the design model data for swift production of related products remains a problem for remanufacturing and customization. In order to develop a knowledge-based way of handling this problem, editing or deforming an existing mesh to match the target is an effective way of easing the workload. In this paper, we introduce a divide-and -conquer process which segments the depth scan data and then find the best match in the database as its source of deformation. The segmentation is performed on 3D point level using global features extracted by 3D CNN. After that we find best match to our knowledge with the same features to acquire a fast meshing of the target object by deforming the existing parts from the match. The deformation of parts are being done sequentially. For further performance improvement, we present a deformation training method employing transfer learning on segment editing process. © 2020 IEEE.

关键词： Image reconstruction

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A DC-Ka-Band 7-Bit Passive Attenuator with Capacitive-Compensation-Based Bandwidth Extension Technique in 55-nm CMOS

A DC-Ka-Band 7-Bit Passive Attenuator with Capacitive-Compen...

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作者： Zhang, Zijiang Li, Nayu Gao, Huiyan Li, Min Wang, Shaogang Kuan, Yen-Cheng Song, Chunyi Yu, Xiaopeng Gu, Qun Jane Xu, Zhiwei Ocean College Institute of Marine Electronics and Intelligent Systems Zhejiang University Zhoushan China College of Information Science and Electronic Engineering Institute of VLSI Design Zhejiang University Hangzhou China Department of Electrical and Computer Engineering University of California at Davis DavisCA United States Engineering Research Center of Oceanic Sensing Technology and Equipment Ministry of Education Zhoushan316021 China Key Laboratory of Ocean Observation-Imaging Testbed of Zhejiang Province Zhoushan316021 China International College of Semiconductor Technology National Chiao Tung University Hsinchu30010 Taiwan

This article presents a 7-bit wideband passive attenuator with low insertion loss (IL) and high attenuation accuracy in 55-nm CMOS technology. The $\pi $ -type and bridge-T-type attenuation units utilize an effective capacitive compensation technique, whose bandwidth extension mechanism is detailed in a single-unit pole-zero analysis. The matching-induced performance deterioration is investigated to minimize amplitude and phase errors at the chip level. The fabricated attenuator demonstrates a 32.4-dB attenuation range with a 0.255-dB resolution and a 3.5-8.4-dB IL from dc to 32 GHz. The measured root-mean-square (rms) amplitude and phase errors are below 0.32 dB and 5.33°, respectively. The attenuator occupies a 0.054-mm2 core area and consumes negligible power. © 1963-2012 IEEE.

关键词： Insertion losses

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Low-Cost Approach for Improving Video Transmission Efficiency in WVSN

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Journal of Shanghai Jiaotong university(Science) 2020年第5期25卷 600-605页

作者： LIU Min DENG Bin TANG Ying WU Minghu WANG Juan Hubei Key Laboratory for High-Efficiency Utilization of Solar Energy and Operation Control of Energy Storage System.Hubei University of Technology Wuhan 430068.China Department of Electrical and Computer Engineering.Rowan University GlassboroNJ 08028USA State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Institute of Smart Education Qingdao Academy of Intelligent IndustriesQingdao 266041ShandongChina

The wireless visual sensor network(WVSN)as a new emerged intelligent visual system,has been applied in many video monitoring ***,there is still great challenge because of the limited wireless network *** resolve the problem,we propose a real-time dynamic texture approach which can detect and reduce the temporal redundancy during many successive image ***,an adaptively learning background model is improved to discover successive similar image frames from the inputting video ***,the dynamic texture model based on the singular value decomposition is adopted to distinguish foreground and background element ***,a background discarding strategy based on visual motion coherence is proposed to determine whether each image frame is streamed or *** evaluate the trade-off performance of the proposed method,it is tested on the CDW-2014 dataset,which can accurately detect the first foreground frame when the moving objects of interest appear in the field of view in the most tested dynamic scenes,and the misdetection rate of the undetected foreground frames is near to *** to the original stream,it can reduce the occupied bandwidth a lot and its computational cost is relatively lower than the state-of-the-art methods.

关键词： wireless visual sensor network(WVSN) temporal redundancy foreground background dynamic texture

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