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International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Xiaobo Liu Fang Wan Sheng Ge Haokun Wang Haoran Sun Chaoyang Song Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen Guangdong China School of Design Southern University of Science and Technology Shenzhen Guangdong China Robotics & Autonomous Systems Thrust System Hub Hong Kong University of Science and Technology Hong Kong China Department of Computer Science The University of Hong Kong Hong Kong China

Benchmarking provides experimental evidence of the scientific baseline to enhance the progression of fundamental research, which is also applicable to robotics. In this paper, we propose a method to benchmark metrics of robotic manipulation, which addresses the spatial-temporal reasoning skills for robot learning with the jigsaw game. In particular, our approach exploits a simple set of jigsaw pieces by designing a structured protocol, which can be highly customizable according to a wide range of task specifications. Researchers can selectively adopt the proposed protocol to benchmark their research outputs, on a comparable scale in the functional, task, and system-level of details. The purpose is to provide a potential look-up table for learning-based robot manipulation, commonly available in other engineering disciplines, to facilitate the adoption of robotics through calculated, empirical, and systematic experimental evidence.

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Human Activity Mining in Multi-Occupancy Contexts Based on Nearby Interaction Under a Fuzzy Approach

SSRN

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SSRN 2023年

作者： Polo-Rodríguez, Aurora Cavallo, Filippo Nugent, Chris Medina-Quero, Javier Department of Computer Science University of Jaén Jaén23071 Spain Department of Industrial Engineering University of Florence Florence50121 Italy School of Computing Ulster University Northern Ireland BelfastBT48 7JL United Kingdom Department of Computer Engineering Automation and Robotics University of Granada Granada18071 Spain

Multioccupation encompasses real-life environments in which people interact in the same common space. Recognising activities in this context for each inhabitant has been challenging and complex. This work presents a fuzzy knowledge-based system for mining human activities in multi-occupancy contexts based on nearby interaction based on the Ultra-wideband. First, interest zone spatial location is modelled using a straightforward fuzzy logic approach, enabling discriminating short-term event interactions. Second, linguistic protoforms use fuzzy rules to describe long-term events for mining human activities in a multi-occupancy context. A data set with multimodal sensors has been collected and labelled to exhibit the application of the approach. The results show an encouraging performance (0.9 precision) in the discrimination of multiple occupations. © 2023, The Authors. All rights reserved.

关键词： Ultra-wideband (UWB)

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Parameter Estimation for Partially Observed McKean-Vlasov Diffusions

arXiv

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arXiv 2024年

作者： Jasra, Ajay Maama, Mohamed Tempone, Raul School of Data Science The Chinese University of Hong Kong CN Shenzhen China Applied Mathematics and Computational Science Program Computer Electrical and Mathematical Sciences and Engineering Division King Abdullah University of Science and Technology Thuwal23955-6900 Saudi Arabia Chair of Mathematics for Uncertainty Quantification RWTH Aachen University Aachen52062 Germany

In this article we consider likelihood-based estimation of static parameters for a class of partially observed McKean-Vlasov (POMV) diffusion process with discrete-time observations over a fixed time interval. In particular, using the framework of [5] we develop a new randomized multilevel Monte Carlo method for estimating the parameters, based upon Markovian stochastic approximation methodology. New Markov chain Monte Carlo algorithms for the POMV model are introduced facilitating the application of [5]. We prove, under assumptions, that the expectation of our estimator is biased, but with expected small and controllable bias. Our approach is implemented on several examples. Copyright © 2024, The Authors. All rights reserved.

关键词： Stochastic systems

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Putting Robots in Context: Challenging the Influence of Voice and Empathic Behaviour on Trust

Putting Robots in Context: Challenging the Influence of Voic...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Marta Romeo Ilaria Torre Sébastien Le Maguer Angelo Cangelosi Iolanda Leite School of Mathematical and Computer Sciences Heriot-Watt University Edinburgh UK School of Computer Science University of Manchester Manchester UK Division of Interaction Design and Software Engineering Chalmers University of Technology Gothenburg Sweden Division of Robotics Perception and Learning KTH Royal Institute of Technology Stockholm Sweden ADAPT Centre Trinity College Dublin Dublin Ireland

Trust is essential for social interactions, including those between humans and social artificial agents, such as robots. Several robot-related factors can contribute to the formation of trust. However, previous work has often treated trust as an absolute concept, whereas it is highly context-dependent, and it is possible that some robot-related features will influence trust in some contexts, but not in others. In this paper, we present the results of two video-based online studies aimed at investigating the role of robot voice and empathic behaviour on trust formation in a general context as well as in a task-specific context. We found that voice influences trust in the specific context, with no effect of voice or empathic behaviour in the general context. Thus, context mediated whether robot-related features play a role in people’s trust formation towards robots.

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Adaptive Geodesic Flow Kernel Transfer for Many-Task Optimization

Adaptive Geodesic Flow Kernel Transfer for Many-Task Optimiz...

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IEEE Symposium Series on Computational Intelligence (SSCI)

作者： Yang-Tao Dai Xiao-Fang Liu Zhi-Hui Zhan Jinghui Zhong Jun Zhang Institute of Robotics and Automatic Information Systems College of Artificial Intelligence Nankai University Tianjin China School of Computer Science and Engineering South China University of Technology Guangzhou China Hanyang University Ansan South Korea Nankai University Tianjin China

Many-task optimization problems (MaTOP) involve more than three tasks, which can be solved simultaneously via knowledge transfer by utilizing complementary information of different tasks. Due to the biases between tasks, relevant tasks are usually selected for knowledge transfer to avoid negative effects. There are two challenging issues, i.e., source task selection and inter-task knowledge transfer. To address these issues, this paper proposes an adaptive geodesic flow kernel transfer method (AGFKTM) for MaTOP. In AGFKTM, multiple source tasks are selected based on both the similarity between tasks and the performance of tasks. In this way, similar and well-performed tasks are selected with a high priority. In addition, an adaptive geodesic flow kernel is constructed to implement knowledge transfer, in which the adopted subspaces along the geodesic flow path are adaptively controlled. Particularly, the transferred solutions are used to generate new ones using mutation operators. Integrating the AGFKTM into differential evolution, a new algorithm named AGFKT-DE is put forward. Experimental results on GECCO20MaTOP benchmark show that the new algorithm outperforms state-of-the-art algorithms.

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OP0379-HPR Tracking Step Counts in Adolescents with Juvenile Idiopathic Arthritis and Familial Mediterranean Fever: A 3-Month m-Health Monitoring Study Using Smartwatches

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Annals of the Rheumatic Diseases 2025年 84卷 305-306页

作者： A. Albayrak N. Arman A. Yekdaneh I. Donmez Y. Acikgoz G. Filiz T. Cakar N. Aktay Ayaz Istanbul Kent University Physiotherapy and Rehabilitation Istanbul Türkiye Istanbul University-Cerrahpasa Institute of Graduate Studies Physiotherapy and Rehabilitation Doctorate Program Istanbul Türkiye Istanbul University-Cerrahpasa Faculty of Health Sciences Department of Physiotherapy and Rehabilitation Istanbul Türkiye Fenerbahçe University Vocational School of Health Services Physiotherapy English Program Istanbul Türkiye Istanbul University-Cerrahpasa Institute of Graduate Studies Physiotherapy and Rehabilitation Master of Science Program Istanbul Türkiye EF University Institute of Graduate Studies Computer Engineering Doctorate Program Istanbul Türkiye MEF University Faculty of Engineering Department of Computer Engineering Istanbul Türkiye Istanbul University Istanbul Faculty of Medicine Department of Pediatric Rheumatology Istanbul Türkiye

Background: Physical inactivity is a significant public health issue among both healthy adolescents and those with chronic rheumatic diseases. Despite the benefits of physical activity, most adolescents do not meet recommended activity levels [1, 2]. In this context, wearable activity trackers have emerged as a solution to reduce inactivity. These devices can encourage autonomous motivation by allowing self-monitoring of physical activity behaviors, ultimately increasing physical activity levels [3]. Objectives: The aim of the study was to monitor physical activity in adolescents with Juvenile Idiopathic Arthritis (JIA) and Familial Mediterranean Fever (FMF) over a period of 3 months using a smartwatch, to evaluate step counts and to compare these with their healthy controls. Methods: 47 adolescents aged 12-18, diagnosed with JIA and FMF, and 274 healthy adolescents, were included in the study. Step counts of all adolescents were monitored for 3 months using a wearable activity device and the Pedi@ctivity Mobile Application, which operates on the Android system was developed by our team. The Pedi@ctivity Analysis Mobile Application comprises two modules as User Module and Supervise Module. Pedi@ctivity User Module where the user's health data is obtained through a smartwatch, and Pedi@ctivity Supervisor Module, where the evaluation data of the user is recorded and the smartwatch data can be viewed and managed by the supervisor. The data collected from smartwatch devices is accessed through the Google Fit API, which enables the retrieval of data from wearable technologies or smartphones including historical data. Thus, the data obtained from adolescents' smartwatch usage is transferred to the Pedi@ctivity Mobile Application for further analysis and management. Statistical analyses were performed using Python (version 3.9) with libraries including NumPy, SciPy, and pandas for data manipulation, and statsmodels or scikit-learn for advanced statistical and regression an

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Integrating a Digital Twin Concept in the Zero Emission Sea Transporter (ZEST) Project for Sustainable Maritime Transport using Stonefish Simulator

arXiv

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arXiv 2024年

作者： Grimaldi, Michele Cernicchiaro, Carlo Rossides, George Ktoris, Angelos Yfantis, Elias Kyriakides, Ioannis Computer Vision and Robotics Institute University of Girona Girona Spain School of Engineering & Physical Sciences Heriot-Watt University United Kingdom Marine Robotics Innovation Centre Cyprus Marine and Maritime Institute Larnaca Cyprus Marine & Offshore Science Technology & Engineering Centre Cyprus Marine and Maritime Institute Larnaca Cyprus Marine Technology Division Cyprus Marine and Maritime Institute Larnaca Cyprus Computational Cognition Lab Open University of Cyprus Nicosia Cyprus Department of Engineering University of Nicosia Nicosia Cyprus

In response to stringent emission reduction targets imposed by theInternational Maritime Organization (IMO) and the European Green Deal\'s Fit for55 legislation package, the maritime industry has shifted its focus towardsdecarbonization. While significant attention has been placed on vesselsexceeding 5,000 gross tons (GT), emissions from coastal and short sea shipping,amounting to approximately 13% of global shipping transportation and 15% withinthe European Union (EU), have not received adequate consideration. Thisabstract introduces the Zero Emission Sea Transporter (ZEST) project, designedto address this issue by developing a zero-emissions multi-purpose catamaranfor short sea route © 2024, CC BY.

关键词： Emission control

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On the comparison of optimal NOMA and OMA in a paradigm shift of emerging technologies

TechRxiv

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TechRxiv 2022年

作者： Ghosh, Joydev Ra, In-Ho Singh, Saurabh Haci, Hüseyin Al-Utaibi, Khaled A. Sait, Sadiq M. School of Computer Science and Robotics Tomsk Polytechnic University Tomsk Russia School of Computer Information and Communication Engineering Kunsan National University Gunsan Korea Republic of Department of Industrial & Systems Engineering Dongguk University Korea Republic of Department of Electrical and Electronics Engineering Near East University Mersin 10 Turkey Computer Science and Software Engineering Department University of Ha’il Saudi Arabia Department of Computer Engineering King Fahd University of Petroleum & Minerals Dhahran Saudi Arabia

Non-orthogonal multiple access (NOMA) is a better multiple access technique than orthogonal multiple access (OMA), precisely orthogonal frequency division multiple access (OFDMA) scheme, at the conceptual level for fifth-generation (5G) networks and beyond 5G (B5G) networks. We investigate the potentials of the schemes by comparing the proposed NOMA scheme with the traditional cooperative communication NOMA (CCNOMA) scheme, rather than the comparison between NOMA and OMA only. To probe the effectiveness of NOMA as a multiple access technique, we propose a novel NOMA scheme considering two adjacent BSs with a special design of the transceiver architecture. The proposed scheme provides a reasonable data rate to both near user (NU) and far user (FU) without compromising the quality of service (QoS) to anyone of them. The conclusive analyses on the optimization framework of multi-user sum rate, capacity, transmit power, spectral efficiency (SE), and energy efficiency (EE) trade-off for NOMA and OFDMA schemes have been established to a succession of derivations. Under the analytical optimization framework, we also prove quite a few properties for them. Simulation results confirm the theoretical findings and show that the two schemes can efficiently approach the optimal power allocation, minimization of power consumption, and optimal SE-EE trade-off, and the proposed NOMA scheme provides comparatively better data sum rates than the baseline OMA scheme. © 2022, CC BY.

关键词： Energy efficiency

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Development of a Relative Capacitance Sensor for Oil Palm Fruit Maturity Classification: A Systems engineering Approach

Development of a Relative Capacitance Sensor for Oil Palm Fr...

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Agrosystem engineering, Technology & Applications (AGRETA), IEEE International Conference on

作者： Luis M. Aristizabal Isis Bonet Juan Sebastian Valencia Mario Gongora Ivan Ochoa Department of Mechanical Engineering Universidad Pontificia Bolivariana Medellín Colombia Artificial Intelligence and Robotics Group Universidad EIA Envigado Colombia De Montfort University Institute of Artificial Intelligence School of Computer Science and Informatics Leicester UK UNIPALMA de Los Llanos S.A. Meta Colombia

ISBN: (数字)9798350373660

ISBN: (纸本)9798350373677

This paper presents the development of a relative capacitance sensor for the classification of oil palm fruit maturity, using a systems engineering approach. This sensor is based on capacitive sensing technologies that require integration to productive processes as data sources. Systems engineering is suited for the development of complex systems based primarily on novel sensing technology that requires integration at the component, subsystem, and system levels. The goal is to provide a reliable and efficient method for assessing the maturity of fruit bunches, both in the harvest phase and in the production phase, which can ultimately contribute to improving the quality and yield of palm oil production. This study seeks to advance the frontier of precision agriculture and increase the efficacy of contemporary agricultural practices.

关键词： Precision agriculture Oils Soft sensors Production Capacitance Manufacturing Stakeholders Reliability Complex systems System validation

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A Robust Adaptive Terminal Sliding Mode Control for Lane-keeping in Road Vehicles

A Robust Adaptive Terminal Sliding Mode Control for Lane-kee...

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International Conference on Advanced Mechatronic Systems (ICAMechS)

作者： Zhikang Ge Zhuo Wang Xiaoping Bai Xiaoxiong Wang Zhihong Man Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China School of Computer Science and Technology University of Chinese Academy of Sciences Beijing China Faculty of Science Engineering and Technology Swinburne University of Technology Melbourne Australia

In this paper, a novel adaptive terminal sliding-mode control (ATSMC) method is developed for road vehicles with uncertain dynamics. It is shown that the designed adaptive laws can recursively update the controller parameters based on the estimation values of the unknown parameter bound in the Lyapunov sense, and then the lateral position error can be driven to zero in a finite time. In comparison to the conventional sliding-mode-based vehicle lateral control method, the proposed ATSMC not only ensures fast error convergence, but also eliminates the requirement for known bounded information in controller design. Simulation results are presented to demonstrate the good performance of the proposed ATSMC scheme.

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