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23rd International Conference on Control, Automation and Systems, ICCAS 2023

作者： Ha, Jin-Ung Kim, Hyun-Woo Cho, Myungjin Lee, Min-Chul Kyushu Institute of Technology Department of Computer Science and Networks Fukuoka Iizuka820-8502 Japan School of ICT Robotics and Mechanical Engineering Iitc Hankyong National University Kyonggi-do Anseong17579 Korea Republic of

ISBN: (纸本)9788993215274

In this paper, we propose a method to improve the recognition rate of ArUco markers under photon-starved conditions by using preprocessing such as photon counting algorithm and histogram equalization to estimate the exact three-dimensional(3D) location of improved objects. In the conventional ArUco marker recognition technology, the recognition rate of ArUco markers decreases under photon-starved conditions, and the exact 3D location of the object cannot be estimated. In the conventional ArUco marker recognition technology, the photon counting algorithm can be used to estimate the 3D location of objects by recognizing ArUco markers under photon-starved conditions. However, the photon counting algorithm has the problem that the computation speed is slowed down when there are many photons to estimate, and the recognition rate of the ArUco marker is reduced when there are few photons to estimate. To solve these problems of the photon counting algorithm and improve the recognition rate of ArUco markers, we apply histogram equalization to ArUco markers with the photon counting algorithm. To verify the feasibility of the proposed method, we implement simulations using the Open Manipulator-X platform and show performance metrics such as Peak Signal-to-Noise Ratio (PSNR). © 2023 ICROS.

关键词： Photons

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Towards Combating Frequency Simplicity-biased Learning for Domain Generalization 38

Towards Combating Frequency Simplicity-biased Learning for D...

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38th Conference on Neural Information Processing Systems, NeurIPS 2024

作者： He, Xilin Hu, Jingyu Lin, Qinliang Luo, Cheng Xie, Weicheng Song, Siyang Khan, Muhammad Haris Shen, Linlin Computer Vision Institute School of Computer Science & Software Engineering Shenzhen University China Shenzhen Institute of Artificial Intelligence and Robotics for Society China Guangdong Provincial Key Laboratory of Intelligent Information Processing China University of Exeter United Kingdom Mohamed bin Zayed University of Artificial Intelligence United Arab Emirates

Domain generalization methods aim to learn transferable knowledge from source domains that can generalize well to unseen target domains. Recent studies show that neural networks frequently suffer from a simplicity-biased learning behavior which leads to over-reliance on specific frequency sets, namely as frequency shortcuts, instead of semantic information, resulting in poor generalization performance. Despite previous data augmentation techniques successfully enhancing generalization performances, they intend to apply more frequency shortcuts, thereby causing hallucinations of generalization improvement. In this paper, we aim to prevent such learning behavior of applying frequency shortcuts from a data-driven perspective. Given the theoretical justification of models' biased learning behavior on different spatial frequency components, which is based on the dataset frequency properties, we argue that the learning behavior on various frequency components could be manipulated by changing the dataset statistical structure in the Fourier domain. Intuitively, as frequency shortcuts are hidden in the dominant and highly dependent frequencies of dataset structure, dynamically perturbating the over-reliance frequency components could prevent the application of frequency shortcuts. To this end, we propose two effective data augmentation modules designed to collaboratively and adaptively adjust the frequency characteristic of the dataset, aiming to dynamically influence the learning behavior of the model and ultimately serving as a strategy to mitigate shortcut learning. Code is available at AdvFrequency. © 2024 Neural information processing systems foundation. All rights reserved.

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RUL Estimation for Power Electronic Devices Using RNNs

RUL Estimation for Power Electronic Devices Using RNNs

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Prognostics and System Health Management Conference (PHM)

作者： Congrui Cai Zhonghai Lu Embedded Systems Master Program School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Department of Electrical Engineering School of Electrical Engineering and Computer Science KTH Royal Institute of Technology

ISBN: (数字)9798350360585

ISBN: (纸本)9798350360592

Recurrent Neural Networks (RNNs) are commonly used in data-driven approaches to estimate the Remaining Useful Lifetime (RUL) of power electronic devices. RNNs are preferred because their intrinsic feedback mechanisms are better suited to model time-series data. However, the impact of RNN complexity on estimation accuracy is rarely discussed in the literature. This issue is important because choosing a lower-complexity model that delivers the same or similar performance as a higher-complexity model can increase implementation efficiency. In the paper, we use three RNN models, namely, the vanilla version, LSTM (Long Short Term Memory) and GRU (Gated Recurrent Unit) to conduct RUL estimation for power electronic devices. We use two accelerated aging datasets, one dataset targeting the package failure of MOSFETs, and the other dataset targeting package failure of power diodes. Our study shows that a lower-complexity RNN does not necessarily deliver a lower performance. Similarly, a higher-complexity model does not assure a higher performance. As such, our work highlights the importance of selecting a proper neural network for RUL estimation not biased towards complex models. This is especially useful and important for implementing such RUL estimation techniques in embedded resource-constrained and speed-limited computins platforms.

关键词： Performance evaluation Semiconductor device modeling Recurrent neural networks Computational modeling Estimation Power electronics Data models

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Self context-aware emotion perception on human-robot interaction

Self context-aware emotion perception on human-robot interac...

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2023 Australasian Conference on robotics and Automation, ACRA 2023

作者： Lin, Zihan Cruz, Francisco Sandoval, Eduardo Benitez School of Computer Science and Engineering University of New South Wales Sydney Australia Escuela de Ingeniería Universidad Central de Chile Santiago Chile School of Art and Design Creative Robotics Lab University of New South Wales Sydney Australia

Emotion recognition plays a crucial role in various domains of human-robot interaction. In long-term interactions with humans, robots need to respond continuously and accurately, however, the mainstream emotion recognition methods mostly focus on short-term emotion recognition, disregarding the context in which emotions are perceived. Humans consider that contextual information and different contexts can lead to completely different emotional expressions. In this paper, we introduce self context-aware model (SCAM) that employs a two-dimensional emotion coordinate system for anchoring and re-labeling distinct emotions. Simultaneously, it incorporates its distinctive information retention structure and contextual loss. This approach has yielded significant improvements across audio, video, and multimodal. In the auditory modality, there has been a notable enhancement in accuracy, rising from 63.10% to 72.46%. Similarly, the visual modality has demonstrated improved accuracy, increasing from 77.03% to 80.82%. In the multimodal, accuracy has experienced an elevation from 77.48% to 78.93%. In the future, we will validate the reliability and usability of SCAM on robots through psychology experiments. © 2023 Australasian robotics and Automation Association. All rights reserved.

关键词： Human robot interaction

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A New Noise-Tolerant Dual-Neural-Network Scheme for Robust Kinematic Control of Robotic Arms With Unknown Models

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IEEE/CAA Journal of Automatica Sinica 2022年第10期9卷 1778-1791页

作者： Ning Tan Peng Yu Zhiyan Zhong Fenglei Ni IEEE the School of Computer Science and Engineering&Key Laboratory of Machine Intelligence and Advanced Computing Ministry of EducationSun Yat-sen UniversityGuangzhou 510006China the School of Automation Guangdong Polytechnic Normal UniversityGuangzhou 510665China the State Key Laboratory of Robotics and Systems Harbin Institute of Technology(HIT)Harbin 150080China

Taking advantage of their inherent dexterity,robotic arms are competent in completing many tasks *** a result of the modeling complexity and kinematic uncertainty of robotic arms,model-free control paradigm has been proposed and investigated ***,robust model-free control of robotic arms in the presence of noise interference remains a problem worth *** this paper,we first propose a new kind of zeroing neural network(ZNN),i.e.,integration-enhanced noise-tolerant ZNN(IENT-ZNN)with integration-enhanced noisetolerant ***,a unified dual IENT-ZNN scheme based on the proposed IENT-ZNN is presented for the kinematic control problem of both rigid-link and continuum robotic arms,which improves the performance of robotic arms with the disturbance of noise,without knowing the structural parameters of the robotic *** finite-time convergence and robustness of the proposed control scheme are proven by theoretical ***,simulation studies and experimental demonstrations verify that the proposed control scheme is feasible in the kinematic control of different robotic arms and can achieve better results in terms of accuracy and robustness.

关键词： Dual zeroing neural networks(ZNN) finite-time convergence model-free robot control robustness analysis

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Smart Home Security System Using Face Recognition Based on IoT- CNN 2

Smart Home Security System Using Face Recognition Based on I...

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2nd International Conference on Information Technology Research and Innovation, ICITRI 2023

作者： Febriantono, M. Aldiki Zuhair, Alvin Khaeruddin School of Computer Science Bina Nusantara University Computer Science Department Jakarta11480 Indonesia University of Islam Blitar Electrical Engineering Department Blitar Indonesia University of Muhammadiyah Malang Diploma III Electronic Technology Vocational Study Program Malang Indonesia

ISBN: (纸本)9798350324945

Home security is a crucial aspect that requires careful attention, particularly when it comes to addressing theft concerns. Hence, implementing smart door technology equipped with facial recognition holds promising potential for enhancing home security. This study aims to develop a more secure and regulated home entry system by leveraging Internet of Things (IoT) technology and Machine Learning computer Vision for facial recognition. The system integrates IoT devices, such as cameras and automatic doors, wherein facial image data is captured by the camera and processed using the Convolutional Neural Network (CNN) algorithm to identify individuals. Once an individual is recognized, the system grants access to the home through an automated door. By relying on facial features, the system effectively restricts unauthorized access and safeguards homes against theft risks. Therefore, the advancement of a safer and more controlled home entry system utilizing IoT technology and Machine Learning computer Vision holds tremendous benefits for homeowners. © 2023 IEEE.

关键词： Face recognition

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VoroNav: Voronoi-based Zero-shot Object Navigation with Large Language Model 41

VoroNav: Voronoi-based Zero-shot Object Navigation with Larg...

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41st International Conference on Machine Learning, ICML 2024

作者： Wu, Pengying Mu, Yao Wu, Bingxian Hou, Yi Ma, Ji Zhang, Shanghang Liu, Chang Department of Advancded Manufacturing and Robotics College of Engineering Peking University Beijing China The University of Hong Kong Hong Kong OpenGVLab Shanghai AI Laboratory China National Key Laboratory for Multimedia Information Processing School of Computer Science Peking University Beijing China

In the realm of household robotics, the Zero-Shot Object Navigation (ZSON) task empowers agents to adeptly traverse unfamiliar environments and locate objects from novel categories without prior explicit training. This paper introduces VoroNav, a novel semantic exploration framework that proposes the Reduced Voronoi Graph to extract exploratory paths and planning nodes from a semantic map constructed in real time. By harnessing topological and semantic information, VoroNav designs text-based descriptions of paths and images that are readily interpretable by a large language model (LLM). In particular, our approach presents a synergy of path and farsight descriptions to represent the environmental context, enabling LLM to apply commonsense reasoning to ascertain waypoints for navigation. Extensive evaluation on HM3D and HSSD validates VoroNav surpasses existing benchmarks in both success rate and exploration efficiency (absolute improvement: +2.8% Success and +3.7% SPL on HM3D, +2.6% Success and +3.8% SPL on HSSD). Additionally introduced metrics that evaluate obstacle avoidance proficiency and perceptual efficiency further corroborate the enhancements achieved by our method in ZSON planning. Copyright 2024 by the author(s)

关键词： Semantics

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On a Functional Definition of Intelligence

arXiv

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arXiv 2023年

作者： Sritriratanarak, Warisa Garcia, Paulo Computer Engineering Chulalongkorn University Bangkok Thailand AI & Robotics Program International School of Engineering Chulalongkorn University Bangkok Thailand

Without an agreed-upon definition of intelligence, asking "is this system intelligent?" is an untestable question. This lack of consensus hinders research, and public perception, on Artificial Intelligence (AI), particularly since the rise of generative- and large-language models. Most work on precisely capturing what we mean by "intelligence" has come from the fields of philosophy, psychology, and cognitive science. Because these perspectives are intrinsically linked to intelligence as it is demonstrated by natural creatures, we argue such fields cannot, and will not, provide a sufficiently rigorous definition that can be applied to artificial means. Thus, we present an argument for a purely functional, black-box definition of intelligence, distinct from how that intelligence is actually achieved;focusing on the "what", rather than the "how". To achieve this, we first distinguish other related concepts (sentience, sensation, agency, etc.) from the notion of intelligence, particularly identifying how these concepts pertain to artificial intelligent systems. As a result, we achieve a formal definition of intelligence that is conceptually testable from only external observation, that suggests intelligence is a continuous variable. We conclude by identifying challenges that still remain towards quantifiable measurement. This work provides a useful perspective for both the development of AI, and for public perception of the capabilities and risks of AI. © 2023, CC BY.

关键词： Intelligent systems

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Active perception for grasp detection via neural graspness field 24

Active perception for grasp detection via neural graspness f...

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Proceedings of the 38th International Conference on Neural Information Processing Systems

作者： Haoxiang Ma Modi Shi Boyang Gao Di Huang State Key Laboratory of Complex and Critical Software Environment School of Computer Science and Engineering Beihang University Beijing China Geometry Robotics

ISBN: (纸本)9798331314385

This paper tackles the challenge of active perception for robotic grasp detection in cluttered environments. Incomplete 3D geometry information can negatively affect the performance of learning-based grasp detection methods, and scanning the scene from multiple views introduces significant time costs. To achieve reliable grasping performance with efficient camera movement, we propose an active grasp detection framework based on the Neural Graspness Field (NGF), which models the scene incrementally and facilitates next-best-view planning. Constructed in real-time as the camera moves, the NGF effectively models the grasp distribution in 3D space by rendering graspness predictions from each view. For next-best-view planning, we aim to reduce the uncertainty of the NGF through a graspness inconsistency-guided policy, selecting views based on discrepancies between NGF outputs and a pre-trained graspness network. Additionally, we present a neural graspness sampling method that decodes graspness values from the NGF to improve grasp pose detection results. Extensive experiments on the GraspNet-1Billion benchmark demonstrate significant performance improvements compared to previous works. Real-world experiments show that our method achieves a superior trade-off between grasping performance and time costs. Code is available at https://***/mahaoxiang822/ActiveNGF.

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Using Real-Time Integrated computer Vision and Deep Learning for Advanced Factory Safety 4

Using Real-Time Integrated Computer Vision and Deep Learning...

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4th IEEE International Conference on Electronic Communications, Internet of Things and Big Data, ICEIB 2024

作者： Tsai, Shang-Te Chang, Yu-Cheng Huang, Chao-Yi Yang, Fang-Yuan Chien, Wei Wu, Zong-Rong School Art and Design Sanming University Fujian China National Taipei University of Technology Department of Computer Science and Information Engineering Taipei Taiwan National Yunlin University of Science and Technology Department of Information Management Yunlin Taiwan Lunghwa University of Science and Technology Department of Computer Information and Network Engineering Taoyuan Taiwan National Yunlin University of Science and Technology Department of Technical and Vocational Program in Artificial Intelligence Yunlin Taiwan

ISBN: (纸本)9798350360721

Innovative safety in the workplace is vital as the high safety risks associated with electrical engineering construction can lead to injuries or even fatalities. Using computer vision technology, we experimented with scenarios such as 'normal operations' and 'unexpected incidents' to enhance safety measures. We integrated an Internet of Things system into the setup, enabling the system to quickly detect and alert to unexpected events in real-time, thereby improving workplace safety. © 2024 IEEE.

关键词： computer vision

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