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13th International Conference on Information and Communication Technology Convergence, ICTC 2022

作者： Uchino, Hideaki Lee, Jaehoon Kim, Hyun-Woo Honda, Kazuaki Cho, Myungjin Lee, Min-Chul Kyusyu Institute of Technology Dept. of Computer Science and Networks Fukuoka Iizuka Japan School of ICT Robotics and Mechanical Engineering Iitc Hankyong National University Anseong Kyonggi-do Korea Republic of

ISBN: (数字)9781665499392

ISBN: (纸本)9781665499392

In this paper, we propose a method that can generate a three-dimensional (3D) depth map accurately by using an integral imaging technique through low-resolution elemental images. The conventional method may produce an accurate 3D depth map when it utilizes high-resolution images. However, if the elemental image has low resolution, it can cause the shifting pixel error when it reconstructs the 3D image by using volumetric computational reconstruction (VCR). Therefore, it may not provide a high-quality 3D depth map through the reconstructed image. To solve this problem, our proposed method utilizes a machine learning technique that can enhance the resolution of the elemental image. Our proposed method enlarged the low-resolution elemental image. Then, it generates the high-resolution image through the super-resolution convolution neural network (SRCNN). Therefore, it can reduce the shifting pixel error and it can generate various reconstructed images according to the depth. Finally, it can generate an accurate 3D depth map through the error-reduced 3D image. To prove our proposed depth map accuracy, we implement the simulation experiment and evaluate the image through the image quality metric. © 2022 IEEE.

关键词： Errors

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Multi-Objective Optimization Design for DC-Link Capacitor of Motor Driver

Multi-Objective Optimization Design for DC-Link Capacitor of...

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2024 CPSS and IEEE International Symposium on Energy Storage and Conversion, CPSS and ISESC 2024

作者： Liu, Qian Huang, Kangxing Wei, Xueliang Zheng, Yihong Xiang, Hao School of Automation Wuhan University of Technology Wuhan China Hong Kong University of Science and Technology Department of Electronic and Computer Engineering Hong Kong Hong Kong College of Artificial Intelligence China University of Petroleum-Beijing Beijing China Wuhan IActuator Robotics Co. Ltd Software Development Department Wuhan China

ISBN: (纸本)9798350380514

The capacitor is a common weak point in motor drive system design, necessitating targeted selection, design, and optimization of capacitor banks within these systems. Traditional capacitor design often relies on engineering experience, usually meeting specific capacitance and voltage requirements through simple parallel or series connections of capacitors. This approach often fails to fully optimize volume, cost, and reliability. This paper uses comprehensive theoretical modeling to optimize capacitor module design, effectively balancing capacitor lifespan, cost, and volume. For the design and selection of DC-link capacitors in a 1kW permanent magnet synchronous motor drive system, a multi-objective optimization design method for capacitor banks is proposed. The study treats the individual capacitance values of parallel capacitors as variables, significantly enhancing the overall performance of the capacitor module through precise optimization and the introduction of necessary constraints in the selection design. The proposed method is validated with a 1kW permanent magnet synchronous motor drive system. The optimization results show that under the guidance of a multi-objective optimization framework, the designed DC-link capacitor module meets physical size requirements while achieving overall optimization in terms of volume, cost, and lifespan, significantly improving system reliability. © 2024 IEEE.

关键词： Permanent magnets

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Adaptive Stiffness Control of Series Elastic Actuator Manipulators Based on Dynamic System

Adaptive Stiffness Control of Series Elastic Actuator Manipu...

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IEEE International Conference on Automation science and engineering (CASE)

作者： Kunlin Guo Chao Zeng Weiyong Si Ning Wang Chenguang Yang Key Laboratory of Autonomous Systems and Networked Control School of Automation Science and Engineering South China University of Technology Guangzhou China Department of Computer Science University of Liverpool Liverpool UK School of Computer Science and Electronic Engineering University of Essex Colchester Bristol Robotics Laboratory University of the West of England Bristol UK

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

In traditional control methods, Series Elastic Actuator (SEA) joint manipulators are limited by their hardware and can only perform simple tasks with low stiffness. To address this issue, we propose a stiffness adjustment control strategy for SEA manipulators based on Dynamic Systems (DS) with good generalization performance. By enhancing the generalization capability of DS in complex tasks and combining posture control, the SEA manipulators can autonomously adjust control gains and postures according to task requirements to achieve higher stiffness at the end-effector. Experimental results involving the activation of air switches with different stiffness levels and installation angles have demonstrated the effectiveness of our proposed method. The results indicate that compared to traditional methods of adjusting the control gain and retraining DS for similar tasks, our approach exhibits superior generalization performance while maintaining end-effector stiffness during interactions.

关键词： Actuators computer aided software engineering Automation Adaptive systems Control systems End effectors Hardware Dynamical systems Manipulator dynamics

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Simulating Bianisotropic Metasurfaces: A Thin Dielectric Sheet Approach

Simulating Bianisotropic Metasurfaces: A Thin Dielectric She...

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USNC-URSI Radio science Meeting (Joint with AP-S Symposium)

作者： Sebastian Celis Sierra Ran Zhao Hakan Bagci Electrical and Computer Engineering (ECE) Program Computer Electrical and Mathematical Science and Engineering (CEMSE) Division King Abdullah University of Science and Technology (KAUST) Thuwal Saudi Arabia School of Electronic Science and Engineering University of Electronic Science and Technology of China (UESTC) Chengdu Sichuan China

ISBN: (数字)9789463968119

ISBN: (纸本)9798350359497

Metasurfaces are expected to revolutionize wireless communications due to their ability to enhance different characteristics of electromagnetic wave propagation channels. The response of a metasurface to an electromagnetic excitation is determined by the geometry, the material composition, and the spatial arrangement of its sub-wavelength unit cells. This response can be considered as a spatiotemporal discontinuity in the field and can be mathematically described using the so-called generalized sheet transition conditions (GSTCs) (K. Achouri and C. Caloz, Electromagnetic Metasurfaces: Theory and Applications, Wiley, 2021). The GSTCs connect the electromagnetic fields on two sides of the metasurface using the electric and magnetic bianisotropic susceptibility tensors which effectively represent the metasurface.

关键词： Wireless communication Geometry Tensors Metasurfaces Spatiotemporal phenomena Dielectrics Electromagnetic propagation

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Entropy-Guided Reinforced Open World Active 3D Object Detection Learning

Entropy-Guided Reinforced Open World Active 3D Object Detect...

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Chinese Automation Congress (CAC)

作者： Haozhe Zhang Liyan Ma Shihui Ying Institute of Artificial Intelligence Shanghai University Shanghai China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Computer Engineering and Science School of Mechatronic Engineering and Automation Shanghai University Shanghai China Department of Mathematics School of Science Shanghai University Shanghai China

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

Traditional fully annotated closed set 3D object detection methods improve model performance but are impractical in real-world settings due to the emergence of new categories and the complexity of 3D annotations. Open-World Object Detection (OWOD) addresses these issues but relies heavily on manual labeling, which is costly. This paper focuses on open world active learning and proposes an entropy-guided reinforced open world active 3D object detection (EROA). EROA regards active learning as a reinforcement learning problem tailored for open driving scenarios. We use entropy as a reward metric for efficient reinforcement learning. We also leverage knowledge from the 2D domain using object-level large-scale vision-language models to enhance sample selection. Extensive experiments evidence that the proposed EROA meets the dynamic and cost-sensitive requirements of autonomous driving, enabling real-time detection of both known and unknown objects.

关键词： Measurement Solid modeling Three-dimensional displays Active learning Object detection Reinforcement learning Entropy Real-time systems Labeling Autonomous vehicles

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Annotating TSSs in Multiple Cell Types Based on DNA Sequence and RNA-seq Data via DeeReCT-TSS

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Genomics, Proteomics & Bioinformatics 2022年第5期20卷 959-973页

作者： Juexiao Zhou Bin Zhang Haoyang Li Longxi Zhou Zhongxiao Li Yongkang Long Wenkai Han Mengran Wang Huanhuan Cui Jingjing Li Wei Chen Xin Gao Computer Science Program ComputerElectrical and Mathematical Sciences and Engineering DivisionKing Abdullah University of Science and TechnologyThuwal 23955-6900Saudi Arabia Computational Bioscience Research Center King Abdullah University of Science and TechnologyThuwal 23955-6900Saudi Arabia Department of Biology School of Life SciencesSouthern University of Science and TechnologyShenzhen 518055China Shenzhen Key Laboratory of Gene Regulation and Systems Biology School of Life SciencesSouthern University of Science and TechnologyShenzhen 518055China Academy for Advanced Interdisciplinary Studies Southern University of Science and TechnologyShenzhen 518055China

The accurate annotation of transcription start sites(TSSs)and their usage are critical for the mechanistic understanding of gene regulation in different biological *** fulfill this,specific high-throughput experimental technologies have been developed to capture TSSs in a genome-wide manner,and various computational tools have also been developed for in silico prediction of TSSs solely based on genomic *** of these computational tools cast the problem as a binary classification task on a balanced dataset,thus resulting in drastic false positive predictions when applied on the genome ***,we present Dee Re CT-TSS,a deep learningbased method that is capable of identifying TSSs across the whole genome based on both DNA sequence and conventional RNA sequencing *** show that by effectively incorporating these two sources of information,Dee Re CT-TSS significantly outperforms other solely sequence-based methods on the precise annotation of TSSs used in different cell ***,we develop a meta-learning-based extension for simultaneous TSS annotations on 10 cell types,which enables the identification of cell type-specific ***,we demonstrate the high precision of DeeReCT-TSS on two independent datasets by correlating our predicted TSSs with experimentally defined TSS chromatin *** source code for Dee Re CT-TSS is available at https://github.-com/Joshua Chou2018/Dee Re CT-TSS_release and https://***/biocode/tools/BT007316.

关键词： Transcription start site Machine learning Deep learning Meta-learning RNA sequencing

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Framework for Ship Trajectory Forecasting Based on Linear Stationary Models Using Automatic Identification System

Framework for Ship Trajectory Forecasting Based on Linear St...

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2022 International Conference on Machine Learning and Data engineering, ICMLDE 2022

作者： Srivastava, Smita Kumar, Lovneet Jeyanthi, R. Deepa, K. Aggrawal, Vinay Department of Computer Science and Engineering India Department of Electronics and Communication Engineering India Department of Electrical and Electronics Engineering Amrita School of Engineering Amrita Vishwa Vidyapeetham Bengaluru India Centre for Artificial Intelligence and Robotics Defense Research and Development Organization Karnataka Bangalore India

Maritime surveillance is of utmost priority for a nation's security, and hence it's economy. For maritime awareness, coastal surveillance, and maritime activities in the Region of Interest (ROI) should be monitored. One of the ways to keep this in check is to restrain unwanted infiltration. Monitoring unwanted infiltration is feasible through vessel trajectory forecasting and anomaly detection in real time. Most solutions for trajectory predictions are available but require a huge amount of historical data, and high-power computing resources. Here, the requirement is developing a decision support framework consisting of both lite weight approaches for short-term predictions and deep learning-based techniques for long-term forecasting. This paper aims to find the suitability of Linear Stationary Models (LSM) like the Auto-Regressive Integrated Moving Average Model (ARIMA) for predicting and forecasting the Vessel Trajectory as means of lite weight short-term predictions. For this purpose, the Automatic Identification System (AIS) dataset of the U.S. West Coast is used. The significant effort was for data pre-processing to create a robust dataset for model training. An appropriate model after the model-selection process is used for trajectory forecasting. The model's accuracy is validated using Root Mean Square Error (RMSE) performance indices for residual and forecast errors. A window generator model is integrated with the best-fitted ARIMA model for recursive real-time predictions, with varied sizes and visualization. The proposed time-series model provided a very high accuracy as the RMSE value for prediction and 48 hours forecast are 0.023 and 0.017, respectively. © 2023 The Authors. Published by Elsevier B.V.

关键词： Time series analysis

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Robust STL Control Synthesis under Maximal Disturbance Sets

arXiv

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arXiv 2024年

作者： Verhagen, Joris Lindemann, Lars Tumova, Jana The Division of Robotics Perception and Learning School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden The Thomas Lord Department of Computer Science University of Southern California Los AngelesCA United States

This work addresses maximally robust control synthesis under unknown disturbances. We consider a general nonlinear system, subject to a Signal Temporal Logic (STL) specification, and wish to jointly synthesize the maximal possible disturbance bounds and the corresponding controllers that ensure the STL specification is satisfied under these bounds. Many works have considered STL satisfaction under given bounded disturbances. Yet, to the authors' best knowledge, this is the first work that aims to maximize the permissible disturbance set and find the corresponding controllers that ensure satisfying the STL specification with maximum disturbance robustness. We extend the notion of disturbance-robust semantics for STL, which is a property of a specification, dynamical system, and controller, and provide an algorithm to get the maximal disturbance robust controllers satisfying an STL specification using Hamilton-Jacobi reachability. We show its soundness and provide a simulation example with an Autonomous Underwater Vehicle (AUV). Copyright © 2024, The Authors. All rights reserved.

关键词： Controllers

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MambaMOS: LiDAR-based 3D Moving Object Segmentation with Motion-aware State Space Model

arXiv

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arXiv 2024年

作者： Zeng, Kang Shi, Hao Lin, Jiacheng Li, Siyu Cheng, Jintao Wang, Kaiwei Li, Zhiyong Yang, Kailun College of Computer Science and Electronic Engineering Hunan University Changsha China College of Optical Science and Engineering Zhejiang University Hangzhou China School of Robotics Hunan University Changsha China School of Electronics and Information Engineering South China Normal University Foshan China

LiDAR-based Moving Object Segmentation (MOS) aims to locate and segment moving objects in point clouds of the current scan using motion information from previous scans. Despite the promising results achieved by previous MOS methods, several key issues, such as the weak coupling of temporal and spatial information, still need further study. In this paper, we propose a novel LiDAR-based 3D Moving Object Segmentation with Motion-aware State Space Model, termed MambaMOS. Firstly, we develop a novel embedding module, the Time Clue Bootstrapping Embedding (TCBE), to enhance the coupling of temporal and spatial information in point clouds and alleviate the issue of overlooked temporal clues. Secondly, we introduce the Motion-aware State Space Model (MSSM) to endow the model with the capacity to understand the temporal correlations of the same object across different time steps. Specifically, MSSM emphasizes the motion states of the same object at different time steps through two distinct temporal modeling and correlation steps. We utilize an improved state space model to represent these motion differences, significantly modeling the motion states. Finally, extensive experiments on the SemanticKITTI-MOS and KITTI-Road benchmarks demonstrate that the proposed MambaMOS achieves state-of-the-art performance. The source code is publicly available at https://***/Terminal-K/MambaMOS. Copyright © 2024, The Authors. All rights reserved.

关键词： Benchmarking

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Recurrent Neural Network-based Modeling Approach for 4D Printing Design : Long sequence prediction based on short sequences

Recurrent Neural Network-based Modeling Approach for 4D Prin...

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2024 International Conference on Advanced Mechatronic Systems, ICAMechS 2024

作者： Xu, Yifan Wang, Mengtao Wang, Zhongkui Meng, Lin Ritsumeikan University Graduate School of Science and Engineering 1-1-1 Noji-higashi Kusatsu Shiga525-8577 Japan Ritsumeikan University Department of Robotics 1-1-1 Noji-higashi Kusatsu Shiga525-8577 Japan Ritsumeikan University Department of Electronic and Computer Engineering 1-1-1 Noji-higashi Kusatsu Shiga525-8577 Japan

ISBN: (纸本)9798350366204

This study presents a method for predicting the deformation of hydrogel models fabricated by four-dimensional printing technology using deep learning. In this method, a large number of hydrogel models with the same shape but different distributions of length and expansion ratio are first created using the modeling software Abaqus. Then, deformation simulations are performed based on finite element analysis using the thermal expansion method, and the simulation results are processed and organized to create a data set. Afterward, a recurrent neural network (RNN) was created and trained using a composite dataset consisting of multiple hydrogel model sequences of different lengths to enable the RNN to learn model deformation features and, accordingly, predict the deformation of various longer sequences of hydrogels in a very short period of time while recording the change in accuracy of the prediction for each length. This research provides a new approach to modeling and inverse design for 4D printing technology. © 2024 IEEE.

关键词： Prediction models

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