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International Conference on Advanced Robotics and Mechatronics (ICARM)

作者： Jun Huo Xinyi Wang Bo Yang Qingyang Yan Zhaofan Yuan Jian Huang Hubei Key Laboratory of Brain-inspired Intelligent Systems and the Key Laboratory of the Ministry of Education for Image Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China China Telecom Research Institute Guangdong China China Ship Development and Design Centre Wuhan China

ISBN: (数字)9798350385724

ISBN: (纸本)9798350385731

In human-robot systems, ensuring user safety amidst external disturbances remains paramount. An efficient variable impedance control (VIC) technique is designed to enhance human-robot interaction, particularly in scenarios with external force disturbances. By dynamically adapting impedance parameters in response to detected changes in contact force, VIC achieves heightened system flexibility. The robust stability of the VIC system is rigorously established using the Lyapunov approach, with a parameter update law tailored for a lower limb supernumerary robotic limb robot. Through simulations and experiments, the efficacy of the system in maintaining a specific safety margin is demonstrated. Moreover, the technique offers a pragmatic solution to accommodate individual variations in walking gait and cross-user disparities in interaction. The proposed method contributes to advancing the safety and adaptability of cross-user human-robot systems.

关键词： Legged locomotion Adaptation models Mechatronics Robust stability Force Human-robot interaction Safety Impedance Robots Pragmatics

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A Novel Federated Learning Based Intrusion Detection System for IoT Networks

A Novel Federated Learning Based Intrusion Detection System ...

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IEEE International Conference on Communications (ICC)

作者： Rabaie Benameur Amine Dahane Sami Souihi Abdelhamid Mellouk Laboratory of Industrial Computing and Networks (RIIR) University of Oran 1 Oran Algeria Institute of Applied Science and Technology ISTA Oran Algeria Image Signal and Intelligent Systems (LiSSi) Laboratory TincNET Research Team Univ. Paris-Est Cr eteil France

ISBN: (数字)9781728190549

ISBN: (纸本)9781728190556

In the realm of IoT platforms, susceptibility to cyber-attacks is a pressing concern, necessitating the deployment of Intrusion Detection systems (IDS). Constructing a scalable, accurate, and lightweight model without compromising data privacy poses a formidable challenge. This study assesses classical and novel approaches employing federated learning (FL) to train IDS models. Optimization through Knowledge Distillation (KD) techniques aims to enhance computational efficiency. Experimental results reveal the efficacy of federated learning, achieving an 84.5% accuracy for 15 attack types, and an impressive performance for binary network attack classification. Notably, these models exhibit shorter inference times compared to cutting-edge machine learning models trained on the Edge-IIoTset dataset, offering promising advancements in IoT security.

关键词： Data privacy Accuracy Federated learning Computational modeling Image edge detection Intrusion detection Pressing

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Two-particle debris flow simulation based on SPH

Two-particle debris flow simulation based on SPH

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作者： Zhang, Jiaxiu Yang, Meng Li, Xiaomin Jiang, Qun'ou Zhang, Heng Meng, Weiliang School of Information Science and Technology Beijing Forestry University Beijing China Engineering Research Center for Forestry-Oriented Intelligent Information Processing National Forestry and Grassland Administration Beijing China School of Soil and Water Conservation Beijing Forestry University Beijing China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China

Debris flow is a highly destructive natural disaster, necessitating accurate simulation and prediction. Existing simulation methods tend to be overly simplified, neglecting the three-dimensional complexity and multiphase fluid interactions, and they also lack comprehensive consideration of soil conditions. We propose a novel two-particle debris flow simulation method based on smoothed particle hydrodynamics (SPH) for enhanced accuracy. Our method employs a sophisticated two-particle model coupling debris flow dynamics with SPH to simulate fluid-solid interaction effectively, which considers various soil factors, dividing terrain into variable and fixed areas, incorporating soil impact factors for realistic simulation. By dynamically updating positions and reconstructing surfaces, and employing GPU and hash lookup acceleration methods, we achieve accurate simulation with significantly efficiency. Experimental results validate the effectiveness of our method across different conditions, making it valuable for debris flow risk assessment in natural disaster management. © 2024 John Wiley & Sons Ltd.

关键词： Risk assessment

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MSCA-UNet: Multi-Scale Channel Adaptive Sensing Module for Medical Image Segmentation

MSCA-UNet: Multi-Scale Channel Adaptive Sensing Module for M...

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New Trends in Computational Intelligence (NTCI), International Conference on

作者： Liangjin Diao Longfeng Shen Jiacong Chen Fangzhen Ge Mengwen Li Anhui Engineering Research Center for Intelligent Computing and Application on Cognitive Behavior (ICACB) College of Computer Science and Technology Huaibei Normal University Huaibei Anhui China Institute of Artificial Intelligence Hefei Comprehensive National Science Center Hefei China Key Laboratory of Intelligent Computing & Signal Processing Ministry of Education Anhui University Hefei Anhui China

ISBN: (数字)9798331517021

ISBN: (纸本)9798331517038

Recent advancements in CNNs for medical image segmentation have focused on the combination of CNN and Transformer architectures to capture both local and global features. However, challenges remain, such as effectively utilizing fused features at the encoder-decoder bottleneck and addressing blurred object edges in datasets. To tackle these issues, we introduce a multi-scale channel adaptive sensing module, enhancing the model's representational and perceptual capabilities by integrating multi-scale and channel-specific information. Additionally, we propose a cross-perception module and multi-scale segmentation head to improve global coordination and multi-scale information gathering. Experiments on the ACDC and Synapse datasets demonstrate our model's superiority.

关键词： Image segmentation Adaptation models Head Image edge detection Computer architecture Transformers Market research Sensors Synapses Biomedical imaging

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Two-Stage Robust Optimization Under Decision Dependent Uncertainty

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IEEE/CAA Journal of Automatica Sinica 2022年第7期9卷 1295-1306页

作者： Yunfan Zhang Feng Liu Yifan Su Yue Chen Zhaojian Wang João P.S.Catalão State Key Laboratory of Power System and Generation Equipment the Department of Electrical EngineeringTsinghua UniversityBeijing 100084China Department of Mechanical and Automation Engineering the Chinese University of Hong KongHong Kong SARChina Ministry of Education Key Laboratory of System Control and Information Processing the Department of AutomationShanghai Jiao Tong Universityand also with Shanghai Engineering Research Center of Intelligent Control and ManagementShanghai 200240China Faculty of Engineering of the University of Porto and Institute for Systems and Computer Engineering Technology and Science(INESC TEC)Porto 4200-465Portugal IEEE

In the conventional robust optimization(RO)context,the uncertainty is regarded as residing in a predetermined and fixed uncertainty *** many applications,however,uncertainties are affected by decisions,making the current RO framework *** paper investigates a class of two-stage RO problems that involve decision-dependent *** introduce a class of polyhedral uncertainty sets whose right-hand-side vector has a dependency on the here-and-now decisions and seek to derive the exact optimal wait-and-see decisions for the second-stage problem.A novel iterative algorithm based on the Benders dual decomposition is proposed where advanced optimality cuts and feasibility cuts are designed to incorporate the uncertainty-decision *** computational tractability,robust feasibility and optimality,and convergence performance of the proposed algorithm are guaranteed with theoretical *** motivating application examples that feature the decision-dependent uncertainties are ***,the proposed solution methodology is verified by conducting case studies on the pre-disaster highway investment problem.

关键词： Benders decomposition decision-dependent uncertainty endogenous uncertainty robust optimization(RO)

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Analysis and circuit design of imbalanced impedance channels for conductive intracardiac communication

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IEEE Transactions on Biomedical Circuits and systems 2024年 PP卷 PP页

作者： Wang, Han Li, Dongming Vai, Mang I. Pun, Sio Hang Yang, Jiejie Li, Hung Chun Gao, Yueming the College of Physical and Information Engineering the International Joint Laboratory on Health Intelligent Monitoring Systems Fuzhou University Fujian Fuzhou350108 China the State Key Laboratory of Analog and Mixed-Signal VLSI University of Macau MO Taipa999078 China the Joint Laboratory of Zhuhai UM Science and Technology Research Institute Lingyange Semiconductor Incorporated Zhuhai519031 China

Conductive Intracardiac Communication (CIC) uses cardiac tissue as a transmission medium for short-range wireless communication and is a potential method for enabling leadless multi-chamber pacing. However, the characterization of the intracardiac channel is significantly influenced by the experimental setup and conditions. The reported results in the literature vary depending on the measurement methods used, posing challenges in obtaining reliable channel characterization for CIC. In this paper, we aim to investigate the effects of different measurement devices and conditions on the intracardiac channel. By clarifying how impedance imbalance affects the gain measurement results, we design a weak-signal measurement circuit with high common-mode rejection. This new circuit provides a more accurate and effective gain measurement scheme for the CIC channel. An equivalent circuit model simulating cardiac biomechanical impedance is constructed to analyze how capacitive and resistive imbalances affect the gain measurement results. The effects of these imbalances are verified by intracardiac channel impedance imbalance experiments. A high common-mode rejection-high-resistance differential measurement circuit that can reduce the effects of capacitive and resistive imbalances simultaneously, is then designed to suppress the interference in the experiments. The results show that changes in the measurement equipment and isolation method lead to variations in the coupling circuit characteristics, causing differences of up to 16.65 dB in the measurement results. Experiments using the designed measurement circuits effectively mitigate interference from impedance imbalance on the measurement results. This study identifies the reasons behind the discrepancies in the experimental results of previous studies and provides a more reliable gain measurement scheme for CIC research. © 2024 Institute of Electrical and Electronics Engineers Inc.. All rights reserved.

关键词： Gain measurement

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Coordinated Navigation Control of Cross-Domain Unmanned systems via Guiding Vector Fields

arXiv

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arXiv 2023年

作者： Hu, Bin-Bin Zhang, Hai-Tao Liu, Bin Ding, Jianing Xu, Yifan Luo, Chuanshang Cao, Haosen The School of Artificial Intelligence and Automation The Engineering Research Center of Autonomous Intelligent Unmanned Systems The Key Laboratory of Image Processing and Intelligent Control The State Key Lab of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology Wuhan430074 China Dongguan University of Technology Dongguan523106 China

This paper proposes a distributed guiding-vector-field (DGVF) controller for cross-domain unmanned systems (CDUSs) consisting of heterogeneous unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs), to achieve coordinated navigation whereas maneuvering along their prescribed paths. In particular, the DGVF controller provides a hierarchical architecture of an upper-level heterogeneous guidance velocity controller and a lower-level signal tracking regulator. Therein, the upper-level controller is to govern multiple heterogeneous USVs and UAVs to approach and maneuver along the prescribed paths and coordinate the formation simultaneously, whereas the low-level regulator is to track the corresponding desired guidance signals provided by the upper-level module. Significantly, the heterogeneous coordination among neighboring UAVs and USVs is achieved merely by the lightweight communication of a scalar (i.e., the additional virtual coordinate), which substantially decreases the communication and computational costs. Sufficient conditions assuring asymptotical convergence of the closed-loop system are derived in presence of the exponentially vanishing tracking errors. Finally, real-lake experiments are conducted on a self-established cross-domain heterogeneous platform consisting of three M-100 UAVs, two HUSTER-16 USVs, a HUSTER-12C USV, and a WiFi 5G wireless communication station to verify the effectiveness of the present DGVF controller. Copyright © 2023, The Authors. All rights reserved.

关键词： Air navigation

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Vector Field-Guided Circumnavigation for an Unmanned Surface Vehicle With Boundary and Obstacle Constraints

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IEEE Transactions on Emerging Topics in Computing 2025年

作者： Wu, Nailong Wang, Jigang Wang, Yueying He, Shuping Donghua University College of Information Science and Technology Shanghai201620 China Donghua University Engineering Research Center of Digitized Textile & Apparel Technology Ministry of Education Shanghai201620 China Shanghai University School of Mechatronic Engineering and Automation Shanghai200444 China Anhui University Key Laboratory of Intelligent Computing and Signal Processing Ministry of Education School of Electrical Engineering and Automation Hefei230601 China

This article aims to tackle the challenge of rapid target circumnavigation by unmanned surface vehicles (USVs) under boundary and obstacle constraints through leveraging an emerging computing architecture specifically tailored for unmanned systems. Owing to the underactuation of USV dynamic systems and the presence of various time-varying surface disturbances, attaining rapid and accurate position control along with maneuverability poses a significant challenge to USVs. Therefore, when an USV maneuvers around a target in a confined search area with obstacles, it is essential for the guidance law to consider collision risks and environmental disturbances. This paper proposes a modified Lyapunov vector field with heading deviation compensation to circle the target in complex search regions. The vector field is designed to increase the radial velocity of the USV and accelerate convergence towards the target circle during the pursuit phase. By combining the proposed Lyapunov vector field with a boundary vector field, the USV can swiftly avoid boundaries and dynamic obstacles and then continue circling the target. The proposed computing architecture extends the application scope of the target circumnavigation to practical water surface environments, which is validated by extensive simulations and rigorous experiments. © 2025 IEEE.

关键词： Unmanned surface vehicles

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Robust flocking for non-identical second-order nonlinear multi-agent systems

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Autonomous intelligent systems 2021年第1期1卷 81-90页

作者： Xiuxian Li Housheng Su Li Li Department of Control Science and Engineering College of Electronics and Information Engineeringand Shanghai Research Institute for Intelligent Autonomous SystemsTongji UniversityShanghai 200092China Institute for Advanced Study Tongji UniversityShanghai 200092China School of Automation Image Processing and Intelligent Control Key Laboratory of Education Ministry of ChinaHuazhong University of Science and TechnologyLuoyu Road 1037Wuhan 430074China

This paper investigates the robust flocking problem for second-order nonlinear systems with a leader and external *** contrast with most of second-order systems in the literature,the intrinsic dynamics here are nonlinear and non-identical that depend not only on the velocity but also on the position,which is more ***,the interaction topology is undirected and *** that the leader’s velocity may be constant or time-varying,two distributed flocking control laws have been proposed for two cases to make the differences of the velocities between all followers and the leader approach to zero *** proposed distributed flocking control laws are both model-independent which results in the effectiveness of the controllers to cope with the different intrinsic dynamics of the followers and the leader under some assumptions on boundedness of several *** example is given to illustrate the validity of the theoretical results.

关键词： Flocking Multi-agent systems Second-order nonlinear systems Non-identical dynamics

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CHALLENGES IN IMPLEMENTING A RECOMMENDER SYSTEM FOR HISTORICAL research IN THE HUMANITIES

arXiv

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arXiv 2024年

作者： Atzenhofer-Baumgartner, Florian Geiger, Bernhard C. Trattner, Christoph Vogeler, Georg Kowald, Dominik Institute of Interactive Systems and Data Science Graz University of Technology Graz Austria Department of Digital Humanities University of Graz Graz Austria Know Center Research GmbH Graz Austria Signal Processing and Speech Communication Laboratory Graz University of Technology Graz Austria University of Bergen & Media Futures Bergen Norway

This extended abstract describes the challenges in implementing recommender systems for digital archives in the humanities, focusing on ***, a platform for historical legal documents. We discuss three key aspects: (i) the unique characteristics of so-called charters as items for recommendation, (ii) the complex multi-stakeholder environment, and (iii) the distinct information-seeking behavior of scholars in the humanities. By examining these factors, we aim to contribute to the development of more effective and tailored recommender systems for (digital) humanities research. © 2024, CC BY-SA.

关键词： Recommender systems

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