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Simultaneous Estimation of Human Motion Intention and Time-Varying Arm Stiffness for Enhanced Human-Robot Interaction

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IEEE Transactions on Cognitive and Developmental systems 2024年第3期17卷 510-524页

作者： Wu, Huayang Zhu, Chengzhi Cheng, Long Yang, Chenguang Li, Yanan University of Sussex Department of Engineering and Design BrightonBN1 9RH United Kingdom South China University of Technology Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and Engineering Guangzhou510640 China Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Beijing100190 China University of Chinese Academy of Sciences School of Artificial Intelligence Beijing100049 China University of Liverpool Department of Computer Science LiverpoolL69 3BX United Kingdom

Recent advances in physiological human motor control research indicate that human endpoint stiffness magnitude increases linearly with grasp force. Based on these findings, a scheme was proposed in this paper to integrate the linear quadratic estimation (LQE) filter with the stiffness model inferred from grasp force, which can simultaneously estimate the human arm's stiffness and motion intention. Then, an online variable impedance controller (VIC) was designed based on previous estimations for physical human-robot interaction (pHRI). The proposed stiffness model and estimation method were validated through experiments using a planar robotic interface. In order to assess its performance in practical pHRI tasks, the implementation of human arm stiffness and intention estimation combining with VIC was extended to a teleoperation peg-in-hole and robot-assisted rehabilitation tasks. The experimental results demonstrate that the proposed method can effectively estimate human motion intention and arm stiffness simultaneously. Compared to existing methods, the proposed VIC enhances pHRI in terms of increased flexibility, effective guidance, and reduced human effort. © 2016 IEEE.

关键词： Human robot interaction

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intelligent cache and buffer optimization for mobile VR adaptive transmission in 5G edge computing networks

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Digital Communications and Networks 2024年第5期10卷 1234-1244页

作者： Junchao Yang Ali Kashif Bashir Zhiwei Guo Keping Yu Mohsen Guizani Chongqing Key Laboratory of Intelligent Perception and BlockChain Technology School of Artificial IntelligenceChongqing Technology and Business UniversityChongqing400067China Department of Computing and Mathematics Manchester Metropolitan UniversityUK Woxsen School of Business Woxsen UniversityHyderabad 502345India Department of Computer Science and Mathematics Lebanese American UniversityBeirutLebanon Graduate School of Science and Engineering Hosei UniversityTokyo184-8584Japan Machine Learning Department Mohamed Bin Zayed University of Artificial Intelligence(MBZUAI)United Arab Emirates

Virtual Reality(VR)is a key industry for the development of the digital economy in the *** VR has advantages in terms of mobility,lightweight and cost-effectiveness,which has gradually become the mainstream implementation of *** this paper,a mobile VR video adaptive transmission mechanism based on intelligent caching and hierarchical buffering strategy in Mobile Edge Computing(MEC)-equipped 5G networks is proposed,aiming at the low latency requirements of mobile VR services and flexible buffer management for VR video adaptive *** support VR content proactive caching and intelligent buffer management,users’behavioral similarity and head movement trajectory are jointly used for viewpoint *** tile-based content is proactively cached in the MEC nodes based on the popularity of the VR ***,a hierarchical buffer-based adaptive update algorithm is presented,which jointly considers bandwidth,buffer,and predicted viewpoint status to update the tile chunk in client ***,according to the decomposition of the problem,the buffer update problem is modeled as an optimization problem,and the corresponding solution algorithms are ***,the simulation results show that the adaptive caching algorithm based on 5G intelligent edge and hierarchical buffer strategy can improve the user experience in the case of bandwidth fluctuations,and the proposed viewpoint prediction method can significantly improve the accuracy of viewpoint prediction by 15%.

关键词： Virtual reality Adaptive transmission Edge cache Buffer management 5G Mobile edge computing

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Redundant Data Detection and Deletion to Meet Privacy Protection Requirements in Blockchain-Based Edge Computing Environment

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China Communications 2024年第3期21卷 149-159页

作者： Zhang Lejun Peng Minghui Su Shen Wang Weizheng Jin Zilong Su Yansen Chen Huiling Guo Ran Sergey Gataullin Cyberspace Institute Advanced Technology Guangzhou UniversityGuangzhou 510006China College of Information Engineering Yangzhou UniversityYangzhou 225127China School Math&Computer Science Quanzhou Normal UniversityQuanzhou 362000China Computer Science Department City University of Hong KongHong Kong 999077China School of Computer and Software Nanjing University of Information Science and TechnologyNanjing 21004China Key Laboratory of Intelligent Computing and Signal Processing of Ministry of Education School of Computer Science and TechnologyAnhui UniversityHefei 230601China Department of Computer Science and Artificial Intelligence Wenzhou UniversityWenzhou 325035China Guangzhou University Library Guangzhou UniversityGuangzhou 510006China Central Economic and Mathematics Institute Russian Academy of Sciences MIREA-Russian Technological University Moscow RegionRussia

With the rapid development of information technology,IoT devices play a huge role in physiological health data *** exponential growth of medical data requires us to reasonably allocate storage space for cloud servers and edge *** storage capacity of edge nodes close to users is *** should store hotspot data in edge nodes as much as possible,so as to ensure response timeliness and access hit rate;However,the current scheme cannot guarantee that every sub-message in a complete data stored by the edge node meets the requirements of hot data;How to complete the detection and deletion of redundant data in edge nodes under the premise of protecting user privacy and data dynamic integrity has become a challenging *** paper proposes a redundant data detection method that meets the privacy protection *** scanning the cipher text,it is determined whether each sub-message of the data in the edge node meets the requirements of the hot *** has the same effect as zero-knowledge proof,and it will not reveal the privacy of *** addition,for redundant sub-data that does not meet the requirements of hot data,our paper proposes a redundant data deletion scheme that meets the dynamic integrity of the *** use Content Extraction Signature(CES)to generate the remaining hot data signature after the redundant data is *** feasibility of the scheme is proved through safety analysis and efficiency analysis.

关键词： blockchain data integrity edge computing privacy protection redundant data

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Literature Review of Circulating Current of Parallel Voltage Source Converters

Literature Review of Circulating Current of Parallel Voltage...

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2023 IEEE PELS Students and Young Professionals Symposium, SYPS 2023

作者： Zhang, Haoyu Wong, Man-Chung University of Macau State Key Laboratory of Internet of Things for Smart City Department of Electrical and Computer Engineering Faculty of Science and Technology China

ISBN: (纸本)9798350307832

To increase the power density of voltage source converters (VSC) usually use parallel structures. However, parallel VSC will easily introduce circulating current, which can cause a power efficiency decline. This paper gives a review of the circulating current and the solutions of it. Through the analysis of the principle of circulating current generation and the detail of the solutions, this paper gives an overview of the current research stage of circulating current. The technology can be divided into hardware solutions and software solutions are then analyzed and evaluated. © 2023 IEEE.

关键词： Power converters

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Resilient Event-Triggered Model Predictive Control for Adaptive Cruise Control Under Sensor Attacks

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IEEE/CAA Journal of Automatica Sinica 2023年第3期10卷 807-809页

作者： Zhijian Hu Rong Su Kai Zhang Zeyuan Xu Renjie Ma School of Electrical and Electronic Engineering Nanyang Technological UniversitySingapore 639798Singapore Key Laboratory of Ultra-Precision Intelligent Instrumentation Ministry of Industry and Information Technologyand the Center of Ultra-Precision Optoelectronic Instrument EngineeringHarbin Institute of TechnologyHarbin 150001China Department of Control Science and Engineering Harbin Institute of TechnologyHarbin 150001China Department of Chemical and Biomolecular Engineering National University of SingaporeSingapore 117585Singapore State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150001China IEEE

Dear Editor,This letter addresses the resilient model predictive control(MPC)problems for adaptive cruise control(ACC)systems under sensor *** the light of vulnerabilities of ACC systems to sensor attacks,an intrusion detection mechanism is proposed at the controller side to distinguish abnormal ***,the robust control gains are derived to design the terminal region constraint for MPC.

关键词： Trigger Event constraint

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DETECTING MACHINE-GENERATED TEXTS BY MULTI-POPULATION AWARE OPTIMIZATION FOR MAXIMUM MEAN DISCREPANCY 12

DETECTING MACHINE-GENERATED TEXTS BY MULTI-POPULATION AWARE ...

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12th International Conference on Learning Representations, ICLR 2024

作者： Zhang, Shuhai Song, Yiliao Yang, Jiahao Li, Yuanqing Han, Bo Tan, Mingkui South China University of Technology China Pazhou Laboratory China The University of Adelaide Australia Key Laboratory of Big Data and Intelligent Robot Ministry of Education China Department of Computer Science Hong Kong Baptist University Hong Kong

Large language models (LLMs) such as ChatGPT have exhibited remarkable performance in generating human-like texts. However, machine-generated texts (MGTs) may carry critical risks, such as plagiarism issues, misleading information, or hallucination issues. Therefore, it is very urgent and important to detect MGTs in many situations. Unfortunately, it is challenging to distinguish MGTs and human-written texts because the distributional discrepancy between them is often very subtle due to the remarkable performance of LLMs. In this paper, we seek to exploit maximum mean discrepancy (MMD) to address this issue in the sense that MMD can well identify distributional discrepancies. However, directly training a detector with MMD using diverse MGTs will incur a significantly increased variance of MMD since MGTs may contain multiple text populations due to various LLMs. This will severely impair MMD's ability to measure the difference between two samples. To tackle this, we propose a novel multi-population aware optimization method for MMD called MMD-MP, which can avoid variance increases and thus improve the stability to measure the distributional discrepancy. Relying on MMD-MP, we develop two methods for paragraph-based and sentence-based detection, respectively. Extensive experiments on various LLMs, e.g., GPT2 and ChatGPT, show superior detection performance of our MMD-MP. The source code is available at https://***/ZSHsh98/MMD-MP. © 2024 12th International Conference on Learning Representations, ICLR 2024. All rights reserved.

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Federated Intelligence for intelligent Vehicles

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on intelligent Vehicles 2024年第5期9卷 1-5页

作者： Zhang, Weishan Zhang, Baoyu Jia, Xiaofeng Qi, Hongwei Qin, Rui Li, Juanjuan Tian, Yonglin Liang, Xiaolong Wang, Fei-Yue School of China University of Petroleum Qingdao China Department of Data Management Big Data Centre Beijing Beijing China Technology Company Beijing China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China Faculty of Innovation Engineering Macau University of Science and Technology Macao China State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

This letter is a brief summary of a series of IEEE TIV's decentralized and hybrid workshops (DHWs) on Federated Intelligence for intelligent Vehicles. The discussed results are: 1) Different scales of large models (LMs) can be federated and deployed on IVs, and three types of federated collaboration between large and small models can be adopted for IVs. 2) Federated fine-tuning of LMs is beneficial for IVs data security. 3) The sustainability of IVs can be improved through optimizing existing models and continuous learning using federated intelligence. 4) LM-enhanced knowledge can make IVs smarter. IEEE

关键词： intelligent vehicle highway systems

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MyRoom: A Unity Plugin for Procedural and Interactive Indoor Scene Synthesis 5

MyRoom: A Unity Plugin for Procedural and Interactive Indoor...

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5th Annual IEEE Conference on Games, CoG 2023

作者： Du, Haocheng Zhao, Yunlong Huang, Shuo Bai, Jiayu Tian, Song Liu, Jialin Southern University of Science and Technology Guangdong Provincial Key Laboratory of Brain-Inspired Intelligent Computation Department of Computer Science and Engineering Shenzhen518055 China Southern University of Science and Technology Center for the Humanities Shenzhen518055 China

ISBN: (纸本)9798350322774

The demand for indoor synthesis has increased significantly in recent years because of the emergence of computational design. This work designs and develops MyRoom, a Unity plugin that can import layout datasets for indoor synthesis and procedurally generate and interactively design indoor scenes. MyRoom enables users to easily edit and visualize non-intuitive layout description data, making it easier to generate and manipulate indoor scenes in Unity. MyRoom provides a user-friendly interface and powerful tools for designing and optimizing indoor layouts, including an automatic layout generator, making it ideal for game developers, interior designers, and researchers in the digital world-building industry. With MyRoom, users can streamline the process of creating high-quality indoor scenes in games and achieve their design goals efficiently. © 2023 IEEE.

关键词： Construction industry

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IAACS: Image aesthetic assessment through color composition and space formation

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Virtual Reality & intelligent Hardware 2023年第1期5卷 42-56页

作者： Bailin YANG Changrui ZHU Frederick WBLI Tianxiang WEI Xiaohui LIANG Qingxu WANG School of Computer and Information Engineering Zhejiang Gongshang UniversityHangzhou 310018China Department of Computer Science University of DurhamDH13LEUnited Kingdom College of Intelligence and Computing Tianjin UniversityTianjin 300072China State Key Laboratory of Virtual Reality Technology and Systems Beihang UniversityBeijing 100191China

Background Determining how an image is visually appealing is a complicated and subjective task. This motivates the use of a machine-learning model to evaluate image aesthetics automatically by matching the aesthetics of the general public. Although deep learning methods have successfully learned good visual features from images,correctly assessing the aesthetic quality of an image remains a challenge for deep learning. Methods To address this, we propose a novel multiview convolutional neural network to assess image aesthetics assessment through color composition and space formation(IAACS). Specifically, from different views of an image––including its key color components and their contributions, the image space formation, and the image itself––our network extracts the corresponding features through our proposed feature extraction module(FET) and the Image Net weight-based classification model. Result By fusing the extracted features, our network produces an accurate prediction score distribution for image aesthetics. The experimental results show that we have achieved superior performance.

关键词： Image aesthetic assessment Color composition Space formation Deep learning

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Ordered Mesoporous Magnetic Ceramics from Single-Source Self-Assembled Ferrocene-Functionalized Giant Molecules

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CCS Chemistry 2025年第2期7卷 460-469页

作者： Qing-Yun Guo Xing-Han Li Yuean Wu Xiao-Yun Yan Yuchu Liu Di Han Bo-xing Zhang Xian-You Liu Huanyu Lei Zebin Su Jiahao Huang Wei Zhang GengXin Liu Hao Liu Xueyan Feng Stephen Z.D.Cheng South China Advanced Institute of Soft Matter Science and Technology School of Emergent Soft MatterSouth China University of TechnologyGuangzhou 510640 Department of Polymer Science School of Polymer Science and Polymer EngineeringThe University of AkronAkronOhio 44325-3909 Guangdong Provincial Key Laboratory of Functional and Intelligent Hybrid Materials and Devices Guangdong Basic Research Center of Excellence for Energy and Information Polymer MaterialsSouth China University of TechnologyGuangzhou 510640 College of Polymer Science and Engineering State Key Laboratory of Polymer Materials and EngineeringSichuan UniversityChengdu 610065 Department of Pharmaceutical Science School of PharmacyUniversity of PittsburghPittsburghPennsyl-vania 15261 State Key Laboratory for Modification of Chemical Fibers and Polymer Materials Center for Advanced Low-dimensional MaterialsCollege of Materials Science and EngineeringDonghua UniversityShanghai 201620 State Key Laboratory of Molecular Engineering of Polymers Department of Macromolecular ScienceFudan UniversityShanghai 200438

Ordered mesoporous materials have demonstrated con-siderable potential in various fields,such as catalysis,separation,and biomedical *** such materials has garnered extensive ***-ever,current investigations of mesoporous materials predominantly focus on high porosity and related appli-cations,often neglecting the development of mesopor-ous materials possessing additional ***,we report the fabrication of ordered mesoporous magnetic ceramics by pyrolyzing single-source self-assembled giant molecules,constructed by dihydroxyl-functiona-lized polyhedral oligomeric silsequioxane,polystyrene,and *** ordered magnetic ceramics with high surface areas and uniform pore sizes were obtained after the *** measure-ments revealed the ferromagnetic nature of the ceramic *** magnetic ceramic monoliths and magnetic ceramic thin films can be fabricated by pro-cessing the precursor giant ***,the mesoporous magnetic ceramics exhibit exceptional adsorption capacity and facile separability,making them suitable for water pollutant removal applications.

关键词： mesoporous materials self-assembly giant molecules polyhedral oligomeric silsequioxane ferrocene

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