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IEEE Conference on Wireless Communications and Networking

作者： Kai Guo Yilin Xiao Xiaozhen Lu Liang Xiao Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen China School of Science and Engineering The Chinese University of Hong Kong Shenzhen China Peng Cheng Laboratory Shenzhen China College of Computer Science and Technology Nanjing University of Aeronautics and Astronautics Nanjing China Department of Information and Communication Engineering Xiamen University Xiamen China

ISBN: (数字)9798350368369

ISBN: (纸本)9798350368376

Deploying high-complexity deep neural network (DNN) on mobile devices presents significant challenges, stemming from the conflict between their computationally intensive demands and the constrained computational resources. Device-to-device ( $D$ 2 $D$ ) assisted mobile edge computing (MEC) exploits sharing resources among devices to perform DNN inference collaboratively for higher efficiency. However, most existing collaborative inference schemes ignore the structure of DNN models, thus suffering from high latency under dynamic network conditions and computational loads. In this paper, we propose a learning-based low-latency collaborative inference scheme for multi-branch models, which schedules the computations of each DNN layer to optimize the alignment between the DNN structure's characteristics and the D2D network environments. Specifically, the computational task of each branch is assigned to nearby mobile devices or the edge server for efficient collaboration. In addition, we design proximal policy optimization with task-specific architecture to choose the computational scheduling policy, which contains a two-stream NN to extract features from the D2D network and the tasks at each layer, as well as a multi-head output to obtain the collaborative devices for all tasks in the layer. Simulation results show that the proposed scheme reduces the inference latency compared with benchmarks.

关键词： Schedules Processor scheduling Computational modeling Simulation Collaboration Artificial neural networks Mobile handsets Device-to-device communication Servers Low latency communication

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Direct Torque Control in Series-End Winding PMSM Drives 48

Direct Torque Control in Series-End Winding PMSM Drives

引用

48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Dong, Zhiping Zhao, Hang Wen, Hao Liu, Chunhua City University of Hong Kong School of Energy and Environment Hong Kong Hong Kong City University of Hong Kong Shenzhen Research Institute Shenzhen China Robotics and Autonomous Systems Thrust Guangzhou China The Hong Kong University of Science and Technology Department of Electronic & Computer Engineering Hong Kong Hong Kong

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

This paper provides a preliminary study of promoting the direct torque control (DTC) to series-end winding permanent magnet synchronous motor (SW-PMSM) drives. The DTC schemes of the conventional PMSM drives cannot be directly applied to the SW-PMSM drives since they have different drive topologies. With one more leg added to the inverter, the SW-PMSM drive has a different voltage vector distribution, which leads to a different switching table for the hysteresis controllers of the flux and the torque. In addition, the zero-sequence subspace also exists in the SW-PMSM drive, and it might generate the undesired zero-sequence current. Based on the above issues, the voltage vector distribution of the SW-PMSM drive is studied in this paper, and the voltage vectors without zero-sequence components are selected as the candidates to prevent generating zero-sequence current. Next, the switching table for the hysteresis controllers is re-derived according to the candidate voltage vectors, and the DTC for the SW-PMSM drive is obtained. Subsequently, the DTC of the multi-phase SW-PMSM drive is also investigated in the same manner. Finally, the effectiveness of the proposed DTC schemes for the SW-PMSM drives is verified. © 2022 IEEE.

关键词： Torque

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Flexible Tactile Sensing Using PDMS/TiO2 Based Capacitor with MOSFET Structure

Flexible Tactile Sensing Using PDMS/TiO2 Based Capacitor wit...

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IEEE SENSORS

作者： Kamalesh Tripathy Dhanranjan Kumar Karthick Thiyagarajan Mitradip Bhattacharjee Department of Electrical Engineeringand Computer Science i-Lab Indian Institute of Science Education and Research Bhopal Bhopal Madhya Pradesh India Smart Sensing and Robotics Laboratory (SensR Lab) Centre for Advanced Manufacturing Technology School of Engineering Design and Built Environment Western Sydney University Penrith NSW Australia

ISBN: (数字)9798350363517

ISBN: (纸本)9798350363524

In this paper, we present a flexible capacitive tactile sensor based on a polydimethylsiloxane (PDMS) elastomer, which is well-suited for a wide range of applications. The sensor incorporates an n-channel depletion-mode MOSFET to achieve an extended gate architecture. To enhance the sensing performance, TiO 2 nanoparticles are incorporated as nanofillers, resulting in an improved dielectric material ideal for highly sensitive capacitive pressure and tactile sensors. The 99PDMS-01TiO 2 nanocomposite (comprising 99 wt % PDMS and 1 wt % TiO 2 ) is utilized for promising flexible tactile sensor applications due to the synergistic effects between the PDMS matrix and TiO 2 nanoparticles, which enhance both the mechanical and sensing properties of the composite. The fabricated sensor exhibits a sensitivity of $\mathbf{30} \boldsymbol{\mu}\mathbf{A}/\mathbf{kPa}$ within the range of 0-10.5 kPa and a sensitivity of $\mathbf{9} \boldsymbol{\mu}\mathbf{A}/\mathbf{kPa}$ in the range of 10.5-30 kPa.

关键词： Nanoparticles MOSFET Sensitivity Nanocomposites Capacitors Tactile sensors Logic gates Robustness Sensors Titanium dioxide

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Diff9D: Diffusion-Based Domain-Generalized Category-Level 9-DoF Object Pose Estimation

arXiv

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arXiv 2025年

作者： Liu, Jian Sun, Wei Yang, Hui Deng, Pengchao Liu, Chongpei Sebe, Nicu Rahmani, Hossein Mian, Ajmal National Engineering Research Center for Robot Visual Perception and Control Technology College of Electrical and Information Engineering School of Robotics State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body Hunan University Changsha410082 China Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Xi’an710049 China Department of Information Engineering and Computer Science University of Trento Trento38123 Italy School of Computing and Communications Lancaster University LA1 4YW United Kingdom Department of Computer Science The University of Western Australia WA6009 Australia

Nine-degrees-of-freedom (9-DoF) object pose and size estimation is crucial for enabling augmented reality and robotic manipulation. Category-level methods have received extensive research attention due to their potential for generalization to intra-class unknown objects. However, these methods require manual collection and labeling of large-scale real-world training data. To address this problem, we introduce a diffusion-based paradigm for domain-generalized category-level 9-DoF object pose estimation. Our motivation is to leverage the latent generalization ability of the diffusion model to address the domain generalization challenge in object pose estimation. This entails training the model exclusively on rendered synthetic data to achieve generalization to real-world scenes. We propose an effective diffusion model to redefine 9-DoF object pose estimation from a generative perspective. Our model does not require any 3D shape priors during training or inference. By employing the Denoising Diffusion Implicit Model, we demonstrate that the reverse diffusion process can be executed in as few as 3 steps, achieving near real-time performance. Finally, we design a robotic grasping system comprising both hardware and software components. Through comprehensive experiments on two benchmark datasets and the real-world robotic system, we show that our method achieves state-of-the-art domain generalization performance. Our code will be made public at https://***/CNJianLiu/Diff9D. Copyright © 2025, The Authors. All rights reserved.

关键词： Augmented reality

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Towards a Benchmark EO Semantic Segmentation Dataset for Uncertainty Quantification

Towards a Benchmark EO Semantic Segmentation Dataset for Unc...

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IEEE International Symposium on Geoscience and Remote Sensing (IGARSS)

作者： Dawood Wasif Yuanyuan Wang Muhammad Shahzad Rudolph Triebel Xiao Xiang Zhu Data Science in Earth Observation Technical University of Munich (TUM) Munich Germany School of Electrical Engineering and Computer Science (SEECS) National University of Sciences and Technology (NUST) Islamabad Pakistan Institute of Robotics and Mechatronics German Aerospace Center Weßling Germany

In order to achieve the objective of accurate and reliable use of deep neural networks for Earth Observation in large-scale scene understanding and interpretation, a large and diverse dataset with proper quantification of uncertainty is required. In this work, we exemplify the lack of a benchmark dataset and present the progress of a novel benchmark dataset for uncertainty quantification of deep learning models in the classic problem of building segmentation from overhead imagery. We present a synthetic dataset where synthetic UAV images were rendered from 3D mesh models of Berlin, Germany. The building masks were extracted from precise LoD-2 building models of the same area. We compare and contrast the performances of baseline methods for semantic segmentation and various uncertainty quantification techniques on this dataset. The experiments show that U-Net is the most accurate model with mIoU of 0.812. Moreover, the Bayesian model is found to be the most reliable uncertainty quantification method on our dataset, with the least ECE.

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WEKWS: A PRODUCTION FIRST SMALL-FOOTPRINT END-TO-END KEYWORD SPOTTING TOOLKIT

arXiv

引用

arXiv 2022年

作者： Wang, Jie Xu, Menglong Hou, Jingyong Zhang, Binbin Zhang, Xiao-Lei Xie, Lei Pan, Fuping School of Marine Science and Technology Northwestern Polytechnical University Xi'An China School of Computer Science Northwestern Polytechnical University Xi'An China Horizon Robotics Beijing China WeNet Open Source Community China

Keyword spotting (KWS) enables speech-based user interaction and gradually becomes an indispensable component of smart devices. Recently, end-to-end (E2E) methods have become the most popular approach for on-device KWS tasks. However, there is still a gap between the research and deployment of E2E KWS methods. In this paper, we introduce WeKws, a production-quality, easy-to-build, and convenient-to-be-applied E2E KWS toolkit. WeKws contains the implementations of several state-of-the-art backbone networks, making it achieve highly competitive results on three publicly available datasets. To make WeKws a pure E2E toolkit, we utilize a refined max-pooling loss to make the model learn the ending position of the keyword by itself, which significantly simplifies the training pipeline and makes WeKws very efficient to be applied in real-world scenarios. The toolkit is publicly available at https://***/wenet-e2e/wekws. Copyright © 2022, The Authors. All rights reserved.

关键词： Machine learning

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Adaptive Non-Maximum Suppression to Improve Performance of Rumex Detection

SSRN

引用

SSRN 2022年

作者： Al-Badri, Ahmed Husham Ismail, Nor Azman Al-Dulaimi, Khamael Salman, Ghalib Ahmed Salam, Md Sah Bin Haji Al-Sabaawi, Aiman School of Computing Faculty of Engineering Universiti Teknologi Malaysia Johor Bahru Malaysia Computer Science Department College of Science Al-Nahrain University Baghdad Iraq School of Electrical Engineering and Robotics Queensland University of Technology BrisbaneQLD4000 Australia Department of Computer Science Middle Technical University Baghdad Iraq School of Computer Science Queensland University of Technology BrisbaneQLD4000 Australia

Weed detection methods based on Region-Convolutional Neural Network (R-CNN) frameworks still suffer from a lack of detection rate due to overlapping and occlusion leaves issues. This paper presents an Ensemble-Region Convolutional Neural Networks (E-RCNN) model of three state-of-the-art networks to detect Rumex obtusifolius L. ( R. obtu .) weeds under various condition especially overlapping. The proposed E-RCNN model is used due to its novelty of using ensemble classifiers with the combination of three extractors at its backbone. The Adaptive Non-Maximum Suppression (ANMS) is proposed with the Region Proposal Network (RPN) to enhance the detection performance of overlapping and occluded objects by overcoming the drawbacks of the conventional Non-Maximum Suppression (NMS). Three main stages are proposed as a framework to achieve the classification and detection goals, including pre-processing stage, classification stage, and detection stage. A hybrid model of three CNN extractor networks is used as the backbone in the classification stage. Thus, integrating three networks into one robust model increases the recognition capability by extracting additional useful features more efficiently than those from an individual network. For detection, RPN is used to generate multi-proposed boxes, whereas ANMS is used to select the best box that has a high score rate to match the target object. Our proposed model has trained and tested two standard benchmarking datasets of Rumex weeds under real-world data. The proposed model tested each dataset separately to evaluate the detection rate in terms of Intersection over Union (IoU). To evaluate the detection rate, AlexNet, Single-Shot Detector (SSD), DetectNet and Faster R-CNN with conventional NMS models are used to compare the results. The evaluation performances of AlexNet, SSD, DetectNet, and Faster R-CNN on the IoU metric are 0.81, 0.83, 0.84, and 0.88, respectively. The proposed model achieves the highest score in localization

关键词： Convolutional neural networks

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Towards End-to-End Unsupervised Saliency Detection with Self-Supervised Top-Down Context

arXiv

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arXiv 2023年

作者： Song, Yicheng Gao, Shuyong Xing, Haozhe Cheng, Yiting Wang, Yan Zhang, Wenqiang Shanghai Key Lab of Intelligent Information Processing School of Computer Science Fudan University Shanghai China Keenon Robotics Co. Ltd. Shanghai China Academy for Engineering & Technology Fudan University Shanghai China

Unsupervised salient object detection aims to detect salient objects without using supervision signals eliminating the tedious task of manually labeling salient objects. To improve training efficiency, end-to-end methods for USOD have been proposed as a promising alternative. However, current solutions rely heavily on noisy handcraft labels and fail to mine rich semantic information from deep features. In this paper, we propose a self-supervised end-to-end salient object detection framework via top-down context. Specifically, motivated by contrastive learning, we exploit the self-localization from the deepest feature to construct the location maps which are then leveraged to learn the most instructive segmentation guidance. Further considering the lack of detailed information in deepest features, we exploit the detail-boosting refiner module to enrich the location labels with details. Moreover, we observe that due to lack of supervision, current unsupervised saliency models tend to detect non-salient objects that are salient in some other samples of corresponding scenarios. To address this widespread issue, we design a novel Unsupervised Non-Salient Suppression (UNSS) method developing the ability to ignore non-salient objects. Extensive experiments on benchmark datasets demonstrate that our method achieves leading performance among the recent end-to-end methods and most of the multi-stage solutions. The code is available. Copyright © 2023, The Authors. All rights reserved.

关键词： Object detection

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Unified Regularity Measures for Sample-Wise Learning and Generalization

SSRN

引用

SSRN 2022年

作者： Zhang, Chi Ma, Xiaoning Liu, Yu Lu, Haoang Wang, Le Su, Yuanqi Liu, Yuehu Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Xi’an710049 China School of Computer Science and Technology Xi’an Jiaotong University Xi’an710049 China

Fundamental machine learning theory shows that different samples contribute unequally both in learning and testing processes. Contemporary studies on DNN imply that such sample differences are rooted in the distribution of intrinsic pattern information, namely sample regularity. Motivated by recent discoveries on network memorization and generalization, we propose a pair of sample regularity measures with a formulation-consistent representation for both processes. Specifically, cumulative binary training/generalizing loss (CBTL/CBGL), the cumulative number of correct classifications of the training/test sample within the training stage, is proposed to quantify the stability in the memorization-generalization process;while forgetting/malgeneralizing events ( ForEvents/MgEvents), i.e., the misclassification of previously learned or generalized sample, are utilized to represent the uncertainty of sample regularity concerning optimization dynamics. The effectiveness and the robustness of the proposed approaches for mini-batch SGD optimization are validated through samplewise analyses. Further training/test sample selection applications show that the proposed measures sharing the unified computing procedure could benefit both tasks. © 2022, The Authors. All rights reserved.

关键词： Machine learning

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Pallet and Pocket Detection Based on Deep Learning Techniques

Pallet and Pocket Detection Based on Deep Learning Technique...

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Iberian robotics Conference (ROBOT)

作者： Daniele Caldana Artur Cordeiro João Pedro Souza Ricardo B. Sousa Paulo M. Rebelo António Joaquim Silva Manuel F. Silva CRIIS - Centre for Robotics in Industry and Intelligent Systems INESC TEC - Institute for Systems and Computer Engineering Technology and Science Portugal Faculty of Engineering University of Porto (FEUP) Portugal School of Science and Technology University of Trás-os-Montes e Alto Douro (UTAD) Portugal Seúibal Industrial Complex The Navigator Company Portugal ISEP Polytechnic of Porto Portugal

ISBN: (数字)9798350376364

ISBN: (纸本)9798350376371

The high level of precision and consistency required for pallet detection in industrial environments and logistics tasks is a critical challenge that has been the subject of extensive research. This paper proposes a system for detecting pallets and its pockets using the You Only Look Once (YOLO) v8 Open Neural Network Exchange (ONNX) model, followed by the segmentation of the pallet surface. On the basis of the system a pipeline built on the ROS Action Server whose structure promotes modularity and ease of implementation of heuristics. Additionally, is presented a comparison between the YOLOv5 and YOLOv8 models in the detection task, trained with a customised dataset from a factory environment. The results demonstrate that the pipeline can consistently perform pallet and pocket detection, even when tested in the laboratory and with successive 3D pallet segmentation. When comparing the models, YOLOv8 achieved higher average metric values, with YOLOv8m providing better detection performance in the laboratory setting.

关键词： YOLO Measurement Three-dimensional displays Pipelines Neural networks Production facilities Servers Pallets Robots Logistics

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