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arXiv 2025年

作者： Yang, Zheng Wang, Ning Sun, Yanshi Ding, Zhiguo Schober, Robert Karagiannidis, George K. Wong, Vincent W.S. Dobre, Octavia A. Fujian Provincial Engineering Technology Research Center of Photoelectric Sensing Application Fujian Normal University Fuzhou350117 China School of Information and Control Engineering China University of Mining and Technology Xuzhou221116 China School of Computer Science and Information Engineering Hefei University of Technology Hefei230009 China Khalifa University Abu Dhabi United Arab Emirates University of Manchester ManchesterM1 9BB United Kingdom Germany Group Electrical & Computer Engineering Dept. Aristotle University of Thessaloniki Thessaloniki54 124 Greece Department of Electrical and Computer Engineering The University of British Columbia Vancouver Canada Department of Electrical and Computer Engineering Memorial University St. John’sNL Canada

Flexible-antenna systems, such as fluid antennas and movable antennas, have been recognized as key enabling technologies for sixth-generation (6G) wireless networks, as they can intelligently reconfigure the effective channel gains of the users and hence significantly improve their data transmission capabilities. However, existing flexible-antenna systems have been designed to combat small-scale fading in non-line-of-sight (NLoS) conditions. As a result, they lack the ability to establish line-of-sight links, which are typically 100 times stronger than NLoS links. In addition, existing flexible-antenna systems have limited flexibility, where adding/removing an antenna is not straightforward. This article introduces an innovative flexible-antenna system called pinching antennas, which are realized by applying small dielectric particles to waveguides. We first describe the basics of pinching-antenna systems and their ability to provide strong LoS links by deploying pinching antennas close to the users as well as their capability to scale up/down the antenna system. We then focus on communication scenarios with different numbers of waveguides and pinching antennas, where innovative approaches to implement multiple-input multiple-output and non-orthogonal multiple access are discussed. In addition, promising 6G-related applications of pinching antennas, including integrated sensing and communication and next-generation multiple access, are presented. Finally, important directions for future research, such as waveguide deployment and channel estimation, are highlighted. Copyright © 2025, The Authors. All rights reserved.

关键词： Channel estimation

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Data-Driven Pole Placement in LMI Regions with Robustness Guarantees

Data-Driven Pole Placement in LMI Regions with Robustness Gu...

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IEEE Conference on Decision and control

作者： Sayak Mukherjee Ramij R. Hossain Optimization and Control Group Pacific Northwest National Laboratory (PNNL) Richland WA USA Department of Electrical and Computer Engineering Iowa State University Ames IA USA

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

This paper proposes a data-driven methodology to place the closed-loop poles in desired convex regions in the complex plane with sufficient robustness constraints. We considered the system state and input matrices unknown and only used the measurements of system trajectory. The closed-loop pole placement problem in the linear matrix inequality (LMI) regions is considered a classic robust control problem; however, that requires knowledge about the state and input matrices of the linear system. We bring in ideas from the behavioral system theory and persistency of excitation condition-based fundamental lemma to develop a data-driven counterpart that satisfies multiple closed-loop robustness specifications, such as $\mathcal{D}$-stability and mixed H 2 /H ∞ performance specifications. We provide solutions based on the availability of the disturbance input, both in the controlled and fully uncertain environment, leading to data-driven semi-definite programs (SDPs) with sufficient guarantees. We validate the theoretical results with numerical simulations on a third-order dynamic system.

关键词： Robust control Linear systems Uncertainty Numerical simulation Robustness Linear matrix inequalities Behavioral sciences

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Constrained Visual-Inertial Localization With Application And Benchmark in Laparoscopic Surgery

Constrained Visual-Inertial Localization With Application An...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Regine Hartwig Daniel Ostler Jean-Claude Rosenthal Hubertus Feuß ner Dirk Wilhelm Dirk Wollherr Surgical Department Research Group MITI Technical University of Munich (TUM) Germany Department of Electrical and Computer Engineering Chair of Automatic Control Engineering Technical University of Munich (TUM) Germany Fraunhofer HHI Berlin Germany

We propose a novel method to tackle the visual-inertial localization problem for constrained camera movements. We use residuals from the different modalities to jointly optimize a global cost function. The residuals emerge from IMU measurements, stereoscopic feature points, and constraints on possible solutions in SE(3). In settings where dynamic disturbances are frequent, the residuals reduce the complexity of the problem and make localization feasible. We verify the advantages of our method in a suitable medical use case and produce a dataset capturing a minimally invasive surgery in the abdomen. Our novel clinical dataset MITI is comparable to state-of-the-art evaluation datasets, contains calibration and synchronization and is available at [1].

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Learning from Heterogeneity: A Dynamic Learning Framework for Hypergraphs

arXiv

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arXiv 2023年

作者： Zhang, Tiehua Liu, Yuze Shen, Zhishu Ma, Xingjun Qi, Peng Ding, Zhijun Jin, Jiong The School of Computer Science and Technology Tongji University Shanghai China Ant Group Shanghai China The School of Computer Science and Artificial Intelligence Wuhan University of Technology Wuhan China The School of Computer Science Fudan University Shanghai China The Department of Control Science and Engineering Tongji University Shanghai China The School of Science Computing and Engineering Technologies Swinburne University of Technology Melbourne Australia

Graph neural network (GNN) has gained increasing popularity in recent years owing to its capability and flexibility in modeling complex graph structure data. Among all graph learning methods, hypergraph learning is a technique for exploring the implicit higher-order correlations when training the embedding space of the graph. In this paper, we propose a hypergraph learning framework named Learning from Heterogeneity (LFH) that is capable of dynamic hyperedge construction and attentive embedding update utilizing the heterogeneity attributes of the graph. Specifically, in our framework, the high-quality features are first generated by the pairwise fusion strategy that utilizes explicit graph structure information when generating initial node embedding. Afterwards, a hypergraph is constructed through the dynamic grouping of implicit hyperedges, followed by the type-specific hypergraph learning process. To evaluate the effectiveness of our proposed framework, we conduct comprehensive experiments on several popular datasets with twelve state-of-the-art models on both node classification and link prediction tasks, which fall into categories of homogeneous pairwise graph learning, heterogeneous pairwise graph learning, and hypergraph learning. The experiment results demonstrate a significant performance gain (an average of 12.9% in node classification and 12.8% in link prediction) compared with recent state-of-the-art methods. © 2023, CC BY.

关键词： Contrastive Learning

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A Unified Formulation of Geometry-aware Discrete Dynamic Movement Primitives

arXiv

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arXiv 2022年

作者： Abu-Dakka, Fares J. Saveriano, Matteo Kyrki, Ville Electronic and Computer Science Department Faculty of Engineering Mondragon Unibertsitatea Arrasate20500 Spain Automatic Control Lab Department of Industrial Engineering University of Trento Trento Italy Intelligent Robotics Group Department of Electrical Engineering and Automation Aalto University Aalto Finland

Learning from demonstration (LfD) is considered as an efficient way to transfer skills from humans to robots. Traditionally, LfD has been used to transfer Cartesian and joint positions and forces from human demonstrations. The traditional approach works well for some robotic tasks, but for many tasks of interest, it is necessary to learn skills such as orientation, impedance, and/or manipulability that have specific geometric characteristics. An effective encoding of such skills can be only achieved if the underlying geometric structure of the skill manifold is considered and the constrains arising from this structure are fulfilled during both learning and execution. However, typical learned skill models such as dynamic movement primitives (DMPs) are limited to Euclidean data and fail in correctly embedding quantities with geometric constraints. In this paper, we propose a novel and mathematically principled framework that uses concepts from Riemannian geometry to allow DMPs to properly embed geometric constrains. The resulting DMP formulation can deal with data sampled from any Riemannian manifold including, but not limited to, unit quaternions and symmetric and positive definite matrices. The proposed approach has been extensively evaluated both on simulated data and real robot experiments. The performed evaluation demonstrates that beneficial properties of DMPs, such as convergence to a given goal and the possibility to change the goal during operation, apply also to the proposed formulation. © 2022, CC BY-NC-ND.

关键词： Demonstrations

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BRAIDED INTERFEROMETER MESH FOR ROBUST PHOTONIC MATRIX-VECTOR MULTIPLICATIONS WITH NON-IDEAL COMPONENTS

arXiv

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arXiv 2024年

作者： Marchesin, Federico Hejda, Matěj Carmona, Tzamn Melendez Di Carlo, Stefano Savino, Alessandro Pavanello, Fabio Van Vaerenbergh, Thomas Bienstman, Peter Photonics Research Group Department of Information Technology Ghent University-imec Ghent Belgium Hewlett Packard Labs Diegem Belgium Department of Control and Computer Engineering Politecnico di Torino Turin Italy Univ. Grenoble Alpes Univ. Savoie Mont Blanc CNRS Grenoble INP CROMA Grenoble France

Matrix-vector multiplications (MVMs) are essential for a wide range of applications, particularly in modern machine learning and quantum computing. In photonics, there is growing interest in developing architectures capable of performing linear operations with high speed, low latency, and minimal loss. Traditional interferometric photonic architectures, such as the Clements design, have been extensively used for MVM operations. However, as these architectures scale, improving stability and robustness becomes critical. In this paper, we introduce a novel photonic braid interferometer architecture that outperforms both the Clements and Fldzhyan designs in these aspects. Using numerical simulations, we evaluate the performance of these architectures under ideal conditions and systematically introduce non-idealities such as insertion losses, beam splitter imbalances, and crosstalk. The results demonstrate that the braid architecture offers superior robustness due to its symmetrical design and reduced layer count. Further analysis shows that the braid architecture is particularly advantageous in large-scale implementations, delivering better performance as the size of the interferometer increases. We also assess the footprint and total insertion losses of each architecture. Although waveguide crossings in the braid architecture slightly increase the footprint and insertion loss, recent advances in crossing technology significantly minimize these effects. Our study suggests that the braid architecture is a robust solution for photonic neuromorphic computing, maintaining high fidelity in realistic conditions where imperfections are inevitable. © 2024, CC BY-NC-ND.

关键词： Insertion losses

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RGB Arabic Alphabets Sign Language Dataset

arXiv

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arXiv 2023年

作者： Al-Barham, Muhammad Alsharkawi, Adham Al-Yaman, Musa Al-Fetyani, Mohammad Elnagar, Ashraf Sa’aleek, Ahmad Abu Al-Odat, Mohammad MLALP Research Group University of Sharjah United Arab Emirates Mechatronics Engineering Department The University of Jordan Jordan AppsWave for Information Technology Jordan Department of Computer Science University of Sharjah United Arab Emirates Al-Wefaq Control Systems Doha Qatar Student Guidance Department The University of Jordan Jordan

This paper introduces the RGB Arabic Alphabet Sign Language (AASL) dataset. AASL comprises 7,857 raw and fully labelled RGB images of the Arabic sign language alphabets, which to our best knowledge is the first publicly available RGB dataset. The dataset is aimed to help those interested in developing real-life Arabic sign language classification models. AASL was collected from more than 200 participants and with different settings such as lighting, background, image orientation, image size, and image resolution. Experts in the field supervised, validated and filtered the collected images to ensure a high-quality dataset. AASL is made available to the public on Kaggle.1 © 2023, CC BY.

关键词： Classification (of information)

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Multi-loop Sliding-Mode control for a Battery Charger Using a Quadratic Buck Converter

Multi-loop Sliding-Mode Control for a Battery Charger Using ...

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IEEE Annual Southern Power Electronics Conference (SPEC)

作者： Oswaldo López-Santos F. Flores-Bahamonde C. A. Torres-Pinzón Reham Haroun Hugo Valderrama-Blavi Juan A. Garriga Luis Martínez-Salamero Group of Automatic Control and Industrial Electronics Rovira i Virgili University Tarragona Spain Energy Transformation Center Faculty of Enigineering Universidad Andres Bello Chile Faculty of Electronic Engineering Universidad Santo Tomás Colombia Department of Computer Science and Industrial Engineering University of Lleida Lleida Spain

In this paper, the quadratic buck converter (QBC) is proposed as competitive alternative to implement a battery charger. Since, QBC is a high order system, the required control is designed to follow the conventional constant-current constant-voltage regime by means of three loops. Namely, i) an inner-loop operating in sliding mode to control the current of the closest inductor to the input port providing the properly stability of the system, ii) a first outer loop designed to regulate the battery voltage providing the reference of the inner loop, and finally iii) a second outer loop to regulate the battery current modifying the reference of the voltage loop. Proportional Integral (PI) controllers are used in both outer loops. Simulation results are presented validating the theoretical study.

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Minimal realizations of input-output behaviors by LPV state-space representations with affine dependency

arXiv

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arXiv 2023年

作者： Petreczky, Mihály Tóth, Roland Mercère, Guillaume Univ. Lille CNRS Centrale Lille UMR 9189 CRIStAL LilleF-59000 France The University of Poitiers Laboratoire d’Informatique et d’Automatique pour les Systèmes France The Control Systems Group Department of Electrical Engineering Eindhoven University of Technology Eindhoven Netherlands The Systems and Control Laboratory Institute for Computer Science and Control Budapest Hungary

The paper makes the first steps towards a behavioral theory of LPV state-space representations with an affine dependency on scheduling, by characterizing minimality of such state-space representations. It is shown that minimality is equivalent to observability, and that minimal realizations of the same behavior are isomorphic. Finally, we establish a formal relationship between minimality of LPV state-space representations with an affine dependence on scheduling and minimality of LPV state-space representations with a dynamic and meromorphic dependence on scheduling. © 2023, CC BY.

关键词： State space methods

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Smart cities and electrical and electronic waste management: a review of challenges and opportunities

Urbanization, Sustainability and Society

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Urbanization, Sustainability and Society 2025年第1期2卷 282-307页

作者： Deividson Sá Fernandes de Souza Simone Sehnem Patricia Guarnieri Thyago Celso Cavalcante Nepomuceno Fernando Henrique Taques Lucio Camara e Silva Post-Graduate Program in Production Engineering – CAA Federal University of Pernambuco Recife Brazil Department of Management Unoesc Chapecó Brazil and Department of Management Unisul Florianópolis Brazil Faculty of Economics Business Accounting and Public Policies Universidade de Brasília Brasília Brazil Technology Center Universidade Federal de Pernambuco Recife Brazil and Department of Computer Control and Management Engineering Antonio Ruberti University of Rome La Sapienza Rome Italy Post-Graduate Program in Production Engineering – CAA Federal University of Pernambuco Recife Brazil and Department of Applied Economics – ECONRES Research Group Universidad Autónoma de Madrid Madrid Spain

Purpose This paper aims to provide a comprehensive literature review on the practices and challenges in managing waste electrical and electronic equipment (WEEE) in smart cities. Design/methodology/approach A systematic literature review was conducted using the Methodi Ordinatio. Articles published between 2012 and 2022 were analyzed, totaling 149 references, of which 30 were included in the final review. Findings Emerging technologies such as the Internet of Things (IoT), big data and artificial intelligence (AI) are frequently highlighted as promising solutions for efficient e-waste management. Governance models and public policies are widely recognized as crucial for the successful implementation of WEEE management practices in smart cities. Originality/value This study underscores the role of advanced technologies, such as IoT and AI, in enhancing urban mobility and WEEE management. Key challenges include information security, privacy, interoperability, costs and sustainability. The findings reveal a convergence between smart cities and WEEE management, fostering the circular economy and the recovery of valuable materials.

关键词： Smart cities WEEE Systematic literature review Methodi Ordinatio

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