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arXiv 2025年

作者： Liu, Shuo Xiao, Wei Belta, Calin A. The Department of Mechanical Engineering Boston University BrooklineMA United States The Computer Science and Artificial Intelligence Lab Massachusetts Institute of Technology CambridgeMA United States The Department of Electrical and Computer Engineering The Department of Computer Science University of Maryland College ParkMD United States

In safety-critical control systems, ensuring both system safety and smooth control input is essential for theoretical guarantees and practical deployment. Existing Control Barrier Function (CBF) frameworks, especially High-Order CBFs (HOCBFs), effectively enforce safety constraints but often lead to nonsmooth or discontinuous control inputs that can degrade system performance or violate actuator limitations. This paper introduces Filtered Control Barrier Functions (FCBFs), which extend HOCBFs by incorporating an auxiliary dynamic system - referred to as input regularization filter - to produce Lipschitz continuous control inputs. The proposed framework ensures safety, control bounds, and smoothness simultaneously by integrating FCBFs and HOCBFs within a unified quadratic program (QP). Theoretical guarantees are provided and simulations on a unicycle model demonstrate the effectiveness of the proposed method compared to standard and smoothness-penalized HOCBF approaches. Copyright © 2025, The Authors. All rights reserved.

关键词： Quadratic programming

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Intelligent Reflecting Surface Enabled Sensing: Cramér-Rao Lower Bound optimization

Intelligent Reflecting Surface Enabled Sensing: Cramér-Rao ...

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2022 IEEE GLOBECOM Workshops, GC Wkshps 2022

作者： Song, Xianxin Xu, Jie Liu, Fan Han, Tony Xiao Eldar, Yonina C. School of Science and Engineering Future Network of Intelligence Institute Guangdong Provincial Key Laboratory of Future Networks of Intelligence China Southern University of Science and Technology Department of Electrical and Electronic Engineering China Wireless Technology Lab 2012 Laboratories Huawei China Weizmann Institute of Science Faculty of Mathematics and Computer Science Israel

ISBN: (纸本)9781665459754

This paper investigates intelligent reflecting surface (IRS) enabled non-line-of-sight (NLoS) wireless sensing, in which an IRS is deployed to assist an access point (AP) to sense a target in its NLoS region. It is assumed that the AP is equipped with multiple antennas and the IRS is equipped with a uniform linear array. The AP aims to estimate the target's direction-of-arrival (DoA) with respect to the IRS, based on the echo signals from the AP-IRS-target-IRS-AP link. Under this setup, we jointly design the transmit beamforming at the AP and the reflective beamforming at the IRS to minimize the CramérRao lower bound (CRLB) on estimation error. Towards this end, we first obtain the CRLB expression for estimating the DoA in closed form. Next, we optimize the joint beamforming design to minimize the CRLB, via alternating optimization, semi-definite relaxation, and successive convex approximation. Numerical results show that the proposed design based on CRLB minimization achieves improved sensing performance in terms of mean squared error, as compared to the traditional schemes with signal-to-noise ratio maximization and separate beamforming. © 2022 IEEE.

关键词： Beamforming

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Internet of Things Technology for Photovoltaic Smart Sprinkler Systems and Its Analysis

Internet of Things Technology for Photovoltaic Smart Sprinkl...

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2023 SPE Nigeria Annual International Conference and Exhibition, NAIC 2023

作者： Chinonyelum, Ejimuda Kingsley, Okoli Lilian, Uzodiagu Juliet, Olusola Department of Mechanical Engineering Texas A & M University United States Controls Lab Texas A & M University United States Department of Computer Science and Knowledge Discovery Saint Petersburg Electrotechnical University LETI Saint Petersburg Russia Artificial Intelligence Lab University of Nigeria Nsukka Nigeria Department of Electrical and Electronics Engineering Bells University of Technology Ogun State Ota Nigeria Department of Electrical and Electronics Engineering Afe Babalola University Ekiti State Ado-Ekiti Nigeria

ISBN: (纸本)9781959025177

The advancement of technology has brought about ease of life with the help of technology automation which can be applied virtually in all aspects of living. With the emergence of internet of things, prototyping real state systems has become less expensive and easy to embark on thus creating platforms for development in the oil & gas sector. This research aims to analyze, design, and develop an effortless system powered via solar energy for the control of a sprinkler system and liquid flow void of human intervention. The system was programmed using an Arduino board and other hardware at an adjustable set time with Arduino software. The research is geared at reducing human efforts in irrigation systems, to save cost and time in sprinkling liquid on any system. The use of some weather parameters like humidity, temperature, and moisture sensors;Arduino kits and GSM module constitutes the smart irrigation system setup. The system is automated to feed the necessary quantity of liquid to any given surface based on design parameters with the moisture sensor programmed within 0 to 1023 (0-100%) range. The system adapted a method of pump-start at 40% moisture reading. Various analysis of the research findings has been presented in the work with applicability in remote areas and oil fields void of human intervention. Copyright © 2023 Society of Petroleum Engineers.

关键词： Automation

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Auxiliary-Variable Adaptive Control Barrier Functions

arXiv

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arXiv 2025年

作者： Liu, Shuo Xiao, Wei Belta, Calin Department of Mechanical Engineering Boston University BrooklineMA02215 United States Computer Science and Artificial Intelligence Lab Massachusetts Institute of Technology CambridgeMA United States Department of Electrical and Computer Engineering Department of Computer Science University of Maryland College ParkMD United States

This paper addresses the challenge of ensuring safety and feasibility in control systems using Control Barrier Functions (CBFs). Existing CBF-based Quadratic Programs (CBF-QPs) often encounter feasibility issues due to mixed relative degree constraints, input nullification problems, and the presence of tight or time-varying control bounds, which can lead to infeasible solutions and compromised safety. To address these challenges, we propose Auxiliary-Variable Adaptive Control Barrier Functions (AVCBFs), a novel framework that introduces auxiliary variables in auxiliary functions to dynamically adjust CBF constraints without the need of excessive additional constraints. The AVCBF method ensures that all components of the control input explicitly appear in the desired-order safety constraint, thereby improving feasibility while maintaining safety guarantees. Additionally, we introduce an automatic tuning method that iteratively adjusts AVCBF hyperparameters to ensure feasibility and safety with less conservatism. We demonstrate the effectiveness of the proposed approach in adaptive cruise control and obstacle avoidance scenarios, showing that AVCBFs outperform existing CBF methods by reducing infeasibility and enhancing adaptive safety control under tight or time-varying control bounds. Copyright © 2025, The Authors. All rights reserved.

关键词： Self adjusting control systems

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Emotion Classification Through Speech Data Analysis

Emotion Classification Through Speech Data Analysis

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Simulation Winter Conference

作者： Luzalen Marcos Kristiina Valter Mai Abdolreza Abhari Resilience Engineering Lab Department of Electrical Computer and Biomedical Engineering Toronto Metropolitan University Ontario Canada Department of Computer Science Distributed Systems and Multimedia Processing (DSMP) Lab Toronto Metropolitan University Ontario Canada

Good quality healthcare services require effective communication between the patient and the healthcare provider. This work will help improve the areas of healthcare systems automation and optimization by applying Speech Emotion Recognition (SER) in health consultations to prevent miscommunication between patients and healthcare providers. Crowd-Sourced Emotional Multimodal Actors Dataset (CREMA-D) was used to compare the performances of different machine learning models in classifying emotions. Before feeding the raw dataset to the models, exploratory data analysis was done to determine features that should be considered for future analysis. Our results showed that depending on the emotion, there are some syllables in the text that were emphasized or took time to be pronounced by the speaker. After data analysis, the dataset was fed into different models and determined that the Support Vector Machine (SVM) is a machine-learning model for SER.

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Large sequence models for sequential decision-making:a survey

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Frontiers of computer science 2023年第6期17卷 25-42页

作者： Muning WEN Runji LIN Hanjing WANG Yaodong YANG Ying WEN Luo MAI Jun WANG Haifeng ZHANG Weinan ZHANG School of Electronics Information and Electrical Engineering Shanghai Jiao Tong UniversityShanghai 200241China Digital Brain Lab Shanghai 201306China Institute of Automation Chinese Academy of SciencesBeijing 100190China School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China Institute for Artificial Intelligence Peking UniversityBeijing 100091China School of Informatics The University of EdinburghEdinburgh EH89JUUK Department of Computer Science University College LondonLondon WC1E 6BTUK

Transformer architectures have facilitated the development of large-scale and general-purpose sequence models for prediction tasks in natural language processing and computer vision,e.g.,GPT-3 and Swin *** originally designed for prediction problems,it is natural to inquire about their suitability for sequential decision-making and reinforcement learning problems,which are typically beset by long-standing issues involving sample efficiency,credit assignment,and partial *** recent years,sequence models,especially the Transformer,have attracted increasing interest in the RL communities,spawning numerous approaches with notable effectiveness and *** survey presents a comprehensive overview of recent works aimed at solving sequential decision-making tasks with sequence models such as the Transformer,by discussing the connection between sequential decision-making and sequence modeling,and categorizing them based on the way they utilize the ***,this paper puts forth various potential avenues for future research intending to improve the effectiveness of large sequence models for sequential decision-making,encompassing theoretical foundations,network architectures,algorithms,and efficient training systems.

关键词： sequential decision-making sequence modeling the Transformer training system

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Afropalm - Afrocentric Palm Oil Adulteration Learning Models: An End-to-End Deep Learning Approach for Detection of Palm Oil Adulteration in West Africa

SSRN

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SSRN 2024年

作者： Gyabeng, Elton Modestus Tang, Andrews Agbemenu, Andrew Selasi Odame, Prince Tchao, Eric Tutu Keelson, Eliel Zaukuu, John-Lewis Zinia Kponyo, Jerry John Kwame Nkrumah University of Science and Technology Ghana Responsible Artificial Intelligence Lab Kumasi Ghana Distributed IoT Platforms Privacy and Edge-Intelligence Research Lab Kumasi Ghana Department of Computer Engineering Kwame Nkrumah University of Science and Technology Kumasi Ghana Department of Food Science and Technology Kwame Nkrumah University of Science and Technology Kumasi Ghana

In Africa, rapid population growth and a focus on increasing food production have often overlooked the crucial aspect of food safety, leading to the highest per capita incidences of foodborne illness globally. This underscores the imperative to address the food safety challenges on the continent. A critical concern is the widespread adulteration of red palm oil across West Africa, often involving harmful red azo dyes, posing significant health risks. Current detection methods, reliant on laboratory procedures, are not only time-consuming and expensive but also impractical for broad implementation in local markets. To address these limitations, we propose an end-to-end deep learning approach that bypasses the need for manual feature extraction and laboratory-based analyses. Utilizing high-resolution imaging technology, our approach can objectively and reliably detect palm oil adulteration directly from raw image data. In our study, we developed a deep convolutional neural network dubbed AfroPALM-Custom, specifically designed for detecting palm oil adulteration in African markets. AfroPALM-Custom was pivotal in refining our deep learning approach, achieving a test accuracy of 90.63% and an F1 score of 90.98%. We later adapted mobile-efficient pretrained models, namely SqueezeNet1.1 and GhostNetV1—mobile—fine-tuned and as well dubbed AfroPALM-GhostNet and AfroPALM-SqueezeNet. © 2024, The Authors. All rights reserved.

关键词： Palmprint recognition

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Auxiliary-Variable Adaptive Control Lyapunov Barrier Functions for Spatio-Temporally Constrained Safety-Critical Applications

arXiv

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arXiv 2024年

Recent work has shown that stabilizing an affine control system while optimizing a quadratic cost subject to state and control constraints can be mapped to a sequence of Quadratic Programs (QPs) using Control Barrier Functions (CBFs) and Control Lyapunov Functions (CLFs). One of the main challenges in this method is that the QPs could easily become infeasible under safety and spatio-temporal constraints with tight control bounds. In our own recent work, we defined Auxiliary-Variable Adaptive CBFs (AVCBFs) to improve the feasibility of the CBF-based QP, while avoiding extensive parameter tuning. In this paper, we consider spatio-temporal constraints as finite-time reachability requirements. In order to satisfy these requirements, we generalize AVCBFs to Auxiliary-Variable Adaptive Control Lyapunov Barrier Functions (AVCLBFs) that work for systems and constraints with arbitrary relative degrees. We show that our method has fewer conflicts with safety and input constraints, and outperforms the state of the art in term of adaptivity and feasibility in solving the QP. We illustrate our approach on an optimal control problem for a unicycle. Copyright © 2024, The Authors. All rights reserved.

关键词： Lyapunov functions

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Joint Self-Supervised Image-Volume Representation Learning with Intra-inter Contrastive Clustering 37

Joint Self-Supervised Image-Volume Representation Learning w...

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37th AAAI Conference on Artificial intelligence, AAAI 2023

作者： Nguyen, Duy M.H. Nguyen, Hoang Mai, Truong T.N. Cao, Tri Nguyen, Binh T. Ho, Nhat Swoboda, Paul Albarqouni, Shadi Xie, Pengtao Sonntag, Daniel Department of Computer Science University of Stuttgart Germany AISIA Lab. University of Science - VNU HCM Viet Nam Department of Multimedia Engineering Dongguk University Korea Republic of Department of Statistics and Data Sciences University of Texas Austin United States Max Planck Institute for Informatics Germany Helmholtz AI Helmholtz Munich Germany Clinic for Diagnostic and Interventional Radiology University of Bonn Germany Department of Electrical and Computer Engineering University of California San Diego United States Department of Computer Science Oldenburg University Germany German Research Center for Artificial Intelligence Germany

ISBN: (纸本)9781577358800

Collecting large-scale medical datasets with fully annotated samples for training of deep networks is prohibitively expensive, especially for 3D volume data. Recent breakthroughs in self-supervised learning (SSL) offer the ability to overcome the lack of labeled training samples by learning feature representations from unlabeled data. However, most current SSL techniques in the medical field have been designed for either 2D images or 3D volumes. In practice, this restricts the capability to fully leverage unlabeled data from numerous sources, which may include both 2D and 3D data. Additionally, the use of these pre-trained networks is constrained to downstream tasks with compatible data dimensions. In this paper, we propose a novel framework for unsupervised joint learning on 2D and 3D data modalities. Given a set of 2D images or 2D slices extracted from 3D volumes, we construct an SSL task based on a 2D contrastive clustering problem for distinct classes. The 3D volumes are exploited by computing vectored embedding at each slice and then assembling a holistic feature through deformable self-attention mechanisms in Transformer, allowing incorporating long-range dependencies between slices inside 3D volumes. These holistic features are further utilized to define a novel 3D clustering agreement-based SSL task and masking embedding prediction inspired by pre-trained language models. Experiments on downstream tasks, such as 3D brain segmentation, lung nodule detection, 3D heart structures segmentation, and abnormal chest X-ray detection, demonstrate the effectiveness of our joint 2D and 3D SSL approach. We improve plain 2D Deep-ClusterV2 and SwAV by a significant margin and also surpass various modern 2D and 3D SSL approaches. Copyright © 2023, Association for the Advancement of Artificial intelligence (***). All rights reserved.

关键词： Embeddings

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Ultrasound-Coupled Electrocoagulation Based Azo Dye Fading Rate Prediction Using Deep Neural Networks

Ultrasound-Coupled Electrocoagulation Based Azo Dye Fading R...

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International KES Conference on Human Centred Intelligent Systems, KES HCIS 2023

作者： Akoulih, Meryem Tigani, Smail Wakrim, Asmaa Chehri, Abdellah Saadane, Rachid Ghachtouli, Sanae El IME Lab Faculty of Science Hassan 2 University Casablanca20250 Morocco AAIR Lab Digital Engineering and Artificial Intelligence Systems High Private School Casablanca20100 Morocco Electrical Engineering Department SIRC-LaGeS Hassania School of Public Labors Casablanca20250 Morocco Department of Mathematics and Computer Science Royal Military College KingstonONK7K 7B4 Canada

ISBN: (纸本)9789819934232

This research paper presents a deep learning based predictive model for predicting the azo dye fading rate during electrocoagulation coupled with ultrasound. Electrocoagulation is a commonly used method for the treatment of wastewater contaminated with azo dyes, but the efficiency of this process can be improved by incorporating ultrasound. The proposed deep learning model is trained on a dataset of electrocoagulation experiments with varying parameters such as current density, pH, and treatment time, as well as the presence or absence of ultrasound. The model is able to accurately predict the azo dye removal rate for new sets of electrocoagulation parameters, providing a valuable tool for optimizing the treatment process. The model’s performance is evaluated using standard metrics, and the results demonstrate its effectiveness in predicting azo dye removal rate. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Azo dyes

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