Jun Deng

Zai Yang, Cishen Zhang, Jun Deng et al.

Compressed sensing aims at reconstructing sparse signals from significantly reduced number of samples, and a popular reconstruction approach is $\ell_1$-norm minimization. In this correspondence, a method called orthonormal expansion is presented to reformulate the basis pursuit problem for noiseless compressed sensing. Two algorithms are proposed based on convex optimization: one exactly solves the problem and the other is a relaxed version of the first one. The latter can be considered as a modified iterative soft thresholding algorithm and is easy to implement. Numerical simulation shows that, in dealing with noise-free measurements of sparse signals, the relaxed version is accurate, fast and competitive to the recent state-of-the-art algorithms. Its practical application is demonstrated in a more general case where signals of interest are approximately sparse and measurements are contaminated with noise.

Omer San, Adil Rasheed, Eda Bozdemir et al.

Digital twins are evolving into self-learning, autonomous systems that link models, data, and human interaction. Realizing their full potential depends on interoperability, standardization, and the integration of artificial intelligence and advanced computational reasoning across sectors.

Yunlei Shi, Zhaopeng Chen, Hongxu Liu et al.

Contact-rich manipulation tasks are commonly found in modern manufacturing settings. However, manually designing a robot controller is considered hard for traditional control methods as the controller requires an effective combination of modalities and vastly different characteristics. In this paper, we firstly consider incorporating operational space visual and haptic information into reinforcement learning(RL) methods to solve the target uncertainty problem in unstructured environments. Moreover, we propose a novel idea of introducing a proactive action to solve the partially observable Markov decision process problem. Together with these two ideas, our method can either adapt to reasonable variations in unstructured environments and improve the sample efficiency of policy learning. We evaluated our method on a task that involved inserting a random-access memory using a torque-controlled robot, and we tested the success rates of the different baselines used in the traditional methods. We proved that our method is robust and can tolerate environmental variations very well.

Qian Feng, Zhaopeng Chen, Jun Deng et al.

An unstable grasp pose can lead to slip, thus an unstable grasp pose can be predicted by slip detection. A regrasp is required afterwards to correct the grasp pose in order to finish the task. In this work, we propose a novel regrasp planner with multi-sensor modules to plan grasp adjustments with the feedback from a slip detector. Then a regrasp planner is trained to estimate the location of center of mass, which helps robots find an optimal grasp pose. The dataset in this work consists of 1 025 slip experiments and 1 347 regrasps collected by one pair of tactile sensors, an RGB-D camera and one Franka Emika robot arm equipped with joint force/torque sensors. We show that our algorithm can successfully detect and classify the slip for 5 unknown test objects with an accuracy of 76.88% and a regrasp planner increases the grasp success rate by 31.0% compared to the state-of-the-art vision-based grasping algorithm.

Jun Deng, Rongqing Zhang, Lingyang Song et al.

To ensure security in data transmission is one of the most important issues for wireless relay networks, and physical layer security is an attractive alternative solution to address this issue. In this paper, we consider a cooperative network, consisting of one source node, one destination node, one eavesdropper node, and a number of relay nodes. Specifically, the source may select several relays to help forward the signal to the corresponding destination to achieve the best security performance. However, the relays may have the incentive not to report their true private channel information in order to get more chances to be selected and gain more payoff from the source. We propose a Vickey-Clark-Grove (VCG) based mechanism and an Arrow-d'Aspremont-Gerard-Varet (AGV) based mechanism into the investigated relay network to solve this cheating problem. In these two different mechanisms, we design different "transfer payment" functions to the payoff of each selected relay and prove that each relay gets its maximum (expected) payoff when it truthfully reveals its private channel information to the source. And then, an optimal secrecy rate of the network can be achieved. After discussing and comparing the VCG and AGV mechanisms, we prove that the AGV mechanism can achieve all of the basic qualifications (incentive compatibility, individual rationality and budget balance) for our system. Moreover, we discuss the optimal quantity of relays that the source node should select. Simulation results verify efficiency and fairness of the VCG and AGV mechanisms, and consolidate these conclusions.