distributed Denial of Service (DDoS) attacks are among the most dangerous threats in cyberspace impacting areas such as the Internet of Things (IoT), Cybersecurity, and Cloud computing, which leads to network interrup...
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This paper deals with Multi-robot Trajectory Planning, that is, the problem of computing trajectories for multiple robots navigating in a shared space while minimizing for control energy. Approaches based on trajector...
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ISBN:
(数字)9781665479271
ISBN:
(纸本)9781665479271
This paper deals with Multi-robot Trajectory Planning, that is, the problem of computing trajectories for multiple robots navigating in a shared space while minimizing for control energy. Approaches based on trajectory optimization can solve this problem optimally. However, such methods are hampered by complex robot dynamics and collision constraints that couple robot's decision variables. We propose a distributed multirobot optimization algorithm (DiMOpt) that addresses these issues by exploiting (1) consensus optimization strategies to tackle coupling collision constraints, and (2) a single-robot sequential convex programming method for efficiently handling non-convexities introduced by dynamics. We compare DiMOpt with a baseline centralized multi-robot sequential convex programming algorithm (SCP). We empirically demonstrate that DiMOpt scales well for large fleets of robots while computing solutions faster and with lower costs. Finally, DiMOpt is an iterative algorithm that finds feasible trajectories before converging to a locally optimal solution, and results suggest the quality of such fast initial solutions is comparable to a converged solution computed via SCP.
With the popularization of mobile devices and the development of mobile augmented reality (MAR), people's demand for MAR applications is increasing. However, few MAR applications are applied to mobile devices sinc...
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The primary contribution of this paper is designing and prototyping a real-time edge computing system, RhythmEdge, that is capable of detecting changes in blood volume from facial videos (Remote Photoplethysmography;r...
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ISBN:
(纸本)9781665481526
The primary contribution of this paper is designing and prototyping a real-time edge computing system, RhythmEdge, that is capable of detecting changes in blood volume from facial videos (Remote Photoplethysmography;rPPG), enabling cardiovascular health assessment instantly. The benefits of RhythmEdge include non-invasive measurement of cardiovascular activity, real-time system operation, inexpensive sensing components, and computing. RhythmEdge captures a short video of the skin using a camera and extracts rPPG features to estimate the Photoplethysmography (PPG) signal using a multi-task learning framework while offloading the edge computation. In addition, we intelligently apply a transfer learning approach to the multi-task learning framework to mitigate sensor heterogeneities to scale the RhythmEdge prototype to work with a range of commercially available sensing and computing devices. Besides, to further adapt the software stack for resource-constrained devices, we postulate novel pruning and quantization techniques (Quantization: FP32, FP16;Pruned-Quantized: FP32, FP16) that efficiently optimize the deep feature learning while minimizing the runtime, latency, memory, and power usage. We benchmark RhythmEdge prototype for three different cameras and edge computing platforms while evaluating it on three publicly available datasets and an in-house dataset collected under challenging environmental circumstances. Our analysis indicates that RhythmEdge performs on par with the existing contactless heart rate monitoring systems while utilizing only half of its available resources. Furthermore, we perform an ablation study with and without pruning and quantization to report the model size (87%) vs. inference time (70%) reduction. We attested the efficacy of RhythmEdge prototype with a maximum power of 8W and a memory usage of 290MB, with a minimal latency of 0.0625 seconds and a runtime of 0.64 seconds per 30 frames.
The proceedings contain 93 papers. The topics discussed include: a data quality quantitative evaluation of marine policy based on PMC model;text guided road marking point cloud completion;EFSNet: a threat detection me...
ISBN:
(纸本)9798350388374
The proceedings contain 93 papers. The topics discussed include: a data quality quantitative evaluation of marine policy based on PMC model;text guided road marking point cloud completion;EFSNet: a threat detection method based on system event feature sequence;multi-test knowledge tracing prediction model based on learning cycle;MAGIC: memory advanced general index compression for learned indexes;microservices crowdsourcing platform for industrial control systems;IoT-based smart farming system with security powered by solar energy;MMLT: a novel multimodal lightweight convolutional transformer for fault diagnosis with imbalanced data in IoT;GPMBC-FZ: a query optimization method in distributed database;and energy and effective computing contract toward heterogeneity in terminal-edge-cloud computing network.
The Artificial Intelligence-Generated Content (AIGC) technique has gained significant popularity in creating diverse content. However, the current deployment of AIGC services is a centralized framework, thus leading t...
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This project investigates the use of Internet of Things (IoT) technologies for the present monitoring of air pollution. We construct and use sensor nodes to collect data on various air contaminants, allowing for remot...
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With the increasing demand for urban passenger transportation, the concept urban air mobility (UAM) has gained a lot of research interest. One idea is to employ fully autonomous air crafts. That is, using unmanned and...
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With the continuous expansion of photovoltaic grid-connected capacity, precise prediction of photovoltaic power has become essential for ensuring the secure and stable operation of new energy power systems. This paper...
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This research work presents an innovative approach for forecasting the state of high-speed bearings in wind turbines. The method employs raw data obtained from sensors that quantify vibrations. The procedure involves ...
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