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Energy Efficiency Maximization in RISs-Assisted UAVs-Based Edge Computing Network Using Deep Reinforcement Learning

Big Data Mining and Analytics 2024年第4期7卷 1065-1083页

作者： Chuanwen Luo Jian Zhang Jianxiong Guo Yi Hong Zhibo Chen Shuyang Gu School of Information Science and Technology Beijing Forestry UniversityBeijing 100083Chinaand also with the Engineering Research Center for Forestry-Oriented Intelligent Information Processing of National Forestry and Grassland AdministrationBeijing 100083China Advanced Institute of Natural Sciences Beijing Normal UniversityZhuhai 519087Chinaand also with the Guangdong Key Lab of AI and Multi-Modal Data ProcessingBNU-HKBU United International CollegeZhuhai 519087China Department of Computer Information Systems Texas A&M University-Central TexasKilleenTX 76549USA

Edge Computing(EC)pushes computational capability to the Terrestrial Devices(TDs),providing more efficient and faster computing *** Aerial Vehicles(UAVs)equipped with EC servers can be flexibly deployed,even in complex terrains,to provide mobile computing services at all ***,UAVs can establish an air-to-ground line-of-sight link with TDs to improve the quality of communication ***,the UAV-to-TD link may be obstructed by ground obstacles such as buildings or trees,leading to sub-optimal data transmission *** surmount this issue,Reconfigurable Intelligent Surfaces(RISs)emerge as a promising technology capable of intelligently reflecting signals to enhance communication quality between UAVs and *** this paper,we consider the RISs-assisted multi-UAVs collaborative edge Computing Network(RUCN)in urban environment,in which we study the computational offloading *** goal is to maximize the overall energy efficiency of UAVs by jointly optimizing the flight duration and trajectories of UAVs,and the phase shifts of *** is worth noting that this problem has been formally established as ***,we propose the Deep Deterministic Policy Gradients based UAV Trajectory and RIS Phase shift optimization algorithm(UTRP-DDPG)to solve this complex optimization *** results of extensive numerical experiments show that the proposed algorithm outperforms the other benchmark algorithms under various parameter ***,the UTRP-DDPG algorithm improves the UAV energy efficiency by at least 2%compared to DQN algorithm.

关键词： edge computing computing offloading Unmanned Aerial Vehicle(UAV) Reconfigurable Intelligent Surface(RIS) deep reinforcement learning

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On Cost Aware Cloudlet Placement for Mobile Edge Computing

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IEEE/CAA Journal of Automatica Sinica 2019年第4期6卷 926-937页

作者： Qiang Fan Nirwan Ansari IEEE Advanced Networking Lab Department of Electrical and Computer EngineeringNew Jersey Institute of TechnologyNewarkUSA

As accessing computing resources from the remote cloud inherently incurs high end-to-end(E2E)delay for mobile users,cloudlets,which are deployed at the edge of a network,can potentially mitigate this *** some research works focus on allocating workloads among cloudlets,the cloudlet placement aiming to minimize the deployment cost(i.e.,consisting of both the cloudlet cost and average E2E delay cost)has not been addressed effectively so *** locations and number of cloudlets have a crucial impact on both the cloudlet cost in the network and average E2E delay of ***,in this paper,we propose the Cost Aware cloudlet PlAcement in moBiLe Edge computing(CAPABLE)strategy,where both the cloudlet cost and average E2E delay are considered in the cloudlet *** solve this problem,a Lagrangian heuristic algorithm is developed to achieve the suboptimal *** cloudlets are placed in the network,we also design a workload allocation scheme to minimize the E2E delay between users and their cloudlets by considering the user *** performance of CAPABLE has been validated by extensive simulations.

关键词： Cloudlet placement mobile cloud computing mobile edge computing

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AN EMPIRICAL ANALYSIS OF UNCERTAINTY IN LARGE LANGUAGE MODEL EVALUATIONS

arXiv

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arXiv 2025年

作者： Xie, Qiujie Li, Qingqiu Yu, Zhuohao Zhang, Yuejie Zhang, Yue Yang, Linyi Zhejiang University China School of Engineering Westlake University China School of Computer Science Shanghai Key Lab of Intelligent Information Processing Shanghai Collaborative Innovation Center of Intelligent Visual Computing Fudan University China Peking University China Westlake Institute for Advanced Study China University College London United Kingdom Huawei Noah’s Ark Lab Hong Kong

As LLM-as-a-Judge emerges as a new paradigm for assessing large language models (LLMs), concerns have been raised regarding the alignment, bias, and stability of LLM evaluators. While substantial work has focused on alignment and bias, little research has concentrated on the stability of LLM evaluators. In this paper, we conduct extensive experiments involving 9 widely used LLM evaluators across 2 different evaluation settings to investigate the uncertainty in model-based LLM evaluations. We pinpoint that LLM evaluators exhibit varying uncertainty based on model families and sizes. With careful comparative analyses, we find that employing special prompting strategies, whether during inference or post-training, can alleviate evaluation uncertainty to some extent. By utilizing uncertainty to enhance LLM’s reliability and detection capability in Out-Of-Distribution (OOD) data, we further fine-tune an uncertainty-aware LLM evaluator named ConfiLM using a human-annotated fine-tuning set and assess ConfiLM’s OOD evaluation ability on a manually designed test set sourced from the 2024 Olympics. Experimental results demonstrate that incorporating uncertainty as additional information during the fine-tuning phase can largely improve the model’s evaluation performance in OOD scenarios. The code and data are released at: https://***/hasakiXie123/LLM-Evaluator-Uncertainty. © 2025, CC BY-NC-SA.

关键词： Digital elevation model

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Design of a Flexible Robot Arm for Safe Aerial Physical Interaction

Design of a Flexible Robot Arm for Safe Aerial Physical Inte...

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IEEE International Conference on Soft Robotics (RoboSoft)

作者： Julien Mellet Andrea Berra Achilleas Santi Seisa Viswa Sankaranarayanan Udayanga G.W.K.N. Gamage Miguel Ángel Trujillo Soto Guillermo Heredia George Nikolakopoulos Vincenzo Lippiello Fabio Ruggiero Department of Electrical Engineering and Information Technology PRISMA Lab University of Naples Federico II Naples Italy CATEC Advanced Center for Aerospace Technologies Seville Spain Department of Computer Robotics and AI Team Electrical and Space Engineering LuleåUIniversity of Technology Luleå Sweden Department of Electrical Engineering and Photonics Automation and Control Group Technical University of Denmark Denmark Robotics Vision and Control Group School of Engineering University of Seville Seville Spain

This paper introduces a novel compliant mechanism combining lightweight and energy dissipation for aerial physical interaction. Weighting 400 g at take-off, the mechanism is actuated in the forward body direction, enabling precise position control for force interaction and various other aerial manipulation tasks. The robotic arm, structured as a closed-loop kinematic chain, employs two deported servomotors. Each joint is actuated with a single tendon for active motion control in compression of the arm at the end-effector. Its elasto-mechanical design reduces weight and provides flexibility, allowing passive-compliant interactions without impacting the motors' integrity. Notably, the arm's damping can be adjusted based on the proposed inner frictional bulges. Experimental applications showcase the aerial system performance in both free-flight and physical interaction. The presented work may open safer applications for Micro Aerial Vehicle (MAV) in real environments subject to perturbations during interaction.

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Use Artificial Neural Network to fit stress-strain curve of Chaboche model on lead-free solder SAC305

Use Artificial Neural Network to fit stress-strain curve of ...

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International Microsystems, Packaging, Assembly and Circuits Technology (IMPACT)

作者： C.E. Lee Cadmus Yuan K.N. Chiang Advanced Microsystem Packaging and Nano-Mechanics Research Lab Taiwan Department of Mechanical and Computer-aided Engineering Feng Chia University Taichung Taiwan R.O.C Department of Power Mechanical Engineering National Tsing Hua University Hsinchu 300 Taiwan R.O.C

People nowadays have an increasing demand for mobile devices, which causes electronic devices to become smaller and multifunctional. Therefore, the goal of electronic packaging is to minimize the size while maintaining or increasing its I/O number. To reach this goal and also follow Moore's law, the electronic packaging technique has gone through a long-term evolution, from traditional pin-through hole (PTH), to surface mount technology (SMT), then to area array type (AAT). Stats from the presence of chip scale packaging (CSP) and multi-stacked substrate, electronic packaging steps into the era of 3D IC. This research focuses on Wafer Level Chip Scale Packaging (WLCSP). Reliability testing is a crucial step in the development of electronic packaging before be introduced to the market. One popular test used for this purpose is the Accelerated Thermal Cycle Test (ATCT), which significantly reduces the time required to obtain reliability results. Additionally, finite element analysis is commonly used as a numerical method to construct simulation models. In this study, ANSYS is utilized to simulate the behavior of WLCSP under thermal cycle testing, enabling the estimation of solder ball's failure cycles through empirical formula. The mesh size for largest distance from neutral point (DNP) is fixed for more accurate simulation result. However, the accuracy of the material properties is an important factor that affects simulation result. The Chaboche Kinematic Hardening model is widely used to describe the plastic strain behavior of materials under cyclic loading. To acquire accurate Chaboche model coefficient, this research utilizes artificial intelligence to fit the curve from validated experimental equation. Artificial Neural Network (ANN) are chosen as the algorithm we use for curve fitting. By using different numbers of neuron and layer, different activation function and different optimizer, we can get curves that fit the experimental data. The optimized coefficients

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GaitGCI: Generative Counterfactual Intervention for Gait Recognition

GaitGCI: Generative Counterfactual Intervention for Gait Rec...

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Conference on computer Vision and Pattern Recognition (CVPR)

作者： Huanzhang Dou Pengyi Zhang Wei Su Yunlong Yu Yining Lin Xi Li College of Computer Science & Technology Zhejiang University College of Information Science & Electronic Engineering Zhejiang University Supre Mind Shanghai Institute for Advanced Study Zhejiang University Shanghai AI Laboratory Zhejiang - Singapore Innovation and AI Joint Research Lab

Gait is one of the most promising biometrics that aims to identify pedestrians from their walking patterns. However, prevailing methods are susceptible to confounders, resulting in the networks hardly focusing on the regions that re-flect effective walking patterns. To address this fundamen-tal problem in gait recognition, we propose a Generative Counterfactual Intervention framework, dubbed GaitGCI, consisting of Counterfactual Intervention Learning (CIL) and Diversity-Constrained Dynamic Convolution (DCDC). CIL eliminates the impacts of confounders by maximizing the likelihood difference between factual/counterfactual attention while DCDC adaptively generates sample-wise factual/counterfactual attention to efficiently perceive the sample-wise properties. With matrix decomposition and diversity constraint, DCDC guarantees the model to be efficient and effective. Extensive experiments indicate that proposed GaitGCI.· 1) could effectively focus on the discrimi-native and interpretable regions that reflect gait pattern; 2) is model-agnostic and could be plugged into existing models to improve performance with nearly no extra cost; 3) efficiently achieves state-of-the-art performance on arbitrary scenarios (in-the-lab and in-the-wild).

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Assisted Physical Interaction: Autonomous Aerial Robots with Neural Network Detection, Navigation, and Safety Layers

Assisted Physical Interaction: Autonomous Aerial Robots with...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Andrea Berra Viswa Narayanan Sankaranarayanan Achilleas Santi Seisa Julien Mellet Udayanga G.W.K.N. Gamage Sumeet Gajanan Satpute Fabio Ruggiero Vincenzo Lippiello Silvia Tolu Matteo Fumagalli George Nikolakopoulos Miguel Ángel Trujillo Soto Guillermo Heredia CATEC Advanced Center for Aerospace Technologies Seville Spain Department of Computer Electrical and Space Engineering Robotics and AI Team Luleå University of Technology Luleå Sweden Department of Electrical Engineering and Information Technology PRISMA Lab University of Naples Federico II Naples Italy Department of Electrical Engineering and Photonics Automation and Control Group Technical University of Denmark Denmark Robotics Vision and Control Group School of Engineering University of Seville Seville Spain

ISBN: (数字)9798350357882

ISBN: (纸本)9798350357899

The paper introduces a novel framework for safe and autonomous aerial physical interaction in industrial settings. It comprises two main components: a neural network-based target detection system enhanced with edge computing for reduced onboard computational load, and a control barrier function (CBF)-based controller for safe and precise maneuvering. The target detection system is trained on a dataset under challenging visual conditions and evaluated for accuracy across various unseen data with changing lighting conditions. Depth features are utilized for target pose estimation, with the entire detection framework offloaded into low-latency edge computing. The CBF-based controller enables the UAV to converge safely to the target for precise contact. Simulated evaluations of both the controller and target detection are presented, alongside an analysis of real-world detection performance.

关键词： Visualization Pose estimation Neural networks Lighting Object detection Autonomous aerial vehicles Aircraft navigation

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Stress Assessment with Convolutional Neural Network Using PPG Signals

Stress Assessment with Convolutional Neural Network Using PP...

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RSI/ISM International Conference on Robotics and Mechatronics (ICROM)

作者： Yasin Hasanpoor Bahram Tarvirdizadeh Khalil Alipour Mohammad Ghamari Department of Mechatronics Engineering Faculty of New Sciences and Technologies Advanced Service Robots (ASR) Lab. University of Tehran Tehran Tehran Iran Department of Electrical and Computer Engineering Kettering University Flint Michigan USA

ISBN: (纸本)9781665454537

Stress is one of the main issues of nowadays lifestyle. If it becomes chronic it can have adverse effects on the human body. Thus, the early detection of stress is crucial to prevent its hurting effects on the human body and have a healthier life. Stress can be assessed using physiological signals. To this end, Photoplethysmography (PPG) is one of the most favorable physiological signals for stress assessment. This research is focused on developing a novel technique to assess stressful events using raw PPG signals. To achieve this goal, an adaptive convolutional neural network (CNN) combined with Multilayer Perceptron (MLP) has been utilized to realize the detection of stressful events. This research will use a dataset that is publicly available and named wearable stress and effect detection (WESAD). This dataset will be used to simulate the proposed model and to examine the advantages of the proposed developed model. The proposed model in this research will be able to distinguish between normal events and stressful events. This model will be able to detect stressful events with an accuracy of 96.7%.

关键词： Training Adaptation models Adaptive systems Pattern classification Robot sensing systems Photoplethysmography Physiology

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Design of a Flexible Robot Arm for Safe Aerial Physical Interaction

arXiv

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arXiv 2024年

作者： Mellet, Julien Berra, Andrea Seisa, Achilleas Santi Sankaranarayanan, Viswa Gamage, Udayanga G.W.K.N. Soto, Miguel Ángel Trujillo Heredia, Guillermo Nikolakopoulos, George Lippiello, Vincenzo Ruggiero, Fabio PRISMA Lab Department of Electrical Engineering and Information Technology University of Naples Federico II Naples Italy CATEC Advanced Center for Aerospace Technologies Seville Spain Robotics and AI Team Department of Computer Electrical and Space Engineering LuleåUniversity of Technology Luleå Sweden Automation and Control Group Department of Electrical Engineering and Photonics Technical University of Denmark Denmark Robotics Vision and Control Group School of Engineering University of Seville Seville Spain

This paper introduces a novel compliant mechanism combining lightweight and energy dissipation for aerial physical interaction. Weighting 400 g at take-off, the mechanism is actuated in the forward body direction, enabling precise position control for force interaction and various other aerial manipulation tasks. The robotic arm, structured as a closed-loop kinematic chain, employs two deported servomotors. Each joint is actuated with a single tendon for active motion control in compression of the arm at the end-effector. Its elasto-mechanical design reduces weight and provides flexibility, allowing passive-compliant interactions without impacting the motors’ integrity. Notably, the arm’s damping can be adjusted based on the proposed inner frictional bulges. Experimental applications showcase the aerial system performance in both free-flight and physical interaction. The presented work may open safer applications for Micro Aerial Vehicle (MAV) in real environments subject to perturbations during interaction. © 2024, CC BY.

关键词： End effectors

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Assisted Physical Interaction: Autonomous Aerial Robots with Neural Network Detection, Navigation, and Safety Layers

arXiv

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arXiv 2024年

作者： Berra, Andrea Sankaranarayanan, Viswa Narayanan Seisa, Achilleas Santi Mellet, Julien Gamage, Udayanga G.W.K.N. Satpute, Sumeet Gajanan Ruggiero, Fabio Lippiello, Vincenzo Tolu, Silvia Fumagalli, Matteo Nikolakopoulos, George Soto, Miguel Ángel Trujillo Heredia, Guillermo CATEC Advanced Center for Aerospace Technologies Seville Spain Robotics and AI Team Department of Computer Electrical and Space Engineering LuleåUniversity of Technology Luleå Sweden PRISMA Lab Department of Electrical Engineering and Information Technology University of Naples Federico II Naples Italy Automation and Control Group Department of Electrical Engineering and Photonics Technical University of Denmark Denmark Robotics Vision and Control Group School of Engineering University of Seville Seville Spain

关键词： Unmanned aerial vehicles (UAV)

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