检索结果-内蒙古大学图书馆

39th Annual AAai Conference on Artificial Intelligence, AAai 2025

作者： Yu, Wentao Chen, Shuo Tong, Yongxin Gu, Tianlong Gong, Chen School of Computer Science and Engineering Nanjing University of Science and Technology China Center for Advanced Intelligence Project RIKEN Japan State Key Laboratory of Complex & Critical Software Environment Beihang University China Engineering Research Center of Trustworthy AI Ministry of Education Jinan University China Department of Automation Institute of Image Processing and Pattern Recognition Shanghai Jiao Tong University China

ISBN: (纸本)157735897X

Heterogeneity is a fundamental and challenging issue in federated learning, especially for the graph data due to the complex relationships among the graph nodes. To deal with the heterogeneity, lots of existing methods perform the weighted federation based on their calculated similarities between pairwise clients (i.e., subgraphs). However, their inter-subgraph similarities estimated with the outputs of local models are less reliable, because the final outputs of local models may not comprehensively represent the real distribution of subgraph data. In addition, they ignore the critical intra-heterogeneity which usually exists within each subgraph itself. To address these issues, we propose a novel Federated learning method by integrally modeling the Inter-Intra Heterogeneity (FedIIH). For the inter-subgraph relationship, we propose a novel hierarchical variational model to infer the whole distribution of subgraph data in a multi-level form, so that we can accurately characterize the inter-subgraph similarities with the global perspective. For the intra-heterogeneity, we disentangle the subgraph into multiple latent factors and partition the model parameters into multiple parts, where each part corresponds to a single latent factor. Our FedIIH not only properly computes the distribution similarities between subgraphs, but also learns disentangled representations that are robust to irrelevant factors within subgraphs, so that it successfully considers the inter- and intra- heterogeneity simultaneously. Extensive experiments on six homophilic and five heterophilic graph datasets in both non-overlapping and overlapping settings demonstrate the effectiveness of our method when compared with nine state-of-the-art methods. Specifically, FedIIH averagely outperforms the second-best method by a large margin of 5.79% on all heterophilic datasets. Copyright © 2025, Association for the Advancement of Artificial Intelligence (***). All rights reserved.

关键词： Federated learning

来源：评论

学校读者我要写书评

暂无评论

Advances in Wireless,Batteryless,Implantable Electronics for Real‑Time,Continuous Physiological Monitoring

引用

Nano-Micro Letters 2024年第3期16卷 254-302页

作者： Hyeonseok Kim Bruno Rigo Gabriella Wong Yoon Jae Lee Woon‑Hong Yeo IEN Center for Wearable Intelligent Systems and Healthcare Georgia Institute of TechnologyAtlantaGA 30332USA George W.Woodruff School of Mechanical Engineering Georgia Institute of TechnologyAtlantaGA 30332USA School of Electrical and Computer Engineering Georgia Institute of TechnologyAtlantaGA 30332USA Wallace H.Coulter Department of Biomedical Engineering Georgia Tech and Emory University School of MedicineAtlantaGA 30332USA Parker H.Petit Institute for Bioengineering and Biosciences Institute for MaterialsInstitute for Robotics and Intelligent MachinesGeorgia Institute of TechnologyAtlantaGA 30332USA

This review summarizes recent progress in developing wireless,batteryless,fully implantable biomedical devices for real-time continuous physiological signal monitoring,focusing on advancing human health *** considerations,such as biological constraints,energy sourcing,and wireless communication,are discussed in achieving the desired performance of the devices and enhanced interface with human *** addition,we review the recent achievements in materials used for developing implantable systems,emphasizing their importance in achieving multi-functionalities,biocompatibility,and *** wireless,batteryless devices offer minimally invasive device insertion to the body,enabling portable health monitoring and advanced disease ***,we summarize the most recent practical applications of advanced implantable devices for human health care,highlighting their potential for immediate commercialization and clinical uses.

关键词： Implantable electronics Biomedical systems Batteryless devices Wireless electronics Physiological signal monitoring

来源：评论

学校读者我要写书评

暂无评论

Channel Aging-Aware LSTM-Based Channel Prediction for Satellite Communications

IEEE Networking Letters

引用

IEEE Networking Letters 2024年第3期6卷 183-187页

作者： Abbasi, Omid Kaddoum, Georges Carleton University Non-Terrestrial Networks Lab Department of Systems and Computer Engineering OttawaONK1S 5B6 Canada Université du Québec École de Technologie Supérieure Department of Electrical Engineering MontrealQCH3C 1K3 Canada Lebanese American University Cyber Security Systems and Applied Ai Research Center Beirut2801 Lebanon

Satellite communication systems encounter channel aging issues due to the substantial distance that separates users and satellites. In such systems, the estimated channel state at a given time slot reflects the channel state from several time slots in the past. This letter proposes a long short-term memory (LSTM)-based architecture for channel prediction to mitigate the channel aging problem. The proposed scheme predicts the next time slot's channel based on a block of estimated channel state information (CSI) from previous time slots. We consider the effect of channel aging in the training phase so that channel prediction in the testing phase is performed based on available data. We demonstrated through simulation experiments on new radio non-terrestrial network tapped delay line (NR NTN TDL) channel models, that our proposed scheme can effectively mitigate channel aging, and that it performs better than outdated channels. The proposed scheme improves the reliability and efficiency of satellite communication systems with long propagation delays. © 2019 IEEE.

关键词： Satellite communication systems

来源：评论

学校读者我要写书评

暂无评论

Automated classification of hand gestures using a wristband and machine learning for possible application in pill intake monitoring

引用

computer METHODS AND PROGRAMS IN BIOMEDICINE 2022年 219卷 106753-106753页

作者： Moccia, Sara Solbiati, Sarah Khornegah, Mahshad Bossi, Federica F. S. Caiani, Enrico G. [a]The Biorobotics Institute Scuola Superiore Sant'Anna Pisa Italy [b]Department of Excellence in Robotics and AI Scuola Superiore Sant'Anna Pisa Italy [c]Department of Electronics Information and Biomedical Engineering Politecnico di Milano P.zza L. da Vinci 32 Milan 20133 Italy [d]Institute of Electronics Computer and Telecommunication Engineering (IEIIT) National Research Council of Italy (CNR) Milan Italy

Background: Thanks to the increased interest towards health and lifestyle, a larger adoption in wearable devices for activity tracking is present among the general population. Wearable devices such as smart wristbands integrate inertial units, including accelerometers and gyroscopes, which can be utilised to perform automatic classification of hand gestures. This technology could also find an important application in automatic medication adherence monitoring. Accordingly, this study aims at comparing the performance of several Machine-Learning (ML) and Deep-Learning (DL) approaches for the automatic identification of hand gestures, with a specific focus on the drinking gesture, commonly associated to the action of oral intake of a pill-packed ***: A method to automatically recognize hand gestures in daily living is proposed in this work. The method relies on a commercially available wristband sensor (MetaMotionR, MbientLab Inc.) integrating tri-axial accelerometer and gyroscope. Both ML and DL algorithms were evaluated for both multi gesture (drinking, eating, pouring water, opening a bottle, typing, answering a phone, combing hair, and cutting) and binary gesture (drinking versus other gestures) classification from wristband sensor signals. Twenty-two participants were involved in the experimental analysis, performing a 10 min acquisition in a laboratory setting. Leave-one-subject-out cross validation was performed for robust performance assessment. Results: The highest performance was achieved using a convolutional neural network with long-short term memory (CNN-LSTM), with a median f1-score of 90.5 [first quartile: 84.5;third quartile: 92.5]% and 92.5 [81.5;98.0]% for multi-gesture and binary classification, ***: Experimental results showed that hand gesture classification with ML/DL from wrist accelerometers and gyroscopes signals can be performed with reasonable accuracy in laboratory settings, paving the way for a new genera

关键词： Hand-gesture classification Monitoring medical adherence Wearable sensors Machine learning Deep learning CNN-LSTM

来源：评论

学校读者我要写书评

暂无评论

Adaptive Control of Euler-Lagrange Systems under Time-varying State Constraints without a Priori Bounded Uncertainty

引用

IFAC-PapersOnLine 2023年第2期56卷 3360-3365页

作者： Viswa Narayanan Sankaranarayanan Sumeet Satpute Spandan Roy George Nikolakopoulos Robotics and Artificial Intelligence Group Department of Computer Science Electrical and Space Engineering Luleå University of Technology Sweden Robotics Research Center International Institute of Information Technology Hyderabad India

In this article, a novel adaptive controller is designed for Euler-Lagrangian systems under predefined time-varying state constraints. The proposed controller could achieve this objective without a priori knowledge of system parameters and, crucially, of state-dependent uncertainties. The closed-loop stability is verified using the Lyapunov method, while the overall efficacy of the proposed scheme is verified using a simulated robotic arm compared to the state of the art.

关键词： Adaptive control barrier Lyapunov function Euler-Lagrangian system

来源：评论

学校读者我要写书评

暂无评论

Why Go Full? Elevating Federated Learning Through Partial Network Updates 38

Why Go Full? Elevating Federated Learning Through Partial Ne...

引用

38th Conference on Neural Information Processing Systems, NeurIPS 2024

作者： Wang, Haolin Liu, Xuefeng Niu, Jianwei Guo, Wenkai Tang, Shaojie State Key Laboratory of Virtual Reality Technology and Systems School of Computer Science and Engineering Beihang University Beijing China Center for AI Business Innovation Department of Management Science and Systems University at Buffalo BuffaloNY United States Zhongguancun Laboratory Beijing China

Federated learning is a distributed machine learning paradigm designed to protect user data privacy, which has been successfully implemented across various scenarios. In traditional federated learning, the entire parameter set of local models is updated and averaged in each training round. Although this full network update method maximizes knowledge acquisition and sharing for each model layer, it prevents the layers of the global model from cooperating effectively to complete the tasks of each client, a challenge we refer to as layer mismatch. This mismatch problem recurs after every parameter averaging, consequently slowing down model convergence and degrading overall performance. To address the layer mismatch issue, we introduce the FedPart method, which restricts model updates to either a single layer or a few layers during each communication round. Furthermore, to maintain the efficiency of knowledge acquisition and sharing, we develop several strategies to select trainable layers in each round, including sequential updating and multi-round cycle training. Our theoretical analysis and experimental results show that the FedPart method significantly outperforms traditional full-network update strategies, achieving faster convergence, greater accuracy, and reduced communication and computational overhead. © 2024 Neural information processing systems foundation. All rights reserved.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Review of Inference Time Prediction Approaches of DNN: Emphasis on Service robots with cloud-edge-device architecture

Review of Inference Time Prediction Approaches of DNN: Empha...

引用

2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Xiang, Tian Meng, Qiwei Zhang, Ji Zhang, Beibei Song, Wei Xie, Anhuan Gu, Jason Research Institute of Interdisciplinary Innovation Zhejiang Laboratory Research Center for Intelligent Robotics Hangzhou311100 China The Chinese University of Hong Kong T Stone Robotics Institute Department of Mechanical and Automation Engineering Hong Kong Research Institute of Intelligent Computing Zhejiang Laboratory Research Center for Intelligent Computing Software Hangzhou311100 China Dalhousie University Electrical and Computer Engineering Halifax Canada

ISBN: (纸本)9798350325706

In recent years, the global robot market has witnessed substantial growth, particularly in the domain of service robots. Despite their expanding presence, service robots encounter limitations when operating autonomously in unstructured environments, primarily due to their constrained computational capacities. As a solution, the fusion of cloud and edge computing resources becomes imperative to expedite task inference and enhance scenario perception capabilities. The integration of cloud-edge-device models holds significant promise in bolstering the operational efficiency of robots. This entails the dynamic partitioning of intricate robotic tasks, executed collaboratively across cloud, edge, and device resources. In this landscape, deep neural network (DNN) models play a pivotal role in facilitating a wide array of robotic tasks. The inference time for each layer of a DNN model in actual deployment, emerges as a critical determinant in the model's partitioning strategy. It also serves as an important metric influencing the model's suitability for a specific hardware platform. This article presents an overview of recent advancements in predicting inference and training time of DNN models, summarizes the related methods, and finally discusses the challenges in this field and the research that can be studied in the future. © 2023 IEEE.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Multi-Modal 3D Scene Graph Updater for Shared and Dynamic Environments

arXiv

引用

arXiv 2024年

作者： Olivastri, Emilio Pretto, Alberto Francis, Jonathan Sünderhauf, Niko Rana, Krishan Department of Information Engineering University of Padova Italy Bosch Center for AI Carnegie Mellon University United States Centre for Robotics Queensland University of Technology Australia

The advent of generalist Large Language Models (LLMs) and Large Vision Models (VLMs) have streamlined the construction of semantically enriched maps that can enable robots to ground high-level reasoning and planning into their representations. One of the most widely used semantic map formats is the 3D Scene Graph, which captures both metric (low-level) and semantic (high-level) information. However, these maps often assume a static world, while real environments, like homes and offices, are dynamic. Even small changes in these spaces can significantly impact task performance. To integrate robots into dynamic environments, they must detect changes and update the scene graph in real-time. This update process is inherently multimodal, requiring input from various sources, such as human agents, the robot’s own perception system, time, and its actions. This work proposes a framework that leverages these multimodal inputs to maintain the consistency of scene graphs during real-time operation, presenting promising initial results and outlining a roadmap for future research. Copyright © 2024, The Authors. All rights reserved.

关键词： Robot programming

来源：评论

学校读者我要写书评

暂无评论

Robotic Learning of Haptic Skills from Expert Demonstration for Contact-Rich Manufacturing Tasks

Robotic Learning of Haptic Skills from Expert Demonstration ...

引用

IEEE International Conference on Automation Science and engineering (CASE)

作者： Sara Hamdan Yusuf Aydin Erhan Oztop Cagatay Basdogan Robotics and Mechatronics Laboratory and the KUIS-AI Center Koc University Istanbul Turkey Department of Electrical and Electronics Engineering MEF University Istanbul Turkey Department of Computer Science Ozyegin University Istanbul Turkey SISReC/OTRI Osaka University Japan

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

We propose a learning from demonstration (LfD) approach that utilizes an interaction (admittance) controller and two force sensors for the robot to learn the force applied by an expert from demonstrations in contact-rich tasks such as robotic polishing. Our goal is to equip the robot with the haptic expertise of an expert by using a machine learning (ML) approach while providing the flexibility for the user to intervene in the task at any point when necessary by using an interaction controller. The utilization of two force sensors, a pivotal concept in this study, allows us to gather environmental data crucial for effectively training our system to accommodate workpieces with diverse material and surface properties and maintain the contact of polisher with their surfaces. In the demonstration phase of our approach where an expert guiding the robot to perform a polishing task, we record the force applied by the human (F h ) and the interaction force (F int ) via two separate force sensors for the polishing trajectory followed by the expert to extract information about the environment (F env =F h −F int ). An admittance controller, which takes the interaction force as the input is used to output a reference velocity to be tracked by the internal motion controller (PID) of the robot to regulate the interactions between the polisher and the surface of a workpiece. A multilayer perceptron (MLP) model was trained to learn the human force profile based on the inputs of Cartesian position and velocity of the polisher, environmental force (F env ), and friction coefficient between the polisher and the surface to the model. During the deployment phase, in which the robot executes the task autonomously, the human force estimated by our system $\left({{{\hat F}_h}}\right)$ is utilized to balance the reaction forces coming from the environment and calculate the force $\left({{{\hat F}_h} - {F_{env}}}\right)$ needs to be inputted to the admittance controller to gene

关键词： Surface cleaning Force Robot sensing systems Real-time systems Haptic interfaces Trajectory Manufacturing Force sensors Admittance Robots

来源：评论

学校读者我要写书评

暂无评论

Cellular automata inspired multistable origami metamaterials for mechanical learning

arXiv

引用

arXiv 2023年

作者： Liu, Zuolin Fang, Hongbin Xu, Jian Wang, K.W. Institute of AI and Robotics State Key Laboratory of Medical Neurobiology MOE Engineering Research Center of AI & Robotics Fudan University Shanghai200433 China Department of Mechanical Engineering University of Michigan Ann ArborMI48109 United States

Recent advances in multistable metamaterials reveal a link between structural configuration transition and Boolean logic, heralding a new generation of computationally capable intelligent materials. To enable higher-level computation, existing computational frameworks require the integration of large-scale networked logic gates, which places demanding requirements on the fabrication of materials counterparts and the propagation of signals. Inspired by cellular automata, we propose a novel computational framework based on multistable origami metamaterials by incorporating reservoir computing, which can accomplish high-level computation tasks without the need to construct a logic gate network. This approach thus eleimates the demanding requirements for fabrication of materials and signal propagation when constructing large-scale networks for high-level computation in conventional mechano-logic. Using the multistable stacked Miura-origami metamaterial as a validation platform, digit recognition is successfully implemented through experiments by a single actuator. Moreover, complex tasks, such as handwriting recognition and 5-bit memory tasks, are also shown to be feasible with the new computation framework. Our research represents a significant advancement in developing a new generation of intelligent materials with advanced computational capabilities. With continued research and development, these materials could have a transformative impact on a wide range of fields, from computational science to material mechano-intelligence technology and beyond. Copyright © 2023, The Authors. All rights reserved.

关键词： Image recognition

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：