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Correction to: A new approach to snow avalanche rescue using UAV pictures based on convolutional neural networks

Journal of Real-Time Image Processing 2023年第5期20卷 1-2页

作者： Zhang, Suyu Gavrilovskaya, Nadezhda Al Said, Nidal Afandi, Waleed Saeed College of Artificial Intelligence Wenzhou Polytechnic Wenzhou China Department of Computer-Aided Design Systems and Engineering Calculations Moscow Timiryazev Agricultural Academy Russian State Agrarian University Moscow Russian Federation College of Mass Communication Ajman University Ajman United Arab Emirates Department of Information System King Abdulaziz University Jeddah Kingdom of Saudi Arabia

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Path synthesis of defect-free spatial 5-SS mechanisms using machine learning

Path synthesis of defect-free spatial 5-SS mechanisms using ...

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ASME 2020 International design engineering Technical Conferences and computers and Information in engineering Conference, IDETC-CIE 2020

作者： Sharma, Shashank Purwar, Anurag Computer-Aided Design and Innovation Lab Department of Mechanical Engineering Stony Brook University Stony Brook New York11794-2300 United States

ISBN: (纸本)9780791883990

The synthesis of spatial mechanisms for defect-free path generation has not received a lot of attention. In this paper, we focus on the synthesis of 5-SS mechanisms and use a machine learning based approach. First, we create a coupler path database using a solver based on the iterative Newton-Raphson optimization algorithm. Subsequently, a data cleanup, normalization, balancing, and augmentation pipeline is established based on intrinsic properties of space curves namely curvature and torsion. Finally, we use an unsupervised learning algorithm based on Variational Autoencoder combined with K-means clustering to find a multiplicity of defect-free 5-SS mechanisms and examples are presented. Copyright © 2020 ASME

关键词： Machine learning

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An image-based approach to variational path synthesis of linkages

An image-based approach to variational path synthesis of lin...

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ASME 2020 International design engineering Technical Conferences and computers and Information in engineering Conference, IDETC-CIE 2020

作者： Deshpande, Shrinath Purwar, Anurag Computer-Aided Design and Innovation Lab Department of Mechanical Engineering Stony Brook University Stony Brook New York11794-2300 United States

ISBN: (纸本)9780791883990

This paper brings together computer vision, mechanism synthesis, and machine learning to create an image-based variational path synthesis approach for linkage mechanisms. An image-based approach is particularly amenable to mechanism synthesis when the input from mechanism designers is deliberately imprecise or inherently uncertain due to the nature of the problem. In addition, it also lends itself naturally to the creation of a unified approach to mechanism synthesis since pixels do not care if they were generated from a four-bar or six-bar. Path synthesis problem has generally been solved for a set of precision points on the intended path such that the designed mechanism passes through those points. This approach usually leads to a small set of over-fitting solutions to the particular precision points. However, most kinematic synthesis problems are concept generation problem where a designer cares more about generating a large number of plausible solutions. This paper models the input curve as a probability distribution of image pixels and employs a probabilistic generative model to capture the inherent uncertainty in the input. In addition, it gives feedback on the input quality and provides corrections for a more conducive input. The image representation allows for capturing local spatial correlations, which plays an important role in finding a variety of solutions with similar semantics as the input curve. Copyright © 2020 ASME

关键词： Deep learning

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Unified motion synthesis of spatial seven-bar platform mechanisms and planar-four bar mechanisms

Unified motion synthesis of spatial seven-bar platform mecha...

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ASME 2020 International design engineering Technical Conferences and computers and Information in engineering Conference, IDETC-CIE 2020

作者： Sharma, Shashank Purwar, Anurag Computer-Aided Design and Innovation Lab Department of Mechanical Engineering Stony Brook University Stony Brook New York11794-2300 United States

ISBN: (纸本)9780791883990

A unified motion generation algorithm that combines Spatial and Planar mechanism synthesis has been a hard problem in kinematics. In this paper, we present a new method to generate planar RRRR mechanisms and spatial 5-SS mechanisms using a unified algorithm. For a generalized spatial pose problem where all the poses fall on a plane, we show that there exist 1-∞ plane constraint solutions and 3-∞ planar-spherical solution dyads. We also show that for a spatial five pose problem where all poses lie on a plane, there exists a 2-∞ solution space of spherical and planar constraints. This multiplicity of solutions are intelligently constrained to find up to four circle constraints representing planar four-bar mechanism. Finally, examples are presented testing the proposed algorithm and verified using results from past publications. Copyright © 2020 ASME

关键词： Mechanisms

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Control of switching the dynamical modes of a memristor based chaotic circuit 4

Control of switching the dynamical modes of a memristor base...

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4th International Conference on Control in Technical Systems, CTS 2021

作者： Ostrovskii, Valerii Y. Zubarev, Alexander V. Rybin, Vyacheslav G. Karimov, Timur I. Department of Computer-Aided Design Saint-Petersburg Electrotechnical University "LETI" St. Petersburg Russia Department of Electrical Engineering Saint-Petersburg Electrotechnical University "LETI" St. Petersburg Russia Youth Research Institute Saint-Petersburg Electrotechnical University "LETI" St. Petersburg Russia

ISBN: (纸本)9781665424547

In this work, we consider complex dynamical phenomena in a modified Chua's circuit with a memristive element, we conduct a number of experiments to control its dynamical modes. The circuit model is represented by a fifth-order nonlinear dynamical system. The dynamical properties of the system are investigated in phase space using diagrams displaying bifurcations and regions of periodic and chaotic regimes. The paper presents a new approach to multistability control based on varying the symmetry coefficient of a semi-implicit finite-difference scheme. The results of numerical analysis confirm the suitability of this approach both for the complete suppression of multistability due to the transition to a fixed point or a single chaotic regime, and for fine tuning with access to the attractor of the required periodicity. © 2021 IEEE.

关键词： Nonlinear dynamical systems

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Pushing the Boundaries of AI Chips: From Monolithic 3D CMOS to Cryogenic Computing

Pushing the Boundaries of AI Chips: From Monolithic 3D CMOS ...

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design, Automation and Test in Europe Conference and Exhibition

作者： Mahdi Benkhelifa Shivendra S. Parihar Anirban Kar Girish Pahwa Yogesh S. Chauhan Hussam Amrouch Chair of AI Processor Design Technical University of Munich TUM School of Computation Information and Technology Munich Institute of Robotics and Machine Intelligence Munich Germany Department of Electrical Engineering and Computer Sciences University of California Berkeley USA National Yang Ming Chiao Tung University International College of Semiconductor Technology Taiwan Indian Institute of Technology Kanpur India

ISBN: (数字)9783982674100

ISBN: (纸本)9798331534646

As CMOS scaling approaches its fundamental limits, the explosive rise of AI and LLMs has unveiled profound bottlenecks in computing architectures. This paper presents two groundbreaking paradigms poised to reshape the landscape of high-performance computing and meet the surging demands of AI-driven workloads. The first paradigm is 3D monolithic integration, a revolutionary approach that achieves unprecedented logic density through Complementary FETs (CFETs), where pMOS and nMOS transistors are vertically stacked, and a dramatic expansion of on-chip memory capacity by integrating memory layers atop logic transistors. The second paradigm leverages the transformative potential of operating chips at cryogenic temperatures where transistors exhibit enhanced performance, and parasitic resistances are substantially minimized. These advancements hold the promise of redefining computing efficiency and performance for the AI era.

关键词： Semiconductor device modeling Three-dimensional displays High performance computing Random access memory Cryogenics Silicon System-on-chip Logic Three-dimensional integrated circuits Optimization

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Swarmodroid 1.0: A Modular Bristle-Bot Platform for Robotic Active Matter Studies

arXiv

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arXiv 2023年

作者： Dmitriev, Alexey A. Rozenblit, Alina D. Porvatov, Vadim A. Buzakov, Mikhail K. Molodtsova, Anastasia A. Sennikova, Daria V. Smirnov, Vyacheslav A. Burmistrov, Oleg I. Karimov, Timur I. Puhtina, Ekaterina M. Olekhno, Nikita A. School of Physics and Engineering ITMO University Saint Petersburg197101 Russia Department of Infocommunication Technologies National University of Science and Technology "MISIS" Moscow119991 Russia Faculty of Science University of Amsterdam Amsterdam1098 XH Netherlands Department of Computer-Aided Design Saint Petersburg Electrotechnical University"LETI" Saint Petersburg197376 Russia

Large swarms of extremely simple robots (i.e., capable just of basic motion activities, like propelling forward or self-rotating) are widely applied to study collective task performance based on self-organization or local algorithms instead of sophisticated programming and global swarm coordination. Moreover, they represent a versatile yet affordable platform for experimental studies in physics, particularly in active matter – non-equilibrium assemblies of particles converting their energy to a directed motion. However, a large set of robotics platforms is being used in different studies, while the universal design is still lacking. Despite such platforms possess advantages in certain application scenarios, their large number sufficiently limits further development of results in the field, as advancing some study requires to buy or manually produce the corresponding robots. To address this issue, we develop an open-source Swarmodroid 1.0 platform based on bristle-bots with reconfigurable 3D-printed bodies, external control of motion velocity, and basic capabilities of velocity profile programming. In addition, we introduce AMPy software package in Python featuring OpenCV-based extraction of robotic swarm kinematics accompanied by the evaluation of key physical quantities describing the collective dynamics. We perform a detailed analysis of individual Swarmodroids’ motion characteristics and address their use cases with two examples: a cargo transport performed by self-rotating robots and a velocity-dependent jam formation in a bottleneck by self-propelling robots. Finally, we provide a comparison of existing centimeter-scale robotic platforms, a review of key quantities describing collective dynamics of many-particle systems, and a comprehensive outlook considering potential applications as well as further directions for fundamental studies and Swarmodroid 1.0 platform development. Copyright © 2023, The Authors. All rights reserved.

关键词： Robot programming

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Pushing the Boundaries of AI Chips: From Monolithic 3D CMOS to Cryogenic Computing

Pushing the Boundaries of AI Chips: From Monolithic 3D CMOS ...

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2025 design, Automation and Test in Europe Conference, DATE 2025

作者： Benkhelifa, Mahdi Parihar, Shivendra S. Kar, Anirban Pahwa, Girish Chauhan, Yogesh S. Amrouch, Hussam Technical University of Munich Tum School of Computation Information and Technology Munich Institute of Robotics and Machine Intelligence Ai Processor Design Munich Germany University of California Department of Electrical Engineering and Computer Sciences Berkeley United States National Yang Ming Chiao Tung University International College of Semiconductor Technology Taiwan Indian Institute of Technology Kanpur India

ISBN: (纸本)9783982674100

关键词： BiCMOS technology

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UAV Swarm-enabled Collaborative Secure Relay Communications with Time-domain Colluding Eavesdropper

arXiv

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arXiv 2023年

作者： Zhang, Chuang Sun, Geng Wu, Qingqing Li, Jiahui Liang, Shuang Niyato, Dusit Leung, Victor C.M. The College of Computer Science and Technology Jilin University Changchun130012 China The Key Laboratory of Symbolic Computation and Knowledge Engineering Ministry of Education Jilin University Changchun130012 China The Department of Electronic Engineering Shanghai Jiao Tong University Shanghai China Pillar of Engineering Systems and Design Singapore University of Technology and Design 487372 Singapore The School of Information Science and Technology Northeast Normal University Changchun130024 China The School of Computer Science and Engineering Nanyang Technological University 639798 Singapore The College of Computer Science and Software Engineering Shenzhen University Shenzhen518060 China The Department of Electrical and Computer Engineering University of British Columbia VancouverBCV6T 1Z4 Canada

Unmanned aerial vehicles (UAVs) as aerial relays are practically appealing for assisting Internet of Things (IoT) network. In this work, we aim to utilize the UAV swarm to assist the secure communication between the micro base station (MBS) equipped with the planar array antenna (PAA) and the IoT terminal devices by collaborative beamforming (CB), so as to counteract the effects of collusive eavesdropping attacks in time-domain. Specifically, we formulate a UAV swarm-enabled secure relay multi-objective optimization problem (US2RMOP) for simultaneously maximizing the achievable sum rate of associated IoT terminal devices, minimizing the achievable sum rate of the eavesdropper and minimizing the energy consumption of UAV swarm, by jointly optimizing the excitation current weights of both MBS and UAV swarm, the selection of the UAV receiver, the position of UAVs and user association order of IoT terminal devices. Furthermore, the formulated US2RMOP is proved to be a non-convex, NP-hard and large-scale optimization problem. Therefore, we propose an improved multi-objective grasshopper algorithm (IMOGOA) with some specific designs to address the problem. Simulation results exhibit the effectiveness of the proposed UAV swarm-enabled collaborative secure relay strategy and demonstrate the superiority of IMOGOA. Copyright © 2023, The Authors. All rights reserved.

关键词： Multiobjective optimization

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Joint Task Offloading and Resource Allocation in Aerial-Terrestrial UAV Networks with Edge and Fog Computing for Post-Disaster Rescue

arXiv

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arXiv 2023年

作者： Sun, Geng He, Long Sun, Zemin Wu, Qingqing Liang, Shuang Li, Jiahui Niyato, Dusit Leung, Victor C.M. The College of Computer Science and Technology Jilin University Changchun130012 China The Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of Education Jilin University Changchun130012 China The Department of Electronic Engineering Shanghai Jiao Tong University Shanghai China The School of Information Science and Technology Northeast Normal University Changchun130024 China Pillar of Engineering Systems and Design Singapore University of Technology and Design 487372 Singapore The School of Computer Science and Engineering Nanyang Technological University Singapore639798 Singapore The College of Computer Science and Software Engineering Shenzhen University Shenzhen518060 China The Department of Electrical and Computer Engineering University of British Columbia VancouverBCV6T 1Z4 Canada

Unmanned aerial vehicles (UAVs) play an increasingly important role in assisting fast-response post-disaster rescue due to their fast deployment, flexible mobility, and low cost. However, UAVs face the challenges of limited battery capacity and computing resources, which could shorten the expected flight endurance of UAVs and increase the rescue response delay during performing mission-critical tasks. To address this challenge, we first present a three-layer post-disaster rescue computing architecture by leveraging the aerial-terrestrial edge capabilities of mobile edge computing (MEC) and vehicle fog computing (VFC), which consists of a vehicle fog layer, a UAV client layer, and a UAV edge layer. Moreover, we formulate a joint task offloading and resource allocation optimization problem (JTRAOP) with the aim of maximizing the time-average system utility. Since the formulated JTRAOP is proved to be NP-hard, we propose an MEC-VFC-aided task offloading and resource allocation (MVTORA) approach, which consists of a game theoretic algorithm for task offloading decision, a convex optimization-based algorithm for MEC resource allocation, and an evolutionary computation-based hybrid algorithm for VFC resource allocation. Simulation results validate that the proposed approach can achieve superior system performance compared to the other benchmark schemes, especially under heavy system workloads. Copyright © 2023, The Authors. All rights reserved.

关键词： Fog computing

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