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arXiv 2018年

作者： Han, Hyejin Sanfelice, Ricardo G. Technical Report Hybrid Systems Laboratory Department of Computer Engineering University of California Santa Cruz United States

This paper introduces operators, semantics, characterizations, and solution-independent conditions to guarantee temporal logic specifications for hybrid dynamical systems. Hybrid dynamical systems are given in terms of differential inclusions - capturing the continuous dynamics - and difference inclusions - capturing the discrete dynamics or events - with constraints. State trajectories (or solutions) to such systems are param- eterized by a hybrid notion of time. For such broad class of solutions, the operators and semantics needed to reason about temporal logic are introduced. Characteriza- tions of temporal logic formulas in terms of dynamical properties of hybrid systems are presented - in particular, forward invariance and finite time attractivity. We exploit these characterizations to formulate sufficient conditions assuring the satisfaction of temporal logic formulas - when possible, our conditions do not involve solution infor- mation. Combining our results for formulas with a single operator, we point out ways to certify more complex formulas, in particular, via a decomposition using a finite state automaton. Academic examples illustrate the results throughout the paper. Copyright © 2018, The Authors. All rights reserved.

关键词： Temporal logic

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Lightweight Disaster Semantic Segmentation for UAV On-Device Intelligence

Lightweight Disaster Semantic Segmentation for UAV On-Device...

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IEEE International Symposium on Geoscience and Remote Sensing (IGARSS)

作者： Hanbin Lee Gihwan Kim Sangho Ha Hyungshin Kim Department of Computer Science and Engineering Embedded Systems Laboratory (ESLAB) Chungnam National University Daejeon Republic of Korea

ISBN: (数字)9798350360325

ISBN: (纸本)9798350360332

Unmanned aerial vehicles (UAVs) are being used for monitoring natural disasters. To promptly assess the severity of the disaster, it is advantageous to analyze the disaster scenes with the on-board computer in real time. Various AI segmentation models with high accuracy are developed mainly for offline processing. They require significant memory capacity and computational power. However, on-device AI has the challenge of compressing high-precision models due to the limited memory size and the small computation power. In this research, we develop a lightweight disaster semantic segmentation model for UAV on-device intelligence. From a simple FANet as our baseline, we apply various optimization, such as compact backbone, lightweight attention block, quantization, knowledge distillation, and post processing. With our optimized model, we can reduce 84.2% of the inference time while achieving 0.5% increase in accuracy compared to the baseline model.

关键词： Accuracy Quantization (signal) Disasters Computational modeling Semantic segmentation Autonomous aerial vehicles Real-time systems

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A 10-40 GHz 7 dB Directional Coupler in Digital CMOS Technology

A 10-40 GHz 7 dB Directional Coupler in Digital CMOS Technol...

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Microwave, MTT-S International Symposium

作者： Yunliang Zhu Hui Wu Laboratory for Advanced Integrated Circuits and Systems Department of Electrical and Computer Engineering University of Rochester Rochester NY USA

We present an integrated wideband directional coupler for millimeter-wave applications implemented in low-cost silicon technologies. It is constructed using broad-side coupled coplanar waveguides (CPW), taking advantage of available multiple metal layers in silicon technologies. A prototype coupler was designed and fabricated using a commercial 0.18mu digital CMOS technology with low-resistivity epi substrate. It achieves a 10-40 GHz frequency range (3-dB bandwidth) with 7 dB to 10 dB coupling and more than 10 dB directivity. Measurement results match well with electromagnetic simulation

关键词： CMOS technology Directional couplers Millimeter wave technology Silicon Coplanar waveguides Wideband Electromagnetic waveguides Prototypes Frequency Bandwidth

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A novel miniaturized UWB antenna for microwave imaging

A novel miniaturized UWB antenna for microwave imaging

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IEEE International Conference on Multimedia Computing and systems (ICMCS)

作者： Amal Afyf Larbi Bellarbi Electrical Engineering Laboratory (LGE) Higher National School of Computer Science and Systems Analysis (ENSIAS) Rabat Morocco

A compact UWB planar antenna fed with a microstrip-line is proposed. The new design is composed of a square patch with a small size of 26 mm × 20 mm. with three rectangular slots and fed by 50 Ω microstrip transmission line and a reduced ground-plane which have a T-shaped slot. It is intended to be used in Microwave Imaging applications that cover the ultra-wideband (UWB) frequency band. A wider bandwidth of around 3.98 - 17.26GHZ with stable radiation pattern is achieved. The proposed antenna has excellent characteristics, low profile and cost-effective compared to existing UWB antennas. The UWB antenna is designed and analyzed using CST Microwave Studio and HFSS software in transient mode to verify antenna parameters improvements.

关键词： Microstrip antennas Microstrip Ultra wideband antennas Microwave communication Microwave imaging Microwave antennas

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High-Level Synthesis Methodologies for Delay-Area Optimized Coarse-Grained Reconfigurable Coprocessor Architectures

High-Level Synthesis Methodologies for Delay-Area Optimized ...

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IEEE computer Society Annual Symposium on VLSI

作者： Sotirios Xydis Kiamal Pekmestzi Dimitrios Soudris George Economakos Microprocessors and Digital Systems Laboratory Electrical and Computer Engineering Department National and Technical University of Athens Athens Greece

ISBN: (纸本)9781424473212

As Very Large Scale Integration (VLSI) process technology continues to scale down transistor sizes, modern computing devices are becoming extremely complex. In order to face this complexity explosion, the shifting of design methodologies towards higher level of abstraction has been proposed. This high level view of the design procedure enables the automated synthesis of applications' architecture that is written in an application-level description i.e. C/C++. Additionally, it allows designers to explore the tradeoffs between different system and implementation parameters to conclude in an efficient design solution. The work done during this PhD thesis targets the exploration and optimization of the design solutions in a global manner, by focusing on the combined development of novel (i) system-level automated design methodologies/tools and (ii) circuit-level techniques for a specific class of system architectures - reconfigurable systems. Reconfigurable Computing has been proposed as a new paradigm to address the conflicting design requirements for high performance and area efficiency. Towards this direction, fine- and coarse-grained reconfigurable coprocessor architectures have been presented. Unlike fine-grained, coarse-grained architectures (CGA) operate at the word level of granularity exhibiting better power and performance features, close to ASIC solutions. However, a performance-area-power gap still exists for CGAs to overcome ASIC implementations. Thus, new fundamental design problems/questions has been raised. Does this gap be a bridgeable one? How can CGAs shift even closer to ASIC datapaths? In order to address the aforementioned problems, we identified that hardware sharing at the bit-level generates CGAs with performance and area characteristics closer to ASICs than the existing ones. Thus, this thesis proposes new architectural templates and the corresponding high level synthesis methodologies to enable a new shifting on the state-of-the-art of CGAs.

关键词： Optimization Coprocessors Space exploration Hardware Design automation computer architecture Discrete cosine transforms

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Beyond One-Size-Fits-All: Adapting Counterfactual Explanations to User Objectives

arXiv

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arXiv 2024年

作者： Mastromichalakis, Orfeas Menis Liartis, Jason Stamou, Giorgos Artificial Intelligence and Learning Systems Laboratory School of Electrical and Computer Engineering National Technical University of Athens Greece

Explainable Artificial Intelligence (XAI) has emerged as a critical area of research aimed at enhancing the transparency and interpretability of AI systems. Counterfactual Explanations (CFEs) offer valuable insights into the decision-making processes of machine learning algorithms by exploring alternative scenarios where certain factors differ. Despite the growing popularity of CFEs in the XAI community, existing literature often overlooks the diverse needs and objectives of users across different applications and domains, leading to a lack of tailored explanations that adequately address the different use cases. In this paper, we advocate for a nuanced understanding of CFEs, recognizing the variability in desired properties based on user objectives and target applications. We identify three primary user objectives and explore the desired characteristics of CFEs in each case. By addressing these differences, we aim to design more effective and tailored explanations that meet the specific needs of users, thereby enhancing collaboration with AI systems. © 2024, CC BY-NC-ND.

关键词： Decision making

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Predictive Control for Dynamic Locomotion of Real Humanoid Robots

Predictive Control for Dynamic Locomotion of Real Humanoid R...

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Stylianos Piperakis Emmanouil Orfanoudakis Michail G. Lagoudakis Intelligent Systems Laboratory School of Electronic and Computer Engineering Technical University of Crete Chania Crete 73100 Greece

ISBN: (纸本)9781479969357

This article presents a complete formulation of the challenging task of stable humanoid robot omnidirectional walk based on the Cart and Table model for approximating the robot dynamics. For the control task, we propose two novel approaches: preview control augmented with the inverse system for negotiating strong disturbances and uneven terrain and linear model-predictive control approximated by an orthonormal basis for computational efficiency coupled with constraints for improved stability. For the generation of smooth feet trajectories, we present a new approach based on rigid body interpolation, enhanced by adaptive step correction. Finally, we present a sensor fusion approach for sensor-based state estimation and an effective solution to sensors' noise, delay, and bias issues, as well as to errors induced by the simplified dynamics and actuation imperfections. Our formulation is applied on a real NAO humanoid robot, where it achieves real-time onboard execution and yields smooth and stable gaits.

关键词： Humanoid robots dynamic walking Predictive control control task Sensor fusion inverse system robot dynamics cart Orthonormal basis State estimation Computational efficiency Real number

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Inter-turn fault diagnosis of PM synchronous generator for variable speed wind applications using floating-space-vector

Inter-turn fault diagnosis of PM synchronous generator for v...

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Annual Conference of Industrial Electronics Society

作者： Ali Sarikhani Behrooz Mirafzal Osama Mohammed Energy Systems Research Laboratory Department of Electrical and Computer Engineering Florida International University Miami FL USA

In this paper, an online fault diagnosis technique suitable for wind-based variable speed PM generators is proposed. This floating-space-vector technique is developed based upon space-vector concepts, and its mathematical formulation is elaborated in this paper. The technique is verified numerically as well as experimentally using a 7.2kW PM machine as a wind generator. The numerical model is based on a multi-physics model of a PM generator. The simulation and experiments are performed under the uncertainties of generator speed, number of shorted turns and fault resistance value. The calculated results show the robustness, accuracy, and proper speed response of the technique.

关键词： Circuit faults Generators Resistance Integrated circuit modeling Stator windings Feature extraction Steady-state

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Middleware-level collaborative resource discovery for large clusters

Middleware-level collaborative resource discovery for large ...

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International Symposium on Collaborative Technologies and systems

作者： J. Al-Jaroodi N. Mohamed Dependable Systems Middleware Research Laboratory Electrical and Computer Engineering Stevens Institute of Technology Hoboken NJ USA

In this paper, we introduce a collaborative resource discovery mechanism to enhance system resource allocation and utilization by the distributed applications. The mechanism involves the collaboration of the software agents to collect, organize and efficiently exchange resources information. The main goal is to provide an accurate single system image for all the resources. The concept of virtual clusters is used to enhance localization of information and minimize exchanged messages. This mechanism is introduced as a part of the run-time support layer in Delmon. Delmon is a three-layer middleware framework for distributed systems, which includes the run-time support layer. This layer utilizes agents that reside on the participating machines and communicate with one another to perform the required functions. The agents hide the details of scheduling, controlling, monitoring, and executing user jobs, while the management of system resources is made transparent to the user. The proposed mechanism for collaborative resource discovery is based on the hierarchical structure of the agents and the organization and update protocols

关键词： Collaboration Resource management Runtime Application software Collaborative software Software agents Middleware Scheduling Control systems Monitoring

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A Combinational Approach to the Fusion, De-noising and Enhancement of Dual-Energy X-Ray Luggage Images

A Combinational Approach to the Fusion, De-noising and Enhan...

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IEEE computer Society Conference on computer Vision and Pattern Recognition Workshops (CVPRW)

作者： Zhiyu Chen Yue Zheng B.R. Abidi D.L. Page M.A. Abidi Imaging Robotics and Intelligent Systems Laboratory Electrical and Computer Engineering Department University of Tennessee Knoxville TN USA

X-ray luggage inspection systems play an important role in ensuring air travelers’ security. However, the false alarm rate of commercial systems can be as high as 20% due to less than perfect image processing algorithms. In an effort to reduce the false alarm rate, this paper proposes a combinational scheme to fuse, de-noise and enhance dual-energy X-ray images for better object classification and threat detection. The fusion step is based on the wavelet transform. Fused images generally reveal more detail information; however, background noise often gets amplified during the fusion process. This paper applies a backgroundsubtraction- based noise reduction technique which is very efficient in removing background noise from fused X-ray images. The de-noised image is then processed using a new enhancement technique to reconstruct the final image. The final image not only contains complementary information from both source images, but is also background-noise-free and contrastenhanced, therefore easier to segment automatically or be interpreted by screeners, thus reducing the false alarm rate in X-ray luggage inspection.

关键词： Noise reduction X-ray imaging Inspection Background noise Security Image processing Fuses Object detection X-ray detection X-ray detectors

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