检索结果-内蒙古大学图书馆

UAV-Assisted Dynamic Avatar Task Migration for Vehicular Metaverse Services: A Multi-Agent Deep Reinforcement Learning Approach

引用

IEEE/CAA Journal of Automatica Sinica 2024年第2期11卷 430-445页

作者： Jiawen Kang Junlong Chen Minrui Xu Zehui Xiong Yutao Jiao Luchao Han Dusit Niyato Yongju Tong Shengli Xie IEEE School of Automation Guangdong University of TechnologyGuangzhou 510006China 111 Center for Intelligent Batch Manufacturing based on IoT Technology Guangzhou 510006China Key Laboratory of Intelligent Information Processing and System Integration of IoT Ministry of EducationGuangzhou 510006China School of Computer Science and Engineering Nanyang Technological UniversitySingaporeSingapore Pillar of Information Systems Technology and Design Singapore University of Technology and DesignSingaporeSingapore College of Communication Engineering Army Engineering University of PLANanjing 210007China National Natural Science Foundation of China Beijing 100085China Key Laboratory of Intelligent Detection and IoT in Manufacturing Ministry of EducationGuangzhou 510006China Guangdong Key Laboratory of IoT Information Technology Guangzhou 510006China

Avatars, as promising digital representations and service assistants of users in Metaverses, can enable drivers and passengers to immerse themselves in 3D virtual services and spaces of UAV-assisted vehicular Metaverses. However, avatar tasks include a multitude of human-to-avatar and avatar-to-avatar interactive applications, e.g., augmented reality navigation,which consumes intensive computing resources. It is inefficient and impractical for vehicles to process avatar tasks locally. Fortunately, migrating avatar tasks to the nearest roadside units(RSU)or unmanned aerial vehicles(UAV) for execution is a promising solution to decrease computation overhead and reduce task processing latency, while the high mobility of vehicles brings challenges for vehicles to independently perform avatar migration decisions depending on current and future vehicle status. To address these challenges, in this paper, we propose a novel avatar task migration system based on multi-agent deep reinforcement learning(MADRL) to execute immersive vehicular avatar tasks dynamically. Specifically, we first formulate the problem of avatar task migration from vehicles to RSUs/UAVs as a partially observable Markov decision process that can be solved by MADRL algorithms. We then design the multi-agent proximal policy optimization(MAPPO) approach as the MADRL algorithm for the avatar task migration problem. To overcome slow convergence resulting from the curse of dimensionality and non-stationary issues caused by shared parameters in MAPPO, we further propose a transformer-based MAPPO approach via sequential decision-making models for the efficient representation of relationships among agents. Finally, to motivate terrestrial or non-terrestrial edge servers(e.g., RSUs or UAVs) to share computation resources and ensure traceability of the sharing records, we apply smart contracts and blockchain technologies to achieve secure sharing management. Numerical results demonstrate that the proposed approach

关键词： Avatar blockchain metaverses multi-agent deep reinforcement learning transformer UAVs

来源：评论

学校读者我要写书评

暂无评论

Multi-Resolution Planar Region Extraction for Uneven Terrains

Multi-Resolution Planar Region Extraction for Uneven Terrain...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： Yinghan Sun Linfang Zheng Hua Chen Wei Zhang Shenzhen Key Laboratory of Control Theory and Intelligent Systems School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen China School of Computer Science University of Birmingham UK

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

This paper studies the problem of extracting planar regions in uneven terrains from unordered point cloud measurements. Such a problem is critical in various robotic applications such as robotic perceptive locomotion. While existing approaches have shown promising results in effectively extracting planar regions from the environment, they often suffer from issues such as low computational efficiency or loss of resolution. To address these issues, we propose a multi-resolution planar region extraction strategy in this paper that balances the accuracy in boundaries and computational efficiency. Our method begins with a pointwise classification preprocessing module, which categorizes all sampled points according to their local geometric properties to facilitate multi-resolution segmentation. Subsequently, we arrange the categorized points using an octree, followed by an in-depth analysis of nodes to finish multi-resolution plane segmentation. The efficiency and robustness of the proposed approach are verified via synthetic and real-world experiments, demonstrating our method’s ability to generalize effectively across various uneven terrains while maintaining real-time performance, achieving frame rates exceeding 35 FPS.

关键词： Point cloud compression Deep learning Accuracy Octrees Noise Robustness Real-time systems

来源：评论

学校读者我要写书评

暂无评论

Hierarchical Decision Problems for Non-Affine Multi-Player systems

Hierarchical Decision Problems for Non-Affine Multi-Player S...

引用

2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023

作者： Lin, Danyu Xue, Shan Liu, Derong Zhao, Bo School of Automation Guangdong University of Technology Guangzhou510006 China South China University of Technology School of Computer Science and Engineering Guangzhou510006 China Southern University of Science and Technology School of System Design and Intelligent Manufacturing Shenzhen518055 China Beijing Normal University School of Systems Science Beijing100875 China

ISBN: (纸本)9798350327182

Adaptive dynamic programming is used in this paper to solve the hierarchical decision problem for non-affine multi-player systems. A new affine system is formed by adding control dynamics to the original system. To solve the hierarchical decision problem of the original system, we modeled it as a Stackelberg game in the new system. Adaptive dynamic programming is used to approximate the value functions. The stability of the system is analyzed according to Lyapunov theory, which leads to the conclusion that both the system states and the weight errors are uniformly ultimately bounded. Finally, matlab simulation is used to verify the conclusion. © 2023 IEEE.

关键词： Dynamic programming

来源：评论

学校读者我要写书评

暂无评论

GeoReF: Geometric Alignment Across Shape Variation for Category-level Object Pose Refinement

GeoReF: Geometric Alignment Across Shape Variation for Categ...

引用

Conference on computer Vision and Pattern Recognition (CVPR)

作者： Linfang Zheng Tze Ho Elden Tse Chen Wang Yinghan Sun Hua Chen Ales Leonardis Wei Zhang Hyung Jin Chang Shenzhen Key Laboratory of Control Theory and Intelligent Systems School of System Design and Intelligent Manufacturing Southern University of Science and Technology China School of Computer Science. University of Birmigsham UK Department of Computer Science the University of Hong Kong China

ISBN: (数字)9798350353006

ISBN: (纸本)9798350353013

Object pose refinement is essential for robust object pose estimation. Previous work has made significant progress to-wards instance-level object pose refinement. Yet, category-level pose refinement is a more challenging problem due to large shape variations within a category and the discrep-ancies between the target object and the shape prior. To address these challenges, we introduce a novel architecture for category-level object pose refinement. Our approach in-tegrates an HS-Iayer and learnable affine transformations, which aims to enhance the extraction and alignment of Geometric information. Additionally, we introduce a cross-cloud transformation mechanism that efficiently merges di-verse data sources. Finally, we push the limits of our model by incorporating the shape prior information for translation and size error prediction. We conducted extensive ex-periments to demonstrate the effectiveness of the proposed framework. Through extensive quantitative experiments, we demonstrate significant improvement over the baseline method by a large margin across all metrics. 1 1 Project page: https://***/***

关键词： Point cloud compression computer vision Shape Soft sensors Pose estimation computer architecture Predictive models

来源：评论

学校读者我要写书评

暂无评论

KinGloves: Rapid Prototyping of Usability Enhanced Sensing Gloves for Parkinson's Disease

KinGloves: Rapid Prototyping of Usability Enhanced Sensing G...

引用

2024 International Conference on the Challenges, Opportunities, Innovations and Applications in Electronic Textiles, E-Textiles 2024

作者： Ravichandran, Vignesh Chomal, Shubham Arruda, Rachel Al Rumon, Md Abdullah Dupre, Anne-Marie Fapohunda, Kofoworola Tandon, Puneet Owens, Jim Macht, Gretchen Kosiba-Quiterio, Carolyn Solanki, Dhaval Mankodiya, Kunal University of Rhode Island Department of Electrical Computer and Biomedical Engineering KingstonRI United States Indian Institute of Information Technology Design and Manufacturing Department of Mechanical Industrial and Systems Engineering KingstonRI United States University of Rhode Island Department of Mechanical Industrial and Systems Engineering KingstonRI United States University of Rhode Island Department of Textiles Fashion Merchandising and Design KingstonRI United States University of Rhode Island Department of Physical Therapy KingstonRI United States Nautilus Defense PawtucketRI United States Rock Steady Boxing East GreenwichRI United States

ISBN: (纸本)9783000804298

Parkinson's Disease (PD) is a progressive neurological movement disorder causing motor (movement) impairments, leading to difficulty in performing activities of daily living such as eating, writing, cutting vegetables, buttoning a shirt, tying shoelaces, brushing teeth, etc. Although sensing clothes has gained popularity in monitoring disease progression in home settings, they pose usability challenges arising from movement/cognitive symptoms that hamper their adoption and adherence. In this study, we employ a user-centered design process with an aim to improve the wearability of gloves through a multi-phase study involving 23 people with PD (PwPD). The goal was to design gloves with suitable wrist closure and finger insertion mechanisms to enable independent upper-body movement assessments. The first phase conducted with 4 PwPD helped identify preferred and undesired glove-wearing mechanics through 12 daily living tasks. Next, a rapid prototyping process for textiles, using a laser cutter, produced three design concepts for evaluation by 9 PwPD. The best-performing prototype design was chosen for capacitive sensing thread integration and design revision. The capacitive sensing threads play a crucial role in accurately measuring finger flexion and extension, providing high-resolution data on hand movements that are critical for assessing finger movements associated with Parkinson's Disease symptoms. After incorporating participant feedback, the improved design had an average reduction of 23% in time to wear and 250% in time to take off when tested with 18 PwPD. In particular, features such as a view window for fingers and use of zippers had been reported by participants to improve glove usability. © 2024 Fraunhofer IZM.

关键词： User centered design

来源：评论

学校读者我要写书评

暂无评论

GeoReF: Geometric Alignment Across Shape Variation for Category-level Object Pose Refinement

arXiv

引用

arXiv 2024年

作者： Zheng, Linfang Tse, Tze Ho Elden Wang, Chen Sun, Yinghan Chen, Hua Leonardis, Aleš Zhang, Wei Chang, Hyung Jin Shenzhen Key Laboratory of Control Theory and Intelligent Systems School of System Design and Intelligent Manufacturing Southern University of Science and Technology China Department of Computer Science The University of Hong Kong Hong Kong School of Computer Science University of Birmingham United Kingdom

Object pose refinement is essential for robust object pose estimation. Previous work has made significant progress towards instance-level object pose refinement. Yet, category-level pose refinement is a more challenging problem due to large shape variations within a category and the discrepancies between the target object and the shape prior. To address these challenges, we introduce a novel architecture for category-level object pose refinement. Our approach integrates an HS-layer and learnable affine transformations, which aims to enhance the extraction and alignment of geometric information. Additionally, we introduce a cross-cloud transformation mechanism that efficiently merges diverse data sources. Finally, we push the limits of our model by incorporating the shape prior information for translation and size error prediction. We conducted extensive experiments to demonstrate the effectiveness of the proposed framework. Through extensive quantitative experiments, we demonstrate significant improvement over the baseline method by a large margin across all metrics. © 2024, CC BY-NC-SA.

关键词： Metadata

来源：评论

学校读者我要写书评

暂无评论

Multi-Resolution Planar Region Extraction for Uneven Terrains

arXiv

引用

arXiv 2023年

作者： Sun, Yinghan Zheng, Linfang Chen, Hua Zhang, Wei Shenzhen Key Laboratory of Control Theory and Intelligent Systems School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen China School of Computer Science University of Birmingham United Kingdom

关键词： Computational efficiency

来源：评论

学校读者我要写书评

暂无评论

IC Layouts Patterns Topological Profiling Using Directional Geometrical Kernels 2

IC Layouts Patterns Topological Profiling Using Directional ...

引用

DTCO and Computational Patterning II 2023

作者： Hamed, Ahmed Hamed Fathi El-Sewefy, Omar Khalaf, Sara Hegazy, Hazem Dessouky, Mohamed Salem, Ashraf Ain Shams University Faculty of Engineering Electronics Engineering and Electrical Communications Department Cairo11835 Egypt Ain Shams University Faculty of Engineering Computer and Systems Engineering Department Cairo11835 Egypt Siemens EDA Calibre Semi-Manufacturing Solutions Siemens Digital Industries Software Cairo11535 Egypt Siemens EDA Calibre Design-to-Silicon Siemens Digital Industries Software Cairo11535 Egypt

ISBN: (纸本)9781510660977

As the semiconductor manufacturing technology node scales down in the deep submicron domain, hotspot detection becomes more challenging and geo-contextually dependent than ever before. The need to profile IC layout patterns based on geometrical commonalities becomes a significant demand either during IC layout design or manufacturing phases. Identified hotspots during the manufacturing phase are usually correlated to specific geometrical configurations sensitive to the lithography process or other manufacturing processes. Accordingly, identifying similar geometrical configurations is an important step toward locating potential hotspots. Once these hotspots are identified, their patterns can be provided to the router to avoid using these patterns and find other valid alternatives. Furthermore, in the IC design sign-off phase or design Rules Check (DRC), layout profiling can identify patterns with high commonalities to these problematic patterns that potentially lead to a yield loss. In this paper, we introduce automated IC layout patterns topological profiling approach using Directional Geometrical Kernels (DGKs) to capture the context of patterns around a Point-Of-Interest (POI) in an IC layout, such as a hotspot. The DGKs pattern representation provides a direct one-to-one mapping with physical geometrical measurements centered by the POI and doesn't need further feature extraction models or maps used by other pixelized gridded image-based or density-based representations, which are both time and computational resources-consuming. The DGKs are decomposed into topological and dimensional components. This makes the mechanism of patterns topological profiling not in need of complex models and can be precisely fine controlled to produce adequate patterns profiling granularity that is not easily approached by other patterns profiling alternatives. © 2023 SPIE.

关键词： Integrated circuits

来源：评论

学校读者我要写书评

暂无评论

6G-Enabled Edge AI for Metaverse:Challenges, Methods,and Future Research Directions

引用

Journal of Communications and Information Networks 2022年第2期7卷 107-121页

作者： Luyi Chang Zhe Zhang Pei Li Shan Xi Wei Guo Yukang Shen Zehui Xiong Jiawen Kang Dusit Niyato Xiuquan Qiao Yi Wu School of Data Science and Technology Heilongjiang UniversityHarbin 150080China Institute for Cryptology and Network Security Heilongjiang UniversityHarbin 150080China SenseTime Group Limited Shenzhen 518000China Pillar of Information Systems Technology and Design Singapore University of Technology and Design.Singapore 487372Singapore School of Automation.Guangdong University of Technology and Center for Intelligenl Batch Manufacturing based on IoT TechnologyGuangzhou 510006China School of Computer Science and Engineering Nanyang Technological UniversitySingapore 639798.Singapore State Key Laboratory of Networking and Switching Technology Beijing University of Posts and Telecommunications.Beijing 100876China

Sixth generation(6G)enabled edge intelligence opens up a new era of Internet of everything and makes it possible to interconnect people-devices-cloud anytime,*** and more next-generation wireless network smart service applications are changing our way of life and improving our quality of *** the hottest new form of next-generation Internet applications,Metaverse is striving to connect billions of users and create a shared world where virtual and reality ***,limited by resources,computing power,and sensory devices,Metaverse is still far from realizing its full vision of immersion,materialization,and *** this end,this survey aims to realize this vision through the organic integration of 6G-enabled edge artificial intelligence(AI)and ***,we first introduce three new types of edge-Metaverse architectures that use 6G-enabled edge AI to solve resource and computing constraints in *** we summarize technical challenges that these architectures face in Metaverse and the existing ***,we explore how the edge-Metaverse architecture technology helps Metaverse to interact and share digital ***,we discuss future research directions to realize the true vision of Metaverse with 6G-enabled edge AI.

关键词： edge artificial intelligence artificial intelli-gence 6G metaverse federated learning

来源：评论

学校读者我要写书评

暂无评论

Constrained Probabilistic Pareto Dominance for Expensive Constrained Multiobjective Optimization Problems

引用

IEEE Transactions on Evolutionary Computation 2024年 1-1页

作者： Zhang, Zhiyao Wang, Yong Sun, Guangyong Pang, Tong Tang, Ke School of Automation Central South University Changsha China State Key Laboratory of Advanced Design and Manufacturing Technology for Vehicle Hunan University Changsha China Guangdong Key Laboratory of Brain-Inspired Intelligent Computation Department of Computer Science and Engineering and the Research Institute of Trustworthy Autonomous Systems Southern University of Science and Technology Shenzhen China

This paper proposes a new parameterless constraint-handling technique, named constrained probabilistic Pareto dominance (CPPD), for expensive constrained multiobjective optimization problems (CMOPs). In CPPD, when comparing two solutions, in terms of each original objective, we design a new objective for each solution, which is the negative product of two probabilities calculated based on the predicted fitness mean values and the uncertainty information provided by Kriging models: 1) the probability that this solution satisfies all constraints, denoted as PoF, and 2) the probability that this solution is better than the other on the original objective, denoted as PoB. It is evident that for each solution, PoF and PoB indicate its feasibility and its optimality on the corresponding original objective, respectively. Then, Pareto dominance based on new objectives is executed. As a result, both competitive feasible solutions and promising infeasible solutions with good diversity can be preserved by CPPD. These two kinds of solutions can help the population to exploit the located feasible parts and to explore new feasible parts, respectively. Further, based on CPPD, we develop a Pareto-based Kriging-assisted constrained multiobjective evolutionary algorithm (called PEA) to deal with expensive CMOPs with two or three objectives. Finally, PEA is generalized to solve expensive constrained many-objective optimization problems, named PEA+. The effectiveness of CPPD, PEA, and PEA+ is verified by comprehensive experiments. IEEE

关键词： Evolutionary algorithms

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：