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2024 International Conference on Communication, computer Sciences and engineering, IC3SE 2024

作者： Srividhya, Ch. Sapthami, I. Nagpal, Amandeep Pachauri, Praveen Chandrashekar, Rakesh Jabbar, Ahmed Sabah Abed AL-Zahra Institute Of Aeronautical Engineering Department Of Computer Science And Engineering Telangana Hyderabad India Mlr Institute Of Technology Department Of Computer Science And Engineering Telangana Hyderabad India Lovely Professional University Phagwara India Government Polytechnic Siwan India New Horizon College Of Engineering Bangalore India College Of Medical Technology The Islamic University Medical Laboratory Technology Department Najaf Iraq

ISBN: (纸本)9798350366846

In the ever-growing field of radio communications, better ways of modeling and boosting channels are needed, especially for channels that change location in the near field. Here, we present a new way to use deep learning to improve the performance of radio communication channels. Our plan, called the 'Proposed Method,' uses complex neural network structures to model and improve channel features. We tested the proposed method against six well-known ones, including Orthogonal Matching Pursuit, Maximum Likelihood Estimation, Least Squares, Compressive Sensing, Singular Value Decomposition, and Beamforming, to see how well it works. To rate how well something works, we use things like Mean Absolute Error (MAE), Signal-to-Noise Ratio (SNR), Bit Error Rate (BER), Computational Complexity, and Root Mean Squared Error (RMSE). The results show that the Proposed Method is better because it models and estimates channels more accurately and has lower RMSE, MAE, BER, and MSE. The Proposed Method also has a higher signal-to-noise ratio (SNR), which means the quality of the data is better. In addition, because it is simple to compute, it is a good answer for real-world problems. © 2024 IEEE.

关键词： Beamforming

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Human-Inspired Anticipatory Motion Planning for Robotic Manipulators in Contact Tasks

Human-Inspired Anticipatory Motion Planning for Robotic Mani...

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IEEE International Conference on Robotics and Biomimetics

作者： Malak Slim Naseem Daher Imad H. Elhajj Electrical and Computer Engineering Department Vision and Robotics Lab American University of Beirut Lebanon

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

In this work, we present a novel solution aimed at improving robotic manipulators' performance in contact tasks. Inspired by the human motor control system, which relies on a feedforward mechanism to anticipate and plan movements based on the physical properties of the target environment, our approach plans the robot's motion during the reaching phase, prior to contact. To validate our approach, we conducted experiments using the KUKA youBot arm in two distinct environments, represented by soft and hard materials. Results showed that the robot exhibited compliant behavior, with an average reduction of 71% in overshoot, 60% in rise-time, and 68% steady-state error of the force control response during contact.

关键词： Robot motion Motor drives computer vision Estimation Manipulators Planning Steady-state Force control Feedforward systems Robots

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A study on the impact of pre-trained model on Just-In-Time defect prediction 23

A study on the impact of pre-trained model on Just-In-Time d...

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23rd IEEE International Conference on Software Quality, Reliability, and Security, QRS 2023

作者： Guo, Yuxiang Gao, Xiaopeng Zhang, Zhenyu Chan, W.K. Jiang, Bo Beihang University State Key Laboratory of Software Development Environment School of Computer Science and Engineering Beijing China State Key Laboratory of Computer Science Institute of Software Chinese Academy of Sciences Beijing China City University of Hong Kong Department of Computer Science Hong Kong

ISBN: (纸本)9798350319583

Previous researchers conducting Just-In-Time (JIT) defect prediction tasks have primarily focused on the performance of individual pre-trained models, without exploring the relationship between different pre-trained models as backbones. In this study, we build six models: RoBERTaJIT, CodeBERTJIT, BARTJIT, PLBARTJIT, GPT2JIT, and CodeGPTJIT, each with a distinct pre-trained model as its backbone. We systematically explore the differences and connections between these models. Specifically, we investigate the performance of the models when using Commit code and Commit message as inputs, as well as the relationship between training efficiency and model distribution among these six models. Additionally, we conduct an ablation experiment to explore the sensitivity of each model to inputs. Furthermore, we investigate how the models perform in zero-shot and few-shot scenarios. Our findings indicate that each model based on different backbones shows improvements, and when the backbone's pre-training model is similar, the training resources that need to be consumed are closer. We also observe that Commit code plays a significant role in defect detection, and different pre-trained models demonstrate better defect detection ability with a balanced dataset under few-shot scenarios. These results provide new insights for optimizing JIT defect prediction tasks using pre-trained models and highlight the factors that require more attention when constructing such models. Additionally, CodeGPTJIT and GPT2JIT achieved better performance than DeepJIT and CC2Vec on the two datasets respectively under 2000 training samples. These findings emphasize the effectiveness of transformer-based pre-trained models in JIT defect prediction tasks, especially in scenarios with limited training data. © 2023 IEEE.

关键词： Forecasting

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Position Measurement Based Slave Torque Feedback Control for Teleoperation Systems With Time-Varying Communication Delays

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IEEE/CAA Journal of Automatica Sinica 2023年第2期10卷 388-402页

作者： Xian Yang Jing Yan Changchun Hua Xinping Guan the Institute of Information Science and Engineering Yanshan University the Key Laboratory for Computer Virtual Technology and System Integration of Hebei Province Qinhuangdao 066004China IEEE the Institute of Electrical Engineering Yanshan UniversityQinhuangdao 066004China the Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China

Bilateral teleoperation system is referred to as a promising technology to extend human actions and intelligence to manipulating objects *** the tracking control of teleoperation systems,velocity measurements are necessary to provide feedback ***,due to hardware technology and cost constraints,the velocity measurements are not always *** addition,the time-varying communication delay makes it challenging to achieve tracking *** paper provides a solution to the issue of real-time tracking for teleoperation systems,subjected to unavailable velocity signals and time-varying communication *** order to estimate the velocity information,immersion and invariance(I&I)technique is employed to develop an exponential stability velocity *** the proposed velocity observer,a linear relationship between position and observation state is constructed,through which the need of solving partial differential and certain integral equations can be ***,the mean value theorem is exploited to separate the observation error terms,and hence,all functions in our observer can be analytically *** the estimated velocity information,a slave-torque feedback control law is presented.A novel Lyapunov-Krasovskii functional is constructed to establish asymptotic tracking *** particular,the relationship between the controller design parameters and the allowable maximum delay values is ***,simulation and experimental results reveal that the proposed velocity observer and controller can guarantee that the observation errors and tracking error converge to zero.

关键词： Asymptotic stability bilateral teleoperation time-varying delay velocity observer

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Attention Bootstrapping for Multi-Modal Test-Time Adaptation 39

Attention Bootstrapping for Multi-Modal Test-Time Adaptation

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39th Annual AAAI Conference on Artificial Intelligence, AAAI 2025

作者： Zhao, Yusheng Luo, Junyu Luo, Xiao Huang, Jinsheng Yuan, Jingyang Xiao, Zhiping Zhang, Ming State Key Laboratory for Multimedia Information Processing School of Computer Science PKU-Anker LLM Lab Peking University Beijing China Department of Computer Science University of California Los AngelesCA United States Paul G. Allen School of Computer Science and Engineering University of Washington SeattleWA United States

ISBN: (纸本)157735897X

Test-time adaptation aims to adapt a well-trained model to potential distribution shifts at test time using only unlabeled test data, without access to the original training data. While previous efforts mainly focus on a single modality, test-time distribution shift in the multi-modal setting is more complex and calls for new solutions. This paper tackles the problem of multi-modal test-time adaptation by proposing a novel method named Attention Bootstrapping with Principal Entropy Minimization (ABPEM). We observe that test-time distribution shift causes misalignment across modalities, leading to a large gap between intra-modality discrepancies (measured by self-attention) and inter-modality discrepancies (measured by cross-attention). We name this the attention gap. This attention gap widens with more severe distribution shifts, hindering effective modality fusion. To mitigate this attention gap and encourage better modality fusion, we propose attention bootstrapping that promotes cross-attention with the guidance of self-attention. Moreover, to reduce the gradient noise in the commonly-used entropy minimization, we adopt principal entropy minimization, a refinement of entropy minimization that reduces gradient noise by focusing on the principal parts of entropy, excluding less reliable gradient information. Extensive experiments on the benchmarks validate the effectiveness of the proposed ABPEM in comparison with competing baselines. Copyright © 2025, Association for the Advancement of Artificial Intelligence (***). All rights reserved.

关键词： Modal analysis

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Rechargeable Battery State Estimation Based on Adaptive-Rate Processing and Machine Learning 1

Rechargeable Battery State Estimation Based on Adaptive-Rate...

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1st International Conference in Advanced Innovation on Smart City, ICAISC 2023

作者： Alyoucef, Afnan Qaisar, Saeed Mian Hafsi, Meriem Effat University Electrical and Computer Engineering Department Jeddah22332 Saudi Arabia LINEACT Laboratory CESI Engineering School Villeurbanne69100 France

ISBN: (纸本)9781665472753

The generalization of the use of electronic systems and their integration in industrial systems and different aspects of modern life (internet of things, electric vehicles, robotics, smart grids), give rise to new challenges related to the storage and optimized management of energy. Lithium-on batteries perfectly meet this objective due to their good qualities such as high energy density, small installation size, low self-discharge and high supply capacity. However, their wide application requires further research on battery failure prediction and health management. Intelligent 'battery management systems' (BMSs) employ the real-time estimation and control algorithms to improve the battery safety while enhancing its performance. Nevertheless, BMS are complex and require increased processing power which could lead to more power consumption. In this context, the present article provides a new approach for efficient prediction of the 'Lithiumion' (Li-ion) battery cells capacities by analysing and exploiting the battery parameters, acquired by an event-driven module. It acquires the intended cells voltages, currents and temperature values during the charge-discharge cycles. The solution is based on the machine learning algorithms and event-based segmentation. The 'National Aeronautics and Space Administration' (NASA) has provided a high-power Li-Ion cells dataset for the purpose of research and innovation. This dataset is used to test and evaluate the suggested approach. The evaluation of the overall performance of the chain has shown encouraging results of the proposed approach. © 2023 IEEE.

关键词： Battery management systems

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Feature Model Configuration Reuse Scheme for Self-Adaptive Systems

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computers, Materials & Continua 2022年第4期71卷 1249-1262页

作者： Sumaya Alkubaisi Said Ghoul Oguz Ata Electrical and Computer Engineering Department Altinbas UniversityIstanbul34218Turkey Faculty of Information Technology Research Laboratory on Bio-Inspired Software EngineeringPhiladelphia UniversityAmman26160Jordan

Most large-scale systems including self-adaptive systems utilize feature models(FMs)to represent their complex architectures and benefit from the reuse of commonalities and variability ***-adaptive systems(SASs)are capable of reconfiguring themselves during the run time to satisfy the scenarios of the requisite ***,reconfiguration of SASs corresponding to each adaptation of the system requires significant computational time and *** process of configuration reuse can be a better alternative to some contexts to reduce computational time,effort and ***,systems’complexity can be reduced while the development process of systems by reusing elements or *** are considered one of the new ways of reuse process that are able to introduce new opportunities for the reuse process beyond the conventional system *** current FM-based modelling techniques represent,manage,and reuse elementary features to model SASs concepts,modeling and reusing configurations have not yet been *** this context,this study presents an extension to FMs by introducing and managing configuration features and their reuse *** results demonstrate that reusing configuration features reduces the effort and time required by a reconfiguration process during the run time to meet the required scenario according to the current context.

关键词： Self-adaptive system feature model system reuse configuration management variability modeling

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Human Orientation Estimation Under Partial Observation

Human Orientation Estimation Under Partial Observation

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Jieting Zhao Hanjing Ye Yu Zhan Hao Luan Hong Zhang Department of Electronic and Electrical Engineering SUSTech Shenzhen Key Laboratory of Robotics and Computer Vision Southern University of Science and Technology (SUSTech) Department of Computer Science School of Computing National University of Singapore

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Reliable Human Orientation Estimation (HOE) from a monocular image is critical for autonomous agents to understand human intention. Significant progress has been made in HOE under full observation. However, the existing methods easily make a wrong prediction under partial observation and give it an unexpectedly high confidence. To solve the above problems, this study first develops a method called Part-HOE that estimates orientation from the visible joints of a target person so that it is able to handle partial observation. Subsequently, we introduce a confidence-aware orientation estimation method, enabling more accurate orientation estimation and reasonable confidence estimation under partial observation. The effectiveness of our method is validated on both public and custom-built datasets, and it shows great accuracy and reliability improvement in partial observation scenarios. In particular, we show in real experiments that our method can benefit the robustness and consistency of the Robot Person Following (RPF) task.

关键词： Accuracy Filtering Estimation Robustness Autonomous agents Intelligent robots

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Evolutionary Explainable Rule Extraction from (Modal) Random Forests 26

Evolutionary Explainable Rule Extraction from (Modal) Random...

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26th European Conference on Artificial Intelligence, ECAI 2023

作者： Ghiotti, Michele Manzella, Federico Pagliarini, Giovanni Sciavicco, Guido Stan, Ionel Eduard Aclai Laboratory Department of Mathematics and Computer Science University of Ferrara Italy Department of Mathematical Physical and Computer Sciences University of Parma Italy Dbs Group Faculty of Engineering Free University of Bozen-Bolzano Italy

ISBN: (纸本)9781643684369

Symbolic learning is the subfield of machine learning concerned with learning predictive models with knowledge represented in logical form, such as decision tree and decision list models. Ensemble learning methods, such as random forests, are usually deployed to improve the performance of decision trees;unfortunately, interpreting tree ensembles is challenging. In order to deal with unstructured (e.g., temporal or spatial) data, moreover, decision trees and random forests have been recently generalized to the use of modal logics, which are harder to interpret than their propositional counterpart. Recently, a methodology for extracting simple rules from propositional random forests, based on a sequence of optimization steps, was proposed. In this work, we generalize this approach along two directions: from propositional to modal logic and from a sequence of optimization steps to a single multi-objective optimization problem. Even if confined to the temporal domain, our experimental results, based on open-source implementations and public data, show that our method is robust and able to extract small, accurate, and informative decision lists even for complex classification problems. © 2023 The Authors.

关键词： Decision trees

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Tjong:A transformer‐based Mahjong AI via hierarchical decision‐making and fan backward

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CAAI Transactions on Intelligence Technology 2024年第4期9卷 982-995页

作者： Xiali Li Bo Liu Zhi Wei Zhaoqi Wang Licheng Wu School of Information and Engineering Minzu University of ChinaBeijingChina Key Laboratory of Ethnic Language Intelligent Analysis and Security Governance of MOE Minzu University of ChinaBeijingChina Department of Computer Science New Jersey Institute of TechnologyNewarkNew JerseyUSA

Mahjong,a complex game with hidden information and sparse rewards,poses significant *** Mahjong AIs require substantial hardware resources and extensive datasets to enhance AI *** authors propose a transformer‐based Mahjong AI(Tjong)via hierarchical decision‐*** utilising self‐attention mechanisms,Tjong effectively captures tile patterns and game dynamics,and it decouples the decision pro-cess into two distinct stages:action decision and tile *** design reduces de-cision complexity ***,a fan backward technique is proposed to address the sparse rewards by allocating reversed rewards for actions based on winning *** consists of 15M parameters and is trained using approximately 0.5 M data over 7 days of supervised learning on a single server with 2 *** action decision achieved an accuracy of 94.63%,while the claim decision attained 98.55%and the discard decision reached 81.51%.In a tournament format,Tjong outperformed AIs(CNN,MLP,RNN,ResNet,VIT),achieving scores up to 230%higher than its ***-more,after 3 days of reinforcement learning training,it ranked within the top 1%on the leaderboard on the Botzone platform.

关键词： decision making deep learning deep neural networks

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