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2024 IEEE Opportunity Research Scholars Symposium, ORSS 2024

作者： Cort, Carlton Dalal, Aditya De Ocampo, James Du, Yanwei Feng, Shiyu Vela, Patricio A. Intelligent Vision and Automation Lab Georgia Tech Institute for Robots and Intelligent Machines Georgia Tech School of Electrical and Computer Engineering United States

ISBN: (纸本)9798350390698

Simultaneous localization and mapping (SLAM) and navigation systems are pivotal to realizing autonomous robotic capabilities. Research toward these systems will have direct impacts on the already large and rapidly growing market of autonomous robotics. Typically, research efforts in SLAM and navigation isolate one of the two systems when benchmarking their performance. As such, potential confounding issues from integrating the full navigation stack with pose estimates from a SLAM algorithm, such as the compounded latency of both systems, never arise. This paper aims to remove this shortcoming by providing a cost-effective closed-loop benchmarking framework for several navigation stacks integrated with several SLAM algorithms on a physical platform (Turtlebot2 in an office environment). A frugal vision-based motion capture method is utilized to capture the localization data. The lessened cost of such a system removes the barriers to real-world testing of this type often presented by common expensive motion capture systems. In the benchmarking framework, conventional performance metrics for both SLAM and navigation research and novel metrics were collected to characterize the closed-loop performance. An analysis of these metrics will enable the selection of algorithms for real-world applications since the framework tests complete mobile autonomy stacks in a task-driven closed-loop environment. © 2024 IEEE.

关键词： SLAM robotics

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Multi-Level and Energy-Efficient Partial Computation Offloading in Heterogeneous Edge Intelligence

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IEEE Internet of Things Journal 2025年第11期12卷 14993-15007页

作者： Xu, Baoyu Ruan, Yancheng Qiu, Chenghu He, Shuibing Shu, Feng Kang, Xiaoyang Zhang, Lihua Academy for Engineering and Technology Shanghai200433 China Shanghai University School of Computer Engineering and Science Shanghai200444 China Zhejiang University College of Computer Science and Technology Hangzhou310027 China University of Sydney School of Electrical and Information Engineering Australia Fudan University Laboratory for Neural Interface and Brain Computer Interface MOE Frontiers Center for Brain Science Academy for Engineering and Technology Shanghai200433 China Fudan University Academy for Engineering and Technology Shanghai200433 China

Due to the diversity of edge devices and applications, edge systems are heterogeneous and have been applied in artificial intelligence fields such as smart factories and intelligent transportation, which is called heterogeneous edge intelligence. Many studies employ computation offloading to transfer processing data from resource-scarce edge devices to resource-rich edge servers. These studies primarily focus on the overall resource consumption of homogeneous edge systems, neglecting the system heterogeneity and the details of resource consumption. In this article, we construct a system model from a parallel perspective for the heterogeneous edge system with different processors, memory, and applications, which perceives the cost of energy and delay from three levels: system, application, and component. A hybrid metaheuristic algorithm combined with a greedy rule, hybrid mutation, and whale optimization algorithm (GHMWOA) is proposed to realize partial computation offloading. A partial offloading architecture of heterogeneous edge intelligence is proposed to validate our model and algorithm with real-world hardware and software. Experiment results not only show GHMWOA outperforms multiple classical optimization algorithms in minimizing energy consumption, but also discover on which system component energy consumption depends, and how properties of application and system influence the cost of energy. © 2014 IEEE.

关键词： Heuristic algorithms

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Rethinking Data Heterogeneity in Federated Learning: Introducing a New Notion and Standard Benchmarks

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2024年第3期5卷 1386-1397页

作者： Vahidian, Saeed Morafah, Mahdi Chen, Chen Shah, Mubarak Lin, Bill Department of Electrical and Computer Engineering University of California La Jolla San DiegoCA92093 United States Center for Research in Computer Vision University of Central Florida OrlandoFL32816-2365 United States Center for Research in ComputerVision University of Central Florida OrlandoFL32816 United States

Though successful, federated learning (FL) presents new challenges for machine learning, especially when the issue of data heterogeneity, also known as Non-IID data, arises. To cope with the statistical heterogeneity, previous works incorporated a proximal term in local optimization or modified the model aggregation scheme at the server side or advocated clustered federated learning approaches, where the central server groups agent population into clusters with jointly trainable data distributions to take the advantage of a certain level of personalization. While effective, they lack a deep elaboration on what kind of data heterogeneity and how the data heterogeneity impacts the accuracy performance of the participating clients. In contrast to many of the prior FL approaches,wedemonstrate not only the issue of data heterogeneity in current setups is not necessarily a problem but also in fact it can be beneficial for *** are intuitive: 1) Dissimilar labels of clients (label skew) are not necessarily considered data heterogeneity, and 2) the principal angle between the clients' data subspaces spanned by their corresponding principal vectors of data is a better estimate of the data heterogeneity. Impact Statement-FL is becoming a compelling learning paradigm in the artificial intelligence (AI) area. However, FL suffers from a notorious issue which is the existence of statistical Non-IID data across different distributed clients. Due to diverse participants, severe data heterogeneity can be present in different clients data, which has been demonstrated to result in unstable and slow convergence. For instance, training a global model across hospitals to identify brain/cancer tumors where every hospitals? images come froma different domain/distribution. To simulate this statistical data heterogeneity, data heterogeneity has been simply modeled as Non-IID label skewwhich tends to be a rigid data partitioning and is hardly representative and th

关键词： Artificial intelligence

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Intelligent Predetermination of Generator Tripping Scheme: Knowledge Fusion-based Deep Reinforcement Learning Framework

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CSEE Journal of Power and Energy Systems 2024年第1期10卷 66-75页

作者： Lingkang Zeng Wei Yao Ze Hu Hang Shuai Zhouping Li Jinyu Wen Shijie Cheng State Key Laboratory of Advanced Electromagnetic Engineering and Technology School of Electrical and Electronics EngineeringHuazhong University of Science and TechnologyWuhan 430074China Dispatching and Control Center Central China Branch of State Grid Corporation of ChinaWuhan 430077China. Department of Electrical Engineering and Computer Science University of TennesseeKnoxvilleTN 37996USA

Generator tripping scheme(GTS)is the most commonly used scheme to prevent power systems from losing safety and ***,GTS is composed of offline predetermination and real-time scenario ***,it is extremely time-consuming and labor-intensive for manual predetermination for a large-scale modern power *** improve efficiency of predetermination,this paper proposes a framework of knowledge fusion-based deep reinforcement learning(KF-DRL)for intelligent predetermination of ***,the Markov Decision Process(MDP)for GTS problem is formulated based on transient instability ***,linear action space is developed to reduce dimensionality of action space for multiple controllable ***,KF-DRL leverages domain knowledge about GTS to mask invalid actions during the decision-making *** can enhance the efficiency and learning ***,the graph convolutional network(GCN)is introduced to the policy network for enhanced learning *** simulation results obtained on New England power system demonstrate superiority of the proposed KF-DRL framework for GTS over the purely data-driven DRL method.

关键词： Deep reinforcement learning generator tripping scheme graph convolutional network invalid action masking knowledgefusion

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A hypothetical comparative evaluation system for arctic indoors

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Frontiers of Architectural Research 2025年第1期14卷 210-223页

作者： Seyed-Amin Tabatabaeifard Jean-Francois Lalonde Marc Hebert Andre Potvin Claude MH.Demers GRAP(Groupe de Recherche en Ambiances Physiques) Ecole d’architectureUniversite LavalQuebecCanada Computer Vision and Systems Lab Department of Electrical and Computer EngineeringUniversite LavalQuebecCanada CERVO Brain Research Centre Faculty of MedicineUniversite LavalQuebecCanada

This research presents an innovative approach to evaluating indoor spaces,combining qualitative attributes with numerical architectural metrics. A hypothetical comparative visualization system is introduced, utilizing HDR visual imaging and thermal imaging in 360° field of view across multiple indoor environments. The study aims to provide architectsand occupants with a user-friendly tool informing them about the primary considerations oftheir built spaces, with a specific focus on indoor environmental qualities in remote Arctic regions. Key inquiries delve into the efficacy of the spherical approach and the capacity ofcomparative visualization to offer insights into space quality. Preliminary experiments contrastindoor environments in terms of circadian lighting, thermal uniformity, and view access tooutside in the 360° field of view (VAR360). The resulting visualizations hold significance inintroducing an immersive approach for depicting specific non-visible environmental qualities,particularly in relation to the window characteristics of spaces. It demonstrates the integration of multiple environmental variables, both steady-state and temporal, from central pointswithin spaces, providing a comprehensive view over their non-visible qualities. These resultsshould be useful for researchers and practitioners within building sciences, computer vision,and photobiology, showcasing an out-of-the-box approach for categorizing indoor spaces basedon standards and human-environmental qualifications.

关键词： Environmental assessment 360°imaging Comparative systems Low-cost tools Built environments

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Speed Harmonic based Saturation Free Inductance Modeling and Estimation of Interior PMSM Using Measurements Under One Load Condition

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CES Transactions on electrical Machines and Systems 2025年第1期9卷 91-99页

作者： Guodong Feng Yuting Lu Zhe Tong Beichen Ding Guishan Yan Chunyan Lai the School of Intelligent Systems Engineering Sun Yat-sen UniversityShenzhenChina the School of Advanced Manufacturing Sun Yat-sen University the Southern Marine Science and Engineering Guangdong Laboratory(Zhuhai) China the Department of Electrical and Computer Engineering Concordia UniversityQCCanada

For permanent magnet synchronous machines(PMSMs),accurate inductance is critical for control design and condition *** to magnetic saturation,existing methods require nonlinear saturation model and measurements from multiple load/current conditions,and the estimation is relying on the accuracy of saturation model and other machine parameters in the *** harmonic produced by harmonic currents is inductance-dependent,and thus this paper explores the use of magnitude and phase angle of the speed harmonic for accurate inductance *** estimation models are built based on either the magnitude or phase angle,and the inductances can be from d-axis voltage and the magnitude or phase angle,in which the filter influence in harmonic extraction is considered to ensure the estimation *** inductances can be estimated from the measurements under one load condition,which is free of saturation ***,the inductance estimation is robust to the change of other machine *** proposed approach can effectively improve estimation accuracy especially under the condition with low current *** and comparisons are conducted on a test PMSM to validate the proposed approach.

关键词： PMSM Inductance estimation Speed harmonic High frequency signal injection

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TetraSphere: A Neural Descriptor for O(3)-Invariant Point Cloud Analysis

TetraSphere: A Neural Descriptor for O(3)-Invariant Point Cl...

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Conference on computer vision and Pattern Recognition (CVPR)

作者： Pavlo Melnyk Andreas Robinson Michael Felsberg Mårten Wadenbäck Department of Electrical Engineering Computer Vision Laboratory Linköping University Sweden

ISBN: (数字)9798350353006

ISBN: (纸本)9798350353013

In many practical applications, 3D point cloud analy-sis requires rotation invariance. In this paper, we present a learnable descriptor invariant under 3D rotations and reflections, i.e., the O(3) actions, utilizing the recently intro-duced steerable 3D spherical neurons and vector neurons. Specifically, we propose an embedding of the 3D spherical neurons into 4D vector neurons, which leverages end-to-end training of the model. In our approach, we perform TetraTransform-an equivariant embedding of the 3D input into 4D, constructed from the steerable neurons-and ex-tract deeper O(3)-equivariant features using vector neurons. This integration of the TetraTransform into the VN-DGCNN framework, termed TetraSphere, negligibly increases the number of parameters by less than 0.0002%. TetraSphere sets a new state-of-the-art performance classifying randomly rotated real-world object scans of the challenging subsets of ScanObjectNN. Additionally, TetraSphere outperforms all equivariant methods on randomly rotated synthetic data: classifying objects from ModelNet40 and segmenting parts of the ShapeNet shapes. Thus, our results reveal the prac-tical value of steerable 3D spherical neurons for learning in 3D Euclidean space. The code is available at https: //***/pavlo-melnyk/tetrasphere.

关键词： Point cloud compression Training Solid modeling Three-dimensional displays Shape Neurons Vectors

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Effect of granular shape on radial segregation in a two-dimensional drum

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Chinese Physics B 2024年第4期33卷 509-514页

作者：徐悦李然迟志鹏修文正孙其诚杨晖 School of Optical-Electrical and Computer Engineering University of Shanghai for Science and TechnologyShanghai 200093China School of Electrical and Electronic Engineering Shandong University of TechnologyZibo 255049China State Key Laboratory of Hydroscience and Engineering Tsinghua UniversityBeijing 100084China College of Medical Instruments Shanghai University of Medicine and Health SciencesShanghai 201318China

Granular segregation is widely observed in nature and *** research has focused on segregation caused by differences in the size and density of spherical ***,due to the fact that grains typically have different shapes,the focus is shifting towards shape *** this study,experiments are conducted by mixing cubic and spherical *** results indicate that spherical grains gather at the center and cubic grains are distributed around them,and the degree of segregation is *** experiments,a structured analysis of local regions is conducted to explain the inability to form stable segregation patterns with obviously different geometric ***,through simulations,the reasons for the central and peripheral distributions are explained by comparing velocities and the number of collisions of the grains in the flow layer.

关键词： granular materials cubic grains shape segregation segregation mechanism

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Drowning Recognition for Ocean Surveillance using computer vision and Drone Control

Drowning Recognition for Ocean Surveillance using Computer V...

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2023 IEEE International Conference on Electro Information Technology, eIT 2023

作者： Rakotondraibe, Maureen Fang, Tianyang Saniie, Jafar Research Laboratory Department of Electrical and Computer Engineering ChicagoIL United States

ISBN: (纸本)9781665493765

According to WHO's report from 2021, Drowning is the 3rd leading cause of unintentional death worldwide. The use of autonomous drones for drowning recognition can increase the survival rate and help lifeguards and rescuers with their life saving mission. This paper presents a real-time drowning recognition model and algorithm for ocean surveillance that can be implemented on a drone. The presented model has been trained using two different approaches and has 88% accuracy. Compared to the contemporary models of drowning recognition designed for swimming pools, the model presented is better suited for outdoor applications in the ocean. © 2023 IEEE.

关键词： Drones

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Utilizing computer vision Algorithms to Detect and Classify Cyberattacks in IoT Environments in Real-Time

Utilizing Computer Vision Algorithms to Detect and Classify ...

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2023 IEEE International Conference on Electro Information Technology, eIT 2023

作者： Gromov, Mikhail Arnold, David Saniie, Jafar Research Laboratory Department of Electrical and Computer Engineering ChicagoIL United States

ISBN: (纸本)9781665493765

computer vision has proven itself capable of accurately detecting and classifying objects within images. This also works in cases where images are used as a way of representing data, without being actual photographs. In cybersecurity, computer vision is rarely used, however it has been used to detect botnets successfully. We applied computer vision to determine how well it would be able to detect and classify a large number of attacks and determined that it would be able to run at a decent rate on a Jetson Nano. This was accomplished by training a convolutional neural network using data publicly available in the IoT-23 database, which contains packet captures of IoT devices with and without different malware infections. The neural network was evaluated on an RTX 3050 and a Jetson Nano to see if it could be used in IoT. © 2023 IEEE.

关键词： computer vision

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