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A Human-friendly Verbal Communication Platform for Multi-Robot Systems: Design and Principles

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arXiv 2022年

作者： Carr, Christopher Wang, Peng Wang, Shenglin The Department of Mathematics and Computing Manchester Metropolitan University M15 6BH United Kingdom The Department of Automatic Control and Systems Engineering The University of Sheffield SheffieldS10 2TN United Kingdom

While multi-robot systems have been broadly researched and deployed, their success is built chiefly upon the dependency on network infrastructures, whether wired or wireless. Aiming at the first steps toward de-coupling the application of multi-robot systems from the reliance on network infrastructures, this paper proposes a human-friendly verbal communication platform for multi-robot systems, following the deliberately designed principles of being adaptable, transparent, and secure. The platform is network independent and is subsequently capable of functioning in network infrastructure lacking environments from underwater to planet explorations. A series of experiments were conducted to demonstrate the platform’s capability in multi-robot systems communication and task coordination, showing its potential in infrastructure-free applications. To benefit the community, we have made the codes open source at GitHub. Copyright © 2022, The Authors. All rights reserved.

关键词： Multipurpose robots

Development of an Adaptive Technology for Distance Learning of Microprocessor Technology Based on Immunological Homeostasis

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Development of an Adaptive Technology for Distance Learning ...

International Conference on Industrial engineering, Applications and Manufacturing (ICIEAM)

作者： Galina Samigulina Zarina Samigulina Dmitriy Porubov Lab. "Intellectual Control Systems and Forecasting" Institute of Information and Computing Technologies Almaty Kazakhstan School of Information Technologies and Engineering Kazakh - British Technical University Almaty Kazakhstan Competence and Technology Transfer Center in the Field of Automation and Mechatronics East Kazakhstan Technical University Named After D. Serikbayev Ust-Kamenogorsk Kazakhstan

At present, with the development of modern IT technologies and artificial intelligence methods, it is relevant to develop adaptive distance education systems for students of technical specialties capable of providing a personalized cognitive approach to the process of obtaining knowledge and timely adjustment of the learning trajectory. Particular difficulties arise when teaching the principles of operation of complex industrial equipment based on microprocessor technology, the basics of programming and the development of automatic control systems based on them. The problems associated with the complexity of adapting technical training courses for specific students and the peculiarities of information perception in the absence of direct contact with the teacher can be successfully solved with the introduction of algorithms based on a unified artificial immune system (UAIS). An innovative e-learning technology is proposed for students of engineering specialties in order to obtain high-quality technical professional education in a short time on real industrial equipment. When creating the technology and predicting the learning outcomes of students, immunological homeostasis was used to quickly correct the learning process. UAIS was developed on the basis of modified clonal selection, negative selection and immune network algorithms in order to identify the most effective of them in predicting multivariate dynamic data about students and forming an adequate immune response to maintain immunological homeostasis. The main stages and advantages of the proposed technology are given. The simulation results were obtained with the participation of students of the Faculty of Information Technology on the basis of the Kazakh-British Technical University.

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Semi-supervised Domain Adaptation on Graphs with Contrastive Learning and Minimax Entropy

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arXiv 2023年

作者： Xiao, Jiaren Dai, Quanyu Shen, Xiao Xie, Xiaochen Dai, Jing Lam, James Kwok, Ka-Wai Department of Mechanical Engineering The University of Hong Kong Hong Kong Department of Computing The Hong Kong Polytechnic University Hong Kong School of Computer Science and Technology Hainan University Haikou China Department of Automation Harbin Institute of Technology Shenzhen China Institute for Automatic Control and Complex Systems University of Duisburg-Essen Duisburg Germany

Label scarcity in a graph is frequently encountered in real-world applications due to the high cost of data labeling. To this end, semi-supervised domain adaptation (SSDA) on graphs aims to leverage the knowledge of a labeled source graph to aid in node classification on a target graph with limited labels. SSDA tasks need to overcome the domain gap between the source and target graphs. However, to date, this challenging research problem has yet to be formally considered by the existing approaches designed for cross-graph node classification. This paper proposes a novel method called SemiGCL to tackle the graph Semi-supervised domain adaptation with Graph Contrastive Learning and minimax entropy training. SemiGCL generates informative node representations by contrasting the representations learned from a graph’s local and global views. Additionally, SemiGCL is adversarially optimized with the entropy loss of unlabeled target nodes to reduce domain divergence. Experimental results on benchmark datasets demonstrate that SemiGCL outperforms the state-of-the-art baselines on the SSDA tasks. © 2023, CC BY-NC-ND.

关键词： Entropy

Attacking Digital Twins of Robotic Systems to Compromise Security and Safety

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arXiv 2022年

作者： Carr, Christopher Wang, Shenglin Wang, Peng Han, Liangxiu Department of Mathematics and Computing Manchester Metropolitan University M15 6BH United Kingdom Department of Automatic Control and Systems Engineering The University of Sheffield SheffieldS10 2TN United Kingdom

Security and safety are of paramount importance to human-robot interaction, either for autonomous robots or human-robot collaborative manufacturing. The intertwined relationship of security and safety has imposed new challenges on the emerging digital twin systems of various types of robots. To be specific, the attack of either the cyber-physical system or the digital-twin system could cause severe consequences to the other. Particularly, the attack of a digital-twin system that is synchronised with a cyber-physical system could cause lateral damage to humans and other surrounding facilities. This paper demonstrates that for Robot Operating System (ROS) driven systems, attacks such as the person in the middle attack of the digital-twin system could eventually lead to a collapse of the cyber-physical system, whether it is an industrial robot or an autonomous mobile robot, causing unexpected consequences. We also discuss potential solutions to alleviate such attacks. Copyright © 2022, The Authors. All rights reserved.

关键词： Cyber Physical System

Towards Dynamic Reconfiguration of Composite Services Via Failure Estimation of General and Domain Quality of Services

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SSRN

SSRN 2022年

作者： Liu, Zhizhong Zheng, Hedan Sheng, Qaun Z. Chu, Dianhui Yu, Jian Xu, Xiaofei School of Computer and Control Engineering Yantai University Yantai264005 China Weihai264209 China School of Computing Macquarie University SydneyNSW2109 Australia Department of Computer Science Auckland University of Technology Auckland1142 New Zealand

Composite services (CSs) are large-grained services composed of simple ones to satisfy users’ complex requirements. A major issue concerning a CS is that the general quality of service (GQoS) and the domain quality of service (DQoS) of its component services often fail for environment changes. To tackle this problem, we propose an approach for dynamic reconfiguration of CSs by considering both GQoS and DQoS failures. Our approach includes three stages: at the first stage, we estimate the failure judgement basis of GQoS and DQoS for each component services based on global GQoS decomposition and statistical method. At the second stage, during the execution of a CS, we proactively estimate whether the component services to be executed will encounter GQoS or DQoS failure based on GQoS and DQoS joint *** the third stage, when the component service to be executed encounters GQoS or DQoS failure, we reconfigure the CS by replacing the failed component service with a best-matched similar service, while the predicted GQoS and DQoS of the matched service can satisfy the local GQoS and DQoS constraints of the failed component services. Extensive experiments have been carried out to demonstrate the effectiveness and performance superiority of our approach. © 2022, The Authors. All rights reserved.

关键词： Quality of service

The graphics and physics engines for rapid development of 3d web-based applications 16

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The graphics and physics engines for rapid development of 3d...

16th International Conference on Electrical engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON 2019

作者： Eamnapha, Nitikorn Nuratch, Santi Lenwari, Wanchak Faculty of Engineering KMUTT Embedded Computing and Control Laboratory Thailand

ISBN: (纸本)9781728133614

This paper presents an engine that provides graphics and physics capabilities. It can be used as a powerful library for modern real-time 3D realistic WebGLbased 3D applications. There are two main parts proposed in this research. The first one is Engine Core, the graphics and physics engines. The second one is Engine APIs, the Application Programming Interfaces of the proposed engine. The Engine APIs provides all required functions to create the 3D graphics and physics applications running on web-browser. All modules of the proposed engine are written in modern JavaScript (ES6) and transpired to common JavaScript (CJS). It means that the transpired engine can be integrated in the webpage and run on target web-browser directly. In addition, this paper provides some other meaningful information to readers who are interesting in web-based 3D graphics and physics applications, e.g., Blender modeling techniques, the glTF model exporting and complex shape assets and their colliders creation techniques. © 2019 IEEE.

关键词： Blending

Federated Linear Bandit Learning via Over-the-air Computation

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Federated Linear Bandit Learning via Over-the-air Computatio...

IEEE Conference on Global Communications (GLOBECOM)

作者： Jiali Wang Yuning Jiang Xin Liu Ting Wang Yuanming Shi MoE Engineering Research Center of Software/Hardware Co-design Technology and Application Shanghai Key Lab. of Trustworthy Computing East China Normal University China School of Information Science and Technology (SIST) ShanghaiTech University China Automatic Control Laboratory Ecole Polytechnique Fédérale de Lausanne (EPFL) Switzerland

In this paper, we investigate federated contextual linear bandit learning within a wireless system that comprises a server and multiple devices. Each device interacts with the environment, selects an action based on the received reward, and sends model updates to the server. The primary objective is to minimize cumulative regret across all devices within a finite time horizon. To reduce the communication overhead, devices communicate with the server via over-the-air computation (AirComp) over noisy fading channels, where the channel noise may distort the signals. In this context, we propose a customized federated linear bandits scheme, where each device transmits an analog signal, and the server receives a superposition of these signals distorted by channel noise. A rigorous mathematical analysis is conducted to determine the regret bound of the proposed scheme. Both theoretical analysis and numerical experiments demonstrate the competitive performance of our proposed scheme in terms of regret bounds in various settings.

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RSPT: Reconstruct Surroundings and Predict Trajectories for Generalizable Active Object Tracking

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arXiv 2023年

作者： Zhong, Fangwei Bi, Xiao Zhang, Yudi Zhang, Wei Wang, Yizhou Sch’l of Intelligence Science and Technology Peking University China China Center on Frontiers of Computing Studies Sch’l of Computer Science Inst. for Artificial Intelligence Peking University China Sch’l of Control Science and Engineering Shandong University China Sch’l of Info. Eng. Zhengzhou University China

Active Object Tracking (AOT) aims to maintain a specific relation between the tracker and object(s) by autonomously controlling the motion system of a tracker given observations. AOT has wide-ranging applications, such as in mobile robots and autonomous driving. However, building a generalizable active tracker that works robustly across different scenarios remains a challenge, especially in unstructured environments with cluttered obstacles and diverse layouts. We argue that constructing a state representation capable of modeling the geometry structure of the surroundings and the dynamics of the target is crucial for achieving this goal. To address this challenge, we present RSPT, a framework that forms a structure-aware motion representation by Reconstructing the Surroundings and Predicting the target Trajectory. Additionally, we enhance the generalization of the policy network by training in an asymmetric dueling mechanism. We evaluate RSPT on various simulated scenarios and show that it outperforms existing methods in unseen environments, particularly those with complex obstacles and layouts. We also demonstrate the successful transfer of RSPT to real-world settings. . © 2023, CC BY-NC-ND.

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Finite element hybridization of port-Hamiltonian systems

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arXiv 2023年

作者： Brugnoli, Andrea Rashad, Ramy Zhang, Yi Stramigioli, Stefano ICA Université de Toulouse ISAE–SUPAERO INSA CNRS MINES ALBI UPS Toulouse France Control and Instrumentation Engineering Department King Fahd University of Petroleum and Minerals Saudi Arabia School of Mathematics and Computing Science Guilin University of Electronic Technology Guilin China Robotics and Mechatronics Department University of Twente Netherlands

In this contribution, we extend the hybridization framework for the Hodge Laplacian [Awanou et al., Hybridization and postprocessing in finite element exterior calculus, 2023] to port-Hamiltonian systems describing linear wave propagation phenomena. To this aim, a dual field mixed Galerkin discretization is introduced, in which one variable is approximated via conforming finite element spaces, whereas the second is completely local. The mixed formulation is then hybridized to obtain an equivalent formulation that can be more efficiently solved using a static condensation procedure in discrete time. The size reduction achieved thanks to the hybridization is greater than the one obtained for the Hodge Laplacian as the final system only contains the globally coupled traces of one variable. Numerical experiments on the 3D wave and Maxwell equations illustrate the convergence of the method and the size reduction achieved by the hybridization. © 2023, CC BY-NC-ND.

关键词： Maxwell equations