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arXiv 2023年

作者： Flaborea, Alessandro di Melendugno, Guido Maria D'Amely D'Arrigo, Stefano Sterpa, Marco Aurelio Sampieri, Alessio Galasso, Fabio Department of Computer Science Sapienza University of Rome Italy Department of Computer Control and Management Engineering Sapienza University of Rome Italy

Detecting the anomaly of human behavior is paramount to timely recognizing endangering situations, such as street fights or elderly falls. However, anomaly detection is complex since anomalous events are rare and because it is an open set recognition task, i.e., what is anomalous at inference has not been observed at training. We propose COSKAD, a novel model that encodes skeletal human motion by a graph convolutional network and learns to COntract SKeletal kinematic embeddings onto a latent hypersphere of minimum volume for Video Anomaly Detection. We propose three latent spaces: the commonlyadopted Euclidean and the novel spherical and hyperbolic. All variants outperform the state-of-the-art on the most recent UBnormal dataset, for which we contribute a human-related version with annotated skeletons. COSKAD sets a new state-of-the-art on the human-related versions of ShanghaiTech Campus and CUHK Avenue, with performance comparable to video-based methods. Source code and dataset will be released upon acceptance. Copyright © 2023, The Authors. All rights reserved.

关键词： Graph embeddings

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Static Deadlock Detection for Interrupt-driven Embedded Software

Static Deadlock Detection for Interrupt-driven Embedded Soft...

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Cyber-Physical Social Intelligence (ICCSI), International Conference on

作者： Yu Zhang Kaiwen Zhang Xiaofeng Li Yi Xie Jian Guan Bin Gu Guanjun Liu Department of Computer Science and Technology Tongji University Shanghai China Beijing Control Engineering Institute Beijing China

ISBN: (数字)9798350376739

ISBN: (纸本)9798350376746

Interrupt-driven embedded software is widely used in safety-critical systems, where any occurrence of errors can lead to serious consequences. Deadlock is a common concurrency error, and deadlock detection methods are mainly designed for multi-threaded programs. However, due to the differences in concurrency control and preemption mechanisms between interrupt-driven programs and multi-threaded programs, the existing deadlock detection methods for multi-threaded programs cannot be directly applied to interrupt-driven programs. A static deadlock detection method is proposed for interrupt-driven programs to enhance the reliability and safety of interrupt-driven embedded software. Building upon the traditional context-sensitive lockset analysis, this method takes into account the concurrent semantics of interrupts and extends the lock graph model. Our method effectively reduces false positives by analyzing the concurrent relationships of cycles in a lock graph. Based on these methods, we develop a deadlock detection tool, and experiments are conducted with it. The results demonstrate that the proposed method can effectively detect deadlocks related to interrupts.

关键词： Concurrent computing Analytical models Semantics Buildings System recovery Software reliability Safety Social intelligence Embedded software Context modeling

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On the Gaussian Filtering for Nonlinear Dynamic Systems Using Variational Inference 27

On the Gaussian Filtering for Nonlinear Dynamic Systems Usin...

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27th International Conference on Information Fusion, FUSION 2024

作者： Liu, Yi Li, Xi Yang, Le Mihaylova, Lyudmila Li, Ji University of Canterbury Department of Electrical and Computer Engineering Christchurch New Zealand National University of Defense Technology State Key Lab of Complex Electromagnetic Environment Effects on Electronics and Information Systems Changsha China University of Sheffield Department of Automatic Control and System Engineering Sheffield United Kingdom Locaris Electronic Technology Co. Ltd Zhengzhou China

ISBN: (纸本)9781737749769

This paper introduces a new variational Gaussian filtering approach for estimating the state of a nonlinear dynamic system. We first assume that the predictive distribution of the state is Gaussian and derive an iterative method for updating the state posterior in the natural parameter space through KullbackLeibler divergence minimization. The obtained update rule is the same as that of the conjugate-computation variational inference technique in Bayesian learning. The derivation here is simpler and more insightful. We then impose a Wishart prior on the inverse of the state prediction covariance to take into account the impact of approximating the state predictive distribution using a Gaussian density on the state posterior estimation. The prediction covariance is identified jointly with the state using variational inference and the established state posterior update rule to achieve the desired Gaussian filtering. Simulation study examines the performance of the proposed filtering framework in target tracking based on bearing and range measurements. © 2024 ISIF.

关键词： Wiener filtering

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Deep Learning-based Source Code Classification and Visualization of Decision Rationales 28th

Deep Learning-based Source Code Classification and Visualiza...

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28th International Conference on Knowledge Based and Intelligent information and engineering Systems, KES 2024

作者： Oeda, Shinichi Mitsumori, Seiya Department of Information and Computer Engineering National Institute of Technology Kisarazu College 11-1 Kiyomidaihigashi 2-chome Kisarazu City Chiba Japan Advanced Course of Control and Information Engineering National Institute of Technology Kisarazu College 11-1 Kiyomidaihigashi 2-chome Kisarazu City Chiba Japan

In programming education, it is crucial to provide instruction that is tailored to students' proficiency levels. For this purpose, an objective evaluation of each student's coding ability is essential. Additionally, it is necessary to understand the characteristics of source code written by both beginners and advanced students. Previous research has successfully converted the structural information of source code into graphs and assessed coding skills using deep learning, achieving high accuracy. However, it remains unclear which specific structural elements significantly influence these assessments. This study addresses this gap by transforming source code into abstract syntax trees and developing a model that uses Graph Convolutional Networks to categorize code as either beginner or advanced users based on learned structural information. Furthermore, we apply Integrated Gradients to visualize the decision-making basis of our model and elucidate the structural characteristics distinguishing source code written by beginner and advanced users. © 2024 The Authors.

关键词： Adversarial machine learning

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Em-RIPE: Runtime Intrusion Prevention Evaluator for ARM Microcontroller Systems

Em-RIPE: Runtime Intrusion Prevention Evaluator for ARM Micr...

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2022 International Conference on Electrical, computer, Communications and Mechatronics engineering, ICECCME 2022

作者： Roascio, Gianluca Serra, Gabriele Eftekhari Moghadam, Vahid Politecnico di Torino Dept. of Control and Computer Engineering Turin Italy Scuola Superiore sant'Anna TECIP Department Pisa Italy

ISBN: (数字)9781665470957

ISBN: (纸本)9781665470957

Although they have been known for some time, the security implications of buffer overflows (BOF) continue to rouse great attention among software experts in the academic and commercial sectors. Recently, there has been particular interest in discussing how to mitigate risks deriving from BOF on embedded and loT devices, which have lower computational capabilities given their low-cost and low-power requirements. Although the literature is rich of solutions for these devices as well, authors often fail to quantitatively compare their techniques with related work from a security perspective, and mostly rely on qualitative analysis. Existing evaluator benchmarks (such as the famous RIPE, introduced in 2011) are designed to be used only on general-purpose systems, e.g., with a rich Linux OS and Intel architecture. This paper presents Em-RIPE, a prototype evaluation tool written for assessing protections applied to real-time embedded systems, such as microcontrollers equipped with ARM processors. This first version of the tool supports 105 different possible attack combinations, on which the resilience level of the platform under test can be measured. As experimental data, the obtained pro-tection coverage for major compiler-based firmware protections is reported. © 2022 IEEE.

关键词： Firmware

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Multiplier analysis of Lurye systems with power signals 63

Multiplier analysis of Lurye systems with power signals

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Heath, William P. Carrasco, Joaquin Bangor University School of Computer Science and Engineering Dean St LL57 1UT United Kingdom Nancy Rothwell Building University of Manchester Control Systems and Robotics Group Department of Electrical and Electronic Engineering M13 9PL United Kingdom

ISBN: (纸本)9798350316339

Multipliers can be used to guarantee both the Lyapunov stability and input-output stability of Lurye systems with time-invariant memoryless slope-restricted nonlinearities. If a dynamic multiplier is used there is no guarantee the closedloop system has finite incremental gain. It has been suggested in the literature that without this guarantee such a system may be critically sensitive to time-varying exogenous signals including noise. We show that multipliers guarantee the power gain of the system to be bounded and quantifiable. Furthermore power may be measured about an appropriate steady state bias term, provided the multiplier does not require the nonlinearity to be odd. Hence dynamic multipliers can be used to guarantee Lurye systems have low sensitivity to noise, provided other exogenous systems have constant steady state. We illustrate the analysis with an example where the exogenous signal is a power signal with non-zero mean. © 2024 IEEE.

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Assembling Solar Panels by Dual Robot Arms Towards Full Autonomous Lunar Base Construction

Assembling Solar Panels by Dual Robot Arms Towards Full Auto...

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IEEE/SICE International Symposium on System Integration

作者： Luca Nunziante Kentaro Uno Gustavo H. Diaz Shreya Santra Alessandro De Luca Kazuya Yoshida Department of Computer Control and Management Engineering Sapienza University of Rome Italy Space Robotics Lab. (SRL) in Department of Aerospace Engineering Graduate School of Engineering Tohoku University Sendai Japan

ISBN: (数字)9798331531614

ISBN: (纸本)9798331531621

Since the successful Apollo program, humanity is once again aiming to return to the Moon for scientific discovery, resource mining, and inhabitation. Upcoming decades focus on building a lunar outpost, with robotic systems playing a crucial role to safely and efficiently establish essential infrastructure such as solar power generating towers. Similar to the construction of the International Space Station (ISS), shipping necessary components via modules and assembling them in situ should be a practical scenario. In this context, this paper focuses on the integration of vision, control, and hardware systems within an autonomous sequence for a dual-arm robot system. We explore a perception and control pipeline specifically designed for assembling solar panel modules, one of the benchmark tasks. Ad hoc hardware was designed and tested in real-world experiments. A mock-up of modular solar panels and active-passive connectors are employed, with the control of this grappling fixture integrated into the proposed pipeline. The successful implementation of our method demonstrates that the two robot manipulators can effectively connect arbitrarily placed panels, highlighting the seamless integration of vision, control, and hardware systems in complex space applications.

关键词： YOLO Uncertainty Pipelines Moon Manipulators control systems Hardware Solar panels Assembly Visual perception

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GLOBAL PATH PLANNING OF CLIMBING ROBOT FOR WELD QUALITY INSPECTION IN LARGE SCALE STORAGE TANKS

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International Journal of Robotics and Automation 2025年第3期40卷 242-253页

作者： Wang, Ruifeng Gu, Shichao Liu, Xiaoguang Zhang, Hao Xu, Zhihao Pan, Jia Zhou, Xuefeng Institute of Intelligent Manufacturing Guangdong Academy of Sciences Guangdong Key Laboratory of Modern Control Technology GuangDong Guangzhou510070 China School of Rail Transportation Wuyi University GuangDong Jiangmen529020 China School of Mechanical Automotive Engineering South China University of Technology Guangdong Guangzhou510006 China Department of Computer Science University of Hong Kong 999077 Hong Kong

Climbing robots are considered efficient solutions for conducting quality inspections of welds on large storage tanks. Nevertheless, planning the global shortest path along spatially complex cross distributed welds poses a significant challenge for climbing robots. This paper introduces a novel graph-based global shortest climbing path planning method, facilitating swift inspect all welds by the robot. The three-dimensional (3D) weld lines undergo conversion into a two-dimensional (2D) weighted connected graph using a 3D model equivalence mapping approach. The dimensionality-reduced connectivity map is required to be an Euler graph;otherwise, the adoption of the Floyd and KM algorithms is necessary to construct an undirected Euler graph with the minimum total weight. Subsequently, an Euler circuit is searched in the Euler graph, considering the presence of plus edges, through an improved Fleury algorithm to obtain the shortest global path for the climbing robot. The paper also introduces the idea of Euler graph segmentation to address the challenge of Euler circuits in large or symmetric models. Simulations are conducted to validate the effectiveness and performance of the proposed planners. The results demonstrate that our method effectively reduces the length global path and enhances inspection efficiency. © 2025 Acta Press. All rights reserved.

关键词： Motion planning

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Efficient Tool Condition Monitoring Using SOM-Hebb Classifier on FPGA

Efficient Tool Condition Monitoring Using SOM-Hebb Classifie...

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International Conference on Contemporary Computing and Informatics (IC3I)

作者： A. Somani Akanksha Kokate R. D. Mishra Abhilasha Department of Electronics & Computer Engineering Maharashtra Institute of Technology Aurangabad India Department of Instrumentation and Control Engineering College of Engineering Pune India

Tool condition monitoring is vital for enhancing productivity, reducing costs, and improving product quality in manufacturing industries. Existing approaches, such as threshold-based methods, sensor-based methods, and machine learning-based techniques, have limitations in terms of accuracy, adaptability, interpretability, and computational costs. This research proposes a tool condition monitoring system based on the Self-Organizing Map (SOM) algorithm and the Hebbian learning algorithm. The system is implemented on a Field-Programmable Gate Array (FPGA) platform for real-time processing in manufacturing environments. A dataset is acquired using sensors, pre-processed, and divided into training and testing sets. The SOM-Hebb classifier is designed with appropriate parameters, and the tool condition monitoring algorithm involves projection histograms, discrete Fourier transform (DFT), and the SOM-Hebb classifier. The FPGA implementation achieves high-speed processing and meets timing constraints. Simulation results demonstrate the system's functionality and accuracy, with a classification accuracy of 99.22%. The system exhibits a processing time of 35 clock cycles. This research provides a promising approach for efficient and accurate tool condition monitoring in manufacturing industries.

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Modelling Concurrent RTP Flows for End-to-end Predictions of QoS in Real Time Communications

Modelling Concurrent RTP Flows for End-to-end Predictions of...

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IEEE International Symposium on Multimedia

作者： Tailai Song Paolo Garza Michela Meo Maurizio Matteo Munafò Department of Electronics and Telecommunications Engineering (DET) Politecnico di Torino Turin Italy Department of Control and Computer Engineering (DAUIN) Politecnico di Torino Turin Italy

ISBN: (数字)9798331511111

ISBN: (纸本)9798331511128

The Real-time Transport Protocol (RTP)-based real-time communications (RTC) applications, exemplified by video conferencing, have experienced an unparalleled surge in popularity and development in recent years. In pursuit of optimizing their performance, the prediction of Quality of Service (QoS) metrics emerges as a pivotal endeavor, bolstering network monitoring and proactive solutions. However, contemporary approaches are confined to individual RTP flows and metrics, falling short in relationship capture and computational efficiency. To this end, we propose Packet-to-Prediction (P2P), a novel deep learning (DL) framework that hinges on raw packets to simultaneously process concurrent RTP flows and perform end-to-end prediction of multiple QoS metrics. Specifically, we implement a streamlined architecture, namely length-free Transformer with cross and neighbourhood attention, capable of handling an unlimited number of RTP flows, and employ a multi-task learning paradigm to forecast four key metrics in a single shot. Our work is based on extensive traffic collected during real video calls, and conclusively, P2P excels comparative models in both prediction performance and temporal efficiency.

关键词： Measurement Deep learning Transport protocols Quality of service Streaming media Predictive models Transformers Real-time systems Surges Videoconferences

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