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作者： Xiao, Ling Meng, Yu Tian, Xiaobing Luo, Haibo College of Computer Science and Electronic Engineering Hunan University Changsha China College of Computer Science Guangdong University of Science And Technology Dongguan China Key Laboratory for Embedded and Network Computing of Hunan Province Hunan University Changsha China College of Computer and Control Engineering Minjiang University Fujian China

Harvesting kinetic energy from body movement is regarded as a promising rechargeable energy source for wearable devices with low-power. Energy allocation is essential for motion-based rechargeable devices since the great variability of energy gained from movement. Based on the realistic characteristics of an ultra-low-power wearable devices and our measurement observations, we propose the optimization framework allocating energy to maximize the average accuracy of human activity recognition and provide an offline and online algorithm, respectively. We evaluate the proposed energy allocation approach with real-world human activity and kinetic energy harvesting datasets. Experimental results validate that our proposed energy allocation approach can maximize the energy allocation utility and improve energy efficiency of wearable devices. © 2021 John Wiley & Sons, Ltd.

关键词： Kinetic energy

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dugMatting: Decomposed-Uncertainty-Guided Matting

arXiv

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arXiv 2023年

作者： Wu, Jiawei Zhang, Changqing Li, Zuoyong Fu, Huazhu Peng, Xi Zhou, Joey Tianyi College of Mechanical and Electrical Engineering Fujian Agriculture and Forestry University Fuzhou China College of Intelligence and Computing Tianjin University Tianjin China Fujian Provincial Key Laboratory of Information Processing and Intelligent Control Minjiang University Fuzhou China Institute of High Performance Computing Agency for Science Technology and Research Singapore College of Computer Science Sichuan University Chengdu China Singapore

Cutting out an object and estimating its opacity mask, known as image matting, is a key task in image and video editing. Due to the highly ill-posed issue, additional inputs, typically user-defined trimaps or scribbles, are usually needed to reduce the uncertainty. Although effective, it is either time consuming or only suitable for experienced users who know where to place the strokes. In this work, we propose a decomposed-uncertainty-guided matting (dugMatting) algorithm, which explores the explicitly decomposed uncertainties to efficiently and effectively improve the results. Basing on the characteristic of these uncertainties, the epistemic uncertainty is reduced in the process of guiding interaction (which introduces prior knowledge), while the aleatoric uncertainty is reduced in modeling data distribution (which introduces statistics for both data and possible noise). The proposed matting framework relieves the requirement for users to determine the interaction areas by using simple and efficient labeling. Extensively quantitative and qualitative results validate that the proposed method significantly improves the original matting algorithms in terms of both efficiency and efficacy. Copyright © 2023, The Authors. All rights reserved.

关键词： Uncertainty analysis

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Prediction of piRNA-mRNA interactions based on an interactive inference network

Prediction of piRNA-mRNA interactions based on an interactiv...

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IEEE International Conference on Bioinformatics and Biomedicine (BIBM)

作者： Yajun Liu Ru Li Aimin Li Rong Fei Xie Guo Fang-Xiang Wu Shaanxi Key Laboratory for Network Computing and Security Technology Xi'an University of Technology Xi'an China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology Xi'an China Department of Computer Science Department of Mechanical Engineering Division of Biomedical Engineering University of Saskatchewan Saskatoon Canada

As the largest class of small non-coding RNAs, piRNAs primarily present in the reproductive cells of mammals, which influence post-transcriptional processes of mRNAs in multiple ways. Effective methods for predicting piRNA and mRNA target relationships can help identify piRNA functions, investigate the possibility of piRNAs as biomarkers and therapeutic targets. In this study, we propose a computational approach for classifying the relationships of piRNA-mRNA pairs based on an interactive inference network (IIN). First, we gather piRNA-mRNA target data, collect sequence data by position alignment, and construct a benchmark dataset. Furthermore, a reliable negative set is constructed by positive-unlabeled learning. Finally, we view a piRNA and a mRNA sequence as a premise and hypothesis sentence, respectively, and IIN model is used to predict the relationship between them. The experiments demonstrate that our method effectively characterizes piRNA-mRNA interaction and could be beneficial for researchers to investigate piRNA functions.

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Towards Energy-Efficiency: Integrating MATD3 Reinforcement Learning Method for Computational Offloading in RIS-Aided UAV-MEC Environments

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IEEE Internet of Things Journal 2025年

作者： Wu, Liangshun Zhang, Cong Zhang, Bin Du, Jianbo Qu, Junsuo Key Laboratory of Embedded System and Service Computing Tongji University Ministry of Education Shanghai201804 China Shanghai Key Laboratory of Trustworthy Computing East China Normal University Shanghai201210 China School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai200240 China Xi'an Key Laboratory of Advanced Control and Intelligent Process School of Automation Xi'an University of Posts & Telecommunications Xi'an710061 China Xinjiang University of Political Science and Law Tumushuke832003 China School of Remote Sensing and Information Engineering Wuhan University Wuhan430079 China Department of Computer City University of Hong Kong 999077 Hong Kong School of Communications and Information Engineering Xi'an University of Posts & Telecommunications Xi'an710061 China

With the proliferation of IoT devices, there is an escalating demand for enhanced computing and communication capabilities. Mobile Edge computing (MEC) addresses this need by relocating computing resources to the network edge, thereby delivering swifter and more efficient services. This paper introduces a computation offloading and energy consumption optimization framework that leverages Reconfigurable Intelligent Surfaces (RIS), Unmanned Aerial Vehicles (UAVs), and MEC. The scheme aims to maximize energy efficiency through the optimization of task allocation, RIS phase shifts, and UAV trajectories. By employing the Multi-Agent Twin Delayed Deep Deterministic Policy Gradient (MATD3) reinforcement learning algorithm, the paper further refines UAV trajectories and RIS configurations. The simulation results indicate that the proposed method surpasses the traditional Concave-Convex Procedure (CCCP) algorithm in both UAV trajectory control and RIS configuration, demonstrating quicker convergence and enhanced stability. The method proves to be adaptable to diverse environments and tasks, showcasing notable benefits in RIS-assisted interference suppression, particularly with large RIS, thereby enhancing UAV data reception rates. Additionally, MATD3 exhibits faster and smoother convergence for extended task durations and smaller RIS scenarios. Simulation results reveal that UAVs tend to move closer to RIS, with energy efficiency falling as IoT tasks increase, affirming the proposed algorithm's high energy efficiency and effectiveness. © 2025 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Towards Autonomous Navigation of a Mobile Robot in a Steep Slope Vineyard

Towards Autonomous Navigation of a Mobile Robot in a Steep S...

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Proceedings of the International Convention MIPRO

作者： I. Hrabar J. Goričanec Z. Kovačić University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems (LARICS) Zagreb Croatia

This paper explores potential applications of an autonomous all-terrain mobile manipulator (AMM) in the agricultural vineyard environment. A robotic arm mounted on a mobile base performs a spraying task while moving past vines and a bud rubbing task while stopping next to vines. We discuss the challenges of AMM navigation when performing tasks in steep vineyard terrain. The presented navigation approach is based on the use of a heterogeneous robotic system consisting of an unmanned aerial vehicle (UAV) and AMM. The navigation information provided by the UAV gives the waypoints for the AMM. We also present preliminary results from navigation simulation, based on digital elevation model (DEM). The model uses real-world data, acquired by UAV photogrammetric measurement campaign. We conclude by highlighting some open problems and related future research directions.

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NeRF-Editing: Geometry Editing of Neural Radiance Fields

arXiv

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arXiv 2022年

作者： Yuan, Yu-Jie Sun, Yang-Tian Lai, Yu-Kun Ma, Yuewen Jia, Rongfei Gao, Lin Beijing Key Laboratory of Mobile Computing and Pervasive Device Institute of Computing Technology Chinese Academy of Sciences China School of Computer and Control Engineering University of Chinese Academy of Sciences China School of Computer Science & Informatics Cardiff University United Kingdom Alibaba Group China

Implicit neural rendering, especially Neural Radiance Field (NeRF), has shown great potential in novel view synthesis of a scene. However, current NeRF-based methods cannot enable users to perform user-controlled shape deformation in the scene. While existing works have proposed some approaches to modify the radiance field according to the user's constraints, the modification is limited to color editing or object translation and rotation. In this paper, we propose a method that allows users to perform controllable shape deformation on the implicit representation of the scene, and synthesizes the novel view images of the edited scene without re-training the network. Specifically, we establish a correspondence between the extracted explicit mesh representation and the implicit neural representation of the target scene. Users can first utilize well-developed mesh-based deformation methods to deform the mesh representation of the scene. Our method then utilizes user edits from the mesh representation to bend the camera rays by introducing a tetrahedra mesh as a proxy, obtaining the rendering results of the edited scene. Extensive experiments demonstrate that our framework can achieve ideal editing results not only on synthetic data, but also on real scenes captured by users. Copyright © 2022, The Authors. All rights reserved.

关键词： Mesh generation

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Parallel-Friendly and Work-Efficient Single Source Shortest Path Algorithm on Single-Node System

Parallel-Friendly and Work-Efficient Single Source Shortest ...

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IEEE International Conference on High Performance computing and Communications (HPCC)

作者： Jie Zhang Yuan Zhang Yiming Sun Huawei Cao Xuejun An Xiaochun Ye State Key Lab of Processors Institute of Computing Technology CAS Beijing China School of Computer and Control Engineering UCAS Beijing China Nanjing Institute of Information Superbahn CAS Nanjing China

The Single-Source Shortest Path (SSSP) algorithm is one of the most important kernels used by a variety of high-level graph processing applications. Although having been extensively studied for single-node scenarios, SSSP algorithm still faces difficulties when being deployed on scale-free graph, which brings about redundant edge traversals, expensive atomic operations and random memory access. In this paper, three parallel-friendly and work-efficient opti-mizations are introduced to improve the performance of parallel SSSP algorithm with shared memory on the single-node system. First, a label-aware pruning technique is proposed to reduce the redundant edge traversals. Then, atomic operations caused by race conditions are eliminated by using destination-driven sub graph partitioning. Finally, we propose a double-ordered bucket strategy to further improve the efficiency of SSSP. The experiment demonstrates that the average speedup reaches to 27.58x compared with original implement for R-MAT graphs. Meanwhile, our method achieves up to 2.12x for R-MAT graphs and 4.45 x for real-world graphs on average compared to previous state-of-the-art parallel implementation.

关键词： Partitioning algorithms Kernel Optimization Faces

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InterTracker: Discovering and Tracking General Objects Interacting with Hands in the Wild

arXiv

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arXiv 2023年

作者： Shao, Yanyan Ye, Qi Luo, Wenhan Zhang, Kaihao Chen, Jiming College of Computer Science and Technology Zhejiang University of Technology Hangzhou310023 China College of Control Science and Engineering Zhejiang University Hangzhou310027 China School of Cyber Science and Technology Sun Yat-sen University Shenzhen518107 China College of Engineering Computing & Cybernetics Australian National University CanberraACT2601 Australia

Understanding human interaction with objects is an important research topic for embodied Artificial Intelligence and identifying the objects that humans are interacting with is a primary problem for interaction understanding. Existing methods rely on frame-based detectors to locate interacting objects. However, this approach is subjected to heavy occlusions, background clutter, and distracting objects. To address the limitations, in this paper, we propose to leverage spatio-temporal information of hand-object interaction to track interactive objects under these challenging cases. Without prior knowledge of the general objects to be tracked like object tracking problems, we first utilize the spatial relation between hands and objects to adaptively discover the interacting objects from the scene. Second, the consistency and continuity of the appearance of objects between successive frames are exploited to track the objects. With this tracking formulation, our method also benefits from training on large-scale general object-tracking datasets. We further curate a video-level hand-object interaction dataset for testing and evaluation from 100DOH. The quantitative results demonstrate that our proposed method outperforms the state-of-the-art methods. Specifically, in scenes with continuous interaction with different objects, we achieve an impressive improvement of about 10% as evaluated using the Average Precision (AP) metric. Our qualitative findings also illustrate that our method can produce more continuous trajectories for interacting objects. Copyright © 2023, The Authors. All rights reserved.

关键词： Large dataset

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Nonlinear Observer Design Methods Based on High-Gain Methodology and LMIs with Application to Vehicle Tracking

Nonlinear Observer Design Methods Based on High-Gain Methodo...

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American control Conference (ACC)

作者： H. Bessafa C. Delattre Z. Belkhatir A. Zemouche R. Rajamani CRAN CNRS UMR 7039 Université de Lorraine Cosnes et Romain France Department of Electronics and Computer Science University of Southampton Southampton UK Faculty of Computing Engineering and Media De Montfort University The Gateway Leicester UK Department of Mechanical Engineering Laboratory for Innovations in Sensing Estimation and Control University of Minnesota Minneapolis USA

The main objective of this work is to propose a solution to observer design for triangular systems where additional output measurements are available, which may improve the estimation quality. In fact, such additional measurements prevent the standard high-gain observer methodology to provide solutions for the estimation problem. In this paper, motivated by this issue, we propose two novel observer design methods to handle the additional output measurements. The first one can be viewed as an extension of the standard high-gain observer by introducing a weighting matrix as a tuning parameter, while the second method, which can be viewed as an alternative method, exploits jointly the high-gain methodology and the LPV/LMI technique to overcome some limitations related to the first design method. The proposed methods are applied to a vehicle trajectory estimation problem using the well-known kinematic model. The efficiency of the estimation using both proposed methods and a comparative study between them are provided.

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Real-time Semantic Segmentation of Solar Photovoltaic Arrays for Autonomous UAV Flights 43

Real-time Semantic Segmentation of Solar Photovoltaic Arrays...

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43rd Chinese control Conference, CCC 2024

作者： Li, Nanyan Chen, Hao Sun, Zhigang Gao, Jing Yi, Dewei Liu, Cunjia Su, Jinya Southeast University School of Automation Nanjing210096 China Southeast University Key Laboratory of Measurement and Control of Cse Ministry of Education Nanjing210096 China State Grid Jiangsu Integrated Energy Service CO. Ltd Nanjing210096 China Jiangsu Sudian Industry Management CO. Ltd Nanjing210096 China University of Aberdeen Department of Computing Science AberdeenAB24 3UE United Kingdom Loughborough University Department of Aeronautical and Automotive Engineering LoughboroughLE11 3TU United Kingdom

ISBN: (纸本)9789887581581

This paper considers the real-time semantic segmentation of solar PhotoVoltaic (PV) arrays using down-facing cameras onboard Unmanned Aerial Vehicles (UAVs) to support autonomous navigation for ultra-low altitude industrial inspection. Various semantic segmentation algorithms, including SegNet, UNet, Deeplabv3+, and their respective variants, are compared to identify the most suitable one that strikes a balance between segmentation and real-time performance. Subsequently, each video frame is processed by the selected segmentation network to create a solar array mask. This mask is then optimally fitted to diverse solar array shapes to determine angular and horizontal deviations between the image center and the solar array center-line. The algorithms are validated on a self-constructed dataset of 594 solar PV array UAV images, encompassing varied environmental conditions and solar farm layouts. The top-performing network, lightweight vgg 16bn-Unet, achieves 99.4% overall accuracy and 98.2% Intersection over Union (IoU), while the most balanced network, mobilev3-Deeplabv3+, attains 98.9% accuracy and 96.5% IoU, with a 27.59 fps (using an NVIDIA GeForce MX150 GPU) suitable for real-time UAV flights. © 2024 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Semantic Segmentation

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