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1st Workshop on Advanced Multimedia Computing for Smart Manufacturing and Engineering, AMC-SME 2023

作者： Liu, Jun Wu, Chao Yuan, Geng Niu, Wei Zhang, Wenbin Song, Houbing Herbert Robotics Institute of School of Computer Science Carnegie Mellon University Pittsburgh United States Department of Electrical & Computer Engineering Northeastern University Boston United States School of Computing University of Georgia Athens United States Department of Computer Science Michigan Technological University Houghton United States Department of Information Systems University of Maryland Baltimore County Baltimore United States

ISBN: (纸本)9798400702730

Computational resources are limited on real-time embedded devices, so the available computing cost of deployment on the target platform must be considered. We develop a feature extraction module based on the MobileNet backbone that can be adjusted in terms of computational complexity and capacity using the depth multiplier parameter, classifier depth, and kernel depth. These three parameters allow us to control the count of channels within the network, effectively managing the model's capacity and computational requirements. To achieve semantic segmentation, we incorporate additional components, such as an extension module. This extension module typically includes 1x1 pointwise convolutional layers for pixel-level classification and a transposed convolutional layer for upsampling the output to the original input image size. By combining the feature extraction module with this extension module, we can create a complete architecture capable of performing semantic segmentation tasks. The feature extraction module provides the initial feature extraction and the extension module adds the necessary components for accurate pixel-wise classification and upsampling. Compared to Hardware-aware Neural Architecture Search (NAS), pruning, runtime pruning, and knowledge distillation methods, our model has several advantages in terms of modular design, structural controllability, ease of implementation, and cost-effectiveness. Our computational efficiency, as measured by FLOPS, is highly competitive. Our method is distinguished by solving the problem of MobileNet's inability to adjust the size and number of convolution kernels. It achieves this through adaptable parameter tuning, including MobileNet's depth multiplier, the kernel size in the FCN head's Separable Convolution layer, and the depth of the first Point-wise Convolution layer. These adjustments are customized to match hardware's max multiply-accumulates (MACs), optimizing network capacity and maximizing resource utilizat

关键词： Feature extraction

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Design and Development of a Fixed-Wing Tail-Sitter Tethered VTOL Drone with Custom Autopilot and Robust Control Techniques 16th

Design and Development of a Fixed-Wing Tail-Sitter Tether...

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16th APCA International Conference on Automatic Control and Soft Computing, CONTROLO 2024

作者： Safaee, Ahmad Aguiar, A. Pedro Santos, Filipe Neves Moreira, Antonio Paulo SYSTEC-ARISE Research Center for Systems and Technologies Faculty of Engineering University of Porto Porto4200-465 Portugal INESC-TEC-Institute for Systems and Computer Engineering Technology and Science CRIIS-Centre for Robotics in Industry and Intelligent Systems Porto4200-465 Portugal INESC-TEC-Institute for Systems and Computer Engineering and DEEC/FEUP - Department of Electrical and Computer Engineering Faculty of Engineering of the University of Porto Porto4200-465 Portugal

ISBN: (纸本)9783031817236

The need for aerial platforms capable of sustained operation is critical in fields such as surveillance, agricultural monitoring, disaster response, and temporary telecommunication systems. Traditional unmanned aerial vehicles (UAVs) are hampered by limited battery capacity and inefficient energy utilization. This paper introduces an autonomous vertical flight drone tethered to a ground-based platform, which overcomes these limitations. The drone is designed to optimize its position and energy usage by harnessing wind currents, functioning similarly to a kite when conditions permit. This is enabled by a custom-designed autopilot system comprising both hardware and software tailored for this application. We detail the model identification process for three vertical take-off and landing (VTOL) drone systems, employing authentic data that measures lateral positional errors from the tether. Robust mixed sensitivity controllers are developed and implemented. The effectiveness of these controllers is validated through simulations showing their capability to handle uncertainties. Furthermore, the practical application and robust performance of the system are confirmed by a real-world case study, highlighting its potential in real operational environments. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： VTOL/STOL aircraft

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Balance Multi-Head Attention based on Software and Hardware Co-design 9

Balance Multi-Head Attention based on Software and Hardware ...

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9th IEEE International Conference on Cyber Security and Cloud Computing and 8th IEEE International Conference on Edge Computing and Scalable Cloud, CSCloud-EdgeCom 2022

作者： Xu, Dian Hu, Wei Liu, Fang Fan, Zimeng Shi, Qingsong Wuhan University of Science and Technology Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System College of Computer Science Wuhan China Wuhan University Department of Information Engineering Wuhan Institute of City School of Computer Science Wuhan China Zhejiang University College of Computer Science Hangzhou China

ISBN: (数字)9781665480666

ISBN: (纸本)9781665480666

Recently, the Transformer-based models have achieved leading results in many research areas such as natural language processing and computer vision. However, since Transformer-based models have a huge computational complexities, optimization for Transformer is the focus of current research. the core of Transformer models is the attention module, and in this paper we propose a software and hardware co-designed attention module, which reduces the computational units of the multi-head attention module by balancing the The inference time of the attention module is reduced by balancing the computational units of multiple attention modules. At the same time, we design the corresponding structure on FPGA, which accelerate 14.6x inference time in comparison with the original attention module implementation on GPU. We applied this attention module to multiple visual Transformer models and tested the accuracy difference between the balanced multi-head attention module-based model and the original model on CIFAR-10, and obtained a result of 80.46%, which lower from the original version by 0.18%. © 2022 IEEE.

关键词： Field programmable gate arrays (FPGA)

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An Efficient Medical Image Deep Fusion Model Based on Convolutional Neural Networks

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computers, Materials & Continua 2023年第2期74卷 2905-2925页

作者： Walid El-Shafai Noha A.El-Hag Ahmed Sedik Ghada Elbanby Fathi E.Abd El-Samie Naglaa F.Soliman Hussah Nasser AlEisa Mohammed E.Abdel Samea Department of Electronics and Electrical Communications Engineering Faculty of Electronic EngineeringMenoufia UniversityMenouf32952Egypt Security Engineering Laboratory Department of Computer SciencePrince Sultan UniversityRiyadh11586Saudi Arabia Higher Institute of Commercial Science Management Information SystemsEl-Mahala El-KobraEgypt Department of the Robotics and Intelligent Machines Faculty of Artificial IntelligenceKafrelsheikh UniversityKafr El-SheikhEgypt Department of Industrial Electronics and Control Engineering Faculty of Electronic EngineeringMenoufia UniversityMenouf32952Egypt Department of Information Technology College of Computer and Information SciencesPrincess Nourah Bint Abdulrahman UniversityP.O.Box 84428Riyadh11671Saudi Arabia Department of Computer Sciences College of Computer and Information SciencesPrincess Nourah Bint Abdulrahman UniversityRiyadhSaudi Arabia Medical Imaging and Interventional Radiology National Liver InstituteMenoufia UniversityEgypt

Medical image fusion is considered the best method for obtaining one image with rich details for efficient medical diagnosis and *** learning provides a high performance for several medical image analysis *** paper proposes a deep learning model for the medical image fusion *** model depends on Convolutional Neural Network(CNN).The basic idea of the proposed model is to extract features from both CT and MR ***,an additional process is executed on the extracted *** that,the fused feature map is reconstructed to obtain the resulting fused ***,the quality of the resulting fused image is enhanced by various enhancement techniques such as Histogram Matching(HM),Histogram Equalization(HE),fuzzy technique,fuzzy type,and Contrast Limited Histogram Equalization(CLAHE).The performance of the proposed fusion-based CNN model is measured by various metrics of the fusion and enhancement *** realistic datasets of different modalities and diseases are tested and ***,real datasets are tested in the simulation analysis.

关键词： Image fusion CNN deep learning feature extraction evaluation metrics medical diagnosis

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Targeted Image Transformation for Improving Robustness in Long Range Aircraft Detection

Targeted Image Transformation for Improving Robustness in Lo...

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

作者： Rebecca Martin Clement Fung Nikhil Keetha Lujo Bauer Sebastian Scherer School of Computer Science Robotics Institute Carnegie Mellon University Pittsburgh PA USA School of Computer Science Software and Societal Systems Department Carnegie Mellon University Pittsburgh PA USA

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

In the field of aviation, the Detect and Avoid (DAA) problem deals with incorporating collision avoidance capabilities into current autopilot navigation systems. As an application of the Small Object Detection (SOD) problem, DAA presents the difficulties of a low signal-to-noise ratio and far range detection. Visual DAA is also susceptible to changing weather and lighting conditions at deployment. While current literature has presented many solutions for this, prior work has yet to study the robustness of the learning-based models for DAA. In this work, we show that standard techniques for improving robustness for object detection do not produce the desired results for DAA given the SOD constraints. We present targeted transformations, a zero-shot technique that can significantly improve robustness with minimal impact on accuracy. We demonstrate how to construct these transformations and evaluate our method on the current SOTA model for DAA, showing a 53.6% increase in recall. This makes our pipeline more robust to changes in lighting and environmental factors, and better able to detect potential threats. In the future, we hope to automate the transformation selection process, making it easier to adopt in different use cases.

关键词： Visualization Navigation Pipelines Lighting LoRa Object detection Robustness Standards Signal to noise ratio Meteorology

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Scalable and low-cost remote lab platforms: Teaching industrial robotics using open-source tools and understanding its social implications

arXiv

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arXiv 2024年

作者： Kumar, Amit Jose, Jaison Jain, Archit Kulkarni, Siddharth Arya, Kavi Centre for Systems and Control Indian Institute of Technology Bombay Mumbai India Embedded Real-Time Systems / e-Yantra Lab. Indian Institute of Technology Bombay Mumbai India Computer Science and Engineering Department Indian Institute of Technology Bombay Mumbai India

With recent advancements in industrial robots, educating students in new technologies and preparing them for the future is imperative. However, access to industrial robots for teaching poses challenges, such as the high cost of acquiring these robots, the safety of the operator and the robot, and complicated training material. This paper proposes two low-cost platforms built using open-source tools like Robot Operating System (ROS) and its latest version ROS 2 to help students learn and test algorithms on remotely connected industrial robots. Universal robotics (UR5) arm and a custom mobile rover were deployed in different life-size testbeds, a greenhouse, and a warehouse to create an Autonomous Agricultural Harvester System (AAHS) and an Autonomous Warehouse Management System (AWMS). These platforms were deployed for a period of 7 months and were tested for their efficacy with 1,433 and 1,312 students, respectively. The hardware used in AAHS and AWMS was controlled remotely for 160 and 355 hours, respectively, by students over a period of 3 months. © 2024, CC BY.

关键词： Costs

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Efficient 2D Simulators for Deep-Reinforcement-Learning-based Training of Navigation Approaches

Efficient 2D Simulators for Deep-Reinforcement-Learning-base...

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International Conference on Ubiquitous Robots (UR)

作者： Huajian Zeng Linh Kästner Jens Lambrecht The Chair of Robotics Artificial Intelligence and Real-time Systems Technical University Munich (TUM) Germany The Chair of Industry Grade Networks and Clouds Faculty of Electrical Engineering and Computer Science Berlin Institute of Technology Berlin Germany

In recent years, Deep Reinforcement Learning (DRL) has emerged as a competitive approach for mobile robot navigation. However, training DRL agents often comes at the cost of difficult and tedious training procedures in which powerful hardware is required to conduct oftentimes long training runs. Especially, for complex environments, this proves to be a major bottleneck for widespread adoption of DRL approaches into industries. In this paper we integrate an efficient 2D simulator into the Arena-Rosnav framework of our previous work as an alternative simulation platform to train and develop DRL agents. Therefore, we utilized the provided API to integrate necessary components into the ecosystem of Arena-Rosnav. We evaluated our simulator by training a DRL agent within that platform and compared the training and navigational performance against the baseline 2D simulator Flatland, which is the default simulating platform of Arena-Rosnav. Results demonstrate that using our Arena2D simulator results in substantially faster training times and in some scenarios better agents. This proves to be an important step towards resource-efficient DRL training, which accelerates training times and improve the development cycle of DRL agents for navigation tasks. We made our simulator openly available at https://***/Arena-Rosnav/arena2d.

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M6(GPT)3: GENERATING MULTITRACK MODIFIABLE MULTI-MINUTE MIDI MUSIC FROM TEXT USING GENETIC ALGORITHMS, PROBABILISTIC METHODS AND GPT MODELS IN ANY PROGRESSION AND time SIGNATURE

arXiv

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arXiv 2024年

作者： Poćwiardowski, Jakub Modrzejewski, Mateusz Tatara, Marek S. Institute of Computer Science Warsaw University of Technology Warsaw Poland Department of Robotics and Decision Systems Gdansk University of Technology Gdansk Poland

This work introduces the M6(GPT)3 composer system, capable of generating complete, multi-minute musical compositions with complex structures in any time signature, in the MIDI domain from input descriptions in natural language. The system utilizes an autoregressive transformer language model to map natural language prompts to composition parameters in JSON format. The defined structure includes time signature, scales, chord progressions, and valence-arousal values, from which accompaniment, melody, bass, motif, and percussion tracks are created. We propose a genetic algorithm for the generation of melodic elements. The algorithm incorporates mutations with musical significance and a fitness function based on normal distribution and predefined musical feature values. The values adaptively evolve, influenced by emotional parameters and distinct playing styles. The system for generating percussion in any time signature utilises probabilistic methods, including Markov chains. Through both human and objective evaluations, we demonstrate that our music generation approach outperforms baselines on specific, musically meaningful metrics, offering a viable alternative to purely neural network-based systems. © 2024, CC BY-NC-SA.

关键词： Genetic algorithms

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Interaction-aware Maneuver Prediction for Autonomous Vehicles using Interaction Graphs

Interaction-aware Maneuver Prediction for Autonomous Vehicle...

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IEEE Symposium on Intelligent Vehicle

作者： Iago Pachêco Gomes Cristiano Premebida Denis Fernando Wolf Institute of Mathematics and Computer Science University of São Paulo Brazil Department of Electrical and Computer Engineering Institute of Systems and Robotics University of Coimbra Portugal

Intention prediction (IP) is a challenging task for intelligent vehicle’s perception systems. IP provides the likelihood, or probability, of a target vehicle to perform a maneuver subjected to a finite set of possibilities. There are many factors that influence the decision-making process of a driver, which should be considered in a prediction framework. In addition, the lack of labeled large-scale dataset with maneuver annotation imposes another challenge to the task. This paper proposes an Interaction-aware Maneuver Prediction framework, called IAMP, using interaction graphs to extract complex interaction features from traffic scenes. In addition, we explored a semi-supervised approach called Noisy Student to take advantage of unlabeled data in the training step. Experimental results show relevant improvement when using unlabeled data, increasing the average performance of a classifier by 7.17% of accuracy. Moreover, this approach also made it possible to obtain an intention predictor with similar results to a classifier., even when using a shorter observation horizon.

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Evaluating the Performance to Detecting Topic Shift of Large Language Models: A Study 9

Evaluating the Performance to Detecting Topic Shift of Large...

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9th International Conference on Intelligent Computing and Signal Processing, ICSP 2024

作者： Tian, Pingfang Liu, Deting Department of Computer Science and Technology Wuhan University of Science and Technology Wuhan430065 China Institute of Scientific and Technical Information of China The Key Laboratory of the Rich Media Knowledge Organisation and Service of Digital Publishing Content Beijing100038 China Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System Wuhan China Big Data Science and Engineering Research Institute Wuhan University of Science and Technology Wuhan430065 China

ISBN: (纸本)9798350376548

Topic shift detection aims to identify whether there is a change in the current topic of conversation or if a change is needed. The study found previous work did not evaluate the performance of large language models like ChatGPT on the task of topic shift. Therefore, this paper's main task and innovation lie in analyzing ChatGPT's performance on topic shift detection. To provide a more comprehensive evaluation, we conducted topic shift detection tasks on ChatGPT from three aspects: single utterances, adjacent utterances, and contextual levels. Additionally, to gauge the performance of large language models, we conducted experiments on multiple small-scale models and compared the results of the two models. Experimental results on the publicly available English TIAGE dataset showed that small-scale models exhibited lower recall in all three aspects, while ChatGPT performed better in the recall. This suggests that compared to small-scale models, large models are more capable of accurately detecting topic shifts. However, large models also exhibited lower precision, indicating that while ChatGPT can recognize content differences in utterances, its judgment on whether these different contents belong to the same topic is poor. © 2024 IEEE.

关键词： adjacent utterances level ChatGPT contextual level single utterances level topic shift detection

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