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IEEE/RSJ International Conference on Intelligent Robotics and Systems

作者： Pablo Lanillos Eva Besada-Portas Gonzalo Pajares José J. Ruz Computer Architecture and Automation Department (DACYA) Complutense University Madrid Spain Software Engineering and Artificial Intelligence Department Complutense University Madrid Spain

ISBN: (纸本)9781467317375

This paper formulates and proposes a discrete solution for the problem of finding a lost target under uncertainty in minimum time (Minimum Time Search). Given a searching region where some information about the target is known but uncertain (i.e. location and dynamics), and a searching agent with constrained dynamics, we provide two decision making algorithms that optimizes the agent actions to find the target in a minimum time. The problem is faced as a discrete optimization: the actions and the sensor are discrete, and the target probabilistic model is described over a graph, where each vertex contains the target's location probability information and each edge defines the agent possible actions. We revisit the mathematical model of the optimal search problem and we propose a novel approach to include the time into the decision making by reinterpreting it as a maximum discounted time reward problem. The optimal decision plan for the agent is obtained by solving this non convex discrete problem using the cross entropy method. By performing statistical simulations we show how the target is found in minimum time.

关键词： Lost Targets using a searching agent is obtained Cross Entropy Targets Agents PROBLEM SOLUTION discrete element decision making

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Parallel implementation of the simplex growing algorithm for hyperspectral unmixing using OpenCL

Parallel implementation of the simplex growing algorithm for...

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IEEE International Symposium on Geoscience and Remote Sensing (IGARSS)

作者： Sergio Bernabé Guillermo Botella José M. R. Navarro Carlos Orueta Manuel Prieto-Matias Antonio Plaza Department of Computer Architecture and Automation Complutense University Madrid Spain Hyperspectral Computing Laboratory University of Extremadura Cáceres Spain

Many algorithms for spectral unmixing have been proposed in the last years applied on hyperspectral imaging. This process is composed by three stages where the extraction of endmembers is the most consuming step. However, endmember extraction algorithms (EEAs) can be computationally very expensive and its acceleration on parallel architectures is still an interesting and open problem. In this paper, we present a parallel implementation of the simplex growing algorithm for hyperspectral unmixing called P-SGA on different platforms using the OpenCL framework. The proposed implementation exploits the memory hierarchy to accelerate the parts of this method which are more time-consuming. The proposed algorithm is evaluated in terms of both accuracy and computational performance through Monte Carlo simulations using the following architectures: multi-core Xeon CPU, NVidia GeForce GTX 980 GPU and Intel Xeon Phi accelerator. Experiments are conducted using real hyperspectral data set revealing considerable acceleration factors, which satisfies the real-time constraints given by the data acquisition rate.

关键词： Hyperspectral imaging Graphics processing units Acceleration Kernel computer architecture Performance evaluation

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Cheetah:A Library for Parallel Ultrasound Beamforming in Multi-Core Systems

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Journal of Applied Mathematics and Physics 2015年第8期3卷 1056-1061页

作者： David Romero-Laorden Carlos Julián Martín-Arguedas Javier Villazón-Terrazas Oscar Martinez-Graullera Matilde Santos Penas César Gutierrez-Fernandez Ana Jiménez Martín ITEFI Spanish National Research CouncilMadridSpain Department of Electronics University of AlcaláAlcaláde HenaresSpain Department of Computer Architecture and Automation Complutense University of MadridMadridSpain

Developing new imaging methods needs to establish some proofs of concept before implementing them on real-time scenarios. Nowadays, the high computational power reached by multi-core CPUs and GPUs have driven the development of software-based beamformers. Taking this into account, a library for the fast generation of ultrasound images is presented. It is based on Synthetic Aperture Imaging Techniques (SAFT) and it is fast because of the use of parallel computing techniques. Any kind of transducers as well as SAFT techniques can be defined although it includes some pre-built SAFT methods like 2R-SAFT and TFM. Furthermore, 2D and 3D imaging (slice- based or full volume computation) is supported along with the ability to generate both rectangular and angular images. For interpolation, linear and polynomial schemes can be chosen. The versatility of the library is ensured by interfacing it to Matlab, Python and any programming language over different operating systems. On a standard PC equipped with a single NVIDIA Quadro 4000 (256 cores), the library is able to calculate 262,144 pixels in ≈105 ms using a linear transducer with 64 elements, and 2,097,152 voxels in ≈ 5 seconds using a matrix transducer with 121 elements when TFM is applied.

关键词： GPGPU Ultrasound Image Beamforming Array Transducer

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Resilient source seeking with robot swarms

Resilient source seeking with robot swarms

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IEEE Conference on Decision and Control

作者： Antonio Acuaviva Jesus Bautista Weijia Yao Juan Jimenez Hector Garcia de Marina Department of Computer Architecture and Automation Universidad Complutense de Madrid Spain Department of Computer Engineering Automation and Robotics Research Centre for Information and Communication Technologies (CITIC-UGR) University of Granada Granada Spain School of Robotics Hunan University

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

We present a solution for locating the source, or maximum, of an unknown scalar field using a swarm of mobile robots. Unlike relying on the traditional gradient information, the swarm determines an ascending direction to approach the source with arbitrary precision. The ascending direction is calculated from field strength measurements at the robot locations and their relative positions concerning the swarm centroid. Rather than focusing on individual robots, we focus the analysis on the density of robots per unit area to guarantee a more resilient swarm, i.e., the functionality remains even if individuals go missing or are misplaced during the mission. We reinforce the algorithm’s robustness by providing sufficient conditions for the swarm shape so that the ascending direction is almost parallel to the gradient. The swarm can respond to an unexpected environment by morphing its shape and exploiting the existence of multiple ascending directions. Finally, we validate our approach numerically with hundreds of robots. The fact that a large number of robots with a generic formation always calculate an ascending direction compensates for the potential loss of individuals.

关键词： Sufficient conditions Shape Focusing Position measurement Robustness Mobile robots Robots

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Passive Attack Detection for a Class of Stealthy Intermittent Integrity Attacks

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IEEE/CAA Journal of Automatica Sinica 2023年第4期10卷 898-915页

作者： Kangkang Zhang Christodoulos Keliris Thomas Parisini Bin Jiang Marios M.Polycarpou Department of Electrical and Electronic Engineering Imperial College LondonLondon SW72AZUKand also with the KIOS Research and Innovation Center of ExcellenceUniversity of CyprusNicosia 1678Cyprus KIOS Research and Innovation Center of Excellence and the Department of Electrical and Computer Engineering University of CyprusNicosia 1678Cyprus Department of Electrical and Electronic Engineering Imperial College LondonLondon SW72AZUK Department of Engineering and Architecture University of TriesteTrieste 34127Italy KIOS Research and Innovation Center of Excellence University of CyprusNicosia 1678Cyprus College of Automation Engineering Nanjing University of Aeronautics and AstronauticsNanjing 210016China

This paper proposes a passive methodology for detecting a class of stealthy intermittent integrity attacks in cyberphysical systems subject to process disturbances and measurement noise.A stealthy intermittent integrity attack strategy is first proposed by modifying a zero-dynamics attack *** stealthiness of the generated attacks is rigorously investigated under the condition that the adversary does not know precisely the system state *** order to help detect such attacks,a backward-in-time detection residual is proposed based on an equivalent quantity of the system state change,due to the attack,at a time prior to the attack occurrence time.A key characteristic of this residual is that its magnitude increases every time a new attack *** estimate this unknown residual,an optimal fixed-point smoother is proposed by minimizing a piece-wise linear quadratic cost function with a set of specifically designed weighting *** smoother design guarantees robustness with respect to process disturbances and measurement noise,and is also able to maintain sensitivity as time progresses to intermittent integrity attack by resetting the covariance matrix based on the weighting *** adaptive threshold is designed based on the estimated backward-in-time residual,and the attack detectability analysis is rigorously investigated to characterize quantitatively the class of attacks that can be detected by the proposed ***,a simulation example is used to demonstrate the effectiveness of the developed methodology.

关键词： Backward-in-time equivalent quantity fixed-point smoother intermittent integrity attacks

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Evaluating register allocation and instruction scheduling techniques in out-of-order issue processors

Evaluating register allocation and instruction scheduling te...

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International Conference on Parallel architecture and Compilation Techniques (PACT)

作者： M.G. Valluri R. Govindarajan Laboratory for Computer Architecture ECE Department University of Technology Austin TX USA Supercomputer Education and Research Centre Department of Computer Science and Automation Indian Institute of Science Bangalore India

The phase ordering of register allocation and instruction scheduling in a compiler and their integration have been well studied for in-order issue and VLIW processors. In this paper we study this problem in the context of out-of-order issue processors. Such a study is interesting as the dynamic instruction ordering and register renaming support mechanisms in out-of-order issue processors are similar in spirit to what the complex register allocation and instruction scheduling techniques do at compile-time. We evaluated four existing techniques, namely postpass scheduling, prepass scheduling, parallel interference graph, and integrated prepass scheduling methods. Our initial experimental results reveal that for o-o-o issue processors the focus should be on reducing the register pressure/spill code than exposing the parallelism at compiling time.

关键词： Out of order Registers Processor scheduling VLIW Laboratories computer architecture Supercomputers computer science education computer science automation

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Modelling and simulation of a commercially available dielectric elastomer actuator

arXiv

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arXiv 2023年

作者： Sohlbach, Lukas Hobbani, Hamza Blase, Chistopher Perez-Peña, Fernando Schmidt, Karsten Department of Computer Science and Engineering Frankfurt University of Applied Sciences Frankfurt/Main Germany The Department of Automation Electronics and Computer Architecture and Networks School of Engineering University of Cadiz Cadiz Spain

In order to fully harness the potential of dielectric elastomer actuators (DEAs) in soft robots, advanced control methods are needed. An important groundwork for this is the development of a control-oriented model that can adequately describe the underlying dynamics of a DEA. A common feature of existing models is that always custom-made DEAs were investigated. This makes the modelling process easier, as all specifications and the structure of the actuator are well known. In the case of a commercial actuator, however, only the information from the manufacturer is available and must be checked or completed during the modelling process. The aim of this paper is to explore how a commercial stacked silicone-based DEA can be modelled and how complex the model should be to properly replicate the features of the actuator. The static description has demonstrated the suitability of Hooke's law. In the case of dynamic description, it is shown that no viscoelastic model is needed for control-oriented modelling. However, if all features of the DEA are considered, the generalized Kelvin-Maxwell model with three Maxwell elements shows good results, stability and computational efficiency. © 2023, CC BY-NC-SA.

关键词： Elastomers

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Temporal concatenated sparse coding of resting state fMRI data reveal network interaction changes in mTBI 1

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1st International Workshop on Simulation and Synthesis in Medical Imaging, SASHIMI 2016 held in conjunction with 19th International Conference on Medical Image Computing and computer-Assisted Intervention, MICCAI 2016

作者： Lv, Jinglei Iraji, Armin Ge, Fangfei Zhao, Shijie Hu, Xintao Zhang, Tuo Han, Junwei Guo, Lei Kou, Zhifeng Liu, Tianming School of Automation Northwestern Polytechnical University Xi’an China Cortical Architecture Imaging and Discovery Lab Department of Computer Science and Bioimaging Research Center The University of Georgia AthensGA United States Department of Biomedical Engineering Wayne State University DetroitMI United States Department of Radiology Wayne State University DetroitMI United States

ISBN: (数字)9783319467207

ISBN: (纸本)9783319467191

Resting state fMRI (rsfMRI) has been a useful imaging modality for network level understanding and diagnosis of brain diseases,such as mild traumatic brain injury (mTBI). However,there call for effective methodologies which can detect group-wise and longitudinal changes of network interactions in mTBI. The major challenges are two folds: (1) There lacks an individualized and common network system that can serve as a reference platform for statistical analysis;(2) Networks and their interactions are usually not modeled in the same algorithmic structure,which results in bias and uncertainty. In this paper,we propose a novel temporal concatenated sparse coding (TCSC) method to address these challenges. Based on the sparse graph theory the proposed method can model the commonly shared spatial maps of networks and the local dynamics of the networks in each subject in one algorithmic structure. Obviously,the local dynamics are not comparable across subjects in rsfMRI or across groups;however,based on the correspondence established by the common spatial profiles,the interactions of these networks can be modeled individually and statistically assessed in a group-wise fashion. The proposed method has been applied on an mTBI dataset with acute and sub-acute stages,and experimental results have revealed meaningful network interaction changes in mTBI. © Springer International Publishing AG 2016.

关键词： Graph theory

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Optimization of Dynamic Data Types in Embedded Systems using DEVS/SOA-based Modeling and Simulation 3

Optimization of Dynamic Data Types in Embedded Systems using...

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3rd International Conference on Scalable Information Systems, InfoScale 2008

作者： Risco-Martín, José L. Mittal, Saurabh Atienza, David Hidalgo, J. Ignacio Lanchares, Juan Department of Computer Architecture and Automation Complutense University of Madrid C/Prof. José García Santesmases s/n Madrid28040 Spain Arizona Center for Integrative Modeling and Simulation University of Arizona ECE Building 1230 E Speedway TucsonAZ85721 United States

ISBN: (纸本)9789639799288

New multimedia embedded applications are increasingly dynamic, and rely on Dynamically-allocated Data Types (DDTs) to store their data. The optimization of DDTs for each target embedded system is a time-consuming process due to the large searching space of possible DDTs implementations. This results in the minimization of embedded design variables (memory accesses, power consumption and memory usage). Till date some effective heuristic algorithms have been developed in order to solve this problem, however unreported, as the problem is NP-complete and cannot be fully explored. In these cases the use of parallel processing can be very useful because it allows not only to explore more solutions spending the same time but also to implement new algorithms. This research work provides a methodology to use Discrete Event Systems Specification (DEVS) to implement a parallel evolutionary algorithm within a Service Oriented architecture (SOA), where parallelism improves the solutions found by the corresponding sequential algorithm. This algorithm provides better results when compared with other previously proposed procedures. In order to implement the parallelism the DEVS/SOA framework in utilized. Experimental results show how a novel parallel multi-objective genetic algorithm, which combines NSGA-II and SPEA2, allows designers to reach a larger number of solutions than previous approximations. This research also establishes DEVS/SOA as a platform for conducting complex distributed simulation experiments. © 2008 Association for Computing Machinery. All rights reserved.

关键词： Heuristic algorithms

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Comparison of Different Machine Learning Approaches to Model Stroke Subtype Classification and Risk Prediction

Comparison of Different Machine Learning Approaches to Model...

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Spring Simulation Conference (SpringSim)

作者： Luis García-Temza José L. Risco-Martín José L. Ayala Gemma Reig Roselló Juan M. Camarasaltas Department of Computer Architecture and Automation Universidad Complutense de Madrid Madrid Spain Hospital Universitario de La Princesa Madrid Spain

The application of computer-aided techniques regarding stroke diagnosis is especially important in non-urban areas, because of the lack of adequate resources. The purpose of this research consists of testing the hypothesis that state-of-the-art machine learning-based modeling techniques, when integrated with non-invasive monitoring technologies, can help on the diagnosis of the type of stroke only few minutes after the crisis. This method has been also tested to predict future risks, like the eventual death of the *** collected dataset comprised the medical records of 119 patients with 7 predictors and two target variables: diagnosis of stroke type and prediction of death. 7 different algorithms have been employed, evaluated over 6 different metrics. 10-fold cross validation resampling method was utilized. Random Forest models produced the best performance in stroke diagnosis and death prediction compared to the other algorithms, with average values of 0.93± 0.03 and 0.97± 0.01, respectively.

关键词： Stroke (medical condition) Machine learning algorithms Prediction algorithms Training Artificial intelligence Decision trees Logistics

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