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arXiv 2024年

作者： Horyna, Jiří Krátký, Vít Pritzl, Václav Báča, Tomáš Ferrante, Eliseo Saska, Martin Multi-Robot Systems Group Faculty of Electrical Engineering Czech Technical University in Prague Technicka 2 Prague Czech Republic Department of Computer Science Vrije Universiteit Amsterdam Amsterdam Netherlands

A decentralized swarm approach for the fast cooperative flight of Unmanned Aerial Vehicles (UAVs) in feature-poor environments without any external localization and communication is introduced in this paper. A novel model of a UAV neighborhood is proposed to achieve robust onboard mutual perception and flocking state feedback control, which is designed to decrease the inter-agent oscillations common in standard reactive swarm models employed in fast collective motion. The novel swarming methodology is supplemented with an enhanced Multi-Robot State Estimation (MRSE) strategy to increase the reliability of the purely onboard localization, which may be unreliable in real environments. Although MRSE and the neighborhood model may rely on information exchange between agents, we introduce a communication-less version of the swarming framework based on estimating communicated states to decrease dependence on the often unreliable communication networks of large swarms. The proposed solution has been verified by a set of complex real-world experiments to demonstrate its overall capability in different conditions, including a UAV interception-motivated task with a group velocity reaching the physical limits of the individual hardware platforms. Copyright © 2024, The Authors. All rights reserved.

关键词： Antennas

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On heterogeneity or sub-classes aspect in construction of stylometric input datasets

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Procedia computer science 2022年 207卷 2526-2535页

作者： Urszula Stańczyk Grzegorz Baron Department of Graphics Computer Vision and Digital Systems Faculty of Automatic Control Electronics and Computer Science Silesian University of Technology Akademicka 2A 44-100 Gliwice Poland

Stylometric analysis of texts relies on learning characteristic traits of writing styles for authors. Once these patterns are discovered, they can be compared to the ones present in other text samples, to recognise their authorship. This recognition can be compromised if input datasets are prepared without taking into consideration possible stratification of the input space, leading to specific grouping of datapoints, or sub-classes within distinguished classes. The paper shows research dedicated to construction of various structures of input datasets, and combinations of such structures between train and test sets. In the research the influence of different stratification forms on the performance of selected popular classification systems was observed. To minimise the number of influencing factors, a task of authorship attribution was performed as binary classification with balanced classes. Stylometric descriptors exploited belonged to lexical and syntactic group, giving frequencies of occurrence for chosen style-markers. It resulted in real-valued attributes and these values were explored without applying discretisation, in order to avoid the possible bias of this procedure on observations.

关键词： Stylometry Dataset construction Heterogeneity Sub-classes Stratification Authorship attribution

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Data poisoning: issues, challenges, and needs

Data poisoning: issues, challenges, and needs

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7th IET Smart Cities Symposium (SCS 2023)

作者： Mohammad Aljanabi Alaa Hamza Omran Maad M Mijwil Mostafa Abotaleb El-Sayed M. El-kenawy Sahar Yousif Mohammed Abdelhameed Ibrahim Department of computer College of Education Aliarqai university Baghdad Iraq University of information technology and communications Baghdad Iraq Computer Techniques Engineering Department Baghdad College of Economic Sciences University Baghdad Iraq Department of System Programming South Ural State University Chelyabinsk Russia Department of Communications and Electronics Delta Higher Institute of Engineering and Technology Egypt Computer Science Department Computer Science & Information Technology College Anbar University Anbar Iraq Computer Engineering and Control Systems Department Faculty of Engineering Mansoura University Mansoura Egypt

Data poisoning attacks, where adversaries manipulate training data to degrade model performance, are an emerging threat as machine learning becomes widely deployed in sensitive applications. This paper provides a comprehensive overview of data poisoning including attack techniques, adversary incentives, impacts on security and reliability, detection methods, defenses, and key research gaps. We examine label flipping, instance injection, backdoors, and other attack categories that enable malicious outcomes ranging from IP theft to accidents in autonomous systems. Promising detection approaches include statistical tests, robust learning, and forensics. However, significant challenges remain in translating academic defenses like adversarial training and sanitization into practical tools ready for operational use. With safety and trustworthiness at stake, more research on benchmarking evaluations, adaptive attacks, fundamental tradeoffs, and real-world deployment of defenses is urgently needed. Understanding vulnerabilities and developing resilient machine learning pipelines will only grow in importance as data integrity is fundamental to developing safe artificial intelligence.

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MWRS: A MAB-based Worker Recruitment Scheme with Tripartite Stackelberg Game for Reliable Mobile Crowdsensing

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IEEE Transactions on Mobile Computing 2025年第7期24卷 5665-5680页

作者： Ouyang, Yan Zeng, Feng Xiong, Neal N. Liu, Anfeng Pedrycz, Witold School of Computer Science and Engineering Central South University Changsha410083 China Department of Computer Science and Mathematics Sul Ross State University AlpineTX79830 United States Department of Electrical and Computer Engineering University of Alberta EdmontonABT6G 2R3 Canada Systems Research Institute Polish Academy of Sciences Warsaw00-901 Poland Faculty of Engineering and Natural Sciences Department of Computer Engineering Istinye University Istanbul Turkey Department of Electrical and Computer Engineering Faculty of Engineering King Abdulaziz University Jeddah21589 Saudi Arabia

Mobile Crowdsensing (MCS) has emerged as a compelling paradigm for data sensing and collection, leveraging the widespread adoption of mobile devices and the active participation of numerous users. Despite its potential, MCS faces critical challenges, particularly in recruiting reliable workers and acquiring high-quality sensing data. Most existing approaches assume prior information on worker quality and are vulnerable to collusion attacks, especially having not comprehensively considered workers' reliability and stability. To address these problems, we propose a Multi-Armed Bandit (MAB) based Worker Recruitment Scheme (MWRS) integrated with the Tripartite Stackelberg Game (TSG) for MCS. Specifically, a trust evaluation and truth inference mechanism is introduced to assess the trustworthiness of workers through active truth detection. To enhance recruitment quality, we employ a trust-aware worker selection mechanism that utilizes a modified Upper Confidence Bound (UCB) algorithm, achieving an optimal balance between exploration and exploitation. Furthermore, the interactions among participants are modeled using a TSG framework, which formulates their respective payoffs to determine optimal decision-making strategies, thus achieving mutually beneficial outcomes. Extensive evaluations on real-world datasets demonstrate that our proposed scheme improves total quality by up to 30.8% and reduces regret by up to 80.3% compared to existing methods. © 2025 IEEE.

关键词： Decision making

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Finite Neural Networks as Mixtures of Gaussian Processes: From Provable Error Bounds to Prior Selection

arXiv

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arXiv 2024年

作者： Adams, Steven Patanè, Andrea Lahijanian, Morteza Laurenti, Luca Delft Center for Systems and Control Technical Universiy of Delft Delft2628 CD Netherlands School of Computer Science and Statistics Trinity College Dublin Dublin 2 Ireland Department of Aerospace Engineering Sciences and Computer Science University of Colorado Boulder BoulderCO80303 United States

Infinitely wide or deep neural networks (NNs) with independent and identically distributed (i.i.d.) parameters have been shown to be equivalent to Gaussian processes. Because of the favorable properties of Gaussian processes, this equivalence is commonly employed to analyze neural networks and has led to various breakthroughs over the years. However, neural networks and Gaussian processes are equivalent only in the limit;in the finite case there are currently no methods available to approximate a trained neural network with a Gaussian model with bounds on the approximation error. In this work, we present an algorithmic framework to approximate a neural network of finite width and depth, and with not necessarily i.i.d. parameters, with a mixture of Gaussian processes with error bounds on the approximation error. In particular, we consider the Wasserstein distance to quantify the closeness between probabilistic models and, by relying on tools from optimal transport and Gaussian processes, we iteratively approximate the output distribution of each layer of the neural network as a mixture of Gaussian processes. Crucially, for any NN and ǫ > 0 our approach is able to return a mixture of Gaussian processes that is ǫ-close to the NN at a finite set of input points. Furthermore, we rely on the differentiability of the resulting error bound to show how our approach can be employed to tune the parameters of a NN to mimic the functional behavior of a given Gaussian process, e.g., for prior selection in the context of Bayesian inference. We empirically investigate the effectiveness of our results on both regression and classification problems with various neural network architectures. Our experiments highlight how our results can represent an important step towards understanding neural network predictions and formally quantifying their uncertainty. © 2024, CC BY.

关键词： Deep neural networks

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Robots in education: Influence of Regulatory Focus Theory

Robots in education: Influence of Regulatory Focus Theory

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Xiaoxuan Hei Heng Zhang Adriana Tapus Computer Science and System Engineering Department (U2IS) Autonomous Systems and Robotics Lab ENSTA Paris Institut Polytechnique de Paris Paris France

The Covid-19 pandemic has massively developed the use of distance learning. The limits of this practice have gradually come to light, both for students and for teachers. It is now crucial to design alternative solutions to overcome the shortcomings of videoconferencing in terms of involvement, concentration, learning, and equity. Social robots are increasingly used as tutors in the educational context and help improve teaching efficiency. Many psychology-based principles have been applied in education to guide instructional strategies, motivate students, and create a positive and productive learning environment. In this work, we use Regulatory Focus Theory (RFT), which categorizes an individual’s motivation into two types: Promotion and Prevention. Promotion-focused individuals are motivated by the potential for growth and achievement, whereas prevention-focused individuals are motivated by the potential for avoiding negative outcomes. Based on RFT, we aim to explore if and how the regulatory-focused behavior of the tutor robot can affect participants’ learning outcomes. In this work, a language learning scenario was designed with two conditions: (1) a robot tutor with promotion-focused behavior, (2) a robot tutor with prevention-focused behavior. The results are encouraging and support that promotion robot tutor can increase the learning efficiency of promotion participants and prevention robot tutor will enhance the learning interest of prevention participants.

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Systolic Array Architecture for Educational Use

Systolic Array Architecture for Educational Use

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International Conference on System Theory, Control, and Computing (ICSTCC)

作者： Flavius Opriţoiu Mircea Vlăduţiu Computer Science and Engineering Department Advanced Computing Systems and Architectures (ACSA) Laboratory Politehnica University Timisoara 2 V.Parvan Blvd Timisoara Romania

This paper presents a systolic array architecture for General Matrix Multiplication. The system was designed and verified using the Verilog description language. The architecture was constructed for educational use aiming to complement the practical activities of computer Architecture classes. The proposed solution can be used as a design space exploration tool for evaluation of matrix multiplication accelerators based on non-stationary systolic arrays. Both the width and format of the processed operands as well as the number of stages of the systolic array’s Processing Elements can be customized. As a case study, the design and performance of a systolic array for accelerating the multiplication of square matrices of signed, 8-bit integers, is presented. The overall architecture was synthesized for the Altera DE2 FPGA board in order to evaluate its performance.

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Ultrasound-Coupled Electrocoagulation Based Azo Dye Fading Rate Prediction Using Deep Neural Networks

Ultrasound-Coupled Electrocoagulation Based Azo Dye Fading R...

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International KES Conference on Human Centred Intelligent systems, KES HCIS 2023

作者： Akoulih, Meryem Tigani, Smail Wakrim, Asmaa Chehri, Abdellah Saadane, Rachid Ghachtouli, Sanae El IME Lab Faculty of Science Hassan 2 University Casablanca20250 Morocco AAIR Lab Digital Engineering and Artificial Intelligence Systems High Private School Casablanca20100 Morocco Electrical Engineering Department SIRC-LaGeS Hassania School of Public Labors Casablanca20250 Morocco Department of Mathematics and Computer Science Royal Military College KingstonONK7K 7B4 Canada

ISBN: (纸本)9789819934232

This research paper presents a deep learning based predictive model for predicting the azo dye fading rate during electrocoagulation coupled with ultrasound. Electrocoagulation is a commonly used method for the treatment of wastewater contaminated with azo dyes, but the efficiency of this process can be improved by incorporating ultrasound. The proposed deep learning model is trained on a dataset of electrocoagulation experiments with varying parameters such as current density, pH, and treatment time, as well as the presence or absence of ultrasound. The model is able to accurately predict the azo dye removal rate for new sets of electrocoagulation parameters, providing a valuable tool for optimizing the treatment process. The model’s performance is evaluated using standard metrics, and the results demonstrate its effectiveness in predicting azo dye removal rate. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Azo dyes

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Exploring Behaviors of Hybrid systems via the Voronoi Bias over Output Signals

arXiv

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arXiv 2024年

作者： Ernst, Gidon Fejlek, Jiří Software and Computational Systems Lab Department of Computer Science Ludwig-Maximilians-Universität München Oettingenstraße 67 Munich80538 Germany The Czech Academy of Sciences Institute of Computer Science Pod Vodárenskou věží 271/2 Prague182 07 Czech Republic

In this paper, we consider an analysis of temporal properties of hybrid systems based on simulations, so-called falsification of requirements. We present a novel exploration-based algorithm for falsification of black-box models of hybrid systems based on the Voronoi bias in the output space. This approach is inspired by techniques used originally in motion planning: rapidly exploring random trees. Instead of commonly employed exploration that is based on coverage of inputs, the proposed algorithm aims to cover all possible outputs directly. Compared to other state-of-the-art falsification tools, it also does not require robustness or other guidance metrics tied to a specific behavior that is being falsified. This allows our algorithm to falsify specifications for which robustness is not conclusive enough to guide the falsification procedure. Copyright © 2024, The Authors. All rights reserved.

关键词： Decision trees

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Exploring the use of AI in marine acoustic sensor management

Exploring the use of AI in marine acoustic sensor management

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2022 International Conference on Underwater Acoustics, ICUA 2022

作者： Clark, Edward Hunter, Alan Isupova, Olga Donnelly, Marcus Department of Mechanical Engineering University of Bath BathBA2 7AY United Kingdom Department of Computer Science University of Bath Bath United Kingdom Systems Engineering & Assesment Ltd Somerset BeckingtonBA116TA United Kingdom

ISBN: (纸本)9781713863311

Underwater passive acoustic source detection and tracking is important for various marine applications, including marine mammal monitoring and naval surveillance. The performance in these applications is dependent on the placement and operation of sensing assets, such as autonomous underwater vehicles. Conventionally, these decisions have been made by human operators aided by acoustic propagation modelling tools, situational and environmental data, and experience. However, this is time-consuming and computationally expensive. We consider a 'toy problem' of a single autonomous vehicle (agent) in search of a stationary source of low frequency within a reinforcement learning (RL) architecture. We initially choose the observation space to be the agent's current position. The agent is allowed to explore the environment with a limited action space, taking equal distance steps in one of $n$ directions. Rewards are received for positive detections of the source. Using OpenAI's PPO algorithm an increase in median episode reward of approximately 20 points in the RL environment developed is seen when the agent is given a history of it's previous moves and signal-to-noise ratio compared to the simple state. The future expansion of the RL framework is discussed in terms of the observation and action spaces, reward function and RL architecture. © 2022 Acoustical Society of America.

关键词： Reinforcement learning

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