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QoS Improvement using Federated Learning-based Position Prediction for mobile IoT

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QoS Improvement using Federated Learning-based Position Pred...

IEEE World Forum on Internet of Things (WF-IoT)

作者： Saniya Zafar Mohammed S. Alshehri Syed Aziz Shah Jawad Ahmad Adnan Zafar Aizaz Ahmad Khattak Department of Electrical Engineering Institute of Space Technology Islamabad Pakistan Department of Computer Science College of Computer Science and Information Systems Najran University KSA Research Centre for Intelligent Healthcare Coventry University UK Cybersecurity Center Prince Mohammad Bin Fahd University Alkhobar Saudi Arabia School of Computing Engineering and the Built Environment Edinburgh Napier University UK

ISBN: (数字)9798350373011

ISBN: (纸本)9798350373028

The rapid advancement in mobile broadband technology has evolved wireless infrastructure influencing internet-of-things (IoTs). This evolution has made mobile IoTs (mIoTs) as centre of attention due to its potential of providing seamless connectivity to enable intelligent transportation systems with huge data demands of vehicular users. To address the ever-escalating data demands of vehicular mobile users, vehicular edge computing (VEC) and moving small cells (mSCs) play a pivotal role. mSCs together with VEC are capable to provide improved service quality for mIoTs. However, incorporating the mSCs in vehicles for mIoTs presents challenges while assigning the resources in mIoT-mSC network. This is due to the existence of time varying interference among mSCs. This work explores the distributed resource assignment mechanism for RSU assisted mIoT-mSC network formed in vehicular environment. In the proposed work, location prediction of city buses deployed with mSCs is done using federated learning (FL) which is subsequently utilized for efficient assignment of resources in mIoT-mSC network. Numerical results are provided to validate the proposed resource assignment mechanism.

关键词： Wireless communication Urban areas Interference Quality of service Predictive models Prediction algorithms Probabilistic logic Internet of Things Long short term memory Edge computing

Conflict-Based Search and Improvement Strategies for Solving a New Lexicographic Bi-Objective Multi-Agent Path Finding Problem

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Conflict-Based Search and Improvement Strategies for Solving...

2022 IEEE International Conference on systems, Man, and Cybernetics, SMC 2022

作者： Li, Siyi Li, Xingyang Zhou, Mengchu Zhao, Ziyan Liu, Shixin Northeastern University College of Information Science and Engineering Shenyang110819 China Northeastern University Foshan Graduate School of Innovation Foshan528311 China Northeastern University Faculty of Robot Science and Engineering Shenyang110819 China New Jersey Institute of Technology Department of Electrical and Computer Engineering NewarkNJ07102 United States Macao Inst. of Systems Engineering and Collaborative Laboratory for Intelligent Science and Systems Macau University of Science and Technology 999078 China

ISBN: (数字)9781665452588

ISBN: (纸本)9781665452588

Multi-Agent Path Finding (MAPF) is an important problem with a variety of applications. Its aim is to find collision-free paths for agents having separate start and goal positions. This work proposes a new lexicographic bi-objective MAPF considering different task types, where agents are divided into two kinds to perform critical and acritical tasks. This is common in practical intelligent warehousing scenarios where a critical/acritical-task-performing agent (called c-agent and a-agent, respectively) may represent a full-load/no-load one or the one conducting urgent/non-urgent tasks. The primary objective is to minimize the sum-of-costs of c-agents, while the secondary objective is to minimize the sum-of-costs of a-agents. Two MAPF algorithms are modified to fit and solve the concerned problem for the first time. Moreover, four improvement strategies are embedded to the proposed algorithms and proved to be effective in solving MAPF problems with different task types. © 2022 IEEE.

关键词： Multi agent systems

Direct Torque Control in Series-End Winding PMSM Drives 48

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Direct Torque Control in Series-End Winding PMSM Drives

48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Dong, Zhiping Zhao, Hang Wen, Hao Liu, Chunhua City University of Hong Kong School of Energy and Environment Hong Kong Hong Kong City University of Hong Kong Shenzhen Research Institute Shenzhen China Robotics and Autonomous Systems Thrust Guangzhou China The Hong Kong University of Science and Technology Department of Electronic & Computer Engineering Hong Kong Hong Kong

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

This paper provides a preliminary study of promoting the direct torque control (DTC) to series-end winding permanent magnet synchronous motor (SW-PMSM) drives. The DTC schemes of the conventional PMSM drives cannot be directly applied to the SW-PMSM drives since they have different drive topologies. With one more leg added to the inverter, the SW-PMSM drive has a different voltage vector distribution, which leads to a different switching table for the hysteresis controllers of the flux and the torque. In addition, the zero-sequence subspace also exists in the SW-PMSM drive, and it might generate the undesired zero-sequence current. Based on the above issues, the voltage vector distribution of the SW-PMSM drive is studied in this paper, and the voltage vectors without zero-sequence components are selected as the candidates to prevent generating zero-sequence current. Next, the switching table for the hysteresis controllers is re-derived according to the candidate voltage vectors, and the DTC for the SW-PMSM drive is obtained. Subsequently, the DTC of the multi-phase SW-PMSM drive is also investigated in the same manner. Finally, the effectiveness of the proposed DTC schemes for the SW-PMSM drives is verified. © 2022 IEEE.

关键词： Torque

Robust Beamforming Design and Antenna Selection for Dynamic HRIS-aided MISO systems

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arXiv 2024年

作者： Wang, Jintao Zhou, Binggui Ma, Chengzhi Gong, Shiqi Yang, Guanghua Ma, Shaodan The State Key Laboratory of Internet of Things for Smart City The Department of Electrical and Computer Engineering University of Macau 999078 China The School of Cyberspace Science and Technology Beijing Institute of Technology Beijing100081 China The School of Intelligent Systems Science and Engineering Jinan University Zhuhai519070 China

In this paper, we propose a dynamic hybrid active-passive reconfigurable intelligent surface (HRIS) to enhance multiple-input-single-output (MISO) communications, leveraging the property of dynamically placing active elements. Specifically, considering the impact of hardware impairments (HWIs), we investigate channel-aware configurations of the receive antennas at the base station (BS) and the active/passive elements at the HRIS to improve transmission reliability. To this end, we address the average mean-square-error (MSE) minimization problem for the HRIS-aided MISO system by jointly optimizing the BS receive antenna selection matrix, the reflection phase coefficients, the reflection amplitude matrix, and the mode selection matrix of the HRIS. To overcome the non-convexity and intractability of this problem, we first transform the binary and discrete variables into continuous ones, and then propose a penalty-based exact block coordinate descent (PEBCD) algorithm to alternately solve these subproblems. Numerical simulations demonstrate the significant superiority of our proposed scheme over conventional benchmark schemes. Copyright © 2024, The Authors. All rights reserved.

关键词： Mean square error

Data-driven Optimal Cooperative Output Regulation of Unknown Linear Discrete-time Multi-agent systems

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Data-driven Optimal Cooperative Output Regulation of Unknown...

Chinese Control and Decision Conference, CCDC

作者： Dong Liang Yi Dong Chaoli Wang Engang Tian Department of Control Science and Engineering School of Optical-Electrical and Computer Engineering University of Shanghai for Science and Technology Shanghai China College of Electronic and Information Engineering Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Shanghai China

The cooperative output regulation problem has been extensively studied on the basis of the distributed observer approach. However, the majority of the existing research assumes that the dynamics is known previously. To remove this condition, the cooperative output regulation problem is further solved via the data-driven framework where the dynamics of the plant is unknown. First, a data-driven distributed observer is established to estimate the state of the leader with unknown dynamics subject to external inputs. Second, the unknown regulator equations are solved using the iterative recurrent neural network approach. Third, the state-based data-driven distributed control law is synthesized to solve the problem. The optimal gains are derived by solving convex optimization problems using input and state data. Finally, a numerical example is presented to verify the feasibility of the proposed framework.

关键词：

Exploring Data Geometry for Continual Learning

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arXiv 2023年

作者： Gao, Zhi Xu, Chen Li, Feng Jia, Yunde Harandi, Mehrtash Wu, Yuwei Beijing Key Laboratory of Intelligent Information Technology School of Computer Science & Technology Beijing Institute of Technology China Guangdong Laboratory of Machine Perception and Intelligent Computing Shenzhen MSU-BIT University China Department of Electrical and Computer Systems Eng. Monash University Data61 Australia

Continual learning aims to efficiently learn from a non-stationary stream of data while avoiding forgetting the knowledge of old data. In many practical applications, data complies with non-Euclidean geometry. As such, the commonly used Euclidean space cannot gracefully capture non-Euclidean geometric structures of data, leading to inferior results. In this paper, we study continual learning from a novel perspective by exploring data geometry for the non-stationary stream of data. Our method dynamically expands the geometry of the underlying space to match growing geometric structures induced by new data, and prevents forgetting by keeping geometric structures of old data into account. In doing so, making use of the mixed curvature space, we propose an incremental search scheme, through which the growing geometric structures are encoded. Then, we introduce an angular-regularization loss and a neighbor-robustness loss to train the model, capable of penalizing the change of global geometric structures and local geometric structures. Experiments show that our method achieves better performance than baseline methods designed in Euclidean space. Copyright © 2023, The Authors. All rights reserved.

关键词： Geometry

Fixed-time Adaptive Neural Control for Physical Human-Robot Collaboration with Time-Varying Workspace Constraints

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arXiv 2023年

作者： Sun, Yuzhu Van, Mien McIlvanna, Stephen Nhat, Nguyen Minh McLoone, Seán Ceglarek, Dariusz Ge, Shuzhi Sam The Centre for Intelligent Autonomous Manufacturing Systems School of Electronics Electrical Engineering and Computer Science Queen’s University Northern Ireland Belfast United Kingdom The Warwick Manufacturing Group University of Warwick Coventry United Kingdom The Department of Electrical and Computer Engineering Social Robotics Laboratory National University of Singapore Singapore

Physical human-robot collaboration (pHRC) requires both compliance and safety guarantees since robots coordinate with human actions in a shared workspace. This paper presents a novel fixed-time adaptive neural control methodology for handling time-varying workspace constraints that occur in physical human-robot collaboration while also guaranteeing compliance during intended force interactions. The proposed methodology combines the benefits of compliance control, time-varying integral barrier Lyapunov function (TVIBLF) and fixed-time techniques, which not only achieve compliance during physical contact with human operators but also guarantee time-varying workspace constraints and fast tracking error convergence without any restriction on the initial conditions. Furthermore, a neural adaptive control law is designed to compensate for the unknown dynamics and disturbances of the robot manipulator such that the proposed control framework is overall fixed-time converged and capable of online learning without any prior knowledge of robot dynamics and disturbances. The proposed approach is finally validated on a simulated two-link robot manipulator. Simulation results show that the proposed controller is superior in the sense of both tracking error and convergence time compared with the existing barrier Lyapunov functions based controllers, while simultaneously guaranteeing compliance and safety. Copyright © 2023, The Authors. All rights reserved.

关键词： Lyapunov functions

ON THE TRANSFER OF DISENTANGLED REPRESENTATIONS IN REALISTIC SETTINGS 9

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ON THE TRANSFER OF DISENTANGLED REPRESENTATIONS IN REALISTIC...

9th International Conference on Learning Representations, ICLR 2021

作者： Dittadi, Andrea Träuble, Frederik Locatello, Francesco Wüthrich, Manuel Agrawal, Vaibhav Winther, Ole Bauer, Stefan Schölkopf, Bernhard Technical University of Denmark Denmark Max Planck Institute for Intelligent Systems Germany ETH Zurich Department for Computer Science Switzerland Copenhagen University Hospital Denmark University of Copenhagen Denmark CIFAR

Learning meaningful representations that disentangle the underlying structure of the data generating process is considered to be of key importance in machine learning. While disentangled representations were found to be useful for diverse tasks such as abstract reasoning and fair classification, their scalability and real-world impact remain questionable. We introduce a new high-resolution dataset with 1M simulated images and over 1,800 annotated real-world images of the same setup. In contrast to previous work, this new dataset exhibits correlations, a complex underlying structure, and allows to evaluate transfer to unseen simulated and real-world settings where the encoder i) remains in distribution or ii) is out of distribution. We propose new architectures in order to scale disentangled representation learning to realistic high-resolution settings and conduct a large-scale empirical study of disentangled representations on this dataset. We observe that disentanglement is a good predictor for out-of-distribution (OOD) task performance. © 2021 ICLR 2021 - 9th International Conference on Learning Representations. All rights reserved.

关键词：

Learning Multi-dimensional Edge Feature-based AU Relation Graph for Facial Action Unit Recognition

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arXiv 2022年

作者： Luo, Cheng Song, Siyang Xie, Weicheng Shen, Linlin Gunes, Hatice Computer Vision Institute Shenzhen University China Shenzhen Institute of Artificial Intelligence and Robotics for Society China Guangdong Key Laboratory of Intelligent Information Processing China Department of Computer Science and Technology University of Cambridge United Kingdom

The activations of Facial Action Units (AUs) mutually influence one another. While the relationship between a pair of AUs can be complex and unique, existing approaches fail to specifically and explicitly represent such cues for each pair of AUs in each facial display. This paper proposes an AU relationship modelling approach that deep learns a unique graph to explicitly describe the relationship between each pair of AUs of the target facial display. Our approach first encodes each AU’s activation status and its association with other AUs into a node feature. Then, it learns a pair of multi-dimensional edge features to describe multiple task-specific relationship cues between each pair of AUs. During both node and edge feature learning, our approach also considers the influence of the unique facial display on AUs’ relationship by taking the full face representation as an input. Experimental results on BP4D and DISFA datasets show that both node and edge feature learning modules provide large performance improvements for CNN and transformer-based backbones, with our best systems achieving the state-of-the-art AU recognition results. Our approach not only has a strong capability in modelling relationship cues for AU recognition but also can be easily incorporated into various backbones. Our PyTorch code is made available at https://***/CVI-SZU/ME-GraphAU. Copyright © 2022, The Authors. All rights reserved.

关键词： Chemical activation