In the development of linear quadratic regulator(LQR) algorithms, the Riccati equation approach offers two important characteristics——it is recursive and readily meets the existence condition. However, these attribu...
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In the development of linear quadratic regulator(LQR) algorithms, the Riccati equation approach offers two important characteristics——it is recursive and readily meets the existence condition. However, these attributes are applicable only to transformed singular systems, and the efficiency of the regulator may be undermined if constraints are violated in nonsingular versions. To address this gap, we introduce a direct approach to the LQR problem for linear singular systems, avoiding the need for any transformations and eliminating the need for regularity assumptions. To achieve this goal, we begin by formulating a quadratic cost function to derive the LQR algorithm through a penalized and weighted regression framework and then connect it to a constrained minimization problem using the Bellman's criterion. Then, we employ a dynamic programming strategy in a backward approach within a finite horizon to develop an LQR algorithm for the original system. To accomplish this, we address the stability and convergence analysis under the reachability and observability assumptions of a hypothetical system constructed by the pencil of augmented matrices and connected using the Hamiltonian diagonalization technique.
Blockchain technology has garnered significant attention from global organizations and researchers due to its potential as a solution for centralized system ***,the Internet of Things(IoT)has revolutionized the Fourth...
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Blockchain technology has garnered significant attention from global organizations and researchers due to its potential as a solution for centralized system ***,the Internet of Things(IoT)has revolutionized the Fourth Industrial Revolution by enabling interconnected devices to offer innovative services,ultimately enhancing human *** paper presents a new approach utilizing lightweight blockchain technology,effectively reducing the computational burden typically associated with conventional blockchain *** integrating this lightweight blockchain with IoT systems,substantial reductions in implementation time and computational complexity can be ***,the paper proposes the utilization of the Okamoto Uchiyama encryption algorithm,renowned for its homomorphic characteristics,to reinforce the privacy and security of IoT-generated *** integration of homomorphic encryption and blockchain technology establishes a secure and decentralized platformfor storing and analyzing sensitive data of the supply chain *** platformfacilitates the development of some business models and empowers decentralized applications to perform computations on encrypted data while maintaining data *** results validate the robust security of the proposed system,comparable to standard blockchain implementations,leveraging the distinctive homomorphic attributes of the Okamoto Uchiyama algorithm and the lightweight blockchain paradigm.
The oropharyngeal swabbing is a pre-diagnostic procedure used to test various respiratory diseases, including COVID and Influenza A (H1N1). To improve the testing efficiency of testing, a real-time, accurate, and robu...
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The oropharyngeal swabbing is a pre-diagnostic procedure used to test various respiratory diseases, including COVID and Influenza A (H1N1). To improve the testing efficiency of testing, a real-time, accurate, and robust sampling point localization algorithm is needed for robots. However, current solutions rely heavily on visual input, which is not reliable enough for large-scale deployment. The transformer has significantly improved the performance of image-related tasks and challenged the dominance of traditional convolutional neural networks (CNNs) in the image field. Inspired by its success, we propose a novel self-aligning multi-modal transformer (SAMMT) to dynamically attend to different parts of unaligned feature maps, preventing information loss caused by perspective disparity and simplifying overall implementation. Unlike preexisting multi-modal transformers, our attention mechanism works in image space instead of embedding space, rendering the need for the sensor registration process obsolete. To facilitate the multi-modal task, we collected and annotate an oropharynx localization/segmentation dataset by trained medical personnel. This dataset is open-sourced and can be used for future multi-modal research. Our experiments show that our model improves the performance of the localization task by 4.2% compared to the pure visual model, and reduces the pixel-wise error rate of the segmentation task by 16.7% compared to the CNN baseline.
Interpretable visual recognition is essential for decision-making in high-stakes situations. Recent advancements have automated the construction of interpretable models by leveraging Visual Language Models (VLMs) and ...
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Offline reinforcement learning(RL) has gathered increasing attention in recent years, which seeks to learn policies from static datasets without active online exploration. However, the existing offline RL approaches o...
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Offline reinforcement learning(RL) has gathered increasing attention in recent years, which seeks to learn policies from static datasets without active online exploration. However, the existing offline RL approaches often require a large amount of pre-collected data and hence are hardly implemented by a single agent in practice. Inspired by the advancement of federated learning(FL), this paper studies federated offline reinforcement learning(FORL),whereby multiple agents collaboratively carry out offline policy learning with no need to share their raw ***, a straightforward solution is to simply retrofit the off-the-shelf offline RL methods for FL, whereas such an approach easily overfits individual datasets during local updating, leading to instability and subpar performance. To overcome this challenge, we propose a new FORL algorithm, named model-free(MF)-FORL, that exploits novel“proximal local policy evaluation” to judiciously push up action values beyond local data support, enabling agents to capture the individual information without forgetting the aggregated knowledge. Further, we introduce a model-based variant, MB-FORL, capable of improving the generalization ability and computational efficiency via utilizing a learned dynamics model. We evaluate the proposed algorithms on a suite of complex and high-dimensional offline RL benchmarks, and the results demonstrate significant performance gains over the baselines.
Self-supervised graph representation learning has recently shown considerable promise in a range of fields, including bioinformatics and social networks. A large number of graph contrastive learning approaches have sh...
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Self-supervised graph representation learning has recently shown considerable promise in a range of fields, including bioinformatics and social networks. A large number of graph contrastive learning approaches have shown promising performance for representation learning on graphs, which train models by maximizing agreement between original graphs and their augmented views(i.e., positive views). Unfortunately, these methods usually involve pre-defined augmentation strategies based on the knowledge of human experts. Moreover, these strategies may fail to generate challenging positive views to provide sufficient supervision signals. In this paper, we present a novel approach named graph pooling contrast(GPS) to address these *** by the fact that graph pooling can adaptively coarsen the graph with the removal of redundancy, we rethink graph pooling and leverage it to automatically generate multi-scale positive views with varying emphasis on providing challenging positives and preserving semantics, i.e., strongly-augmented view and weakly-augmented view. Then, we incorporate both views into a joint contrastive learning framework with similarity learning and consistency learning, where our pooling module is adversarially trained with respect to the encoder for adversarial robustness. Experiments on twelve datasets on both graph classification and transfer learning tasks verify the superiority of the proposed method over its counterparts.
Image segmentation is critical in medical image processing for lesion detection, localisation, and subsequent diagnosis. Currently, computer-aided diagnosis (CAD) has played a significant role in improving diagnostic ...
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Predicting RNA binding protein(RBP) binding sites on circular RNAs(circ RNAs) is a fundamental step to understand their interaction mechanism. Numerous computational methods are developed to solve this problem, but th...
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Predicting RNA binding protein(RBP) binding sites on circular RNAs(circ RNAs) is a fundamental step to understand their interaction mechanism. Numerous computational methods are developed to solve this problem, but they cannot fully learn the features. Therefore, we propose circ-CNNED, a convolutional neural network(CNN)-based encoding and decoding framework. We first adopt two encoding methods to obtain two original matrices. We preprocess them using CNN before fusion. To capture the feature dependencies, we utilize temporal convolutional network(TCN) and CNN to construct encoding and decoding blocks, respectively. Then we introduce global expectation pooling to learn latent information and enhance the robustness of circ-CNNED. We perform circ-CNNED across 37 datasets to evaluate its effect. The comparison and ablation experiments demonstrate that our method is superior. In addition, motif enrichment analysis on four datasets helps us to explore the reason for performance improvement of circ-CNNED.
Accurate monitoring of urban waterlogging contributes to the city’s normal operation and the safety of residents’daily ***,due to feedback delays or high costs,existing methods make large-scale,fine-grained waterlog...
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Accurate monitoring of urban waterlogging contributes to the city’s normal operation and the safety of residents’daily ***,due to feedback delays or high costs,existing methods make large-scale,fine-grained waterlogging monitoring impossible.A common method is to forecast the city’s global waterlogging status using its partial waterlogging *** method has two challenges:first,existing predictive algorithms are either driven by knowledge or data alone;and second,the partial waterlogging data is not collected selectively,resulting in poor *** overcome the aforementioned challenges,this paper proposes a framework for large-scale and fine-grained spatiotemporal waterlogging monitoring based on the opportunistic sensing of limited bus *** framework follows the Sparse Crowdsensing and mainly comprises a pair of iterative predictor and *** predictor uses the collected waterlogging status and the predicted status of the uncollected area to train the graph convolutional neural *** combines both knowledge-driven and data-driven approaches and can be used to forecast waterlogging status in all regions for the upcoming *** selector consists of a two-stage selection procedure that can select valuable bus routes while satisfying budget *** experimental results on real waterlogging and bus routes in Shenzhen show that the proposed framework could easily perform urban waterlogging monitoring with low cost,high accuracy,wide coverage,and fine granularity.
Heads-up computing aims to provide synergistic digital assistance that minimally interferes with users' on-the-go daily activities. Currently, the input modalities of heads-up computing are mainly voice and finger...
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