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Soft Contact Simulation and Manipulation Learning of Deformable Objects with Vision-based Tactile Sensor

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arXiv 2024年

作者： Shan, Jianhua Sun, Yuhao Zhang, Shixin Sun, Fuchun Chen, Zixi Shen, Zirong Stefanini, Cesare Yang, Yiyong Luo, Shan Fang, Bin School of Mechanical Engineering Anhui University of Technology China Institute for Artificial Intelligence Department of Computer Science and Technology Beijing National Research Center for Information Science and Technology Tsinghua University Beijing100084 China Beijing100083 China Biorobotics Institute The Department of Excellence in Robotics and AI Scuola Superiore Sant’Anna Pisa56127 Italy Department of Engineering King’s College London LondonWC2R 2LS United Kingdom Zhili College Tsinghua University Beijing100084 China

Deformable object manipulation is a challenging problem due to its complex deformable properties. With the development of artificial intelligence, learning-based methods have shown outstanding performance in the manipulation of robots. Previous works have investigated the manipulation of deformable objects via Reinforcement Learning (RL) in simulation. However, they approximate object deformation with particles, and particle states are employed as observations, which are not available in reality. To address these issues, we propose a novel approach utilizing Vision-Based Tactile Sensors (VBTSs) as the end-effector in simulation to produce observations like relative position, squeezed area, and object contour, which are transferable to real robots. However, this makes contact simulation more complex due to the gel layer of VBTS is also a deformable object. Existing simulation methods of the vision-based tactile sensor can only simulate elastic deformation, while the simulation of plastic and elastoplastic deformation is poor. This must be overcome for a more realistic contact simulation between deformable objects. In this work, we build a new contact simulation environment for deformable objects including elastic, plastic, and elastoplastic deformation. We utilize RL strategies to train agents in the simulation, and expert demonstrations are applied for challenging tasks. To achieve simulation-to-real-world (sim-to-real) transfer, transferable observations like relative position, squeezed area, and object contour are applied in RL training. Also, we build a real experimental platform, including a VBTS, to complete the sim-to-real work and robustness testing. Leveraging the developed simulation and real experiment setup, a benchmark has been created for contact simulation and manipulation learning of deformable objects with VBTS. Our work innovatively proposes a strategy that employs high-resolution VBTSs in contact simulation and manipulation of deformable objects. W

关键词： Reinforcement learning

Multi-User Modular XL-MIMO Communications: Near-Field Beam Focusing Pattern and User Grouping

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arXiv 2023年

作者： Li, Xinrui Dong, Zhenjun Zeng, Yong Jin, Shi Zhang, Rui The National Mobile Communications Research Laboratory Frontiers Science Center for Mobile Information Communication and Security Southeast University Nanjing210096 China The Purple Mountain Laboratories Nanjing211111 China School of Science and Engineering Shenzhen Research Institute of Big Data The Chinese University of Hong Kong Guangdong Shenzhen518172 China The Department of Electrical and Computer Engineering National University of Singapore Singapore117583 Singapore

In this paper, we investigate multi-user modular extremely large-scale multiple-input multiple-output (XL-MIMO) communication systems, where modular extremely large-scale uniform linear array (XL-ULA) is deployed at the base station (BS) to serve multiple single-antenna users. By exploiting the unique modular array architecture and considering the potential near-field propagation, we develop sub-array based uniform spherical wave (USW) models for distinct versus common angles of arrival/departure (AoAs/AoDs) with respect to different sub-arrays/modules, respectively. Under such USW models, we analyze the beam focusing patterns at the near-field observation location by using near-field beamforming. The analysis reveals that compared to the conventional XL-MIMO with collocated antenna elements, modular XL-MIMO can provide better spatial resolution by benefiting from its larger array aperture. However, it also incurs undesired grating lobes due to the large inter-module separation. Moreover, it is found that for multi-user modular XL-MIMO communications, the achievable signal-to-interference-plus-noise ratio (SINR) for users may be degraded by the grating lobes of the beam focusing pattern. To address this issue, an efficient user grouping method is proposed for multi-user transmission scheduling, so that users located within the grating lobes of each other are not allocated to the same time-frequency resource block (RB) for their communications. Numerical results are presented to verify the effectiveness of the proposed user grouping method, as well as the superior performance of modular XL-MIMO over its collocated counterpart with densely distributed users. Copyright © 2023, The Authors. All rights reserved.

关键词： MIMO systems

Investigating the interrelationships between the barriers of green computing adoption: TISM-MICMAC-DEMATEL method

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Quality and Quantity 2024年第1期59卷 507-570页

作者： Dalvi-Esfahani, Mohammad Nilashi, Mehrbakhsh Abumalloh, Rabab Ali Thurasamy, Ramayah Ahmad, Muhammad Shakil Blockchain Fintech and Cryptocurrency Research Group University of Southampton Malaysia Johor Iskandar Puteri 79100 Malaysia UCSI Graduate Business School UCSI University No. 1 Jalan Menara Gading UCSI Heights Cheras Kuala Lumpur 56000 Malaysia Department of Computer Science and Engineering Qatar University Doha 2713 Qatar School of Management Universiti Sains Malaysia Minden Penang 11800 Malaysia Department of Information Technology and Management Daffodil International University Birulia Bangladesh Department of Management Sunway Business School (SBS) Selangor Petaling Jaya 47500 Malaysia University Center for Research & amp Development (UCRD) Chandigarh University Punjab Ludhiana 140413 India Faculty of Economics and Business Universitas Indonesia (UI) West Java Depok City 16424 Indonesia Management Information Systems Department School of Business The University of Jordan (UJ) Amman 11942 Jordan TUIBS Leadership Management & amp Human Resources Teesside University Middlesbrough United Kingdom Faculty of Business Sohar University Sohar P.C 311 Oman

While a considerable body of research addresses firms’ endeavors toward environmental sustainability, the prominence of green computing has been somewhat eclipsed by impediments hindering its swift integration and development. To address this gap, this study conducted a comprehensive analysis, identifying twelve distinct barriers categorized into adoption costs, technological challenges, and internal obstacles. Through consultation with fifteen field experts, the study employed Interpretive Structural Modeling (ISM) and Matrice d’Impacts Croises Multipication Applique´ an Classment (MICMAC) methodologies to scrutinize the influences among these barriers. The findings illuminated that firm size and legal constraints emerge as pivotal and autonomous factors exerting substantial influence on the adoption. Additionally, the Decision-Making Trial and Evaluation Laboratory (DEMATEL) method was deployed to ascertain the relative importance of these barriers and delineate their causal relationships. Notably, the DEMATEL results underscored that, according to experts, adoption cost barriers hold greater significance compared to other dimensions. Transactional risk, technological complexity, and switching cost were identified as pivotal barriers within their respective dimensions. The decision-making framework formulated in this study offers valuable insights for managers and practitioners, providing a nuanced understanding of the interplay between identified barriers and their implications for implementing green computing initiatives. © The Author(s), under exclusive licence to Springer Nature B.V. 2024.

关键词： Barriers DEMATEL Green computing MICMAC Total interpretive structural modeling

A Study at the Wildlife-Livestock Interface Unveils the Potential of Wildlife as a Reservoir for Extended-Spectrum Β-Lactamase-Producing Escherichia Coli

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SSRN

SSRN 2024年

作者： Liu, Ting Lee, Shinyoung Kim, Miju Fan, Peixin Boughton, Raoul K. Boucher, Christina Jeong, Kwangcheol C. Emerging Pathogens Institute University of Florida GainesvilleFL32611 United States Department of Animal Sciences College of Agricultural and Life Sciences University of Florida GainesvilleFL32611 United States Department of Food Science and Biotechnology Kyung Hee University Yongin Korea Republic of Range Cattle Research and Education Center Wildlife Ecology and Conservation University of Florida OnaFL33865 United States Department of Computer and Information Science and Engineering Herbert Wertheim College of Engineering University of Florida GainesvilleFL32611 United States

Wildlife is known to serve as carriers and sources of antimicrobial resistance (AMR). Due to their unrestricted movements and behaviors, they can spread antimicrobial resistant bacteria among livestock, humans, and the environment, accelerating the dissemination of AMR. Extended-spectrum β-lactamase (ESBL)-producing Enterobacteriaceae is one of major concerns threatening human animal health, but transmission mechanisms at the wildlife-livestock interface are not well understood. Here, we investigated the mechanisms of ESBL-producing bacteria spreading across various hosts, including cattle, feral swine, and coyotes in the same habitat range as well as from environmental samples over a two-year period. We show that a notable prevalence and clonal dissemination of ESBL-producing E. coli in feral swine and coyotes, emphasizing their persistence and adaptation within wildlife hosts. In addition, we show that horizontal gene transfer, mediated by conjugative plasmids and IS elements, plays a key role in spreading the ESBL genes among these bacteria. Furthermore, the shared gut resistome of cattle and feral swine indicate dissemination of antibiotic resistance genes at the wildlife-livestock. Taken together, our results suggest that wildlife may serve as a reservoir of ESBL-producing E. coli. © 2024, The Authors. All rights reserved.

关键词： Escherichia coli

Holistic Evaluation of GPT-4V for Biomedical Imaging

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arXiv 2023年

作者： Liu, Zhengliang Jiang, Hanqi Zhong, Tianyang Wu, Zihao Ma, Chong Li, Yiwei Yu, Xiaowei Zhang, Yutong Pan, Yi Shu, Peng Lyu, Yanjun Zhang, Lu Yao, Junjie Dong, Peixin Cao, Chao Xiao, Zhenxiang Zhao, Huan Wang, Jiaqi Xu, Shaochen Wei, Yaonai Chen, Jingyuan Wang, Peilong Dai, Haixing He, Hao Wang, Zewei Wang, Xinyu Zhang, Xu Zhao, Lin Liu, Yiheng Zhang, Kai Yan, Zhiling Liu, Jun Sun, Lichao Qiang, Ning Ge, Bao Cai, Xiaoyan Zhao, Shijie Hu, Xintao Yuan, Yixuan Li, Gang Zhang, Shu Zhang, Xin Jiang, Xi Zhang, Tuo Shen, Dinggang Li, Quanzheng Liu, Wei Li, Xiang Zhu, Dajiang Liu, Tianming School of Computing University of Georgia GA United States School of Computer and Information Technology Beijing Jiaotong University Beijing100044 China School of Automation Northwestern Polytechnical University Xi'An710072 China Department of Computer Science and Engineering University of Texas ArlingtonTX United States Institute of Medical Research Northwestern Polytechnical University Xi'An710072 China School of Life Science and Technology University of Electronic Science and Technology of China Chengdu611731 China School of Computer Science Northwestern Polytechnical University Xi'An710072 China Department of Radiation Oncology Mayo Clinic PhoenixAZ United States School of Physics and Information Technology Shaanxi Normal University Xi'An710119 China Department of Computer Science and Engineering Lehigh University PA United States Department of Radiology Second Xiangya Hospital Central South University Changsha410011 China Department of Electronic Engineering Chinese University of Hong Kong 999077 Hong Kong Department of Radiology and BRIC University of North Carolina Chapel HillNC United States School of Biomedical Engineering ShanghaiTech University Shanghai Clinical Research and Trial Center Shanghai201210 China Shanghai United Imaging Intelligence Co. Ltd. China Shanghai Clinical Research Trial Center China Department of Radiology Massachusetts General Hospital Harvard Medical School MA United States

In this paper, we present a large-scale evaluation probing GPT-4V's capabilities and limitations for biomedical image analysis. GPT-4V represents a breakthrough in artificial general intelligence (AGI) for computer vision, with applications in the biomedical domain. We assess GPT-4V's performance across 16 medical imaging categories, including radiology, oncology, ophthalmology, pathology, and more. Tasks include modality recognition, anatomy localization, disease diagnosis, report generation, and lesion detection. The extensive experiments provide insights into GPT-4V's strengths and weaknesses. Results show GPT-4V's proficiency in modality and anatomy recognition but difficulty with disease diagnosis and localization. GPT-4V excels at diagnostic report generation, indicating strong image captioning skills. While promising for biomedical imaging AI, GPT-4V requires further enhancement and validation before clinical deployment. We emphasize responsible development and testing for trustworthy integration of biomedical AGI. This rigorous evaluation of GPT-4V on diverse medical images advances understanding of multimodal large language models (LLMs) and guides future work toward impactful healthcare applications. Copyright © 2023, The Authors. All rights reserved.

关键词： Diagnosis

Learning from noisy labels via dynamic loss thresholding

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arXiv 2021年

作者： Yang, Hao Jin, Youzhi Li, Ziyin Wang, Deng-Bao Miao, Lei Geng, Xin Zhang, Min-Ling School of Computer Science and Engineering Southeast University Nanjing210096 China Key Laboratory of Computer Network and Information Integration Southeast University Ministry of Education China AI Technology Application Department Huawei Technologies Collaborative Innovation Center of Wireless Communications Technology China

Numerous researches have proved that deep neural networks (DNNs) can fit everything in the end even given data with noisy labels, and result in poor generalization performance. However, recent studies suggest that DNNs tend to gradually memorize the data, moving from correct data to mislabeled data. Inspired by this finding, we propose a novel method named Dynamic Loss Thresholding (DLT). During the training process, DLT records the loss value of each sample and calculates dynamic loss thresholds. Specifically, DLT compares the loss value of each sample with the current loss threshold. Samples with smaller losses can be considered as clean samples with higher probability and vice versa. Then, DLT discards the potentially corrupted labels and further leverages supervised learning techniques. Experiments on CIFAR-10/100 and Clothing1M demonstrate substantial improvements over recent state-of-the-art methods. In addition, we investigate two real-world problems for the first time. Firstly, we propose a novel approach to estimate the noise rates of datasets based on the loss difference between the early and late training stages of DNNs. Secondly, we explore the effect of hard samples (which are difficult to be distinguished) on the process of learning from noisy labels. Copyright © 2021, The Authors. All rights reserved.

关键词： Deep neural networks

Benchmarking quantum gates and circuits

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arXiv 2024年

作者： Tripathi, Vinay Kowsari, Daria Saurav, Kumar Zhang, Haimeng Levenson-Falk, Eli M. Lidar, Daniel A. Department of Physics & Astronomy University of Southern California Los AngelesCA90089 United States Center for Quantum Information Science and Technology University of Southern California Los AngelesCA90089 United States Ming Hsieh Department of Electrical & Computer Engineering University of Southern California Los AngelesCA90089 United States Department of Chemistry University of Southern California Los AngelesCA90089 United States

Accurate noise characterization in quantum gates and circuits is vital for the development of reliable quantum simulations for chemically relevant systems and fault-tolerant quantum computing. This paper reviews a variety of key benchmarking techniques, including Randomized Benchmarking, Quantum Process Tomography, Gate Set Tomography, Process Fidelity Estimation, Direct Fidelity Estimation, and Cross-Entropy Benchmarking. We evaluate each method’s complexities, the resources they require, and their effectiveness in addressing coherent, incoherent, and state preparation and measurement (SPAM) errors. Furthermore, we introduce Deterministic Benchmarking (DB), a novel protocol that minimizes the number of experimental runs, exhibits resilience to SPAM errors, and effectively characterizes both coherent and incoherent errors. The implementation of DB is experimentally validated using a superconducting transmon qubit, and the results are substantiated with a simple analytical model and master equation simulations. With the addition of DB to the toolkit of available benchmarking methods, this article serves as a practical guide for choosing and applying benchmarking protocols to advance quantum computing technologies. © 2024, CC BY.

关键词： Quantum computers

Spanning trees of recursive scale-free graphs

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Physical Review E 2022年第2期105卷 024312-024312页

作者： C. Tyler Diggans Erik M. Bollt Daniel ben-Avraham Clarkson Center for Complex Systems Science Clarkson University Potsdam New York 13699 USA Department of Physics Clarkson University Potsdam New York 13699 USA Air Force Research Laboratory: Information Directorate Rome New York 13441 USA Department of Electrical and Computer Engineering Clarkson University Potsdam New York 13699 USA

We present a link-by-link rule-based method for constructing all members of the ensemble of spanning trees for any recursively generated, finitely articulated graph, such as the Dorogovtsev-Goltsev-Mendes (DGM) net. The recursions allow for many large-scale properties of the ensemble of spanning trees to be analytically solved exactly. We show how a judicious application of the prescribed growth rules selects for certain subsets of the spanning trees with particular desired properties (small world, extended diameter, degree distribution, etc.), and thus approximates and/or provides solutions to several optimization problems on undirected and unweighted networks. The analysis of spanning trees enhances the usefulness of recursive graphs as sophisticated models for everyday life complex networks.

关键词： Coupled oscillators Exhaustive network search network formation & growth network optimization

Secure Lightweight Macro Payment Protocol for Mobile Payments Using Iot-Based Wearable Devices

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SSRN

SSRN 2022年

作者： Bojjagani, Sriramulu Seelam, Nagarjuna Reddy Sharma, Neeraj Kumar Sharma, Dhirendra Kumar Saleti, Sumalatha Akuri, Sree Rama Chandra Murthy Khurram Khan, Muhammad School of Engineering and Applied Sciences SRM University-AP Andhra Pradesh Amaravati522503 India Department of Computer Science and Engineering Lakireddy Bali Reddy College of Engineering Mylavaram Jntuk Kakinada India Deparment of Cybernetics School of Computer Science University of Petrolium and Energy Studies Bidholi Uttarakhand Dehradun248007 India Center of Excellence in Information Assurance King Saud University Riyadh12372 Saudi Arabia

The importance of the wearable payment market is increasing exponentially. There is a demand for lightweight cryptography methods for IoT-based devices. These are supported by the various applications of wearable payments, healthcare, intelligent transportation systems, and education. As the wave of wearables takes hold, consumers expect their wearable devices to support a secure environment, authentication mechanisms, and transit functions via contactless Near field communication (NFC) or Bluetooth low energy technologies (BLE). This paper uses device pairing NFC because it is globally accepted and a modern, convenient way to pay at compatible terminals worldwide. The proposed method allows the customer to buy the goods and services directly with the wearable devices, irrespective of the cost. The protocol uses the ``elliptic curve digital signature algorithm (ECDSA)'' and ``Advanced encryption standard (AES)'' to encrypt the messages between the parties. The security analysis of the proposed scheme is demonstrated through the BAN logic and broadly accepted model-checking tools of Scyther. Finally, we present a comparative summary based on security features, communication cost, and computation overhead of existing methods, specifying that the proposed framework is secure and efficient for macro micropayments for wearable devices. © 2022, The Authors. All rights reserved.

关键词： Bluetooth