检索结果-内蒙古大学图书馆

OverlapMamba: Novel Shift State Space Model for LiDAR-based Place Recognition

学校读者我要写书评

暂无评论

arXiv 2024年

作者： Xiang, Qiuchi Cheng, Jintao Luo, Jiehao Wu, Jin Fan, Rui Chen, Xieyuanli Tang, Xiaoyu School of Data Science and Engineering Xingzhi College South China Normal University Shanwei516600 China School of Electronic and Information Engineering South China Normal University Guangdong Foshan528225 China Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong College of Intelligence Science and Technology National University of Defense Technology Changsha China College of Electronics & Information Engineering Shanghai Research Institute for Intelligent Autonomous Systems The State Key Laboratory of Intelligent Autonomous Systems Frontiers Science Center for Intelligent Autonomous Systems Tongji University Shanghai201804 China

Place recognition is the foundation for enabling autonomous systems to achieve independent decision-making and safe operations. It is also crucial in tasks such as loop closure detection and global localization within SLAM. Previous methods utilize mundane point cloud representations as input and deep learning-based LiDAR-based Place Recognition (LPR) approaches employing different point cloud image inputs with convolutional neural networks (CNNs) or transformer architectures. However, the recently proposed Mamba deep learning model, combined with state space models (SSMs), holds great potential for long sequence modeling. Therefore, we developed OverlapMamba, a novel network for place recognition, which represents input range views (RVs) as sequences. In a novel way, we employ a stochastic reconstruction approach to build shift state space models, compressing the visual representation. Evaluated on three different public datasets, our method effectively detects loop closures, showing robustness even when traversing previously visited locations from different directions. Relying on raw range view inputs, it outperforms typical LiDAR and multi-view combination methods in time complexity and speed, indicating strong place recognition capabilities and realtime efficiency. Copyright © 2024, The Authors. All rights reserved.

关键词： Decision making

Vulnerability of Machine Learning Approaches Applied in IoT-based Smart Grid: A Review

学校读者我要写书评

暂无评论

arXiv 2023年

作者： Zhang, Zhenyong Liu, Mengxiang Sun, Mingyang Deng, Ruilong Cheng, Peng Niyato, Dusit Chow, Mo-Yuen Chen, Jiming The State Key Laboratory of Public Big Data College of Computer Science and Technology Guizhou University Guiyang550000 China The Department of Automatic Control and Systems Engineering University of Sheffield SheffieldS10 2TN United Kingdom The State Key Laboratory of Industrial Control Technology the College of Control Science and Engineering Zhejiang University Hangzhou310027 China The School of Computer Science and Engineering Nanyang Technological University Singapore639798 Singapore The UM SJTU Joint Institute Shanghai Jiao Tong University Shanghai200240 China

Machine learning (ML) sees an increasing prevalence of being used in the internet-of-things (IoT)-based smart grid. However, the trustworthiness of ML is a severe issue that must be addressed to accommodate the trend of ML-based smart grid applications (MLsgAPPs). The adversarial distortion injected into the power signal will greatly affect the system’s normal control and operation. Therefore, it is imperative to conduct vulnerability assessment for MLsgAPPs applied in the context of safety-critical power systems. In this paper, we provide a comprehensive review of the recent progress in designing attack and defense methods for MLsgAPPs. Unlike the traditional survey about ML security, this is the first review work about the security of MLsgAPPs that focuses on the characteristics of power systems. We first highlight the specifics for constructing the adversarial attacks on MLsgAPPs. Then, the vulnerability of MLsgAPP is analyzed from both the aspects of the power system and ML model. Afterward, a comprehensive survey is conducted to review and compare existing studies about the adversarial attacks on MLsgAPPs in scenarios of generation, transmission, distribution, and consumption, and the countermeasures are reviewed according to the attacks that they defend against. Finally, the future research directions are discussed on the attacker’s and defender’s side, respectively. We also analyze the potential vulnerability of large language model-based (e.g., ChatGPT) power system applications. Overall, we encourage more researchers to contribute to investigating the adversarial issues of MLsgAPPs. Copyright © 2023, The Authors. All rights reserved.

关键词： Machine learning

Timed data plane update in data center network 25

学校读者我要写书评

暂无评论

Timed data plane update in data center network

25th IEEE International Conference on Parallel and Distributed systems, ICPADS 2019

作者： Liu, Yuxiang Gao, Xiaofeng Zheng, Jiaqi Chen, Guihai Shanghai Key Laboratory of Scalable Computing and Systems Department of Computer Science and Engineering Shanghai Jiao Tong University Shanghai China State Key Laboratory for Novel Software Technology Nanjing University Nanjing China

ISBN: (纸本)9781728125831

Software-Defined Networks make it more principled and formal to operate and verify networks, which decouple the control plane and the data plane and introduce flexibility and programmability into the network. The SDN control plane needs to frequently update the data plane. However, the decoupled control and data planes face new challenges. The network is still an asynchronous distributed system in rule updates. If the update operations are not carefully scheduled, it may result in blackhole, congestions, and violate the consistency properties. Motivated by the tightly synchronized SDNs, we proposed TIDERS Algorithm for consistent network updates in 'timed SDNs'-where one node update can be scheduled at specific time. In TIDERS, we use synchronized time technique to achieve fast network updates while guaranteeing consistency properties. We focus on congestion-free in scheduling the update operations. To achieve this, we first set up a flow-based dependency graph and transform it into switch-operation level dependency graph. Based on operation dependency graph, we generate an update schedule and gradually optimize it to finally get a fast update schedule. After that, we conduct a series of simulations comparing our approach with several other methods to evaluate it. © 2019 IEEE.

关键词： Flow graphs

HEART: Achieving Timely Multi-Model Training for Vehicle-Edge-Cloud-Integrated Hierarchical Federated Learning

学校读者我要写书评

暂无评论

arXiv 2025年

作者： Yang, Xiaohong Liwang, Minghui Wang, Xianbin Cheng, Zhipeng Hosseinalipour, Seyyedali Dai, Huaiyu Jiao, Zhenzhen School of Informatics Xiamen University Fujian China Department of Control Science and Engineering The National Key Laboratory of Autonomous Intelligent Unmanned Systems Japan Frontiers Science Center for Intelligent Autonomous Systems Ministry of Education Tongji University Shanghai China Department of Electrical and Computer Engineering Western University ON Canada School of Future Science and Engineering Soochow University Suzhou China Department of Electrical Engineering University at Buffalo-SUNY BuffaloNY United States Department of Electrical and Computer Engineering NC State University RaleighNC United States iF-Labs Beijing Teleinfo Technology Company Ltd. CAICT Beijing China

The rapid growth of AI-enabled Internet of Vehicles (IoV) calls for efficient machine learning (ML) solutions that can handle high vehicular mobility and decentralized data. This has motivated the emergence of Hierarchical Federated Learning over vehicle-edge-cloud architectures (VEC-HFL). Nevertheless, one aspect which is underexplored in the literature on VEC-HFL is that vehicles often need to execute multiple ML tasks simultaneously, where this multi-model training environment introduces crucial challenges. First, improper aggregation rules can lead to model obsolescence and prolonged training times. Second, vehicular mobility may result in inefficient data utilization by preventing the vehicles from returning their models to the network edge. Third, achieving a balanced resource allocation across diverse tasks becomes of paramount importance as it majorly affects the effectiveness of collaborative training. We take one of the first steps towards addressing these challenges via proposing a framework for multi-model training in dynamic VEC-HFL with the goal of minimizing global training latency while ensuring balanced training across various tasks—a problem that turns out to be NP-hard. To facilitate timely model training, we introduce a hybrid synchronous-asynchronous aggregation rule. Building on this, we present a novel method called Hybrid Evolutionary And gReedy allocaTion (HEART). The framework operates in two stages: first, it achieves balanced task scheduling through a hybrid heuristic approach that combines improved Particle Swarm Optimization (PSO) and Genetic Algorithms (GA);second, it employs a low-complexity greedy algorithm to determine the training priority of assigned tasks on vehicles. Experiments on real-world datasets demonstrate the superiority of HEART over existing methods. © 2025, CC BY-NC-ND.

关键词： Federated learning

D2NT: A High-Performing Depth-to-Normal Translator

学校读者我要写书评

暂无评论

D2NT: A High-Performing Depth-to-Normal Translator

IEEE International Conference on Robotics and Automation (ICRA)

作者： Yi Feng Bohuan Xue Ming Liu Qijun Chen Rui Fan Robotics & Artificial Intelligence Laboratory (RAIL) the State Key Laboratory of Intelligent Autonomous Systems and Frontiers Science Center for Intelligent Autonomous Systems the College of Electronic & Information Engineering Tongji University Shanghai P. R. China Department of Computer Science & Engineering the Hong Kong University of Science and Technology (Guangzhou) Hong Kong SAR P. R. China Robotics & Autonomous Systems Thrust of the Systems Hub the Hong Kong University of Science and Technol-ogy (Guangzhou) Nansha Guangzhou P. R. China

Surface normal holds significant importance in visual environmental perception, serving as a source of rich geometric information. However, the state-of-the-art (SoTA) surface normal estimators (SNEs) generally suffer from an unsatisfactory trade-off between efficiency and accuracy. To resolve this dilemma, this paper first presents a superfast depth-to-normal translator (D2NT), which can directly translate depth images into surface normal maps without calculating 3D coordinates. We then propose a discontinuity-aware gradient (DAG) filter, which adaptively generates gradient convolution kernels to improve depth gradient estimation. Finally, we propose a surface normal refinement module that can easily be integrated into any depth-to-normal SNEs, substantially improving the surface normal estimation accuracy. Our proposed algorithm demonstrates the best accuracy among all other existing real-time SNEs and achieves the SoTA trade-off between efficiency and accuracy.

关键词：

Multi-objective Optimization for Multi-UAV-assisted Mobile Edge computing

学校读者我要写书评

暂无评论

arXiv 2024年

作者： Sun, Geng Wang, Yixian Sun, Zemin Wu, Qingqing Kang, Jiawen Niyato, Dusit Leung, Victor C.M. College of Computer Science and Technology Jilin University Changchun130012 China Key Laboratory of Symbolic Computation and Knowledge Engineering Ministry of Education Jilin University Changchun130012 China College of Computing and Data Science Nanyang Technological University Singapore639798 Singapore Department of Electronic Engineering Shanghai Jiao Tong University Shanghai China School of Automation Guangdong University of Technology Guangzhou510006 China College of Computer Science and Software Engineering Shenzhen University Shenzhen518060 China Department of Electrical and Computer Engineering University of British Columbia VancouverBCV6T 1Z4 Canada

Recent developments in unmanned aerial vehicles (UAVs) and mobile edge computing (MEC) have provided users with flexible and resilient computing services. However, meeting the computing-intensive and latency-sensitive demands of users poses a significant challenge due to the limited resources of UAVs. To address this challenge, we present a multi-objective optimization approach for multi-UAV-assisted MEC systems. First, we formulate a multi-objective optimization problem aiming at minimizing the total task completion delay, reducing the total UAV energy consumption, and maximizing the total amount of offloaded tasks by jointly optimizing task offloading, computation resource allocation, and UAV trajectory control. Since the problem is a mixed-integer non-linear programming (MINLP) and NP-hard problem which is challenging, we propose a joint task offloading, computation resource allocation, and UAV trajectory control (JTORATC) approach to solve the problem. However, since the decision variables of task offloading, computation resource allocation, and UAV trajectory control are coupled with each other, the original problem is split into three sub-problems, i.e., task offloading, computation resource allocation, and UAV trajectory control, which are solved individually to obtain the corresponding decisions. Moreover, the sub-problem of task offloading is solved by using distributed splitting and threshold rounding methods, the sub-problem of computation resource allocation is solved by adopting the Karush-Kuhn-Tucker (KKT) method, and the sub-problem of UAV trajectory control is solved by employing the successive convex approximation (SCA) method. Simulation results show that the proposed JTORATC has superior performance compared to the other benchmark methods. Copyright © 2024, The Authors. All rights reserved.

关键词： Unmanned aerial vehicles (UAV)

Federated Learning for Recognizing Private Handwritten Numbers

学校读者我要写书评

暂无评论

Federated Learning for Recognizing Private Handwritten Numbe...

2021 IEEE International Conference on Data science and computer Application, ICDSCA 2021

作者： Wang, Di Jiang, Yuchen Zhao, Yibo Chen, Panyang Li, Ang Pan, Kun Institution of Information Engineering Chinese Academy of Sciences State Key Laboratory of Information Security Beijing China School of Cyber Security University of Chinese Academy of Sciences Beijing China Computer Science and Technology College of Computer Science Chongqing University Chongqing China Zibo Shiyan High School International Division Zibo Shandong China Computer Science Department of Computer Science and Software Engineering Auburn University Auburn United States Shanghai Shangde Experimental School Shanghai China School of Computing University of Leeds Leeds United Kingdom

ISBN: (纸本)9781665440530

Federated learning (FL) is a new technology in the field of machine learning, which trains an algorithm across multiple decentralized edge devices or servers holding data samples, without exchanging their data samples. Horizontal Federated Learning (HFL) is a FL method focusing on using the same feature space across all users, which is suitable for situations where users' data feature dimensions overlap more. Because FL has the advantage of privacy protection in the field of manufacturing, we propose an HFL-based deep learning method named FedCNN, which realizes the digits handwritten recognition without violating the privacy or data sharing. Three different methods (local model, centralized model, and HFL-based FedCNN) are used on a public data set (MINIST) to compare the pros and cons of the solutions. The experimental results demonstrate that FedCNN scheme can simultaneously achieve practical privacy preservation and good model generalization performance with Homomorphic Encryption. © 2021 IEEE.

关键词： Data privacy

Technology Roadmap for Flexible Sensors

学校读者我要写书评

暂无评论

ACS NANO 2023年第6期17卷 5211-5295页

作者： Luo, Yifei Abidian, Mohammad Reza Ahn, Jong-Hyun Akinwande, Deji Andrews, Anne M. Antonietti, Markus Bao, Zhenan Berggren, Magnus Berkey, Christopher A. Bettinger, Christopher John Chen, Jun Chen, Peng Cheng, Wenlong Cheng, Xu Choi, Seon-Jin Chortos, Alex Dagdeviren, Canan Dauskardt, Reinhold H. Di, Chong-an Dickey, Michael D. Duan, Xiangfeng Facchetti, Antonio Fan, Zhiyong Fang, Yin Feng, Jianyou Feng, Xue Gao, Huajian Gao, Wei Gong, Xiwen Guo, Chuan Fei Guo, Xiaojun Hartel, Martin C. He, Zihan Ho, John S. Hu, Youfan Huang, Qiyao Huang, Yu Huo, Fengwei Hussain, Muhammad M. Javey, Ali Jeong, Unyong Jiang, Chen Jiang, Xingyu Kang, Jiheong Karnaushenko, Daniil Khademhosseini, Ali Kim, Dae-Hyeong Kim, Il-Doo Kireev, Dmitry Kong, Lingxuan Lee, Chengkuo Lee, Nae-Eung Lee, Pooi See Lee, Tae-Woo Li, Fengyu Li, Jinxing Liang, Cuiyuan Lim, Chwee Teck Lin, Yuanjing Lipomi, Darren J. Liu, Jia Liu, Kai Liu, Nan Liu, Ren Liu, Yuxin Liu, Yuxuan Liu, Zhiyuan Liu, Zhuangjian Loh, Xian Jun Lu, Nanshu Lv, Zhisheng Magdassi, Shlomo Malliaras, George G. Matsuhisa, Naoji Nathan, Arokia Niu, Simiao Pan, Jieming Pang, Changhyun Pei, Qibing Peng, Huisheng Qi, Dianpeng Ren, Huaying Rogers, John A. Rowe, Aaron Schmidt, Oliver G. Sekitani, Tsuyoshi Seo, Dae-Gyo Shen, Guozhen Sheng, Xing Shi, Qiongfeng Someya, Takao Song, Yanlin Stavrinidou, Eleni Su, Meng Sun, Xuemei Takei, Kuniharu Tao, Xiao-Ming Tee, Benjamin C. K. Thean, Aaron Voon-Yew Trung, Tran Quang Wan, Changjin Wang, Huiliang Wang, Joseph Wang, Ming Wang, Sihong Wang, Ting Wang, Zhong Lin Weiss, Paul S. Wen, Hanqi Xu, Sheng Xu, Tailin Yan, Hongping Yan, Xuzhou Yang, Hui Yang, Le Yang, Shuaijian Yin, Lan Yu, Cunjiang Yu, Guihua Yu, Jing Yu, Shu-Hong Yu, Xinge Zamburg, Evgeny Zhang, Haixia Zhang, Xiangyu Zhang, Xiaosheng Zhang, Xueji Zhang, Yihui Zhang, Yu Zhao, Siyuan Zhao, Xuanhe Zheng, Yuanjin Zheng, Yu-Qing Zheng, Zijian Zhou, Tao Zhu, Bowen Zhu, Ming Zhu, Rong Zhu, Yangzhi Zhu, Yong Zou, Guijin Chen, Xiaodong 08-03 Innovis Singapore 138634 Republic of Singapore Innovative Centre for Flexible Devices (iFLEX) School of Materials Science and Engineering Nanyang Technological University Singapore 639798 Singapore Department of Biomedical Engineering University of Houston Houston Texas 77024 United States School of Electrical and Electronic Engineering Yonsei University Seoul 03722 Republic of Korea Department of Electrical and Computer Engineering The University of Texas at Austin Austin Texas 78712 United States Microelectronics Research Center The University of Texas at Austin Austin Texas 78758 United States Department of Chemistry and Biochemistry California NanoSystems Institute and Department of Psychiatry and Biobehavioral Sciences Semel Institute for Neuroscience and Human Behavior and Hatos Center for Neuropharmacology University of California Los Angeles Los Angeles California 90095 United States Colloid Chemistry Department Max Planck Institute of Colloids and Interfaces 14476 Potsdam Germany Department of Chemical Engineering Stanford University Stanford California 94305 United States Laboratory of Organic Electronics Department of Science and Technology Campus Norrköping Linköping University 83 Linköping Sweden Wallenberg Initiative Materials Science for Sustainability (WISE) and Wallenberg Wood Science Center (WWSC) SE-100 44 Stockholm Sweden Department of Materials Science and Engineering Stanford University Stanford California 94301 United States Department of Biomedical Engineering and Department of Materials Science and Engineering Carnegie Mellon University Pittsburgh Pennsylvania 15213 United States Department of Bioengineering University of California Los Angeles Los Angeles California 90095 United States School of Chemistry Chemical Engineering and Biotechnology Nanyang Technological University Singapore 637457 Singapore Nanobionics Group Department of Chemical and Biological Engineering Monash University Clayton Australia 3800 Monash

Humans rely increasingly on sensors to address grand challenges and to improve quality of life in the era of digitalization and big data. For ubiquitous sensing, flexible sensors are developed to overcome the limitations of conventional rigid counterparts. Despite rapid advancement in bench-side research over the last decade, the market adoption of flexible sensors remains limited. To ease and to expedite their deployment, here, we identify bottlenecks hindering the maturation of flexible sensors and propose promising solutions. We first analyze continued...challenges in achieving satisfactory sensing performance for real-world applications and then summarize issues in compatible sensor-biology interfaces, followed by brief discussions on powering and connecting sensor networks. Issues en route to commercialization and for sustainable growth of the sector are also analyzed, highlighting environmental concerns and emphasizing nontechnical issues such as business, regulatory, and ethical considerations. Additionally, we look at future intelligent flexible sensors. In proposing a comprehensive roadmap, we hope to steer research efforts towards common goals and to guide coordinated development strategies from disparate communities. Through such collaborative

关键词： soft materials mechanics engineering flexible electronics conformable sensors bioelectronics human-machine interfaces body area sensor networks technology translation sustainable electronics

Four-Valued Monitorability of ω -Regular Languages 22nd

学校读者我要写书评

暂无评论

Four-Valued Monitorability of ω -Regular Languages

22nd International Conference on Formal Engineering Methods, ICFEM 2020

作者： Chen, Zhe Chen, Yunyun Hierons, Robert M. Wu, Yifan College of Computer Science and Technology Nanjing University of Aeronautics and Astronautics Nanjing China Shanghai Key Laboratory of Trustworthy Computing Shanghai China State Key Laboratory for Novel Software Technology Nanjing University Nanjing China Department of Computer Science The University of Sheffield Sheffield United Kingdom

ISBN: (纸本)9783030634056

The use of runtime verification has led to interest in deciding whether a property is monitorable: whether it is always possible for the satisfaction or violation of the property to be determined after a finite future continuation during system execution. However, classical two-valued monitorability suffers from two inherent limitations, which eventually increase runtime overhead. First, no information is available regarding whether only one verdict (satisfaction or violation) can be detected. Second, it does not tell us whether verdicts can be detected starting from the current monitor state during system execution. This paper proposes a new notion of four-valued monitorability for ω -languages and applies it at the state-level. Four-valued monitorability is more informative than two-valued monitorability as a property can be evaluated as a four-valued result, denoting that only satisfaction, only violation, or both are active for a monitorable property. We can also compute state-level weak monitorability, i.e., whether satisfaction or violation can be detected starting from a given state in a monitor, which enables state-level optimizations of monitoring algorithms. Based on a new six-valued semantics, we propose procedures for computing four-valued monitorability of ω -regular languages, both at the language-level and at the state-level. Experimental results show that our tool implementation Monic can correctly, and quickly, report both two-valued and four-valued monitorability. © 2020, Springer Nature Switzerland AG.

关键词： Semantics