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IEEE International Conference on Robotics and Automation (ICRA)

作者： Oleksii Tsepa Roman Burakov Brokoslaw Laschowski Alex Mihailidis Department of Computer Science AGE-WELL Networks of Centres of Excellence program University of Toronto and the Vector Institute for Artificial Intelligence Department of Mathematical Methods of System Analysis Igor Sikorsky Kyiv Polytechnic Institute Kyiv Ukraine Department of Computer Science University of Toronto Toronto ON Canada Department of Mathematics National University of Kyiv-Mohyla Academy Kyiv Ukraine Department of Mechanical and Industrial Engineering University of Toronto Toronto ON Canada Toronto Rehabilitation Institute University Health Network Toronto ON Canada Institute of Biomedical Engineering University of Toronto Toronto ON Canada

Unlike traditional hierarchical controllers for robotic leg prostheses and exoskeletons, continuous systems could allow persons with mobility impairments to walk more naturally in real-world environments without requiring high-level switching between locomotion modes. To support these next-generation controllers, we developed a new system called KIFNet (Kinematics and Image Fusing Network) that uses lightweight and efficient deep learning models to continuously predict the leg kinematics during walking. We tested different sensor fusion methods to combine kinematics data from inertial sensors and computer vision data from smart glasses and found that adaptive instance normalization achieved the lowest RMSE predictions for knee and ankle joint kinematics. We also deployed our model on an embedded device. Without inference optimization, our model was 20 times faster than the previous state-of-the-art and achieved 20% higher prediction accuracies, and during some locomotor activities like stair descent, decreased RMSE up to 300%. With inference optimization, our best model achieved 125 FPS on an NVIDIA Jetson Nano. These results demonstrate the potential to build fast and accurate deep learning models for continuous prediction of leg kinematics during walking based on sensor fusion and embedded computing, therein providing a foundation for real-time continuous controllers for robotic leg prostheses and exoskeletons.

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Optimal Method Combining Blockchain and Multi-Agent system to Ensure Data Integrity and Deduplication in the Cloud Environment

International Journal of Interactive Mobile Technologies

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International Journal of Interactive Mobile Technologies 2024年第10期18卷 90-105页

作者： El Ghazouani, Mohamed Ikidid, Abdelouafi Zaouiat, Charafeddine Ait Aziz, Layla Ichahane, Moulay Youssef Er-Rajy, Latifa ESIM Polydisciplinary Faculty of Sidi Bennour Chouaîb Doukkali University El Jadida Morocco Laboratory of System Analysis Information Processing and Industrial Management EST Salé Mohammed V University Salé Morocco Information Technology Laboratory National School of Applied Sciences Chouaîb Doukkali University El Jadida Morocco Computer Science Department Laboratory of Information Systems Engineering Cadi Ayyad University Marrakesh Morocco

Cloud computing (CC) refers to the transmission, storage, and processing of any type of information at a location that is not owned or controlled by the information owner. This information can be stored and accessed anytime, from anywhere, and using any device. However, several challenges threaten the deployment of cloud computing technology within organizations, including user privacy, data integrity, and managing the retention of the vast amount of data that will be stored and analyzed in this environment. In recent years, various data integrity checking systems and data storage mechanisms have been proposed to address these diverse challenges. Nevertheless, some protocols do not guarantee data confidentiality against auditors during the auditing process, while others do not provide batch auditing. Additionally, the majority of these protocols do not support the deduplication technique. Therefore, in this research work, the security features of blockchain technology and those of multi-agent systems (MAS) have prompted us to propose models that enable both data deduplication, saving storage space, and data integrity auditing, efficiently verifying the accuracy of data outsourced to CC environments. Implementation findings indicate that the suggested system is highly feasible and applicable in real-world scenarios. © 2024 by the authors of this article.

关键词： Multi agent systems

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Improved Multisignature Scheme for Authenticity of Digital Document in Digital Forensics Using Edward-Curve Digital Signature Algorithm

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Security and Communication Networks 2023年第1期2023卷

作者： Shankar, Gauri Ai-Farhani, Liwa H. Anitha Christy Angelin, P. Singh, Parvinder Alqahtani, Abdullah Singh, Abha Kaur, Gaganpreet Samori, Issah Abubakari Chandigarh University Mohali Punjab Mohali140413 India System Analysis Control and Information Processing Academy of Engineering RUDN University Moscow Russia PSNA College of Engineering and Technology Tamilnadu Dindigul624622 India Central University of Punjab Bathinda Punjab 151001 India Department of Computer Science College of Computer Science King Khalid University Abha Saudi Arabia Department of Basic Science College of Science and Theoretical Study Dammam-Female Branch Saudi Electronic University Saudi Arabia Chitkara University Institute of Engineering and Technology Chitkara University Punjab Rajpura India School of Engineering Sciences University of Ghana Accra Ghana

At the moment, digital documents are just as important as paper documents. As a result, authenticity is essential, especially in legal situations and digital forensics. As technology advances, these digital signature algorithms become weaker, necessitating the development of digital authentication schemes capable of withstanding current security threats. This study proposed a scheme based on an asymmetric key cryptosystem and the user's biometric credentials to generate keys for digital signatures. A single document can be signed by multiple signatories at the same time under this scheme. The primary goal of this article is to create a safe and cost-effective multiignature scheme. To create keys for document signing and verification, the Edwards-curve Digital Signature Algorithm (EdDSA), especially Ed25519, is employed. The Edwards-curve Digital Signature Algorithm is used with blockchain technology to sign crypto wallets. The Python implementation of a scheme that enables platform independence. We performed performance, security, and comparative analysis to ensure maximum usability. The article's main findings are that the Ed25519 algorithm can be used in blockchain. © 2023 Gauri Shankar et al.

关键词： Digital forensics

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TCEIP: Text Condition Embedded Regression Network for Dental Implant Position Prediction

arXiv

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arXiv 2023年

作者： Yang, Xinquan Xie, Jinheng Li, Xuguang Li, Xuechen Li, Xin Shen, Linlin Deng, Yongqiang College of Computer Science and Software Engineering Shenzhen University Shenzhen China AI Research Center for Medical Image Analysis and Diagnosis Shenzhen University Shenzhen China National Engineering Laboratory for Big Data System Computing Technology Shenzhen University China Department of Stomatology Shenzhen University General Hospital Shenzhen China National University of Singapore Singapore

When deep neural network has been proposed to assist the dentist in designing the location of dental implant, most of them are targeting simple cases where only one missing tooth is available. As a result, literature works do not work well when there are multiple missing teeth and easily generate false predictions when the teeth are sparsely distributed. In this paper, we are trying to integrate a weak supervision text, the target region, to the implant position regression network, to address above issues. We propose a text condition embedded implant position regression network (TCEIP), to embed the text condition into the encoder-decoder framework for improvement of the regression performance. A cross-modal interaction that consists of cross-modal attention (CMA) and knowledge alignment module (KAM) is proposed to facilitate the interaction between features of images and texts. The CMA module performs a cross-attention between the image feature and the text condition, and the KAM mitigates the knowledge gap between the image feature and the image encoder of the CLIP. Extensive experiments on a dental implant dataset through five-fold cross-validation demonstrated that the proposed TCEIP achieves superior performance than existing methods. Copyright © 2023, The Authors. All rights reserved.

关键词： Signal encoding

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Two-Stream Regression Network for Dental Implant Position Prediction

arXiv

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arXiv 2023年

作者： Yang, Xinquan Li, Xuguang Li, Xuechen Chen, Wenting Shen, Linlin Li, Xin Deng, Yongqiang College of Computer Science and Software Engineering Shenzhen University Shenzhen China AI Research Center for Medical Image Analysis and Diagnosis Shenzhen University Shenzhen China National Engineering Laboratory for Big Data System Computing Technology Shenzhen University China Department of Stomatology Shenzhen University General Hospital Shenzhen China Department of Electrical Engineering City University of Hong Kong Hong Kong

In implant prosthesis treatment, the design of surgical guide requires lots of manual labors and is prone to subjective variations. When deep learning based methods has started to be applied to address this problem, the space between teeth are various and some of them might present similar texture characteristic with the actual implant region. Both problems make a big challenge for the implant position prediction. In this paper, we develop a two-stream implant position regression framework (TSIPR), which consists of an implant region detector (IRD) and a multi-scale patch embedding regression network (MSPENet), to address this issue. For the training of IRD, we extend the original annotation to provide additional supervisory information, which contains much more rich characteristic and do not introduce extra labeling costs. A multi-scale patch embedding module is designed for the MSPENet to adaptively extract features from the images with various tooth spacing. The global-local feature interaction block is designed to build the encoder of MSPENet, which combines the transformer and convolution for enriched feature representation. During inference, the RoI mask extracted from the IRD is used to refine the prediction results of the MSPENet. Extensive experiments on a dental implant dataset through five-fold cross-validation demonstrated that the proposed TSIPR achieves superior performance than existing methods. Copyright © 2023, The Authors. All rights reserved.

关键词： Embeddings

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When to update your model: constrained model-based reinforcement learning 22

When to update your model: constrained model-based reinforce...

引用

Proceedings of the 36th International Conference on Neural Information Processing systems

作者： Tianying Ji Yu Luo Fuchun Sun Mingxuan Jing Fengxiang He Wenbing Huang Department of Computer Science and Technology Tsinghua University Science & Technology on Integrated Information System Laboratory Institute of Software Chinese Academy of Sciences JD Explore Academy *** Inc Gaoling School of Artificial Intelligence Renmin University of China and Beijing Key Laboratory of Big Data Management and Analysis Methods Beijing China

ISBN: (纸本)9781713871088

Designing and analyzing model-based RL (MBRL) algorithms with guaranteed monotonic improvement has been challenging, mainly due to the interdependence between policy optimization and model learning. Existing discrepancy bounds generally ignore the impacts of model shifts, and their corresponding algorithms are prone to degrade performance by drastic model updating. In this work, we first propose a novel and general theoretical scheme for a non-decreasing performance guarantee of MBRL. Our follow-up derived bounds reveal the relationship between model shifts and performance improvement. These discoveries encourage us to formulate a constrained lower-bound optimization problem to permit the monotonicity of MBRL. A further example demonstrates that learning models from a dynamically-varying number of explorations benefit the eventual returns. Motivated by these analyses, we design a simple but effective algorithm CMLO (Constrained Model-shift Lower-bound Optimization), by introducing an event-triggered mechanism that flexibly determines when to update the model. Experiments show that CMLO surpasses other state-of-the-art methods and produces a boost when various policy optimization methods are employed.

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Introducing the Open Energy Ontology: Enhancing data interpretation and interfacing in energy systems analysis

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Energy and AI 2021年第3期5卷 53-66页

作者： Meisam Booshehri Lukas Emele Simon Flügel Hannah Förster Johannes Frey Ulrich Frey Martin Glauer Janna Hastings Christian Hofmann Carsten Hoyer-Klick Ludwig Hülk Anna Kleinau Kevin Knosala Leander Kotzur Patrick Kuckertz Till Mossakowski Christoph Muschner Fabian Neuhaus Michaja Pehl Martin Robinius Vera Sehn Mirjam Stappel Institute for Applied Ecology BerlinGermany Institute for Applied Informatics(InfAI)/Leipzig University Germany Department of Energy Systems Analysis Institute of Networked Energy SystemsGerman Aerospace Center(DLR)StuttgartGermany Faculty of Computer Science Otto-von-Guericke-Universität MagdeburgGermany Reiner Lemoine Institut BerlinGermany Institute of Techno-economic Systems Analysis(IEK-3) Forschungszentrum JülichJülichGermany Institute of Energy Economics and Rational Energy Use University of StuttgartGermany Potsdam Institute for Climate Impact Research PotsdamGermany Fraunhofer Institute for Energy Economics and Energy System Technology KasselGermany

Heterogeneous data,different definitions and incompatible models are a huge problem in many domains,with no exception for the field of energy systems ***,it is hard to re-use results,compare model results or couple models at *** provide a precisely defined vocabulary to build a common and shared conceptu-alisation of the energy ***,we present the Open Energy Ontology(OEO)developed for the domain of energy systems *** the OEO provides several benefits for the ***,it enables consistent annotation of large amounts of data from various research *** example is the Open Energy Platform(OEP).Adding such annotations makes data semantically searchable,exchangeable,re-usable and ***,computational model coupling becomes much *** advantages of using an ontology such as the OEO are demonstrated with three use cases:data representation,data annotation and interface *** also describe how the ontology can be used for linked open data(LOD).

关键词： Collaborative ontology development Linked open data Metadata annotation Energy systems analysis

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Insulating materials for realising carbon neutrality:Opportunities,remaining issues and challenges

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High Voltage 2022年第4期7卷 610-632页

作者： Chuanyang Li Yang Yang Guoqiang Xu Yao Zhou Mengshuo Jia Shaolong Zhong Yu Gao Chanyeop Park Qiang Liu Yalin Wang Shakeel Akram Xiaoliang Zeng Yi Li Fangwei Liang Bin Cui Junpeng Fang Lingling Tang Yulin Zeng Xingtao Hu Jiachen Gao Giovanni Mazzanti Jinliang He Jianxiao Wang Davide Fabiani Gilbert Teyssedre Yang Cao Feipeng Wang Yunlong Zi The State Key Laboratory of Power System Department of Electrical EngineeringTsinghua UniversityBeijingChina Department of Mechanical and Automation Engineering The Chinese University of Hong KongHong KongChina Simpson Querrey Institute Northwestern UniversityEvanstonIllinoisUSA Department of Materials Science and Engineering The Pennsylvania State UniversityUniversity ParkPennsylvaniaUSA Department of Information Technology and Electrical Engineering ETH ZürichZürichSwitzerland School of Electrical and Information Engineering Tianjin UniversityTianjinChina Department of Electrical and Computer Engineering Mississippi State UniversityMississippi StateMississippiUSA Electrical and Electronic Engineering The University of ManchesterManchesterUK Department of Electrical Engineering School of Electronic Information and Electrical EngineeringShanghai Jiao Tong UniversityShanghaiChina Key Laboratory of Control of Power Transmission and Conversion(SJTU) Ministry of EducationShanghaiChina College of Electrical Engineering Sichuan UniversityChengduChina Shenzhen Institute of Advanced Technology Chinese Academy of Sciences ShenzhenShenzhenChina School of Electrical Engineering Wuhan UniversityWuhanChina School of Integrated Circuits Tsinghua UniversityBeijingChina Jiangsu Jinxin Electric Appliance Co.Ltd. YangzhouChina Tai'an Tiancheng Safety Evaluation Co. Ltd.Tai'anChina Department Electrical Electronic and Information EngineeringUniversity of BolognaBolognaItaly National Engineering Laboratory for Big Data Analysis and Applications Peking UniversityBeijingChina Laplace Paul Sabatier Universityand CNRSToulouseFrance Electrical and Computer Engineering University of ConnecticutStorrsConnecticutUSA State Key Laboratory of Power Transmission Equipment&System Security and New Technology School of Electrical EngineeringChongqing UniversityChongqingChina Thrust of Sustainable Energy and Environment The Hong Kong University of Science and Technology(Guangzhou)GuangzhouChina De

The 2050 carbon-neutral vision spawns a novel energy structure revolution,and the construction of the future energy structure is based on equipment *** material,as the core of electrical power equipment and electrified transportation asset,faces unprecedented challenges and *** goal of carbon neutral and the urgent need for innovation in electric power equipment and electrification assets are first *** engineering challenges constrained by the insulation system in future electric power equipment/devices and electrified transportation assets are *** materials,including intelligent insulating material,high thermal conductivity insulating material,high energy storage density insulating material,extreme environment resistant insulating material,and environmental-friendly insulating material,are cat-egorised with their scientific issues,opportunities and challenges under the goal of carbon neutrality being *** the context of carbon neutrality,not only improves the understanding of the insulation problems from a macro level,that is,electrical power equipment and electrified transportation asset,but also offers opportunities,remaining issues and challenges from the insulating material *** is hoped that this paper en-visions the challenges regarding design and reliability of insulations in electrical equipment and electric vehicles in the context of policies towards carbon neutrality *** authors also hope that this paper can be helpful in future development and research of novel insulating materials,which promote the realisation of the carbon-neutral vision.

关键词： neutral insulation extreme

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Finding single-source shortest p-disjoint paths: Fast computation and sparse preservers

arXiv

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arXiv 2021年

作者： Bilò, Davide D'Angelo, Gianlorenzo Gualà, Luciano Leucci, Stefano Proietti, Guido Rossi, Mirko Department of Humanities and Social Sciences University of Sassari Italy Gran Sasso Science Institute L'Aquila Italy Department of Enterprise Engineering University of Rome Tor Vergata Italy Department of Information Engineering Computer Science and Mathematics University of l'Aquila Italy Institute for System Analysis and Computer Science Antonio Ruberti Italy

Let G be a directed graph with n vertices, m edges, and non-negative edge costs. Given G, a fixed source vertex s, and a positive integer p, we consider the problem of computing, for each vertex t ≠ s, p edge-disjoint paths of minimum total cost from s to t in G. Suurballe and Tarjan [Networks, 1984] solved the above problem for p = 2 by designing a O(m + n log n) time algorithm which also computes a sparse single-source 2-multipath preserver, i.e., a subgraph containing 2 edge-disjoint paths of minimum total cost from s to every other vertex of G. The case p ≥ 3 was left as an open problem. We study the general problem (p ≥ 2) and prove that any graph admits a sparse single-source p-multipath preserver with p(n - 1) edges. This size is optimal since the in-degree of each non-root vertex v must be at least p. Moreover, we design an algorithm that requires O(pn2(p + log n)) time to compute both p edge-disjoint paths of minimum total cost from the source to all other vertices and an optimal-size single-source p-multipath preserver. The running time of our algorithm outperforms that of a natural approach that solves n - 1 single-pair instances using the well-known successive shortest paths algorithm by a factor of θ(m/np) and is asymptotically near optimal if p = O(1) and m = θ(n2). Our results extend naturally to the case of p vertex-disjoint paths. Copyright © 2021, The Authors. All rights reserved.

关键词： Directed graphs

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ROTA-BAXTER OPERATORS, DIFFERENTIAL OPERATORS, PRE- AND NOVIKOV STRUCTURES ON GROUPS AND LIE ALGEBRAS

arXiv

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arXiv 2024年

作者： Gao, Xing Guo, Li Han, Zongjian Zhang, Yi School of Mathematics and Statistics Lanzhou University Lanzhou730000 China Gansu Provincial Research Center for Basic Disciplines of Mathematics and Statistics Lanzhou730070 China Department of Mathematics and Computer Science Rutgers University NewarkNJ07102 United States School of Mathematical Sciences Tonji University Shanghai200092 China School of Mathematics and Statistics Center for Applied Mathematics of Jiangsu Province Jiangsu International Joint Laboratory on System Modeling and Data Analysis NUIST Jiangsu Nanjing210044 China

Rota-Baxter operators on various structures have found important applications in diverse areas, from renormalization of quantum field theory to Yang-Baxter equations. Relative Rota-Baxter operators on Lie algebras are closely related to pre-Lie algebras and post-Lie algebras. Some of their group counterparts have been introduced to study post-groups, skew left braces and set-theoretic solutions of Yang-Baxter equations, but searching suitable notions of relative Rota-Baxter operators on groups with weight zero and pre-groups has been challenging and has been the focus of recent studies, by provisionally imposing an abelian condition. Arising from the works of Balinsky-Novikov and Gelfand-Dorfman, Novikov algebras and their constructions from differential commutative algebras have led to broad applications. Finding their suitable counterparts for groups and Lie algebras has also attracted quite much recent attention. This paper uses one-sided-inverse pairs of maps to give a perturbative approach to a general notion of relative Rota-Baxter operators and differential operators on a group and a Lie algebra with limit-weight. With the extra condition of limit-abelianess on the group or Lie algebra, we give an interpretation of relative Rota-Baxter and differential operators with weight zero. These operators motivate us to define pre-groups and Novikov groups respectively as the induced structures. The tangent maps of these operators are shown to give Rota-Baxter and differential operators with weight zero on Lie algebras. The tangent spaces of the pre-Lie and Novikov Lie groups are pre-Lie algebras and Novikov Lie algebras, fulfilling the expected property. Furthermore, limit-weight relative Rota-Baxter operators on groups give rise to skew left braces and then set-theoretic solutions of the Yang-Baxter *** Codes 22E60, 17B38, 17B40, 16W99, 45N05 Copyright © 2024, The Authors. All rights reserved.

关键词： Lie groups

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