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Journal of Computing Sciences in Colleges 2024年第7期39卷

作者： Matthew Toups Anurag Dasgupta Venkat Margapuri Simon Shamoun Shubbhi Taneja Computer Science Department Tulane University New Orleans LA Computer Science and Engineering Technology Valdosta State University Valdosta GA Department of Computing Sciences Villanova University Villanova PA Computer Science Department Hofstra University Hempstead NY Computer Science Department Worcester Polytechnic Institute Worcester MA

computer Science courses are increasing their coverage of "parallel and distributed computing" (PDC). [4] Adoption of PDC content is growing in many parts of computing education, encouraged by programs such as Center for Parallel and Distributed Computing's CDER (Curriculum Development and Educational Resources).[3] [5] The rapid development of cloud computing and big data breakthroughs have changed the programming paradigms and contributed to the phenomenal growth of parallel and distributed computing. In traditional sequential programs, the assumption is that execution occurs on only one processor, such that program is sequential in nature. Today, modern computers typically employ multiple processor cores, and are interconnected with high speed networks, leading to the advancement of parallel and distributed computing.

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DepthNet: Real-Time LiDAR Point Cloud Depth Completion for Autonomous Vehicles

arXiv

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arXiv 2020年

作者： Bai, Lin Zhao, Yiming Elhousni, Mahdi Huang, Xinming Department of Electrical and Computer Engineering Worcester Polytechnic Institute WorcesterMA01609 United States

Autonomous vehicles rely heavily on sensors such as camera and LiDAR, which provide real-time information about their surroundings for the tasks of perception, planning and control. Typically a LiDAR can only provide sparse point cloud owing to a limited number of scanning lines. By employing depth completion, a dense depth map can be generated by assigning each camera pixel a corresponding depth value. However, the existing depth completion convolutional neural networks are very complex that requires high-end GPUs for processing, and thus they are not applicable to real-time autonomous driving. In this paper, a light-weight network is proposed for the task of LiDAR point cloud depth completion. With an astonishing 96.2% reduction in the number of parameters, it still achieves comparable performance (9.3% better in MAE but 3.9% worse in RMSE) to the state-of-the-art network. For real-time embedded platforms, depthwise separable technique is applied to both convolution and deconvolution operations and the number of parameters decreases further by a factor of 7.3, with only a small percentage increase in RMSE and MAE performance. Moreover, a system-on-chip architecture for depth completion is developed on a PYNQ-based FPGA platform that achieves real-time processing for HDL-64E LiDAR at the speed 11.1 frame per second. Copyright © 2020, The Authors. All rights reserved.

关键词： Autonomous vehicles

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Long and Short-Term Constraints Driven Safe Reinforcement Learning for Autonomous Driving

arXiv

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arXiv 2024年

作者： Hu, Xuemin Chen, Pan Wen, Yijun Tang, Bo Chen, Long School of Artificial Intelligence Hubei University Wuhan430062 China Key Laboratory of Intelligent Sensing System and Security Hubei University Ministry of Education Hubei Wuhan430062 China Department of Electrical and Computer Engineering Worcester Polytechnic Institute WorcesterMA01609 United States State Key Laboratory of Multimodal Artificial Intelligence Systems State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing100190 China WAYTOUS Inc. Beijing100083 China Shenzhen518107 China Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi’an710049 China

Reinforcement learning (RL) has been widely used in decision-making and control tasks, but the risk is very high for the agent in the training process due to the requirements of interaction with the environment, which seriously limits its industrial applications such as autonomous driving systems. Safe RL methods are developed to handle this issue by constraining the expected safety violation costs as a training objective, but the occurring probability of an unsafe state is still high, which is unacceptable in autonomous driving tasks. Moreover, these methods are difficult to achieve a balance between the cost and return expectations, which leads to learning performance degradation for the algorithms. In this paper, we propose a novel algorithm based on the long and short-term constraints (LSTC) for safe RL. The short-term constraint aims to enhance the shortterm state safety that the vehicle explores, while the long-term constraint enhances the overall safety of the vehicle throughout the decision-making process, both of which are jointly used to enhance the vehicle safety in the training process. In addition, we develop a safe RL method with dual-constraint optimization based on the Lagrange multiplier to optimize the training process for end-to-end autonomous driving. Comprehensive experiments were conducted on the MetaDrive simulator. Experimental results demonstrate that the proposed method achieves higher safety in continuous state and action tasks, and exhibits higher exploration performance in long-distance decision-making tasks compared with state-of-the-art methods. Copyright © 2024, The Authors. All rights reserved.

关键词： Lagrange multipliers

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Use of Open-source Software in Mechatronics and Robotics engineering Education – Part I: Model Simulation and Analysis

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computers in Education Journal 2021年第3期13卷

作者： Lotfi, Nima Auslander, Dave Rodriguez, Luis A. Mbanisi, Kenechukwu C. Berry, Carlotta A. Mechanical and Mechatronics Engineering Department Southern Illinois University Edwardsville EdwardsvilleIl United States Mechanical Engineering University of California Berkeley BerkeleyCA United States Mechanical Engineering Milwaukee School of Engineering MilwaukeeWI United States Robotics Engineering Worcester Polytechnic Institute WorcesterMA United States Electrical and Computer Engineering Rose-Hulman Institute of Technology Terre HauteIN United States

Open-source Software (OSS) provide attractive solutions for complementing Mechatronics and Robotics engineering (MRE) education due to their numerous advantages such as free access, customizability and wide community support, increased adoption and utilization in industry, etc. To provide a deeper insight on the current status, limitations, and potentials of the OSS, a summary of the results of an online survey, conducted among various community stakeholders, is included. Furthermore, the two parts of this contribution are intended to provide an exposure to the OSS which have the potential to be used in MRE education. To this end, two specific problems, namely, model simulation and analysis of a DC motor (Part I) and controller implementation for a 2-DOF robot manipulator (Part II), are solved using Python, Java, Modelica, GNU Octave, and Gazebo. The systems chosen for this work are some of the most-commonly encountered systems and the considered problems, i.e. model simulation, analysis, and control implementation, are fundamental problems in the context of MRE. Therefore, this work can help MRE instructors familiar with these OSS to easily integrate them into their respective courses. On the other hand, the students can also greatly benefit from this work as it provides an entry point into applying different OSS in MRE-related courses and projects. Exposure to various ways in which an MRE problem is translated into a software solution enables the students to generalize their problem-solving process across different computational tools. Students equipped with such a skillset would potentially have a flexible mindset and could make well-balanced and informed judgements when devising a solution to a real-world engineering problem. Full code scripts for each of the OSS introduced in this work, along with Matlab which is intended as a point of comparison, are included on the GitHub repository of the paper to provide free access to the community and to help with widespr

关键词： Open source software

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Optimal Communication Topology and Static Output Feedback of Networked Collocated Actuator/Sensor Pairs in Distributed Parameter Systems

Optimal Communication Topology and Static Output Feedback of...

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American Control Conference

作者： Michael A. Demetriou Christoforos N. Hadjicostis Aerospace Engineering Worcester Polytechnic Institute Worcester MA USA Department of Electrical and Computer Engineering University of Cyprus Nicosia Cyprus

ISBN: (数字)9781538682661

ISBN: (纸本)9781538682678

This paper is motivated by economic aspects of fixed initial and operating costs for control of spatially distributed systems. In particular, the paper investigates the possibility of a large number of inexpensive actuating and sensing devices, as an alternative to (a reduced number of) expensive high capacity devices. While such an alternative reduces the fixed initial costs associated with actuators and sensors, it may also lead to increased operating costs resulting from communication requirements between the now-networked actuator-sensor-control units. To simplify the controller architecture, a proportional controller is assumed that amounts to a static output feedback controller. In a network of n actuator-sensor pairs, an all-to-all communication topology results in a fully populated static output feedback matrix with as much as n(n-1) communication links. In addition to a traditional performance index used to obtain the static output feedback gain matrix, this paper proposes a mixed index wherein both the traditional performance index and the number of communication links (representing operating costs associated with information exchange links), are taken into account. As an example, the proposed scheme is applied to a parabolic partial differential equation having four actuator-sensor pairs. The resulting optimization produces a sparse static gain matrix with a communication topology that has half the graph edges of the fully connected case and with essentially the same performance.

关键词： Manufacturing costs Telecommunication links static output Distributed parameter systems Output feedback performance indicators Communication Research topology Differential equations information matrix Device Sensor Distributed Systems economic aspects feedback controller

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An Analog Front-End for Non-Invasive Cutaneous Neural Signal Acquisition and Latency Quantification

An Analog Front-End for Non-Invasive Cutaneous Neural Signal...

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Midwest Symposium on Circuits and Systems (MWSCAS)

作者： Aatreya Chakravarti Yuchang Zhang Michael Tasellari Maysam Ghovanloo Ulkuhan Guler Department of Electrical and Computer Engineering Worcester Polytechnic Institute Worcester MA USA Bionic Sciences Atlanta GA USA

ISBN: (数字)9781728180588

ISBN: (纸本)9781728180595

This paper demonstrates an integrated analog front-end (AFE) for measuring cutaneous neural signals, i.e, electroneurogram (ENG). The AFE outputs a latency value that indicates the time which an ENG signal travels from the first to the second electrode. This latency value is used as a parameter by physicians to diagnose disorders affecting the peripheral nervous system such as muscular dystrophy. The AFE is designed and laid out in TSMC 0.18 μm 6M1P 5 V CMOS process. Post-layout simulations show a x40k increase in ENG amplitude from the input with the EMG amplitude showing only a x4 increase, which alters the ENG to EMG ratio from 0.001 V/V to 10 V/V This is achieved with sub-mW low power consumption at a supply voltage of 1.8V.

关键词： Electromyography Electrodes Gain Cutoff frequency Topology Phase distortion Thermal noise

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Larmor Power Limit for Cyclotron Radiation of Relativistic Particles in a Waveguide

arXiv

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arXiv 2024年

作者： Buzinsky, N. Taylor, R.J. Byron, W. DeGraw, W. Dodson, B. Fertl, M. García, A. Goodson, A.P. Graner, B. Harrington, H. Hayen, L. Malavasi, L. McClain, D. Melconian, D. Müller, P. Novitski, E. Oblath, N.S. Robertson, R.G.H. Rybka, G. Savard, G. Smith, E. Stancil, D.D. Storm, D.W. Swanson, H.E. Tedeschi, J.R. VanDevender, B.A. Wietfeldt, F.E. Young, A.R. Department of Physics University of Washington SeattleWA98195 United States Center for Nuclear Physics and Astrophysics University of Washington Seattle98195 United States Physics Department North Carolina State University RaleighNC27695 United States The Triangle Universities Nuclear Laboratory DurhamNC27708 United States Institute for Physics Johannes Gutenberg University Mainz Mainz55128 Germany Department of Electrical and Computer Engineering University of Washington Seattle98195 United States Department of Physics Worcester Polytechnic Institute WorcesterMA01609 United States Department of Physics & Astronomy Texas A&M University College StationTX77843 United States Cyclotron Institute Texas A&M University College StationTX77843 United States Physics Division Argonne National Laboratory 9700 S. Cass Ave. ArgonneIL60439 United States Pacific Northwest National Laboratory Richland99352 United States Department of Electrical and Computer Engineering North Carolina State University RaleighNC27695 United States Department of Physics and Engineering Physics Tulane University New OrleansLA70118 United States

Cyclotron radiation emission spectroscopy (CRES) is a modern technique for high-precision energy spectroscopy, in which the energy of a charged particle in a magnetic field is measured via the frequency of the emitted cyclotron radiation. The He6-CRES collaboration aims to use CRES to probe beyond the standard model physics at the TeV scale by performing high-resolution and low-background beta-decay spectroscopy of 6He and 19Ne. Having demonstrated the first observation of individual, high-energy (0.1 – 2.5 MeV) positrons and electrons via their cyclotron radiation, the experiment provides a novel window into the radiation of relativistic charged particles in a waveguide via the time-derivative (slope) of the cyclotron radiation frequency, dfc /dt. We show that analytic predictions for the total cyclotron radiation power emitted by a charged particle in circular and rectangular waveguides are approximately consistent with the Larmor formula, each scaling with the Lorentz factor of the underlying e± as γ4. This hypothesis is corroborated with experimental CRES slope data. Copyright © 2024, The Authors. All rights reserved.

关键词： Cyclotron radiation

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A Reconfigurable Passive Voltage Multiplier for Wireless Mobile IoT Applications

A Reconfigurable Passive Voltage Multiplier for Wireless Mob...

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IEEE International Symposium on Circuits and Systems (ISCAS)

作者： Ulkuhan Gule Yaoyao Jia Maysam Ghovanloo Department of Electrical and Computer Engineering Worcester Polytechnic Institute Worcester MA 01609 USA School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA 30308 USA

ISBN: (数字)9781728133201

ISBN: (纸本)9781728133218

Battery-less wireless systems generate their supply voltage from the incoming RF signal, and need to deal with the problem of generating sufficient voltage level required by their various blocks from weak input signals, while maintaining high efficiency. The presented voltage multiplier seeks to maximize the power conversion efficiency (PCE) by changing the RF-to-DC converter topology in the voltage multiplier based on the incoming signal. Besides topology, the number of stages in the voltage multiplier can change for the desired output DC voltage from the varying RF input signal. A prototype is fabricated in 0.35-μm standard CMOS process, operating at 13.56 MHz with a 2 kΩ load. The core element in the voltage multiplier yields a peak PCE of 76% with the cross-coupled topology at low input power, while the hybrid topology provides 70% PCE at higher input power. This reconfigurable voltage multiplier can be used in RFID or Internet-of-Things (IoT) mobile applications to regulate power against changes in the distance between the power source and the target.

关键词： Voltage multipliers Topology Wireless communication Electronic mail RF signals Power conversion Radio frequency

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A multimodal framework for extraction and fusion of satellite images and public health data

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Scientific Data 2024年第1期11卷 634页

作者： Moukheiber, Dana Restrepo, David Cajas, Sebastián Andrés Montoya, María Patricia Arbeláez Celi, Leo Anthony Kuo, Kuan-Ting López, Diego M. Moukheiber, Lama Moukheiber, Mira Moukheiber, Sulaiman Osorio-Valencia, Juan Sebastian Purkayastha, Saptarshi Paddo, Atika Rahman Wu, Chenwei Kuo, Po-Chih Laboratory for Computational Physiology Massachusetts Institute of Technology Cambridge MA United States Departamento de Telemática Universidad del Cauca Cauca Popayán Colombia John A. Paulson School of Engineering and Applied Sciences Harvard University Boston MA United States School of Computer Science University College Dublin Dublin Ireland Grupo de Epidemiología Facultad Nacional de Salud Pública Universidad de Antioquia Medellín Colombia Department of Biostatistics Harvard TH Chan School of Public Health Boston MA United States Department of Medicine Beth Israel Deaconess Medical Center Boston MA United States Department of Computer Science National Tsing Hua University Hsinchu Taiwan Department of Computer Science Worcester Polytechnic Institute Worcester MA United States ScienteLab Cundinamarca Bogota Colombia Department of BioHealth Informatics Indiana University Luddy School of Informatics Computing and Engineering Indianapolis IN United States Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI United States

In low- and middle-income countries, the substantial costs associated with traditional data collection pose an obstacle to facilitating decision-making in the field of public health. Satellite imagery offers a potential solution, but the image extraction and analysis can be costly and requires specialized expertise. We introduce SatelliteBench, a scalable framework for satellite image extraction and vector embeddings generation. We also propose a novel multimodal fusion pipeline that utilizes a series of satellite imagery and metadata. The framework was evaluated generating a dataset with a collection of 12,636 images and embeddings accompanied by comprehensive metadata, from 81 municipalities in Colombia between 2016 and 2018. The dataset was then evaluated in 3 tasks: including dengue case prediction, poverty assessment, and access to education. The performance showcases the versatility and practicality of SatelliteBench, offering a reproducible, accessible and open tool to enhance decision-making in public health. © The Author(s) 2024.

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Integrated Agent-Based Model for Broadband Resource Allocation Analysis

Integrated Agent-Based Model for Broadband Resource Allocati...

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IEEE Conference on Vehicular Technology (VTC)

作者： Jennifer Legaspi Casey I. Canfield Kuldeep S. Gill Alexander M. Wyglinski Shamsnaz V. Bhadai Department of Electrical and Computer Engineering Worcester Polytechnic Institute Worcester MA Engineering Management and Systems Engineering Missouri University of Science & Technology Rolla MO

ISBN: (数字)9781728152073

ISBN: (纸本)9781728140537

This paper introduces an integration strategy between ns3, a network simulator, and NetLogo, an agent-based model (ABM), to help answer policy level broadband allocation questions. Economic development is maximized by accurately modeling the communications system and human behavior together. The digital divide is well recognized as a root cause of economic inequality and a global problem in both rural and urban communities. Within the United States, federal and state efforts have funded investments in broadband infrastructure. However, available funds are limited or provided as 50-100% loans and eligibility issues limit participation. Consequently, infrastructure planners are in need of new tools to strategically allocate available funds. While ABM is a popular policy analysis tool, other rural broadband analyses have not accurately incorporated network limitations. By integrating ns3 and NetLogo, we improve the validity of policy experiments by accurately representing both technical and human components of the system.

关键词： Broadband communication Base stations Economics Tools Throughput Computational modeling Handover

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