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arXiv 2024年

作者： Li, Xingyu Tang, Bo Department of Computer Science Tulane University New Orleans United States Department of Electrical and Computer Engineering Worcester Polytechnic Institute Worcester United States

Deep neural networks suffer from the catastrophic forgetting problem in the field of continual learning (CL). To address this challenge, we propose MGSER-SAM, a novel memory replay-based algorithm specifically engineered to enhance the generalization capabilities of CL models. We first intergrate the SAM optimizer, a component designed for optimizing flatness, which seamlessly fits into well-known Experience Replay frameworks such as ER and DER++. Then, MGSER-SAM distinctively addresses the complex challenge of reconciling conflicts in weight perturbation directions between ongoing tasks and previously stored memories, which is underexplored in the SAM optimizer. This is effectively accomplished by the strategic integration of soft logits and the alignment of memory gradient directions, where the regularization terms facilitate the concurrent minimization of various training loss terms integral to the CL process. Through rigorous experimental analysis conducted across multiple benchmarks, MGSER-SAM has demonstrated a consistent ability to outperform existing baselines in all three CL scenarios. Comparing to the representative memory replay-based baselines ER and DER++, MGSER-SAM not only improves the testing accuracy by 24.4% and 17.6% respectively, but also achieves the lowest forgetting on each benchmark. Copyright © 2024, The Authors. All rights reserved.

关键词： Image classification

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A Miniaturized Prototype for Continuous Noninvasive Transcutaneous Oxygen Monitoring

A Miniaturized Prototype for Continuous Noninvasive Transcut...

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2022 IEEE Biomedical Circuits and Systems Conference, BioCAS 2022

作者： Kahraman, Burak Vakhter, Vladimir Costanzo, Ian Bu, Guixue Foroozan, Foroohar Guler, Ulkuhan Department of Electrical and Computer Engineering Worcester Polytechnic Institute WorcesterMA01609 United States Analog Devices Inc. WilmingtonMA01887 United States

ISBN: (数字)9781665469173

ISBN: (纸本)9781665469173

Luminescent oxygen sensing is employed for measuring the partial pressure of oxygen diffusing through the skin, named transcutaneous oxygen. Two well-known approaches are intensity- and lifetime-based measurements for assessing transcutaneous oxygen. The lifetime-based technique is preferable as it offers lower susceptibility to optical path changes and reflections compared to the intensity-based method. High-resolution lifetime capturing is critical to accurate transcutaneous oxygen measurements from the human body. This study proposes a miniaturized prototype based on a multimodal analog front end, ADPD4101, and custom firmware. We have demonstrated that the prototype could detect small changes in the lifetime with high resolution, showing its suitability for future human subject tests. We implemented the prototype on a 68 mm × 43 mm printed circuit board (PCB) and consumes the power ×of 39 mW. © 2022 IEEE.

关键词： Oxygen

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A Fourier Dot Product Analog Circuit

A Fourier Dot Product Analog Circuit

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IEEE MIT Undergraduate Research Technology Conference (URTC)

作者： Jack Adiletta Ulkuhan Guler Electrical and Computer Engineering Worcester Polytechnic Institute Worcester MA United States

ISBN: (数字)9798350309652

ISBN: (纸本)9798350309669

Artificial Intelligence and Machine Learning models have exploded in popularity as companies parse through mountains of information and Large Language Models (Chat GPT) become powerful co-pilots. Artificial Intelligence and Machine Learning rely on matrix multiplication for their operation. Using analog multiplication and Fourier mathematics, the novel circuit introduced in this paper reduces the number of steps required, the number of transistors, and power to compute a dot product, the building block of matrix multiplication. For two N-length vectors, time to compute is reduced from N digital multiplies to an analog multiply and integration. Based on Fourier series, an observation was made that the product of two sine series, with frequencies at integer multiples, when integrated, will produce a dot product of their respective coefficients.

关键词： Computational modeling Neural networks Machine learning Learning (artificial intelligence) Companies Analog circuits Vectors

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FDM Printing: a Fabrication Method for Fluidic Soft Circuits?

arXiv

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arXiv 2023年

作者： Kendre, Savita V. Wang, Lehong Wilke, Ethan Pacheco, Nicholas Fichera, Loris Nemitz, Markus P. Department of Robotics Engineering Worcester Polytechnic Institute WorcesterMA01609 United States Department of Computer Science Worcester Polytechnic Institute WorcesterMA01609 United States Department of Biomedical Engineering Worcester Polytechnic Institute WorcesterMA01609 United States Department of Mechanical and Materials Engineering Worcester Polytechnic Institute WorcesterMA01609 United States Department of Electrical and Computer Engineering Worcester Polytechnic Institute WorcesterMA01609 United States

Existing fluidic soft logic gates for the control of soft robots either rely on extensive manual fabrication processes or expensive printing techniques. In our work, we explore Fused Deposition Modeling for creating fully 3D printed fluidic logic gates. We print a soft bistable valve from thermoplastic polyurethane using a desktop FDM printer. We introduce a new printing nozzle for extruding tubing. Our fabrication strategy reduces the production time of soft bistable valves from 27 hours with replica molding to 3 hours with a FDM printer. Our rapid and cost-effective fabrication process for fluidic logic gates seeks to democratize fluidic circuitry for the control of soft robots. Copyright © 2023, The Authors. All rights reserved.

关键词： Cost effectiveness

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Maximal determinants of matrices over the roots of unity

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Linear Algebra and its Applications 2025年 723卷 201-243页

作者： Guillermo Nuñez Ponasso Graduate School of Information Sciences Division of Mathematics Tohoku University Sendai Miyagi Japan Dept. of Electrical & Computer Engineering Worcester Polytechnic Institute Worcester MA USA

We study the maximum absolute value of the determinant of matrices with entries in the set of ℓ -th roots of unity — this is a generalization of D -optimal designs and Hadamard's maximal determinant problem, which involves ±1 matrices. For general values of ℓ , we give sharpened determinantal upper bounds and constructions of matrices of large determinant. The maximal determinant problem in the cases ℓ = 3 , ℓ = 4 is similar to the classical Hadamard maximal determinant problem for matrices with entries ±1, and many techniques can be generalized. For ℓ = 3 we give an additional construction of matrices with large determinant, and calculate the value of the maximal determinant of matrices with entries in the third-roots of unity for all orders n < 14 . Additionally, we survey the case ℓ = 4 and exhibit an infinite family of maximal determinant matrices of odd order over the fourth roots of unity.

关键词： 05B20 05B30 15A15 D-optimal designs Determinant theory Matrix theory Hadamard matrices Maximal determinant matrices Generalized weighing matrices

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Automatic Contact Force-regulated End-effector Using Pneumatic Actuator for Safe Robotic Ultrasound Imaging

Automatic Contact Force-regulated End-effector Using Pneumat...

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International Symposium on Medical Robotics (ISMR)

作者： Wen-Yi Kuo Xihan Ma Dhirajsinh Deshmukh Haichong K. Zhang Department of Robotics Engineering Worcester Polytechnic Institute Worcester MA USA Department of Biomedical Engineering Worcester Polytechnic Institute Worcester MA USA Department of Computer Science Worcester Polytechnic Institute Worcester MA USA

Robotic-assisted ultrasound (US) imaging has demonstrated great promise to address issues such as high physical demands and limited scanning reproducibility in traditional freehand US procedures. Yet, using a robot arm to manipulate the US probe brings a fundamental concern about patient safety. This is because an overwhelming force can be easily produced from the robot joint actuation and exerted onto the patient's body when an electrical force-sensing error exists. Therefore, a mechanism that maintains a more compliant contact force, functioning independently from the robot arm, is needed to mitigate this concern. Here, we introduce a robotic US system with a novel automatic contact force-regulated end-effector. A linear pneumatic actuator is embedded in the end-effector to prevent excessive force from being applied to the patient. Such force compliance can be realized without relying on electrical force sensing and robot joint actuation. We tested the proposed system in US imaging tasks under a phantom-based environment. Results show that the contact force has an adjustable range from 4.10 N to 7.53 N, and can be regulated with ± 0.46 N variation using the automatic contact force-regulated end-effector during scanning, which demonstrates potential clinical applicability.

关键词： Pneumatic actuators Ultrasonic imaging Contacts Force Imaging Pneumatic systems Robot sensing systems

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The Impact of Motion Artifacts on Transcutaneous Oxygen Measurements

The Impact of Motion Artifacts on Transcutaneous Oxygen Meas...

引用

2023 IEEE Biomedical Circuits and Systems Conference, BioCAS 2023

作者： Vakhter, Vladimir Kahraman, Burak Bu, Guixue Foroozan, Foroohar Beidleman, Beth A. Guler, Ulkuhan Worcester Polytechnic Institute Department of Electrical and Computer Engineering WorcesterMA01609 United States Analog Devices Inc. WilmingtonMA01887 United States United States Army Research Institute of Environmental Medicine NatickMA01887 United States

ISBN: (纸本)9798350300260

Transcutaneous oxygen monitoring is a noninvasive method of measuring the partial pressure of oxygen permeating through the skin (PtcO2). Its medical significance lies in correlating changes in PtcO2 with alterations in arterial oxygen levels. Luminescent lifetime-based oxygen sensing is suitable for measuring PtcO2 with miniaturized systems like wearables, where a consistent and reliable signal is crucial for accurate measurements. This study presents the preliminary results of examining the impact of motion artifacts on PtcO2 measurements based on the luminescent lifetime-based technique. To conduct these tests, a custom wearable PtcO2 monitor was used, and its onboard accelerometer was calibrated. The study included two human subjects who executed basic forearm movements (lateral and medial rotations and flexion). The pilot tests showed that the luminescent lifetime-based technique is notably resilient against motion artifacts, as the change in lifetime values during motions did not exceed 4%. Importantly, we believe this study is the first in the literature to specifically investigate the impact of motion artifacts on the lifetime-based PtcO2 measurements through human tests. © 2023 IEEE.

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SPRED: Spatially Distributed Laser Fault Injection Resilient Design

SPRED: Spatially Distributed Laser Fault Injection Resilient...

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IEEE International Symposium on Quality Electronic Design

作者： Tasnuva Farheen Shahin Tajik Domenic Forte Department of Electrical and Computer Engineering University of Florida Department of Electrical and Computer Engineering Worcester Polytechnic Institute

Computing systems’ hardware implementation is vulnerable to physical attacks. One of the most powerful tools in the arsenal of physical attacks is laser fault injection (LFI), which can successfully compromise an embedded cryptographic implementation even with a single fault. Several countermeasures have been proposed to prevent and detect LFI attacks. However, these schemes cannot protect a multi-spot laser fault injection setup alone. Vulnerabilities can be addressed in such circumstances using a multi-layer or defense-in-depth approach. Defense-in-depth refers to implementing several independent countermeasures within a device to provide aggregated protection against various attack vectors. In this paper, we introduce a multi-layer countermeasure where the proposed approach protects an LFI attack detector against multi-spot LFI attacks. We design and simulate a spatially distributed multi-gate driven design, called SPRED, to prevent single and multi-spot LFI attacks. Simulation results show that the distribution of gates in SPRED forces an attacker to use higher laser power and a thinner wafer to inject a fault.

关键词： Laser theory Semiconductor lasers Simulation Power lasers Detectors Logic gates Hardware

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Polymorphic Sensor to Detect Laser Logic State Imaging Attack

Polymorphic Sensor to Detect Laser Logic State Imaging Attac...

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IEEE International Symposium on Quality Electronic Design

作者： Sourav Roy Shahin Tajik Domenic Forte Department of Electrical and Computer Engineering University of Florida Department of Electrical and Computer Engineering Worcester Polytechnic Institute

Laser Logic State Imaging (LLSI) is a failure analysis (FA) technique which is conducted from the chip backside. LLSI provides an unlimited number of contactless probes to observe static signals, such as security critical assets, which in the hand of an attacker poses a significant threat. Countermeasures that have been proposed so far to prevent backside optical attacks have limitations, such as additional fabrication steps, large area overhead, incompatibility with digital circuits, which makes their implementation challenging. In this paper, we propose all-digital polymorphic gate sensors for the first time in hardware security to detect LLSI attacks. Polymorphic gates change their behavior depending on environmental conditions, e.g., variations in supply voltage and temperature. Freezing the system clock and modulation of supply voltage are the main requirements of mounting an LLSI attack. With these two attack requirements in mind, we design and simulate a polymorphic gate-based sensor that behaves as a NOR gate when there is no supply voltage modulation and switches behavior between NAND gate and NOR gate in the presence of modulation. The sensor is able to detect LLSI attacks 100% of the time at room temperature even considering manufacturing variation and with a detection rate of more than98% for a temperature range of 0°C to 85°C.

关键词： Temperature sensors Temperature distribution Temperature dependence Optical switches Lasers Modulation Voltage

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Real-Time Joint Simulation of LiDAR Perception and Motion Planning for Automated Driving

arXiv

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arXiv 2023年

作者： Huang, Zhanhong Zhang, Xiao Huang, Xinming The Department of Electrical & Computer Engineering Department of Computer Science Worcester Polytechnic Institute WorcesterMA01609 United States

Real-time perception and motion planning are two crucial tasks for autonomous driving. While there are many research works focused on improving the performance of perception and motion planning individually, it is still not clear how a perception error may adversely impact the motion planning results. In this work, we propose a joint simulation framework with LiDAR-based perception and motion planning for real-time automated driving. Taking the sensor input from the CARLA simulator with additive noise, a LiDAR perception system is designed to detect and track all surrounding vehicles and to provide precise orientation and velocity information. Next, we introduce a new collision bound representation that relaxes the communication cost between the perception module and the motion planner. A novel collision checking algorithm is implemented using line intersection checking that is more efficient for long distance range in comparing to the traditional method of occupancy grid. We evaluate the joint simulation framework in CARLA for urban driving scenarios. Experiments show that our proposed automated driving system can execute at 25 Hz, which meets the real-time requirement. The LiDAR perception system has high accuracy within 20 meters when evaluated with the ground truth. The motion planning results in consistent safe distance keeping when tested in CARLA urban driving scenarios. © 2023, CC BY.

关键词： Motion planning

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