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Introducing SLAMBench, a performance and accuracy benchmarking methodology for SLAM

Introducing SLAMBench, a performance and accuracy benchmarki...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Luigi Nardi Bruno Bodin M. Zeeshan Zia John Mawer Andy Nisbet Paul H. J. Kelly Andrew J. Davison Mikel Luján Michael F. P. O'Boyle Graham Riley Nigel Topham Steve Furber Dept. Computing Imperial College London UK Institute for Computing Systems Architecture The Univ. of Edinburgh Scotland School of Computer Science Univ. of Manchester UK

ISBN: (纸本)9781479969241

Real-time dense computer vision and SLAM offer great potential for a new level of scene modelling, tracking and real environmental interaction for many types of robot, but their high computational requirements mean that use on mass market embedded platforms is challenging. Meanwhile, trends in low-cost, low-power processing are towards massive parallelism and heterogeneity, making it difficult for robotics and vision researchers to implement their algorithms in a performance-portable way. In this paper we introduce SLAMBench, a publicly-available software framework which represents a starting point for quantitative, comparable and validatable experimental research to investigate trade-offs in performance, accuracy and energy consumption of a dense RGB-D SLAM system. SLAMBench provides a KinectFusion implementation in C++, OpenMP, OpenCL and CUDA, and harnesses the ICL-NUIM dataset of synthetic RGB-D sequences with trajectory and scene ground truth for reliable accuracy comparison of different implementation and algorithms. We present an analysis and breakdown of the constituent algorithmic elements of KinectFusion, and experimentally investigate their execution time on a variety of multicore and GPU-accelerated platforms. For a popular embedded platform, we also present an analysis of energy efficiency for different configuration alternatives.

关键词： Three-dimensional displays Accuracy Benchmark testing Simultaneous localization and mapping Graphics processing units Kernel Cameras

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Intelligent Resource Allocation in Power Grids: Leveraging Variable Neighborhood Search for Optimal Switch Allocation

Intelligent Resource Allocation in Power Grids: Leveraging V...

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IEEE Workshop on Evolving and Adaptive Intelligent systems (EAIS)

作者： Henrique O. Caetano Matheus de S. S. Fogliatto N. Luiz Desuó Benvindo R. Pereira J Carlos D. Maciel Marco Aiello Dept. of Electrical and Computer Engineering São Carlos School of Engineering University of São Paulo Department of Service Computing Institute for Architecture of Application Systems University of Stuttgart

ISBN: (数字)9798350366235

ISBN: (纸本)9798350366242

Within the paradigm of Evolving and Adaptive Intelligent systems, the Electrical Power System (EPS) represents a Critical Infrastructure demanding robust reliability metrics. This study pioneers the application of Variable Neighborhood Search (VNS) heuristic to the Optimal Switch Allocation (OSA) problem in the EPS. Adapting neighborhood structures and local search methods, we consider the joint allocation of Manual Switches and Remote-Controlled switches, addressing interdependencies. Results highlight VNS efficacy in navigating OSA challenges, showcasing its adaptability in an evolving system. Comparative analyses endorse VNS as a valuable tool for addressing EPS reliability within the dynamic landscape of evolving and adaptive intelligent systems.

关键词： Adaptive systems Uncertainty Switches Search problems Robustness Power grids Critical infrastructure

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Quantifying uncertainty in Bayesian Networks structural learning

Quantifying uncertainty in Bayesian Networks structural lear...

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IEEE Workshop on Evolving and Adaptive Intelligent systems (EAIS)

作者： Vitor O. Barth Henrique O. Caetano Carlos D. Maciel Marco Aiello Dept. of Electrical and Computer Engineering São Carlos School of Engineering University of São Paulo Department of Service Computing Institute for Architecture of Application Systems University of Stuttgart

ISBN: (数字)9798350366235

ISBN: (纸本)9798350366242

The key goals in learning Bayesian networks (BNs) from data are to identify significant statistical relationships between variables and to build a Directed Acyclic Graph (DAG) that represents these relationships through Joint Probability Distributions. Most research relies on score-based or conditional test methods for model selection. However, when using real-world data, it can be challenging to identify whether the learned DAG represents the underlying relations inherent in the limited datasets, particularly when evaluating data obtained from multiple independent sources. This study presents a methodology to assess the credible interval for both the existence and direction of each edge within Bayesian networks derived from data. Furthermore, it explores the fusion of models acquired from distinct and independent datasets. This approach enables the Bayesian learning of Bayesian Networks (BNs) from data by treating the uncertainty associated with the existence and orientation of each edge as a random variable. By evaluating the probability of the orientation of each edge, it is possible to suggest the existence of a potential latent variable within the dataset. If an edge exhibits equiprobable directions and is verified to exist, it becomes a plausible hypothesis for a latent variable. The Fast Causal Algorithm, originally introduced by [1], is the foundation of this approach. Finally, by employing a maximum a posteriori estimation, the most prominent edges and their respective orientations are identified and employed to create the leading DAG. We present our findings in simulated datasets with different length sizes. By comparing the structure of the learned DAGs with existing structures and evaluating the inference capabilities of the final BN, we establish that our approach achieves results comparable to the most recent studies in the field, while offering insights into the model’s reliability and improving the use of the data.

关键词： Maximum a posteriori estimation Uncertainty Scalability Data models Probability distribution Bayes methods Random variables

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Mobile phone-based health application for women: A Singapore study 11

Mobile phone-based health application for women: A Singapore...

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4th International Symposium on Applied Sciences in Biomedical and Communication Technologies, ISABEL'11

作者： Xue, Lishan Yen, Ching Chiuan Chang, Leanne Tai, Bee Choo Chan, Hock Chuan Duh, Henry Been-Lirn Choolani, Mahesh Division of Industrial Design 4 Architecture Drive Singapore 117566 Singapore NUS CNM Programme 11 Law Link Block AS6 Singapore 117589 Singapore NUS Dept. of Epidemiology and Public Health 16 Medical Drive Singapore 117597 Singapore NUS Dept. of Information Systems 'COM2' #04-34 15 Computing Drive Singapore 117418 Singapore NUS Dept. of Electrical and Computer Engineering Block E4 Engineering Drive 3 Singapore 117576 Singapore NUS Dept. of Obstetrics and Gynaecology NUHS Tower Block IE Kent Ridge Road Singapore 119228 Singapore

ISBN: (纸本)9781450309134

The purpose of this paper is illustrate why and how a mobile-phone based application was proposed to explore how women react and their acceptance toward well-being management after interacting with the application. It was organized by considering the Female-focused Design Strategy (FDS) and designed to have three features: a description of health topics, a self-help diagnosis through step-by-step questions and quizzes about health topics to test general health knowledge. The paper reports the qualitative user feedback and discusses the recommendations and trends for future design and implementation for women's health. © 2011 ACM.

关键词： Cellular telephones

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Accuracy of filtered traces

Accuracy of filtered traces

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International Phoenix Conference on computers and Communications (IPCCC)

作者： S.K. Das E.E. Johnson Klipsch Dept. of Electr. & Comput. Eng. New Mexico State Univ. Las Cruces NM USA Parallel Architecture Research Laboratory Klipsch Department of Electrical and Computer Engineering New Mexico State University USA

Reducing the size of large address traces by "filtering" them through a small direct-mapped cache is a useful technique for making more efficient use of both secondary storage and processors used for trace-driven simulation. However, when filtered traces are used to drive cache simulators, the distortion introduced by such filtering can produce substantial errors in the miss ratios obtained, despite earlier reports to the contrary. We present the results of a systematic study of such errors, including a model for compensating for some errors.< >

关键词： computer errors Information filtering Information filters Computational modeling computer simulation Cache memory parallel architectures Laboratories Cache storage Drives

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Amplitude estimate of the ultra wide band quasi radio signal with unknown initial phase and duration

Amplitude estimate of the ultra wide band quasi radio signal...

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International Conference on Space Science and Communication (IconSpace)

作者： Yury E. Korchagin Oleg V. Chernoyarov Alexander A. Makarov Alexandra V. Salnikova Dept. of Radio physics Voronezh State University (VSU) Voronezh Russia Dept. of Radio engineering Devices and Antenna Systems National Research University “MPEI” Moscow Russia Dept. of Information Technologies and Computer-aided Design Voronezh State University of Architecture and Civil Engineering Voronezh Russia

We considered the new quasi-likelihood amplitude estimate algorithm for the ultra wide band quasi radio signal with unknown initial phase and inaccurately known duration against white Gaussian noise. Its block diagram was presented in single-channel units. We found the statistical characteristics of the introduced estimate and we also investigated the influence of the prior signal duration ignorance on the estimation efficiency. We determined the loss in accuracy of the amplitude estimate because of the duration-offset replica.

关键词： Signal to noise ratio Estimation Joints Random variables Accuracy Dispersion Physics

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Basic algorithm for the coherent digital processing of the radio signals

Basic algorithm for the coherent digital processing of the r...

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International Conference on Space Science and Communication (IconSpace)

作者： Alexey N. Glushkov Vladimir P. Litvinenko Boris V. Matveev Oleg V. Chernoyarov Alexandra V. Salnikova Dept. of Radio engineering Voronezh State Technical University Voronezh Russia Dept. of Radio engineering Devices and Antenna Systems National Research University “MPEI” Moscow Russia Dept. of Information Technologies and Computer-aided Design Voronezh State University of Architecture and Civil Engineering Voronezh Russia

We are to introduce the basic fast digital coherent demodulation algorithms for the radio signals with various modulation formats, the ones that require the minimum number of simple arithmetic operations. We are demonstrating how they provide the implementation of the demodulators of the phase-shift keyed and the amplitude-modulated signals. We have determined the expressions for the probabilities of error, and we show that in the case of white noise the considered devices provide noise stability close to the potential. The obtained results have been corroborated by statistical simulation. We are also to illustrate that the suggested algorithms can be practically implemented when supported by the signal processors and modern programmable logic devices.

关键词： Demodulation Signal processing algorithms Noise Phase shift keying Quadrature amplitude modulation Differential phase shift keying Stability analysis

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Design and evaluation of an elliptical patch textile antenna for RFID application and bending consequences

Design and evaluation of an elliptical patch textile antenna...

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International Conference on Electrical Engineering and Information & Communication Technology (ICEEICT)

作者： Shahriar Hasan Shehab Shahreen Hassan Md. Ashif Islam Oni Shuvashis Dey Md. Munir Hassan Department of Electrical and Electronic Engineering American International University-Bangladesh (AIUB) Dhaka Bangladesh Dept. of Electrical and Computer Systems Engineering Monash University Australia Dept. of Naval Architecture and Marine Engineering Military Institute of Science and Technology (MIST) Dhaka Bangladesh

This paper presents a design of an elliptical patch textile antenna having operating frequency at 2.45 GHz for RFID application. The proposed antenna consists of elliptical patch on Dacron fabric (□ r =3) as substrate followed by a partial ground at the back of the substrate. The overall size of the proposed antenna is 45×38 mm 2 . The proposed antenna has a gain of 3.386 dB with VSWR of 1.07. The performance of the proposed antenna is analyzed under four angles of bending. The effect of change in feed length is also focused. The characteristics, low profile and compact size of the antenna depicts as a potential candidate for RFID application. CST Microwave Studio package is used for design and simulation purpose.

关键词： Textiles Substrates Feeds Radiofrequency identification Slot antennas

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Stealthy Attack Detection of controlled ramp meters in freeway networks

Stealthy Attack Detection of controlled ramp meters in freew...

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IEEE Conference on Decision and Control

作者： Charalambos Menelaou Kangkang Zhang Stelios Timotheou Christos G. Panayiotou Thomas Parisini Dept. of Electrical and Computer Engineering KIOS CoE University of Cyprus Dept. of Electrical and Electronic Engineering Imperial College London London U.K. Department of Electronic Systems Aalborg University Denmark Department of Engineering and Architecture University of Trieste Italy

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

The increasing reliance on intelligent transportation systems (ITS) for traffic management has simultaneously heightened the potential for cybersecurity threats. Malicious cyber attacks on such systems can lead to operational inefficiencies, heightened congestion, and compromised safety. This work introduces a stealthy integrity attack tailored for ramp metered freeway systems. The attack model is conceptualized as a closed-loop dynamical system, formulated as an optimization problem based on the Cell Transmission Model. This work further proposes a distributed detection mechanism designed to identify attack residuals, which, by incorporating an adaptive threshold scheme, can detect the presence of an attack. To demonstrate the efficacy of our detection scheme, we present a scenario illustrating its application in freeway road networks.

关键词： Meters Adaptation models Roads Traffic control Safety Dynamical systems Cyberattack Optimization Intelligent transportation systems Resilience

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Navigating Green Transportation in Urban Agglomerations: A Refined Approach for Carbon Emissions Assessment 24

Navigating Green Transportation in Urban Agglomerations: A R...

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24th COTA International Conference of Transportation Professionals: Resilient, Intelligent, Connected, and Lowcarbon Multimodal Transportation, CICTP 2024

作者： Chen, Boyou Wang, Yuanqing Abolarin, Emmanuel Zhang, Shuangyan Liu, Xihao Guo, Hanlin Ren, Baolong Dept. of Built Environment Bartlett School of Planning Univ. College London London United Kingdom Dept. of Transportation Engineering College of Transportation Engineering Chang’an Univ. Xi’an China Dept. of Industrial and Manufacturing Systems Engineering College of Engineering and Computer Science Univ. of Michigan–Dearborn Dearborn United States School of Civil and Transportation Engineering Beijing Univ. of Civil Engineering and Architecture Beijing China Sino-French Engineer School Beihang Univ. Beijing China Dept. of Instrument Science and Technology College of Mechanical Engineering Nanjing Univ. of Science and Technology Nanjing China Sino-Danish College Univ. of Chinese Academy of Sciences Beijing China

ISBN: (数字)9780784485484

ISBN: (纸本)9780784485484

Rapid urbanization has expanded urban agglomerations, escalating carbon emissions from increased transportation needs. These agglomerations have distinct multi-modal transportation systems. Analyzing their carbon footprints and eco-friendly transportation evolution is essential for sustainability. However, research in this domain is limited. This research refines emissions estimation methods, introducing models tailored for urban agglomerations. An evaluation framework for green transportation detailing a computational method for future policies is proposed. The research highlights primary transportation structures and energy consumption. Using a "bottom-up" approach, carbon estimation models for inter- and intra-city transportation are drafted. Assessment indicators are redefined by merging the DPSIR model with urban metrics, forming five main modules with 19 indicators. Using the Regression Random Forest method and focusing on the Yangtze River Delta in China, the link between annual emissions and these indicators is examined, providing a theoretical analysis approach for general cases. © ASCE.

关键词： Carbon sequestration

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