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Increased reproducibility and comparability of data leak evaluations using ExOT

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Increased reproducibility and comparability of data leak eva...

Design, Automation and Test in Europe Conference and Exhibition

作者： Philipp Miedl Bruno Klopott Lothar Thiele Computer Engineering and Networks Laboratory (TIK) ETH Zurich Zurich Switzerland

ISBN: (数字)9783981926347

ISBN: (纸本)9781728144689

As computing systems are increasingly shared among different users or application domains, researchers have intensified their efforts to detect possible data leaks. In particular, many investigations highlight the vulnerability of systems w.r.t. covert and side channel attacks. However, the effort required to reproduce and compare different results has proven to be high. Therefore, we present a novel methodology for covert channel evaluation. In addition, we introduce the Experiment Orchestration Toolkit ExOT, which provides software tools to efficiently execute the *** methodology ensures that the covert channel analysis yields expressive results that can be reproduced and allow the comparison of the threat potential of different data leaks. ExOT is a software bundle that consists of easy to extend C++ libraries and Python packages. These libraries and packages provide tools for the generation and execution of experiments, as well as the analysis of the experimental data. Therefore, ExOT decreases the engineering effort needed to execute our novel methodology. We verify these claims with an extensive evaluation of four different covert channels on an Intel Haswell and an ARMv8 based platform. In our evaluation, we derive capacity bounds and show achievable throughputs to compare the threat potential of these different covert channels.

关键词： Throughput Error analysis Timing Channel estimation Channel capacity Software

Resource-aware stochastic self-triggered model predictive control

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arXiv 2021年

作者： Lian, Yingzhao Jiang, Yuning Stricker, Naomi Thiele, Lothar Jones, Colin N. Automatic Control Laboratory EPFL Switzerland Computer Engineering and Networks Laboratory ETH Zürich Switzerland

This paper considers the control of uncertain systems that are operated under limited resource factors, such as battery life or hardware longevity. We consider here resource-aware self-triggered control techniques that schedule system operation non-uniformly in time in order to balance performance against resource consumption. When running in an uncertain environment, unknown disturbances may deteriorate system performance by acting adversarially against the planned event triggering schedule. In this work, we propose a resource-aware stochastic predictive control scheme to tackle this challenge, where a novel zero-order hold feedback control scheme is proposed to accommodate a time-inhomogeneous predictive control update. © 2021, CC BY-NC-ND.

关键词： Model predictive control

A Novel Non-Mirrored Buck-Boost Flying Capacitor Multilevel DC-DC Converter Topology

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A Novel Non-Mirrored Buck-Boost Flying Capacitor Multilevel ...

IEEE Annual Southern Power Electronics Conference (SPEC)

作者： Samantha Coday David Menzi Jonas Huber Johann W. Kolar ETH Zurich Power Electronic Systems Laboratory Switzerland Dept. of Electrical Engineering and Computer Sciences University of California Berkeley U.S.A

Enabling future electrification of air and ground transportation requires flexible, compact, and highly efficient power converters. Four-switch non-inverting bidirectional buck-boost dc-dc converters allow for wide and overlapping input and output voltage ranges, enabling integration of fuel cells and batteries whose voltages vary with state of charge and operating conditions. In this work, we propose a novel non-mirrored buck-boost (N-MBB) Flying Capacitor Multilevel (FCML) dc-dc converter. The proposed topology integrates the conventionally separated buck and boost bridge-legs, which is enabled by novel monolithic bidirectional GaN transistors featuring bipolar voltage blocking capability. Compared to the conventional mirrored buck-boost FCML converter, the proposed topology shows a higher inductor vol-ume but advantageously a lower component count, better utilization of the installed chip area and flying capacitors, and lower conduction losses. Finally we introduce a topology variant with reduced induc-tor volume, the return-path-inductor (RPI) N-MBB FCML, and a direct non-isolated single-phase dc-ac N-MBB FCML inverter.

关键词： Economic indicators Capacitors Voltage DC-DC power converters Inverters Topology Transistors

Robust resource-aware self-triggered model predictive control

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arXiv 2021年

The wide adoption of wireless devices in the Internet of Things requires controllers that are able to operate with limited resources, such as battery life. Operating these devices robustly in an uncertain environment, while managing available resources, increases the difficultly of controller design. This paper proposes a robust self-triggered model predictive control approach to optimize a control objective while managing resource consumption. In particular, a novel zero-order-hold aperiodic discrete-time feedback control law is developed to ensure robust constraint satisfaction for continuous-time linear systems. © 2021, CC BY-NC-ND.

关键词： Model predictive control

Gate-defined Two-dimensional Hole and Electron Systems in an Undoped InSb Quantum Well

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arXiv 2022年

作者： Lei, Zijin Cheah, Erik Krizek, Filip Schott, Rüdiger Bähler, Thomas Märki, Peter Wegscheider, Werner Shayegan, Mansour Ihn, Thomas Ensslin, Klaus Solid State Physics Laboratory ETH Zurich ZurichCH-8093 Switzerland IBM Research Europe - Zurich Säumerstrasse 4 Rüschlikon8803 Switzerland Department of Electrical and Computer Engineering Princeton University PrincetonNJ08544 United States ETH Zurich Quantum Center ZurichCH-8093 Switzerland

Quantum transport measurements are performed in gate-defined, high-quality, two-dimensional hole and electron systems in an undoped InSb quantum well. For both polarities, the carrier systems show tunable spin-orbit interaction as extracted from weak anti-localization measurements. The effective mass of InSb holes strongly increases with carrier density as determined from the temperature dependence of Shubnikov–de Haas oscillations. Coincidence measurements in a tilted magnetic field are performed to estimate the spin susceptibility of the InSb two-dimensional hole system. The g-factor of the two-dimensional hole system decreases rapidly with increasing carrier density. © 2022, CC BY.

关键词： Quantum chemistry

Loitering and Trajectory Tracking of Suspended Payloads in Cable-Driven Balloons Using UGVs

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Loitering and Trajectory Tracking of Suspended Payloads in C...

IEEE International Conference on Robotics and Automation (ICRA)

作者： Julius Wanner Eric Sihite Alireza Ramezani Morteza Gharib Graduate Aerospace Laboratories of the California Institute of Technology (Caltech GALCIT) Pasadena CA USA Department of Mechanical and Process Engineering ETH Zurich Zürich Switzerland Department of Electrical and Computer Engineering SiliconSynapse Laboratory Northeastern University Boston MA USA

Investigations of unmanned aerial vehicles (UAV s) for planetary exploration and payload manipulation have become a strong focus of research within space robotics. Among possible solutions, balloon-based systems possess merits that make them extremely attractive, such as their simple operation mechanism and endured operation time. However, there are many hurdles to overcome to achieve robust trajectory tracking performance for balloon-based applications. In this work, in order to facilitate the control and versatile use of balloons for near-surface planetary payload manipulation, a novel robotic platform and control strategy featuring the coordinated servoing of multiple unmanned ground vehicles (UGVs) to actuate a cable-driven balloon and the suspended payload is proposed. An earthbound prototype and dynamic model of this system are designed to allow for the investigation of payload trajectory tracking performance using a tailored Model Predictive Controller in simulation and experiment.

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Carbon-Aware Computing in a Network of Data Centers: A Hierarchical Game-Theoretic Approach

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arXiv 2024年

作者： Breukelman, Enno Hall, Sophie Belgioioso, Giuseppe Dörfler, Florian The KTH Royal Institute of Technology School of Electrical Engineering and Computer Science Division of Decision and Control Systems Malvinas väg 10 StockholmSE-100 44 Sweden The Automatic Control Laboratory Department of Electrical Engineering and Information Technology ETH Zurich Physikstrasse 3 Zürich8092 Switzerland

Over the past decade, the continuous surge in cloud computing demand has intensified data center workloads, leading to significant carbon emissions and driving the need for improving their efficiency and sustainability. This paper focuses on the optimal allocation problem of batch compute loads with temporal and spatial flexibility across a global network of data centers. We propose a bilevel game-theoretic solution approach that captures the inherent hierarchical relationship between supervisory control objectives, such as carbon reduction and peak shaving, and operational objectives, such as priority-aware scheduling. Numerical simulations with real carbon intensity data demonstrate that the proposed approach successfully reduces carbon emissions while simultaneously ensuring operational reliability and priority-aware scheduling. © 2024, CC BY-NC-ND.

关键词： Carbon

VG4D: Vision-Language Model Goes 4D Video Recognition

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VG4D: Vision-Language Model Goes 4D Video Recognition

IEEE International Conference on Robotics and Automation (ICRA)

作者： Zhichao Deng Xiangtai Li Xia Li Yunhai Tong Shen Zhao Mengyuan Liu School of Intelligent Systems Engineering Sun Yat-sen University Shenzhen China National Key Laboratory of General Artificial Intelligence Peking University PKU-Wuhan Institute for Artificial Intelligence Department of Computer Science ETH Zurich National Key Laboratory of General Artificial Intelligence Peking University Shenzhen Graduate School

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Understanding the real world through point cloud video is a crucial aspect of robotics and autonomous driving systems. However, prevailing methods for 4D point cloud recognition have limitations due to sensor resolution, which leads to a lack of detailed information. Recent advances have shown that Vision-Language Models (VLM) pre-trained on web-scale text-image datasets can learn fine-grained visual concepts that can be transferred to various downstream tasks. However, effectively integrating VLM into the domain of 4D point clouds remains an unresolved problem. In this work, we propose the Vision-Language Models Goes 4D (VG4D) framework to transfer VLM knowledge from visual-text pretrained models to a 4D point cloud network. Our approach involves aligning the 4D encoder’s representation with a VLM learning a shared visual and text space from training on large-scale image-text pairs. By transferring the knowledge of the VLM to the 4D encoder and combining the VLM, our VG4D achieves improved recognition performance. To enhance the 4D encoder, we modernize the classic dynamic point cloud backbone and propose an improved version of PSTNet, im-PSTNet, which can efficiently model point cloud videos. Experiments demonstrate that our method achieves state-of-the-art performance for action recognition on both NTU RGB+D 60 dataset and NTU RGB+D 120 dataset.

关键词： Point cloud compression Training Knowledge engineering Visualization Contrastive learning Robot sensing systems Task analysis

Sim-to-Real for Soft Robots using Differentiable FEM: Recipes for Meshing, Damping, and Actuation

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arXiv 2022年

作者： Dubied, Mathieu Michelis, Mike Y. Spielberg, Andrew Katzschmann, Robert K. Soft Robotics Lab. Department of Mechanical and Process Engineering ETH Zurich Switzerland Computer Science and Artificial Intelligence Laboratory MIT CambridgeMA United States

An accurate, physically-based, and differentiable model of soft robots can unlock downstream applications in optimal control. The Finite Element Method (FEM) is an expressive approach for modeling highly deformable structures such as dynamic, elastomeric soft robots. In this paper, we compare virtual robot models simulated using differentiable FEM with measurements from their physical counterparts. In particular, we examine several soft structures with different morphologies: a clamped soft beam under external force, a pneumatically actuated soft robotic arm, and a soft robotic fish tail. We benchmark and analyze different meshing resolutions and elements (tetrahedra and hexahedra), numerical damping, and the efficacy of differentiability for parameter calibration using a simulator based on the fast Differentiable Projective Dynamics (DiffPD). We also advance FEM modeling in application to soft robotics by proposing a predictive model for pneumatic soft robotic actuation. Through our recipes and case studies, we provide strategies and algorithms for matching real-world physics in simulation, making FEM useful for soft robots. © 2022, CC BY.

关键词： Finite element method