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arXiv 2020年

作者： Nguyen, Dinh C. Cheng, Peng Ding, Ming Lopez-Perez, David Pathirana, Pubudu N. Li, Jun Seneviratne, Aruna Li, Yonghui Poor, H. Vincent School of Engineering Deakin University Australia Department of Computer Science and Information Technology La Trobe University MelbourneVIC3086 Australia School of Electrical and Information Engineering University of Sydney SydneyNSW2006 Australia Data61 CSIRO Australia Huawei France R&D Boulogne-Billancourt France School of Electronic and Optical Engineering Nanjing University of Science and Technology Nanjing210094 China School of Computer Science and Robotics National Research Tomsk Polytechnic University Tomsk634050 Russia NSW Australia School of Electrical and Information Engineering University of Sydney Australia Department of Electrical Engineering Princeton University PrincetonNJ08544 United States

Recent years have seen rapid deployment of mobile computing and Internet of Things (IoT) networks, which can be mostly attributed to the increasing communication and sensing capabilities of wireless systems. Big data analysis, pervasive computing, and eventually artificial intelligence (AI) are envisaged to be deployed on top of the IoT and create a new world featured by data-driven AI. In this context, a novel paradigm of merging AI and wireless communications, called Wireless AI that pushes AI frontiers to the network edge, is widely regarded as a key enabler for future intelligent network evolution. To this end, we present a comprehensive survey of the latest studies in wireless AI from the data-driven perspective. Specifically, we first propose a novel Wireless AI architecture that covers five key data-driven AI themes in wireless networks, including Sensing AI, Network Device AI, Access AI, User Device AI and Data-provenance AI. Then, for each data-driven AI theme, we present an overview on the use of AI approaches to solve the emerging data-related problems and show how AI can empower wireless network functionalities. Particularly, compared to the other related survey papers, we provide an in-depth discussion on the Wireless AI applications in various data-driven domains wherein AI proves extremely useful for wireless network design and optimization. Finally, research challenges and future visions are also discussed to spur further research in this promising area. © 2020, CC BY.

关键词： Wireless networks

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Design of a Sextuple Cross-Coupled SRAM Cell with Optimized Access Operations for Highly Reliable Terrestrial Applications

Design of a Sextuple Cross-Coupled SRAM Cell with Optimized ...

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Asian Test Symposium (ATS)

作者： Aibin Yan Zhen Wu Jun Zhou Yuanjie Hu Yan Chen Zuobin Ying Xiaoqing Wen Patrick Girard School of Computer Science and Technology Anhui Engineering Laboratory of IoT Security Technologies Hefei China Graduate School of Computer Science and Systems Engineering Kyushu Institute of Technology Fukuoka Japan Laboratory of Informatics Robotics and Microelectronics of Montpellier CNRS Montpellier France

ISBN: (数字)9781728126951

ISBN: (纸本)9781728126968

The Aggressive technology scaling makes modern advanced SRAMs more and more sensitive to soft errors that include single-node upsets (SNUs) and double-node upsets (DNUs). This paper presents a novel Sextuple Cross-Coupled SRAM cell, namely SCCS cell, which can tolerate both SNUs and DNUs. The cell mainly consists of six cross-coupled input-split inverters, constructing a large error-interceptive feedback loop to robustly retain stored values. Since the cell has many redundant storage nodes, the cell achieves the following robustness: (1) the cell can self-recover from all possible SNU; (2) the cell can self-recover from partial DNUs; (3) the cell can avoid the occurrence of other DNUs due to node-separation. Simulation results validate the excellent robustness of the proposed cell. Moreover, compared with the state-of-the-art typical existing hardened cells, the proposed cell achieves an approximate 61% read access time as well as 12% write access time reduction at the costs of 47% power dissipation as well as 44% silicon area on average.

关键词： Transistors SRAM cells Simulation Integrated circuit reliability Feedback loop

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Novel Radiation Hardened Latch Design with Cost-Effectiveness for Safety-Critical Terrestrial Applications

Novel Radiation Hardened Latch Design with Cost-Effectivenes...

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Asian Test Symposium (ATS)

作者： Aibin Yan Zhen Wu Lu Lu Zhili Chen Jie Song Zuobin Ying Patrick Girard Xiaoqing Wen School of Computer Science and Technology Anhui Engineering Laboratory of IoT Security Technologies Hefei China Laboratory of Informatics Robotics and Microelectronics of Montpellier CNRS Montpellier France Graduate School of Computer Science and Systems Engineering Kyushu Institute of Technology Fukuoka Japan

ISBN: (数字)9781728126951

ISBN: (纸本)9781728126968

To meet the requirements of both cost-effectiveness and high reliability for safety-critical terrestrial applications, this paper proposes a novel radiation hardened latch design, namely HLCRT. The HLCRT latch mainly consists of a single-node-upset self-recoverable cell, a 3-input C-element, and an inverter. If any two inputs of the C-element suffer from a double-node-upset (DNU), or if one node inside the cell together with another node outside the cell suffer from a DNU, the latch still has correct values on its output node, i.e., the latch is effectively DNU hardened. Simulation results demonstrate the DNU tolerance of the proposed latch. Moreover, due to the use of fewer transistors, clock gating technologies, and a high-speed path, the proposed latch saves about 444.80% delay, 150.50% power, 72.66% area, and 2029.63% delay-power-area product on average, compared with state-of-the-art DNU hardened latch designs.

关键词： Latches Inverters Radiation hardening (electronics) Reliability engineering MOSFET

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Impedance Synchronous Control for a Robot Multi-Motor Joint

Impedance Synchronous Control for a Robot Multi-Motor Joint

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IEEE International Conference on Cyber technology in Automation, Control, and Intelligent Systems

作者： Liyan Chen Jiangcheng Chen Sheng Bi Ning Xi Institute of Special Robotics Shenzhen Academy of Robotics Nanjing Institute of Astronomical Optics & Technology National Astronomical Observatories Chinese Academy of Sciences Jiangcheng Chen is with Institute of Special Robotics Shenzhen Academy of Robotics School of Computer Science and Engineering South China University of Technology Institute of Special Robotics Shenzhen Academy of Robotics The University of Hong Kong

ISBN: (数字)9781728107707

ISBN: (纸本)9781728107714

Facing various external environment with increasing uncertainty, robots are challenged by the dynamic interactivity during the operation process. To tackle the problem, compliance control strategies are developed to tune the presented mass, damping, or stiffness properties of a robot. However, in large torque configurations, compliant robots driven by single-motor joints could have an inferior performance in stiffness control, system robustness, and cost. Thus, inspired by the biological mechanism which controls muscular stiffness using multiple muscle fasciculi, this paper studies a multi-motor driven double pendulum based on the impedance control strategy. In contrast to single-motor joints, multi-motor joints have advantages in the flexibility of variable rigidity, the simplicity of torque control, and the large ratio of output torque versus weight/cost. Simulations compare the performance between the single-motor and the multi-motor cases on response time, route of the end actuator, and energy cost. The results indicate the superiority of the robot arm with multi-motor joints over the single-motor case.

关键词： Impedance Torque Manipulators Force Actuators Acceleration

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Three-filters-to-normal: An accurate and ultrafast surface normal estimator

TechRxiv

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TechRxiv 2020年

作者： Fan, Rui Wang, Hengli Xue, Bohuan Huang, Huaiyang Wang, Yuan Liu, Ming Pitas, Ioannis The Department of Computer Science and Engineering The Department of Ophthalmology The University of California San Diego La Jolla CA92093 United States The Robotics Institute The Hong Kong University of Science and Technology Hong Kong The Industrial R&D Center SmartMore Shenzhen518040 China The School of Informatics Aristotle University of Thessaloniki Thessaloniki541 24 Greece

This paper proposes three-filters-to-normal (3F2N), an accurate and ultrafast surface normal estimator (SNE), which is designed for structured range sensor data, e.g., depth/disparity images. 3F2N SNE computes surface normals by simply performing three filtering operations (two image gradient filters in horizontal and vertical directions, respectively, and a mean/median filter) on an inverse depth image or a disparity image. Despite the simplicity of 3F2N SNE, no similar method already exists in the literature. To evaluate the performance of our proposed SNE, we created three large-scale synthetic datasets (easy, medium and hard) using 24 3D mesh models, each of which is used to generate 1800–2500 pairs of depth images (resolution: 480×640 pixels) and the corresponding ground-truth surface normal maps from different views. 3F2N SNE demonstrates the state-of-the-art performance, outperforming all other existing geometry-based SNEs, where the average angular errors with respect to the easy, medium and hard datasets are 1.66◦, 5.69◦ and 15.31◦, respectively. Furthermore, our C++ and CUDA implementations achieve a processing speed of over 260 Hz and 21 kHz, respectively. Our datasets and source code are publicly available at ***/view/3f2n. © 2020, CC BY.

关键词： computer vision

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Three-filters-to-normal: An accurate and ultrafast surface normal estimator

arXiv

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arXiv 2020年

作者： Fan, Rui Wang, Hengli Xue, Bohuan Huang, Huaiyang Wang, Yuan Liu, Ming Pitas, Ioannis The Department of Computer Science and Engineering The Department of Ophthalmology The University of California San Diego San DiegoCA92093 United States The Robotics Institute The Hong Kong University of Science and Technology Hong Kong The Industrial R&D Center SmartMore Shenzhen518040 China The School of Informatics Aristotle University of Thessaloniki Thessaloniki541 24 Greece

This paper proposes three-filters-to-normal (3F2N), an accurate and ultrafast surface normal estimator (SNE), which is designed for structured range sensor data, e.g., depth/disparity images. 3F2N SNE computes surface normals by simply performing three filtering operations (two image gradient filters in horizontal and vertical directions, respectively, and a mean/median filter) on an inverse depth image or a disparity image. Despite the simplicity of 3F2N SNE, no similar method already exists in the literature. To evaluate the performance of our proposed SNE, we created three large-scale synthetic datasets (easy, medium and hard) using 24 3D mesh models, each of which is used to generate 1800-2500 pairs of depth images (resolution: 480×640 pixels) and the corresponding ground-truth surface normal maps from different views. 3F2N SNE demonstrates the state-of-the-art performance, outperforming all other existing geometry-based SNEs, where the average angular errors with respect to the easy, medium and hard datasets are 1.66◦, 5.69◦ and 15.31◦, respectively. Furthermore, our C++ and CUDA implementations achieve a processing speed of over 260 Hz and 21 kHz, respectively. Our datasets and source code are publicly available at ***/view/3f2n. Copyright © 2020, The Authors. All rights reserved.

关键词： Inverse problems

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Impact of CFO on Low Latency-Enabled UAV using "Better than Nyquist" Pulse Shaping in GFDM

Impact of CFO on Low Latency-Enabled UAV using "Better than ...

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IEEE Vehicular technology Conference

作者： Navuday Sharma Atul Kumar Maurizio Magarini Stefano Bregni Dushantha Nalin K. Jayakody Tallin University of Technology Estonia Politecnico di Milano Italy School of Computer Science and Robotics National Research Tomsk Polytechnic University Russia

Low altitude aerial base stations onboard unmanned aerial vehicles (UAVs) have recently gained a lot of attention to provide cellular coverage to mobile ground users. In this paper we evaluate the effect of carrier frequency offset (CFO) on the symbol error rate in the downlink of such systems, where a long-term evolution (LTE) compatible time-frequency grid based on generalized frequency division multiplexing (GFDM) is considered. The choice of GFDM as multi-carrier modulation scheme is motivated by its widely proposed application in fifth generation cellular systems and its backward compatibility with LTE. Simulation results are shown for "Better than the Nyquist (BTN)" pulse shaping filters in three different environments: Suburban, Urban and Urban High Rise. The use of BTN pulse shaping filters allows for higher robustness to CFO as compared to base line pulse shaping filer know as root-raised cosine filters for different environments conditions. Simulation results are presented considering realistic air-to-ground propagation conditions generated from the commercial Wireless InSite ray-tracing radio propagation software.

关键词： Pulse shaping methods OFDM Ray tracing Buildings Frequency division multiplexing Time-frequency analysis Receivers

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A comprehensive study on temporal modeling for online action detection

arXiv

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arXiv 2020年

作者： Wang, Wen Peng, Xiaojiang Qiao, Yu Cheng, Jian School of Information and Communication Engineering University of Electronic Science and Technology of China Chengdu Sichuan611731 China ShenZhen Key Lab of Computer Vision and Pattern Recognition SIAT-SenseTime Joint Lab Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences

—Online action detection (OAD) is a practical yet challenging task, which has attracted increasing attention in recent years. A typical OAD system mainly consists of three modules: a frame-level feature extractor which is usually based on pre-trained deep Convolutional Neural Networks (CNNs), a temporal modeling module, and an action classifier. Among them, the temporal modeling module is crucial which aggregates discriminative information from historical and current features. Though many temporal modeling methods have been developed for OAD and other topics, their effects are lack of investigation on OAD fairly. This paper aims to provide a comprehensive study on temporal modeling for OAD including four meta types of temporal modeling methods, i.e. temporal pooling, temporal convolution, recurrent neural networks, and temporal attention, and uncover some good practices to produce a state-of-the-art OAD system. Many of them are explored in OAD for the first time, and extensively evaluated with various hyper parameters. Furthermore, based on our comprehensive study, we present several hybrid temporal modeling methods, which outperform the recent state-of-the-art methods with sizable margins on THUMOS-14 and TVSeries. Copyright © 2020, The Authors. All rights reserved.

关键词： Convolution

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Trajectory tracking of optimal social distancing strategies with application to a CoVid-19 scenario

arXiv

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arXiv 2020年

作者： Di Lauro, Francesco Kiss, István Zoltán Rus, Daniela Santina, Cosimo Della Department of Mathematics School of Mathematical and Physical Sciences University of Sussex FalmerBrightonBN1 9QH United Kingdom MIT Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology CambridgeMA United States Cognitive Robotics Department Delft University of Technology DelftCD2628 Netherlands Oberpfaffenhofen Germany

This letter proposes the use of nonlinear feedback control to produce robust and reactive social distancing policies that can be adapted in response to an epidemic outbreak. A trajectory tracking algorithm is proposed, and its effectiveness is analytically proven when acting on a low-dimensional approximation of the epidemics. Means of mapping the inputs and output of this controller to a more realistic epidemic model of an explicit network of contacts is introduced. The strategy is tested with extensive simulations in a Covid-19 inspired scenario, with particular focus on the case of Codogno - a small city in Northern Italy that has been among the most harshly hit by the pandemic. The proposed algorithm generates dramatic reductions in the number of infected people, while maintaining a total level of social distancing close to the nominal optimum. Copyright © 2020, The Authors. All rights reserved.

关键词： Approximation algorithms

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Communication and networking technologies for UAVs: A survey

TechRxiv

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TechRxiv 2020年

作者： Sharma, Abhishek Vanjani, Pankhuri Paliwal, Nikhil Wijerathna Basnayaka, Chathuranga M. Jayakody, Dushantha Nalin K. Wang, Hwang-Cheng Muthuchidambaranathan, P. Dept. of Electronics and Communication Engineering The LNM Institute of Information and Technology Jaipur India Centre for Telecommunication Research School of Engineering Sri Lanka Technological Campus Sri Lanka School of Computer Science and Robotics National Research Tomsk Polytechnic University Russia Department of Electronic Engineering National Ilan University Yilan Taiwan Department of Electronic and Communications Engineering National Institute of Technology Trichy India

With the advancement in drone technology, in just a few years, drones will be assisting humans in every domain. But there are many challenges to be tackled, communication being the chief one. This paper aims at providing insights into the latest UAV (Unmanned Aerial Vehicle) communication technologies through investigation of suitable task modules, antennas, resource handling platforms, and network architectures. Additionally, we explore techniques such as machine learning and path planning to enhance existing drone communication *** and optimization techniques for ensuring long−lasting and secure communications, as well as for power management, are ***, applications of UAV networks for different contextual uses ranging from navigation to surveillance, URLLC (Ultra-reliable and low−latency communications), edge computing and work related to artificial intelligence are examined. In particular, the intricate interplay between UAV, advanced cellular communication, and internet of things constitutes one of the focal points of this paper. The survey encompasses lessons learned, insights, challenges, open issues, and future directions in UAV communications. Our literature review reveals the need for more research work on drone−to−drone and drone−to−device communications. © 2020, CC BY.

关键词： Wireless networks

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