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Optimal Sensor Placement Using Combinations of Hybrid Measurements for Source Localization

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Optimal Sensor Placement Using Combinations of Hybrid Measur...

IEEE National Conference on Radar

作者： Kang Tang Sheng Xu Yuqi Yang He Kong Yongsheng Ma Shenzhen Key Labor. of Intel. Robo. and Flex. Manuf. Sys. Southern Uni. of Sci. and Tech. (SUSTech) Shenzhen China Chinese Academy of Sciences Shenzhen Institute of Advanced Technology Shenzhen China Department of Computer Science University of Nottingham Nottingham UK Shenzhen Key Laboratory of Control Theory and Intelligent Systems SUSTech Shenzhen China

ISBN: (数字)9798350329209

ISBN: (纸本)9798350329216

This paper focuses on static source localization employing different combinations of measurements, including time-difference-of-arrival (TDOA), received-signal-strength (RSS), angle-of-arrival (AOA), and time-of-arrival (TOA) measurements. Since sensor-source geometry significantly impacts localization accuracy, the strategies of optimal sensor placement are proposed systematically using combinations of hybrid measurements. Firstly, the relationship between sensor placement and source estimation accuracy is formulated by a derived Cramér-Rao bound (CRB). Secondly, the A-optimality criterion, i.e., minimizing the trace of the CRB, is selected to calculate the smallest reachable estimation mean-squared-error (MSE) in a unified manner. Thirdly, the optimal sensor placement strategies are developed to achieve the optimal estimation bound. Specifically, the specific constraints of the optimal geometries deduced by specific measurement, i.e., TDOA, AOA, RSS, and TOA, are found and discussed theoretically. Finally, the new findings are verified by simulation studies.

关键词： Location awareness Geometry Sensor placement Time difference of arrival Radar measurements Noise Estimation

Fair Patient Model: Mitigating Bias in the Patient Representation Learned from the Electronic Health Records

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arXiv 2023年

作者： Sivarajkumar, Sonish Huang, Yufei Wang, Yanshan Intelligent Systems Program School of Computing and Information University of Pittsburgh PittsburghPA United States Department of Electrical and Computer Engineering University of Pittsburgh PittsburghPA United States Department of Health Information Management University of Pittsburgh PittsburghPA United States Department of Biomedical Informatics University of Pittsburgh PittsburghPA United States Clinical and Translational Science Institute University of Pittsburgh PittsburghPA United States

Objective: To pre-train fair and unbiased patient representations from Electronic Health Records (EHRs) using a novel weighted loss function that reduces bias and improves fairness in deep representation learning models. Methods: We defined a new loss function, called weighted loss function, in the deep representation learning model to balance the importance of different groups of patients and features. We applied the proposed model, called Fair Patient Model (FPM), to a sample of 34,739 patients from the MIMIC-III dataset and learned patient representations for four clinical outcome prediction tasks. Results: FPM outperformed the baseline models in terms of three fairness metrics: demographic parity, equality of opportunity difference, and equalized odds ratio. FPM also achieved comparable predictive performance with the baselines, with an average accuracy of 0.7912. Feature analysis revealed that FPM captured more information from clinical features than the baselines. Conclusion: FPM is a novel method to pre-train fair and unbiased patient representations from EHR data using a weighted loss function. The learned representations can be used for various downstream tasks in healthcare and can be extended to other domains where bias and fairness are important. Copyright © 2023, The Authors. All rights reserved.

关键词： Deep learning

Heterogeneous virus classification using a functional deep learning model based on transmission electron microscopy images

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arXiv 2024年

作者： Sikder, Niloy Khan, Al-Masrur Bairagi, Anupam Kumar Masud, Mehedi Tiang, Jun Jiat Nahid, Abdullah-Al Radboud University Medical Center Donders Institute for Brain Cognition and Behaviour Nijmegen Netherlands Faculty of Technology and Bionics Rhine-Waal University of Applied Sciences Kleve Germany Department of Intelligent Systems Engineering Indiana University BloomingtonIN United States Computer Science and Engineering Discipline Khulna University Khulna9208 Bangladesh Department of Computer Science College of Computers and Information Technology Taif University P.O. Box 11099 Taif21944 Saudi Arabia Faculty of Engineering Multimedia University Cyberjaya63100 Malaysia Electronics and Communication Engineering Discipline Khulna University Khulna9208 Bangladesh

Viruses are submicroscopic agents that can infect all kinds of lifeforms and use their hosts’ living cells to replicate themselves. Despite having some of the simplest genetic structures among all living beings, viruses are highly adaptable, resilient, and given the right conditions, are capable of causing unforeseen complications in their hosts’ bodies. Due to their multiple transmission pathways, high contagion rate, and lethality, viruses are the biggest biological threat faced by animal and plant species. It is often challenging to promptly detect the presence of a virus in a possible host’s body and accurately determine its type using manual examination techniques;however, it can be done using computer-based automatic diagnosis methods. Most notably, the analysis of Transmission Electron Microscopy (TEM) images has been proven to be quite successful in instant virus identification. Using TEM images collected from a recently published dataset, this article proposes a deep learning-based classification model to identify the type of virus within those images correctly. The methodology of this study includes two coherent image processing techniques to reduce the noise present in the raw microscopy images. Experimental results show that it can differentiate among the 14 types of viruses present in the dataset with a maximum of 97.44% classification accuracy and F1-score, which asserts the effectiveness and reliability of the proposed method. Implementing this scheme will impart a fast and dependable way of virus identification subsidiary to the thorough diagnostic procedures. © 2024, CC BY.

关键词： computer aided diagnosis

Continuous-time fitted value iteration for robust policies

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arXiv 2021年

作者： Lutter, Michael Belousov, Boris Mannor, Shie Fox, Dieter Garg, Animesh Peters, Jan Intelligent Autonomous Systems group Computer Science Department Technical University of Darmstadt Darmstadt Germany Andrew and Erna Viterbi Faculty of Electrical & Computer Engineering Technion – Israel Institute of Technology and a Distinguished Scientist at NVIDIA Tel Aviv Israel Allen School of Computer Science & Engineering University of Washington and Senior Director of Robotics Research NVIDIA Washington Seattle United States Computer Science Department University of Toronto NVIDIA Toronto Canada

Solving the Hamilton-Jacobi-Bellman equation is important in many domains including control, robotics and economics. Especially for continuous control, solving this differential equation and its extension the Hamilton-Jacobi-Isaacs equation, is important as it yields the optimal policy that achieves the maximum reward on a give task. In the case of the Hamilton-Jacobi-Isaacs equation, which includes an adversary controlling the environment and minimizing the reward, the obtained policy is also robust to perturbations of the dynamics. In this paper we propose continuous fitted value iteration (cFVI) and robust fitted value iteration (rFVI). These algorithms leverage the non-linear control-affine dynamics and separable state and action reward of many continuous control problems to derive the optimal policy and optimal adversary in closed form. This analytic expression simplifies the differential equations and enables us to solve for the optimal value function using value iteration for continuous actions and states as well as the adversarial case. Notably, the resulting algorithms do not require discretization of states or actions. We apply the resulting algorithms to the Furuta pendulum and cartpole. We show that both algorithms obtain the optimal policy. The robustness Sim2Real experiments on the physical systems show that the policies successfully achieve the task in the real-world. When changing the masses of the pendulum, we observe that robust value iteration is more robust compared to deep reinforcement learning algorithm and the non-robust version of the algorithm. Videos of the experiments are shown at https://***/view/rfvi Copyright © 2021, The Authors. All rights reserved.

关键词： Dynamic programming

One-shot informed robotic visual search in the wild

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arXiv 2020年

作者： Koreitem, Karim Shkurti, Florian Manderson, Travis Chang, Wei-Di Gamboa Higuera, Juan Camilo Dudek, Gregory Department of Computer Science Robotics Institute University of Toronto Vector Institute Center for Intelligent Machines School of Computer Science McGill University Montreal

— We consider the task of underwater robot navigation for the purpose of collecting scientifically-relevant video data for environmental monitoring. The majority of field robots that currently perform monitoring tasks in unstructured natural environments navigate via path-tracking a pre-specified sequence of waypoints. Although this navigation method is often necessary, it is limiting because the robot does not have a model of what the scientist deems to be relevant visual observations. Thus, the robot can neither visually search for particular types of objects, nor focus its attention on parts of the scene that might be more relevant than the pre-specified waypoints and viewpoints. In this paper we propose a method that enables informed visual navigation via a learned visual similarity operator that guides the robot’s visual search towards parts of the scene that look like an exemplar image, which is given by the user as a high-level specification for data collection. We propose and evaluate a weakly-supervised video representation learning method that outperforms ImageNet embeddings for similarity tasks in the underwater domain. We also demonstrate the deployment of this similarity operator during informed visual navigation in collaborative environmental monitoring scenarios, in large-scale field trials, where the robot and a human scientist jointly search for relevant visual content. Copyright © 2020, The Authors. All rights reserved.

关键词： Video recording

Decentralized and Lightweight Cross-Chain Transaction Scheme Based on Proxy Re-signature 23

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Decentralized and Lightweight Cross-Chain Transaction Scheme...

23rd IEEE International Conference on Trust, Security and Privacy in Computing and Communications, TrustCom 2024

作者： Zou, Huiying Duan, Jia Liu, Xi Ren, Wei Li, Tao Zheng, Xianghan Choo, Kim-Kwang Raymond Hunan Engineering Research Center of Geographic Information Security and Application The Third Surveying and Mapping Institute of Hunan Province Hunan China China University of Geosciences School of Computer Science Wuhan China Sichuan University Ministry of Education Key Laboratory of Data Protection and Intelligent Management China Casm State Key Laboratory of Geo-Information Engineering Key Laboratory of Surveying and Mapping Science and Geospatial Information Technology of Mnr Beijing China Fuzhou University College of Computer and Big Data China Sanya College School of Information and Intelligent Engineering China University of Texas at San Antonio Department of Information Systems and Cyber Security San Antonio United States

With the widespread application of digital assets and the rapid development of blockchain technology, achieving secure and efficient transactions between different blockchain networks has become an urgent challenge. Existing cross-chain methods impose limitations, e.g., hash lock technology exhibits low scalability, side-chain technology is overly complex, and notary schemes pose centralization risks. In order to address these issues, we propose a cross-chain transaction solution based on proxy re-signature technology. To tackle the centralization concerns, we employ proxy re-signature technology to decentralize the authority of notaries among transaction participants, minimizing the potential for centralization at a low cost. We further present an extended scheme that can guarantee more requirements such as higher transaction amount and shorter transaction time. Furthermore, we analyze and compare the signature technologies used in the proposed solution and provide a systematic proof of our approach's security. © 2024 IEEE.

关键词： blockchain transaction cross-chain technology notary schemes proxy re-signature

Distributed Online Convex Optimization with Adversarial Constraints: Reduced Cumulative Constraint Violation Bounds under Slater’s Condition

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arXiv 2023年

作者： Yi, Xinlei Li, Xiuxian Yang, Tao Xie, Lihua Hong, Yiguang Chai, Tianyou Johansson, Karl H. Lab for Information & Decision Systems Massachusetts Institute of Technology CambridgeMA02139 United States Department of Control Science and Engineering College of Electronics and Information Engineering Tongji University Shanghai201804 China Shanghai Research Institute for Intelligent Autonomous Systems China The State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang110819 China School of Electrical and Electronic Engineering Nanyang Technological University 50 Nanyang Avenue Singapore639798 Singapore Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Sweden Digital Futures Stockholm10044 Sweden

This paper considers distributed online convex optimization with adversarial constraints. In this setting, a network of agents makes decisions at each round, and then only a portion of the loss function and a coordinate block of the constraint function are privately revealed to each agent. The loss and constraint functions are convex and can vary arbitrarily across rounds. The agents collaborate to minimize network regret and cumulative constraint violation. A novel distributed online algorithm is proposed and it achieves an O(T max{c,1−c}) network regret bound and an O(T 1−c/2) network cumulative constraint violation bound, where T is the number of rounds and c ∈ (0, 1) is a user-defined trade-off parameter. When Slater’s condition holds (i.e, there is a point that strictly satisfies the inequality constraints), the network cumulative constraint violation bound is reduced to O(T 1−c). Moreover, if the loss functions are strongly convex, then the network regret bound is reduced to O(log(T)), and the network cumulative constraint violation bound is reduced to O(√log(T)T) and O(log(T)) without and with Slater’s condition, respectively. To the best of our knowledge, this paper is the first to achieve reduced (network) cumulative constraint violation bounds for (distributed) online convex optimization with adversarial constraints under Slater’s condition. Finally, the theoretical results are verified through numerical simulations. Copyright © 2023, The Authors. All rights reserved.

关键词： Economic and social effects

Color Models for Skin Lesion Classification from Dermatoscopic Images 8th

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Color Models for Skin Lesion Classification from Dermatoscop...

8th International Workshop on Combinations of intelligent Methods and Applications, CIMA 2018 held in conjunction with the 30th IEEE International Conference on Tools with Artificial Intelligence, IEEE ICTAI 2018

作者： Mporas, Iosif Perikos, Isidoros Paraskevas, Michael Communications and Intelligent Systems Group School of Engineering and Computer Science University of Hertfordshire Hatfield United Kingdom Computer Engineering and Informatics Department University of Patras Patras Greece Computer Technology Institute and Press ‘Diophantus’ Patras Greece Electrical and Computer Engineering Department University of Peloponnese Patras Greece

ISBN: (纸本)9789811519178

In this paper, we present an architecture for classification of pigmented skin lesions from dermatoscopic images. The architecture is using image preprocessing for natural hair removal and image segmentation for extraction of the skin lesion area followed by computation of statistical values of colors as features. The color-based features were extracted from several well-known and widely used color models. Several classification algorithms were evaluated with the best performing classification algorithm being the AdaBoost with random forest classifier with classification accuracy equal to 73.08% when using RGB-based features only and 74.26% when combining RGB, HSV, and YIQ color model-based features. © 2020, Springer Nature Singapore Pte Ltd.

关键词： Image classification

Awareness in robotics: An early perspective from the viewpoint of the EIC Pathfinder Challenge "Awareness Inside"

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arXiv 2024年

作者： Santina, Cosimo Della Corbato, Carlos Hernandez Sisman, Burak Leiva, Luis A. Arapakis, Ioannis Vakalellis, Michalis Vanderdonckt, Jean D’Haro, LuisFernando Manzi, Guido Becchio, Cristina Elamrani, Aïda Alirezaei, Mohsen Castellano, Ginevra Dimarogonas, Dimos V. Ghosh, Arabinda Haesaert, Sofie Soudjani, Sadegh Stroeve, Sybert Verschure, Paul Bacciu, Davide Deroy, Ophelia Bahrami, Bahador Gallicchio, Claudio Hauert, Sabine Sanz, Ricardo Lanillos, Pablo Iacca, Giovanni Sigg, Stephan Gasulla, Manel Steels, Luc Sierra, Carles Department of Cognitive Robotics Delft University of Technology Delft Netherlands Oberpfaffenhofen Germany Department of Computer Science University of Luxembourg Luxembourg 4 Telefónica I+D Spain AEGIS IT Research GmbH Germany Université catholique de Louvain Belgium Speech Technology and Machine Learning Group ETSI de Telecomunicación Universidad Politécnica de Madrid Madrid Spain Alien Venture Studio Alien Technology Transfer Rome Italy Hamburg Germany Institut Jean Nicod École Normale Supérieure Paris France Research Technology and Development Department Digital Industry Software Helmond Netherlands Department of Information Technology Uppsala University Uppsala Sweden Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Max Planck Institute for Software Systems Kaiserslautern Germany Department of Electrical Engineering Control Systems Group Eindhoven University of Technology Eindhoven Netherlands Amsterdam Netherlands Donders Centre for Neuroscience Radboud University Nijmegen Netherlands Computer Science Department University of Pisa Pisa Italy Faculty of Philosophy Philosophy of Science The Study of Religion Ludwig Maximilian University of Munich Munich Germany School of Engineering Mathematics and Technology University of Bristol Bristol United Kingdom Autonomous Systems Laboratory Universidad Politécnica de Madrid Spain Madrid Spain Department of Information Engineering and Computer Science University of Trento Trento Italy Department of Information and Communications Engineering Aalto University Espoo Finland Department of Electronic Engineering Universitat Politècnica de Catalunya Barcelona Spain Studio Stelluti Brussels Belgium Barcelona Spain

Consciousness has been historically a heavily debated topic in engineering, science, and philosophy. On the contrary, awareness had less success in raising the interest of scholars in the past. However, things are changing as more and more researchers are getting interested in answering questions concerning what awareness is and how it can be artificially generated. The landscape is rapidly evolving, with multiple voices and interpretations of the concept being conceived and techniques being developed. The goal of this paper is to summarize and discuss the ones among these voices that are connected with projects funded by the EIC Pathfinder Challenge called "Awareness Inside", a nonrecurring call for proposals within Horizon Europe that was designed specifically for fostering research on natural and synthetic awareness. In this perspective, we dedicate special attention to challenges and promises of applying synthetic awareness in robotics, as the development of mature techniques in this new field is expected to have a special impact on generating more capable and trustworthy embodied systems. © 2024, CC BY.

关键词： robotics