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International Symposium on Autonomous Systems (ISAS)

作者： Xinyu Yao Qingjie Zhao Xingchen Lv Lei Wang Wangwang Liu School of Computer Science & Technology Beijing Institute of Technology Beijing China Beijing Institute of Control Engineering Beijing China

ISBN: (数字)9798350363173

ISBN: (纸本)9798350363180

Being able to safely land on the surface is one of the primary challenges when a probe exploring an asteroid. In order to ensure landing safety, the landing location planning needs to comprehensively consider the terrain characteristics and avoid obstacles such as protruding rocks, craters and slopes. Relatively flat areas are suitable for landing. If multiple landers are landing together, in order to avoid collisions and maintain good communication, appropriate distance should be maintained between the landers. In this paper, we first establish a landing environment model, and then propose a landing location planning method for a lander-group using genetic cooperative particle swarm optimization (GCPSO), which ensures the autonomous movement of individual landers while maintaining a certain safe landing distance between them. Taking a group of three landers as an example, simulation experiments show that the algorithm proposed in this paper can ensure the group to achieve stable landing and keep safe distances between them.

关键词： Collaboration Land surface Genetics Rocks Planning Solar system Safety

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A Registration and Fusion Method of 3D Cross-source Point Cloud Data for Modeling Accurate Models of Small Celestial Bodies

A Registration and Fusion Method of 3D Cross-source Point Cl...

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IEEE International Conference on Robotics and Biomimetics

作者： Xuan He Qingjie Zhao Xingchen Lv Lei Wang Wangwang Liu School of Computer Science and Technology Beijing Institute of Technology Beijing China Beijing Institute of Control Engineering Beijing China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

High-precision three-dimensional models of small celestial bodies are important for deep space exploration tasks. The homologous point cloud obtained from a single sensor has limitations in terms of accuracy and density. For example, the point cloud obtained by RGB camera has rich information and high density, but low precision. The point cloud obtained by laser scanning has high precision but low density. Therefore, we hope to register and fuse the point clouds obtained from different sensors, synthesize the advantages of cross-source point clouds obtained from different source domains, and improve the density, accuracy and other aspects of small celestial point clouds. To solve the common problems of cross-source point clouds, we adopt an end-to-end feature measurement point cloud registration framework, which does not need to search the corresponding points between two point clouds, and reduces the difficulty of processing cross-source point cloud data. Aiming at the problem that some stray points on the registered point cloud surface affect the accuracy of the point cloud, a point cloud fusion optimization method based on Euclidean distance is proposed. The stray points around the point cloud are removed to reduce the loss of normal points. The accuracy of point cloud is improved by the fusion after registration. Experiments show that the proposed method can effectively improve the density and accuracy of small celestial body models.

关键词： Point cloud compression Solid modeling Accuracy Three-dimensional displays Euclidean distance Feature extraction Data models Space exploration Laser fusion Surface treatment

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Synergistically Learning Class-specific Tokens for Multi-class Whole Slide Image Classification

Synergistically Learning Class-specific Tokens for Multi-cla...

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2023 IEEE International Conference on Bioinformatics and Biomedicine, BIBM 2023

作者： Sun, Pengzhong Wang, Wei Li, Xiangyu Dong, Suyu Li, Shuo Wang, Kuanquan Luo, Gongning Harbin Institute of Technology Faculty of Computing Harbin China Harbin Institute of Technology Faculty of Computing Shenzhen China Northeast Forestry University College of Computer and Control Engineering Harbin China Case Western Reserve University Case School of Engineering Cleveland United States

ISBN: (纸本)9798350337488

The application of transformer architecture in analyzing whole slide images (WSIs) has become increasingly popular due to its remarkable ability to learn complex associations. Nevertheless, a significant drawback emerges in the multiclass analysis of WSIs. The majority of the transformer-based methods available currently rely primarily on a single, class-agnostic token. This approach might not ideally capture the subtleties of class-discriminative information. To address this challenge, we present an innovative approach tailored for multi-class WSI analysis that harnesses the power of class-specific tokens. Central to our method is a novel attention mechanism designed to foster a synergistic learning relationship between patch and class tokens, enhancing the granularity of information captured and ensuring a more comprehensive representation of the WSI. Complementing this, we introduce a dynamic class-centric training strategy designed to optimize token representation learning, ensuring each token is informatively aligned with its corresponding class. Through extensive experimentation on three challenging multi-class WSI analysis datasets, our method consistently demonstrates superior performance, underscoring its potential as a robust solution for multi-class WSI analysis tasks. © 2023 IEEE.

关键词： Multi-class whole slide image analysis Multiple instance learning Transformer

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The differential fault analysis on block cipher FeW

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Cybersecurity 2023年第2期6卷 62-74页

作者： Haiyan Xiao Lifang Wang Jinyong Chang School of Computer Science Northwestern Polytechnical UniversityXiAn 710055People's Republic of China Engineering University of PAP XiAn 710055People's Republic of China School of Information and Control Engineering XiAn University of Architecture and TechnologyXi'An 710055People's Republic of China State Key Laboratory of Information Security(SKLOIS) Institute of Information EngineeringChinese Academy of SciencesBeijing 100089People's Republic of China

Feather weight(FeW)cipher is a lightweight block cipher proposed by Kumar et *** 2019,which takes 64 bits plaintext as input and produces 64 bits *** Kumar et ***,FeW is a software oriented design with the aim of achieving high efficiency in software based *** seems that FeW is immune to many cryptographic attacks,like linear,impossible differential,differential and zero correlation ***,in recent work,Xie et *** the security of *** precisely,they proved that under the differential fault analysis(DFA)on the encryption states,an attacker can completely recover the master secret *** this paper,we revisit the block cipher FeW and consider the DFA on its key schedule algorithm,which is rather popular cryptanalysis for kinds of block *** particular,by respectively injected faults into the 30th and 29th round subkeys,one can recover about 55/80~69%bits of master *** the brute force searching remaining bits,one can obtain the full master secret *** simulations and experiment results show that our analysis is practical.

关键词： Differential fault analysis Block cipher FeW Side channel attack

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Kernel-based multi-step predictors for data-driven analysis and control of nonlinear systems through the velocity form

arXiv

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arXiv 2024年

作者： Verhoek, Chris Tóth, Roland The Control Systems group The Dept. of Electrical Engineering The Eindhoven University of Technology Netherlands The Institute for Computer Science and Control Budapest Hungary

We propose kernel-based approaches for the construction of a single-step and multi-step predictor of the velocity form of nonlinear (NL) systems, which describes the time-difference dynamics of the corresponding NL system and admits a highly structured representation. The predictors in turn allow to formulate completely data-driven representations of the velocity form. The kernel-based formulation that we derive, inherently respects the structured quasi-linear and specific time-dependent relationship of the velocity form. This results in an efficient multi-step predictor for the velocity form and hence for nonlinear systems. Moreover, by using the velocity form, our methods open the door for data-driven behavioral analysis and control of nonlinear systems with global stability and performance guarantees. © 2024, CC BY-NC-SA.

关键词： Nonlinear simulations

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Truthful Matching with Online Items and Offline Agents 50

Truthful Matching with Online Items and Offline Agents

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50th International Colloquium on Automata, Languages, and Programming, ICALP 2023

作者： Feldman, Michal Fusco, Federico Mauras, Simon Reiffenhäuser, Rebecca Blavatnik School of Computer Science Tel Aviv University Israel Microsoft Research Herzliya Israel Department of Computer Control and Management Engineering "Antonio Ruberti" Sapienza University of Rome Italy Institute for Logic Language and Computation University of Amsterdam Netherlands

ISBN: (纸本)9783959772785

We study truthful mechanisms for welfare maximization in online bipartite matching. In our (multiparameter) setting, every buyer is associated with a (possibly private) desired set of items, and has a private value for being assigned an item in her desired set. Unlike most online matching settings, where agents arrive online, in our setting the items arrive online in an adversarial order while the buyers are present for the entire duration of the process. This poses a significant challenge to the design of truthful mechanisms, due to the ability of buyers to strategize over future rounds. We provide an almost full picture of the competitive ratios in different scenarios, including myopic vs. non-myopic agents, tardy vs. prompt payments, and private vs. public desired sets. Among other results, we identify the frontier up to which the celebrated e/(e − 1) competitive ratio for the vertex-weighted online matching of Karp, Vazirani and Vazirani extends to truthful agents and online items. © Michal Feldman, Federico Fusco, Simon Mauras, and Rebecca Reiffenhäuser.

关键词： Sales

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Convex Equilibrium-Free Stability and Performance Analysis of Discrete-Time Nonlinear Systems

arXiv

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arXiv 2024年

作者： Koelewijn, Patrick J.W. Weiland, Siep Tóth, Roland Control Systems Group Department of Electrical Engineering Eindhoven University of Technology Netherlands Systems and Control Laboratory HUN-REN Institute for Computer Science and Control Hungary

This paper considers the equilibrium-free stability and performance analysis of discrete-time nonlinear systems. We consider two types of equilibrium-free notions. Namely, the universal shifted concept, which considers stability and performance w.r.t. all equilibrium points of the system, and the incremental concept, which considers stability and performance between trajectories of the system. In this paper, we show how universal shifted stability and performance of discrete-time systems can be analyzed by making use of the time-difference dynamics. Moreover, we extend the existing results for incremental dissipativity for discrete-time systems based on dissipativity analysis of the differential dynamics to more general state-dependent storage functions for less conservative results. Finally, we show how both these equilibrium-free notions can be cast as a convex analysis problem by making use of the linear parameter-varying framework, which is also demonstrated by means of an example. Copyright © 2024, The Authors. All rights reserved.

关键词： Nonlinear systems

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Structure design and analysis of a rigid-soft robotic hand with large load capacity 3

Structure design and analysis of a rigid-soft robotic hand w...

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3rd International Conference on Electrical, Electronics, and Information engineering, EEIE 2024

作者： Wu, Peichen Lan, Fuming Hong, Wen Chen, Xiaoping Shuai, Wei Cui, Guowei Gao, Yang Institute of Intelligent Manufacturing Guangdong Academy of Sciences Guangdong Key Laboratory of Modern Control Technology Guangzhou510070 China Shanghai Institute of Aerospace System Engineering Shanghai201100 China Intelligent Manufacturing Institute of HFUT HeFei230041 China School of Computer Science and Technology University of Science and Technology of China Hefei230026 China

ISBN: (纸本)9781510688179

In recent years, soft grippers have gained significant attention due to their adaptability and safety. However, when performing horizontal object grasping, their limited structural stiffness prevents them from withstanding the torque generated by friction between the gripper and the object, leading to a loss of contact and limiting their horizontal load capacity. To address this limitation while preserving the adaptability of soft grippers, this paper proposes a gripper structure called the rigid-soft robotic hand, which incorporates lateral rigid connecting rods outside the soft joints. The paper analyzes the bending capacity of the rigid-soft joint using kinematic methods and investigates the influence of link design parameters on maximum bending angle. Subsequently, a finite element analysis is conducted to study the finger structure with the added connecting rods, aiming to optimize the link design parameters. Experimental results demonstrate the grasping capabilities of the rigid-soft gripper in both vertical and horizontal orientations. The findings show that the rigid-soft gripper significantly improves the load-carrying capacity during horizontal object grasping while maintaining the adaptability of the soft gripper. © The Authors.

关键词： Robotic arms

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Enhancing Efficiency and Safety Through Autonomous Navigation in the Intensive Care Unit 8

Enhancing Efficiency and Safety Through Autonomous Navigatio...

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8th International Conference of Yearly Reports on Informatics, Mathematics, and engineering, ICYRIME 2023

作者： Ponzi, Valerio Puglisi, Adriano Department of Computer Control and Management Engineering Sapienza University of Rome Via Ariosto 25 Roma00185 Italy Institute for Systems Analysis and Computer Science Italian National Research Council Via dei Taurini 19 Roma00185 Italy

The use of autonomous systems in Intensive Care Units (ICUs) has become incredibly important, especially during the COVID-19 pandemic. This period has overwhelmed both ICUs and hospitals, halting many other medical activities and causing significant challenges. This project aims to develop a navigation system tailored specifically for the ICU environment, adapting it to the unique procedures and regulations of that setting. Due to the critical conditions of ICU patients, strict rules dictate precise requirements for navigation, necessitating a context-specific approach. This work will propose a comprehensive navigation system capable of safely guiding from point A to point B within an ICU while addressing the critical issues present in such environments. Unlike traditional Nav2 systems, it will feature specialized collision avoidance components designed specifically for ICU settings, taking into account both contextual demands and the chosen approach. This will involve implementing a multilayered protection technique and employing active movements to prevent collisions with dynamic obstacles. © 2023 Copyright for this paper by its authors.

关键词： Reinforcement learning

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Exploring Brain Tumor Segmentation and Patient Survival: An Interpretable Model Approach 8

Exploring Brain Tumor Segmentation and Patient Survival: An ...

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8th International Conference of Yearly Reports on Informatics, Mathematics, and engineering, ICYRIME 2023

作者： Ponzi, Valerio De Magistris, Giorgio Department of Computer Control and Management Engineering Sapienza University of Rome Via Ariosto 25 Roma00185 Italy Institute for Systems Analysis and Computer Science Italian National Research Council Via dei Taurini 19 Roma00185 Italy

Detecting and delineating brain tumors from MRI images using artificial intelligence presents a complex challenge in medical AI. Recent progress has seen a variety of techniques employed to assist medical professionals in this task. Despite the effectiveness of machine learning algorithms in segmenting tumors, their lack of transparency in decision-making hinders trust and validation. In our project, we constructed an interpretable U-Net Model specifically tailored for brain tumor segmentation, leveraging both the Gradient-weighted Class Activation Mapping (Grad-CAM) Algorithm and the SHapley Additive exPlanations (SHAP) library. We relied on the BraTS2020 benchmark dataset for training and evaluation purposes. The U-Net model we employed yielded promising results. We then utilized Grad-CAM to visualize the crucial features attended to by the model within an image. Additionally, we enhanced interpretability by utilizing the SHAP library to elucidate the predictions made by various models (including Random Forest, KNN, SVC, and MLP) utilized for predicting patient survival days. © 2023 Copyright for this paper by its authors.

关键词： Decision making

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