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Joint 1st International Workshop on the Semantic Descriptor, Semantic Modeling and Mapping for Humanlike Perception and Navigation of Mobile Robots toward Large Scale Long-Term Autonomy and the 3rd International Workshop on the Applications of Knowledge Representation and Semantic Technologies in robotics, SDMM 2019 and AnSWeR 2019

作者： Moon, Jiyoun Magazzeni, Daniele Cashmore, Michael Buksz, Dorian Lee, Beom-Hee Moon, Yong-Seon Roh, Sang-Hyun Automation and Systems Research Institute Department of Electrical and Computer Engineering Seoul National University Korea Republic of King’s College London LondonWC2R 2LS United Kingdom University of Strathclyde GlasgowG1 1XH United Kingdom Department of Electronics Engineering Sunchon National University Korea Republic of REDONE TECHNOLOGIES CO. LTD Korea Republic of

Human-robot teaming is inevitable in various applications ranging from manufacturing to field robotics because of the advantages of adaptability and high flexibility. To become an effective team, knowledge regarding plan execution needs to be shared by verbalization. In this respect, semantic scene understanding in natural language is one of the most fundamental components for information sharing between humans and heterogeneous robots, as robots can perceive the surrounding environment in a form that both humans and other robots can understand. In this paper, we introduce semantic scene understanding methods for verbalization of plan execution. We generate sentences and scene graphs, which is a natural language grounded graph over the detected objects and their relationships, with the graph map generated using a robot mapping algorithm. Experiments were performed to verify the effectiveness of the proposed methods. 2019 by the paper’s authors.

关键词： Robots

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Sidewall Imaging of Microstructures with a Tilted Quartz Tuning Fork (QTF) Force Sensor 3

Sidewall Imaging of Microstructures with a Tilted Quartz Tun...

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3rd International Conference on Manipulation, Automation and robotics at Small Scales, MARSS 2018

作者： Hussain, Danish Yongbing, Wen Xie, Hui College of Electrical Mechanical Engineering National University of Sciences and Technology Department of Mechatronics Engineering Islamabad Pakistan Harbin Institute of Technology State Key Laboratory of Robotics and Systems 2 Yikuang Harbin150080 China

ISBN: (纸本)9781538648414

Sidewall imaging of micro and nano structures is essential for critical dimensional metrology in the semiconductor industry. Atomic force microscope is an important sidewall imaging instrument due to its three dimensional imaging capability, high accuracy and ultra high resolution. We propose an AFM method for sidewall imaging of high step sidewalls. A tuning fork force sensor with a tungsten tip is tilted at a suitable angle (θ) to access the sidewall. Sidewalls of a micro electromechanical systems (MEME) structure fabricated by deep reactive ion etching (DIRE) process is scanned and sidewall roughness is measured. © 2018 IEEE.

关键词： Atomic force microscopy

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A New CNN Occlusion Masking Method for IRT Imaging in Neurosurgery

A New CNN Occlusion Masking Method for IRT Imaging in Neuros...

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European Conference on Circuit Theory and Design, ECCTD

作者： Yahya Moshaei-Nezhad Juliane Müller Christian Schnabel Matthias Kirsch Ronald Tetzlaff Institute of Circuits and Systems Faculty of Electrical and Computer Engineering TU Dresden Dresden Germany Carl Gustav Carus Faculty of Medicine Anesthesiology and Intensive Care Medicine Clinical Sensoring and Monitoring TU Dresden Dresden Germany Carl Gustav Carus Faculty of Medicine TU Dresden Dresden Germany Department of Neurosurgery Asklepios Kliniken Schildautal Seesen Germany

ISBN: (数字)9781728171838

ISBN: (纸本)9781728171845

In this paper, a new occlusion masking method based on Cellular Nonlinear Networks (CNN) for a 2-dimensional (2D) InfraRed Thermography (IRT) brain image is proposed. IRT imaging is one of the noteworthy technique in the medical analysis due to capturing those activities which cannot be seen with unarmed eyes. In neurosurgery, the image occlusion can be classified roughly into two fashions namely, surgery tools and reflection of surgery tools (or cover by the ice-cold saline solution) over the brain cortex surface. In the proposed method, firstly, a CNN texture segmentation is carried out to separate the image textures by the local ratio of the black and white pixels. Thereafter, a CNN dilation is employed to increase the black and white pixels separation. Next, a CNN remove-small-object and filling-holes are exerted for revamping the texture segmentation. Afterwards, the obtained mask is applied to remove the occluded area in the image. To overcome the issues related to reconstruction after masking the image, a solution is given by a 5×5 overlapping sliding window with respect to a reference image, in order to substitute the masked area (pixel values) in the target image. Our proposed method is evaluated on real IRT brain cortex images and compared with other methods. The proposed method shows promising results for IRT brain images in comparison to those other mentioned methods.

关键词： Image segmentation Image reconstruction Surgery Imaging Brain Tools Image texture

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Kolmogorov Model for Large Millimeter-Wave Antenna Arrays: Learning-based Beam-Alignment

Kolmogorov Model for Large Millimeter-Wave Antenna Arrays: L...

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Asilomar Conference on Signals, systems & computers

作者： Wai Ming Chan Hadi Ghauch Taejoon Kim Elisabeth De Carvalho Gabor Fodor Department of Electrical Engineering City University of Hong Kong Hong Kong Department of Digital Communications Telecom Paris Paris France Department of Electrical Engineering and Computer Science The University of Kansas Lawrence KS USA Department of Electronic Systems Aalborg University Denmark School of Electrical Engineering KTH Royal Institute of Technology and Ericsson Research Kista Sweden

ISBN: (数字)9781728143002

ISBN: (纸本)9781728143019

A new approach is presented to the problem of beam alignment for large-dimensional millimeter-wave antenna systems, with a single radio-frequency chain, based on the application of the Kolmogorov Model (KM) framework to enable learning-based beam alignment. Unlike the conventional exhaustive search-based approach, the proposed KM does not require the entire beam space search, i.e., the number of beam soundings can be extremely smaller than the conventional approach, which is achieved by exploiting the predictive power of KM. We show, across several metrics, that by just sounding 25% of the beams, the proposed method approaches the performance of the exhaustive search method. Simulation results that validate the training and test performance of KM and illustrate the new method with significantly reduced overhead are presented.

关键词： Signal to noise ratio Training Estimation Predictive models Mathematical model Indexes MIMO communication

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Simulating spin biology using a digital quantum computer: Prospects on a near-term quantum hardware emulator

APL Quantum

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APL Quantum 2024年第3期1卷

作者： Pedro H. Alvarez Farhan T. Chowdhury Luke D. Smith Trevor J. Brokowski Clarice D. Aiello Daniel R. Kattnig Marcos C. de Oliveira Institut für Physik Carl von Ossietzky Universität Oldenburg Oldenburg Germany Institut für Biologie und Umweltwissenschaften Carl von Ossietzky Universität Oldenburg Germany Department of Chemistry University of Oxford Oxford United Kingdom Department of Electrical and Computer Engineering University of California Los Angeles California 90095 USA Instituto de Física Gleb Wataghin Universidade de Campinas Campinas SP Brazil Department of Physics and Living Systems Institute University of Exeter Exeter United Kingdom Computational Biology and Biomedical Informatics (CBB) Yale University West Haven Connecticut 06511 USA

Understanding the intricate quantum spin dynamics of radical pair reactions is crucial for unraveling the underlying nature of chemical processes across diverse scientific domains. In this work, we leverage Trotterization to map coherent radical pair spin dynamics onto a digital gate-based quantum simulation. Our results demonstrated an agreement between the idealized noiseless quantum circuit simulations and established master equation approaches for homogeneous radical pair recombination, identifying ∼15 Trotter steps to be sufficient for faithfully reproducing the coupled spin dynamics of a prototypical system. By utilizing this computational technique to study the dynamics of spin systems of biological relevance, our findings underscore the potential of digital quantum simulation (DQS) of complex radical pair reactions and builds the groundwork toward more utilitarian investigations into their intricate reaction dynamics. We further investigate the effect of realistic error models on our DQS approach and provide an upper limit for the number of Trotter steps that can currently be applied in the absence of error mitigation techniques before losing simulation accuracy to deleterious noise effects.

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Interference management for cellular-connected UAVs: A deep reinforcement learning approach

Interference management for cellular-connected UAVs: A deep ...

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作者： Challita, Ursula Saad, Walid Bettstetter, Christian School of Informatics University of Edinburgh EdinburghEH8 9AB United Kingdom Ericsson Research Stockholm Sweden Wireless at VT Bradley Department of Electrical and Computer Engineering Virginia Tech BlacksburgVA24061 United States Institute of Networked and Embedded Systems Alpen-Adria-Universität Klagenfurt Klagenfurt9020 Austria

In this paper, an interference-aware path planning scheme for a network of cellular-connected unmanned aerial vehicles (UAVs) is proposed. In particular, each UAV aims at achieving a tradeoff between maximizing energy efficiency and minimizing both wireless latency and the interference caused on the ground network along its path. The problem is cast as a dynamic game among UAVs. To solve this game, a deep reinforcement learning algorithm, based on echo state network (ESN) cells, is proposed. The introduced deep ESN architecture is trained to allow each UAV to map each observation of the network state to an action, with the goal of minimizing a sequence of time-dependent utility functions. Each UAV uses the ESN to learn its optimal path, transmission power, and cell association vector at different locations along its path. The proposed algorithm is shown to reach a subgame perfect Nash equilibrium upon convergence. Moreover, an upper bound and a lower bound for the altitude of the UAVs are derived thus reducing the computational complexity of the proposed algorithm. The simulation results show that the proposed scheme achieves better wireless latency per UAV and rate per ground user (UE) while requiring a number of steps that are comparable to a heuristic baseline that considers moving via the shortest distance toward the corresponding destinations. The results also show that the optimal altitude of the UAVs varies based on the ground network density and the UE data rate requirements and plays a vital role in minimizing the interference level on the ground UEs as well as the wireless transmission delay of the UAV. © 2002-2012 IEEE.

关键词： Reinforcement learning

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Feasibility study of Information Technology Investment (a case study of ODOO ERP: Project Management Module Implementation in Indonesia Based Company)

Feasibility study of Information Technology Investment (a ca...

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International Conference on ICT For Smart Society (ICISS)

作者： Fredy Jingga Raymond Kosala Suhono Harso Supangkat Benny Ranti Computer Science Department BINUS Graduate Program - Doctor of Computer Science Information Systems Department School of Information Systems Bina Nusantara University Jakarta Indonesia Computer Science Department BINUS Graduate Program - Doctor of Computer Science Bina Nusantara University Jakarta Indonesia School of Electrical Engineering and Informatics Bandung Institute of Technology Bandung Indonesia

IT Governance are one of the needs in managing Enterprise Level IT. This study shows part of the decision domain of IT Governance Help, which are IT Investment and Prioritization. The purpose of this study is to determine feasibility of implementation open source ERP system Odoo project management module that replaces current system based on operational, economic, and technical aspects. The method used are Fit / Gap Analysis and Cost Benefit model using economic impact worksheet. The analysis is done by comparing the requirement with features owned by current system and Odoo ERP system. This research resulted that Odoo ERP System is feasible in the 3 aspects, the operational feasibility Odoo reaching 72% Fit, the economic feasibility with ROI of 84%, and technical feasibility indicating the technical requirement can be fulfilled by leasing AWS server. The conclusion is the open source ERP system Odoo project management module is feasible to be applied in terms of 3 aspects that have been studied, those are operational, economic, and technical.

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Packaging, containerization, and virtualization of computational omics methods: Advances, challenges, and opportunities

arXiv

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arXiv 2022年

作者： Alser, Mohammed Waymost, Sharon Ayyala, Ram Lawlor, Brendan Abdill, Richard J. Rajkumar, Neha LaPierre, Nathan Brito, Jaqueline Ribeiro-Dos-Santos, André M. Firtina, Can Almadhoun, Nour Sarwal, Varuni Eskin, Eleazar Hu, Qiyang Strong, Derek Kim, Byoung-Do Abedalthagafi, Malak S. Mutlu, Onur Mangul, Serghei Department of Information Technology and Electrical Engineering ETH Zürich Zürich8092 Switzerland Department of Computer Science UCLA Los AngelesCA90095 United States Department of Translational Biomedical Informatics University of Southern California Los AngelesCA90089 United States Department of Clinical Pharmacy University of Southern California Los AngelesCA90089 United States Department of Computer Science Munster Technological University CorkT12 P928 Ireland Department of Genetics Cell Biology and Development University of Minnesota MinneapolisMN55417 United States Department of Bioengineering UCLA Los AngelesCA90095 United States Institute for Systems Genetics NYU Grossman School of Medicine New YorkNY10016 United States Department of Computational Medicine University of California Los AngelesCA90095 United States Department of Human Genetics University of California Los AngelesCA90095 United States Office of Advanced Research Computing UCLA Los AngelesCA90095 United States Center for Advanced Research Computing University of Southern California Los AngelesCA90089 United States Genomics Research Department Saudi Human Genome Project King Fahad Medical City King Abdulaziz City for Science and Technology Riyadh Saudi Arabia King Salman Center for Disability Research Riyadh12512 Saudi Arabia Riyadh Saudi Arabia

Omics software tools have reshaped the landscape of modern biology and become an essential component of biomedical research. The increasing dependence of biomedical scientists on these powerful tools creates a need for easier installation and greater usability. Packaging, virtualization, and containerization are different approaches to satisfy this need by wrapping omics tools in additional software that makes the omics tools easier to install and use. Here, we systematically review practices across prominent packaging, virtualization, and containerization platforms. We outline the challenges, advantages, and limitations of each approach and some of the most widely used platforms from the perspectives of users, software developers, and system administrators. We also propose principles to make packaging, virtualization, and containerization of omics software more sustainable and robust to increase the reproducibility of biomedical and life science research. © 2022, CC BY.

关键词： Containers

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Optimal Client Sampling for Federated Learning

arXiv

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arXiv 2020年

作者： Chen, Wenlin Horváth, Samuel Richtárik, Peter Department of Engineering University of Cambridge CambridgeCB2 1PZ United Kingdom Department of Empirical Inference Max Planck Institute for Intelligent Systems Tübingen72076 Germany Department of Machine Learning Mohamed bin Zayed University of Artificial Intelligence Masdar City Abu Dhabi United Arab Emirates Computer Electrical and Mathematical Science and Engineering Division King Abdullah University of Science and Technology Thuwal23955-6900 Saudi Arabia

It is well understood that client-master communication can be a primary bottleneck in federated learning (FL). In this work, we address this issue with a novel client subsampling scheme, where we restrict the number of clients allowed to communicate their updates back to the master node. In each communication round, all participating clients compute their updates, but only the ones with "important" updates communicate back to the master. We show that importance can be measured using only the norm of the update and give a formula for optimal client participation. This formula minimizes the distance between the full update, where all clients participate, and our limited update, where the number of participating clients is restricted. In addition, we provide a simple algorithm that approximates the optimal formula for client participation, which allows for secure aggregation and stateless clients, and thus does not compromise client privacy. We show both theoretically and empirically that for Distributed SGD (DSGD) and Federated Averaging (FedAvg), the performance of our approach can be close to full participation and superior to the baseline where participating clients are sampled uniformly. Moreover, our approach is orthogonal to and compatible with existing methods for reducing communication overhead, such as local methods and communication compression methods. Copyright © 2020, The Authors. All rights reserved.

关键词： Machine learning

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Lifting for simplicity: Concise descriptions of convex sets

arXiv

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arXiv 2020年

作者： Fawzi, Hamza Gouveia, João Parrilo, Pablo A. Saunderson, James Thomas, Rekha R. Department of Applied Mathematics and Theoretical Physics University of Cambridge CB3 0WA United Kingdom CMUC Department of Mathematics University of Coimbra Coimbra3001-454 Portugal Massachusetts Institute of Technology CambridgeMA02139 United States Department of Electrical and Computer Systems Engineering Monash University VIC3800 Australia Department of Mathematics University of Washington Box 354350 SeattleWA98195 United States

This paper presents a selected tour through the theory and applications of lifts of convex sets. A lift of a convex set is a higher-dimensional convex set that projects onto the original set. Many convex sets have lifts that are dramatically simpler to describe than the original set. Finding such simple lifts has significant algorithmic implications, particularly for optimization problems. We consider both the classical case of polyhedral lifts, described by linear inequalities, as well as spectrahedral lifts, defined by linear matrix inequalities, with a focus on recent developments related to spectrahedral lifts. Given a convex set, ideally we would either like to find a (low-complexity) polyhedral or spectrahedral lift, or find an obstruction proving that no such lift is possible. To this end, we explain the connection between the existence of lifts of a convex set and certain structured factorizations of its associated slack operator. Based on this characterization, we describe a uniform approach, via sums of squares, to the construction of spectrahedral lifts of convex sets and illustrate the method on several families of examples. Finally, we discuss two flavors of obstruction to the existence of lifts: one related to facial structure, and the other related to algebraic properties of the set in question. Rather than being exhaustive, our aim is to illustrate the richness of the area. We touch on a range of different topics related to the existence of lifts, and present many examples of lifts from different areas of mathematics and its applications. Copyright © 2020, The Authors. All rights reserved.

关键词： Linear matrix inequalities

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