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作者： Lu, Shuaibing Wu, Jie Wang, Ning Duan, Yubin Liu, Haiming Zhang, Jiayue Fang, Juan Faculty of Information Technology Beijing University of Technology Beijing China Center for Networked Computing Temple University PhiladelphiaPA United States Department of Computer Science Rowan University GlassboroNJ United States School of Software Engineering Beijing Jiaotong University Beijing China

Fog computing is an emerging paradigm that supplies storage, computation, and networking resources between traditional cloud data centers and end devices. This article focuses on the resource provisioning problem in collaborative fog computing for multiple delay-sensitive users. Our goal is to implement a resource provisioning strategy for network operators to minimize the total monetary cost by considering the deadline and capacity constraints. Two scenarios are considered: unlimited-processor fog nodes (UPFN) and limited-processor fog nodes (LPFN). In either scenario, we prove that the resource provisioning problem is NP-hard. First, we consider the UPFN scenario that the processors of fog nodes are unlimited and users' requests can be ideally processed in parallel. Two algorithms are proposed which greedily delete fog nodes based on the local or global collaborative influences until there is no feasible provisioning to guarantee the deadline of users. Then we extend the resource provisioning problem to a more realistic and complicated scenario LPFN in which the scheduling delay cannot be ignored. Two types of tasks are considered. One is the arbitrarily divided tasks, and a near-optimal solution bounded by (Formula presented.) has been found. m is the number of fog nodes, and (Formula presented.) is the upper bound on the Lipschitz constant of the delay function. Another one is the application-driven tasks, and we propose a heuristic algorithm. Extensive experiments validate the efficiency of the proposed algorithms. © 2021 John Wiley & Sons, Ltd.

关键词： Fog

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Device-Free 3D Drone Localization in RIS-Assisted mmWave MIMO Networks

Device-Free 3D Drone Localization in RIS-Assisted mmWave MIM...

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2024 IEEE Global Communications Conference, GLOBECOM 2024

作者： He, Jiguang Vanwynsberghe, Charles Chen, Hui Huang, Chongwen Fakhreddine, Aymen Great Bay University School of Computing and Information Technology Dongguan China Technology Innovation Institute Abu Dhabi9639 United Arab Emirates Chalmers University of Technology Department of Electrical Engineering Gothenburg Sweden Zhejiang University College of Information Science and Electronic Engineering Hangzhou310027 China University of Klagenfurt Institute of Networked and Embedded Systems Klagenfurt Austria

ISBN: (纸本)9798350351255

In this paper, we investigate the potential of reconfigurable intelligent surfaces (RISs) in facilitating passive/device-free three-dimensional (3D) drone localization within existing cellular infrastructure operating at millimeter-wave (mmWave) frequencies and employing multiple antennas at the transceivers. The developed localization system operates in the bi-static mode without requiring direct communication between the drone and the base station. We analyze the theoretical performance limits via Fisher information analysis and Cramér Rao lower bounds (CRLBs). Furthermore, we develop a low-complexity yet effective drone localization algorithm based on coordinate gradient descent and examine the impact of factors such as radar cross section (RCS) of the drone and training overhead on system performance. It is demonstrated that integrating RIS yields significant benefits over its RIS-free counterpart, as evidenced by both theoretical analyses and numerical simulations. © 2024 IEEE.

关键词： Cramer-Rao bounds

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computing Challenges of UAV Networks: A Comprehensive Survey

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Computers, Materials & Continua 2024年第11期81卷 1999-2051页

作者： Altaf Hussain Shuaiyong Li Tariq Hussain Xianxuan Lin Farman Ali Ahmad Ali AlZubi School of Computer Science&Technology Chongqing University of Posts and TelecommunicationsChongqing400065China Key Laboratory of Industrial Internet of Things and Networked Control Ministry of EducationChongqing University of Posts and TelecommunicationsChongqing400065China School of Computer Science and Technology Zhejiang Gongshang UniversityHangzhou310018China School of Artificial Intelligence Nanjing University of Information Science&TechnologyNanjing210044China Department of Computer Science and Engineering School of ConvergenceCollege of Computing and InformaticsSungkyunkwan UniversitySeoul03063Republic of Korea Department of Computer Science Community CollegeKing Saud UniversityRiyadh11495Saudi Arabia

Devices and networks constantly upgrade,leading to rapid technological ***-dimensional(3D)point cloud transmission plays a crucial role in aerial computing terminology,facilitating information *** network types,including sensor networks and 5G mobile networks,support this ***,Flying Ad hoc Networks(FANETs)utilize Unmanned Aerial Vehicles(UAVs)as nodes,operating in a 3D environment with Six Degrees of Freedom(6DoF).This study comprehensively surveys UAV networks,focusing on models for Light Detection and Ranging(LiDAR)3D point cloud compression/*** topics covered include autonomous navigation,challenges in video streaming infrastructure,motivations for Quality of Experience(QoE)enhancement,and avenues for future ***,the paper conducts an extensive review of UAVs,encompassing current wireless technologies,applications across various sectors,routing protocols,design considerations,security measures,blockchain applications in UAVs,contributions to healthcare systems,and integration with the Internet of Things(IoT),Artificial Intelligence(AI),Machine Learning(ML),and Deep Learning(DL).Furthermore,the paper thoroughly discusses the core contributions of LiDAR 3D point clouds in UAV systems and their future prediction along with mobility *** also explores the prospects of UAV systems and presents state-of-the-art solutions.

关键词： Autonomous vehicles UAV systems UAV transmission UAV in healthcare future of UAV system security measures

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Investigation of the separation zone for split-domain light field visualization 28

Investigation of the separation zone for split-domain light ...

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2024 28th International Conference on Information technology, IT 2024

作者： Javidi, Kamran Martini, Maria G. Kara, Peter A. School of Computer Science and Mathematics Faculty of Engineering Computing and the Environment Kingston University Wireless Multimedia and Networking Research Group Department of Computer Science Penrhyn Road Campus Kingston upon Thames LondonKT1 2EE United Kingdom Budapest University of Technology and Economics Faculty of Electrical Engineering and Informatics Department of Networked Systems and Services Budapest1111 Hungary

ISBN: (纸本)9798350369618

Light field visualization commonly provides a single content over the entire field of view. However, the angularly-selective nature of the technology enables the simultaneous visualization of different contents at different viewing angles. Yet segmenting the valid viewing area comes with content interference as well in forms of separation zones, resulting invalid viewing domains. In this paper, we introduce a study on the separation zone of split-domain light field visualization. We created a static-content-based scenario in which we split the valid viewing area into two distinct domains, with a separation zone in between them. This was achieved by merging two light field contents in the middle with an instantaneous switch. The resulting visualization on a light field display was captured by a DSLR camera from two viewing distances, and it was compared to the crosstalk effect caused by insufficient angular resolution. © 2024 IEEE.

关键词： Visualization

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A practical PID variable stiffness control and its enhancement for compliant force-tracking interactions with unknown environments

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Science China(Technological Sciences) 2023年第10期66卷 2882-2896页

作者： ZHANG Xin ZHOU Hao LIU JinGuo JU ZhaoJie LENG YuQuan YANG ChenGuang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China School of Computing University of PortsmouthPortsmouth PO13HEUK Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhen 518055China Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Compliant interaction control is a key technology for robots performing contact-rich manipulation *** design of the compliant controller needs to consider the robot hardware because complex control algorithms may not be compatible with the hardware performance,especially for some industrial robots with low bandwidth *** paper focuses on effective and easy-to-use compliant control algorithms for position/velocity-controlled *** by human arm stiffness adaptation behavior,a novel variable target stiffness(NVTS)admittance control strategy is proposed for adaptive force tracking,in which a proportional integral derivative(PID)variable stiffness law is designed to update the stiffness coefficient of the admittance function by the force and position ***,its stability and force-tracking capability are theoretically *** addition,an impact compensator(Impc)is integrated into the NVTS controller to enhance its disturbance-suppression capability when the robot is subjected to strong vibration disturbances in complicated surface polishing *** proposed controllers are validated through four groups of experimental tests using different robots and the corresponding results demonstrate that they have high-accuracy tracking capability and strong adaptability in unknown environments.

关键词： compliant interaction control force tracking PID variable stiffness impact compensator unknown environments

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MACRO: Incentivizing Multi-Leader Game-Based Pareto-Efficient Crowdsourcing for Video Analytics 40

MACRO: Incentivizing Multi-Leader Game-Based Pareto-Efficien...

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40th IEEE International Conference on Data Engineering, ICDE 2024

作者： Chen, Yu Zhang, Sheng Zhou, Ziying Wang, Xiaokun Liang, Yu Chen, Ning Yan, Yuting Xiao, Mingjun Wu, Jie Qian, Zhuzhong Xu, Harry Nanjing University State Key Lab. for Novel Software Technology China School of Systems Science Beijing Normal University China School of Computer and Electronic Information School of Artificial Intelligence Nanjing Normal University China School of Computer Science and Technology University of Science and Technology of China China Temple University Center for Networked Computing United States Samueli School of Engineering University of California Computer Science Department Los Angeles United States

ISBN: (纸本)9798350317152

In recent years, many crowdsourcing platforms have emerged, using the resources of recruited workers to perform diverse outsourcing tasks, where the video analytics attracts much attention due to its practical implications. For maximum profits, platforms carefully choose the workers and determine the video analytics configurations to ensure accuracy;meanwhile, workers possess the flexibility to tailor the configurations for their indivi-dual gains, which makes it hard for platforms to optimize their profits considering the platform-worker conflicts. In this paper, we design an incentive mechanism for Multi-leader game-based video Analytics upon CROwdsourcing, named MACRO, to over-come the above situation. Under that mechanism, we first formu-late the utility optimization problems for platforms and workers, respectively. We then propose a dual ascent-based method to op-timally determine the video analytics configurations for a multi-platform game, ensuring Pareto efficiency. Moreover, in the context of a multi-leader game involving platform-worker conflicts, we design an incentive function with its incentive factor update strategy and propose an ADMM-based approach for maximizing incentives that motivate workers to contribute to the platforms' profits. Rigorous proofs demonstrate the linear convergence of the MACRO to the multi-leader Stackelberg equilibrium. Trace-driven experiments show that MACRO improves the Pareto efficiency by 26.3%, outperforming other approaches. © 2024 IEEE.

关键词： Profitability

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Monocular Visual-Inertial and Robotic-Arm Calibration in a Unifying Framework

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IEEE/CAA Journal of Automatica Sinica 2022年第1期9卷 146-159页

作者： Yinlong Zhang Wei Liang Mingze Yuan Hongsheng He Jindong Tan Zhibo Pang Key Laboratory of Networked Control Systems Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China School of Computing Wichita State UniversityWichita 67260 USA Department of Mechanical Aerospace and Biomedical EngineeringUniversity of TennesseeTN 37996 USA Department of Automation Technology ABB Corporate Research SwedenVasteras 72178Sweden Department of Intelligent Systems Royal Institute of Technology(KTH)Stockholm 11428Sweden

Reliable and accurate calibration for camera,inertial measurement unit(IMU)and robot is a critical prerequisite for visual-inertial based robot pose estimation and surrounding environment ***,traditional calibrations suffer inaccuracy and *** address these problems,this paper proposes a monocular visual-inertial and robotic-arm calibration in a unifying *** our method,the spatial relationship is geometrically correlated between the sensing units and robotic *** decoupled estimations on rotation and translation could reduce the coupled errors during the ***,the robotic calibration moving trajectory has been designed in a spiral pattern that enables full excitations on 6 DOF motions repeatably and *** calibration has been evaluated on our developed *** the experiments,the calibration achieves the accuracy with rotation and translation RMSEs less than 0.7°and 0.01 m,*** comparisons with state-of-the-art results prove our calibration consistency,accuracy and effectiveness.

关键词： Calibration inertial measurement unit(IMU) monocular camera robotic arm spiral moving trajectory

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Integrated Energy-Efficient Distributed Link Stability Algorithm for UAV Networks

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Computers, Materials & Continua 2024年第11期81卷 2357-2394页

作者： Altaf Hussain Shuaiyong Li Tariq Hussain Razaz Waheeb Attar Farman Ali Ahmed Alhomoud Babar Shah School of Computer Science and Technology Chongqing University of Posts and TelecommunicationsChongqing400065China Key Laboratory of Industrial Internet of Things and Networked Control Ministry of EducationChongqing University of Posts and TelecommunicationsChongqing400065China School of Computer Science and Information Engineering Zhejiang Gongshang UniversityHangzhou310018China Management Department College of Business AdministrationPrincess Nourah bint Abdulrahman UniversityRiyadh11671Saudi Arabia Department of Applied AI School of ConvergenceCollege of Computing and InformaticsSungkyunkwan UniversitySeoul03063Republic of Korea Department of Computer Science College of ScienceNorthern Border UniversityArar91431Saudi Arabia College of Technological Innovation Zayed UniversityDubai19282United Arab Emirates

Ad hoc networks offer promising applications due to their ease of use,installation,and deployment,as they do not require a centralized control *** these networks,nodes function as senders,receivers,and *** such network is the Flying Ad hoc Network(FANET),where nodes operate in three dimensions(3D)using Unmanned Aerial Vehicles(UAVs)that are remotely *** the integration of the Internet of Things(IoT),these nodes form an IoT-enabled network called the Internet of UAVs(IoU).However,the airborne nodes in FANET consume high energy due to their payloads and low-power *** optimal routing approach for communication is essential to address the problem of energy consumption and ensure energy-efficient data transmission in *** paper proposes a novel energy-efficient routing protocol named the Integrated Energy-Efficient Distributed Link Stability Algorithm(IEE-DLSA),featuring a relay mechanism to provide optimal routing with energy efficiency in *** energy efficiency of IEE-DLSA is enhanced using the Red-Black(R-B)tree to ensure the fairness of advanced energy-efficient *** link stability,transmission loss avoidance,delay awareness with defined threshold metrics,and improving the overall performance of the proposed protocol are the core functionalities of *** simulations demonstrate that the proposed protocol performs well compared to traditional FANET routing *** evaluation metrics considered in this study include network delay,packet delivery ratio,network throughput,transmission loss,network stability,and energy consumption.

关键词： FANET UAV internet of UAVs relay mechanism energy consumption routing IEE-DLSA

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Multimodal Knowledge Graph Embeddings via Lorentz-based Contrastive Learning

Multimodal Knowledge Graph Embeddings via Lorentz-based Cont...

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IEEE International Conference on Multimedia and Expo (ICME)

作者： Ruizhou Liu Zongsheng Cao Zhe Wu Qianqian Xu Qingming Huang School of Computer Science and Technology University of Chinese Academy Sciences Beijing China Department of Networked Intelligence Pengcheng Laboratory Shenzhen China Institute of Information Engineering Chinese Academy Sciences Beijing China Key Laboratory of Intelligent Information Processing Institute of Computing Technology CAS Beijing China

ISBN: (数字)9798350390155

ISBN: (纸本)9798350390162

Multimodal knowledge graph embeddings (MKGE) have recently garnered significant attention. Unlike traditional unimodal knowledge graph embeddings, MKGE integrates both structural and multimodal knowledge to represent entities within a unified framework. However, real-world entities exhibit heterogeneity, often resulting in semantic inconsistencies where structurally similar embeddings may diverge significantly in their multimodal representations. Previous approaches primarily focus on directly fusing structural and multimodal embeddings, thus overlooking the issue of semantic-embedding inconsistency. To tackle this issue, we propose a new multimodal knowledge graph embedding method via Lorentz-based contrastive learning (LCKGE). we firstly introduce a well-designed nearest-neighbor fusion module via contrastive learning for multimodal fusion. Then, an attention-based Lorentz transformation is proposed for capturing more complex geometric information in MKGs. Furthermore, a series of comprehensive experiments are conducted to demonstrate the effectiveness of our model. We provide the code and appendix of LCKGE in https://***/RuizhouLiu/LCKGE

关键词： Codes Semantics Knowledge graphs Contrastive learning Benchmark testing

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Device-Free 3D Drone Localization in RIS-Assisted mmWave MIMO Networks

Device-Free 3D Drone Localization in RIS-Assisted mmWave MIM...

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IEEE Conference on Global Communications (GLOBECOM)

作者： Jiguang He Charles Vanwynsberghe Hui Chen Chongwen Huang Aymen Fakhreddine School of Computing and Information Technology Great Bay University Dongguan China Technology Innovation Institute Abu Dhabi United Arab Emirates Department of Electrical Engineering Chalmers University of Technology Gothenburg Sweden College of Information Science and Electronic Engineering Zhejiang University Hangzhou China Institute of Networked and Embedded Systems University of Klagenfurt Klagenfurt Austria

ISBN: (数字)9798350351255

ISBN: (纸本)9798350351262

关键词： Location awareness Training Lower bound Three-dimensional displays Reconfigurable intelligent surfaces Millimeter wave radar Transceivers Millimeter wave communication Drones Information analysis

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