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Mixture Gaussian Distribution-Based Collaborative Reinforcement Learning for 3D UAV Localization Optimization Against Jamming Attacks

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Mixture Gaussian Distribution-Based Collaborative Reinforcem...

IEEE Conference on Global Communications (GLOBECOM)

作者： Yujiao Zhu Mingzhe Chen Sihua Wang Yuchen Liu Gaolei Li Changchuan Yin Tony Q.S. Quek Beijing Laboratory of Advanced Information Network Beijing University of Posts and Telecommunications Beijing China Information Systems Technology and Design Pillar Singapore University of Technology and Design Singapore Department of Electrical and Computer Engineering and Institute for Data Science and Computing University of Miami Coral Gables FL USA Department of Computer Science North Carolina State University Raleigh NC USA School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University China

ISBN: (数字)9798350351255

ISBN: (纸本)9798350351262

In this paper, the optimization of unmanned aerial vehicle (UAV) localization under jamming attacks is studied. In the considered network, a base station (BS) collaborates with an active UAV to localize a target UAV. During this positioning process, a jamming UAV transmits discontinuous signals to passive UAVs to interfere the distance information measurement. To localize the target UAV under jamming attacks, the BS jointly use two localization methods: 1) generative adversarial network (GAN)-based positioning method and 2) time difference of arrival (TDOA)-based positioning method. Since GAN-based positioning method cannot defense in a strong jamming signal while TDOA-based positioning method may consume more energy and sacrifice localization accuracy, the BS must select an appropriate positioning method (GAN-based or TDOA-based methods) and four distance measurement information of passive UAVs to estimate the position of the target UAV. This problem is formulated as an optimization problem whose goal is to minimize the positioning error between the estimated and the ground truth positions of the target UAV while considering jamming attacks and the trajectory of passive UAVs. To solve this problem, we propose a mixture Gaussian distribution model-based collaborative reinforcement learning (RL) method which enables the active UAV to determine its transmit power and trajectory, and enables the BS to select the most appropriate subsets of distance measurement information and the optimal positioning method according to the movement of passive UAVs and the unknown jamming attack pattern of the jamming UAV. Simulation results show the proposed method can reduce the positioning error of the target UAV by up to 36.5% compared to the method that does not consider the GAN-based positioning method.

关键词： Location awareness Simulation Collaboration Reinforcement learning Gaussian distribution Autonomous aerial vehicles Distance measurement Trajectory Jamming Optimization

Sensor Fault Detection and Isolation in Autonomous Nonlinear systems Using Neural Network-Based Observers

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arXiv 2023年

作者： Cao, John Niazi, M. Umar B. Barreau, Matthieu Johansson, Karl Henrik Division of Decision and Control Systems Digital Futures KTH Royal Institute of Technology StockholmSE-100 44 Sweden Laboratory for Information & Decision Systems Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology CambridgeMA02139 United States

This paper presents a novel observer-based approach to detect and isolate faulty sensors in nonlinear systems. The proposed sensor fault detection and isolation (s-FDI) method applies to a general class of nonlinear systems. Our focus is on s-FDI for two types of faults: complete failure and sensor degradation. The key aspect of this approach lies in the utilization of a neural network-based Kazantzis- Kravaris/Luenberger (KKL) observer. The neural network is trained to learn the dynamics of the observer, enabling accurate output predictions of the system. Sensor faults are detected by comparing the actual output measurements with the predicted values. If the difference surpasses a theoretical threshold, a sensor fault is detected. To identify and isolate which sensor is faulty, we compare the numerical difference of each sensor meassurement with an empirically derived threshold. We derive both theoretical and empirical thresholds for detection and isolation, respectively. Notably, the proposed approach is robust to measurement noise and system uncertainties. Its effectiveness is demonstrated through numerical simulations of sensor faults in a network of Kuramoto oscillators. © 2023, CC BY.

关键词： Nonlinear systems

Intelligent Soft Robotic Gripper Enabled by Multimodal Sensors and Deep Learning

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Intelligent Soft Robotic Gripper Enabled by Multimodal Senso...

IEEE International Conference on Nano/Micro Engineered and Molecular systems (NEMS)

作者： Qiongfeng Shi Zhongda Sun Xianhao Le Jin Xie Chengkuo Lee Joint International Research Laboratory of Information Display and Visualization School of Electronic Science and Engineering Southeast University Nanjing China Department of Electrical and Computer Engineering National University of Singapore Singapore Singapore State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University Hangzhou China

Here we report an intelligent soft robotic gripper enabled by the integration of an ultrasonic remote sensor and triboelectric sensors. Due to the noncontact distance sensing ability, the ultrasonic sensor is used to find the object’s visual information including position and height by lateral scanning. The information is then used for adjusting the robotic gripper to an appropriate grasp location, after which grasp operation is performed to obtain the object’s tactile information through triboelectric bending and tactile sensors. To efficiently analyze the multimodal information, a deep-learning neural network based on feature-level data fusion is constructed, which is able to achieve a high accuracy of 99.3% in classifying 14 objects, enabling the intelligent soft robotic gripper for various smart applications.

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LUCF-Net: Lightweight U-shaped Cascade Fusion Network for Medical Image Segmentation

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arXiv 2024年

作者： Sun, Songkai She, Qingshan Ma, Yuliang Li, Rihui Zhang, Yingchun The School of Automation Hangzhou Dianzi University Zhejiang Hangzhou310018 China International Joint Research Laboratory for Autonomous Robotic Systems Zhejiang Hangzhou China The Center for Cognitive and Brain Sciences The Department of Electrical and Computer Engineering University of Macau China The Department of Biomedical Engineering University of Miami Coral GablesFL United States

In this study, the performance of existing U-shaped neural network architectures was enhanced for medical image segmentation by adding Transformer. Although Transformer architectures are powerful at extracting global information, its ability to capture local information is limited due to its high complexity. To address this challenge, we proposed a new lightweight U-shaped cascade fusion network (LUCF-Net) for medical image segmentation. It utilized an asymmetrical structural design and incorporated both local and global modules to enhance its capacity for local and global modeling. Additionally, a multi-layer cascade fusion decoding network was designed to further bolster the network's information fusion capabilities. Validation results achieved on multi-organ datasets in CT format, cardiac segmentation datasets in MRI format, and dermatology datasets in image format demonstrated that the proposed model outperformed other state-of-the-art methods in handling local-global information, achieving an improvement of 1.54% in Dice coefficient and 2.6 mm in Hausdorff distance on multi-organ segmentation. Furthermore, as a network that combines Convolutional Neural Network and Transformer architectures, it achieves competitive segmentation performance with only 6.93 million parameters and 6.6 gigabytes of floating point operations, without the need of pre-training. In summary, the proposed method demonstrated enhanced performance while retaining a simpler model design compared to other Transformer-based segmentation networks. Copyright © 2024, The Authors. All rights reserved.

关键词： Convolutional neural networks

Leveraging ASR Pretrained Conformers for Speaker Verification through Transfer Learning and Knowledge Distillation

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arXiv 2023年

作者： Cai, Danwei Li, Ming The Department of Electrical and Computer Engineering Duke University DurhamNC27705 United States The Suzhou Municipal Key Laboratory of Multimodal Intelligent Systems Data Science Research Center Duke Kunshan University Kunshan China

This paper focuses on the application of Conformers in speaker verification. Conformers, initially designed for Automatic Speech Recognition (ASR), excel at modeling both local and global contexts within speech signals effectively. Previous research has established that ASR and speaker verification tasks can naturally complement each other. Building on this synergistic relationship, this study introduces three strategies for leveraging ASR-pretrained Conformers in speaker verification: (1) Transfer learning: We use a pretrained ASR Conformer encoder to initialize the speaker embedding network, thereby enhancing model generalization and mitigating the risk of overfitting. (2) Knowledge distillation: We distill the complex capabilities of an ASR Conformer into a speaker verification model. This not only allows for flexibility in the student mode's network architecture but also incorporates frame-level ASR distillation loss as an auxiliary task to reinforce speaker verification. (3) Parameter-efficient transfer learning with speaker adaptation: A lightweight speaker adaptation module is proposed to convert ASR-derived features into speaker-specific embeddings, without altering the core architecture of the original ASR Conformer. This strategy facilitates the concurrent execution of ASR and speaker verification tasks within a singular model. Experiments were conducted on VoxCeleb datasets. The results are compelling: models employing ASR pretraining and knowledge distillation significantly outperform standard Conformers. Specifically, the best model using the ASR pretraining method achieved a 0.43% equal error rate (EER) on the VoxCeleb1-O test trial, while the knowledge distillation approach yielded a 0.38% EER. Furthermore, by adding a mere 4.92 million parameters to a 130.94 million-parameter ASR Conformer encoder, the speaker adaptation approach achieved a 0.45% EER, enabling parallel speech recognition and speaker verification within a single ASR Conformer encoder.

关键词： Transfer learning

Development of a Near-Field Sensor for Diagnosis of Liver Diseases Using 3D-EM Simulation of Mouse Model

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Development of a Near-Field Sensor for Diagnosis of Liver Di...

Microwaves Antennas and Propagation Conference (MAPCON)

作者： Poulami Samaddar Sunil Gaddam Md Mirazur Rahman Shuvashis Dey Sayan Roy Dipankar Mitra Shivaram P. Arunachalam Department of Medicine Mayo Clinic Division of Gastroenterology and Hepatology Microwave Engineering & Imaging Laboratory Rochester MN USA Department of Electrical and Computer Engineering North Dakota State University Fargo ND USA Division of Energy Matter and Systems School of Science and Engineering University of Missouri-Kansas City Kansas City MO USA Department of Computer Science & Computer Engineering University of Wisconsin-La Crosse La Crosse WI USA

In this work, we studied the response of an antipodal Vivaldi antenna in the presence of different types of mice liver models. The scope of the study was limited to two types of liver diseases, i.e., nonalcoholic steatohepatitis (NASH) and fibrosis. The complex dielectric properties of each liver type were measured using the open-ended coaxial probe dielectric spectroscopy method. A Vivaldi antenna for near-field sensing was designed and then simulated in CST Studio to determine the antenna characteristics. The antenna performance from the simulation matched the reflection coefficients (S11) measurements collected with the fabricated antenna in an anechoic chamber. This verified antenna was used for further measurements of different liver models placed near the antenna. The antenna response, S11 measurements, varied from one tissue type to another, demonstrating the potential of using the Vivaldi antenna as a near-field sensor to differentiate liver disease models from the healthy liver model.

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Unleashing the Power of Edge-Cloud Generative AI in Mobile Networks: A Survey of AIGC Services

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arXiv 2023年

作者： Xu, Minrui Du, Hongyang Niyato, Dusit Kang, Jiawen Xiong, Zehui Mao, Shiwen Han, Zhu Jamalipour, Abbas Kim, Dong In Shen, Xuemin Leung, Victor C.M. Poor, H. Vincent The School of Computer Science and Engineering Nanyang Technological University Singapore639798 Singapore The School of Automation Guangdong University of Technology Key Laboratory of Intelligent Information Processing and System Integration of IoT Ministry of Education Guangzhou510006 China Guangdong-HongKong-Macao Joint Laboratory for Smart Discrete Manufacturing Guangzhou510006 China The Pillar of Information Systems Technology and Design Singapore University of Technology and Design Singapore487372 Singapore The Department of Electrical and Computer Engineering Auburn University AuburnAL36849-5201 United States The Department of Electrical and Computer Engineering University of Houston HoustonTX77004 United States The Department of Computer Science and Engineering Kyung Hee University Seoul446-701 Korea Republic of The School of Electrical and Information Engineering University of Sydney SydneyNSW2006 Australia The Department of Electrical and Computer Engineering Sungkyunkwan University Suwon16419 Korea Republic of The Department of Electrical and Computer Engineering University of Waterloo WaterlooONN2L 3G1 Canada The College of Computer Science and Software Engineering Shenzhen University Shenzhen518061 China The Department of Electrical and Computer Engineering The University of British Columbia VancouverBCV6T 1Z4 Canada The Department of Electrical and Computer Engineering Princeton University PrincetonNJ08544 United States

Artificial Intelligence-Generated Content (AIGC) is an automated method for generating, manipulating, and modifying valuable and diverse data using AI algorithms creatively. This survey paper focuses on the deployment of AIGC applications, e.g., ChatGPT and Dall-E, at mobile edge networks, namely mobile AIGC networks, that provide personalized and customized AIGC services in real time while maintaining user privacy. We begin by introducing the background and fundamentals of generative models and the lifecycle of AIGC services at mobile AIGC networks, which includes data collection, training, fine-tuning, inference, and product management. We then discuss the collaborative cloud-edge-mobile infrastructure and technologies required to support AIGC services and enable users to access AIGC at mobile edge networks. Furthermore, we explore AIGC-driven creative applications and use cases for mobile AIGC networks. Additionally, we discuss the implementation, security, and privacy challenges of deploying mobile AIGC networks. Finally, we highlight some future research directions and open issues for the full realization of mobile AIGC networks. © 2023, CC BY.

关键词： Life cycle

The Role of Local Steps in Local SGD

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arXiv 2022年

作者： Qin, Tiancheng Etesami, S. Rasoul Uribe, César A. Department of Industrial and Enterprise Systems Engineering Coordinated Science Laboratory University of Illinois at Urbana-Champaign Urbana United States Department of Electrical and Computer Engineering Rice University Houston United States

We consider the distributed stochastic optimization problem where n agents want to minimize a global function given by the sum of agents' local functions and focus on the heterogeneous setting when agents' local functions are defined over non-i.i.d. datasets. We study the Local SGD method, where agents perform a number of local stochastic gradient steps and occasionally communicate with a central node to improve their local optimization tasks. We analyze the effect of local steps on the convergence rate and the communication complexity of Local SGD. In particular, instead of assuming a fixed number of local steps across all communication rounds, we allow the number of local steps during the i-th communication round, Hi, to be different and arbitrary numbers. Our main contribution is to characterize the convergence rate of Local SGD as a function of {Hi}i=1Runder various settings of strongly convex, convex, and nonconvex local functions, where R is the total number of communication rounds. Based on this characterization, we provide sufficient conditions on the sequence {Hi}i=1Rsuch that Local SGD can achieve linear speedup with respect to the number of workers. Furthermore, we propose a new communication strategy with increasing local steps superior to existing communication strategies for strongly convex local functions. On the other hand, for convex and nonconvex local functions, we argue that fixed local steps are the best communication strategy for Local SGD and recover state-of-the-art convergence rate results. Finally, we justify our theoretical results through extensive numerical experiments. Copyright © 2022, The Authors. All rights reserved.

关键词： Optimization

Evaluation of the Montenegrin Academic Digital Innovation Hub 27

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Evaluation of the Montenegrin Academic Digital Innovation Hu...

27th International Conference on Information Technology, IT 2023

作者： Lakovic, Luka Kara, Peter A. Ognjanovic, Ivana Bokor, Laszlo Sendelj, Ramo Reich, Christoph Roganovic, Milovan Zoulias, Emmanouil Erakovic, Jevto Radusinovic, Tanja Rakocevic, Nada Simon, Aniko University of Donja Gorica Faculty for Information Systems and Technologies Podgorica81000 Montenegro Budapest University of Technology and Economics Faculty of Electrical Engineering and Informatics Department of Networked Systems and Services Budapest1111 Hungary Faculty of Science Engineering and Computing Kingston University Wireless Multimedia and Networking Research Group Department of Computer Science School of Computer Science and Mathematics LondonKT1 2EE United Kingdom University of Donja Gorica Humanistic Studies Podgorica81000 Montenegro Furtwangen University Institute of Data Science Cloud Computing and It Security Furtwangen78120 Germany Clinical Centre of Montenegro Clinic for Neurology Podgorica81000 Montenegro National and Kapodistrian University of Athens Faculty of Nursing School of Health Sciences Goudi 11527 Greece Chamber of Economy of Montenegro Podgorica81000 Montenegro Sigma Technology Budapest1093 Hungary

ISBN: (纸本)9798350397512

In the era of global digitalization, digital innovation hubs have become essential, as they function as transforming forces. In this paper, we provide an analysis of the Montenegrin Academic Digital Innovation Hub by applying multi-criteria qualitative evaluation over several criteria: process flow of fully digitized operations of the Hub (with aspects of the innovation life-cycle, ethics, and security), resource management, strategic goals, and feasibility. The paper also proposes a model of comprehensive resource management via the perspective of smart specialization priorities of Montenegro. © 2023 IEEE.

关键词： Life cycle