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arXiv 2025年

作者： Juston, Marius F.R. Gisi, Alex Norris, William R. Nottage, Dustin Soylemezoglu, Ahmet The Grainger College of Engineering Industrial and Enterprise Systems Engineering Department University of Illinois Urbana-Champaign UrbanaIL61801-3080 United States The Grainger College of Engineering Electrical and Computer Engineering Department University of Illinois Urbana-Champaign UrbanaIL61801-3080 United States Construction Engineering Research Laboratory U.S. Army Corps of Engineers Engineering Research and Development Center IL61822 United States

This paper presents the Adaptive Personalized Control System (APECS) architecture, a novel framework for human-in-the-loop control. An architecture is developed which defines appropriate constraints for the system objectives. A method for enacting Lipschitz and sector bounds on the resulting controller is derived to ensure desirable control properties. An analysis of worst-case loss functions and the optimal loss function weighting is made to implement an effective training scheme. Finally, simulations are carried out to demonstrate the effectiveness of the proposed architecture. This architecture resulted in a 4.5% performance increase compared to the human operator and 9% to an unconstrained feedforward neural network trained in the same way. © 2025, CC BY.

关键词： Human robot interaction

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Demonstrating Autonomous 3D Path Planning on a Novel Scalable UGV-UAV Morphing Robot

Demonstrating Autonomous 3D Path Planning on a Novel Scalabl...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Eric Sihite Filip Slezak Ioannis Mandralis Adarsh Salagame Milad Ramezani Arash Kalantari Alireza Ramezani Morteza Gharib The Department of Aerospace Engineering California Institute of Technology Pasadena USA Department of Electrical and Computer Engineering The Silicon Synapse Labs Northeastern University Boston USA The Robotics and Autonomous Systems DATA61 CSIRO Brisbane QLD Australia The Jet Propulsion Laboratory Pasadena USA

Some animals exhibit multi-modal locomotion capability to traverse a wide range of terrains and environments, such as amphibians that can swim and walk or birds that can fly and walk. This capability is extremely beneficial for expanding the animal's habitat range and they can choose the most energy efficient mode of locomotion in a given environment. The robotic biomimicry of this multi-modal locomotion capability can be very challenging but offer the same advantages. However, the expanded range of locomotion also increases the complexity of performing localization and path planning. In this work, we present our morphing multi-modal robot, which is capable of ground and aerial locomotion, and the implementation of readily available SLAM and path planning solutions to navigate a complex indoor environment.

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Improving the quality of the power supply during the period of covid-19 using plug-in electric vehicles and artificial intelligence

Improving the quality of the power supply during the period ...

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International Conference on Sciences and Techniques of Automatic Control and computer engineering (STA)

作者： Kouame Emmanuel Kouakou Mouna Rekik Lotfi Krichen Electrical Engineering Department Electrical systems and renewable energies Laboratory (LSEER) University of Sfax National Engineering School of Sfax (ENIS) Sfax Tunis Electrical Engineering Department Electrical systems and renewable energies Laboratory (LSEER) University of Sfax University of Gabes National Engineering School of Sfax (ENIS) Higher Institute of Computer Science and Multimedia of Gabes (ISIMG) Sfax Gabes Tunis

ISBN: (纸本)9781665482622

COVID-19, corona virus disease, has been ravaging the world since the last quarter of 2019. To address this threat, the World Health Organization (WHO) has established a list of priority medical equipment that must be used by hospitals and clinics. These equipments are in fact non-linear harmonic-producing loads that have a detrimental effect on the devices and degrade the quality of the power supply. In this paper a parallel active filter: a neuronal harmonic compensation strategy based on plug-in electric vehicles (PEVs) connected to the charging stations in the parking lot of hospitals and clinics and artificial intelligence is proposed in order to improve the quality of power supply thus protecting medical equipment in order to save lives. This strategy will be simulated in MATLAB and the results will be presented as evidence of its effectiveness.

关键词： COVID-19 Plug-in electric vehicles Biomedical equipment Hospitals Power quality Organizations Harmonic analysis

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OpenVNA: A Framework for Analyzing the Behavior of Multimodal Language Understanding System under Noisy Scenarios

arXiv

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arXiv 2024年

作者： Yuan, Ziqi Zhang, Baozheng Xu, Hua Liang, Zhiyun Gao, Kai State Key Laboratory of Intelligent Technology and Systems Department of Computer Science and Technology Tsinghua University China China School of Information Science and Engineering Hebei University of Science and Technology China College of Information and Electrical Engineering China Agricultural University China Technology Development Co. Ltd. China

We present OpenVNA, an open-source framework designed for analyzing the behavior of multimodal language understanding systems under noisy conditions. OpenVNA serves as an intuitive toolkit tailored for researchers, facilitating convenience batch-level robustness evaluation and on-the-fly instance-level demonstration. It primarily features a benchmark Python library for assessing global model robustness, offering high flexibility and extensibility, thereby enabling customization with user-defined noise types and models. Additionally, a GUI-based interface has been developed to intuitively analyze local model behavior. In this paper, we delineate the design principles and utilization of the created library and GUI-based web platform. Currently, OpenVNA is publicly accessible at https://***/thuiar/OpenVNA, with a demonstration video available at https://***/0Z9cW7RGct4. © 2024, CC BY-NC-SA.

关键词： Graphical user interfaces

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Transformer-based Compound Correlation Miner for Smart Home Anomaly Detection

Transformer-based Compound Correlation Miner for Smart Home ...

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IEEE International Conference on Cloud Networking (CLOUDNET)

作者： Andrew D’Angelo Chenglong Fu Xiaojiang Du Paul Ratazzi Department of Electrical and Computer Engineering Stevens Institute of Technology Hoboken NJ USA Department of Software and Information Systems University of North Carolina at Charlotte Charlotte NC USA Information Warfare Division Air Force Research Laboratory Rome NY USA

IoT-enabled smart homes can be double-edged swords. On one side, the convenience and efficiency brought about by smart device integrations can improve the standard of living dramatically. However, on the other side, the prevalent interconnectivity among home devices can drastically increase the potential risk of attack. Therefore, in order to reduce the possibility of a successful attack we propose a complex correlation-based anomaly detection system powered by intricate two-to-one correlations. Through the use of a state-of-the-art transformer model, we present a novel correlation mining mechanism that leverages the power of attention weights to develop an understanding of the underlying correlations that exist between IoT events in a smart home environment. Using this knowledge, we use a special validation algorithm to verify 52 two-to-one correlations in our system. Furthermore, we simulate four distinct attack scenarios and attain an average detection accuracy and recall of 96.59% and 97.38% respectively. Our results indicate that our method is effective at identifying a range of IoT attacks and successfully demonstrates the capabilities of IoT correlations.

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A provable-secure and practical two-party distributed signing protocol for SM2 signature algorithm

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Frontiers of computer Science 2020年第3期14卷 203-215页

作者： Yudi ZHANG Debiao HE Mingwu ZHANG Kim-Kwang Raymond CHOO Key Laboratory of Aerospace Information Security and Trusted Computing of Ministry of Education School of Cyber Science and EngineeringWuhan UniversityWuhan 430072China School of Computer Sciences Hubei University of TechnologyWuhan 430068China Department of Information Systems and Cyber Security and Department of Electrical and Computer Engineering University of Texas at San AntonioSan AntonioTX 78249USA

Mobile devices are widely used for data access,communications and ***,storing a private key for signature and other cryptographic usage on a single mobile device can be challenging,due to its computational ***,a number of(t,n)threshold secret sharing schemes designed to minimize private key from leakage have been proposed in the ***,existing schemes generally suffer from key reconstruction *** this paper,we propose an efficient and secure two-party distributed signing protocol for the SM2 signature *** latter has been mandated by the Chinese government for all electronic commerce *** proposed protocol separates the private key to storage on two devices and can generate a valid signature without the need to reconstruct the entire private *** prove that our protocol is secure under nonstandard ***,we implement our protocol using MIRACL Cryptographic SDK to demonstrate that the protocol can be deployed in practice to prevent key disclosure.

关键词： SM2 signature two-party signing wireless environment provable security threshold secret sharing

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AXI-REALM: A Lightweight and Modular Interconnect Extension for Traffic Regulation and Monitoring of Heterogeneous Real-Time SoCs

arXiv

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arXiv 2023年

作者： Benz, Thomas Ottaviano, Alessandro Balas, Robert Garofalo, Angelo Restuccia, Francesco Biondi, Alessandro Benini, Luca Integrated Systems Laboratory ETH Zurich Switzerland Department of Electrical Electronic and Information Engineering University of Bologna Italy Department of Computer Science and Engineering UC San Diego San DiegoCA United States Department of Excellence in Robotics & AI Scuola Superiore Sant’Anna Pisa Italy

The increasing demand for heterogeneous functionality in the automotive industry and the evolution of chip manufacturing processes have led to the transition from federated to integrated critical real-time embedded systems (CRTESs). This leads to higher integration challenges of conventional timing predictability techniques due to access contention on shared resources, which can be resolved by providing system-level observability and controllability in hardware. We focus on the interconnect as a shared resource and propose AXI-REALM, a lightweight, modular, and technology-independent real-time extension to industry-standard AXI4 interconnects, available open-source. AXI-REALM uses a credit-based mechanism to distribute and control the bandwidth in a multi-subordinate system on periodic time windows, proactively prevents denial of service from malicious actors in the system, and tracks each manager’s access and interference statistics for optimal budget and period selection. We provide detailed performance and implementation cost assessment in a 12nm node and an end-to-end functional case study implementing AXI-REALM into an open-source Linux-capable RISC-V SoC. In a system with a general-purpose core and a hardware accelerator’s DMA engine causing interference on the interconnect, AXI-REALM achieves fair bandwidth distribution among managers, allowing the core to recover 68.2 % of its performance compared to the case without contention. Moreover, near-ideal performance (above 95 %) can be achieved by distributing the available bandwidth in favor of the core, improving the worst-case memory access latency from 264 to below eight cycles. Our approach minimizes buffering compared to other solutions and introduces only 2.45 % area overhead compared to the original SoC. Copyright © 2023, The Authors. All rights reserved.

关键词： Embedded systems

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A vector almost-supermartingale convergence theorem and its applications

A vector almost-supermartingale convergence theorem and its ...

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IEEE Conference on Decision and Control

作者： Aditya Mahajan Silviu-Iulian Niculescu Mathukumalli Vidyasagar department of Electrical and Computer Engineering at McGill University Montreal QC Canada CNRS CentraleSupelec Inria Saclay Laboratory of Signals and Systems (L2S) University of Paris-Saclay Gif-sur-Yvette France department of Artificial Intelligence at the Indian Institute of Technology Hyderabad Kandi Telangana India

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

The almost-supermartingale convergence theorem of Robbins and Siegmund (1971) is a fundamental tool for establishing the convergence of various stochastic iterative algorithms including system identification, adaptive control, and reinforcement learning. The theorem is stated for non-negative scalar valued stochastic processes. In this paper, we generalize the theorem to non-negative vector valued stochastic processes and provide two set of sufficient conditions for such processes to converge almost surely. We present several applications of vector almost-supermartingale convergence theorem, including convergence of autoregressive supermartingales, delayed supermartingales, and stochastic approximation with delayed updates.

关键词： Sufficient conditions Temporal difference learning Stochastic processes Vectors System identification Iterative methods Adaptive control Convergence

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Constant step-size stochastic approximation with delayed updates

Constant step-size stochastic approximation with delayed upd...

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IEEE Conference on Decision and Control

作者： Aditya Mahajan Silviu-Iulian Niculescu Mathukumalli Vidyasagar department of Electrical and Computer Engineering McGill University Montreal QC Canada Laboratory of Signals and Systems (L2S) University of Paris-Saclay CNRS CentraleSupelec Inria Saclay Gif-sur-Yvette France department of Artificial Intelligence Indian Institute of Technology Hyderabad Kandi Telangana India

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

In this paper, we consider constant step-size stochastic approximation with delayed updates. For the non-delayed case, it is well known that under appropriate conditions, the discrete-time iterates of stochastic approximation track the trajectory of a continuous-time ordinary differential equation (ODE). For the delayed case, we show in this paper that, under appropriate conditions, the discrete-time iterates track the trajectory of a delay-differential equation (DDE) rather than an ODE. Thus, delayed updates lead to a qualitative change in the behavior of constant step-size stochastic approximation. We present multiple examples to illustrate the qualitative affect of delay and show that increasing the delay is generally destabilizing but, for some systems, it can be stabilizing as well.

关键词： Sufficient conditions Asymptotic stability Ordinary differential equations Approximation algorithms Trajectory Delays

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Stability of the distributed Kalman filter using general random coefficients

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Science China(Information Sciences) 2021年第7期64卷 66-79页

作者： Die GAN Siyu XIE Zhixin LIU Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of Sciences School of Mathematical Sciences University of Chinese Academy of Sciences The Department of Electrical and Computer Engineering Wayne State University

In this paper, we propose a distributed Kalman filter(DKF) for the dynamical system with general random coefficients. In the proposed method, each estimator shares local innovation pairs with its neighbors to collectively complete the estimation task. Further, we introduce a collective random observability condition by which the Lp-stability of the covariance matrix and the Lp-exponential stability of the homogeneous part of the estimation error equation can be established. In contrast, the stringent conditions on the coefficient matrices, such as independency and stationarity are not required. Besides, the stability of the DKF, i.e., the boundedness of the filtering errors, can be established. Finally, from the simulation result,we demonstrate the cooperative effect of the sensors.

关键词： distributed Kalman filter collective random observability L p-stable L p-exponentially stable state estimation

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