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Towards Robust Ego-Centric Hand Gesture Analysis for Robot Control

Towards Robust Ego-Centric Hand Gesture Analysis for Robot C...

引用

2016 IEEE International Conference on Signal and Image processing

作者： Hongyong Song Weijiang Feng Naiyang Guan Xuhui Huang Zhigang Luo Institute of Software College of Computer National University of Defense Technology Department of Computer Science and Technology College of Computer National University of Defense Technology Science and Technology on Parallel and Distributed Processing Laboratory National University of Defense Technology

Wearable device with an ego-centric camera would be the next generation device for human-computer interaction such as robot *** gesture is a natural way of egocentric human-computer *** this paper, we present an ego-centric multi-stage hand gesture analysis pipeline for robot control which works robustly in the unconstrained environment with varying *** particular, we first propose an adaptive color and contour based hand segmentation method to segment hand region from the egocentric *** then propose a convex U-shaped curve detection algorithm to precisely detect positions of *** parallelly, we utilize the convolutional neural networks to recognize hand *** on these techniques, we combine most information of hand to control the robot and develop a hand gesture analysis system on an i Phone and a robot arm platform to validate its *** result demonstrates that our method works perfectly on controlling the robot arm by hand gesture in real time.

关键词： ego-centric vision hand detection and segmentation fingertips detection hand gesture recognition robot control human-computer interaction

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On variation of infinite horizon performance of model predictive control with varying receding horizon

On variation of infinite horizon performance of model predic...

引用

3rd IFAC Conference on Intelligent Control and Automation science, ICONS 2013

作者： Cai, Xin Li, Shaoyuan Li, Ning Li, Kang Department of Automation Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Shanghai 200240 China School of Electronics Electrical Engineering and Computer Science Queen's University Belfast Belfast BT7 1NN United Kingdom

ISBN: (纸本)9783902823458

This paper investigates variation of infinite horizon (IH) performance of Model Predictive Control (MPC) without constraints as the optimization horizon changes. By exploring properties of the Difference Riccati Equations (DRE), an upper bound and a lower bound of the ratio between variation of IH performance of MPC and finite horizon (FH) optimal cost are obtained. The result shows the dynamic behavior of IH performance of closed-loop MPC systems as the optimization horizon varies. Copyright © 2013 IFAC.

关键词： Model predictive control

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A Class of Fast and Accurate Multi-layer Block Summation and Dot Product Algorithms 18th

A Class of Fast and Accurate Multi-layer Block Summation a...

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18th IFIP WG 10.3 International Conference on Network and parallel Computing, NPC 2021

作者： He, Kang Barrio, Roberto Chen, Lin Jiang, Hao Liu, Jie Gu, Tongxiang Qi, Jin Science and Technology on Parallel and Distributed Processing Laboratory National University of Defense Technology Changsha410073 China Department of Applied Mathematics University of Zaragoza ZaragozaE50009 Spain College of Computer National University of Defense Technology Changsha410073 China Institute of Applied Physics and Computational Mathematics Beijing100000 China

ISBN: (纸本)9783030935702

Basic recursive summation and common dot product algorithm have a backward error bound that grows linearly with the vector dimension. Blanchard [1] proposed a class of fast and accurate summation and dot product algorithms respectively called FABsum and FABdot, which trades off the calculation accuracy and speed by the block size. Castaldo [2] proposed a multi-layer block summation and dot product algorithm called SuperBlocksum and SuperBlockdot that can increase the accuracy while adding almost no additional calculations. We combine the idea of [1] with the multi-layer block structure to propose SuperFABsum (for "super fast and accurate block summation") and SuperFABdot (for "super fast and accurate block dot product"). Our algorithms have two variants, one is SuperFAB(within), the other is SuperFAB(outside). Our algorithms further improve accuracy and speed compared with FAB and SuperBlock. We conducted accuracy and speed tests on the high-performance FT2000+ processor. Experimental results show that SuperFABdot(within) algorithm is more accurate than FABdot and SuperBlockdot. Compared with FABdot, SuperFABdot(outside) algorithm can achieve up to 1.2 × performance speedup while ensuring similar accuracy. © 2022, IFIP International Federation for Information processing.

关键词： Artificial intelligence

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RAS2P: Remote Attestation via Self-Measurement for SGX-based Platforms

RAS2P: Remote Attestation via Self-Measurement for SGX-based...

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2022 IEEE International Conference on systems, Man, and Cybernetics, SMC 2022

作者： Ren, Zhengwei Li, Xueting Deng, Li Tong, Yan Xu, Shiwei Tang, Jinshan Wuhan University of Science and Technology School of Computer Science and Technology Key Laboratory of Intelligent Information Processing and Real-time Industrial System Wuhan China Wuhan University of Science and Technology School of Computer Science and Technology Wuhan China Agricultural University College of Informatics Huazhong Wuhan China George Mason University College of Health and Human Services Department of Health Administration and Policy Fairfax United States

ISBN: (数字)9781665452588

ISBN: (纸本)9781665452588

Remote Attestation (RA) is a security service by which a Verifier (Vrf) can verify the platform state of a remote Prover (Prv). However, in most existing RA schemes, the Prv might be vulnerable to denial of service (DoS) attacks due to the interactive challenge-response methodology while there is no authentication about the challenge. Worse, many schemes cannot effectively detect mobile malware that can be inactive during the on-demand attestation launched by the Vrf. In this paper, we propose a self-measurement RA for SGX-based platforms, which can effectively mitigate DoS attacks and defend against mobile malware. To this end, a two-way identity authentication is first enforced between the Prv and Vrf with the help of a blockchain system, in which a shared session key is also generated. Secondly, trigger conditions of measurements on the Prv's side are time points generated by the Prv self instead of Vrf's requests. The Vrf can retrieve multiple self-measurement results during one execution of the protocol to monitor the Prv's platform over a period of time continuously, which can detect mobile malware effectively. Our scheme utilizes SGX to provide the runtime protection for sensitive information such as session key, self-measurement code, time points of self-measurements, and self-measurement results, making a higher security guarantee. In addition, the session key, time points of self-measurements, and self-measurement code can be changed or upgraded, making our scheme more flexible and scalable. The simulation implementation and results show that our scheme is feasible and practical. © 2022 IEEE.

关键词： Denial-of-service attack

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On overcoming limitations of a class of linear systems with first-order reset elements

On overcoming limitations of a class of linear systems with ...

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World Congress on Intelligent Control and Automation (WCICA)

作者： Guanglei Zhao Jingcheng Wang Kang Li Department of Automation Key Laboratory of System Control and Information Processing China Electrical Engineering and Computer Science Queens University Belfast UK

This paper considers using reset control to improve transient performance and overcome some fundamental limitations of linear systems. First, an auxiliary system is presented, then, based on which, a new reset control model is proposed, such that the non-overshoot performance specification can be met for any minimum phase relative degree one plants, the results imply some limitations of linear systems are overcome and clearly illustrate the advantages of reset control. A numerical example is given to show the effectiveness.

关键词： Closed loop systems Stability analysis Gold Linear systems Steady-state Educational institutions

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Routing with uncertainty in wireless mesh networks

Routing with uncertainty in wireless mesh networks

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International Workshop on Quality of Service

作者： Fajun Chen Jiangchuan Liu Zongpeng Li Yijie Wang Key Laboratory of Science and Technology for National Defence of Parallel and Distributed Processing National University of Defense Technology China School of Computing Science Simon Fraser University Department of Computer Science University of Caglary

Existing routing protocols for Wireless Mesh Networks (WMNs) are generally optimized with statistical link measures, while not addressing on the intrinsic uncertainty of wireless links. We show evidence that, with the transient link uncertainties at PHY and MAC layers, a pseudo-deterministic routing protocol that relies on average or historic statistics can hardly explore the full potentials of a multi-hop wireless mesh. We study optimal WMN routing using probing-based online anypath forwarding, with explicit consideration of transient link uncertainties. We show the underlying connection between WMN routing and the classic Canadian Traveller Problem (CTP). Inspired by a stochastic recoverable version of CTP (SRCTP), we develop a practical SRCTP-based online routing algorithm under link uncertainties. We study how dynamic next hop selection can be done with low cost, and derive a systematic selection order for minimizing transmission delay. We conduct simulation studies to verify the effectiveness of the SRCTP algorithms under diverse network configurations. In particular, compared to deterministic routing, reduction of end-to-end delay (51.15~73.02%) and improvement on packet delivery ratio (99.76%) are observed.

关键词： Uncertainty Wireless mesh networks Delay Routing protocols Physical layer Statistics Stochastic processes Relays computer networks Concurrent computing

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Toward Optimal Deployment of Communication-Intensive Cloud Applications

Toward Optimal Deployment of Communication-Intensive Cloud A...

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IEEE International Conference on Cloud Computing, CLOUD

作者： Pei Fan Ji Wang Zibin Zheng Michael R. Lyu National Laboratory for Parallel & Distributed Processing National University of Defense Technology Changsha China Department of Computer Science & Engineering Chinese University of Hong Kong Hong Kong China

Strongly promoted by the leading industrial companies, cloud computing becomes increasingly popular in re-cent years. The growth rate of cloud computing surpasses even the most optimistic predictions. A cloud application is a large-scale distributed system that consist a lot of distributed cloud nodes. How to make optimal deployment of cloud applications is a challenging research problem. When deploying a cloud application to the cloud environment, cloud node ranking is one of the most important approaches for selecting optimal cloud nodes for the cloud application. Traditional ranking methods usually rank the cloud nodes based on their QoS values, without considering the communication performance between cloud nodes. However, such kind of node relationship is very important for the communication-intensive cloud applications (e.g., Message Passing Interface (MPI) programs), which have a lot of communications between the selected cloud nodes. In this paper, we propose a novel clustering-based method for selecting optimal cloud nodes for deploying communication-intensive applications to the cloud environment. Our method not only takes into account the cloud node qualities, but also the communication performance between different nodes. We deploy several well-known MPI programs on a real-world cloud and compare our method with other methods. The experimental results show the effectiveness of our cluster-based method.

关键词： Time factors Cloud computing Benchmark testing Quality of service Servers Clustering algorithms Databases

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A banked-promotion TLB for high performance and low power

A banked-promotion TLB for high performance and low power

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IEEE International Conference on computer Design: VLSI in computers and Processors, (ICCD)

作者： Jung-Hoon Lee Jang-Soo Lee Seh-Woong Jeong Shin-Dug Kim Parallel Processing Laboratory Department of Computer Science Yonsei University Seoul South Korea Media SOC TeamSystem LSI Business Samsung Electronics Company Limited South Korea

This research is to design a simple but high performance TLB (translation lookaside buffer) system with low power consumption. Thus, we propose a new TLB structure supporting two page sizes dynamically and selectively for high performance and low cost design without any operating system support. For high performance, a promotion-TLB is designed by supporting two page sizes. Also in order to attain low power consumption, a banked-TLB is constructed by dividing one fully associative TLB space into two sub fully associative TLBs. These two structures are integrated to form a banked-promotion TLB as a low power and high performance TLB structure for embedded processors. According to the results of comparison and analysis, a similar performance can be achieved by using fewer TLB entries and also energy dissipation can be reduced by around 50% compared with the fully associative TLB.

关键词： Energy consumption Costs Virtual private networks Hardware Laboratories computer science Large scale integration Operating systems Performance analysis Energy dissipation

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Memory Access Analysis of Many-core system with Abundant Bandwidth

Memory Access Analysis of Many-core System with Abundant Ban...

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IEEE International Symposium on Embedded Multicore Socs (MCSoC)

作者： Chuan Tang Dan Liu Zuocheng Xing Peng Yang Zhe Wang Jiang Xu Parallel and Distributed Processing Laboratory National University of Defense Technology Changsha China Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong China

ISBN: (纸本)9781479986712

Many-core system is main architecture trend currently. One of the dominating challenges for on-chip manycore system is the memory wall. However traditional research primarily focus on the limited bandwidth. To solve this problem, many-core system is aided with large cache, and a lot of complex approaches about memory and cache are adopted aiming at relaxing the pressure of bandwidth and improving the efficiency of cache. All these methods generate much cost of area and power. In this paper, we are motivated by the feature of abundant bandwidth and low latency of optical interconnect. We analyze the characteristics of memory access on 64 cores system under the case of high bandwidth which can be assumed to benefit from optical interconnect, considering the sensibility with bandwidth and cache for different benchmarks. Finally, we discuss about promising basic frameworks suitable for manycore system with optical interconnect.

关键词： Bandwidth Benchmark testing Optical interconnections Random access memory Delays Hidden Markov models computers

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Opacity of Nondeterministic Transition systems: A (Bi)Simulation Relation Approach

Opacity of Nondeterministic Transition Systems: A (Bi)Simula...

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作者： Zhang, Kuize Yin, Xiang Zamani, Majid ACCESS Linnaeus Center School of Electrical Engineering KTH Royal Institute of Technology Stockholm10044 Sweden Department of Automation Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Shanghai200240 China Computer Science Department University of Colorado Boulder BoulderCO80309 United States

In this paper, we propose several opacity-preserving (bi)simulation relations for nondeterministic transition systems (NTSs) in terms of initial-state opacity, current-state opacity, K-step opacity, and infinite-step opacity. We also show how one can leverage quotient constructions to compute such relations. As a result, although the opacity verification problem for infinite NTSs is generally undecidable, if one can find such an opacity-preserving relation from an infinite NTS to a finite one, the (lack of) opacity of the infinite NTS can be easily verified over the finite one, which is decidable. © 1963-2012 IEEE.

关键词： Opacity

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