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American Control Conference (ACC)

作者： Tony X. Lin Manav Gagvani Sean Lindstrom Donald A. Sofge Fumin Zhang School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA USA Distributed Autonomous Systems Section U.S. Naval Research Laboratory Washington DC USA

ISBN: (数字)9798350382655

ISBN: (纸本)9798350382662

This paper considers the problem of controlling a team of camera-equipped robots to ensure a mobile human target is observed by at least one robot at all times. We focus on determining team trajectories over a fixed time horizon such that the human target is in at least one robot's field of view even while the line of sight to the target can be obstructed by obstacles. Our approach to solving this problem lies in using a particle-based Belief Propagation method to estimate the most likely poses for each robot over time such that the visual tracking requirement is satisfied. Our approach is validated in simulation studies and an experimental trial where a human target must be tracked by a pair of miniature autonomous robot blimps.

关键词： Legged locomotion Visualization Target tracking Smoothing methods Soft sensors Robot vision systems Search problems

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Embedding of meshes on rotator graphs

Embedding of meshes on rotator graphs

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Midwest Symposium on Circuits and systems (MWSCAS)

作者： S. Ponnuswamy V. Chaudhary Dept. of Electr. & Comput. Eng. Wayne State Univ. Detroit MI USA Parallel and Distributed Computing Laboratory Department of Electrical and Computer Engineering Wayne State University Detroit MI USA

A set of directed permutation graphs called rotator graphs were proposed as an alternative to the star and pancake graphs for multiprocessor interconnection networks. The rotator graphs have a smaller diameter than star and pancake graphs for the same number of nodes, while sharing the properties of star, pancake, and binary hypercubes like maximal fault tolerance, partitionability, etc. In this paper we develop a class of algorithms for recognizing undirected mesh structures in n-rotator graphs. The average dilation of the embeddings are very low as compared to the dilation of the embedding. These embeddings will be very useful for regular computations with bi-directional requirements, in addition to the irregular computations in n-rotator graphs. Most of the results presented here equally apply to another set of directed Cayley graphs, the cycle prefix digraphs.< >

关键词： Multiprocessor interconnection networks Hypercubes Bidirectional control Concurrent computing Fault tolerance Embedded computing Routing Application software Sorting computer vision

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Cooperative Emergent Swarming Through Deep Reinforcement Learning

Cooperative Emergent Swarming Through Deep Reinforcement Lea...

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International Conference on Control and Automation (ICCA)

作者： Tony X. Lin Daniel M. Lofaro Donald A. Sofge School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA USA Distributed Autonomous Systems Group U.S. Naval Research Laboratory Washington DC USA

ISBN: (数字)9781728190938

ISBN: (纸本)9781728190945

This paper studies the problem of designing a decentralized controller that is able to induce a desired emergent behavior in robot swarms. We consider a robot swarm composing of agents that have identical dynamics and sensors and are unable to communicate among each other. Our proposed approach leverages deep reinforcement learning methods to search for an appropriate control policy that achieves our desired group behavior. We show that our method is able to capture targets in a predator-prey case-study. Simulation and experimental results using an autonomous blimp research platform are also provided.

关键词： Reinforcement learning Decentralized control Neural networks Predator prey systems Vehicle dynamics Training Testing

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Optimal partition of QoS requirements for many-to-many connections

Optimal partition of QoS requirements for many-to-many conne...

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IEEE Annual Joint Conference: INFOCOM, IEEE computer and Communications Societies

作者： D.H. Lorenz A. Orda D. Raz Distributed Computer Systems IBM Haifa Research Laboratory Haifa Israel Department of Electrical Engineering Technion-Israel Institute of Technology Haifa Israel Department of Computer Science Technion-Israel Institute of Technology Haifa Israel

The problems related to supporting multicast connections with quality of service (QoS) requirements are studied. We investigate the problem of optimal resource allocation in the context of performance dependent costs. In this context each network element can offer several QoS guarantees, each associated with a different cost. This is a natural extension to the commonly used bi-criteria model, where each link is associated with a single delay and a single cost. This framework is simple yet strong enough to model many practical interesting networking problems. The fundamental multicast resource allocation problem under this framework is how to optimally allocate QoS requirements on the links of the multicast tree. One needs to partition the end-to-end QoS requirement along the various paths in a tree. The goal is to satisfy the end-to-end QoS requirement with minimum cost. Previous studies under this framework considered single-source multicast connections, where the end-to-end QoS requirement is specified from the source to all other multicast group members. In this paper we extend these results to the more general, and considerably harder case of multicast sessions, where the end-to-end requirement hold for every path between any two multicast group members. Our aim is to provide rigorous solutions, with proven performance guarantees, by way of algorithmic analysis. The problem under investigation is NP hard for general cost functions, thus we first present a pseudopolynomial exact solution. From this solution we derive two efficient /spl epsi/-approximate solutions. One achieves optimal cost, but may violate the end-to-end delay requirement by a factor of (1 + /spl epsi/), and the other strictly obeys the bounds and achieves a cost within a factor of (1+/spl epsi/) of the optimum. Furthermore, we present improved results for discrete cost functions, and give a simple linear-time exact polynomial solution for a specific, and practically interesting, family of convex

关键词： Quality of service Delay Cost function Resource management Call conference distributed computing computer science Multicast algorithms Performance analysis Algorithm design and analysis

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Automated Controller Placement for Software-Defined Networks to Resist DDoS Attacks

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computers, Materials & Continua 2021年第9期68卷 3147-3165页

作者： Muhammad Reazul Haque Saw Chin Tan Zulfadzli Yusoff Kashif Nisar Lee Ching Kwang Rizaludin Kaspin Bhawani Shankar Chowdhry Rajkumar Buyya Satya Prasad Majumder Manoj Gupta Shuaib Memon Faculty of Computing&Informatics Multimedia UniversityPersiaran MultimediaCyberjaya63100SelangorMalaysia Faculty of Engineering Multimedia UniversityPersiaran MultimediaCyberjaya63100SelangorMalaysia Faculty of Computing and Informatics University Malaysia SabahJalan UMSKota Kinabalu Sabah88400Malaysia Telekom Malaysia Research&Development TM Innovation CentreCyberjaya63000SelangorMalaysia National Center of Robotics and Automation Mehran University of Engineering&TechnologyJamshoroPakistan Department of Computer Science and Engineering Hanyang UniversitySeoul04763South Korea School of Electrical and Electronic Engineering Nanyang Technological University639798Singapore Cloud Computing and Distributed Systems Laboratory The University of MelbourneMelbourneVIC 3053Australia Department of Electrical and Electronic Engineering Bangladesh University of Engineering and Technology(BUET)Dhaka1205Bangladesh Department of Electronics and Communication Engineering JECRC UniversityVidhaniJaipur303905India Auckland Institute of Studies Mt AlbertAucklandNew Zealand

In software-defined networks(SDNs),controller placement is a critical factor in the design and planning for the future Internet of Things(IoT),telecommunication,and satellite communication *** research has concentrated largely on factors such as reliability,latency,controller capacity,propagation delay,and energy ***,SDNs are vulnerable to distributed denial of service(DDoS)attacks that interfere with legitimate use of the *** ever-increasing frequency of DDoS attacks has made it necessary to consider them in network design,especially in critical applications such as military,health care,and financial services networks requiring high *** propose a mathematical model for planning the deployment of SDN smart backup controllers(SBCs)to preserve service in the presence of DDoS *** a number of input parameters,our model has two distinct ***,it determines the optimal number of primary controllers to place at specific locations or nodes under normal operating ***,it recommends an optimal number of smart backup controllers for use with different levels of DDoS *** goal of the model is to improve resistance to DDoS attacks while optimizing the overall cost based on the *** simulated results demonstrate that the model is useful in planning for SDN reliability in the presence of DDoS attacks while managing the overall cost.

关键词： SDN automated controller placement SBC ILP DDoS attack

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Orthogonal Nonnegative Locally Linear Embedding

Orthogonal Nonnegative Locally Linear Embedding

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IEEE International Conference on systems, Man, and Cybernetics

作者： Lei Wei Naiyang Guan Xiang Zhang Zhigang Luo Dacheng Tao National Laboratory for Parallel and Distributed Processing School of Computer Science National University of Defense Technology Changsha 410073 P.R. China These authors contributed equally to this paper National Laboratory for Parallel and Distributed Processing School of Computer Science National University of Defense Technology Changsha 410073 P.R. China Centre for Quantum Computation and Intelligence Systems and Faculty of Engineering and Information Technology University of Technology Sydney Sydney NSW 2007 Australia

ISBN: (纸本)9781479906505

Nonnegative matrix factorization (NMF) decomposes a nonnegative dataset X into two low-rank nonnegative factor matrices, i.e., W and H, by minimizing either Kullback-Leibler (KL) divergence or Euclidean distance between X and WH. NMF has been widely used in pattern recognition, data mining and computer vision because the non-negativity constraints on both W and H usually yield intuitive parts-based representation. However, NMF suffers from two problems: 1) it ignores geometric structure of dataset, and 2) it does not explicitly guarantee partsbased representation on any datasets. In this paper, we propose an orthogonal nonnegative locally linear embedding (ONLLE) method to overcome aforementioned problems. ONLLE assumes that each example embeds in its nearest neighbors and keeps such relationship in the learned subspace to preserve geometric structure of a dataset. For the purpose of learning parts-based representation, ONLLE explicitly incorporates an orthogonality constraint on the learned basis to keep its spatial locality. To optimize ONLLE, we applied an efficient fast gradient descent (FGD) method on Stiefel manifold which accelerates the popular multiplicative update rule (MUR). The experimental results on real-world datasets show that FGD converges much faster than MUR. To evaluate the effectiveness of ONLLE, we conduct both face recognition and image clustering on real-world datasets by comparing with the representative NMF methods.

关键词： Nonnegative matrix factorization Locally linear embedding Fast gradient descent Stiefel manifold Dataset Nonnegative matrix decomposition geometrical construction NMF protocol images embedding Flue gas desulfurization Nearest neighbor Orthogonal

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An analysis of expressiveness and design issues for the generalized temporal role-based access control model

An analysis of expressiveness and design issues for the gene...

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作者： Joshi, James B. D. Bertina, Elisa Ghafoor, Arif Department of Information Sciences and Telecommunications University of Pittsburgh Pittsburgh PA 15260 United States Department of Computer Science Purdue University West Lafayette IN 47907 United States School of Electrical and Computer Engineering Purdue University West Lafayette IN 47907 United States Department of Information Sciences and Telecommunications School of Information Sciences University of Pittsburgh United States University of Pittsburgh United States Computer Science Department Purdue University United States CERIAS United States San Jose CA United States Microelectronics and Computer Technology Corporation Rutgers University Telcordia Technologies United States School of Electrical and Computer Engineering Purdue University West Lafayette IN United States Distributed Multimedia Systems Laboratory Information Infrastructure Security Research Laboratory United States

The Generalized Temporal Role-Based Access Control (GTRBAC) model provides a comprehensive set of temporal constraint expressions which can facilitate the specification of fine-grained time-based access control policies. However, the issue of the expressiveness and usability of this model has not been previously investigated. In this paper, we present an analysis of the expressiveness of the constructs provided by this model and illustrate that its constraints-set is not minimal. We show that there is a subset of GTRBAC constraints that is sufficient to express all the access constraints that can be expressed using the full set. We also illustrate that a nonminimal GTRBAC constraint set can provide better flexibility and lower complexity of constraint representation. Based on our analysis, a set of design guidelines for the development of GTRBAC-based security administration is presented. © 2005 IEEE.

关键词： Security of data

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A Retina-LGN-V1 Structure-like Spiking Neuron Network for Image Feature Extraction 21

A Retina-LGN-V1 Structure-like Spiking Neuron Network for Im...

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Proceedings of the 2021 5th International Conference on Video and Image Processing

作者： Sheng Ji Qijun Gu Ye Yuan Peng Zhao Tao Fang Hong Huo Xin Niu Department of Automation_School of Electronic Information and Electrical Engineering_Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiao Tong University China College of Computer Science and Technology on Parallel and Distributed Laboratory National University of Defense Technology China

ISBN: (纸本)9781450385893

SNNs have achieved great attention in recent years as they contain neurons more like those in the brain and use spikes to encode and transmit information efficiently among neurons with lower energy consumption. A Retina-LGN-V1 structure-like spiking neuron network (RLVSL-SNN) is proposed in this paper. It is inspired by the structure of mammalian primary visual pathway, and simulates different biological structures of Retina, LGN and V1. Noise reduction circuit and light adaptation circuit are also simulated for enhancing the robustness of its extracted features. RLVSL-SNN is a bio-plausible neuron network as it has firing rates of neurons in each layer that are similar to those of biological experiments. Besides, a full-connected SNN (FC SNN) is implemented following RLVSL-SNN for classification to evaluate the extracted features. The additive spiking timing dependent plasticity (STDP) learning rules and the ANN-to-SNN conversion method are utilized to train RLVSL-SNN and FC SNN, respectively. The experiments on MNIST dataset have verified that RLVSL-SNN is comparable to AlexNet for classification by features from spikes.

关键词： Additive Spiking Timing Dependent Plasticity Learning Primary Visual Pathway Image Classification Spiking Neural Network

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The robot software communications architecture (RSCA): embedded middleware for networked service robots 06

The robot software communications architecture (RSCA): embed...

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International Symposium on parallel and distributed Processing (IPDPS)

作者： Seongsoo Hong Jaesoo Lee Hyeonsang Eom Gwangil Jeon Real-Time Operation Systems Laboratory School of Electrical Engineering and Computer Science Seoul National University of Technology Seoul South Korea Distributed Information Processing Laboratory School of Computer Science and Computer Engineering Seoul National University of Technology Seoul South Korea Department of Computer Engineering Korea Polytechnic University Siheung Gyeonggi South Korea

ISBN: (纸本)9781424400546

In this paper, we present a robot middleware technology named robot software communications architecture (RSCA) for its use in networked home service robots. The RSCA provides a standard operating environment for the robot applications together with a framework that expedites the development of such applications. The operating environment is comprised of a real-time operating system, a communication middleware, and a deployment middleware. Particularly, the deployment middleware supports the reconfiguration of component-based robot applications including installation, creation, start, stop, tear-down, and un-installation. In designing RSCA, we have adopted a middleware called SCA from the software defined radio domain and extend it since the original SCA lacks the real-time guarantees and appropriate event services. We have fully implemented RSCA and performed measurements to quantify its run-time performance. Our implementation clearly shows the viability of RSCA

关键词： Embedded software computer architecture Middleware Service robots Application software Standards development Real time systems Operating systems Software radio Performance evaluation

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Human aware UAS path planning in urban environments using nonstationary MDPs

Human aware UAS path planning in urban environments using no...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Rakshit Allamaraju Hassan Kingravi Allan Axelrod Girish Chowdhary Robert Grande Jonathan P. How Christopher Crick Weihua Sheng Distributed Autonomous Systems Laboratory of Mechanical and Aerospace Eningeering Stillwater OK LIDS at MIT Stillwater OK Department of computer science Stillwater OK Electrical Engineering at Oklahoma State University Stillwater OK

A growing concern with deploying Unmanned Aerial Vehicles (UAVs) in urban environments is the potential violation of human privacy, and the backlash this could entail. Therefore, there is a need for UAV path planning algorithms that minimize the likelihood of invading human privacy. We formulate the problem of human-aware path planning as a nonstationary Markov Decision Process, and provide a novel model-based reinforcement learning solution that leverages Gaussian process clustering. Our algorithm is flexible enough to accommodate changes in human population densities by employing Bayesian nonparametrics, and is real-time computable. The approach is validated experimentally on a large-scale long duration experiment with both simulated and real UAVs.

关键词： Clustering algorithms Data models Computational modeling Sociology Statistics Path planning Kernel

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