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arXiv 2023年

作者： Ma, Chengzhi Yang, Xi Wang, Jintao Yang, Guanghua Zhang, Wei Ma, Shaodan The State Key Laboratory of Internet of Things for Smart City The Department of Electrical and Computer Engineering University of Macau China The Shanghai Key Laboratory of Multidimensional Information Processing School of Communication and Electronic Engineering East China Normal University Shanghai200241 China The School of Intelligent Systems Science and Engineering GBA and B&R International Joint Research Center for Smart Logistics Jinan University Zhuhai519070 China The School of Electrical Engineering & Telecommunications University of New South Wales Sydney Australia

Distributed Antenna systems (DASs) employ multiple antenna arrays in remote radio units to achieve highly directional transmission and provide great coverage performance for future-generation networks. However, the utilization of fully digital or hybrid active antenna arrays results in a significant increase in hardware costs and power consumption for DAS. To address these issues, integrating DAS with Reconfigurable intelligent Surfaces (RIS) offers a viable approach to ensure coverage and transmission performance while maintaining low hardware costs and power consumption. To incorporate the merits of RIS into the DAS from practical consideration, a novel architecture of "Reconfigurable Distributed Antennas and Reflecting Surfaces (RDARS)" is proposed in this paper. Specifically, based on the design of the additional direct-through state together with the existing high-quality fronthaul link, any element of the RDARS can be dynamically programmed to connect with the base station (BS) via fibers and perform the connected mode as remote distributed antennas of the BS to receive or transmit signals. Additionally, RDARS also inherits the low-cost and low-energy-consumption benefits of fully passive RISs by default configuring the elements as passive to perform the reflection mode. As a result, RDARS encompasses both DAS and RIS as special cases, offering flexible control over the trade-off between distribution gain and reflection gain to enhance performance. To unveil the potential of such architecture, the ergodic achievable rate under the RDARS architecture is analyzed and closed-form expression with meaningful insights is derived. The theoretical analysis proves that the RDARS can achieve a higher achievable rate than both DAS and fully passive RIS with the passive beamforming gain provided by elements acting reflection mode while combating the "multiplicative fading" suffered by RISs through the connected mode performed at the RDARS. Simulation results also demonstr

关键词： Reconfigurable architectures

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RDARS Empowered Massive MIMO System: Two-Timescale Transceiver Design with Imperfect CSI

arXiv

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arXiv 2023年

作者： Ma, Chengzhi Wang, Jintao Yang, Xi Yang, Guanghua Zhang, Wei Ma, Shaodan State Key Laboratory of Internet of Things for Smart City the Department of Electrical and Computer Engineering University of Macau China Shanghai Key Laboratory of Multidimensional Information Processing School of Communication and Electronic Engineering East China Normal University Shanghai200241 China School of Intelligent Systems Science and Engineering and GBA B&R International Joint Research Center for Smart Logistics Jinan University Zhuhai519070 China School of Electrical Engineering & Telecommunications University of New South Wales Sydney Australia

In this paper, we investigate a novel reconfigurable distributed antennas and reflecting surface (RDARS) aided multi-user massive multiple-input multiple-output (MIMO) system with imperfect channel state information (CSI) and propose a practical two-timescale (TTS) transceiver design to reduce the communication overhead and computational complexity of the system. In the RDARS-aided system, not only distribution gain but also reflection gain can be obtained by a flexible combination of the distributed antennas and reflecting surface, which differentiates the system from the others and also makes the TTS design challenging. To enable the optimal TTS transceiver design, the achievable rate of the system is first derived in closed-form. The rate expression is general and covers that of the distributed antenna systems (DAS) and reconfigurable intelligent surface (RIS) aided systems as special cases. Then the TTS design aiming at the weighted sum rate maximization is considered. To solve the challenging non-convex optimization problem with high order design variables, i.e., the transmit powers and the phase shifts at the RDARS, a block coordinate descent based method is proposed to find the optimal solutions in semi-closed forms iteratively. Specifically, two efficient algorithms are proposed with provable convergence for the optimal phase shift design, i.e., Riemannian Gradient Ascent based algorithm by exploiting the unit-modulus constraints, and Two-Tier Majorization-Minimization based algorithm with closed-form optimal solutions in each iteration. Simulation results validate the effectiveness of the proposed algorithm and demonstrate the superiority of deploying RDARS in massive MIMO systems to provide substantial rate improvement with a significantly reduced total number of active antennas/RF chains and lower transmit power when compared to the DAS and RIS-aided systems. Copyright © 2023, The Authors. All rights reserved.

关键词： Convex optimization

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Enhanced Particle Swarm Optimization for Workflow Scheduling in Clouds

Enhanced Particle Swarm Optimization for Workflow Scheduling...

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Symposium of Image, Signal Processing, and Artificial Vision (STSIVA)

作者： Chang Lu Dayu Feng Jie Zhu Haiping Huang Nanjing University of Posts & Telecommunications Nanjing China Jiangsu Key Laboratory of Big Data Security & Intelligent Processing Nanjing China State Key Laboratory of Computer Architecture Institute of Computing Technology Chinese Academy of Sciences Beijing China Jiangsu High Technology Research Key Laboratory for Wireless Sensor Networks Nanjing China

ISBN: (纸本)9781665426565

As a NP-hard problem, it is always baffling to figure out a scheduling strategy to arrange the interconnected tasks of a workflow on the infinite number of resources in the cloud environment so that the workflow can be addressed efficiently and robustly. This paper focuses on scheduling the workflow’s tasks on the cloud resources with less rental cost of resources while the whole schedule length (makespan) will not exceed the given deadline. As one of the most popular evolutionary algorithms, particle swarm optimization (PSO) has been successfully applied for the workflow scheduling problem. Inspired by the idea of multiple groups and the distributed parallel computing, we develop an enhanced PSO algorithm for the workflow scheduling problem in clouds. Besides, a pretreatment strategy is adopted to simplify the workflow’s structure. The experimental results demonstrate that our proposal has good performance on improving the algorithm’s searching ability and finding better solutions.

关键词： Schedules Costs Processor scheduling NP-hard problem Parallel processing Scheduling Proposals

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The Winning Solution to the iFLYTEK Challenge 2021 Cultivated Land Extraction from High-Resolution Remote Sensing Image

arXiv

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arXiv 2022年

作者： Zhao, Zhen Liu, Yuqiu Zhang, Gang Tang, Liang Hu, Xiaolin School of Technology Beijing Forestry University Beijing100091 China Department of Computer Science and Technology State Key Laboratory of Intelligent Technology and Systems Beijing National Research Center for Information Science and Technology Tsinghua University Beijing100084 China Tsinghua University Beijing100084 China Beijing100010 China

Extracting cultivated land accurately from high-resolution remote images is a basic task for precision agriculture. This report introduces our solution to the iFLYTEK challenge 2021 cultivated land extraction from high-resolution remote sensing image. The challenge requires segmenting cultivated land objects in very high-resolution multispectral remote sensing images. We established a highly effective and efficient pipeline to solve this problem. We first divided the original images into small tiles and separately performed instance segmentation on each tile. We explored several instance segmentation algorithms that work well on natural images and developed a set of effective methods that are applicable to remote sensing images. Then we merged the prediction results of all small tiles into seamless, continuous segmentation results through our proposed overlap-tile fusion strategy. We achieved the first place among 486 teams in the challenge. Copyright © 2022, The Authors. All rights reserved.

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Sampling methods for efficient training of graph convolutional networks: A survey

arXiv

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arXiv 2021年

作者： Liu, Xin Yan, Mingyu Deng, Lei Li, Guoqi Ye, Xiaochun Fan, Dongrui State Key Laboratory of Computer Architecture Institute of Computing Technology Chinese Academy of Sciences Beijing100086 China Department of Precision Instrument Center for Brain Inspired Computing Research Tsinghua University Beijing100084 China School of Computer Science and Technology University of Chinese Academy of Sciences

—Graph Convolutional Networks (GCNs) have received significant attention from various research fields due to the excellent performance in learning graph representations. Although GCN performs well compared with other methods, it still faces challenges. Training a GCN model for large-scale graphs in a conventional way requires high computation and storage costs. Therefore, motivated by an urgent need in terms of efficiency and scalability in training GCN, sampling methods have been proposed and achieved a significant effect. In this paper, we categorize sampling methods based on the sampling mechanisms and provide a comprehensive survey of sampling methods for efficient training of GCN. To highlight the characteristics and differences of sampling methods, we present a detailed comparison within each category and further give an overall comparative analysis for the sampling methods in all categories. Finally, we discuss some challenges and future research directions of the sampling methods. Copyright © 2021, The Authors. All rights reserved.

关键词： Convolution

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Towards High-accuracy and Low-latency Spiking Neural Networks with Two-Stage Optimization

arXiv

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arXiv 2022年

作者： Wang, Ziming Zhang, Yuhao Lian, Shuang Cui, Xiaoxin Yan, Rui Tang, Huajin College of Computer Science and Technology Zhejiang University Hangzhou310027 China Research Center for Intelligent Computing Hardware Zhejiang Lab Hangzhou311100 China School of Integrated Circuits Peking University Beijing100871 China College of Computer Science Zhejiang University of Technology Hangzhou310014 China State Key Laboratory of Brain-Machine Intelligence Zhejiang University Hangzhou310027 China

Spiking neural networks (SNNs) operating with asynchronous discrete events show higher energy efficiency with sparse computation. A popular approach for implementing deep SNNs is ANN-SNN conversion combining both efficient training of ANNs and efficient inference of SNNs. However, the accuracy loss is usually non-negligible, especially under few time steps, which restricts the applications of SNN on latencysensitive edge devices greatly. In this paper, we first identify that such performance degradation stems from the misrepresentation of the negative or overflow residual membrane potential in SNNs. Inspired by this, we decompose the conversion error into three parts: quantization error, clipping error, and residual membrane potential representation error. With such insights, we propose a two-stage conversion algorithm to minimize those errors respectively. Besides, We show each stage achieves significant performance gains in a complementary manner. By evaluating on challenging datasets including CIFAR-10, CIFAR- 100 and ImageNet, the proposed method demonstrates the stateof- the-art performance in terms of accuracy, latency and energy preservation. Furthermore, our method is evaluated using a more challenging object detection task, revealing notable gains in regression performance under ultra-low latency when compared to existing spike-based detection algorithms. Codes are available at https://***/Windere/snn-cvt-dual-phase. Copyright © 2022, The Authors. All rights reserved.

关键词： Object detection

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The Combination of Two Control Strategies for Series Hybrid Electric Vehicles

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IEEE/CAA Journal of Automatica Sinica 2019年第2期6卷 596-608页

作者： Can Luo Zhen Shen Simos Evangelou Gang Xiong Fei-Yue Wang State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Cloud Computing Center Chinese Academy of Sciences IEEE Department of Electrical and Electronic Engineering Imperial College London Beijing Engineering Research Center of Intelligent Systems and Technology Institute of Automation Chinese Academy of Sciences Qingdao Academy of Intelligent Industries

With most countries paying attention to the environment protection, hybrid electric vehicles have become a focus of automobile research and development due to the characteristics of energy saving and low emission. Power follower control strategy(PFCS) and DC-link voltage control strategy are two sorts of control strategies for series hybrid electric vehicles(HEVs). Combining those two control strategies is a new idea for control strategy of series hybrid electric vehicles. By tuning essential parameters which are the defined constants under DClink voltage control and under PFCS, the points of minimum mass of equivalent fuel consumption(EFC) corresponding to a series of variables are marked for worldwide harmonized light vehicles test procedure(WLTP). The fuel economy of series HEVs with the combination control schemes performs better compared with individual control scheme. The results show the effects of the combination control schemes for series HEVs driving in an urban environment.

关键词： DC-Link voltage control power follower control strategy series hybrid electric vehicles tuning

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Bionic Soft Fingers with Hybrid Variable Stiffness Mechanisms for Multimode Grasping

Bionic Soft Fingers with Hybrid Variable Stiffness Mechanism...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Xiangbo Wang Tianran Zhang Hongze Yu Zhenwei Wen Lide Fang Huaping Liu Fuchun Sun Lixue Tang Bin Fang College of Quality and Technical Supervision Hebei University Baoding China School of Artificial Intelligence Beijing University of Posts and Telecommunications Beijing China School of Mechanical Engineering & Automation Beihang University Beijing China International School Beijing University of Posts and Telecommunications Beijing China Department of Computer Science and Technology Beijing National Research Center for Information Science and Technology Institute for Artificial Intelligence State Key Lab of Intelligent Technology and Systems Tsinghua University Beijing China School of Biomedical Engineering Beijing Key Laboratory of Fundamental Research on Biomechanics in Clinical Application Capital Medical University Beijing China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

This paper presents a novel Bionic Soft Finger (BSF) that aims to overcome the limitations of conventional rigid manipulators in terms of adaptability and safety, as well as the challenges faced by soft hands regarding carrying capacity and stability. The BSF design uses a hybrid variable stiffness mechanism combining memory alloy actuators with particle jamming to achieve the desired bending angle and actuator stiffness. Our innovative approach utilizes a bionic finger design that incorporates a memory alloy skeleton and a water-cooled recirculation system, leading to a substantial reduction in the time required for each operation. Through the integration of particle jamming, we have enhanced the overall stiffness and performance of the manipulator, enabling load capacities of up to 3N per finger and more than twice the stiffness of a normal condition. Additionally, our design enables multimode grasping and incorporates a liquid metal strain sensor (METT) for real-time monitoring of finger bending angles. Comparative analyses demonstrate that our design exhibits superior stiffness and enables five-mode grasping in comparison to pneumatic actuators. We believe that bionic soft fingers present a promising solution for enhancing adaptability, safety, and performance in human-robot interaction applications.

关键词： Metals Grasping Bending Manipulators Stability analysis Skeleton Real-time systems

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Dynamical causality under invisible confounders

arXiv

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arXiv 2024年

作者： Yan, Jinling Zhang, Shao-Wu Zhang, Chihao Huang, Weitian Shi, Jifan Chen, Luonan MOE Key Laboratory of Information Fusion Technology School of Automation Northwestern Polytechnical University Xi’an710072 China Key Laboratory of Systems Biology Shanghai Institute of Biochemistry and Cell Biology Center for Excellence in Molecular Cell Science Chinese Academy of Sciences Shanghai200031 China NCMIS CEMS RCSDS Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China School of Mathematics Sciences University of Chinese Academy of Sciences Beijing100049 China School of Computer Science and Engineering South China University of Technology Guangdong Guangzhou510006 China Guangdong Institute of Intelligence Science and Technology Hengqin Guangdong Zhuhai519031 China Research Institute of Intelligent Complex Systems Fudan University Shanghai200433 China State Key Laboratory of Medical Neurobiology MOE Frontiers Center for Brain Science Institutes of Brain Science Fudan University Shanghai200032 China Shanghai Artificial Intelligence Laboratory Shanghai200232 China Key Laboratory of Systems Health Science of Zhejiang Province School of Life Science Hangzhou Institute for Advanced Study University of Chinese Academy of Sciences Chinese Academy of Sciences Hangzhou310024 China

Causality inference is prone to spurious causal interactions, due to the substantial confounders in a complex system. While many existing methods based on the statistical methods or dynamical methods attempt to address misidentification challenges, there remains a notable lack of effective methods to infer causality, in particular in the presence of invisible/unobservable confounders. As a result, accurately inferring causation with invisible confounders remains a largely unexplored and outstanding issue in data science and AI fields. In this work, we propose a method to overcome such challenges to infer dynamical causality under invisible confounders (CIC method) and further reconstruct the invisible confounders from time-series data by developing an orthogonal decomposition theorem in a delay embedding space. The core of our CIC method lies in its ability to decompose the observed variables not in their original space but in their delay embedding space into the common and private subspaces respectively, thereby quantifying causality between those variables both theoretically and computationally. This theoretical foundation ensures the causal detection for any high-dimensional system even with only two observed variables under many invisible confounders, which is actually a long-standing problem in the field. In addition to the invisible confounder problem, such a decomposition actually makes the intertwined variables separable in the embedding space, thus also solving the non-separability problem of causal inference. Extensive validation of the CIC method is carried out using various real datasets, and the experimental results demonstrates its effectiveness to reconstruct real biological networks even with unobserved confounders. © 2024, CC BY-NC-ND.

关键词： Time series

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Adaptive model predictive control of mobile robot with local path refitting

Adaptive model predictive control of mobile robot with local...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Liquan Jiang Yuanlong Xie Zhihui Jiang Jie Meng Wenbin Li State Key Laboratory of New Textile Materials and Advanced Processing Technologies Wuhan Textile University Wuhan China School of Mechanical Science and Engineering Huazhong University of Science and Technology Wuhan China School of Computer Science Yangtze University Jingzhou China Intelligent Transportation Systems Research Center Wuhan University of Technology Wuhan China

ISBN: (纸本)9781665409858

Path planning and tracking control are important modules of mobile robots, which have outstanding advantages in improving the flexibility of mobile robots. However, in the existing applications, these two modules are usually processed separately, which makes the obstacle avoidance process of the mobile robot uncontrollable and reduces the adaptability of the application scenario. In order to realize collision-free high-precision trajectory tracking control of mobile robots in dynamic scenes, this paper proposes an adaptive MPC control method based on curvature constraints, which can improve the safety of operation and reduce the chattering caused by unreasonable paths in the process of operation. Firstly, according to the kinematic constraints of general mobile robots, the constraint model of mobile robot path planning is constructed. At the same time, the adaptive parameter adjustment rules are adopted to realize the balance between the calculation efficiency and the control cycle. Finally, a smooth safe path is obtained by re-fitting the planned path and reprocessing the nodes with excessive curvature. Compared with traditional methods, the proposed method has better advantages.

关键词： Industrial electronics Electric potential Trajectory tracking Kinematics Safety Planning Mobile robots

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