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11th International Conference on Learning Representations, ICLR 2023

作者： Hu, Jiachen Zhong, Han Jin, Chi Wang, Liwei School of Computer Science Peking University China Center for Data Science Peking University China Department of Electrical and Computer Engineering Princeton University United States National Key Laboratory of General Artificial Intelligence School of Intelligence Science and Technology Peking University Center for Data Science Peking University Beijing Institute of Big Data Research China

Sim-to-real transfer, which trains RL agents in the simulated environments and then deploys them in the real world, has been widely used to overcome the limitations of gathering samples in the real world. Despite the empirical success of the sim-to-real transfer, its theoretical foundation is much less understood. In this paper, we study the sim-to-real transfer in continuous domain with partial observations, where the simulated environments and real-world environments are modeled by linear quadratic Gaussian (LQG) systems. We show that a popular robust adversarial training algorithm is capable of learning a policy from the simulated environment that is competitive to the optimal policy in the real-world environment. To achieve our results, we design a new algorithm for infinite-horizon average-cost LQGs and establish a regret bound that depends on the intrinsic complexity of the model class. Our algorithm crucially relies on a novel history clipping scheme, which might be of independent interest. © 2023 11th International Conference on Learning Representations, ICLR 2023. All rights reserved.

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Adaptive Control of Euler-Lagrange Systems under Time-varying State Constraints without a Priori Bounded Uncertainty

arXiv

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arXiv 2023年

作者： Sankaranarayanan, Viswa Narayanan Satpute, Sumeet Gajanan Roy, Spandan Nikolakopoulos, George Robotics and Artificial Intelligence Group Department of Computer Science Electrical and Space Engineering Luleå University of Technology Sweden Robotics Research Center International Institute of Information Technology Hyderabad India

In this article, a novel adaptive controller is designed for Euler-Lagrangian systems under predefined time-varying state constraints. The proposed controller could achieve this objective without a priori knowledge of system parameters and, crucially, of state-dependent uncertainties. The closed-loop stability is verified using the Lyapunov method, while the overall efficacy of the proposed scheme is verified using a simulated robotic arm compared to the state of the art. © 2023, CC BY-NC-ND.

关键词： Lyapunov methods

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QoS Improvement using Federated Learning-based Position Prediction for mobile IoT 10

QoS Improvement using Federated Learning-based Position Pred...

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10th IEEE World Forum on Internet of Things, WF-IoT 2024

作者： Zafar, Saniya Alshehri, Mohammed S. Shah, Syed Aziz Ahmad, Jawad Zafar, Adnan Khattak, Aizaz Ahmad Institute of Space Technology Department of Electrical Engineering Islamabad Pakistan Najran University College of Computer Science and Information Systems Department of Computer Science Saudi Arabia Coventry University Research Centre for Intelligent Healthcare United Kingdom Prince Mohammad Bin Fahd University Cybersecurity Center Alkhobar Saudi Arabia Edinburgh Napier University School of Computing Engineering and the Built Environment United Kingdom

ISBN: (纸本)9798350373011

The rapid advancement in mobile broadband technology has evolved wireless infrastructure influencing internet-of-things (IoTs). This evolution has made mobile IoTs (mIoTs) as centre of attention due to its potential of providing seamless connectivity to enable intelligent transportation systems with huge data demands of vehicular users. To address the ever-escalating data demands of vehicular mobile users, vehicular edge computing (VEC) and moving small cells (mSCs) play a pivotal role. mSCs together with VEC are capable to provide improved service quality for mIoTs. However, incorporating the mSCs in vehicles for mIoTs presents challenges while assigning the resources in mIoT-mSC network. This is due to the existence of time varying interference among mSCs. This work explores the distributed resource assignment mechanism for RSU assisted mIoT-mSC network formed in vehicular environment. In the proposed work, location prediction of city buses deployed with mSCs is done using federated learning (FL) which is subsequently utilized for efficient assignment of resources in mIoT-mSC network. Numerical results are provided to validate the proposed resource assignment mechanism. © 2024 IEEE.

关键词： Intelligent systems

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3D Object Detection with Attention:Shell-Based Modeling

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computer Systems science & engineering 2023年第7期46卷 537-550页

作者： Xiaorui Zhang Ziquan Zhao Wei Sun Qi Cui School of Computer and Software Nanjing University of Information Science&TechnologyNanjing210044China Wuxi Research Institute Nanjing University of Information Science&TechnologyWuxi214100China Engineering Research Center of Digital Forensics Ministry of EducationJiangsu Engineering Center of Network MonitoringNanjing210044China Jiangsu Collaborative Innovation Center of Atmospheric Environment and Equipment Technology(CICAEET) Nanjing University of Information Science&TechnologyNanjing210044China School of Automation Nanjing University of Information Science&TechnologyNanjing210044China Department of Electrical and Computer Engineering University of WindsorWindsorN9B 3P4Canada

LIDAR point cloud-based 3D object detection aims to sense the surrounding environment by anchoring objects with the Bounding Box(BBox).However,under the three-dimensional space of autonomous driving scenes,the previous object detection methods,due to the pre-processing of the original LIDAR point cloud into voxels or pillars,lose the coordinate information of the original point cloud,slow detection speed,and gain inaccurate bounding box *** address the issues above,this study proposes a new two-stage network structure to extract point cloud features directly by PointNet++,which effectively preserves the original point cloud coordinate *** improve the detection accuracy,a shell-based modeling method is *** roughly determines which spherical shell the coordinates belong ***,the results are refined to ground truth,thereby narrowing the localization range and improving the detection *** improve the recall of 3D object detection with bounding boxes,this paper designs a self-attention module for 3D object detection with a skip connection *** of these features are highlighted by weighting them on the feature *** training,it makes the feature weights that are favorable for object detection get ***,the extracted features are more adapted to the object detection *** comparison experiments and ablation experiments conducted on the KITTI dataset verify the effectiveness of our proposed method in improving recall and precision.

关键词： 3D object detection autonomous driving point cloud shell-based modeling self-attention mechanism

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Modeling and Parameter Identification for Human-robot Coupled Systems in Powered Lower Limb Prostheses.

Modeling and Parameter Identification for Human-robot Couple...

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WRC Symposium on Advanced robotics and Automation (WRC SARA)

作者： Yongshan Huang Xin Wang Dingkun Liang Jiaming Xiong Anhuan Xie Jason Gu Research Center for Intelligent Robotics Zhejiang Lab Hangzhou China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou China Department of Electrical and Computer Engineering Dalhousie University Halifax NS Canada

Good trajectory tracking results are the basis for the implementation of other upper-level algorithms in powered lower limb prostheses, which rely on dynamics modeling and good parameter identification. However, powered lower limb prosthesis are human-robot coupled systems with human-inthe-loop, and it has been a challenge to model them as well as to perform parameter identification. This paper proposes a modeling method that can realize the decoupling of human-machine, and by constructing the linearized models of human-machine coupled system and prosthetic subsystem about the physical parameter sets respectively, and finally obtaining the relationship of their corresponding physical parameter sets, thus the method of indirectly identifying the parameters of human-machine coupled system through the prosthetic subsystem can be realized. The experimental results verify the feasibility and effectiveness of the method proposed in this paper. And the experimental results also shows that prosthetic controller should take advantage of dynamic of hip motion in order to make the wearer more comfortable and fluid when swinging the leg, and will also make the prosthesis more energy efficient.

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Neural P3M: A Long-Range Interaction Modeling Enhancer for Geometric GNNs 38

Neural P3M: A Long-Range Interaction Modeling Enhancer for G...

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38th Conference on Neural Information Processing Systems, NeurIPS 2024

作者： Wang, Yusong Cheng, Chaoran Li, Shaoning Ren, Yuxuan Shao, Bin Liu, Ge Heng, Pheng-Ann Zheng, Nanning National Key Laboratory of Human-Machine Hybrid Augmented Intelligence National Engineering Research Center for Visual Information and Applications Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University China University of Illinois Urbana-Champaign United States Department of Computer Science and Engineering The Chinese University of Hong Kong Hong Kong University of Science and Technology of China China Microsoft Research AI4Science United States

Geometric graph neural networks (GNNs) have emerged as powerful tools for modeling molecular geometry. However, they encounter limitations in effectively capturing long-range interactions in large molecular systems due to the localization assumption of GNN. To address this challenge, we introduce Neural P3M, a versatile enhancer of geometric GNNs to expand the scope of their capabilities by incorporating mesh points alongside atoms and reimaging traditional mathematical operations in a trainable manner. Neural P3M exhibits flexibility across a wide range of molecular systems and demonstrates remarkable accuracy in predicting energies and forces, outperforming on benchmarks such as the MD22 dataset. It also achieves an average improvement of 22% on the OE62 dataset while integrating with various architectures. Codes are available at https://***/OnlyLoveKFC/Neural_P3M. © 2024 Neural information processing systems foundation. All rights reserved.

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A distributed algorithm with network-independent step-size and event-triggered mechanism for economic dispatch problem

A distributed algorithm with network-independent step-size a...

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作者： Chen, Baitong Yang, Jianhua Lu, Wei Pedrycz, Witold Sun, Changhai School of Control Science and Engineering Dalian University of Technology Dalian China Department of Electrical and Computer Engineering University of Alberta EdmontonABT6G 2R3 Canada Institute of Systems Engineering Macau University of Science and Technology SARTaipa 999078 China Research Center of Performance and Productivity Analysis Istinye University Istanbul Turkey School of Electrical Engineering Dalian University of Technology Dalian China

The economic dispatch problem (EDP) poses a significant challenge in energy management for modern power systems, particularly as these systems undergo expansion. This growth escalates the demand for communication resources and increases the risk of communication failures. To address this challenge, we propose a distributed algorithm with network-independent step sizes and an event-triggered mechanism, which reduces communication requirements and enhances adaptability. Unlike traditional methods, our algorithm uses network-independent step sizes derived from each agent's local cost functions, thus eliminating the need for detailed network topology knowledge. The theoretical derivation identifies a range of step size values that depend solely on the objective function's strong convexity and the gradient's Lipschitz continuity. Furthermore, the proposed algorithm is shown to achieve a linear convergence rate, assuming the event triggering threshold criteria are met for linear convergence. Numerical experiments further validate the effectiveness and advantages of our proposed distributed algorithm by demonstrating its ability to maintain good convergence characteristics while reducing communication frequency. © 2024 John Wiley & Sons Ltd.

关键词： Cost functions

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Attendance System via Internet of Things, Blockchain and Artificial Intelligence Technology: Literature Review 37th

Attendance System via Internet of Things, Blockchain and Art...

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37th International Conference on Advanced Information Networking and Applications, AINA 2023

作者： Abidemi, Sarumi Usman Mubarak, Auwalu Saleh Akanni, Olukayode Ameen, Zubaida Said Cacciagrano, Diletta Al-turjman, Fadi Artifiical Intelligence Engineering Department AI and Robotics Institue Near East University Mersin 10 Nicosia Turkey Computer Science Division School of Science and Technology Camerino University Camerino62032 Italy Research Center for AI and IoT Faculty of Engineering University of Kyrenia Mersin 10 Kyrenia Turkey

ISBN: (纸本)9783031286933

Many researchers have make efforts on creating several attendance systems to keep track of student attendance in school which is also part of academic curriculum that will have great impact in student academic performance. There have been different technologies such as RFID, face recognition, biometric, web-based attendance system etc. To capture attendance in a way that’s better than the traditional method of pen and paper or roll call system. Making this attendance record available on blockchain network and applying artificial intelligence algorithm for prediction or classification in correlation with the data captured from student attendance purpose. Several articles, papers and journals has been reviewed from different research plethora of research publishers’ database through internet such as Google scholar, IEEExplore, Springerslink etc. This will make it easy for comparing several attendance systems with respect to internet of things, blockchain and artificial intelligence to address the research gap in this aspect. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Blockchain

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Novel Design of Grey Wolf Optimization Heuristics for High Resolution Direction of Arrival Estimation in Acoustic Plane Waves

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Wireless Personal Communications 2023年第4期128卷 2507-2529页

作者： Ahmed, Nauman Wang, Huigang Raja, Muhammad Asif Zahoor Ali, Wasiq Kashif, Muhammad Zaman, Fawad School of Marine Science and Technology Northwestern Polytechnical University Xi’an China Future Technology Research Center National Yunlin University of Science and Technology 123 University Road Section 3 Douliou Yunlin64002 Taiwan COMSATS University Islamabad Attock Campus Attock Pakistan Department of Electrical and Computer Engineering COMSATS University Islamabad Islamabad Pakistan

High resolution direction of arrival estimation for closely spaced target in low signal to noise ration (SNR) is an active research area in underwater acoustic and SONAR signal processing The resolution performance of classical/traditional subspace based algorithms including MUSIC and ESPRIT procedures degraded under sever scenarios of low signal to noise ratio (SNR), less number of samples/snapshots and short distant targets. In this work, optimization courage of swarming intelligence of grey wolf optimization (GWO) is carried out for viable DOA estimation in the challenging instances of worst underwater scenarios using a uniform linear array (ULA). The high resolution DOA for short distant emitters is achieved using less number of samples vitally with GWO by inspecting the global minima of the highly nonlinear objective model of ULA having multi local minimas. The performance is analyzed for different number of targets employing estimation accuracy, resolution certainty, variability analysis, frequency distribution of RMSE, robustness against different SNR of additive-white Gaussian measurement noise and comparative studies with MUSIC and Particle Swarm Optimization PSO with the validation strength of Cramer Rao bound reveals the valuation of the scheme. © 2022, The Author(s), under exclusive licence to Springer science+Business Media, LLC, part of Springer Nature.

关键词： Direction of arrival

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Feature Extraction of Motor Imagination EEG Signals for a Collaborative Exoskeleton Robot Based on PSD Analysis 42

Feature Extraction of Motor Imagination EEG Signals for a Co...

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42nd Chinese Control Conference, CCC 2023

作者： Wu, Yunfeng Li, Junze Ren, Zichen Lu, Bo Zhang, Changzhu Qi, Peng Tongji University Department of Control Science and Engineering No. 1239 Siping Road Shanghai200092 China Elmore Family School of Electrical and Computer Engineering Purdue University West LafayetteIN47906 United States School of Mechanicaland Electric Engineering Soochow University Robotics and Microsystems Center Suzhou215021 China

ISBN: (纸本)9789887581543

The integration of brain-machine interface and exoskeleton robot has been widespread application in gait correction, walking assistance, and numerous other scenarios. To effectively extract the electroencephalogram (EEG) signal features of motor imagery while wearing an exoskeleton, this study proposes a frequency band pre-determination method based on power spectral density (PSD) that enables common spatial patterns (CSP) to extract features from the frequency band with the highest energy in the EEG. The signal power spectral density of all channels is obtained at or near the average frequency of the maximum short interval frequency component energy. A second round of filtering is performed on the data, and the signal components are used as input for the subsequent feature extraction step. The CSP method extracts features from the spatial domain signal and generates feature maps. Finally, Support Vector Machines (SVM) are utilized to classify the EEG signals. Based on the pre-set gait of the exoskeleton robot and the motor imagery paradigm, feature extraction and classification of motor imagery EEG data during exoskeleton use were conducted, with an average accuracy rate of 77%. The experimental results demonstrate the effectiveness of this method in extracting the motor imagery EEG features during exoskeleton use. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Electroencephalography

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