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IEEE International Conference on robotics and Automation (ICRA)

作者： Matti Vahs Christian Pek Jana Tumova The authors are with the Division of Robotics Perception and Learning School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden

In many real-world robotic scenarios, we cannot assume exact knowledge about a robot's state due to unmodeled dynamics or noisy sensors. Planning in belief space addresses this problem by tightly coupling perception and planning modules to obtain trajectories that take into account the environment's stochasticity. However, existing works are often limited to tasks such as the classic reach-avoid problem and do not provide risk awareness. We propose a risk-aware planning strategy in belief space that minimizes the risk of violating a given specification and enables a robot to actively gather information about its state. We use Risk Signal Temporal Logic (RiSTL) as a specification language in belief space to express complex spatio-temporal missions including predicates over Gaussian beliefs. We synthesize trajectories for challenging scenarios that cannot be expressed through classical reach-avoid properties and show that risk-aware objectives improve the uncertainty reduction in a robot's belief.

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Expression-Aware Masking and Progressive Decoupling for Cross-Database Facial Expression Recognition

Expression-Aware Masking and Progressive Decoupling for Cros...

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International Conference on Automatic Face and Gesture Recognition

作者： Tao Zhong Xiaole Xian Zihan Wang Weicheng Xie Linlin Shen Computer Vision Institute School of Computer Science & Software Engineering Shenzhen University Shenzhen Institute of Artificial Intelligence and Robotics for Society Guangdong Key Laboratory of Intelligent Information Processing Shenzhen University

ISBN: (数字)9798350394948

ISBN: (纸本)9798350394955

Cross-database facial expression recognition (CD-FER) has been widely studied due to its promising applicability in real-life situations, while the generalization performance is the main concern in this task. For improving cross-database generalization, current works frequently resort to masked auto encoder (MAE) to learn the expression representation in an unsupervised manner, and disentanglement of expression and domain features. (i) For MAE, current algorithms mainly employ random masking, and leverage the reconstruction of these masked regions to enable networks to learn the expression representation. However, these masked regions are expression-irrelevant, can not well reflect the characteristics of expression, thus are not efficient enough in representation learning. To this end, we propose an expression-aware masking in MAE to improve the learning efficiency of expression representation, by guiding MAE to mask out expression-aware regions during training. (ii) For disentanglement of expression and domain features, current algorithms realize it mainly in the deep layers. However, the coupling of these features in the shallow layers are rarely concerned, which may largely affect the disentanglement performance in deep layers. Thus, we propose a progressive decoupler to disentangle these features block by block, to use the feature disentanglement in shallow layers to facilitate that in deep layers. Extensive quantitative and qualitative results on multiple expression datasets show that our method can largely outperform the state of the arts in terms of cross-database generalization performance.

关键词： Training Representation learning Couplings Face recognition Gesture recognition Task analysis

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Random Number Generator for Securing Data Exchange in Smart Factory: Recent Trends and Best Practices

Random Number Generator for Securing Data Exchange in Smart ...

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computer Technologies (ICCTech), International Conference on

作者： Andi Sama Meyliana Yaya Heryadi Taufik Roni Sahroni Computer Science Department Binus Graduate Program - Computer Science Bina Nusantara University Jakarta Indonesia Information System Department School of Information System Bina Nusantara University Jakarta Indonesia Computer Science Department BINUS Graduate Program-Doctor of Computer Science Jakarta Jakarta Indonesia Industrial Engineering Department BINUS Graduate Program - Master of Industrial Engineering Bina Nusantara University Jakarta Indonesia

ISBN: (数字)9798350395419

ISBN: (纸本)9798350395426

IT/OT convergence in the form of a Cyber-Physical System (CPS) presents an opportunity to apply recent Information Technology (IT) advancements to Operational Technology (OT). The IT/OT convergence introduces cyber security threats for OT. The OT communication protocols, for example, have limited or no security capabilities for securing data exchange beyond basic authentication. The RNG (Random Number Generator) function is crucial in PLC for producing the encryption keys or the initial seed for security algorithms. The software-based PRNG (Pseudo RNG) is the most common approach for RNG in OT, instead of hardware-based RNG. This study provides a systematic literature review of the most recent evidence in digital transformation to secure data exchange in smart factories, within OT, or across OT and IT settings. It does this by looking at the PRNG on PLC and identifying the most recent trends and best practices. The findings include up-to-date data on author countries' distribution, published journals, research trends, industries, and industry types. The findings also address whether data flow is encrypted or shared in plaintext to ensure secure data transfer between IT and legacy OT environments. This paper concludes that while there is known RNG implementation in the actual embedded system in ICS, there is no evidence in the literature for using RNG in ICS networks for PLC implementation to secure data transfer with encryption.

关键词： Industries Systematics Market research Data transfer Control systems Generators Encryption

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Robustness and Security Enhancement of Radio Frequency Fingerprint Identification in Time-Varying Channels

arXiv

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arXiv 2024年

作者： Yang, Lu Camtepe, Seyit Gao, Yansong Liu, Vicky Jayalath, Dhammika School of Electrical Engineering and Robotics Queensland University of Technology Brisbane Australia Data61 CSIRO Sydney Australia School of Computer Science Queensland University of Technology Brisbane Australia

Radio frequency fingerprint identification (RFFI) is becoming increasingly popular, especially in applications with constrained power, such as the Internet of Things (IoT). Due to subtle manufacturing variations, wireless devices have unique radio frequency fingerprints (RFFs). These RFFs can be used with pattern recognition algorithms to classify wireless devices. However, Implementing reliable RFFI in time-varying channels is challenging because RFFs are often distorted by channel effects, reducing the classification accuracy. This paper introduces a new channel-robust RFF, and leverages transfer learning to enhance RFFI in the time-varying channels. Experimental results show that the proposed RFFI system achieved an average classification accuracy improvement of 33.3% in indoor environments and 34.5% in outdoor environments. This paper also analyzes the security of the proposed RFFI system to address the security flaw in formalized impersonation attacks. Since RFF collection is being carried out in uncontrolled deployment environments, RFFI systems can be targeted with false RFFs sent by rogue devices. The resulting classifiers may classify the rogue devices as legitimate, effectively replacing their true identities. To defend against impersonation attacks, a novel keyless countermeasure is proposed, which exploits the intrinsic output of the softmax function after classifier training without sacrificing the lightweight nature of RFFI. Experimental results demonstrate an average increase of 0.3 in the area under the receiver operating characteristic curve (AUC), with a 40.0% improvement in attack detection rate in indoor and outdoor environments. Copyright © 2024, The Authors. All rights reserved.

关键词： Palmprint recognition

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Autonomous Number Plate Detection System for Vehicle Identification and Tracking

Autonomous Number Plate Detection System for Vehicle Identif...

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Recent Trends in Microelectronics, Automation, Computing and Communications Systems (ICMACC), International Conference on

作者： Neha Sri Nareddy Abhinaya Polneni Rekha Baithi Pratyusha Kunchamwar Sunil Kumar Suvarna Durgabhavani Battu Naveena Budda Vikas Agarwal Premchander Munimanda AI IoT and Robotics Lab (AIR Lab) AGVs Group Autonomous Robotics Systems Limited Hyderabad India Department of Information Technology Malla Reddy Engineering College for Women Hyderabad India Ideabytes Software India Private Limited Hyderabad India School of Computer Science Georgia Tech Atlanta USA School of Computer Science and Engineering Malla Reddy Engineering College for Women Hyderabad India

ISBN: (数字)9798350366570

ISBN: (纸本)9798350366587

The autonomous number plate detection system plays a crucial role in modern transportation, law enforcement, and security infrastructure. Technical approaches using artificial intelligence, machine learning, and computer vision are actively researched to achieve ease of maintenance through real-time vehicle detection. The recent development has drastically improved the accuracy of object detection and recognition systems in deep neural networks. Using these techniques, vehicle number plates can easily be detected autonomously for vehicle identification and tracking. Here, we have used a custom-trained TensorFlow-based number plate detection method to autonomously detect vehicles using images captured by a smartphone, or surveillance camera. It showed an impressive mAP @ 0.5 of 95%, and demonstrated limitations in long-distance detection, leading us to designate it as the optimal vehicle detection model for accuracy. We designed and developed an autonomous number plate detection system for vehicle identification and tracking, which includes web-based, android-based, and embedded-based applications. In addition, we evaluated the proposed autonomous number plate detection system with real-time images and videos. The proposed system achieved real-time vehicle detection and tracking, boasting a commendable 90% detection accuracy.

关键词： Visualization Accuracy Law enforcement System performance Transportation Artificial neural networks Real-time systems Security License plate recognition Videos

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Textual training for the hassle-free removal of unwanted visual data: case studies on OOD and hateful image detection 24

Textual training for the hassle-free removal of unwanted vis...

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Proceedings of the 38th International Conference on Neural Information Processing Systems

作者： Saehyung Lee Jisoo Mok Sangha Park Yongho Shin Dahuin Jung Sungroh Yoon Department of Electrical and Computer Engineering Seoul National University Qualcomm Korea YH Seoul South Korea School of Computer Science and Engineering Soongsil University Department of Electrical and Computer Engineering and Interdisciplinary Program in Artificial Intelligence Seoul National University

ISBN: (纸本)9798331314385

In our study, we explore methods for detecting unwanted content lurking in visual datasets. We provide a theoretical analysis demonstrating that a model capable of successfully partitioning visual data can be obtained using only textual data. Based on the analysis, we propose Hassle-Free Textual Training (HFTT), a streamlined method capable of acquiring detectors for unwanted visual content, using only synthetic textual data in conjunction with pre-trained vision-language models. HFTT features an innovative objective function that significantly reduces the necessity for human involvement in data annotation. Furthermore, HFTT employs a clever textual data synthesis method, effectively emulating the integration of unknown visual data distribution into the training process at no extra cost. The unique characteristics of HFTT extend its utility beyond traditional out-of-distribution detection, making it applicable to tasks that address more abstract concepts. We complement our analyses with experiments in out-of-distribution detection and hateful image detection. Our codes are available at https://***/Saehyung-Lee/HFTT

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Online Learning in Blockchain-based Energy Trading Systems 24

Online Learning in Blockchain-based Energy Trading Systems

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2024 International Symposium on Theory, Algorithmic Foundations, and Protocol Design for Mobile Networks and Mobile Computing, MobiHoc 2024

作者： Liu, Yunshu Cheung, Man Hon Huang, Jianwei Pillar of Engineering Systems and Design Singapore University of Technology and Design Singapore Singapore Department of Computer Science City University of Hong Kong Hong Kong School of Science and Engineering Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen Key Laboratory of Crowd Intelligence Empowered Low-Carbon Energy Network CSIJRI Joint Research Centre on Smart Energy Storage The Chinese University of HongKong Guangdong Shenzhen518172 China

ISBN: (纸本)9798400705212

In this paper, we consider a blockchain-based energy trading (BBET) system with the proof-of-stake (PoS) protocol. The system designer aims to minimize system cost by considering the prosumers’ strategic token allocation between blockchain staking and energy purchase for their applications. This is challenging as the system designer does not know prosumers’ private information of impatience levels towards different applications. To this end, we propose an online learning mechanism (OLM), which includes incentive mechanisms to guide both prosumers’ private information reporting and staking decisions in two phases. In the exploration phase, we design a randomized staking reward to encourage prosumers’ truthful reporting of their private information for the learning of impatience level distributions. Based on the threshold structure of the prosumers’ equilibrium staking strategies, in the exploitation phase, we propose a learning-error-based reward to minimize the system cost considering the finite-sample bias. By characterizing the optimal exploration duration, we prove that OLM achieves an asymptotic zero-regret against the complete information benchmark, with the regret bounded by O(3√lnT/T) when operating for T time slots. We implement the corresponding smart contract in Ethereum to demonstrate the feasibility of our approach. Experiment results show that our mechanism reduces regret by an average of 74% compared to the state-of-art mechanism. © 2024 Copyright held by the owner/author(s).

关键词： Blockchain

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RGB-D Grasp Detection via Depth Guided Learning with Cross-modal Attention

RGB-D Grasp Detection via Depth Guided Learning with Cross-m...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Ran Qin Haoxiang Ma Boyang Gao Di Huang State Key Laboratory of Software Development Environment School of Computer Science and Engineering Beihang University Beijing China Geometry Robotics and the School of Computer Science and Technology Harbin Institute of Technology Harbin China

Planar grasp detection is one of the most fundamental tasks to robotic manipulation, and the recent progress of consumer-grade RGB-D sensors enables delivering more comprehensive features from both the texture and shape modalities. However, depth maps are generally of a relatively lower quality with much stronger noise compared to RGB images, making it challenging to acquire grasp depth and fuse multi-modal clues. To address the two issues, this paper proposes a novel learning based approach to RGB-D grasp detection, namely Depth Guided Cross-modal Attention Network (DGCAN). To better leverage the geometry information recorded in the depth channel, a complete 6-dimensional rectangle representation is adopted with the grasp depth dedicatedly considered in addition to those defined in the common 5-dimensional one. The prediction of the extra grasp depth substantially strengthens feature learning, thereby leading to more accurate results. Moreover, to reduce the negative impact caused by the discrepancy of data quality in two modalities, a Local Cross-modal Attention (LCA) module is designed, where the depth features are refined according to cross-modal relations and concatenated to the RGB ones for more sufficient fusion. Extensive simulation and physical evaluations are conducted and the experimental results highlight the superiority of the proposed approach.

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Simulation of Photonic Metasurfaces using a Surface Integral Equation Solver with Generalized Sheet Transition Conditions

Simulation of Photonic Metasurfaces using a Surface Integral...

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Antennas and Propagation (LACAP), IEEE Latin American Conference on

作者： Sebastian Celis Sierra Partha Mondal Ran Zhao Hakan Bagci Electrical and Computer Engineering (ECE) Program King Abdullah University of Science and Technology Thuwal Saudi Arabia School of Electronic Science and Engineering University of Electronic Science and Technology of China Chengdu China

ISBN: (数字)9798331527587

ISBN: (纸本)9798331527594

Photonic metasurfaces are efficiently and accurately simulated using a surface integral equation (SIE) solver. This solver models the metasurface as an infinitesimally thin sheet on which generalized sheet transition conditions (GSTCs) are enforced. GSTCs connect the electromagnetic fields on both sides of the metasurface using equivalent susceptibility tensors and avoid modelling of geometrically intricate metasurface unit cells by the SIE solver. Susceptibility tensors are obtained from the transmission and the reflection coefficients associated with a unit cell. A numerical example, involving a metasurface that supports high-quality factor resonances and excited by a Gaussian beam, is presented to demonstrate the accuracy of the proposed approach.

关键词： Tensors Accuracy Integral equations Metasurfaces Mathematical models Numerical models Reflection coefficient Electromagnetic fields Dispersion Photonics

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Molecular architecture of mammalian pyruvate dehydrogenase complex

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Protein & Cell 2025年第1期16卷 72-78页

作者： Maofei Chen Yutong Song Sensen Zhang Yitang Zhang Xudong Chen Minghui Zhang Meng Han Xin Gao Sai Li Maojun Yang Tsinghua-Peking Center for Life Sciences Beijing Frontier Research Center for Biological StructureSchool of Life SciencesTsinghua UniversityBeijing 100084China Ministry of Education Key Laboratory of Protein Science Tsinghua UniversityBeijing 100084China State Key Laboratory of Membrane Biology Tsinghua UniversityBeijing 100084China Department of Biochemistry and Molecular Biology School of Basic Medical SciencesShenzhen University Health Science CenterShenzhen 518060China Protein Research Technology Center Protein Chemistry and Omics PlatformSchool of Life SciencesTsinghua UniversityBeijing 100084China Computer Science Program ComputerElectrical and Mathematical Sciences and Engineering DivisionKing Abdullah University of Science and Technology(KAUST)Thuwal 23955-6900Kingdom of Saudi Arabia Computational Bioscience Research Center King Abdullah University of Science and TechnologyThuwal 23955-6900Kingdom of Saudi Arabia Cryo-EM Facility Center Southern University of Science and TechnologyShenzhen 518055China Beijing Life Science Academy Beijing 102209China

Dear Editor,Pyruvate dehydrogenase complex(PDHc) is a large multienzyme assembly(Mr = 4–10 million Daltons) consisting of three essential components: pyruvate dehydrogenase(E1p), dihydrolipoyl transacetylase(E2p), and dihydrolipoyl dehydrogenase(E3). These three enzymes perform distinct functions sequentially to catalyze the oxidative decarboxylation of pyruvate with formation of nicotinamide adenine dinucleotide(NADH) and acetyl-coenzyme A(Patel and Roche, 1990).

关键词： sequentially oxidative Dalton

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