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IEEE International Conference on Robotics and Automation (ICRA)

作者： Shuo Yang Xinjun Mao Shuo Wang Huaiyu Xiao Yuanzhou Xue Key Laboratory of Software Engineering for Complex Systems College of Computer National University of Defense Technology

Robots operating in open environments expect to have robust plans to achieve tasks successfully under environment uncertainties. However, both partial observability and dynamics of environment states have significantly decreased the robustness of task achievement, making robot task planning much more challenging. The partially observable states require the robot to obtain observations for optimally acting of the task goal. Also, state dynamics expects the robot to continuously observe surroundings for acting safely. Both challenges practically demand the purposeful and tight interactions between robot state-changing actuating actions and sensor-based observation actions. This paper proposes a novel model of Adjoint Sensing and Acting (ASA) that explicitly defines two parallel and sequential interaction schemes between actuating and observation actions, as well as an extended Behavior Tree for a concrete implementation of above schemes. We further propose an interleaving task planning approach for planning ASA-style plans, which integrates a deliberative POMDP planner for pursuing task goals, and a reactive Behavior Tree executive for fast responding to unexpected events. We experimentally demonstrate that ASA interaction schemes are practical and applicable to model and plan the open environment robot tasks. The plans from the interleaving task planning approach are both reactive in run-time response and efficient in task achievement.

关键词： Uncertainty Automation Conferences Robot sensing systems Robustness Planning Sensors

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Hierarchical Context Modeling Network for Landmark Recognition

Hierarchical Context Modeling Network for Landmark Recogniti...

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IEEE International Conference on Data Mining (ICDM)

作者： Xing Bao Huan Zheng Zhao Zhang Zhengjun Zha Meng Wang School of Information Science and Technology University of Science and Technology of China Hefei China Aerospace Information Research Institute Suzhou China School of Computer Science and Information Engineering Hefei University of Technology Hefei China Key Laboratory of Knowledge Engineering with Big Data (Ministry of Education) & Intelligent Interconnected Systems Laboratory of Anhui Province Hefei University of Technology Hefei China Yunnan Key Laboratory of Software Engineering Kunming China

Landmark recognition stands as a prominent classification challenge within the domain of vision and perception, involving the identification and localization of landmarks in images. However, existing landmark recognition methods often fall short in delivering satisfactory performance. A critical issue lies in the lack of simultaneous exploration of local, regional, and global modeling. Intuitively, the local details, regional features, and global structure within an image, especially of a building, significantly contribute to landmark recognition. To address this issue, we propose a novel approach, termed Hierarchical Context Modeling Network (HCMNet), for landmark recognition. In our methodology, we introduce a Hierarchical Context Modeling Block (HCMB) designed with a triplet-branch structure to model image context in a hierarchical manner. These branches consist of the local branch, which leverages a convolutional layer to capture local details, the regional branch focused on extracting regional features through large-kernel asymmetrical convolutional layers, and the global branch aims at encompassing the broader context by incorporating channel attention. To enhance the modeling capacity, we assemble multiple HCMBs into the HCMNet, creating a hierarchical structure. Comprehensive experiments validate the efficacy of the proposed HCMNet for landmark recognition, showcasing its superior performance compared to current methods. The proposed hierarchical context modeling approach proves instrumental in capturing the intricate features essential for accurate landmark recognition.

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Robust Generalization Against Photon-Limited Corruptions via Worst-Case Sharpness Minimization

Robust Generalization Against Photon-Limited Corruptions via...

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Conference on computer Vision and Pattern Recognition (CVPR)

作者： Zhuo Huang Miaoxi Zhu Xiaobo Xia Li Shen Jun Yu Chen Gong Bo Han Bo Du Tongliang Liu Sydney AI Centre The University of Sydney National Engineering Research Center for Multimedia Software Institute of Artificial Intelligence School of Computer Science Hubei Key Laboratory of Multimedia and Network Communication Engineering Wuhan University JD Explore Academy Department of Automation University of Science and Technology of China Key Laboratory of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education School of Computer Science and Engineering Nanjing University of Science and Technology Department of Computer Science Hong Kong Baptist University

Robust generalization aims to tackle the most challenging data distributions which are rare in the training set and contain severe noises, i.e., photon-limited corruptions. Common solutions such as distributionally robust optimization (DRO) focus on the worst-case empirical risk to ensure low training error on the uncommon noisy distributions. However, due to the over-parameterized model being optimized on scarce worst-case data, DRO fails to produce a smooth loss landscape, thus struggling on generalizing well to the test set. Therefore, instead of focusing on the worst-case risk minimization, we propose SharpDRO by penalizing the sharpness of the worst-case distribution, which measures the loss changes around the neighbor of learning parameters. Through worst-case sharpness minimization, the proposed method successfully produces a flat loss curve on the corrupted distributions, thus achieving robust generalization. Moreover, by considering whether the distribution annotation is available, we apply SharpDRO to two problem settings and design a worst-case selection process for robust generalization. Theoretically, we show that SharpDRO has a great convergence guarantee. Experimentally, we simulate photon-limited corruptions using CIFAR10/100 and ImageNet30 datasets and show that SharpDRO exhibits a strong generalization ability against severe corruptions and exceeds well-known baseline methods with large performance gains.

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Correction to: A comprehensive performance evaluation of container migration strategies

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Computing 2025年第4期107卷 1-2页

作者： Feitosa, Leonel Barbosa, Vandirleya Sabino, Arthur Lima, Luiz Nelson Fé, Iure Silva, Luis Guilherme Callou, Gustavo Carvalho, Juliana Leão, Erico Nguyen, Tuan Anh Rego, Paulo Silva, Francisco Airton Laboratory of Applied Research to Distributed Systems (PASID) Federal University of Piauí (UFPI) Picos Brazil Department of Computing Federal Rural University of Pernambuco (UFRPE) Recife Brazil Department of Software Engineering Faculty of Information Technology University of Industry and Trade (HUIT) Ho Chi Minh City Vietnam Department of Computer Science Federal University of Ceará (UFC) Fortaleza Brazil

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DECIDO Portal for evidence-Based Policy-Making

DECIDO Portal for evidence-Based Policy-Making

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International Conference on Information, Intelligence, systems and Applications (IISA)

作者： Konstantinos Alexakis Jabier Martinez Panagiotis Kokkinakos Antonio Filograna Yury Glikman Xabier Uriarte Dimitris Askounis Decision Support Systems Laboratory School of Electrical and Computer Engineering National Technical University of Athens Athens Greece Software Technologies Tecnalia Basque Research and Technology Alliance (BRTA) Derio Spain Open Public Service Innovation Engineering Ingegneria Informatica S.p.A. Rome Italy Open Service Engineering Group Fraunhofer FOKUS Berlin Germany

Public policy-making has a strong impact on our daily lives and on most of the aspects of our society including its relation with the environment. Sustainability as a global goal cannot be achieved without effective policies supporting it. The current trend in policy-making has two main pillars, policies are a) co-created with citizens and other relevant stakeholders and b) data-based to take informed decisions. Information technologies are needed to support these pillars and facilitate evidence-based policy-making. We present the DECIDO Portal that acts as a catalyst towards putting these general principles into practice gathering the technical components to be used within the whole policy life cycle. Notably, the portal lays its foundations on a well-defined co-creation methodology that can be seamlessly followed from a unique portal and provides best-practices for participatory processes and data-driven analyses. A set of real-world experimental policies in different countries serves as case studies to showcase and discuss the usage of the portal.

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Deep Reinforcement Learning for Sleep Control in 5G and Beyond Radio Access Networks: An Overview

Deep Reinforcement Learning for Sleep Control in 5G and Beyo...

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International Wireless Communications and Mobile Computing Conference, IWCMC

作者： Nessrine Trabelsi Rihab Maaloul Lamia Chaari Fourati Wael Jaafar Laboratory of Signals systeMs aRtificial intelligence and neTworkS – Digital Research Center of Sfax Sfax Tunisia Higher Institute of Computer Science of Mahdia (ISIMa) University of Monastir Tunisia Higher Institute of Computer Science and Multimedia in Sfax (ISIMS) University of Sfax Tunisia Department of Software and IT Engineering École de technologies supérieure (ÉTS) Montreal Canada

ISBN: (数字)9798350361261

ISBN: (纸本)9798350361278

The advent of 5G and beyond networks is envisioned to support lower latency, higher data rates, and wider connectivity than previous cellular network generations. However, given the denser deployment of base stations (BSs) to accommodate such improvements, this results inevitably in a significant and unsustainable increase in the network’s energy consumption. Sleep Control (SC), which allows switching off some BS hardware components during light-traffic time, is considered a viable solution for greener and more energy-efficient Radio Access Networks (RAN). However, the optimization of SC is a highly challenging large-scale network combinatorial problem that depends on dynamic wireless channel conditions and varying traffic demands with stringent quality-of-Service (QoS) requirements. Driven by the benefits and efficiency of Deep Reinforcement Learning (DRL), which has been successfully applied to multiple wireless network optimization problems, this paper investigates DRL approaches addressing sleep control in 5G and beyond RAN. To this end, we propose a taxonomy to classify the related literature. Then, we provide an overview of the different components of the Markov Decision Process (MDP) modeling the sequential decision-making of sleep control and the applied DRL algorithms. Finally, we highlight the main challenges in existing works and suggest novel strategies to address them.

关键词： 5G mobile communication Wireless networks Taxonomy Decision making quality of service Switches Deep reinforcement learning

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CoNi-MPC: Cooperative Non-inertial Frame Based Model Predictive Control

arXiv

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arXiv 2023年

作者： Zhang, Baozhe Chen, Xinwei Li, Zhehan Beltrame, Giovanni Xu, Chao Gao, Fei Cao, Yanjun Huzhou Institute of Zhejiang University Huzhou313000 China State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou310027 China The Chinese University of Hong Kong Shenzhen518172 China Department of Computer Engineering and Software Engineering Poly-technique Montreal Canada

This paper presents a novel solution for UAV control in cooperative multi-robot systems, which can be used in various scenarios such as leader-following, landing on a moving base, or specific relative motion with a target. Unlike classical methods that tackle UAV control in the world frame, we directly control the UAV in the target coordinate frame, without making motion assumptions about the target. In detail, we formulate a nonlinear model predictive controller of a UAV, referred to as the agent, within a non-inertial frame (i.e., the target frame). The system requires the relative states (pose and velocity), the angular velocity and the accelerations of the target, which can be obtained by relative localization methods and ubiquitous MEMS IMU sensors, respectively. This framework eliminates dependencies that are vital in classical solutions, such as accurate state estimation for both the agent and target, prior knowledge of the target motion model, and continuous trajectory re-planning for some complex tasks. We have performed extensive simulations to investigate the control performance with varying motion characteristics of the target. Furthermore, we conducted real robot experiments, employing either simulated relative pose estimation from motion capture systems indoors or directly from our previous relative pose estimation devices outdoors, to validate the applicability and feasibility of the proposed approach. © 2023, CC BY.

关键词： Unmanned aerial vehicles (UAV)

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HealthEdge: A Machine Learning-Based Smart Healthcare Framework for Prediction of Type 2 Diabetes in an Integrated IoT, Edge, and Cloud Computing System

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Procedia computer Science 2023年 220卷 331-338页

作者： Alain Hennebelle Huned Materwala Leila Ismail Independent Researcher Melbourne Australia Intelligent Distributed Computing and Systems (INDUCE) Research Laboratory Department of Computer Science and Software Engineering College of Information Technology United Arab Emirates University United Arab Emirates National Water and Energy Center United Arab Emirates University United Arab Emirates Cloud Computing and Distributed Systems (CLOUDS) Lab School of Computing and Information Systems The University of Melbourne Australia

Diabetes Mellitus has no permanent cure to date and is one of the leading causes of death globally. The alarming increase in diabetes calls for the need to take precautionary measures to avoid/predict the occurrence of diabetes. This paper proposes HealthEdge, a machine learning-based smart healthcare framework for type 2 diabetes prediction in an integrated IoT-edge-cloud computing system. Numerical experiments and comparative analysis were carried out between the two most used machine learning algorithms in the literature, Random Forest (RF) and Logistic Regression (LR), using two real-life diabetes datasets. The results show that RF predicts diabetes with 6% more accuracy on average compared to LR.

关键词： Artificial Intelligence (AI) Cloud Computing Diagnosis Digital Health Edge Computing eHealth Internet of Things (IoT) Logisitic Regression Machine Learning Prognosis Random Forest Risk Factors Smart Connected Healthcare Type 2 Diabetes Mellitus

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A Comprehensive Review of Active EV Battery Cell Voltage Balancing systems: Current Issues and Prospective Solutions

A Comprehensive Review of Active EV Battery Cell Voltage Bal...

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On-Line Conference (ONCON), Industrial Electronics Society Annual

作者： Chandan Chetri Alvin Huynh Sheldon S. Williamson Department of Electrical Computer and Software Engineering Smart Transportation Electrification and Energy Research (STEER) Group Advanced Storage Systems and Electric Transportation (ASSET) Laboratory Faculty of Engineering and Applied Science Ontario Tech University Oshawa Canada

The performance of a battery pack is greatly affected by an imbalance between the cells. Cell balancing is a very important criterion for Battery Management System (BMS) to operate properly. This paper presents the various cell balancing topologies which have been presented by various researchers in the past years. A novel topology has also been discussed, which improves the overall efficiency of the components being used. Various comparison parameters such as Control, Speed, Efficiency, Power Effects, Manufacturability, Size, and Cost have been considered.

关键词： Industrial electronics Electric potential Costs Equalizers Battery management systems Transformers Power electronics

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A New Atmospheric Dataset for GIIRS Sampled from ERA5 Using Shannon Entropy Method

A New Atmospheric Dataset for GIIRS Sampled from ERA5 Using ...

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2020 International Conference on Innovative Solutions in Hydropower and Environmental and Civil engineering

作者： Zhang, Qi Yu, Yi Zhang, Weimin College of Meteorology and Oceanography National University of Defense Technology Changsha410073 China College of Computer Science National University of Defense Technology Changsha410073 China Key Laboratory of Software Engineering for Complex Systems Changsha410073 China

Geostationary Interferometric Infrared Sounder (GIIRS) on board the new Chinese geostationary meteorological satellite Fengyun-4A is aimed to obtain three-dimensional atmospheric information regularly at the regional scale. Since the existing atmospheric datasets are global covered and they are not representative of the GIIRS detection area, a diverse and local representative atmospheric dataset is required for GIIRS in training transmittance parameterization scheme of fast radiative transfer model and retrieving atmospheric profiles. The new atmospheric dataset for GIIRS application in this paper is sampled from the European Centre for Medium-Range Weather Forecasts (ECMWF) fifth-generation reanalysis (ERA5) 2019 dataset using Shannon entropy sampling method. The new dataset demonstrates the feature of uniform distribution within multiple atmospheric variables' (i.e. atmospheric temperature, specific humidity, 2 meter temperature) variation ranges and GIIRS's spatial coverage. To address the issue derived from the climate difference and the varied vertical pressure structure of regions with great differences in topographic height, the study area is divided into six categories regarding of topographic height categories where atmospheric dataset are sampled separately. Seasonal variation is also taken into account in the process of sampling. Compared with the initial randomly sampled dataset, the atmospheric and 2 meter temperature in the new dataset demonstrate a higher level of uniformity within their variation ranges. The statistical results indicate that the differences between samples in the new dataset are enlarged, meanwhile, the new dataset well retains the statistical characteristics of the original ERA5 dataset. The new dataset has a potential in the study of the utility of GIIRS data in the numerical weather forecast. © Published under licence by IOP Publishing Ltd.

关键词： Weather forecasting

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