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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Wisanu Jitviriya Masato Koike Eiji Hayashi Graduated School of Computer Science and System Engineering Kyushu Institute of Technology Fukuoka Japan Dept. of Mechanical Information Science and Technology Kyushu Institute of Technology Fukuoka Japan

Designing robots with cognition and consciousness resembling that of human or animal has become an important application of intelligent autonomous robot, in order to achieve a more effective human-robot interaction. On the grounds of dynamic system, the primary structure of a behavioral-emotional model of the robots consists of three processes: recognition process, cognition process and behavioral-emotional expression process. Therefore, in this paper, we propose a behavioral-emotional selection model for a conscious behavior robot (Conbe-I) based on the Self-Organizing Map (SOM) learning and the discrete stochastic state-space mathematical model (Markov model) that mainly consider the issues of an autonomous action selection corresponds to the emotional state transition and the emotional expression of an autonomous robot. Finally, the experimental results show the efficiency of the proposed system.

关键词： Mathematical model Markov processes Cognition Robot sensing systems Service robots Image recognition

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A remote experimentation using virtual laboratory

A remote experimentation using virtual laboratory

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International Conference on Computing and Networking Technology (ICCNT)

作者： Chandrashekhar Gode M. S. Madankar Embedded System and Computing G. H. Raisoni college of Engineering Nagpur Dept. of Computer Science & Engineering G. H. Raisoni college of Engineering Nagpur

Experimental laboratories in technical institute are important part of the education areas. It demonstrates course concepts and brings theoretical ideas alive so students can more visualize and understand facts of theoretical concepts. Natural phenomenon affects the real world measurement and control the working algorithm. However, equipping a laboratory ubiquitously is an effective in cost and its maintenance can be difficult. Teaching assistants are required to instruct and setting up the well equipped laboratory, and grade the student report. These time-consuming and costly tasks turns in relatively low equipped laboratory also when teaching assistants and laboratory equipment are available experiments can be driven out. A lightweight web server as well as website interface has been developed, which restricts cost efficient laboratory equipment and measures electronic devices as “virtual laboratory” for any technical institute experiments to undergraduate as well as post graduate students. It uses standard browsers without additional plug-ins to provide interface to any user. The present interface is flexible and could be expanded to many other devices and instruments.

关键词： Web servers Remote laboratories Educational institutions Browsers

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A Sensor Network Configuration Considering Priori Estimation Error and Communication Energy

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IFAC Proceedings Volumes 2010年第8期43卷 341-346页

作者： Takashi Takeda Toru Namerikawa Division of Electrical Engineering and Computer Science Graduate School of Natural Science and Technology Kanazawa University Kakuma-machi Kanazawa 920-1192 JAPAN Department of System Design Engineering Keio University 3-14-1 Hiyoshi Kohoku-ku Yokohama 223-8522 JAPAN

This paper deals with a network configuration considering priori estimation error variance and communication energy in sensor networked feedback system. Each sensor transmits information to a fusion center via multi-hop communication network. We propose a novel network configuration algorithm that each sensor node transmits information with a same dimension. The transmitted information is merged in each sensor node and consists of measurement data with time delay. Then the priori estimate can be minimum variance estimation. The proposed algorithm achieves sub-***optimal network topology with minimum energy and a desired variance. Experimental results show an effectiveness of the proposed method.

关键词： sensor network communication energy data fusion priori estimation error variance multi-hop communication

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Autonomous Drone Control for Wireless Charging Using Power Lines

Autonomous Drone Control for Wireless Charging Using Power L...

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International Conference on Ubiquitous Information Management and Communication (IMCOM)

作者： Pengkai Wang Jonghoek Kim Husna Mutahira Mannan Saeed Muhammad Dept. of Electrical and Computer Engineering Sungkyunkwan University Suwon South Korea Dept. of Defense System Engineering Sejong University Seoul South Korea Dept. of Computer Science and Engineering Sogang University Seoul South Korea

The limited autonomy of flight has long been considered a significant constraint in drone systems. In the context of drone inspections of power lines, this study focuses on a drone equipped with a coil designed for autonomous battery charging. Positioned atop the drone is a charging coil, and on the upper surface, there is an upward-facing camera with a restricted field-of-view (FOV), serving the crucial role of aligning the drone with power lines. This research introduces a wireless power transfer strategy to facilitate the self-charging process of the drone while maintaining its position beneath power lines. To enable the drone's autonomous approach to power lines, a method is devised to guide the drone from below. As the drone approaches the power lines, it monitors the current induced by these lines and gradually adjusts its altitude until a sufficiently high induced current is achieved. The proposed approach ensures safety, as the drone avoids direct contact with high-voltage power lines, setting it apart from other existing methods that require such contact. To the best of our knowledge, this study offers a novel approach to precisely controlling drone movements, and establishing reliable wireless power transfer from power lines. The effectiveness of the developed wireless transfer strategy has been verified through MATLAB simulations.

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AFaVS: Accurate Yet Fast Version Switching for Graph Processing systems

AFaVS: Accurate Yet Fast Version Switching for Graph Process...

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International Conference on Data engineering

作者： Long Zheng Xiangyu Ye Haifeng Liu Qinggang Wang Yu Huang Chuangyi Gui Pengcheng Yao Xiaofei Liao Hai Jin Jingling Xue National Engineering Research Center for Big Data Technology and System/Services Computing Technology and System Lab/Cluster and Grid Computing Laboratory Huazhong University of Science and Technology Wuhan China Zhejiang Lab Hangzhou China School of Computer Science and Engineering UNSW Sydney Australia

Multi-version graph processing has been widely used to solve many real-world problems. The process of the multi-version graph processing typically includes: (1) a history graph version switching at a specific time and (2) graph processing on this history graph. Existing multi-version graph systems assume ideally that every request for a particular graph version at a particular time will have a corresponding snapshot available. However, in most cases, this is not true. Then existing solutions usually have to settle with an "approximating" version as a substitute, leading to unexpected results for the underlying graph algorithm and thus reducing the practicality of a multi-version graph system for many application scenarios *** this paper, we observe that only a few graph updates have a great impact on the final results. We therefore present AFaVS, a novel multi-version graph system that can improve accuracy effectively in both time- and memory-efficient manners. The cornerstone of AFaVS lies in a novel concept "value" that characterizes the importance of graph updates. AFaVS proposes differential management of updates based on their values and achieves higher accuracy while preserving processing and memory efficiency. AFaVS is also equipped with value-guided version switching and locality-aware optimizations to boost its overall efficiency. Our results on a variety of real-world datasets show that AFaVS outperforms four state-of-the-art multi-version graph systems by 74.35%~95.72% in terms of accuracy improvement and 57.03%~90.44% in terms of memory reduction while introducing less than 2.96% extra computing time. We have deployed AFaVS in a disaster recovery system on the production cluster of Alibaba, achieving 78.8%~90.1% fewer error rates than advanced systems at a comparable efficiency.

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Global and localized parallel preconditioning techniques for large scale solid Earth simulations

Global and localized parallel preconditioning techniques for...

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International Parallel and Distributed Processing Symposium, IPDPS 2003

作者： Wang, Kai Kim, Sangbae Zhang, Jun Nakajima, Kengo Okuda, Hiroshi Laboratory for High Performance Scientific Computing and Computer Simulation Department of Computer Science University of Kentucky LexingtonKY40506-0046 United States 2-2-54 Naka-Meguro Meguro-ku Tokyo153-0061 Japan Department of Quantum Engineering and System Sciences University of Tokyo 7-3-1 Hongo Bunkyo-ku Tokyo113-8656 Japan

ISBN: (纸本)0769519261

We investigate and compare a few parallel preconditioning techniques in the iterative solution of large sparse linear systems arising from solid Earth simulation with and without using contact information in the domain partitioning process. Previous studies are focused on using static or matrix pattern based incomplete LU (ILU) preconditioners in a localized preconditioner implementation. Our current studies are concerned with preconditioner performance for solving two different cases with and without known contact information. For the cases with contact information, we use localized threshold value based incomplete LU (ILUT) preconditioner to improve efficiency. For the cases without contact information, we use a global sparse approximate inverse preconditioner with a static sparsity pattern to achieve robustness. Numerical results from simulating ground motion on a parallel supercomputer are given to compare the effectiveness of these parallel preconditioning techniques. © 2003 IEEE.

关键词： Linear systems

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Scalable Multi-Hop Scheduling with Overlapping the Tuning Latency in WDM Optical Star Networks

Scalable Multi-Hop Scheduling with Overlapping the Tuning La...

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IEEE International Conference on Parallel and Distributed Computing, Applications and Technologies (PDCAT)

作者： SingLing Lee JungChun Liu Hann-Jang Ho Department of Computer Science and Information Engineering National Chung Cheng University Chiayi Taiwan Department of Management Information System Far East University Tainan County Taiwan Department of Computer Science and Information Engineering Wu Feng Institute of Technology Chiayi Taiwan

For the current technique, the tuning latency ¿ on each transmitter is more than the packet transmission time, and it cannot be ignored in packet scheduling. So in order to reduce the serious affection of tuning operations, we propose the multi-hop model for the All-to-All Broadcast (AAB) problem in WDM optical star networks with N nodes and w available wavelengths, which the number of hop distance for packet transmissions is limited to a constant ¿. Our strategy can overlap the tuning latency in multi-hop scheduling, and reduce the number of tuning operations on each transmitter to 2¿(w - 1)/¿¿. If ¿ can be completely covered in scheduling, the schedule length is k(k - 1) + ¿ + 2¿(w-1)/¿¿[k 2 ¿(¿+1)/2] time slots, where k = N/w. Otherwise, it is k(k - 1) + ¿ + 2¿(w-1)/¿¿[k¿(¿+1)/2 + ¿] slots. Our proposed method is very suitable for the scalable WDM networks if the number of wavelength is fixed, and its multi-hop schedule length is shorter than that of other scheduling approaches if k is small or ¿ is larger.

关键词： Spread spectrum communication Optical tuning Delay Wavelength division multiplexing WDM networks Optical fiber networks Optical transmitters Scheduling algorithm Optical receivers Broadcasting

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FlexiFed: Personalized Federated Learning for Edge Clients with Heterogeneous Model Architectures 23

FlexiFed: Personalized Federated Learning for Edge Clients w...

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2023 World Wide Web Conference, WWW 2023

作者： Wang, Kaibin He, Qiang Chen, Feifei Chen, Chunyang Huang, Faliang Jin, Hai Yang, Yun School of Computer Science and Technology Huazhong University of Science and Technology China Department of Computing Technologies Swinburne University of Technology Australia School of Information Technology Deakin University Australia Faculty of Information Technology Monash University Australia Guangxi Key Lab of Human-machine Interaction and Intelligent Decision Nanning Normal University China National Engineering Research Center for Big Data Technology and System Services Computing Technology and System Lab Cluster and Grid Computing Lab Huazhong University of Science and Technology Wuhan430074 China

ISBN: (纸本)9781450394161

Mobile and Web-of-Things (WoT) devices at the network edge account for more than half of the world's web traffic, making a great data source for various machine learning (ML) applications, particularly federated learning (FL) which offers a promising solution to privacy-preserving ML feeding on these data. FL allows edge mobile and WoT devices to train a shared global ML model under the orchestration of a central parameter server. In the real world, due to resource heterogeneity, these edge devices often train different versions of models (e.g., VGG-16 and VGG-19) or different ML models (e.g., VGG and ResNet) for the same ML task (e.g., computer vision and speech recognition). Existing FL schemes have assumed that participating edge devices share a common model architecture, and thus cannot facilitate FL across edge devices with heterogeneous ML model architectures. We explored this architecture heterogeneity challenge and found that FL can and should accommodate these edge devices to improve model accuracy and accelerate model training. This paper presents our findings and FlexiFed, a novel scheme for FL across edge devices with heterogeneous model architectures, and three model aggregation strategies for accommodating architecture heterogeneity under FlexiFed. Experiments with four widely-used ML models on four public datasets demonstrate 1) the usefulness of FlexiFed;and 2) that compared with the state-of-the-art FL scheme, FlexiFed improves model accuracy by 2.6%-9.7% and accelerates model convergence by 1.24 × -4.04 ×. © 2023 ACM.

关键词： Speech recognition

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A Comprehensive Evaluation of Different Loss Recovery Schemes in Peer-to-Peer Live Video Streaming over WMNs

A Comprehensive Evaluation of Different Loss Recovery Scheme...

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International Conference on Connected Vehicles and Expo

作者： Hamid Reza Ghaeini Behzad Akbari Behrang Barekatain Multimedia and Networking Lab Department of Electrical and Computer Engineering Tarbiat Modares University Tehran Iran Faculty of Computer Science & Information System Universiti Teknologi Malaysia Johor Bahru Malaysia

ISBN: (纸本)9781467347051

In the recent years, Wireless Mesh Networks (WMNs) has become popular for video multicasting. Although peer-to-peer communication lets wireless nodes improves the functionality of the video streaming applications over WMNs, required level of Quality-of-Service (QoS) is one of the most important challenges in these systems. Therefore, it is necessary to introduce new or enhance existing techniques in order to increase QoS for providing better perceived video quality on receivers. In this paper, different loss recovery schemes in peer-to-peer live video streaming over wireless mesh networks are evaluated precisely. The obtained results show how the provided efficiency by each of these schemes can improve the level of the introduced QoS in peer-to-peer live video streaming over WMNs.

关键词： WMNs Peer-to-Peer Live Video Streaming Loss Recovery

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Reliable and Energy Efficient Protocol for Wireless Sensor Network

Reliable and Energy Efficient Protocol for Wireless Sensor N...

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第十二届全国容错计算学术会议

作者： KAN Baoqiang CAI Li XU Yongjun College of Science Air Force Engineering UniversityXi'an 710052China Key Laboratory of Computer Sy College of Science Air Force Engineering UniversityXi'an 710052China Key Laboratory of Computer System and Architecture Institute of Computing TechnologyChinese Academy

Low-power design is one of the most important issues in wireless sensor networks (WSNs), while reliable information transmitting should be ensured as well. Transmitting power (TP) control is a simple method to make the power consumption down, but excessive interferences from potential adjacent operating links and communication reliability between nodes should be considered. In this paper, a reliable and energy efficient protocol is presented, which adopts adaptive rate control based on an optimal TP. A mathematical model considering average interference and network connectivity was used to predict the optimal TP. Then for the optimal TP, active nodes adaptively chose the data rate with the change of bit-error-rate(BER) performance. The efficiency of the new strategy was validated by mathematical analysis and simulations. Compared with 802.11 DCF which uses maximum unified TP and BASIC protocol, it is shown that the higher average throughput can achieve while the energy consumption per useful bit can be reduced according to the results.

关键词： wireless sensor networks reliable communication energy efficient optimal transmitting power adaptive link control

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