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Towards Energy-Efficiency: Integrating MATD3 Reinforcement Learning Method for Computational Offloading in RIS-Aided UAV-MEC Environments

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IEEE Internet of Things Journal 2025年

作者： Wu, Liangshun Zhang, Cong Zhang, Bin Du, Jianbo Qu, Junsuo Key Laboratory of Embedded System and Service Computing Tongji University Ministry of Education Shanghai201804 China Shanghai Key Laboratory of Trustworthy Computing East China Normal University Shanghai201210 China School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai200240 China Xi'an Key Laboratory of Advanced Control and Intelligent Process School of Automation Xi'an University of Posts & Telecommunications Xi'an710061 China Xinjiang University of Political Science and Law Tumushuke832003 China School of Remote Sensing and Information Engineering Wuhan University Wuhan430079 China Department of Computer City University of Hong Kong 999077 Hong Kong School of Communications and Information Engineering Xi'an University of Posts & Telecommunications Xi'an710061 China

With the proliferation of IoT devices, there is an escalating demand for enhanced computing and communication capabilities. Mobile Edge Computing (MEC) addresses this need by relocating computing resources to the network edge, thereby delivering swifter and more efficient services. This paper introduces a computation offloading and energy consumption optimization framework that leverages Reconfigurable Intelligent Surfaces (RIS), Unmanned Aerial Vehicles (UAVs), and MEC. The scheme aims to maximize energy efficiency through the optimization of task allocation, RIS phase shifts, and UAV trajectories. By employing the Multi-Agent Twin Delayed Deep Deterministic Policy Gradient (MATD3) reinforcement learning algorithm, the paper further refines UAV trajectories and RIS configurations. The simulation results indicate that the proposed method surpasses the traditional Concave-Convex Procedure (CCCP) algorithm in both UAV trajectory control and RIS configuration, demonstrating quicker convergence and enhanced stability. The method proves to be adaptable to diverse environments and tasks, showcasing notable benefits in RIS-assisted interference suppression, particularly with large RIS, thereby enhancing UAV data reception rates. Additionally, MATD3 exhibits faster and smoother convergence for extended task durations and smaller RIS scenarios. Simulation results reveal that UAVs tend to move closer to RIS, with energy efficiency falling as IoT tasks increase, affirming the proposed algorithm's high energy efficiency and effectiveness. © 2025 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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On Nash-Stackelberg-Nash Games under Decision-Dependent Uncertainties: Model and Equilibrium

arXiv

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arXiv 2022年

作者： Zhang, Yunfan Liu, Feng Wang, Zhaojian Chen, Yue Feng, Shuanglei Wu, Qiuwei Hou, Yunhe State Key Laboratory of Power Systems Department of Electrical Engineering Tsinghua University Beijing China MOE Key Laboratory of System Control and Information Processing Department of Automation Shanghai Jiao Tong University Shanghai China Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong Hong Kong Renewable Energy Research Center China Electric Power Research Institute Beijing China Center for Electric Power and Energy Department of Electrical Engineering Technical University of Denmark Kgs. Lyngby Denmark Shenzhen Institute of Research and Innovation The University of Hong Kong Hong Kong

In this paper, we discuss a class of two-stage hierarchical games with multiple leaders and followers, which is called Nash-Stackelberg-Nash (N-S-N) games. Particularly, we consider N-S-N games under decision-dependent uncertainties (DDUs). DDUs refer to the uncertainties that are affected by the strategies of decision-makers and have been rarely addressed in game equilibrium analysis. In this paper, we first formulate the N-S-N games with DDUs of complete ignorance, where the interactions between the players and DDUs are characterized by uncertainty sets that depend parametrically on the players’ strategies. Then, a rigorous definition for the equilibrium of the game is established by consolidating generalized Nash equilibrium and Pareto-Nash equilibrium. Afterward, we prove the existence of the equilibrium of N-S-N games under DDUs by applying Kakutani’s fixed-point theorem. Finally, an illustrative example is provided to show the impact of DDUs on the equilibrium of N-S-N games. Copyright © 2022, The Authors. All rights reserved.

关键词： Game theory

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Procedure Recognition by Knowledge-Driven Segmentation in Robotic-Assisted Vitreoretinal Surgery

Procedure Recognition by Knowledge-Driven Segmentation in Ro...

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IEEE International Conference on Robotics and automation (ICRA)

作者： Zhen Li Yawen Deng Qiang Ye Weihong Yu Haoxiang Qi Yaliang Liu Zhangguo Yu Gui-Bin Bian School of Electronic and Information Engineering Tongji University Shanghai China Institute of Automation Chinese Academy of Sciences Beijing China School of Mechatronic Engineering Beijing Institute of Technology Beijing China Department of Ophthalmology Peking Union Medical College Hospital Chinese Academy of Medical Sciences and Peking Union Medical College Beijing China Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing China International Joint Research Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Internal limiting membrane (ILM) peeling is a vital vitreoretinal surgery procedure. However, due to the thickness of just 1-2 micrometers and the intricacies associated with its varying density and adhesion, the difficulty of manipulation exceeds the physiological limits of human perception and operation. Surgical robot is characterized by high precision and stability. However, navigating intricate intraocular environments and handling minuscule high-precision areas remain enormous challenges. These include issues of uneven lighting, field-of-view loss, and motion blur. This paper proposed a perception method named ‘Multimodal Surgical Process Recognition based on Domain Knowledge and Segmentation (MSPR-DKS),’ designed to address these challenges and provide input for the precise control of robots. Moreover, a comprehensive dataset focused on ILM peeling during macular hole surgeries was established. Experimental results underscore the efficacy of this approach, with segmentation accuracies exceeding 99.27% for instruments and macular holes and an average accuracy of 98.97% in recognizing surgical processes. This study paves the way for leveraging domain knowledge and image segmentation to improve robot-assisted manipulation of soft tissues in ophthalmology.

关键词： Image segmentation Visualization Accuracy Medical robotics Motion segmentation Surgery Lighting

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Study on the acute inhalation toxicity of eco-friendly gas insulating medium C5-PFK

Study on the acute inhalation toxicity of eco-friendly gas i...

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22nd International Symposium on High Voltage engineering (ISH 2021)

作者： Y. Li X. Zhang Z. Wei Y. Wang S. Xiao Department of Electrical Engineering and Automation Wuhan University Wuhan China Hubei Key Laboratory for High-efficiency Utilization of Solar Energy and Operation Control of Energy Storage System Hubei University of Technology Wuhan China

The eco-friendly insulating gas C5-PFK is considered promising to replace SF6 as an insulating medium in gas-insulated equipment. At present, there are few reports on the acute inhalation toxicity of C5-PFK gas, leaving hidden dangers for related scientific research and engineering applications. In this paper, by setting up an eco-friendly gas insulating medium acute inhalation test platform, with experimental mice as the research object, a 4h acute inhalation toxicity test study of C5-PFK gas was carried out according to the OECD403 test guide. The study found that after acute inhalation of low-concentration C5-PFK gas, mice will experience symptoms such as excitement, heartbeat and shortness of breath, but will return to normal after a few hours. There will be no abnormalities during the 14-day observation period and their physical condition is good. After acute inhalation of high-concentration C5-PFK gas, mice will become paralyzed and lose their ability to move independently, leading to death. The LC50 of 4h acute inhalation of C5-PFK gas in mice was 7400-7500ppm (female) and 8600-8800ppm (male). The acute toxicity of C5-PFK gas should be classified as the lowest toxic category 4 in the GHS, which is a low-toxic gas.

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Convergence analysis of dual decomposition algorithm in distributed optimization: Asynchrony and inexactness

arXiv

引用

arXiv 2021年

作者： Su, Yifan Wang, Zhaojian Cao, Ming Jia, Mengshuo Liu, Feng The State Key Laboratory of Power System Department of Electrical Engineering Tsinghua University Beijing100084 China The Key Laboratory of System Control and Information Processing Ministry of Education of China Department of Automation Shanghai Jiao Tong University Shanghai200240 China The Faculty of Science and Engineering University of Groningen Groningen9747 AG Netherlands

Dual decomposition is widely utilized in distributed optimization of multi-agent systems. In practice, the dual decomposition algorithm is desired to admit an asynchronous implementation due to imperfect communication, such as time delay and packet drop. In addition, computational errors also exist when individual agents solve their own subproblems. In this paper, we analyze the convergence of the dual decomposition algorithm in distributed optimization when both the asynchrony in communication and the inexactness in solving subproblems exist. We find that the interaction between asynchrony and inexactness slows down the convergence rate from O(1/k) to O(1/√k). Specifically, with a constant step size, the value of objective function converges to a neighborhood of the optimal value, and the solution converges to a neighborhood of the exact optimal solution. Moreover, the violation of the constraints diminishes in O(1/√k). Our result generalizes and unifies the existing ones that only consider either asynchrony or inexactness. Finally, numerical simulations validate the theoretical results. Copyright © 2021, The Authors. All rights reserved.

关键词： Multi agent systems

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Stochastic Gradient-based Fast Distributed Multi-Energy Management for an Industrial Park with Temporally-Coupled Constraints

arXiv

引用

arXiv 2022年

作者： Zhu, Dafeng Yang, Bo Ma, Chengbin Wang, Zhaojian Zhu, Shanying Ma, Kai Guan, Xinping Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China University of Michigan Shanghai Jiao Tong University Joint Institute Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao066004 China

Contemporary industrial parks are challenged by the growing concerns about high cost and low efficiency of energy supply. Moreover, in the case of uncertain supply/demand, how to mobilize delay-tolerant elastic loads and compensate real-time inelastic loads to match multi-energy generation/storage and minimize energy cost is a key issue. Since energy management is hardly to be implemented offline without knowing statistical information of random variables, this paper presents a systematic online energy cost minimization framework to fulfill the complementary utilization of multi-energy with time-varying generation, demand and price. Specifically to achieve charging/discharging constraints due to storage and short-term energy balancing, a fast distributed algorithm based on stochastic gradient with two-timescale implementation is proposed to ensure online implementation. To reduce the peak loads, an incentive mechanism is implemented by estimating users' willingness to shift. Analytical results on parameter setting are also given to guarantee feasibility and optimality of the proposed design. Numerical results show that when the bid-ask spread of electricity is small enough, the proposed algorithm can achieve the close-to-optimal cost asymptotically. © 2022, CC BY-NC-ND.

关键词： Energy management

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Society 5.0: Metaverse Facilitated Human-centric “5H” Services Across Cyber-Physical-Social Spaces

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IFAC-PapersOnLine 2024年第3期58卷 159-164页

作者： Xiao Wang Jun Huang QingHua Ni Zhe Wan HuaDan Xue Larry Stapleton Fei-Yue Wang Engineering Research Center of Autonomous Unmanned System Technology Ministry of Education Anhui University Hefei 230601 China Macau University of Science and Technology Macau 999078 China Beijing Normal University Beijing 100875 China Department of Radiology Peking Union Medical College Hospital Shuaifuyuan Beijing 100730 Dongcheng District China Brownsbarn Thomastown Co. Kilkenny Ireland R95D8P2 Qingdao Academy of Intelligent Industries Qingdao 266109 China State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

Cyber-Physical-Social systems bridge the gap between social resource organization and distribution, and give birth to Society 5.0, which represents a transformative vision aimed at realizing the human-centric paradigm for more efficient and effective sustainable development. In this paper, we discuss the decentralized paradigm in fostering human needs-driven smart services, in line with Maslow’s hierarchy of needs theory. Societies 5.0 is committed to optimizing the use of natural, artificial, and social resources by enhancing democratic participation and ensuring that decision-making processes are more transparent, reliable, and aligned with the needs of the populace in sustainable ways. Moreover, our discussion extends to how Society 5.0’s principles correlate with the United Nations Sustainable Development Goals (SDGs), providing a framework that supports health, education, and poverty reduction, among other targets. This approach also aligns with the Human Development Index (HDI), reinforcing the notion that technological progress in Society 5.0 does not overshadow but rather complements and enhances human values, paving a synergistic path towards sustainable development that is both advanced and fundamentally human-centric.

关键词： Cyber-Physical-Social systems Society 5.0 Human-Centric Services Socio-technical synergistic sustainable development

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Industrial Scene Text Detection with Refined Feature-attentive Network

arXiv

引用

arXiv 2021年

作者： Guan, Tongkun Gu, Chaochen Lu, Changsheng Tu, Jingzheng Feng, Qi Wu, Kaijie Guan, Xinping The Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China The College of Engineering and Computer Science The Australian National University CanberraACT2600 Australia

Detecting the marking characters of industrial metal parts remains challenging due to low visual contrast, uneven illumination, corroded surfaces, and cluttered background of metal part images. Affected by these factors, bounding boxes generated by most existing methods could not locate low-contrast text areas very well. In this paper, we propose a refined feature-attentive network (RFN) to solve the inaccurate localization problem. Specifically, we first design a parallel feature integration mechanism to construct an adaptive feature representation from multi-resolution features, which enhances the perception of multi-scale texts at each scale-specific level to generate a high-quality attention map. Then, an attentive proposal refinement module is developed by the attention map to rectify the location deviation of candidate boxes. Besides, a re-scoring mechanism is designed to select text boxes with the best rectified location. To promote the research towards industrial scene text detection, we contribute two industrial scene text datasets, including a total of 102156 images and 1948809 text instances with various character structures and metal parts. Extensive experiments on our dataset and four public datasets demonstrate that our proposed method achieves the state-of-the-art performance. Both code and dataset are available at: https://***/TongkunGuan/RFN. © 2021, CC BY.

关键词： Character recognition

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A Variational Bayes Moving Horizon Estimation Adaptive Filter with Guaranteed Stability

arXiv

引用

arXiv 2021年

作者： Dong, Xiangxiang Battistelli, Giorgio Chisci, Luigi Cai, Yunze Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Department of Information Engineering University of Florence Florence50139 Italy

This paper addresses state estimation of linear systems with special attention on unknown process and measurement noise covariances, aiming to enhance estimation accuracy while preserving the stability guarantee of the Kalman filter. To this end, the full information estimation problem over a finite interval is firstly addressed. Then, a novel adaptive variational Bayesian (VB) moving horizon estimation (MHE) method is proposed, exploiting VB inference, MHE and Monte Carlo integration with importance sampling for joint estimation of the unknown process and measurement noise covariances, along with the state trajectory over a moving window of fixed length. Further, it is proved that the proposed adaptive VB MHE filter ensures mean-square boundedness of the estimation error with any number of importance samples and VB iterations, as well as for any window length. Finally, simulation results on a target tracking example demonstrate the effectiveness of the VB MHE filter with enhanced estimation accuracy and convergence properties compared to the conventional non-adaptive Kalman filter and other existing adaptive filters. Copyright © 2021, The Authors. All rights reserved.

关键词： Importance sampling

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FreeDriveRF: Monocular RGB Dynamic NeRF without Poses for Autonomous Driving via Point-Level Dynamic-Static Decoupling

arXiv

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arXiv 2025年

作者： Wen, Yue Song, Liang Liu, Yijia Zhu, Siting Miao, Yanzi Han, Lijun Wang, Hesheng Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai200240 China Dimanshen Technology Co. Ltd. China Engineering Research Center of Intelligent Control for Underground Space Ministry of Education School of Information and Control Engineering Advanced Robotics Research Center China University of Mining and Technology Xuzhou221116 China

Dynamic scene reconstruction for autonomous driving enables vehicles to perceive and interpret complex scene changes more precisely. Dynamic Neural Radiance Fields (NeRFs) have recently shown promising capability in scene modeling. However, many existing methods rely heavily on accurate poses inputs and multi-sensor data, leading to increased system complexity. To address this, we propose FreeDriveRF, which reconstructs dynamic driving scenes using only sequential RGB images without requiring poses inputs. We innovatively decouple dynamic and static parts at the early sampling level using semantic supervision, mitigating image blurring and artifacts. To overcome the challenges posed by object motion and occlusion in monocular camera, we introduce a warped ray-guided dynamic object rendering consistency loss, utilizing optical flow to better constrain the dynamic modeling process. Additionally, we incorporate estimated dynamic flow to constrain the pose optimization process, improving the stability and accuracy of unbounded scene reconstruction. Extensive experiments conducted on the KITTI and Waymo datasets demonstrate the superior performance of our method in dynamic scene modeling for autonomous driving. Our implementation will be available at https://***/IRMVLab/FreeDriveRF. Copyright © 2025, The Authors. All rights reserved.

关键词： Optical flows

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