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International Test Conference in Asia (ITC-Asia)

作者： Aibin Yan Fan Xia Tianming Ni Jie Cui Zhengfeng Huang Patrick Girard Xiaoqing Wen School of Computer Science and Technology Anhui University Hefei China School of Microelectronics Hefei University of Technology Hefei China School of Integrated Circuits Anhui Polytechnic University Wuhu China Laboratory of Informatics Robotics and Microelectronics of Montpellier University of Montpellier / CNRS Montpellier France Graduate School of Computer Science and Systems Engineering Kyushu Institute of Technology Fukuoka Japan

With the rapid advancement of semiconductor technologies, integrated circuits, especially storage elements (e.g., latches) have become increasingly vulnerable to soft errors. In order to effectively tolerate double-node-upsets (DNUs) caused by radiation and reduce the power and area of latches, this paper proposes a DNU self-recoverable latch with low overhead in terms of power and area. The proposed latch mainly comprises seven 2-input C-elements and two inverters to achieve DNU self-recovery. Simulation results show that the proposed latch can recover from all possible DNUs and that it can reduce delay by 45.7%, power by 29.1%, area by 65.9%, and area-power-delay-product by 87.4%, on average, compared to typical existing DNU self-recoverable latches.

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Temporally Robust Multi-Agent STL Motion Planning in Continuous Time

arXiv

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arXiv 2023年

作者： Verhagen, Joris Lindemann, Lars Tumova, Jana The Division of Robotics Perception and Learning School of Electrical Engineering and Computer Science Kth Royal Institute of Technology Stockholm Sweden The Thomas Lord Department of Computer Science University of Southern California Los AngelesCA United States

Signal Temporal Logic (STL) is a formal language over continuous-time signals (such as trajectories of a multiagent system) that allows for the specification of complex spatial and temporal system requirements (such as staying sufficiently close to each other within certain time intervals). To promote robustness in multi-agent motion planning with such complex requirements, we consider motion planning with the goal of maximizing the temporal robustness of their joint STL specification, i.e. maximizing the permissible time shifts of each agent's trajectory while still satisfying the STL specification. Previous methods presented temporally robust motion planning and control in a discrete-time Mixed Integer Linear Programming (MILP) optimization scheme. In contrast, we parameterize the trajectory by continuous Bézier curves, where the curvature and the time-traversal of the trajectory are parameterized individually. We show an algorithm generating continuous-time temporally robust trajectories and prove soundness of our approach. Moreover, we empirically show that our parametrization realizes this with a considerable speed-up compared to state-of-the-art methods based on constant interval time discretization. Copyright © 2023, The Authors. All rights reserved.

关键词： Trajectories

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Multi-Scale Dynamic and Hierarchical Relationship Modeling for Facial Action Units Recognition

Multi-Scale Dynamic and Hierarchical Relationship Modeling f...

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Conference on computer Vision and Pattern Recognition (CVPR)

作者： Zihan Wang Siyang Song Cheng Luo Songhe Deng Weicheng Xie Linlin Shen Computer Vision Institute School of Computer Science & Software Engineering Shenzhen University Shenzhen Institute of Artificial Intelligence and Robotics for Society National Engineering Laboratory for Big Data System Computing Technology Shenzhen University Universiry of Leicester Monash University

ISBN: (数字)9798350353006

ISBN: (纸本)9798350353013

Human facial action units (AUs) are mutually related in a hierarchical manner, as not only they are associated with each other in both spatial and temporal domains but also AUs located in the same/close facial regions show stronger relationships than those of different facial regions. While none of existing approach thoroughly model such hi-erarchical inter-dependencies among AUs, this paper proposes to comprehensively model multi-scale AU-related dynamic and hierarchical spatiotemporal relationship among AUs for their occurrences recognition. Specifically, we first propose a novel multi-scale temporal differencing network with an adaptive weighting block to explicitly capture facial dynamics across frames at different spatial scales, which specifically considers the heterogeneity of range and mag-nitude in different AUs' activation. Then, a two-stage strategy is introduced to hierarchically model the relationship among AUs based on their spatial distribution (i.e., local and cross-region AU relationship modelling). Experimental results achieved on BP4D and DISFA show that our approach is the new state-of-the-art in the field of AU occurrence recognition. Our code is publicly available at https://***/CVI-SZU/MDHR.

关键词： Gold Adaptation models computer vision Graphical models Codes Adaptive systems Computational modeling

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Tactile-Based Object Pose Estimation Employing Extended Kalman Filter 8

Tactile-Based Object Pose Estimation Employing Extended Kalm...

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8th IEEE International Conference on Advanced robotics and Mechatronics, ICARM 2023

作者： Lin, Qiguang Yan, Chaojie Li, Qiang Ling, Yonggen Zheng, Yu Lee, Wangwei Wan, Zhaoliang Huang, Bidan Liu, Xiaofeng College of IoT Engineering Hohai University Jiangsu Key Laboratory of Special Robotic Technology Jiangsu Changzhou213022 China Zhejiang University Institute of Cyber-System and Control State Key Laboratory of Industrial Control and Technology Hangzhou China Bielefeld33619 Germany Tencent Robotics X Shenzhen China School of Computer Science and Engineering Sun Yat-sen University Guangzhou China

ISBN: (纸本)9798350300178

In this paper, we present a new approach to estimate the pose of an object being manipulated by a multi-fingered robotic hand. The method utilizes advanced tactile sensors with high spatial resolution to optimize the estimation of the object's pose using an Extended Kalman Filter (EKF) based approach. We defined and derived the state and measurement equations, as well as evaluated the estimation accuracy in grasping tasks. The approach is able to effectively account for the pose transition caused by tactile pushing, and the mapping from the object's pose to the contact position and normal direction as measured by the tactile sensor. The method was evaluated in multiple grasping experiments in simulation scenarios. Results show that the estimation can converge towards the ground truth in a relatively short period of time, with displacement and rotation errors remaining within acceptable levels. This new method has the potential to improve the accuracy and reliability of robotic grasping and manipulation tasks. © 2023 IEEE.

关键词： Extended Kalman filters

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arXiv

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arXiv 2024年

作者： Lin, Zhenchao He, Li Yang, Hongqiang Sun, Xiaoqun Zhang, Guojin Chen, Weinan Guan, Yisheng Zhang, Hong School of Electromechanical Engineering Guangdong University of Technology Guangzhou China Department of Electronic and Electrical Engineering Southern University of Science and Technology China Shenzhen Key Laboratory of Robotics and Computer Vision China Meituan Technology Co. Ltd Shenzhen China

Large-scale point cloud consists of a multitude of individual objects, thereby encompassing rich structural and underlying semantic contextual information, resulting in a challenging problem in efficiently segmenting a point cloud. Most existing researches mainly focus on capturing intricate local features without giving due consideration to global ones, thus failing to leverage semantic context. In this paper, we propose a Similarity-Weighted Convolution and local-global Fusion Network, named SWCF-Net, which takes into account both local and global features. We propose a Similarity-Weighted Convolution (SWConv) to effectively extract local features, where similarity weights are incorporated into the convolution operation to enhance the generalization capabilities. Then, we employ a downsampling operation on the K and V channels within the attention module, thereby reducing the quadratic complexity to linear, enabling Transformer to deal with large-scale point cloud. At last, orthogonal components are extracted in the global features and then aggregated with local features, thereby eliminating redundant information between local and global features and consequently promoting efficiency. We evaluate SWCF-Net on large-scale outdoor datasets SemanticKITTI and Toronto3D. Our experimental results demonstrate the effectiveness of the proposed network. Our method achieves a competitive result with less computational cost, and is able to handle large-scale point clouds efficiently. The code is available at https://***/Sylva-Lin/SWCF-Net Copyright © 2024, The Authors. All rights reserved.

关键词： Convolution

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A Comparative Study of Lossless Compression Technique in Quantum Secure Direct Communication

A Comparative Study of Lossless Compression Technique in Qua...

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Cyber Security and Computing (CyberComp), International Conference on

作者： Izlin Zuriani Ishak Liew Seow Wooi Nur Ziadah Harun Nur Shahirah Azahari Sofia Najwa Ramli Osman Ghazali Department of Information Technology and Communication Politeknik Seberang Perai Pulau Pinang Malaysia Department of Computer Science Faculty of Computer Science and Information Technology Universiti Putra Malaysia Selangor Malaysia Faculty of AI and Robotics Raffles University Johor Malaysia Department of Information Security and Web Technology Faculty of Computer Science and Information Technology Universiti Tun Hussein Onn Malaysia Johor Malaysia School of Computing Universiti Utara Malaysia Kedah Malaysia

ISBN: (数字)9798350387728

ISBN: (纸本)9798350387735

This is a comparative study to explore the performance of three lossless compression techniques, namely Run Length Encoding (RLE), Shannon-Fano Coding (SFC), and Huffman Coding (HC) in the context of a Hybrid M-Ary in Braided Single Stage (HMBSS) protocol communication scheme. The previous study on HMBSS using HC found that HC's compression technique has drawbacks, i.e., it is sensitive to errors and noise in the transmission channel and limited to certain data types. These drawbacks did affect the value of the compression rate limit. In this study, we evaluate the effectiveness of RLE, SFC, and HC in terms of data size reduction, coding efficiency, and data transmission time by comparing their results arising from the simulation experiments using Python coding in Jupiter Notebook and developed based on the HMBSS protocol algorithm. This simulation experiment starts with an initial six randomly generated datasets. Each dataset is tested using three compression techniques, which resulted in 18 different datasets. The results from the experiments reveal that SFC and HC consistently achieved a higher compression ratio and coding efficiency than RLE. These two compression techniques' algorithms effectively reduce the data size while preserving the original information. In our study, we also find that the data transmission time is increased with larger text sizes for all three compression techniques. This indicates that the larger the data size, the more transmission time is required with regard to what the compression technique's algorithm is.

关键词： Protocols Quantum computing Jupiter Noise Decoding Complexity theory Data communication Channel coding Huffman coding Testing

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Reinforcement Learning for Safe Robot Control using Control Lyapunov Barrier Functions

arXiv

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arXiv 2023年

作者： Du, Desong Han, Shaohang Qi, Naiming Ammar, Haitham Bou Wang, Jun Pan, Wei School of Astronautics Harbin Institute of Technology China Department of Cognitive Robotics Delft University of Technology Netherlands Huawei Technologies United Kingdom Department of Computer Science University College London United Kingdom Department of Computer Science University of Manchester United Kingdom

Reinforcement learning (RL) exhibits impressive performance when managing complicated control tasks for robots. However, its wide application to physical robots is limited by the absence of strong safety guarantees. To overcome this challenge, this paper explores the control Lyapunov barrier function (CLBF) to analyze the safety and reachability solely based on data without explicitly employing a dynamic model. We also proposed the Lyapunov barrier actor-critic (LBAC), a model-free RL algorithm, to search for a controller that satisfies the data-based approximation of the safety and reachability conditions. The proposed approach is demonstrated through simulation and real-world robot control experiments, i.e., a 2D quadrotor navigation task. The experimental findings reveal this approach's effectiveness in reachability and safety, surpassing other model-free RL methods. Copyright © 2023, The Authors. All rights reserved.

关键词： Reinforcement learning

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Design of A Highly Reliable and Low-Power SRAM With Double-Node Upset Recovery for Safety-critical Applications

Design of A Highly Reliable and Low-Power SRAM With Double-N...

引用

International Test Conference in Asia (ITC-Asia)

作者： Aibin Yan Jing Xiang Zhengfeng Huang Tianming Ni Jie Cui Patrick Girard Xiaoqing Wen School of Computer Science and Technology Anhui University Hefei China School of Microelectronics Hefei University of Technology Hefei China School of Integrated Circuits Anhui Polytechnic University Wuhu China Laboratory of Informatics Robotics and Microelectronics of Montpellier University of Montpellier / CNRS Montpellier France Graduate School of Computer Science and Systems Engineering Kyushu Institute of Technology Fukuoka Japan

For high-speed operations, low power consumption and small silicon area, transistors are being scaled aggressively. Meanwhile, circuit reliability is facing greater challenges in advanced technologies. In this paper, a highly reliable and low-power SRAM with double-node-upset (DNU) recovery, namely HRLP16T, is proposed for safety-critical fields. HRLP16T can recover from single-node-upset (SNU) at all the sensitive nodes, and it has eight node pairs recoverable from DNUs. Simulation results demonstrate its advantages in terms of delay and power consumption over typical existing SRAM cell designs.

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Reinforcement Learning for Safe Robot Control using Control Lyapunov Barrier Functions

Reinforcement Learning for Safe Robot Control using Control ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Desong Du Shaohang Han Naiming Qi Haitham Bou Ammar Jun Wang Wei Pan School of Astronautics Harbin Institute of Technology China Department of Cognitive Robotics Delft University of Technology Netherlands Huawei Technologies United Kingdom Department of Computer Science University College London United Kingdom Department of Computer Science University of Manchester United Kingdom

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An Optimal Path Planning Method with Assigned Endpoints in Grid Maps

An Optimal Path Planning Method with Assigned Endpoints in G...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Xiaoxiong Wang Zhuo Wang Zhikang Ge Zhihong Man Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China School of Computer Science and Technology University of Chinese Academy of Sciences Beijing China Faculty of Science Engineering and Technology Swinburne University of Technology Melbourne Australia

ISBN: (数字)9798350360868

ISBN: (纸本)9798350360875

In this paper, an optimal path planning method with assigned endpoints is developed for complete coverage in grid maps. It is shown that, the complete coverage path can be generated by merging the coverage paths of multiple subregions. Initially, several path planning templates are constructed to minimize repetition in regular regions. Subsequently, the grid map is decomposed into multiple subregions based on the locations of the assigned endpoints. Each region is then traversed with the corresponding template according to the parity of the region. Finally, all paths within the subregions are merged to form a comprehensive coverage path. It is demonstrated that the resulting path exhibits minimal repetition while covering the grid map completely with assigned endpoints. Simulation results are provided to validate the excellent performance of presented path planning method.

关键词： Industrial electronics Simulation Merging Path planning Computational complexity

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