1,085 research outputs found
Secure and Privacy-Preserving Average Consensus
Average consensus is fundamental for distributed systems since it underpins
key functionalities of such systems ranging from distributed information
fusion, decision-making, to decentralized control. In order to reach an
agreement, existing average consensus algorithms require each agent to exchange
explicit state information with its neighbors. This leads to the disclosure of
private state information, which is undesirable in cases where privacy is of
concern. In this paper, we propose a novel approach that enables secure and
privacy-preserving average consensus in a decentralized architecture in the
absence of any trusted third-parties. By leveraging homomorphic cryptography,
our approach can guarantee consensus to the exact value in a deterministic
manner. The proposed approach is light-weight in computation and communication,
and applicable to time-varying interaction topology cases. A hardware
implementation is presented to demonstrate the capability of our approach.Comment: 7 pages, 4 figures, paper is accepted to CPS-SPC'1
Hybrid Single and Dual Pattern Structured Light Illumination
Structured Light Illumination is a widely used 3D shape measurement technique in non-contact surface scanning. Multi-pattern based Structured Light Illumination methods reconstruct 3-D surface with high accuracy, but are sensitive to object motion during the pattern projection and the speed of scanning process is relatively long. To reduce this sensitivity, single pattern techniques are developed to achieve a high speed scanning process, such as Composite Pattern (CP) and Modified Composite Pattern (MCP) technique. However, most of single patter techniques have a significant banding artifact and sacrifice the accuracy. We focus on developing SLI techniques can achieve both high speed, high accuracy and have the tolerance to the relative motion. We first present a novel Two-Pattern Full Lateral Resolution (2PFLR) SLI method utilizing an MCP pattern for non-ambiguous phase followed by a single sinusoidal pattern for high accuracy. The surface phase modulates the single sinusoidal pattern which is demodulated using a Quadrature demodulation technique and then unwrapped by the MCP phase result. A single sinusoidal pattern reconstruction inherently has banding error. To effective de-band the surface, we propose Projector Space De-banding algorithm (PSDb). We use projector space because the band error is aligned with the projector coordinates allowing more accurate estimation of the banding error. 2PFLR system only allows the relative motion within the FOV of the scanner, to extend the application of the SLI, we present the research on Relative Motion 3-D scanner which utilize a single pattern technique. The pattern in RM3D system is designed based on MCP but has white space area to capture the surface texture, and a constellation correlation filter method is used to estimate the scanner\u27s trajectory and then align the 3-D surface reconstructed by each frame to a point cloud of the whole object surface
A Review of Engine Emissions Testing Methods for Environmental Sustainability
With the increase of vehicle ownership, vehicle emission pollution has become a major source of air pollution. The control of automobile pollutant emissions is one of the effective methods to reduce air pollution. Domestic and foreign exhaust pollutant testing methods for in-use vehicles have been gradually developed from the original idling method to the double-idling method and the simple working condition method. There are many methods to test the exhaust pollutants of in-use vehicles, but the test operation cycle, gas analysis principle, cost, application occasions and the accuracy level of various testing methods are different. This paper introduces the idling method, the working condition method and the on-board emission testing method for detecting vehicle emission pollutants. Two optimized methods for detecting automotive emission pollutants (namely the double-idle method and the simple transient working condition method) are also introduced.Citation:Â Wang, M. (2022). A Review of Engine Emissions Testing Methods for Environmental Sustainability. Trends in Renewable Energy, 8(2), 96-106. DOI: 10.17737/tre.2022.8.2.0014
Feynman Graph Integrals on
We introduce a type of graph integrals which are holomorphic analogs of
configuration space integrals. We prove their (ultraviolet) finiteness by
considering a compactification of the moduli space of graphs with metrics, and
study their failure to be holomorphic.Comment: 33 pages, 1 figur
Data Assimilation for Agent-Based Simulation of Smart Environment
Agent-based simulation of smart environment finds its application in studying people’s movement to help the design of a variety of applications such as energy utilization, HAVC control and egress strategy in emergency situation. Traditionally, agent-based simulation is not dynamic data driven, they run offline and do not assimilate real sensor data about the environment. As more and more buildings are equipped with various sensors, it is possible to utilize real time sensor data to inform the simulation. To incorporate the real sensor data into the simulation, we introduce the method of data assimilation. The goal of data assimilation is to provide inference about system state based on the incomplete, ambiguous and uncertain sensor data using a computer model. A typical data assimilation framework consists of a computer model, a series of sensors and a melding scheme. The purpose of this dissertation is to develop a data assimilation framework for agent-based simulation of smart environment. With the developed data assimilation framework, we demonstrate an application of building occupancy estimation which focuses on position estimation using the framework. We build an agent based model to simulate the occupants’ movement s in the building and use this model in the data assimilation framework. The melding scheme we use to incorporate sensor data into the built model is particle filter algorithm. It is a set of statistical method aiming at compute the posterior distribution of the underlying system using a set of samples. It has the benefit that it does not have any assumption about the target distribution and does not require the target system to be written in analytic form .To overcome the high dimensional state space problem as the number of agents increases, we develop a new resampling method named as the component set resampling and evaluate its effectiveness in data assimilation. We also developed a graph-based model for simulating building occupancy. The developed model will be used for carrying out building occupancy estimation with extremely large number of agents in the future
BayesNAS: A Bayesian Approach for Neural Architecture Search
One-Shot Neural Architecture Search (NAS) is a promising method to
significantly reduce search time without any separate training. It can be
treated as a Network Compression problem on the architecture parameters from an
over-parameterized network. However, there are two issues associated with most
one-shot NAS methods. First, dependencies between a node and its predecessors
and successors are often disregarded which result in improper treatment over
zero operations. Second, architecture parameters pruning based on their
magnitude is questionable. In this paper, we employ the classic Bayesian
learning approach to alleviate these two issues by modeling architecture
parameters using hierarchical automatic relevance determination (HARD) priors.
Unlike other NAS methods, we train the over-parameterized network for only one
epoch then update the architecture. Impressively, this enabled us to find the
architecture on CIFAR-10 within only 0.2 GPU days using a single GPU.
Competitive performance can be also achieved by transferring to ImageNet. As a
byproduct, our approach can be applied directly to compress convolutional
neural networks by enforcing structural sparsity which achieves extremely
sparse networks without accuracy deterioration.Comment: International Conference on Machine Learning 201
Actor-Critic Reinforcement Learning for Control with Stability Guarantee
Reinforcement Learning (RL) and its integration with deep learning have
achieved impressive performance in various robotic control tasks, ranging from
motion planning and navigation to end-to-end visual manipulation. However,
stability is not guaranteed in model-free RL by solely using data. From a
control-theoretic perspective, stability is the most important property for any
control system, since it is closely related to safety, robustness, and
reliability of robotic systems. In this paper, we propose an actor-critic RL
framework for control which can guarantee closed-loop stability by employing
the classic Lyapunov's method in control theory. First of all, a data-based
stability theorem is proposed for stochastic nonlinear systems modeled by
Markov decision process. Then we show that the stability condition could be
exploited as the critic in the actor-critic RL to learn a controller/policy. At
last, the effectiveness of our approach is evaluated on several well-known
3-dimensional robot control tasks and a synthetic biology gene network tracking
task in three different popular physics simulation platforms. As an empirical
evaluation on the advantage of stability, we show that the learned policies can
enable the systems to recover to the equilibrium or way-points when interfered
by uncertainties such as system parametric variations and external disturbances
to a certain extent.Comment: IEEE RA-L + IROS 202
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