Investigation on the Performance of a Torque-driven Undulatory Swimmer with Distributed Flexibility

The current study presents a systematic investigation of the locomotion performance of a swimmer with a wide range of parameter settings. Two-dimensional simulations with the immersed boundary method are employed for the fluid-structure interaction analysis. Unlike most previous studies where the kinematics of the swimmer is predetermined, the locomotion of the current swimmer is the response of a single periodic torque applied on the anterior part. The effect of the distribution of body stiffness on swimming performance and propulsion generation is discussed with different pitch frequencies and amplitudes. An analysis of the phase-averaged vorticity field and thrust sequence is given to clarify the change of performance due to the variation of flexibility. This study demonstrates that body stiffness is a key factor that influences the performance of undulatory swimming when the pitch angle is low or moderate. The simple torque input of the current simulations provides a more direct and engineering-related insight for the future design of microrobotic swimmers

An investigation of information flux between turbulent boundary layer and porous medium

The interaction between boundary layer turbulence and a porous layer is the cornerstone to the interface engineering. In this study, the spatial resolved transfer entropy is used to assess the asymmetry of the causal interaction next to a permeable wall. The analysis was based on pore-resolved direct numerical simulation of turbulent channel flow over a cylinder array. The spatial map of transfer entropy reveals the information flux between the porous medium and arbitrary nearby position

Multi-Agent Consensus Seeking via Large Language Models

Multi-agent systems driven by large language models (LLMs) have shown promising abilities for solving complex tasks in a collaborative manner. This work considers a fundamental problem in multi-agent collaboration: consensus seeking. When multiple agents work together, we are interested in how they can reach a consensus through inter-agent negotiation. To that end, this work studies a consensus-seeking task where the state of each agent is a numerical value and they negotiate with each other to reach a consensus value. It is revealed that when not explicitly directed on which strategy should be adopted, the LLM-driven agents primarily use the average strategy for consensus seeking although they may occasionally use some other strategies. Moreover, this work analyzes the impact of the agent number, agent personality, and network topology on the negotiation process. The findings reported in this work can potentially lay the foundations for understanding the behaviors of LLM-driven multi-agent systems for solving more complex tasks. Furthermore, LLM-driven consensus seeking is applied to a multi-robot aggregation task. This application demonstrates the potential of LLM-driven agents to achieve zero-shot autonomous planning for multi-robot collaboration tasks. Project website: westlakeintelligentrobotics.github.io/ConsensusLLM/

Successive Linear Approximation VBI for Joint Sparse Signal Recovery and Dynamic Grid Parameters Estimation

For many practical applications in wireless communications, we need to recover a structured sparse signal from a linear observation model with dynamic grid parameters in the sensing matrix. Conventional expectation maximization (EM)-based compressed sensing (CS) methods, such as turbo compressed sensing (Turbo-CS) and turbo variational Bayesian inference (Turbo-VBI), have double-loop iterations, where the inner loop (E-step) obtains a Bayesian estimation of sparse signals and the outer loop (M-step) obtains a point estimation of dynamic grid parameters. This leads to a slow convergence rate. Furthermore, each iteration of the E-step involves a complicated matrix inverse in general. To overcome these drawbacks, we first propose a successive linear approximation VBI (SLA-VBI) algorithm that can provide Bayesian estimation of both sparse signals and dynamic grid parameters. Besides, we simplify the matrix inverse operation based on the majorization-minimization (MM) algorithmic framework. In addition, we extend our proposed algorithm from an independent sparse prior to more complicated structured sparse priors, which can exploit structured sparsity in specific applications to further enhance the performance. Finally, we apply our proposed algorithm to solve two practical application problems in wireless communications and verify that the proposed algorithm can achieve faster convergence, lower complexity, and better performance compared to the state-of-the-art EM-based methods.Comment: 13 pages, 17 figures, submitted to IEEE Transactions on Wireless Communication

SCAAT: Improving Neural Network Interpretability via Saliency Constrained Adaptive Adversarial Training

Deep Neural Networks (DNNs) are expected to provide explanation for users to understand their black-box predictions. Saliency map is a common form of explanation illustrating the heatmap of feature attributions, but it suffers from noise in distinguishing important features. In this paper, we propose a model-agnostic learning method called Saliency Constrained Adaptive Adversarial Training (SCAAT) to improve the quality of such DNN interpretability. By constructing adversarial samples under the guidance of saliency map, SCAAT effectively eliminates most noise and makes saliency maps sparser and more faithful without any modification to the model architecture. We apply SCAAT to multiple DNNs and evaluate the quality of the generated saliency maps on various natural and pathological image datasets. Evaluations on different domains and metrics show that SCAAT significantly improves the interpretability of DNNs by providing more faithful saliency maps without sacrificing their predictive power

Joint Scattering Environment Sensing and Channel Estimation Based on Non-stationary Markov Random Field

This paper considers an integrated sensing and communication system, where some radar targets also serve as communication scatterers. A location domain channel modeling method is proposed based on the position of targets and scatterers in the scattering environment, and the resulting radar and communication channels exhibit a two-dimensional (2-D) joint burst sparsity. We propose a joint scattering environment sensing and channel estimation scheme to enhance the target/scatterer localization and channel estimation performance simultaneously, where a spatially non-stationary Markov random field (MRF) model is proposed to capture the 2-D joint burst sparsity. An expectation maximization (EM) based method is designed to solve the joint estimation problem, where the E-step obtains the Bayesian estimation of the radar and communication channels and the M-step automatically learns the dynamic position grid and prior parameters in the MRF. However, the existing sparse Bayesian inference methods used in the E-step involve a high-complexity matrix inverse per iteration. Moreover, due to the complicated non-stationary MRF prior, the complexity of M-step is exponentially large. To address these difficulties, we propose an inverse-free variational Bayesian inference algorithm for the E-step and a low-complexity method based on pseudo-likelihood approximation for the M-step. In the simulations, the proposed scheme can achieve a better performance than the state-of-the-art method while reducing the computational overhead significantly.Comment: 15 pages, 13 figures, submitted to IEEE Transactions on Wireless Communication

What a Whole Slide Image Can Tell? Subtype-guided Masked Transformer for Pathological Image Captioning

Pathological captioning of Whole Slide Images (WSIs), though is essential in computer-aided pathological diagnosis, has rarely been studied due to the limitations in datasets and model training efficacy. In this paper, we propose a new paradigm Subtype-guided Masked Transformer (SGMT) for pathological captioning based on Transformers, which treats a WSI as a sequence of sparse patches and generates an overall caption sentence from the sequence. An accompanying subtype prediction is introduced into SGMT to guide the training process and enhance the captioning accuracy. We also present an Asymmetric Masked Mechansim approach to tackle the large size constraint of pathological image captioning, where the numbers of sequencing patches in SGMT are sampled differently in the training and inferring phases, respectively. Experiments on the PatchGastricADC22 dataset demonstrate that our approach effectively adapts to the task with a transformer-based model and achieves superior performance than traditional RNN-based methods. Our codes are to be made available for further research and development

Assessing and Enhancing Robustness of Deep Learning Models with Corruption Emulation in Digital Pathology

Deep learning in digital pathology brings intelligence and automation as substantial enhancements to pathological analysis, the gold standard of clinical diagnosis. However, multiple steps from tissue preparation to slide imaging introduce various image corruptions, making it difficult for deep neural network (DNN) models to achieve stable diagnostic results for clinical use. In order to assess and further enhance the robustness of the models, we analyze the physical causes of the full-stack corruptions throughout the pathological life-cycle and propose an Omni-Corruption Emulation (OmniCE) method to reproduce 21 types of corruptions quantified with 5-level severity. We then construct three OmniCE-corrupted benchmark datasets at both patch level and slide level and assess the robustness of popular DNNs in classification and segmentation tasks. Further, we explore to use the OmniCE-corrupted datasets as augmentation data for training and experiments to verify that the generalization ability of the models has been significantly enhanced

Behavior of wire arc additively manufactured 316L austenitic stainless steel single shear bolted connections

This paper aims to investigate the behavior of single shear bolted connections made of wire arc additively manufactured 316L austenitic stainless steel. A set of 44 wire arc additive manufacturing (WAAM) 316L austenitic stainless steel single shear bolted connections were included with consideration of various bolt positions, surface conditions and loading orientations respective to the printing layer direction. The geometric dimensions of the WAAM austenitic stainless steel plates were measured with the assistance of non-contact 3D laser scanning prior to tensile testing. Monotonic tensile tests were carried out to investigate the load-deformation responses, failure patterns and resistances determined by both the deformation and strength criteria of the single shear bolted connections. The effects of geometric and printing parameters on the single shear bolted connections were analyzed. Due to the absence of codified design provisions for WAAM austenitic stainless steel bolted connections, the suitability of the existing design rules originally developed for traditionally manufactured carbon steel and stainless steel bolted connections was examined. Design resistances calculated by the Eurocode 3 (prEN 1993-1-8 and prEN 1993-1-4), the American Specification (ANSI/AISC 370-21) as well as the prevalent design recommendations proposed in existing literature were compared with the obtained experimental results. It is shown that the abovementioned design methods offer conservative predictions for the resistances of WAAM 316L austenitic stainless steel single shear bolted connections. Further study is needed to improve the accuracy of design resistance predictions