ロボティックスワームにおける群れ行動の自動的設計

内容の要約広島大学(Hiroshima University)博士(工学)Doctor of Engineeringdoctora

RT-LM: Uncertainty-Aware Resource Management for Real-Time Inference of Language Models

Recent advancements in language models (LMs) have gained substantial attentions on their capability to generate human-like responses. Though exhibiting a promising future for various applications such as conversation AI, these LMs face deployment challenges on various devices due to their extreme computational cost and unpredictable inference latency. Such varied inference latency, identified as a consequence of uncertainty intrinsic to the nature of language, can lead to computational inefficiency and degrade the overall performance of LMs, especially under high-traffic workloads. Unfortunately, the bandwidth of these uncertainty sources is extensive, complicating the prediction of latency and the effects emanating from such uncertainties. To understand and mitigate the impact of uncertainty on real-time response-demanding systems, we take the first step to comprehend, quantify and optimize these uncertainty-induced latency performance variations in LMs. Specifically, we present RT-LM, an uncertainty-aware resource management ecosystem for real-time inference of LMs. RT-LM innovatively quantifies how specific input uncertainties, adversely affect latency, often leading to an increased output length. Exploiting these insights, we devise a lightweight yet effective method to dynamically correlate input text uncertainties with output length at runtime. Utilizing this quantification as a latency heuristic, we integrate the uncertainty information into a system-level scheduler which explores several uncertainty-induced optimization opportunities, including uncertainty-aware prioritization, dynamic consolidation, and strategic CPU offloading. Quantitative experiments across five state-of-the-art LMs on two hardware platforms demonstrates that RT-LM can significantly reduce the average response time and improve throughput while incurring a rather small runtime overhead.Comment: Accepted by RTSS 202

Mode and vibration characteristics of a flexible manipulator with elastic restraint joint

To construct a precise model for investigating the dynamic characteristics and vibration control strategies of flexible manipulators, restraints of the joint should be fully considered and precisely described. Considering the effect of the elastic restraints of the joint, this paper investigated the mode and vibration characteristics of a flexible manipulator with elastic restraint joint (FMERJ). The elastic restraint model and boundary conditions of the FMERJ were established. With the boundary conditions, natural frequency equation and mode shapes of the FMERJ were derived. Subsequently, vibration responses of the FMERJ were obtained. Numerical results demonstrated that the mode and vibration characteristics of the FMERJ are obviously different from that of flexible manipulator with fixed restraint joint (FMFRJ) which was commonly idealized in present research, and the elastic restraints of the joint have a considerable effect on the dynamic characteristics and should be considered in precise dynamic analysis and further constructing vibration control strategies of the flexible manipulator

A general construction of regular complete permutation polynomials

Let $r\geq 3$ be a positive integer and $\mathbb{F}_q$ the finite field with $q$ elements. In this paper, we consider the $r$-regular complete permutation property of maps with the form $f=\tau\circ\sigma_M\circ\tau^{-1}$ where $\tau$ is a PP over an extension field $\mathbb{F}_{q^d}$ and $\sigma_M$ is an invertible linear map over $\mathbb{F}_{q^d}$. We give a general construction of $r$-regular PPs for any positive integer $r$. When $\tau$ is additive, we give a general construction of $r$-regular CPPs for any positive integer $r$. When $\tau$ is not additive, we give many examples of regular CPPs over the extension fields for $r=3,4,5,6,7$ and for arbitrary odd positive integer $r$. These examples are the generalization of the first class of $r$-regular CPPs constructed by Xu, Zeng and Zhang (Des. Codes Cryptogr. 90, 545-575 (2022)).Comment: 24 page

Regular complete permutation polynomials over quadratic extension fields

Let $r\geq 3$ be any positive integer which is relatively prime to $p$ and $q^2\equiv 1 \pmod r$. Let $\tau_1, \tau_2$ be any permutation polynomials over $\mathbb{F}_{q^2},$ $\sigma_M$ is an invertible linear map over $\mathbb{F}_{q^2}$ and $\sigma=\tau_1\circ\sigma_M\circ\tau_2$. In this paper, we prove that, for suitable $\tau_1, \tau_2$ and $\sigma_M$, the map $\sigma$ could be $r$-regular complete permutation polynomials over quadratic extension fields.Comment: 10 pages. arXiv admin note: substantial text overlap with arXiv:2212.1286

Coupling vibration characteristics of a translating flexible robot manipulator with harmonic driving motions

Translating robot manipulators (TRMs) especially flexible translating robot manipulators (FTRMs) have been actively used in takeout robots, beam-type substrate transport robots and manufacturing machines and it remains that the end-effector on robot arms should have a good operating accuracy. Due to the coupling effect, such as motor parameters and mechanism inertias, the motions of the driving stage exhibits certain disturbances especially in high speeds. Considering the influence of the motion disturbances, this paper models the motions of the driving stage as harmonic driving motions and in this case the FTRM is similar to a parametrically excited system. The multiple scales method is applied to obtain the stability conditions for the motion disturbances. Based on the established coupling dynamic model, the influences of the motion disturbances on the vibration behaviors and the stability are investigated. Moreover, considering the actual motion characteristics of the driving stage with varied accelerations and velocities, the effect mechanism between the motion characteristics and motion disturbances are subsequently studied. According to this effect mechanism, the influence of the motion disturbances can be suppressed through motion optimizing, which is meaningful for motion optimizations and vibration controls of the FTRM. An ADAMS physical prototype is constructed to verify the dynamic model and theoretical analysis results, and the results have a good agreement

Imaging the Centromedian Thalamic Nucleus Using Quantitative Susceptibility Mapping.

The centromedian (CM) nucleus is an intralaminar thalamic nucleus that is considered as a potentially effective target of deep brain stimulation (DBS) and ablative surgeries for the treatment of multiple neurological and psychiatric disorders. However, the structure of CM is invisible on the standard T1- and T2-weighted (T1w and T2w) magnetic resonance images, which hamper it as a direct DBS target for clinical applications. The purpose of the current study is to demonstrate the use of quantitative susceptibility mapping (QSM) technique to image the CM within the thalamic region. Twelve patients with Parkinson's disease, dystonia, or schizophrenia were included in this study. A 3D multi-echo gradient recalled echo (GRE) sequence was acquired together with T1w and T2w images on a 3-T MR scanner. The QSM image was reconstructed from the GRE phase data. Direct visual inspection of the CM was made on T1w, T2w, and QSM images. Furthermore, the contrast-to-noise ratios (CNRs) of the CM to the adjacent posterior part of thalamus on T1w, T2w, and QSM images were compared using the one-way analysis of variance (ANOVA) test. QSM dramatically improved the visualization of the CM nucleus. Clear delineation of CM compared to the surroundings was observed on QSM but not on T1w and T2w images. Statistical analysis showed that the CNR on QSM was significantly higher than those on T1w and T2w images. Taken together, our results indicate that QSM is a promising technique for improving the visualization of CM as a direct targeting for DBS surgery