A Wearable Robotic Hand for Hand-over-Hand Imitation Learning

Dexterous manipulation through imitation learning has gained significant attention in robotics research. The collection of high-quality expert data holds paramount importance when using imitation learning. The existing approaches for acquiring expert data commonly involve utilizing a data glove to capture hand motion information. However, this method suffers from limitations as the collected information cannot be directly mapped to the robotic hand due to discrepancies in their degrees of freedom or structures. Furthermore,it fails to accurately capture force feedback information between the hand and objects during the demonstration process. To overcome these challenges, this paper presents a novel solution in the form of a wearable dexterous hand, namely Hand-over-hand Imitation learning wearable RObotic Hand (HIRO Hand),which integrates expert data collection and enables the implementation of dexterous operations. This HIRO Hand empowers the operator to utilize their own tactile feedback to determine appropriate force, position, and actions, resulting in more accurate imitation of the expert's actions. We develop both non-learning and visual behavior cloning based controllers allowing HIRO Hand successfully achieves grasping and in-hand manipulation ability.Comment: 7 page

Information Resilience in a Network of Caches with Perturbations

Caching in a network of caches has been widely investigated for improving information/content delivery efficiency (e.g., for reducing content delivery latency, server load and bandwidth utilization). In this work, we look into another dimension of network of caches – enhancing resilience in information dissemination rather than improving delivery efficiency. The underlying premise is that when information is cached at more locations, its availability is increased and thus, in turn, improve information delivery resiliency. This is especially important for networks with perturbations (e.g., node failures). Considering a general network of caches, we present a collaborative caching framework for maximizing the availability of the information. Specifically, we formulate an optimization problem for maximizing the joint utility of caching nodes in serving content requests in perturbed networks. We first solve the centralized version of the problem and then propose a distributed caching algorithm that approximates the centralized solution. We compare our proposal against different caching schemes under a range of parameters, using both real-world and synthetic network topologies. The results show that our algorithm can significantly improve the joint utility of caching nodes. With our distributed caching algorithm, the achieved caching utility is up to five times higher than greedy caching scheme. Furthermore, our scheme is found to be robust against increasing node failure rate, even for networks with a high number of vulnerable nodes

FREDPC: A Feasible Residual Error-Based Density Peak Clustering Algorithm With the Fragment Merging Strategy

Funding Agency: 10.13039/501100001809-National Natural Science Foundation of China; Science and Technology Development Foundation of Jilin Province; Science Foundation of Education Department of Guangdong Province; Social Science Foundation of Education Department of Jilin Province; Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing, Xi’an University of Technology;Peer reviewedPublisher PD

Taming hardware event samples for FDO compilation

Feedback-directed optimization (FDO) is effective in improving application runtime performance, but has not been widely adopted due to the tedious dual-compilation model, the difficulties in generating representative training data sets, and the high runtime overhead of profile collection. The use of hardware-event sampling to generate estimated edge profiles overcomes these drawbacks. Yet, hardware event samples are typically not precise at the instruction or basic-block granularity. These inaccuracies lead to missed performance when compared to instrumentation-based FDO@. In this paper, we use multiple hardware event profiles and supervised learning techniques to generate heuristics for improved precision of basic-block-level sample profiles, and to further improve the smoothing algorithms used to construct edge profiles. We demonstrate that sampling-based FDO can achieve an average of 78% of the performance gains obtained using instrumentation-based exact edge profiles for SPEC2000 benchmarks, matching or beating instrumentation-based FDO in many cases. The overhead of collection is only 0.74% on average, while compiler based instrumentation incurs 6.8%-53.5% overhead (and 10x overhead on an industrial web search application), and dynamic instrumentation incurs 28.6%-1639.2% overhead. ? 2010 ACM.EI

Prediction Model of Ammonia Nitrogen Concentration in Aquaculture Based on Improved AdaBoost and LSTM

The concentration of ammonia nitrogen is significant for intensive aquaculture, and if the concentration of ammonia nitrogen is too high, it will seriously affect the survival state of aquaculture. Therefore, prediction and control of the ammonia nitrogen concentration in advance is essential. This paper proposed a combined model based on X Adaptive Boosting (XAdaBoost) and the Long Short-Term Memory neural network (LSTM) to predict ammonia nitrogen concentration in mariculture. Firstly, the weight assignment strategy was improved, and the number of correction iterations was introduced to retard the shortcomings of data error accumulation caused by the AdaBoost basic algorithm. Then, the XAdaBoost algorithm generated and combined several LSTM su-models to predict the ammonia nitrogen concentration. Finally, there were two experiments conducted to verify the effectiveness of the proposed prediction model. In the ammonia nitrogen concentration prediction experiment, compared with the LSTM and other comparison models, the RMSE of the XAdaBoost–LSTM model was reduced by about 0.89–2.82%, the MAE was reduced by about 0.72–2.47%, and the MAPE was reduced by about 8.69–18.39%. In the model stability experiment, the RMSE, MAE, and MAPE of the XAdaBoost–LSTM model decreased by about 1–1.5%, 0.7–1.7%, and 7–14%. From these two experiments, the evaluation indexes of the XAdaBoost–LSTM model were superior to the comparison models, which proves that the model has good prediction accuracy and stability and lays a foundation for monitoring and regulating the change of ammonia nitrogen concentration in the future

Community Detection Based on DeepWalk Model in Large-Scale Networks

The large-scale and complex structure of real networks brings enormous challenges to traditional community detection methods. In order to detect community structure in large-scale networks more accurately and efficiently, we propose a community detection algorithm based on the network embedding representation method. Firstly, in order to solve the scarce problem of network data, this paper uses the DeepWalk model to embed a high-dimensional network into low-dimensional space with topology information. Then, low-dimensional data are processed, with each node treated as a sample and each dimension of the node as a feature. Finally, samples are fed into a Gaussian mixture model (GMM), and in order to automatically learn the number of communities, variational inference is introduced into GMM. Experimental results on the DBLP dataset show that the model method of this paper can more effectively discover the communities in large-scale networks. By further analyzing the excavated community structure, the organizational characteristics within the community are better revealed

Ecological Security Patterns at Different Spatial Scales on the Loess Plateau

The study of ecological security patterns (ESPs) is of great significance for improving the value of ecosystem services and promoting both ecological protection and high-quality socio-economic development. As an important part of the “Loss Plateau-Sichuan-Yunnan Ecological Barrier” and “Northern Sand Control Belt” in the national security strategic pattern, there is an urgent need to study the ESPs on the Loess Plateau. Based on a remote sensing dataset, this study identified the ESPs at different spatial scales, and analyzed the similarities and differences of ecological sources, corridors, and key strategic points, so as to better inform the development and implantation of macro and micro ecological protection strategies. When taken as a whole unit, we identified 58 ecological sources (areas with higher levels of ecosystem services) on the Loess Plateau (total area of 57,948.48 km2), along with 134 corridors (total length of 14,094.32 km), 1325 pinch points (total area of 315.01 km2), and 2406 barrier points (total area of 382.50 km2). When splits into ecoregions, we identified 108 sources (total area of 67,892.51 km2), 226 corridors (total length of 13,403.49 km), 2801 pinch points (total area of 851.07 km2, and 3657 barrier points (total area of 800.70 km2). Human activities and land use types are the main factors influencing the number and spatial distribution of corridors, ecological pinch points, and barrier points. ESPs constructed at different spatial scales are broadly similar, but significant differences among details were identified. As such, when formulating ecological protection and restoration strategies, the spatial scale should be considered. Moreover, specific programs should be determined based on ESP characteristics to maximize the protection of biodiversity and ecosystem integrity from multiple perspectives and directions

A Three-Dimensional Finger-Tapping Framework for Recognition of Patients With Mild Parkinson’s Disease

The finger tapping test is a widely-used and important examination in the Movement Disorder Society Clinical Diagnosis for Parkinson’s Disease. However, finger tapping motion could be affected by age, medication, and other conditions. As a result, Parkinson’s disease patients with mild sign and healthy people could be rated as similar scores on the Movement Disorder Society-sponsored revision of the Unified Parkinson’s Disease Rating Scale, making it difficult for community doctors to perform diagnosis. We therefore propose a three-dimensional finger tapping framework to recognize mild PD patients. Specifically, we first derive the three-dimensional finger-tapping motion using a self-designed three-dimensional finger-tapping measurement system. We then propose a three-dimensional finger-tapping segmentation algorithm to segment three-dimensional finger tapping motion. We next extract three-dimensional pattern features of motor coordination, imbalance impairment, and entropy. We finally adopted the support vector machine as the classifier to recognize PD patients. We evaluated the proposed framework on 49 PD patients and 29 healthy controls and reached an accuracy of 94.9% for the right hand and 89.4% for the left hand. Moreover, the proposed framework reached an accuracy of 95.0% for the right hand and 97.8% for the left hand on 17 mild PD patients and 28 healthy controls who were both rated as 0 or 1 on the Movement Disorder Society-sponsored revision of the Unified Parkinson’s Disease Rating Scale. The results demonstrated that the proposed framework was less sensitive to traditional features and performed well in recognizing mild PD patients by involving three-dimensional patter features